Method and device for adjusting the angle of a venipuncture needle, angle adjustment device

Abstract

The application relates to the technical field of medical devices, and discloses a method for adjusting the angle of a venipuncture needle, which comprises the following steps: obtaining a venipuncture needle image through camera shooting; determining the position of a needle tip vertex according to the venipuncture needle image; obtaining a first current deflection angle of the venipuncture needle relative to a camera lens based on a distance rule corresponding to the position of the needle tip vertex; and adjusting the angle of the venipuncture needle according to the first current deflection angle to realize the alignment operation of the venipuncture needle. The method can improve the recognition accuracy of the deflection angle of the venipuncture needle. The application further discloses a device for adjusting the angle of a venipuncture needle and an angle adjusting equipment.

Description

Technical Field

[0001] This application relates to the field of medical device technology, such as a method and apparatus for adjusting the angle of a venous puncture needle, and an angle adjustment device. Background Technology

[0002] Currently, on intravenous puncture needle production lines, to achieve standardization of the production process, the needles need to be placed facing the same direction before processes such as dispensing and coating adhesive. To ensure consistency in the placement of the needles, the traditional method involves manually aligning them. This manual method suffers from low production efficiency.

[0003] To balance the alignment of intravenous puncture needles with the production efficiency of standardized processes in intravenous puncture needle production lines, a method for identifying the deflection angle of intravenous puncture needles has been disclosed. This method includes: establishing an image template library of intravenous puncture needles facing a camera; wherein the image template library stores images of intravenous puncture needles with different deflection angles and corresponding images; capturing an image of the current intravenous puncture needle using a camera; matching the current image of the intravenous puncture needle with the images of intravenous puncture needles stored in the image template library; and determining the deflection angle of the intravenous puncture needle based on the matching result.

[0004] In the process of implementing the embodiments of this disclosure, at least the following problems were found in the related art:

[0005] The image features of intravenous puncture needle images corresponding to adjacent deflection angles stored in the image template library are not significantly different. When matching the current intravenous puncture needle image with the intravenous puncture needle images stored in the image template library, it is very easy to determine the adjacent deflection angles of the actual deflection angle as the deflection angle of the intravenous puncture needle, resulting in misidentification of the deflection angle. At the same time, combined with Figure 1 As shown, Figure 1 (a) and Figure 1 (b) Images of intravenous puncture needles with deflection angles of 45° and 135°, respectively. When capturing images of intravenous puncture needles with a camera, images obtained from certain angles show high similarity, making it impossible to reliably distinguish these angles when matching images from an image template library. Therefore, the methods used in related technologies have low accuracy in identifying the deflection angle of intravenous puncture needles.

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0008] This disclosure provides a method, apparatus, and angle adjustment device for adjusting the angle of a venipuncture needle to improve the accuracy of identifying the deflection angle of the venipuncture needle.

[0009] In some embodiments, the method includes: acquiring an image of a venipuncture needle by capturing an image with a camera; determining the position of the needle tip apex based on the venipuncture needle image; obtaining a first current deflection angle of the venipuncture needle relative to the camera lens based on a distance rule corresponding to the position of the needle tip apex; and adjusting the angle of the venipuncture needle according to the first current deflection angle to achieve a straightening operation of the venipuncture needle.

[0010] Optionally, the deflection angle of the venipuncture needle relative to the camera lens represents the rotation angle when the front of the venipuncture needle is directly facing the camera lens, with the central axis of the venipuncture needle as the rotation axis, as the angle when the venipuncture needle rotates from left to right. Specifically, when the front of the venipuncture needle is directly facing the camera lens, the reference deflection angle is 0°. As the venipuncture needle rotates sequentially from left to right, the deflection angle gradually increases, and the range of the deflection angle is [0°, 360°].

[0011] In some embodiments, obtaining the first current deflection angle of the venipuncture needle relative to the camera lens based on the distance rule corresponding to the needle tip position includes: determining the arcuate feature of the venipuncture needle; when the arcuate feature indicates the existence of an arc, determining the horizontal line at the bottom of the venipuncture needle as the first reference horizontal line, and determining the projection of the needle tip position onto the first reference horizontal line as the first reference point; obtaining the first deflection angle according to the first reference point and the distance difference rule; and determining the first deflection angle as the first current deflection angle when the first deflection angle is within a first angle threshold range or within a second angle threshold range.

[0012] Optionally, determining the projection of the needle tip position onto the first reference horizontal line as the first reference point includes: drawing a perpendicular line from the needle tip position to the first reference horizontal line, and determining the intersection of the perpendicular line and the first reference horizontal line as the first reference point.

