Robotic arm control system and equipment

Abstract

The present disclosure relates to a robot arm control system and equipment. The robot arm control system includes: a force data acquisition module, which is used to acquire real-time force data; wherein the force data is data characterizing the force of the puncture tool carried by the robot arm; a condition construction module, which is used to construct a blood vessel puncture condition according to the first data segment if there is a first data segment in the force data that meets the skin puncture condition; wherein the skin puncture condition is pre-set; a prompt module, which is used to generate blood vessel prompt information if there is a second data segment in the force data that is after the first data segment and meets the blood vessel puncture condition. Thus, during the puncture process, based on the skin puncture that has occurred, the judgment criteria for subsequent blood vessel puncture are dynamically adjusted, thereby improving the accuracy of subsequent judgments on whether blood vessel puncture has occurred, realizing automated judgments on whether blood vessel puncture has occurred, and reducing the possibility of injury caused by mistaken blood vessel puncture.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to a robotic arm control system and equipment. Background Art

[0002] During the injection process, if the needle is inserted into an artery by mistake, there is a risk of injecting large molecules and other drugs into the artery, causing injury.

[0003] In the related art, whether the needle has pierced into the artery is judged based on manual experience. However, this method requires high manual experience and there is still a possibility of mistakenly piercing the artery and causing injury. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a robotic arm control system and equipment.

[0005] In a first aspect, the present disclosure provides a robotic arm control system, the robotic arm control system comprising:

[0006] A force data acquisition module, used to acquire real-time force data; wherein the force data is data characterizing the force applied to the puncture tool carried by the robotic arm;

[0007] a condition building module, configured to build a blood vessel puncture condition according to a first data segment satisfying a skin puncture condition if the force data contains a first data segment satisfying a skin puncture condition; wherein the skin puncture condition is preset;

[0008] The prompt module is used to generate blood vessel prompt information if there is a second data segment in the force data that is later in time sequence than the first data segment and satisfies the blood vessel puncture condition.

[0009] In a second aspect, an embodiment of the present disclosure further provides an electronic device, which includes the robotic arm control system provided in the first aspect.

[0010] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0011] A robotic arm control system according to an embodiment of the present disclosure includes: a force data acquisition module for acquiring real-time force data; wherein the force data is data characterizing the force of the puncture tool carried by the robotic arm; a condition construction module for constructing a blood vessel puncture condition according to the first data segment if there is a first data segment in the force data that satisfies the skin puncture condition; wherein the skin puncture condition is pre-set; and a prompt module for generating blood vessel prompt information if there is a second data segment in the force data that is after the first data segment and satisfies the blood vessel puncture condition. Thus, after the condition construction module determines that there is a first data segment in the real-time force data that satisfies the pre-set skin puncture condition, the blood vessel puncture condition is constructed based on the first data segment, and the prompt module performs a corresponding prompt when the second data segment subsequent to the force data satisfies the blood vessel puncture condition, so that during the puncture process, based on the skin puncture that has occurred, the judgment standard for subsequent blood vessel puncture is dynamically adjusted, thereby improving the accuracy of subsequent judgment on whether blood vessel puncture occurs, realizing automatic judgment on whether blood vessel puncture occurs, and reducing the possibility of injury caused by mistaken blood vessel puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0014] Figure 1 A schematic diagram of the structure of a robotic arm control system provided by an embodiment of the present disclosure;

[0015] Figure 2 A schematic diagram of a first data segment provided by an embodiment of the present disclosure;

[0016] Figure 3 A schematic diagram of the structure of another robotic arm control system provided by an embodiment of the present disclosure;

[0017] Figure 4 A schematic diagram of the structure of another robotic arm control system provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0019] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0020] During the injection process, it is necessary to manually determine whether the needle has entered the artery by feel. If the needle has entered the artery by mistake, there is a risk of injecting large molecule drugs into the artery, causing blindness and other injuries.

[0021] In the related art, it is necessary to manually practice repeatedly and judge whether the needle has entered the artery based on manual experience. However, this method requires high manual experience, and there is still the possibility of mistakenly piercing the artery and causing injury, and it is impossible to distinguish the stage of injection.

[0022] In order to solve at least one of the above technical problems, the following describes a robotic arm control system provided by an embodiment of the present disclosure. In an embodiment of the present disclosure, the robotic arm control system may be disposed in an electronic device. The electronic device may be a controller of the robotic arm.

[0023] Figure 1 FIG. 1 is a schematic diagram showing the structure of a robotic arm control system provided by an embodiment of the present disclosure. Figure 1 As shown, the robot arm control system may include a force data acquisition module 101 , a condition construction module 102 , and a prompt module 103 .

[0024] The force data acquisition module 101 is used to acquire real-time force data; wherein the force data is data representing the force applied to the puncture tool carried by the robotic arm.

