An anesthetic needle insertion positioning device

Abstract

The present invention discloses an anesthetic needle insertion positioning device, which includes a platform mechanism, a pressure sensing mechanism, an encoder mechanism, a printing mechanism and an intelligent processing mechanism. The pressure sensing mechanism, the encoder mechanism and the printing mechanism are respectively arranged on the platform mechanism. The pressure sensing mechanism includes a pressure sensing component, and the encoder mechanism includes an encoder. The pressure sensing component, the encoder and the printing mechanism are respectively connected to the intelligent processing mechanism. In the present invention, the pressure sensing component senses the force conditions of the roller passing through the spinous process and the spinous process gap, realizes the feedback of the force of different tissues on the roller, and the intelligent processing mechanism obtains real-time pressure data. The encoder converts the number of rotations of the recording side wheel into an electrical signal and transmits it to the intelligent processing mechanism. The intelligent processing mechanism fits the real-time pressure data and the real-time moving distance data. The intelligent processing mechanism automatically calculates the optimal needle insertion position according to the curve, and the intelligent processing mechanism controls the print head to move to the target position for marking.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices and relates to an anesthetic needle insertion positioning device. Background Art

[0002] Epidural anesthesia puncture equipment, as a medical device for surgical anesthesia, is widely used clinically. During epidural anesthesia simulation surgery, doctors need to select appropriate anesthetic needle insertion positions. The anesthetic needle insertion positions are generally selected at the interspace between lumbar vertebrae L2 and L3 or at the interspace between lumbar vertebrae L3 and L4. Currently, doctors often use two methods to locate the two interspaces during simulation surgery. The first method is that the doctor first touches the sacrum of the human model, and then touches the spinous processes of the lumbar vertebrae upward along the sacrum, sequentially identifies each lumbar vertebra, selects the position where the needle needs to be inserted after identifying the lumbar vertebra, and makes a mark with a pen. The second method is that the doctor stands behind the human model, spreads the thumb and index finger, presses the index finger on the upper limit of the iliac crest, and presses the thumb parallel to the spine, finds the vertebral interspace by pressing up and down, and makes a mark with a pen.

[0003] The above two methods are both based on the needle insertion positions selected by the doctor's touch. The method of selecting the needle insertion position by relying on the doctor's touch sometimes makes the needle insertion position not centered enough, or fails to select the best puncture interspace, resulting in the problem of low puncture accuracy. In addition, during the puncture process, it may pierce the bone or deviate from the puncture direction, ultimately leading to the failure of the epidural anesthesia simulation surgery. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides an anesthetic needle insertion positioning device.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An anesthetic needle insertion positioning device includes a platform mechanism, a pressure sensing mechanism, an encoder mechanism, a printing mechanism, and an intelligent processing mechanism. The pressure sensing mechanism, the encoder mechanism, and the printing mechanism are respectively arranged on the platform mechanism. The pressure sensing mechanism includes a pressure sensing component, the encoder mechanism includes an encoder, and the pressure sensing component, the encoder, and the printing mechanism are respectively connected to the intelligent processing mechanism.

[0006] Further, the pressure sensing mechanism further includes a back plate and a transverse movement component. The pressure sensing component is arranged on the back plate through the transverse movement component, and the transverse movement component controls the pressure sensing component to move synchronously inward or outward.

[0007] Further, the pressure sensing component includes a vertical plate, a pressure detection module, a pressure conduction module, and an elastic module. The pressure detection module and the pressure conduction module are arranged on the vertical plate. The pressure detection module includes a sensor. The vertical plate is provided with a sensor mounting seat. The sensor is arranged on the sensor mounting seat. The sensor faces the pressure conduction module, and the sensor is connected to the intelligent processing mechanism.

[0008] Further, the pressure conduction module includes a conduction block and a roller support frame. The conduction block faces the sensor, and the sensor is used to detect the pressure conducted by the conduction block. The vertical plate is provided with a vertical slide rail, the conduction block is provided with an upper slider, and the upper slider is slidably connected to the vertical slide rail. The roller support frame is provided with a lower slider, and the lower slider is slidably connected to the vertical slide rail.

[0009] Further, the vertical plate is provided with a limit block, and the limit block is located at the lower end of the vertical slide rail.