[0013] In some embodiments, obtaining a first deflection angle based on a first reference point and a distance difference rule includes: obtaining a first distance between the first reference point and the left contour edge of the venous puncture needle and a second distance between the first reference point and the right contour edge of the venous puncture needle; obtaining a distance difference based on the first distance and the second distance; and obtaining a first deflection angle corresponding to the distance difference based on the correspondence between the distance difference and the deflection angle.

[0014] In some embodiments, after obtaining the first deflection angle according to the first reference point and the distance difference rule, the method further includes: when the first deflection angle is outside the first angle threshold range and the first deflection angle is outside the second angle threshold range, determining the horizontal line passing through the position of the perforation vertex as the second reference horizontal line, and determining the projection of the needle tip position onto the second reference horizontal line as the second reference point; and obtaining the first current deflection angle according to the second reference point and the distance sum rule.

[0015] Optionally, determining the projection of the needle tip position onto the second reference horizontal line as the second reference point includes: drawing a perpendicular line from the needle tip position to the second reference horizontal line, and determining the intersection of the perpendicular line and the second reference horizontal line as the second reference point.

[0016] Optionally, the first angle threshold range is [0°, 20°], and the second angle threshold range is [340°, 360°].

[0017] In some embodiments, the method further includes: after determining the arcuate features of the venous puncture needle, if the arcuate features indicate that there is no arc, determining the horizontal line passing through the apex of the puncture as the second reference horizontal line, and determining the projection of the needle tip apex position onto the second reference horizontal line as the second reference point; and obtaining the first current deflection angle according to the second reference point and the distance and value rules.

[0018] In some embodiments, obtaining a first current deflection angle based on a second reference point and a distance sum rule includes: obtaining a third distance between the second reference point and the left contour edge of the venous puncture needle and a fourth distance between the second reference point and the right contour edge of the venous puncture needle; obtaining a distance sum based on the third distance and the fourth distance; and obtaining the first current deflection angle corresponding to the distance sum based on the correspondence between the distance sum and the deflection angle.

[0019] In some embodiments, obtaining the first current deflection angle corresponding to the distance sum value based on the correspondence between the distance sum value and the deflection angle includes: obtaining the second deflection angle corresponding to the distance sum value based on the correspondence between the distance sum value and the deflection angle; if there are two second deflection angles and the angle is identified for the first time, selecting the minimum value of the second deflection angle as the first current deflection angle; or, if there is only one second deflection angle, using the second deflection angle as the first current deflection angle.

[0020] In some embodiments, when there are two second deflection angles and the first angle is identified, after adjusting the angle of the venipuncture needle according to the first current deflection angle to achieve the alignment of the venipuncture needle, the second forward deflection angle of the venipuncture needle relative to the camera is obtained again; when the second current deflection angle is outside the third angle threshold range, the difference between the maximum and minimum values ​​of the second deflection angle under the first angle identification is determined as the third current deflection angle; the angle of the venipuncture needle is adjusted according to the new third current deflection angle until the third current deflection angle is within the third angle threshold range.

[0021] In some embodiments, the apparatus includes a processor and a memory storing program instructions, the processor being configured to, when running the program instructions, perform the method described above for adjusting the angle of a venous puncture needle.

[0022] In some embodiments, the angle adjustment device includes: a device body; and a means for adjusting the angle of a venipuncture needle as described above, mounted on the device body.

[0023] The method, apparatus, and angle adjustment device for adjusting the angle of a venous puncture needle provided in this disclosure can achieve the following technical effects:

[0024] This embodiment of the invention acquires an image of a venipuncture needle by capturing it with a camera, and then determines the position of the needle tip based on the image. The distance to the projection point corresponding to the needle tip position can be used to indirectly determine the deflection angle of the venipuncture needle relative to the camera lens. Furthermore, even with highly similar venipuncture needle images, the deflection angle can still be determined by the distance to the projection point corresponding to the needle tip position, preventing misidentification of the angle. Based on this, this embodiment configures a distance rule corresponding to the needle tip position and obtains a first current deflection angle of the venipuncture needle relative to the camera lens according to this rule. Finally, the venipuncture needle is adjusted according to the first current deflection angle to achieve needle alignment. Thus, this embodiment can accurately identify the deflection angle of the venipuncture needle from the captured image, ensuring high accuracy in needle deflection angle identification.