[0025] Among them, the robotic arm can be a robotic arm that assists the puncture and injection process. The movement forms of the robotic arm are various and are not limited in this embodiment. For example, the robotic arm can be automatically fed according to a pre-set motion trajectory, or the robotic arm can be manually dragged to achieve feeding. The puncture tool can be a tool for achieving puncture. This embodiment does not limit the puncture tool, for example, the puncture tool can be a syringe. The force data can characterize the force of the puncture tool in the puncture direction, and the number of the force data can be multiple. The puncture direction can be the direction in which the puncture tool punctures into the object to be punctured. The force data can be data collected by a force sensor set for the puncture tool.

[0026] In the disclosed embodiment, the robotic arm carries the puncture tool at a preset needle insertion speed to approach the object to be punctured. The preset needle insertion speed may be a speed determined according to clinical data, and the object to be punctured may be an object to be punctured, which may include a model with skin, blood vessels, and the like. This embodiment does not limit the object to be punctured. After the puncture tool comes into contact with the object to be punctured, the object to be punctured applies resistance to the puncture tool, and the force sensor corresponding to the puncture tool records the force in real time, generates real-time force data, and sends the real-time force data to the force data acquisition module in real time. The force data acquisition module acquires the real-time force data.

[0027] Optionally, after acquiring the force data, the force data acquisition module may use a pre-set filter to filter the force data to obtain the filtered force data. This embodiment does not limit the filter, for example, the filter may be a Butterworth filter. Thus, the noise in the force data is removed while retaining the data jump characteristics in the force data.

[0028] The condition building module 102 is used to build a blood vessel puncture condition according to the first data segment if there is a first data segment satisfying the skin puncture condition in the force data; wherein the skin puncture condition is preset.

[0029] Among them, the skin puncture condition can be a pre-set condition for determining whether skin puncture occurs, and the skin puncture condition can be determined based on the historical skin puncture data of the object to be punctured, and the skin puncture condition can correspond to the type of part to which the object to be punctured belongs. The first data segment can be a continuous data segment in the force data that meets the skin puncture condition. The blood vessel puncture condition can be a condition dynamically set according to the skin puncture that has occurred to determine whether arterial blood vessel puncture has occurred. It can be understood that since both the skin and the artery have good elasticity, the force applied to the puncture tool during the process of puncturing the skin and puncturing the artery has certain similarities in trend characteristics, and thus the blood vessel puncture condition can be constructed based on the skin puncture that has occurred.

[0030] In the disclosed embodiment, the condition construction module can intercept the latest force data in the force data in real time, and determine whether the force data meets the skin puncture condition. If the force data does not meet the skin puncture condition, it means that skin puncture has not occurred at present, and then continue to intercept a new force data and return to re-judge. If the force data meets the skin puncture condition, it means that skin puncture has occurred at present, then the force data is determined as the first data segment, and the blood vessel puncture condition is dynamically constructed according to the characteristics of the data in the first data segment, and then it is subsequently determined whether blood vessel puncture occurs after skin puncture occurs according to the blood vessel puncture condition.

[0031] In some embodiments of the present disclosure, there is a first data segment in the force data that satisfies the skin puncture condition, including:

[0032] The force data is intercepted through a preset data window to obtain a first window segment; if the first average value of the first window segment is within the preset mean value interval, and the first peak eigenvalue corresponding to the first window segment is within the preset eigenvalue interval, it is determined that the first data segment meets the skin puncture condition, and the first window segment is determined as the first data segment.

[0033] The preset data window may be a sliding window that is preset to slide along the force data update direction for sampling. The size of the preset data window is not limited in this embodiment, for example, it may be 2N, where N is a positive integer. The first window segment may be a data segment in the force data intercepted by the preset data window. The first average value may be the average value of the data in the first window segment. The preset mean interval may be the range where the average values ​​of the data segments that meet the skin puncture conditions are located, and this embodiment does not limit the specific range of the preset mean interval. The preset mean interval may be determined based on the historical average value data in the historical skin puncture data of the object to be punctured. For example, if the historical average value data is Then the preset mean interval can be Wherein, 2δ' may be the interval length of the preset mean value interval.

[0034] The first peak characteristic value may be a value characterizing the characteristics of the peak value in the first window segment in one or more dimensions. The preset characteristic value interval may be a range where the peak characteristic value of the data segment that meets the skin puncture condition is located, and the preset characteristic value interval may correspond to the first peak characteristic value one by one. This embodiment does not limit the specific range of the preset characteristic value interval.

[0035] In this embodiment, the condition building module can use a preset data window to sample the real-time updated force data in real time to obtain a first window segment. Further, the average value of the data in the first window segment is calculated to obtain a first average value. It is determined whether the first average value is within the preset average value interval in the skin puncture condition. For example, if the preset average value interval is Φ F , then determine whether the first average value is in Φ F Inside.

[0036] If yes, the maximum value in the first window segment is determined as the first peak value, and the characteristic value calculation is performed on the first peak value based on the first window segment to obtain the first peak characteristic value. It is determined whether the first peak characteristic value is within the preset characteristic value interval in the skin puncture condition. If yes, it means that the first window segment meets the skin puncture condition, and the first window segment is determined as the first data segment. Figure 2A schematic diagram of a first data segment provided by an embodiment of the present disclosure. There is a peak in the first data segment, and the amount of data in the first data segment is consistent with the size of the preset data window, which is 2N.