[0010] Further, a roller is provided at the lower end of the roller support frame, and the upper end of the roller support frame is connected to the conduction block through an elastic module.

[0011] Further, the transverse movement assembly includes a transverse slide rail, a transverse slider, a bearing seat, a knob, a screw rod, and an adjustment plate. The transverse slider and the adjustment plate are fixedly arranged on the pressure sensing assembly, the transverse slide rail and the bearing seat are fixedly arranged on both side surfaces of the back plate, the transverse slide rail faces the pressure sensing assembly, the transverse slider is arranged on the transverse slide rail, and the transverse slider is slidably connected to the transverse slide rail.

[0012] Further, the platform mechanism is provided with a registration block, a handrail, a side wheel frame, and side wheels. The side wheel frame is arranged on both sides of the platform mechanism, and the side wheels are arranged on the side wheel frame.

[0013] Further, the encoder mechanism further includes an encoder mounting plate and a coupling. The encoder mounting plate is arranged on the platform mechanism, the encoder is arranged on the encoder mounting plate, the encoder is connected to the rotating shaft of any one of the side wheels through the coupling, and the encoder is connected to the intelligent processing mechanism.

[0014] Further, the printing mechanism includes a print head and a print track. The print head is arranged on the print track and slides along the print track, and the print head is connected to the intelligent processing mechanism.

[0015] In summary, the beneficial effects of the present invention are as follows:

[0016] 1) The pressure sensing assembly of the present invention senses the force conditions of the roller passing through the spinous process and the spinous process interval, realizes the feedback of different tissues to the force of the roller, the intelligent processing mechanism obtains real-time pressure data, the encoder converts the recorded number of rotations of the side wheel into an electrical signal and transmits it to the intelligent processing mechanism, the intelligent processing mechanism obtains the real-time moving distance of the device, the intelligent processing mechanism fits the real-time pressure data and the real-time moving distance data to form a pressure fluctuation curve changing with distance, the intelligent processing mechanism automatically calculates the optimal needle insertion position according to the curve, and the intelligent processing mechanism controls the print head to move to the target position for marking. The present invention accurately locates the needle insertion position of epidural anesthesia during the simulation exercise, improves the accuracy of the anesthesia puncture needle insertion point, shortens the confirmation time of the needle insertion point, has a high degree of intelligence, and has a fast response speed and high positioning accuracy for simulating and practicing the positioning of the anesthesia puncture needle insertion point.

[0017] 2) The present invention enables the pressure sensing components to move synchronously inwards or outwards through the transverse movement component, thereby adjusting the spacing between adjacent pressure sensing components and moving the pressure sensing components to appropriate positions.

[0018] 3) The present invention is provided with an elastic module. Rotating the adjusting nut of the elastic module can compress or relax the spring, thereby increasing or decreasing the prestress of the roller.

[0019] 4) The present invention is provided with a limiting block. The sliding range of the lower slider is restricted by the limiting block, thereby blocking the downward sliding of the roller support frame. Continuously compressing the spring downwards applies a large elastic stress to the roller.

[0020] 5) The platform mechanism of the present invention is provided with a registration block. The spring force of the pressure sensing component is balanced with the self-gravity of the device through the registration block. The platform mechanism is provided with multiple groups of side wheels, and the side wheels provide a stable supporting force for the device and can reduce the resistance during the pushing process of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is the front view of the device of the present invention.

[0022] Figure 2 is the rear view of the device of the present invention.

[0023] Figure 3 is the front view of the pressure sensing mechanism of the present invention.

[0024] Figure 4 is the right view of the pressure sensing mechanism of the present invention.

[0025] Figure 5 is the rear view of the pressure sensing mechanism of the present invention.

[0026] Figure 6 is the front view of the assembly of the platform mechanism, encoder mechanism and printing mechanism of the present invention.

[0027] Figure 7 is the side view of the assembly of the platform mechanism, encoder mechanism and printing mechanism of the present invention.

[0028] Figure 8 is the flowchart of the anesthetic needle insertion positioning of the present invention.

[0029] Figure 9 is the schematic diagram of the lumbar vertebra of the human model of the present invention.

[0030] Figure 10 is the pressure data image of Channel 1, Channel 2 and Channel 3 of the present invention.