[0025] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0026] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0027] Figure 1 These are schematic images of intravenous puncture needles with deflection angles of 45° and 135° provided in embodiments of this disclosure; wherein, Figure 1 (a) and Figure 1 (b) Images of intravenous puncture needles with deflection angles of 45° and 135°, respectively;

[0028] Figure 2 This is a schematic diagram of different rotation angles of the intravenous puncture needle provided in the embodiments of this disclosure; wherein, Figure 2 (a) Figure 2 (b) Figure 2 (c) Figure 2 In (d), the rotation angles of the intravenous puncture needle are 0°, 15°, 45° and 350°, respectively;

[0029] Figure 3 This is a schematic diagram of a method for adjusting the angle of a venous puncture needle provided in an embodiment of this disclosure;

[0030] Figure 4 This is a schematic diagram of another method for adjusting the angle of a venous puncture needle provided in an embodiment of this disclosure;

[0031] Figure 5 This is a schematic diagram of another method for adjusting the angle of a venous puncture needle provided in an embodiment of this disclosure;

[0032] Figure 6 This is a schematic diagram of another method for adjusting the angle of a venous puncture needle provided in an embodiment of this disclosure;

[0033] Figure 7 This is a schematic diagram of another method for adjusting the angle of a venous puncture needle provided in an embodiment of this disclosure;

[0034] Figure 8-1 This is a schematic diagram of another intravenous puncture needle with different rotation angles provided in an embodiment of this disclosure; wherein, Figure 8-1 (a) Figure 8-1 (b) Figure 8-1 In (c), the rotation angles of the intravenous puncture needle are 0°, 15° and 350°, respectively. A represents the position of the needle tip, L1 represents the first reference horizontal line, L2 represents the second reference horizontal line, B1 represents the first reference point and B2 represents the second reference point.

[0035] Figure 8-2 This is provided by the embodiments of this disclosure. Figure 8-1 Black and white line diagrams showing the rotation angles of the central vein puncture needle at 15° and 350°, respectively; Figure 8-2 (a) Figure 8-2 In (b), the rotation angles of the intravenous puncture needle are 15° and 350°, respectively;

[0036] Figure 9-1 This is a schematic diagram of the deflection angle-distance difference curve provided in the embodiments of this disclosure;

[0037] Figure 9-2 This is a schematic diagram of the deflection angle-distance and curve provided in the embodiments of this disclosure;

[0038] Figure 10 This is an application illustration of an embodiment of the present disclosure;

[0039] Figure 11 This is a schematic diagram of a device for adjusting the angle of a venipuncture needle provided in an embodiment of this disclosure.

[0040] Figure label:

[0041] 10: Perforation;

[0042] 70: A device for adjusting the angle of an intravenous puncture needle;

[0043] 700: Processor; 701: Memory;

[0044] 702: Communication interface; 703: Bus. Detailed Implementation

[0045] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0046] The terms "first," "second," etc., used in the specification and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0047] Unless otherwise stated, the term "multiple" means two or more.

[0048] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0049] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0050] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0051] Combination Figure 3 As shown, this disclosure provides a method for adjusting the angle of a venous puncture needle, comprising:

[0052] S01, the processor acquires an image of the intravenous puncture needle by taking a picture with a camera.

[0053] S02, the processor determines the position of the needle tip apex based on the image of the intravenous puncture needle.

[0054] S03, the processor obtains the first current deflection angle of the venipuncture needle relative to the camera lens based on the distance rule corresponding to the position of the needle tip.

[0055] In this step, the deflection angle of the venipuncture needle relative to the camera lens represents the rotation angle when the front of the venipuncture needle is directly facing the camera lens, with the central axis of the venipuncture needle as the rotation axis, as the angle when the venipuncture needle rotates from left to right. Specifically, when the front of the venipuncture needle is directly facing the camera lens, the reference deflection angle is 0°. As the venipuncture needle rotates sequentially from left to right, the deflection angle gradually increases, and the range of the deflection angle is [0°, 360°].

[0056] Combination Figure 2 As shown, Figure 2 (a) Figure 2 (b) Figure 2 (c) Figure 2 In (d), the rotation angles of the intravenous puncture needle are 0°, 15°, 45° and 350°, respectively.

[0057] S04, the processor adjusts the angle of the venipuncture needle according to the first current deflection angle to achieve the alignment of the venipuncture needle.