[0037] In some embodiments of the present disclosure, the first peak characteristic value includes: at least one of: a first peak derivative, a first peak change value, and a first peak change rate. Among them, the maximum value in the first window segment is the first peak. The first peak derivative can be the change rate of the first window segment at the first peak. The first peak change value can be the difference between the endpoint data at both ends of the first window segment and the first peak, and the endpoint data can be the data located at the beginning and the end of multiple continuous data. The first peak change rate can characterize the speed of change of the two endpoint data to the first peak in the first window segment.

[0038] The first peak eigenvalue corresponding to the first window segment is within a preset eigenvalue interval, including at least one of the following:

[0039] Optionally, the first peak characteristic value corresponding to the first window segment is within a preset characteristic value interval, including: determining the maximum value in the first window segment as the first peak value, determining the derivative of the first peak value as the first peak derivative, and the first peak derivative is within a preset derivative interval. The preset derivative interval may be a range pre-set for the first peak derivative in the skin puncture condition, and this embodiment does not limit the specific range of the preset derivative interval, for example, the preset derivative interval may be an interval near 0.

[0040] In this embodiment, the condition building module can determine the maximum value in the first window segment as the first peak value, and calculate the derivative of the first peak value by a preset derivative algorithm to obtain the first peak derivative. It is determined whether the first peak derivative is within the preset derivative interval in the skin puncture condition. If so, it means that in the dimension of the peak derivative, the first peak characteristic value is within the preset characteristic value interval.

[0041] The derivative algorithm can be set according to user needs, etc., and this embodiment does not impose any restrictions. For example, a unit step size is pre-set, and two values ​​on the left and right sides of the first window segment whose distance from the first peak is an integer multiple of the unit step size are determined, and the difference between the two values ​​is used as the first peak derivative. For example, if the unit step size is h, the two values ​​in the first window segment whose distance from the first peak is the unit step size are F(h) and F(-h), and the two values ​​in the first window segment whose distance from the first peak is twice the unit step size are F(2h) and F(-2h), then the first peak derivative includes F(h)-F(-h), F(2h)-F(-2h), and so on, until one of the left and right sides reaches the endpoint data of the first window segment.

[0042] Optionally, the first peak characteristic value corresponding to the first window segment is within a preset characteristic value interval, including: determining the difference between the first peak value and two endpoint data in the first window segment, respectively, to obtain two first peak change values, both of which are within a preset change interval. The preset change interval may be a preset range for the first peak change value in the skin puncture condition, and this embodiment does not limit the specific range of the preset change interval.

[0043] In this embodiment, the condition building module can perform difference calculations between the first peak value and the two endpoint data in the first window segment to obtain the first peak change values ​​corresponding to the two endpoint data. It is determined whether the two first peak change values ​​are within the preset change interval in the skin puncture condition. If so, it means that in the dimension of the peak change value, the first peak characteristic value is within the preset characteristic value interval.

[0044] For example, the number of preset change intervals may be one or two. If the number of preset change intervals is two, the preset change intervals may correspond to two endpoints of the first window segment. ΔF For example, if the endpoint data of the left endpoint is A, the first peak value is B, and the endpoint data of the right endpoint is C, then the first peak change value corresponding to the left endpoint is ΔF - , ΔF - =BA, the first peak change value corresponding to the right end point is ΔF + , ΔF + =BC. If ΔF - In Φ ΔF Within, and ΔF + In Φ ΔF If the two first peak change values ​​are both within the preset change interval, it is determined that the two first peak change values ​​are within the preset change interval.

[0045] Optionally, the first peak characteristic value corresponding to the first window segment is within a preset characteristic value interval, including: determining the length of the change interval corresponding to the two first peak change values, dividing the two first peak change values ​​by the corresponding change interval length, and obtaining two first peak change rates, both of which are within a preset change rate interval. The preset change rate interval may be a pre-set range for the first peak change rate in the skin puncture condition, and this embodiment does not limit the specific range of the preset change rate interval.

[0046] In this embodiment, the condition construction module can perform difference calculation between the first peak value and the two endpoint data in the first window segment, obtain the first peak change value corresponding to each of the two endpoint data, and calculate the amount of data between the first peak value and the two endpoint data to obtain the length of the change interval corresponding to each of the two endpoint data. For each endpoint data, the first peak change value corresponding to the endpoint data is divided by the length of the change interval corresponding to the endpoint data to obtain the first peak change rate corresponding to the endpoint data. It is determined whether the two first peak change rates are within the preset change rate interval in the skin puncture condition. If so, it means that in the dimension of the peak change rate, the first peak characteristic value is within the preset characteristic value interval.