[0031] Figure 11 is the 3D image of the fitting of the moving distance data and pressure data of the present invention.

[0032] Figure 12 is Figure 10 the pressure data image filtered by Kalman filter.

[0033] Figure 13 is Figure 11 the 3D image filtered by Kalman filter.

[0034] Figure 14 is the pressure fluctuation curve graph of the present invention.

[0035] Identifications in the figure: pressure sensing mechanism 1, platform mechanism 2, encoder mechanism 3, printing mechanism 4, backplane 10, crosswise moving assembly 11, pressure sensing assembly 12, crosswise slide rail 110, through cavity 101, crosswise slide block 111, bearing seat 112, knob 114, screw rod 113, adjusting plate 115, sensor mounting seat 120, sensor 121, conduction block 122, roller support frame 124, limit block 125, roller 126, vertical plate 127, vertical slide rail 128, upper slide block 1221, lower slide block 1241, adjusting nut 1231, screw rod 1232, spring 1233, registration block 21, handrail 22, side wheel frame 23, side wheel 24, encoder 31, encoder mounting plate 32, coupling 33, print head 41, printing track 42. Specific embodiments

[0036] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be based on different viewpoints and applications and be modified or changed without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0037] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and ratios of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0038] All directional indications (such as up, down, left, right, front, back, horizontal, vertical...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a certain specific posture. If this specific posture changes, then the directional indications will also change accordingly.

[0039] Due to reasons such as installation errors, the parallel relationship referred to in the embodiments of the present invention may actually be an approximate parallel relationship, and the vertical relationship may actually be an approximate vertical relationship.

[0040] Example 1:

[0041] As Figure 1-7 shown, an anesthetic needle insertion positioning device includes a platform mechanism 2, a pressure sensing mechanism 1, an encoder mechanism 3, a printing mechanism 4 and an intelligent processing mechanism. The pressure sensing mechanism 1, the encoder mechanism 3 and the printing mechanism 4 are respectively arranged on the platform mechanism 2, and the pressure sensing mechanism 1, the encoder mechanism 3 and the printing mechanism 4 are respectively connected to the intelligent processing mechanism.

[0042] The pressure sensing mechanism 1 includes a back plate 10, a transverse movement assembly 11 and a pressure sensing assembly 12. The pressure sensing assembly 12 is arranged on the back plate 10 through the transverse movement assembly 11. The transverse movement assembly 11 includes a transverse slide rail 110, a transverse slider 111, a bearing seat 112, a knob 114, a screw 113 and an adjustment plate 115. The transverse slider 111 and the adjustment plate 115 are fixedly arranged on the pressure sensing assembly 12. The transverse slide rail 110 and the bearing seat 112 are fixedly arranged on both side surfaces of the back plate 10. The transverse slide rail 110 faces the pressure sensing assembly 12. The transverse slider 111 is arranged on the transverse slide rail 110, and the transverse slider 111 is slidably connected along the transverse slide rail 110. Preferably, two transverse slide rails 110 are arranged, and the two transverse slide rails 110 are perpendicular to the length direction of the back plate and are distributed up and down along the length direction of the back plate. The length direction of the back plate is the Figure 1 [[ID=[]12]]x direction in the figure, so as to ensure the stability of the connection with the pressure sensing assembly 12 and the stability of the transverse movement of the pressure sensing assembly 12.

[0043] The back plate 10 is provided with a through cavity 101. The adjustment plate 115 penetrates through the through cavity 101. The screw 113 is rotatably connected to the bearing seat 112. Both ends of the screw 113 are fixedly connected to the knob 114. The screw 113 is threadedly connected to the adjustment plate 115. Preferably, two adjustment plates 115 are arranged, and the two adjustment plates 115 are symmetrically located on both sides of the bearing seat 112. The screw 113 is provided with threads with opposite rotation directions. The adjustment plates 115 are arranged on the threads with opposite rotation directions of the screw 113. By rotating any one of the knobs 114, the two adjustment plates 115 move inwards or outwards synchronously.