[0058] The method for adjusting the angle of a venipuncture needle provided in this disclosure involves obtaining an image of the venipuncture needle by capturing it with a camera, and then determining the position of the needle tip apex based on the image. When the venipuncture needle rotates from left to right, there may be cases where the images of the venipuncture needle at certain adjacent positions are highly similar. Although the images of the venipuncture needle at certain adjacent positions are highly similar, because the position of the needle tip apex rotates synchronously with the venipuncture needle, and the bottom part of the venipuncture needle is cylindrical while the perforation part is an irregular cylinder, the distance between the projection point of the needle tip apex position onto the bottom of the venipuncture needle and the left contour edge of the venipuncture needle, and the distance between the projection point and the right contour edge of the venipuncture needle, change in real time with the rotation. Simultaneously, the distance between the projection point of the needle tip apex position onto the top of the perforation and the left contour edge of the venipuncture needle, and the distance between the projection point and the right contour edge of the venipuncture needle, also change in real time with the rotation. Therefore, the deflection angle of the venipuncture needle relative to the camera lens can be indirectly determined by the distance between the projection point corresponding to the needle tip position. Simultaneously, even with highly similar venipuncture needle images, the deflection angle of the venipuncture needle relative to the camera lens can still be determined by the distance between the projection point corresponding to the needle tip position, avoiding misidentification of the angle. Based on this, this embodiment configures a distance rule corresponding to the needle tip position and obtains a first current deflection angle of the venipuncture needle relative to the camera lens according to the distance rule. Finally, the venipuncture needle is adjusted according to the first current deflection angle to achieve the straightening operation of the venipuncture needle. Thus, this embodiment can accurately identify the deflection angle of the venipuncture needle from the venipuncture needle image captured by the camera, ensuring the accuracy of the venipuncture needle deflection angle identification.

[0059] It should be noted that the execution entity in this embodiment can be a processor configured on the camera, or a server communicatively connected to the camera. This embodiment does not impose specific limitations on this. This embodiment uses a processor as the execution entity for related descriptions.

[0060] Optionally, combined Figure 4 As shown, the processor obtains the first current deflection angle of the intravenous puncture needle relative to the camera lens based on the distance rule corresponding to the position of the needle tip apex, including:

[0061] S11, the processor determines the arcuate features of the intravenous puncture needle.

[0062] In this step, when the front of the venipuncture needle is at a certain angle to the camera lens plane, an arc shape can be obtained from the venipuncture image. However, when the angle between the front of the venipuncture needle and the camera lens plane exceeds this angle, an arc shape cannot be obtained from the venipuncture image. Based on this, the presence of an arc shape is determined by the arc shape characteristics of the venipuncture needle.

[0063] S12, when the arc feature indicates the existence of an arc, the processor determines the horizontal line at the bottom of the venous puncture needle as the first reference horizontal line L1, and determines the projection of the needle tip position A onto the first reference horizontal line L1 as the first reference point B1.

[0064] In this step, the base of the venipuncture needle is a regular cylindrical shape. (Combined with...) Figure 8-1 and 8-2 As shown, the processor determines the projection of the needle tip position A onto the first reference horizontal line L1 as the first reference point B1, including: the processor draws a perpendicular line from the needle tip position A to the first reference horizontal line L1, and determines the intersection of the perpendicular line and the first reference horizontal line L1 as the first reference point B1.

[0065] S13, the processor obtains the first deflection angle based on the first reference point and the distance difference rule.

[0066] S14, if the first deflection angle is within the first angle threshold range or within the second angle threshold range, the processor determines the first deflection angle as the first current deflection angle.

[0067] In this step, the first angle threshold range is [0°, 20°], and the second angle threshold range is [340°, 360°].

[0068] Thus, this embodiment first determines the arcuate feature of the intravenous puncture needle. Given that the arcuate feature indicates the existence of an arc, this embodiment determines the horizontal direction of the bottom of the intravenous puncture needle as the first reference horizontal line, and determines the projection of the needle tip's apex position onto the first reference horizontal line as the first reference point. This embodiment then obtains the first deflection angle based on the first reference point and the distance difference rule. Experimental statistics show that, combined with... Figure 9-1As shown, within the range of [0°, 360°], the deflection angle-distance difference curve within the range of (20°, 340°) exhibits significant spikes. The deflection angle within the range of (20°, 340°) determined by the aforementioned deflection angle-distance difference curve is highly likely to deviate considerably from the actual deflection angle. Therefore, in this embodiment, after obtaining the first deflection angle, it determines whether the first deflection angle is within a first angle threshold interval and whether it is within a second angle threshold interval. If it is within either the first or second angle threshold interval, the first deflection angle is determined as the first current deflection angle. Thus, this embodiment, when the intravenous puncture needle has an arc shape, determines the first current deflection angle within either the first or second angle threshold interval, ensuring the accuracy of intravenous puncture needle angle identification.

[0069] Optionally, combined Figure 5 As shown, the processor obtains the first deflection angle based on the first reference point and the distance difference rule, including:

[0070] S21, the processor obtains a first distance between the first reference point and the left contour edge of the venous puncture needle and a second distance between the first reference point and the right contour edge of the venous puncture needle.

[0071] S22, the processor obtains the distance difference based on the first distance and the second distance. The distance difference is the difference between the first distance and the second distance.