[0047] For example, the number of preset change intervals may be one or two. If the number of preset change intervals is two, the preset change intervals may correspond to the two endpoints of the first window segment. For example, the preset change rate interval corresponding to the left endpoint of the first window segment may be Φ k- , the preset change rate interval corresponding to the right endpoint can be Φ k+ Assume that the endpoint data of the left endpoint is A, the first peak is B, the endpoint data of the right endpoint is C, the length of the change interval between the left endpoint and the first peak is NA, and the length of the change interval between the right endpoint and the first peak is NC. Then the change rate of the first peak corresponding to the left endpoint is k - , k - =(BA) / NA, the first peak change rate corresponding to the right end point is k + , k + =(BC) / NC. If k - In Φ k- Inside, and k + In Φ k+ If the two first peak change rates are within the preset change rate interval, it is determined that both first peak change rates are within the preset change rate interval.

[0048] In the above scheme, based on one or more dimensions of peak derivative, peak change value, and peak change rate, the conditions that the first peak characteristic value needs to meet within the preset characteristic value range are explained, which provides sufficient basis for whether there is a first data segment in the force data that meets the skin puncture conditions.

[0049] In some embodiments of the present disclosure, constructing a blood vessel puncture condition according to the first data segment includes:

[0050] Determine the segment average value and the segment peak eigenvalue corresponding to the first data segment; construct a dynamic mean interval according to the segment average value and the length of the average value interval, and construct a dynamic eigenvalue interval according to the segment peak eigenvalue and the length of the eigenvalue interval; establish a vascular puncture condition according to the dynamic mean interval and the dynamic eigenvalue interval.

[0051] The segment average value may be the average value of the data in the first data segment. The segment peak characteristic value may characterize the numerical value of the characteristics of the peak value in the first data segment in one or more dimensions. The segment peak characteristic value may correspond to the first peak characteristic value one-to-one. The average value interval length may be the length of a preset dynamic average value interval. The characteristic value interval length may be the length of a preset dynamic characteristic value interval. The dynamic characteristic value interval may include one or more of a dynamic derivative interval, a dynamic change interval, and a dynamic change rate interval.

[0052] In this embodiment, if the first window segment is determined to be the first data segment, the first average value of the first window segment is determined as the segment average value of the first data segment, the segment average value is used as the middle value of the dynamic average interval, and the length of the average interval is used as the length of the dynamic average interval to establish the dynamic average interval. For example, if the segment average value is The length of the mean value interval is 2δ1, so the dynamic mean interval can be

[0053] Furthermore, the first peak eigenvalue of the first window segment is determined as the segment peak eigenvalue of the first data segment, the segment peak eigenvalue is used as the middle value of the dynamic eigenvalue interval, the eigenvalue interval length is used as the length of the dynamic eigenvalue interval, and the dynamic eigenvalue interval is established. Further, the vascular puncture condition is set such that the average value must be within the dynamic mean value interval, and the peak eigenvalue must be within the dynamic eigenvalue interval.

[0054] In the above scheme, the vascular puncture conditions for subsequent judgment of whether vascular puncture occurs are dynamically constructed according to the actual force conditions of the puncture tool during the vascular puncture process, so that the vascular puncture conditions are more in line with the physical characteristics of the subject to be punctured, thereby improving the accuracy of whether vascular puncture occurs in subsequent segments.

[0055] In some embodiments of the present disclosure, the segment peak characteristic value includes: at least one of: segment peak derivative, segment peak change value, and segment peak change rate. Among them, the maximum value in the first data segment is the segment peak. The segment peak derivative can be the change rate of the first data segment at the segment peak. The segment peak change value can be the difference between the endpoint data at both ends of the first data segment and the segment peak, and the endpoint data can include the first data and the last data in the first data segment. The segment peak change rate can characterize the speed of data change from the two endpoint data to the segment peak in the first data segment.

[0056] A dynamic eigenvalue interval is constructed according to the segment peak eigenvalue and the eigenvalue interval length, including at least one of the following:

[0057] Optionally, constructing a dynamic characteristic value interval according to the segment peak characteristic value and the characteristic value interval length includes: constructing a dynamic derivative interval according to the segment peak derivative and the derivative interval length. The derivative interval length may be a pre-set length of the dynamic derivative interval. The dynamic derivative interval may be a value range of a corresponding peak derivative in the case of a blood vessel puncture, which is expected to occur based on the peak derivative determined during the skin puncture process.

[0058] In this embodiment, if the first window fragment is determined to be the first data fragment, the first peak derivative of the first window fragment is determined as the fragment peak derivative of the first data fragment, and the fragment peak derivative is used as the middle value of the dynamic derivative interval, and the length of the characteristic value interval is used as the length of the dynamic derivative interval to establish the dynamic derivative interval.

[0059] Optionally, constructing a dynamic characteristic value interval according to the segment peak characteristic value and the characteristic value interval length includes: constructing a dynamic change interval according to the segment peak change value and the change value interval length. The change value interval length may be a pre-set length of the dynamic change interval. The dynamic change interval may be a value range of the peak change value in the case of a blood vessel puncture, which is expected based on the peak change value determined during the skin puncture process that has occurred.