[0044] Multiple groups of pressure sensing assemblies 12 are arranged. Preferably, as Figure 1 shown, three groups of pressure sensing assemblies 12 are arranged. The three groups of pressure sensing assemblies 12 are horizontally arranged in an array along the width direction of the back plate 10. The width direction of the back plate 10 is the Figure 1 y direction in the figure. The pressure sensing assembly 12 located in the middle is fixedly arranged on the back plate 10. The pressure sensing assemblies 12 located on both sides are fixedly arranged with the transverse slider 111. The distance from the pressure sensing assembly 12 located in the middle is synchronously adjusted through the transverse movement assembly 11.

[0045] The pressure sensing component 12 includes a vertical plate 127, a pressure detection module, a pressure conduction module, and an elastic module. The pressure detection module and the pressure conduction module are arranged on the vertical plate 127. The pressure detection module, the elastic module, and the pressure conduction module are distributed along the length direction of the vertical plate 127. The length direction of the vertical plate 127 is Figure 1 the x direction in Figure 1 . The vertical plate 127 is provided with a vertical slide rail 128. The vertical slide rail 128 is distributed along the length direction of the vertical plate 127. The force received by the pressure conduction module is transmitted to the pressure detection module through the elastic module.

[0046] The pressure detection module includes a sensor 121. The vertical plate 127 is provided with a sensor mounting seat 120. The sensor 121 is arranged on the sensor mounting seat 120. The sensor 121 faces the pressure conduction module. The sensor 121 is connected to the intelligent processing mechanism. The sensor 121 converts the received force data into an electrical signal and transmits it to the intelligent processing mechanism. The intelligent processing mechanism obtains real-time pressure data.

[0047] The pressure conduction module includes a conduction block 122 and a roller support frame 124. The conduction block 122 faces the sensor 121. The sensor 121 is used to detect the pressure conducted by the conduction block 122. The conduction block 122 and the roller support frame 124 are connected through the elastic module. The conduction block 122 is provided with an upper slider 1221. The upper slider 1221 is arranged on the vertical slide rail 128. The upper slider 1221 is slidably connected to the vertical slide rail 128. The roller support frame 124 is provided with a lower slider 1241. The lower slider 1241 is arranged on the vertical slide rail 128. The lower slider 1241 is slidably connected to the vertical slide rail 128. A roller 126 is arranged at the lower end of the roller support frame 124. The upper end of the roller support frame 124 is connected to the conduction block 122 through the elastic module.

[0048] The elastic module includes an adjusting nut 1231, a screw 1232, and a spring 1233. The screw 1232 is connected to the conduction block 122 and the roller support frame 124. The spring 1233 is sleeved on the screw 1232. The adjusting nut 1231 is arranged on the screw 1232. In this embodiment, the spring 1233 is located between the adjusting nut 1231 and the roller support frame 124. By rotating the adjusting nut 1231, the spring 1233 can be compressed or relaxed, thereby increasing or decreasing the prestress of the roller 126.

[0049] A limit block 125 is arranged at the lower end of the vertical plate 127. The lower end of the vertical slide rail 128 is restricted by the limit block 125 to limit the sliding range of the lower slider 1241, thereby preventing the roller support frame 124 from sliding downward. When continuously compressing the spring downward, a greater elastic stress is applied to the roller 126.

[0050] During the implementation of the pressure sensing component 12, the roller 126 contacts and rolls on the body surface. When the roller 126 rolls to the soft tissue position of the human body model, under the elastic force of the elastic module, the roller 126 sinks. At this time, the conduction block 122 moves downward, the force on the sensor 121 decreases, and the reading of the sensor also decreases. When the roller 126 rolls to the bone tissue position of the human body model, the roller 126 is pushed up by the bone tissue of the human body model, the spring 1233 is further compressed, the elastic force increases, the conduction block 122 moves upward, the force on the sensor 121 increases, and the reading of the sensor also increases.