[0072] S23, the processor obtains the first deflection angle corresponding to the distance difference based on the correspondence between the distance difference and the deflection angle.

[0073] Thus, as the venipuncture needle rotates, the position of the needle tip is spaced at a certain distance relative to the central axis of the venipuncture needle. Correspondingly, the first distance between the first reference point and the left edge of the venipuncture needle's contour, and the second distance between the first reference point and the right edge of the venipuncture needle's contour, also change synchronously. Understandably, the difference between the first and second distances corresponds to the deflection angle of the venipuncture needle. Therefore, in this embodiment, after obtaining the distance difference, the first deflection angle corresponding to the distance difference is obtained based on the correspondence between the distance difference and the deflection angle. This allows for accurate estimation of the first deflection angle value through the deflection angle-distance difference curve, enabling accurate identification of the venipuncture needle angle when the venipuncture needle has an arc shape.

[0074] Optionally, after the processor obtains the first deflection angle based on the first reference point and the distance difference rule, it further includes:

[0075] When the first deflection angle is outside the first angle threshold range and the first deflection angle is outside the second angle threshold range, the processor determines that the horizontal line passing through the perforation vertex position is the second reference horizontal line L2, and determines that the projection of the needle tip vertex position A onto the second reference horizontal line L2 is the second reference point B2.

[0076] The processor obtains the first current deflection angle based on the second reference point and the distance and value rules.

[0077] In this step, combined Figure 8-1 and 8-2 As shown, the processor determines the projection of the needle tip position A onto the second reference horizontal line L2 as the second reference point B2, including: the processor draws a perpendicular line from the needle tip position A to the second reference horizontal line L2, and determines the intersection of the perpendicular line and the second reference horizontal line L2 as the second reference point B2.

[0078] Thus, based on experimental statistics obtained from the embodiments disclosed herein, combined with Figure 9-2 As shown, within the ranges of [0°, 20°] and [340°, 360°], the slope of the deflection angle-distance curve is low, and the angle values ​​at different distances are not significantly different. Therefore, the deflection angles within the ranges of [0°, 20°] or [340°, 360°] determined by the aforementioned deflection angle-distance difference curve are not highly accurate compared to the actual deflection angles, easily leading to misidentification of the rotation angle. Based on this, in this embodiment, when the first deflection angle is outside both the first and second angle threshold ranges, the horizontal line passing through the puncture apex is determined as the second reference horizontal line, and the projection of the needle tip apex onto the second reference horizontal line is determined as the second reference point. This embodiment obtains the first current deflection angle based on the second reference point and the distance sum rule. Thus, this embodiment can obtain the first current deflection angle located outside both the first and second angle threshold ranges, ensuring the accuracy of intravenous puncture needle angle identification.

[0079] Optionally, combined Figure 6 As shown, the processor obtains the first current deflection angle of the intravenous puncture needle relative to the camera lens based on the distance rule corresponding to the position of the needle tip apex, including:

[0080] S31, the processor determines the arcuate features of the intravenous puncture needle. Proceed to step S32 or step S35.

[0081] S32, when the arc feature indicates the existence of an arc, the processor determines the horizontal line at the bottom of the venous puncture needle as the first reference horizontal line, and determines the projection of the needle tip position onto the first reference horizontal line as the first reference point.

[0082] S33, the processor obtains the first deflection angle based on the first reference point and the distance difference rule.

[0083] S34, if the first deflection angle is within the first angle threshold range or within the second angle threshold range, the processor determines the first deflection angle as the first current deflection angle.

[0084] S35, after the processor determines the arc-shaped features of the intravenous puncture needle, if the arc-shaped features indicate that there is no arc, it determines the horizontal line passing through the apex of the puncture as the second reference horizontal line, and determines the projection of the needle tip apex position onto the second reference horizontal line as the second reference point.

[0085] S36, the processor obtains the first current deflection angle based on the second reference point and the distance and value rules.

[0086] Thus, in this embodiment, the arcuate features of the intravenous puncture needle are first determined. When the arcuate features indicate that there is no arc, this embodiment determines the horizontal line passing through the apex of the puncture as the second reference horizontal line, and determines the projection of the needle tip apex onto the second reference horizontal line as the first reference point. Then, the first current deflection angle is obtained according to the second reference point and the distance sum rule, so as to achieve accurate identification of the angle of the intravenous puncture needle when there is no arc.

[0087] Optionally, combined Figure 7 As shown, the processor obtains the first current deflection angle based on the second reference point and the distance and value rules, including:

[0088] S41, the processor obtains the third distance between the second reference point and the left contour edge of the venous puncture needle, and the fourth distance between the second reference point and the right contour edge of the venous puncture needle.