[0060] In this embodiment, if the first window fragment is determined to be the first data fragment, the first peak change value of the first window fragment is determined as the fragment peak change value of the first data fragment, and the fragment peak change value is used as the middle value of the dynamic change interval, and the length of the change value interval is used as the length of the dynamic change interval to obtain the dynamic change interval.

[0061] For example, if the segment peak change values ​​corresponding to the two end points of the first window segment are ΔF - and ΔF + , and the length of the change value interval is 2δ2, then the dynamic change interval includes [ΔF - -δ2,ΔF - +δ2], [ΔF + -δ2,ΔF + +δ2].

[0062] Optionally, constructing a dynamic characteristic value interval according to the segment peak characteristic value and the characteristic value interval length includes: constructing a dynamic change rate interval according to the segment peak change rate and the change rate interval length. The change rate interval length may be a pre-set length of the dynamic change rate interval. The dynamic change rate interval may be a value range of the peak change rate in the case of a blood vessel puncture, which is expected based on the peak change rate determined during the skin puncture process that has occurred.

[0063] In this embodiment, if the first window fragment is determined to be the first data fragment, the first peak change rate of the first window fragment is determined as the fragment peak change rate of the first data fragment, and the fragment peak change rate is used as the middle value of the dynamic change rate interval, and the length of the change rate interval is used as the length of the dynamic change rate interval to establish a dynamic change rate interval.

[0064] For example, if the segment peak change rates corresponding to the two endpoints of the first window segment are k - and k + , and the length of the change rate interval is 2δ3, then the dynamic change rate interval includes [k - -δ3,k - +δ3], [k + -δ3,k + +δ3].

[0065] The prompt module 103 is configured to generate blood vessel prompt information if there is a second data segment in the force data that is later in time sequence than the first data segment and satisfies the blood vessel puncture condition.

[0066] The second data segment may be a continuous data segment in the force data that is after the first data segment and satisfies the vascular puncture condition. The vascular prompt information may be information for prompting the occurrence of vascular puncture, and the vascular puncture may be arterial puncture. This embodiment does not limit the type of the vascular prompt information, for example, the vascular prompt information may be voice prompt information, alarm prompt information, etc.

[0067] In the disclosed embodiment, the blood vessel puncture condition is dynamically determined according to the first data segment collected during the process of the puncture tool puncturing the skin, and after the puncture tool punctures the skin, the mechanical arm continues to carry the puncture tool for puncture, and when the puncture object applies resistance to the puncture tool, the force sensor of the puncture tool records the force in real time, and continues to generate real-time updated force data, and the prompt module determines whether there is a second data segment that meets the blood vessel puncture condition in the force data generated after the first data segment, and if so, generates blood vessel prompt information. After receiving the blood vessel prompt information, the user performs corresponding operations according to his own needs.

[0068] In some embodiments of the present disclosure, the prompt module is used to:

[0069] A second window segment is obtained by intercepting part of the force data after the first data segment through a preset data window; if the second average value of the second window segment is within the dynamic mean value interval, and the second peak eigenvalue corresponding to the second window segment is within the dynamic eigenvalue interval, it is determined that the second window segment meets the vascular puncture conditions, the second window segment is determined as the second data segment, and vascular prompt information is generated.

[0070] The second window segment may be a data segment whose timing is after the first data segment in the force data intercepted by the preset data window. The second average value may be the average value of the data in the second window segment. The second peak characteristic value may be a value characterizing the characteristics of the peak value in the second window segment in one or more dimensions.

[0071] In this embodiment, after determining that there is a first data segment representing the punctured skin in the force data, the prompt module can use a preset data window to sample the real-time updated force data in real time to obtain a second window segment. Further, the average value of the data in the second window segment is calculated to obtain a second average value. It is determined whether the second average value is within the dynamic mean value interval of the blood vessel puncture condition. For example, it is determined whether the second average value is within Inside.

[0072] If so, the maximum value in the second window segment is determined as the second peak value, and the characteristic value calculation is performed on the second peak value based on the second window segment to obtain the second peak characteristic value. It is determined whether the second peak characteristic value is within the dynamic characteristic value interval in the vascular puncture condition. If so, it means that the second window segment meets the vascular puncture condition, and the second window segment is determined as the second data segment. In addition, the vascular prompt information is generated.

[0073] In some embodiments of the present disclosure, the second peak characteristic value includes at least one of: a second peak value, a second peak derivative, a second peak change value, and a second peak change rate. The maximum value within the second window segment is the second peak value. The second peak derivative can be the change rate of the second window segment at the second peak value. The second peak change value can be the difference between the endpoint data at both ends of the second window segment and the second peak value. The second peak change rate can characterize the speed of change of the two endpoint data to the second peak value within the second window segment.

[0074] Accordingly, the second peak eigenvalue corresponding to the second window segment is within the dynamic eigenvalue interval, including at least one of the following:

[0075] Optionally, the second peak eigenvalue corresponding to the second window segment is within a dynamic eigenvalue interval, including: determining the maximum value in the second window segment as the second peak, determining the derivative of the second peak as the second peak derivative, and the second peak derivative is within the dynamic derivative interval.