[0051] The platform mechanism 2 is the carrier of the pressure sensing mechanism 1, the encoder mechanism 3, and the printing mechanism 4. It includes an upper end surface and a lower end surface. The lower end surface faces the body surface. The upper end surface of the platform mechanism 2 is provided with a registration block 21 and a handrail 22. According to Figure 1 the visual angle, the registration blocks 21 are located at both ends of the platform mechanism 2 to ensure the balance of the platform mechanism 2. The registration blocks 21 are used to increase the counterweight so that the spring elastic force of the pressure sensing component 12 is balanced with the self-gravity of the device. The number of registration blocks 21 can be increased or decreased according to actual needs. Two handrails 22 are provided. The two handrails 22 are located on both sides of the platform mechanism 2, which is convenient for taking and placing the device. The lower end surface of the platform mechanism 2 is provided with a side wheel frame 23 and side wheels 24. The side wheel frame 23 is arranged on both sides of the platform mechanism 2, and the side wheels 24 are arranged on the side wheel frame 23. Preferably, two sets of side wheels 24 are assembled on a set of side wheel frames 23. The side wheels 24 provide a stable supporting force for the device and can reduce the resistance during the pushing process of the device.

[0052] The encoder mechanism 3 is arranged on the lower end surface of the platform mechanism 2. The encoder mechanism 3 includes an encoder 31, an encoder mounting plate 32, and a coupling 33. The encoder mounting plate 32 is arranged on the lower end surface of the platform mechanism 2, the encoder 31 is arranged on the encoder mounting plate 32, and the encoder 31 is connected to the rotating shaft of any side wheel 24 through the coupling 33. When the side wheel 24 rotates, it drives the encoder 31 to rotate synchronously through the coupling 33. The encoder 31 records the number of rotations of the side wheel 24. The encoder 31 is connected to the intelligent processing mechanism. The encoder 31 converts the recorded number of rotations of the side wheel 24 into an electrical signal and transmits it to the intelligent processing mechanism. The intelligent processing mechanism obtains the real-time moving distance of the device.

[0053] The printing mechanism 4 is arranged on the lower end surface of the platform mechanism 2. The printing mechanism 4 includes a print head 41 and a printing track 42. The printing track 42 is arranged on the lower end surface of the platform mechanism 2 along the y direction. The print head 41 is arranged on the printing track 42 and can slide along the printing track 42. The print head 41 is connected to the intelligent processing mechanism. The intelligent processing mechanism controls the print head 41 to slide on the printing track 42 until it reaches the target position for printing. The print head 41 directly prints the needle insertion mark on the body surface, thereby realizing the function of accurately positioning the needle insertion position for epidural anesthesia. The print head 41 is connected to the intelligent processing mechanism. The intelligent processing mechanism controls the print head 41 to move to the target position and make a mark.

[0054] The intelligent processing mechanism combines the real-time pressure data and the real-time moving distance to obtain the distance between the spinous processes. The maximum distance between the spinous processes is used as the target position for needle insertion.

[0055] During the implementation of this embodiment, the operator holds the armrest 22, places the device on the back of the human model, adjusts the transverse movement assembly 11, separates the three rollers 26 of the three pressure sensing components 12 of the device to an appropriate distance, pushes the device, and the three pressure sensing components 12 respectively record three groups of real-time pressure data. The encoder records the real-time rotation times of the side wheels to obtain the real-time moving distance data of the device. The intelligent processing mechanism fits the real-time pressure data and the real-time moving distance data to form a pressure fluctuation curve that changes with the distance. The intelligent processing mechanism automatically calculates the optimal needle insertion position, that is, the target position, according to the curve. When the device is pushed on the human back again, the intelligent processing mechanism controls the printing component to move to the target position and make a mark at the target position.

[0056] As Figure 8-14 shown, the present application also provides a control method for an anesthesia needle insertion positioning device. This method is based on the above-mentioned anesthesia needle insertion positioning device. The anesthesia needle insertion positioning device includes a platform mechanism 2, a pressure sensing mechanism 1, an encoder mechanism 3, a printing mechanism 4, and an intelligent processing mechanism. The pressure sensing mechanism 1, the encoder mechanism 3, and the printing mechanism 4 are respectively arranged on the platform mechanism 2. The pressure sensing mechanism 1, the encoder mechanism 3, and the printing mechanism 4 are respectively connected to the intelligent processing mechanism. The specific steps are as follows:

[0057] Step 1: Pretreatment of the anesthesia needle insertion positioning device, including confirming the operating states of the pressure sensing mechanism 1, the encoder mechanism 3, the printing mechanism 4, and the intelligent processing mechanism;