[0089] S42, the processor obtains the distance and value based on the third distance and the fourth distance.

[0090] S43, the processor obtains the first current deflection angle corresponding to the distance and value based on the correspondence between the distance and value and the deflection angle.

[0091] Thus, as the venipuncture needle rotates, the position of the needle tip is spaced at a certain distance relative to the central axis of the venipuncture needle. Correspondingly, the third distance between the second reference point and the left edge of the venipuncture needle's contour, and the fourth distance between the second reference point and the right edge of the venipuncture needle's contour, also change synchronously. Understandably, the difference between the third and fourth distances corresponds to the deflection angle of the venipuncture needle. Therefore, in this embodiment, after obtaining the sum of the distances, the first current deflection angle corresponding to the distance difference is obtained based on the correspondence between the sum of the distances and the deflection angle, so as to accurately estimate the angle value of the first current deflection angle through the deflection angle-distance difference curve.

[0092] Optionally, the processor obtains the first current deflection angle corresponding to the distance and value based on the correspondence between the distance and value and the deflection angle, including:

[0093] The processor obtains the second deflection angle corresponding to the distance and value based on the correspondence between the distance and value and the deflection angle.

[0094] If there are two second deflection angles and the first angle is identified, the processor selects the minimum second deflection angle as the first current deflection angle. Alternatively,

[0095] When the second deflection angle is one, the processor uses the second deflection angle as the first current deflection angle.

[0096] Thus, combined Figure 9-2 As shown, within the range of (20°, 340°), for certain distances and values, the deflection angle determined by the deflection angle-distance curve has two deflection angles, while the actual deflection angle is only one of them. Therefore, in this embodiment, after obtaining the second deflection angle corresponding to the distance and value, it determines whether there are two second deflection angles and whether it is the first identification. If both are true, the minimum value of the two second deflection angles is selected as the first current deflection angle. When there is only one second deflection angle, it is determined as the first current deflection angle. Thus, in this embodiment, when there are two second deflection angles, the minimum value of the second deflection angle is selected as the first current deflection angle, so that angle identification and angle adjustment can continue after selection, and the alignment operation of the intravenous puncture needle can be achieved after secondary angle identification and / or secondary angle adjustment.

[0097] Optionally, if there are two second deflection angles and the first angle is identified, the processor adjusts the angle of the venipuncture needle according to the first current deflection angle to achieve the alignment of the venipuncture needle, and then obtains the second forward deflection angle of the venipuncture needle relative to the camera again.

[0098] If the second current deflection angle is outside the third angle threshold range, the processor determines the difference between the maximum and minimum values ​​of the second deflection angle under the first angle recognition as the third current deflection angle.

[0099] The processor continues to adjust the angle of the venipuncture needle according to the new third current deflection angle until the third current deflection angle is within the third angle threshold range.

[0100] Thus, when two second deflection angles are determined and this is the first angle identification, this embodiment selects the minimum value of the second deflection angle as the first current deflection angle. However, there are two possible actual deflection angles: one is equal to the first current deflection angle, and the other is the maximum value of the second deflection angle. In the second case, the selected minimum value of the second deflection angle will be outside the second angle threshold range. Since the intravenous puncture needle has already been adjusted according to the first current deflection angle after the first identification, if the second current deflection angle is outside the third angle threshold range, this embodiment can adjust the angle again based on the difference between the maximum and minimum values ​​of the second deflection angle under the first angle identification. That is, this embodiment adjusts the angle of the intravenous puncture needle again based on the third current deflection angle, so as to perform the intravenous puncture needle alignment operation through multiple angle identifications.

[0101] It should be noted that after the processor continues to adjust the angle of the venipuncture needle according to the new third current deflection angle, the process further includes: if the third current deflection angle is within the third angle threshold range, the processor determines that the venipuncture needle has completed the alignment operation and ends the angle adjustment. Understandably, before determining that the venipuncture needle has completed the alignment operation, the venipuncture needle angle adjustment operation may be performed at most twice.

[0102] Optionally, the third angle threshold range is [-10°, 10°]. Understandably, the upper limit of the third angle threshold range can be based on 10° with a small range of fluctuation, and the upper limit of the third angle threshold range can be based on -10° with a small range of fluctuation.

[0103] As an example, firstly, the processor obtains the second deflection angles corresponding to the distance and value as 50° and 130° respectively, based on the correspondence between the distance and value and the deflection angle, and selects the minimum value of the second deflection angle, 50°, as the first current deflection angle. All angles are identified for the first time.

[0104] Secondly, the processor adjusts the angle of the venipuncture needle according to the first current deflection angle of 50° to achieve the alignment of the venipuncture needle.