[0076] In this embodiment, the prompt module can determine the maximum value in the second window segment as the second peak value, and calculate the derivative of the second peak value by a preset derivative algorithm to obtain the second peak derivative. It is determined whether the second peak derivative is within the dynamic derivative interval in the vascular puncture condition. If so, it means that in the dimension of the peak derivative, the second peak characteristic value is within the dynamic characteristic value interval.

[0077] Optionally, the second peak eigenvalue corresponding to the second window segment is within the dynamic eigenvalue interval, including: determining the difference between the second peak value and two endpoint data in the second window segment, obtaining two second peak change values, and both second peak change values ​​are within the dynamic change interval.

[0078] In this embodiment, the prompt module can perform difference calculation between the second peak value and the two endpoint data in the second window segment to obtain the second peak change value corresponding to the two endpoint data. It is determined whether the two second peak change values ​​are within the dynamic change interval of the vascular puncture condition. If so, it means that in the dimension of the peak change value, the second peak characteristic value is within the preset characteristic value interval. For example, it is determined whether the second peak change values ​​corresponding to the two endpoints of the second window segment are respectively within [ΔF - -δ2,ΔF - +δ2], [ΔF + -δ2,ΔF + +δ2].

[0079] Optionally, the second peak eigenvalue corresponding to the second window segment is within the dynamic eigenvalue interval, including: determining the change interval length corresponding to the two second peak change values, dividing the two second peak change values ​​by the corresponding change interval length to obtain two second peak change rates, and the two second peak change rates are both within the dynamic change rate interval.

[0080] In this embodiment, the condition construction module can perform difference calculations between the second peak value and the two endpoint data in the second window segment, obtain the second peak change value corresponding to each of the two endpoint data, and calculate the amount of data between the second peak value and the two endpoint data to obtain the length of the change interval corresponding to the two endpoint data. For each endpoint stretch, divide the second peak change value corresponding to the endpoint data by the length of the change interval corresponding to the endpoint data to obtain the second peak change rate corresponding to the endpoint data. Determine whether the two second peak change rates are within the dynamic change rate interval in the skin puncture condition. If so, it means that in the dimension of peak change rate, the second peak characteristic value is within the dynamic characteristic value interval. For example, determine whether the second peak change rates corresponding to the two endpoints of the second window segment are respectively in [k - -δ3,k - +δ3], [k + -δ3,k + +δ3].

[0081] In the above scheme, based on one or more dimensions of peak derivative, peak change value, and peak change rate, the conditions that the second peak eigenvalue needs to meet within the dynamic eigenvalue interval are explained, providing sufficient basis for whether there is a second data segment in the force data that meets the vascular puncture conditions.

[0082] A robotic arm control system according to an embodiment of the present disclosure includes: a force data acquisition module for acquiring real-time force data; wherein the force data is data characterizing the force of the puncture tool carried by the robotic arm; a condition construction module for constructing a blood vessel puncture condition according to the first data segment if there is a first data segment in the force data that satisfies the skin puncture condition; wherein the skin puncture condition is pre-set; and a prompt module for generating blood vessel prompt information if there is a second data segment in the force data that is after the first data segment and satisfies the blood vessel puncture condition. Thus, after the condition construction module determines that there is a first data segment in the real-time force data that satisfies the pre-set skin puncture condition, the blood vessel puncture condition is constructed based on the first data segment, and the prompt module performs a corresponding prompt when the second data segment subsequent to the force data satisfies the blood vessel puncture condition, so that during the puncture process, based on the skin puncture that has occurred, the judgment standard for subsequent blood vessel puncture is dynamically adjusted, thereby improving the accuracy of subsequent judgment on whether blood vessel puncture occurs, realizing automatic judgment on whether blood vessel puncture occurs, and reducing the possibility of injury caused by mistaken blood vessel puncture.

[0083] In addition, through the conditional construction module, the skin puncture during the injection process is identified according to the pre-set skin puncture conditions. Through the prompt module, the dynamic generated blood vessel puncture conditions are used to identify whether the blood vessel puncture occurs during the injection process, thereby realizing the distinction between different stages of the injection.

[0084] Figure 3 A schematic diagram of the structure of another robotic arm control system provided by an embodiment of the present disclosure, such as Figure 3 As shown, in some embodiments of the present disclosure, the robotic arm control system also includes an image acquisition module 104 and a return instruction module 105.

[0085] The image acquisition module 104 is used to control the robotic arm to remain stationary for a preset time when the robotic arm carrying the puncture tool arrives at the injection position, and to acquire an image of the container part of the puncture tool within the preset time to obtain a container image.

[0086] The injection position may be the position of the puncture tool when performing the injection. The injection position may be pre-calibrated or may be reached by manually dragging the robotic arm. The preset duration may be a preset static duration after the puncture tool reaches the injection position, and this embodiment does not limit the preset duration. For example, the preset duration may be a value between 4 seconds and 5 seconds. The container portion may be a portion of the puncture tool used to carry liquid. If the puncture tool is a needle tube, the container portion may be a syringe. The container image may be an image of the container portion.