[0058] Step 2: The anesthesia needle insertion positioning device moves along the surface of the lumbar part of the spine of the object, such as the surface of the lumbar part of the spine of the human model (referred to as the body surface). The pressure sensing mechanism 1 collects real-time pressure data, and the encoder mechanism 3 collects real-time moving distance data;

[0059] The anesthesia needle positioning device is only used to identify the lumbar vertebrae of the human model. The human model has 5 lumbar vertebrae, such as Figure 9 As shown, from top to bottom are L1, L2, L3, L4, and L5. Above L1 is the thoracic vertebrae, which have a structure similar to the lumbar vertebrae. Behind L5 is the sacrum, which is a large triangular bone. In this embodiment, after the roller 126 passes through the spinous processes of the lumbar vertebrae L5-L1 in sequence, the pressure sensing mechanism 1 collects a data curve with at least 5 complete peaks.

[0060] Before using the anesthesia needle positioning device, the mannequin's waist is bent so that the lumbar vertebrae of the mannequin's spine are convex toward the back. The spinous processes of the lumbar vertebrae can maintain a larger distance, allowing the anesthesia needle positioning device to better identify the spinous process intervals.

[0061] The pressure sensing mechanism 1 includes three groups of pressure sensing components 12. The contact positions of the rollers 126 of the three groups of pressure sensing components 12 with the body surface are different, and the waist of the human model bends when the anesthesia needle positioning device moves. Therefore, the springs 1233 of the elastic modules in the three groups of pressure sensing components 12 have different deformation degrees, and the real-time pressure data detected by the pressure detection modules of the three groups of pressure sensing components 12 are different; for the convenience of explanation and distinction, the three groups of pressure sensing components 12 are respectively divided into channel one, channel two, and channel three. Channel two is located in the center of the lumbar vertebra, and channel one and channel three are located on both sides of channel two. The real-time pressure data collected by channel one, channel two, and channel three and the real-time movement distance data collected by the encoder mechanism 3 are transmitted to the intelligent processing mechanism for data processing.

[0062] Step 3: After the intelligent processing mechanism processes the data, the data is fitted to form a pressure fluctuation curve, and the target position is obtained according to the fitted pressure fluctuation curve;

[0063] Step 4: The intelligent processing mechanism controls the print head to move to the target position, and the print head prints a mark on the body surface at the target position, and the step ends.

[0064] Step 3 The steps of data fitting include:

[0065] Step 3.1: The intelligent processing mechanism receives the real-time pressure data output by the three pressure detection modules in step 2 to form the corresponding pressure data set F1 Ti 、F2 Ti and F3 Ti ;

[0066] The real-time pressure data set collected by channel 1 is set to F1 Ti , the real-time pressure data set collected by channel 2 is set to F2 Ti , the real-time pressure data set collected by channel 3 is set to F3 Ti , F1 Ti =(F1 i , T i)、F2Ti=(F2 i , T i ) and F3 Ti =(F3 i , T i ), F represents the pressure value, T represents the sampling time, and i represents the number of collections;

[0067] Step 3.2: Pressure Dataset F1 Ti 、F2 Ti and F3 Ti After processing by normalization function, pressure data sets are obtained respectively and

[0068]

[0069]

[0070]

[0071] In formula (1)-(3), prF1Ti_list is the pressure data set F1 Ti Data list, prF2Ti_list is the pressure data set F2 Ti Data list, prF3Ti_list is the pressure data set F3 Ti Data list, prF1Ti_list.max() is the pressure data set F1 Ti The maximum value of the data, prF2Ti_list.max() is the pressure data set F2 Ti The maximum value of the data, prF3Ti_list.max() is the pressure data set F3 Ti The maximum value of the data, α is the weight coefficient of the spring 1233 in the three groups of pressure sensing components 12, and in this application, α=0.9;

[0072] According to the pressure data set and Get attached Figure 10 The pressure data images of channel 1, channel 2 and channel 3 as they change with time are shown in the attached figure. Figure 10 In the figure, the curve represented by sensor1 is the pressure data change curve of channel 1, the curve represented by sensor2 is the pressure data change curve of channel 2, and the curve represented by sensor3 is the pressure data change curve of channel 3.