[0105] Then, since there are two second deflection angles and the first angle is identified, the processor adjusts the angle of the venipuncture needle according to the first current deflection angle of 50° to achieve the straightening operation of the venipuncture needle, and then obtains the second forward deflection angle of the venipuncture needle relative to the camera again.

[0106] If the second current deflection angle is outside the range [-10°, 10°], it means that the actual second deflection angle corresponding to the distance and value is 130° instead of 50°. At the same time, since the angle of the venipuncture needle has been adjusted to 50° in the previous step, it is only necessary to continue adjusting the angle according to the difference between 130° and 50°. That is, the processor determines the difference of 80° between the maximum value of the second deflection angle of 130° and the minimum value of 50° under the first angle recognition as the third current deflection angle, and continues to adjust the angle of the venipuncture needle according to the new third current deflection angle of 80° until the third current deflection angle is located in the range [-10°, 10°].

[0107] If the second current deflection angle is in the range of [-10°, 10°], then it is determined that the intravenous puncture needle has been properly aligned and the angle adjustment is terminated.

[0108] In practical applications, such as Figure 10 As shown, the specific steps for adjusting the angle of the intravenous puncture needle are as follows:

[0109] S101, the processor acquires images of the intravenous puncture needle by capturing images with a camera.

[0110] S102, the processor determines the position of the needle tip apex based on the image of the intravenous puncture needle.

[0111] S103, the processor determines the arcuate features of the intravenous puncture needle.

[0112] S104, determine whether an arc exists based on the arc feature; if yes, proceed to step S105; otherwise, proceed to step S111.

[0113] S105, the processor determines the horizontal line at the bottom of the venipuncture needle as the first reference horizontal line, and determines the projection of the needle tip position onto the first reference horizontal line as the first reference point.

[0114] S106, the processor obtains a first distance between the first reference point and the left contour edge of the venous puncture needle and a second distance between the first reference point and the right contour edge of the venous puncture needle.

[0115] S107, the processor obtains the distance difference based on the first distance and the second distance.

[0116] S108, the processor obtains the first deflection angle corresponding to the distance difference based on the correspondence between the distance difference and the deflection angle.

[0117] S109, the processor determines whether the first deflection angle is within the first angle threshold range or the second angle threshold range; if yes, execute step S110, otherwise execute step S111.

[0118] S110, the processor determines the first deflection angle as the first current deflection angle and executes step S115.

[0119] S111, the processor determines the horizontal line passing through the position of the puncture vertex as the second reference horizontal line, and determines the projection of the position of the needle tip vertex onto the second reference horizontal line as the second reference point.

[0120] S112, obtain the third distance between the second reference point and the left contour edge of the venous puncture needle, and the fourth distance between the second reference point and the right contour edge of the venous puncture needle.

[0121] S113, the processor obtains the distance and value based on the third distance and the fourth distance.

[0122] S114, the processor obtains the first current deflection angle corresponding to the distance and value according to the correspondence between the distance and value and the deflection angle, and executes step S115.

[0123] S115, the processor adjusts the angle of the venipuncture needle according to the first current deflection angle to achieve the alignment operation of the venipuncture needle.

[0124] Combination Figure 11 As shown, this embodiment of the present disclosure provides a device 70 for adjusting the angle of an intravenous puncture needle, including a processor 700 and a memory 701. Optionally, the device 70 may further include a communication interface 702 and a bus 703. The processor 700, communication interface 702, and memory 701 can communicate with each other via the bus 703. The communication interface 702 can be used for information transmission. The processor 700 can call logical instructions in the memory 701 to execute the method for adjusting the angle of an intravenous puncture needle described in the above embodiment.

[0125] Furthermore, the logic instructions in the aforementioned memory 701 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0126] The memory 701, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 700 executes functional applications and data processing by running the program instructions / modules stored in the memory 701, that is, it implements the method for adjusting the angle of the venous puncture needle in the above embodiments.

[0127] The memory 701 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 701 may include high-speed random access memory and may also include non-volatile memory.

[0128] This disclosure provides an angle adjustment device, including: a device body, and the aforementioned device 70 for adjusting the angle of an intravenous puncture needle. The device 70 for adjusting the angle of the intravenous puncture needle is mounted on the device body. The mounting relationship described herein is not limited to placement inside the device body, but also includes mounting connections with other components of the angle adjustment device, including but not limited to physical connections, electrical connections, or signal transmission connections. Those skilled in the art will understand that the device 70 for adjusting the angle of the intravenous puncture needle can be adapted to feasible angle adjustment device bodies, thereby realizing other feasible embodiments.