[0087] In this embodiment, after the robot arm carries the puncture tool and completes the puncture of the object to be punctured and reaches the injection position, the image acquisition module sends a retraction instruction and a waiting instruction to the robot arm, so that the robot arm retracts the puncture tool and waits for a preset time after the retraction operation is completed. During the preset time, the image acquisition module is used to capture the image of the container part of the puncture tool through the visual sensor configured to obtain the container image.

[0088] The return instruction module 105 is used to send a return instruction to the robot arm if the number of red pixels in the container image is greater than a preset number threshold.

[0089] The red pixel may be a pixel whose pixel value is within a preset red pixel value range. The preset number threshold may be set according to user needs, etc., and is not limited in this embodiment. The retraction instruction may be an instruction to control the mechanical arm to drive the puncture tool to be extracted from the object to be punctured.

[0090] In this embodiment, the retraction instruction module can perform pixel value analysis on the pixels of the container image to determine the number of red pixels in the container image. It is determined whether the number of pixels is greater than a preset number threshold. If so, it indicates that there is an abnormal phenomenon of blood return, and there is a possibility that the puncture tool has pierced into the artery. Then, a retraction instruction is sent to the robot arm to make the robot arm withdraw from the skin, determine a new injection position, and start a new puncture injection process. If it is not greater than the preset number threshold, it means that blood return has not occurred, and the subsequent injection operation based on the puncture tool can be performed.

[0091] In the above scheme, the device is kept still for a preset time before the injection is performed and the container image of the puncture tool container is used to observe whether there is abnormal blood return. Based on the vascular puncture conditions, it is determined whether the artery is inserted, and double insurance is achieved by judging whether there is blood return. The automatic retraction of the robot arm is also achieved, making the retraction process more stable and reducing the possibility of needle deviation of the puncture tool caused by manual operation.

[0092] Figure 4 A schematic diagram of the structure of another robot arm control system provided in an embodiment of the present disclosure is shown in FIG. Figure 4 As shown, in some embodiments of the present disclosure, the robot arm control system further includes a stop instruction module 106:

[0093] The stop instruction module 106 is used to send a stop instruction to the robot arm if the force data is greater than or equal to a preset bone surface contact threshold.

[0094] The bone surface contact threshold may be the minimum value of the force data representing the case where the puncture tool contacts the bone surface. This embodiment does not limit the bone surface contact threshold. For example, the bone surface contact threshold may be F max .

[0095] In this embodiment, due to the existence of unstable factors such as excessive skin looseness, when the first data segment that meets the skin puncture conditions is not detected, the real-time force data is continuously detected during the whole process of puncture injection. If it is determined that the force data is greater than or equal to the preset bone surface contact threshold, it means that the puncture tool is likely to touch the bone surface. The stop command module sends a stop command to the robot arm to stop the puncture injection process and manually take over the robot arm. Thus, the object to be punctured and the robot arm are effectively protected.

[0096] Optionally, in some embodiments of the present disclosure, historical skin puncture data and historical blood vessel puncture data can be collected for different objects to be punctured and archived. The archive can contain first data segments corresponding to skin punctures of objects to be punctured at different parts and second data segments corresponding to blood vessel punctures. Based on the comparison of the historical first data segment and the current first data segment, it can be determined whether the current skin puncture is safe. Based on the comparison of the historical second data segment and the current second data segment, it can be determined whether the current blood vessel puncture is safe.

[0097] The robotic arm control system provided in the embodiment of the present disclosure determines and identifies key stages of the puncture and injection process, such as puncturing the skin (i.e., skin breaking point), puncturing blood vessels, and touching the bone surface, through force data collected by force sensors and position information of the puncture tool, thereby realizing automatic identification of key stages of the puncture and injection process.

[0098] Automatic needle insertion is achieved through the robotic arm, and force data is collected during the entire process of puncture and injection. Whether skin puncture occurs is determined by extreme value recognition combined with preset skin puncture conditions. According to the force data fragments collected when the skin puncture has occurred, the judgment conditions for blood vessel puncture that has not occurred are dynamically adjusted. Whether blood vessel puncture occurs is determined by extreme value recognition combined with the blood vessel puncture conditions, thereby improving the accuracy of judging whether blood vessel puncture occurs. In addition, before the injection, the blood is withdrawn and kept still for a period of time to determine whether blood return occurs. If so, it means that the possibility of puncturing the blood vessel is high. Before the injection, it is determined again whether the blood vessel is punctured, thereby improving the safety of the injection. In addition, when the skin and blood vessels are not punctured, if the force data is greater than or equal to the bone surface touch threshold, the movement of the robotic arm is still stopped, so that the bone surface touch protection function is still available in the case of skin relaxation, and the safety of the object to be punctured can still be protected.

[0099] An embodiment of the present disclosure provides an electronic device, which includes the robotic arm control system described in any of the above embodiments.