[0073] Step 3.3: The intelligent processing mechanism receives the real-time moving distance data collected by the encoder mechanism 3 in step 2 and combines it with the pressure data processed in step 3.2 to fit the 3D image and obtain the attached image. Figure 11The 3D image shown; in the 3D image, the X coordinate is the moving distance data collected by the encoder mechanism 3, the Y coordinate is the distance between the three groups of rollers 126, and the D coordinate is the pressing distance of the rollers 126.

[0074] Calculation formula for fitting the 3D image:

[0075]

[0076] In formula (4), N represents Channel One, Channel Two, and Channel Three, Y is the position distance in the distribution direction of Channel One, Channel Two, and Channel Three. For example, N = 1 is Channel One. is the pressure data set of Channel One, Y1 is the position of Channel One in this direction. As shown in the figure, in this embodiment, the position of Channel Two in this direction is set as the origin, that is, Y2 = 0. Channel One and Channel Three are on both sides of Channel Two respectively, Y1 and Y3 are positive and negative values respectively, and D represents the pressing distance of the rollers 126.

[0077] Step 3.4: Filter the pressure data image and the 3D image by Kalman filter.

[0078] Calculation formula for filtering by Kalman filter:

[0079] X(k, k - 1) = AX(k - 1) + BU(k)....................(5)

[0080] In formula (5), k represents the current moment, k - 1 represents the previous moment, X(k - 1) represents the optimal result of the system's previous state, X(k, k - 1) represents the result of predicting the current state of the system using the optimal result of the system's previous state, A and B are system parameters. For a multi - model system, A and B are set as matrices, U(k) represents the control quantity of the system at the current moment, A, B, and U(k) are set values, and U(k) can be set to 0, that is, there is no control quantity.

[0081] Covariance calculation formula corresponding to X(k, k - 1):

[0082] P(k, k - 1) = AP(k - 1)A T + Q.......................(6)

[0083] In formula (6), P(k, k - 1) is the covariance corresponding to X(k, k - 1), P(k - 1) is the covariance corresponding to X(k - 1), A T is the transpose matrix of A, and Q is the covariance of the system process. Q is a set value and does not change with the system state.

[0084] According to formula (5) and formula (6), formula (7) is obtained.

[0085] X(k) = X(k, k - 1) + K(k)[Z(k) - HX(k, k - 1)]....................(7)

[0086] In Equation (7), X(k) is the optimal estimated value at time k, and K(k) is the Kalman gain. In Equation (4), H is a parameter of the measurement system. For a multi-measurement system, H is set as a matrix, and H T is the transpose matrix of H, R is the covariance of the system measurement, and H and R are set values; Z(k) is the system measurement value, and Z(k) is a set value.

[0087] Covariance calculation formula for X(k):

[0088] P(k) = [I - K(k)H]P(k, k - 1)........................(9)

[0089] In Equation (9), P(k) is the covariance corresponding to X(k), where I is set as a matrix and I is a set value. For a single-model single-measurement system, I = 1, and the autoregressive operation of Kalman filtering is realized through Equation (9).

[0090] Filter the pressure data image and 3D image according to Equations (5) - (9) to obtain Figure 12 and Figure 13 , and after Kalman filtering, the image appears smoother, the burrs are significantly reduced, and it is easier to distinguish whether it is a spinal spinous process or noise.

[0091] Step 3.5: The intelligent processing mechanism samples the data filtered in Step 3.4, fits to form a pressure fluctuation curve, and obtains the target position according to the fitted pressure fluctuation curve;

[0092] The intelligent processing mechanism collects the pressure means of Channel 1, Channel 2, and Channel 3 corresponding to the Y = 0 plane of the 3D image filtered in Step 3.4 based on the same sampling time T, and obtains a dataset (F i , d i ) corresponding to the pressure data and distance data, and forms a pressure fluctuation curve changing with distance as shown in Figure 14 ,

[0093] where F i is the pressure mean of Channel 1, Channel 2, and Channel 3 based on the same sampling time T, and d i is the moving distance data collected by the encoder mechanism 3 based on the same sampling time T. The pressure peak of the pressure fluctuation curve is set as F pN , and the distance corresponding to the pressure peak is set as d pN, Δd = d pN+1 -d pN , where Δd represents the wave crest spacing and N represents the sequence number of the wave crest.