[0129] This disclosure provides a computer-readable storage medium storing computer-executable instructions configured to perform the above-described method for adjusting the angle of a venous puncture needle.

[0130] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0131] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0132] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0133] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0134] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A method for adjusting the angle of a venous puncture needle, characterized in that, include: Images of the intravenous puncture needle are obtained by taking pictures with a camera; Determine the position of the needle tip based on the image of the intravenous puncture needle; Based on the distance rule corresponding to the position of the needle tip, the first current deflection angle of the venipuncture needle relative to the camera lens is obtained; The angle of the venipuncture needle is adjusted according to the first current deflection angle to achieve the straightening operation of the venipuncture needle; Based on the distance rule corresponding to the position of the needle tip, the first current deflection angle of the venipuncture needle relative to the camera lens is obtained, including: The arc-shaped characteristics of the venipuncture needle are determined; wherein, when the front of the venipuncture needle is at a certain angle to the camera lens plane, the arc shape can be obtained from the venipuncture needle image; when the angle between the front of the venipuncture needle and the camera lens plane exceeds the above angle, the arc shape cannot be obtained from the venipuncture needle image. In the case where the arc feature indicates the existence of an arc, the horizontal line at the bottom of the venous puncture needle is determined as the first reference horizontal line, and the projection of the needle tip position onto the first reference horizontal line is determined as the first reference point. The first deflection angle is obtained based on the first reference point and the distance difference rule; If the first deflection angle is located within the first angle threshold range or within the second angle threshold range, the first deflection angle is determined as the first current deflection angle. After determining the arc-shaped features of the intravenous puncture needle, if the arc-shaped features indicate that there is no arc, the horizontal line passing through the apex of the puncture is determined as the second reference horizontal line, and the projection of the needle tip apex onto the second reference horizontal line is determined as the second reference point. The first current deflection angle is obtained based on the second reference point and the distance and value rules.

2. The method according to claim 1, characterized in that, Based on the first reference point and the distance difference rule, the first deflection angle is obtained, including: Obtain the first distance between the first reference point and the left contour edge of the venous puncture needle, and the second distance between the first reference point and the right contour edge of the venous puncture needle; The distance difference is obtained based on the first distance and the second distance; Based on the correspondence between the distance difference and the deflection angle, the first deflection angle corresponding to the distance difference is obtained.

3. The method according to claim 1, characterized in that, After obtaining the first deflection angle based on the first reference point and the distance difference rule, the process also includes: When the first deflection angle is outside the first angle threshold range and the first deflection angle is outside the second angle threshold range, the horizontal line passing through the puncture vertex position is determined as the second reference horizontal line, and the projection of the needle tip vertex position onto the second reference horizontal line is determined as the second reference point. The first current deflection angle is obtained based on the second reference point and the distance and value rules.

4. The method according to claim 1 or 3, characterized in that, Based on the second reference point and the distance sum rule, the first current deflection angle is obtained, including: Obtain the third distance between the second reference point and the left contour edge of the venous puncture needle, and the fourth distance between the second reference point and the right contour edge of the venous puncture needle; Based on the third and fourth distances, obtain the distance and value; Based on the correspondence between the distance sum and the deflection angle, the first current deflection angle corresponding to the distance sum is obtained.

5. The method according to claim 4, characterized in that, Based on the correspondence between the distance sum and the deflection angle, the first current deflection angle corresponding to the distance sum is obtained, including: Based on the correspondence between the sum of distances and deflection angles, the second deflection angle corresponding to the sum of distances is obtained; If there are two second deflection angles and the first angle is identified, the minimum value of the second deflection angle is selected as the first current deflection angle; or, If the second deflection angle is one, the second deflection angle is taken as the first current deflection angle.

6. The method according to claim 5, characterized in that, In the case where there are two second deflection angles and the first angle is identified, the following is also included: After adjusting the angle of the venipuncture needle according to the first current deflection angle to achieve the alignment of the venipuncture needle, the second forward deflection angle of the venipuncture needle relative to the camera is obtained again. If the second current deflection angle is outside the third angle threshold range, the difference between the maximum and minimum values ​​of the second deflection angle under the first angle identification is determined as the third current deflection angle; Continue to adjust the angle of the venipuncture needle according to the new third current deflection angle until the third current deflection angle is within the third angle threshold range.

7. A device for adjusting the angle of an intravenous puncture needle, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to, when running the program instructions, perform the method for adjusting the angle of a venous puncture needle as described in any one of claims 1 to 6.

8. An angle adjustment device, characterized in that, include: Equipment body; The device for adjusting the angle of a venipuncture needle as described in claim 7 is installed on the device body.

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