[0100] Through the above description of the implementation methods, the technical personnel in the relevant field can clearly understand that the present disclosure can be implemented with the help of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions to enable a computer cloud platform (which can be a personal computer, server, or network cloud platform, etc.) to implement the robot arm control system provided by each embodiment of the present disclosure.

[0101] Note that the above are only preferred embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A robotic arm control system, characterized in that: include: A force data acquisition module, used to acquire real-time force data; wherein the force data is data characterizing the force applied to the puncture tool carried by the robotic arm; A condition construction module, for constructing a blood vessel puncture condition according to a first data segment if there is a first data segment satisfying the skin puncture condition in the force data; wherein the skin puncture condition is preset, and the construction of the blood vessel puncture condition according to the first data segment includes: determining a segment average value and a segment peak characteristic value corresponding to the first data segment; constructing a dynamic mean value interval according to the segment average value and the average value interval length, and constructing a dynamic characteristic value interval according to the segment peak characteristic value and the characteristic value interval length; wherein the average value interval length is a preset length of the dynamic average value interval, and the characteristic value interval length is a preset length of the dynamic characteristic value interval; establishing the blood vessel puncture condition according to the dynamic mean value interval and the dynamic characteristic value interval; a prompt module, configured to generate blood vessel prompt information if a second data segment having a timing later than the first data segment and satisfying the blood vessel puncture condition exists in the force data; Among them, the prompt module is used to: intercept part of the force data whose timing is after the first data segment through a preset data window to obtain a second window segment; if the second average value of the second window segment is within the dynamic mean value interval, and the second peak eigenvalue corresponding to the second window segment is within the dynamic eigenvalue interval, it is determined that the second window segment meets the blood vessel puncture condition, the second window segment is determined as the second data segment, and the blood vessel prompt information is generated.

2. The robot arm control system according to claim 1, characterized in that: The force data contains a first data segment that satisfies the skin puncture condition, including: intercepting the force data through a preset data window to obtain a first window segment; If the first average value of the first window segment is within the preset average value interval, and the first peak eigenvalue corresponding to the first window segment is within the preset eigenvalue interval, it is determined that the first data segment meets the skin puncture condition, and the first window segment is determined as the first data segment.

3. The robot arm control system according to claim 2, characterized in that: The first peak characteristic value includes: at least one of a first peak derivative, a first peak change value, and a first peak change rate; The first peak eigenvalue corresponding to the first window segment is within a preset eigenvalue interval, including at least one of the following: Determine a maximum value in the first window segment as a first peak value, determine a derivative of the first peak value as the first peak derivative, and the first peak derivative is within a preset derivative interval; Determine the difference between the first peak value and two endpoint data in the first window segment, respectively, to obtain two first peak value change values, both of which are within a preset change range; Determine the length of the change interval corresponding to the two first peak change values, divide the two first peak change values ​​by the corresponding change interval length, and obtain two first peak change rates, and both of the two first peak change rates are within the preset change rate range.

4. The robot arm control system according to claim 1, characterized in that: The segment peak characteristic value includes: at least one of a segment peak derivative, a segment peak change value, and a segment peak change rate; The step of constructing a dynamic eigenvalue interval according to the segment peak eigenvalue and the eigenvalue interval length includes at least one of the following: constructing a dynamic derivative interval according to the segment peak derivative and the derivative interval length; Constructing a dynamic change interval according to the segment peak change value and the change value interval length; A dynamic change rate interval is constructed according to the segment peak change rate and the change rate interval length.

5. The robot arm control system according to claim 1, characterized in that: The second peak characteristic value includes: at least one of a second peak derivative, a second peak change value, and a second peak change rate; The second peak eigenvalue corresponding to the second window segment is within the dynamic eigenvalue interval, including at least one of the following: determining a maximum value in the second window segment as a second peak value, and determining a derivative of the second peak value as the second peak derivative, wherein the second peak derivative is within a dynamic derivative interval; Determine the difference between the second peak value and two endpoint data in the second window segment, respectively, to obtain two second peak value change values, both of which are within the dynamic change interval; Determine the length of the change interval corresponding to the two second peak change values, divide the two second peak change values ​​by the corresponding change interval length, and obtain two second peak change rates, and both of the two second peak change rates are within the dynamic change rate interval.

6. The robot arm control system according to claim 1, characterized in that: The robotic arm control system also includes: An image acquisition module, used for controlling the mechanical arm to be stationary for a preset time period when the mechanical arm carrying the puncture tool arrives at the injection position, and acquiring an image of the container portion of the puncture tool within the preset time period to obtain an image of the container; A return instruction module is used to send a return instruction to the robot arm if the number of red pixels in the container image is greater than a preset number threshold.

7. The robot arm control system according to claim 1, characterized in that: The robotic arm control system also includes: A stop instruction module is used to send a stop instruction to the robotic arm if the force data is greater than or equal to a preset bone surface contact threshold.

8. An electronic device, characterized in that: The electronic device includes the robot arm control system described in any one of claims 1 to 7.

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