[0094] In this embodiment, after the roller 126 passes through the spinous processes of the lumbar vertebrae L5-L1 in sequence, the pressure sensing mechanism 1 collects the data curve of at least 5 complete wave crests. Since the end of the spinal cord of the human body model is at the lower edge of L1 and the upper edge of L2. To reduce the risk of damage to the spinal cord of the model during the simulated puncture, when simulating, when performing epidural puncture, avoid puncturing the spinous process space between L1-L2. Therefore, the number N in this embodiment is 4, corresponding to the lumbar vertebrae L5-L2 respectively, Δd is the spinous process space between L5-L2, and the spinous process space of the target position is set as D, D = Δd Max , Δd Max corresponding d pN+1 and d pN are the moving positions of the printing mechanism 4.

[0095] In step 4, the intelligent processing mechanism controls the print head to move to the Δd Max corresponding d pN+1 and d pN in step 3.5. The print head can print a mark on the body surface of the human body model at the target position.

[0096] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Claims

1. An anesthetic needle insertion positioning device, characterized in that: It includes a platform mechanism, a pressure sensing mechanism, an encoder mechanism, a printing mechanism and an intelligent processing mechanism. The pressure sensing mechanism, the encoder mechanism and the printing mechanism are respectively arranged on the platform mechanism. The pressure sensing mechanism includes a pressure sensing component, the encoder mechanism includes an encoder, and the pressure sensing component, the encoder and the printing mechanism are respectively connected to the intelligent processing mechanism. The pressure sensing mechanism further includes a back plate and a transverse movement component. The pressure sensing component is arranged on the back plate through the transverse movement component, and the transverse movement component controls the synchronous inward or outward movement of the pressure sensing component. The encoder mechanism further includes an encoder mounting plate and a coupling. The encoder mounting plate is arranged on the platform mechanism, the encoder is arranged on the encoder mounting plate, and the encoder is connected to the rotation shaft of any side wheel through the coupling. The encoder is connected to the intelligent processing mechanism.

2. The anesthetic needle insertion positioning device according to claim 1, characterized in that: The pressure sensing component includes a vertical plate, a pressure detection module, a pressure conduction module and an elastic module. The pressure detection module and the pressure conduction module are arranged on the vertical plate. The pressure detection module includes a sensor. The vertical plate is provided with a sensor mounting seat, the sensor is arranged on the sensor mounting seat, the sensor faces the pressure conduction module, and the sensor is connected to the intelligent processing mechanism.

3. The anesthetic needle insertion positioning device according to claim 2, characterized in that: The pressure conduction module includes a conduction block and a roller support frame. The conduction block is opposite to the sensor, and the sensor is used to detect the pressure conducted by the conduction block. The vertical plate is provided with a vertical slide rail, the conduction block is provided with an upper slider, and the upper slider is slidably connected to the vertical slide rail. The roller support frame is provided with a lower slider, and the lower slider is slidably connected to the vertical slide rail.

4. The anesthetic needle insertion positioning device according to claim 3, characterized in that: The vertical plate is provided with a limit block, and the limit block is located at the lower end of the vertical slide rail.

5. The anesthetic needle insertion positioning device according to claim 3, characterized in that: The lower end of the roller support frame is provided with rollers, and the upper end of the roller support frame is connected to the conduction block through an elastic module.

6. The anesthetic needle insertion positioning device according to claim 1, wherein: The transverse movement component includes a transverse slide rail, a transverse slider, a bearing seat, a knob, a screw rod and an adjustment plate. The transverse slider and the adjustment plate are fixedly arranged on the pressure sensing component. The transverse slide rail and the bearing seat are fixedly arranged on both side surfaces of the back plate. The transverse slide rail faces the pressure sensing component, and the transverse slider is arranged on the transverse slide rail and is slidably connected to the transverse slide rail.

7. The anesthetic needle insertion positioning device according to claim 1, characterized in that: The platform mechanism is provided with registration blocks, handrails, side wheel frames and side wheels. The side wheel frames are arranged on both sides of the platform mechanism, and the side wheels are arranged on the side wheel frames.

8. The anesthetic needle insertion positioning device according to claim 1, wherein: The platform mechanism is provided with registration blocks, handrails, side wheel frames and side wheels. The side wheel frames are arranged on both sides of the platform mechanism, and the side wheels are arranged on the side wheel frames.

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