Needle searching device for operating room nursing

Abstract

The invention relates to the technical field of medical auxiliary instruments, in particular to operating room nursing needle searching equipment which comprises a moving trolley and a lantern ring, an angle adjusting support is hinged to the top of the moving trolley, and an image collector is hinged to the top of the angle adjusting support; a magnetic suction plate is fixedly connected to one side of the moving vehicle; a positioning chip and a broadcaster are embedded in the lantern ring, and the lantern ring is detachably arranged on the sewing needle in a sleeving mode; a control module, a map construction module, a feature recognition module and a needle searching planning module are arranged in the mobile vehicle; the control module is used for controlling the movement of the mobile vehicle, the angle adjustment of the angle adjustment bracket and the opening and closing of the image collector and the magnetic suction plate; the control module is also used for controlling the positioning chip and the broadcaster to send a positioning signal and a sound wave signal to the feature recognition module; the device is complete in function, and can effectively improve the needle searching efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of medical auxiliary equipment, and in particular to a needle-finding device for operating room nursing. Background Art

[0002] In the operating room, suture needles are an indispensable tool in surgical operations. However, due to the complexity and intensity of the operation, suture needles may be accidentally lost during use. If the suture needles are lost and not found in time, they may remain in the patient's body, leading to surgical complications. This not only increases the patient's pain, but may also affect the surgical effect and the patient's recovery. It can also cause serious medical disputes.

[0003] Existing needle-finding devices generally include a magnetic induction device and a magnetic suction device, which uses electromagnetic induction when the sewing needle falls to locate the sewing needle, and then uses the magnetic suction device to absorb the sewing needle. However, this method has a poor positioning effect. The magnetic induction device is easily affected by other magnetic objects, making its positioning accuracy of the sewing needle low, making the needle-finding process more difficult.

[0004] In summary, how to solve the problem that the positioning effect of the needle-finding device in the prior art is poor, the magnetic induction device is easily affected by other magnetic objects, which makes its positioning accuracy of the suture needle low, and thus makes the needle-finding process more difficult has become a difficult problem that needs to be solved in the current field. Therefore, it is necessary to propose a needle-finding device for operating room nursing that can quickly and accurately locate the drop position of the suture needle. Summary of the invention

[0005] To solve the above problems, the present invention provides a needle finding device for operating room nursing. Through the design of a feature recognition module and a needle finding planning module, it can quickly locate the falling position of the suture needle and plan a reasonable and efficient needle finding route, so as to quickly find the suture needle.

[0006] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: a needle-finding device for operating room nursing, comprising a suture needle, a mobile cart and an elastic ring, the top of the mobile cart is hinged with an angle adjustment bracket, the top of the angle adjustment bracket is hinged with an image collector; a magnetic suction plate is fixedly connected to one side of the mobile cart; a positioning chip and a speaker are respectively embedded and installed on the ring, and specific audio is recorded in the speaker; the ring is detachably mounted on the suture needle.

[0007] The mobile vehicle is equipped with a control module, a map building module, a feature recognition module and a needle-finding planning module.

[0008] The control module is used to control the movement of the mobile vehicle, the angle adjustment of the angle adjustment bracket, and the opening and closing of the image collector and the magnetic suction plate; the control module is also used to control the positioning chip and the broadcaster to send positioning signals and sound wave signals to the feature recognition module.

[0009] The map construction module is used to identify the environmental image in the operating room through the image collector and capture the obstacle image in the operating room, so as to analyze the overall area and structure of the environment, the size and shape of each obstacle and the relative position of each obstacle in the environment, and construct a mobile map of the operating room.

[0010] The feature recognition module is used to receive the positioning signal and specific audio sent by the positioning chip and the broadcaster. The feature recognition module analyzes the position of the sewing needle based on the positioning signal and the specific audio, and transmits the sewing needle position to the needle finding planning module.

[0011] The sound information of the suture needle falling from different heights is recorded in the feature recognition module in advance. When the ring is not put on the suture needle and the needle falls, the feature recognition module will identify the sound waves of the suture needle falling in the operating room, and compare the sound wave information with the recorded sound information. The drop height, direction and range of the suture needle are analyzed based on the sound wave signal combined with the moving map, and the drop height, direction and range of the suture needle are transmitted to the displacement planning module.

[0012] The needle-finding planning module is used to locate the position of the mobile vehicle itself according to the current environment image recognized by the image collector and the mobile map, calculate the distance between the mobile vehicle and each obstacle, plan the needle-finding path according to the position of the needle, and find the needle.

[0013] When the ring is not put on the suture needle, the needle-finding planning module will plan the needle-finding path according to the falling height, direction and range of the suture needle to find the suture needle.

[0014] Furthermore, the map construction module includes a distance detection unit, a direction detection unit and a speed detection unit.

[0015] The distance detection unit is used to measure the distance between the moving vehicle and obstacles, the distance between obstacles and the distance between the edges of the environment. The direction detection unit is used to detect and control the moving direction of the moving vehicle. The speed detection unit is used to detect and control the moving speed of the moving vehicle.

[0016] Furthermore, the feature recognition module includes a sound wave recognition unit and a positioning recognition unit. The sound wave recognition unit is used to recognize specific audio. The positioning recognition unit is used to receive the positioning signal of the positioning chip and analyze the position of the positioning chip.

[0017] Furthermore, the needle-finding planning module includes a visual navigation unit and a laser correction unit. The visual navigation unit uses an image recognizer to identify the surrounding environment of the mobile vehicle, thereby analyzing the relative distance and position of the mobile vehicle to the surrounding obstacles and the relative distance and position to the edge of the environment, and planning the moving route of the mobile vehicle. The laser correction unit uses a laser radar to emit a laser beam, and measures the time difference and angle change from the emission to the reception of the laser beam, calculates the relative distance and position of the mobile vehicle and the obstacle in front, and plans the shortest moving distance and the fastest moving speed of the mobile vehicle.

[0018] The technical principles of the above scheme are as follows:

[0019] The map construction module constructs a moving map of the operating room based on the environmental images of the operating room recognized by the image collector.

[0020] The ring is clamped on the sewing needle. After the sewing needle falls, the control module will control the positioning chip and the broadcaster on the ring to send positioning signals and sound wave signals to the feature recognition module. After receiving the positioning signals and sound wave signals sent by the positioning chip and the broadcaster, the feature recognition module immediately analyzes the position of the sewing needle and transmits the analyzed sewing needle position to the needle finding planning module. The needle finding planning module will locate the position of the mobile vehicle itself according to the current environmental image recognized by the image collector and the mobile map, calculate the distance between the mobile vehicle and each obstacle and the distance and position relationship between the mobile vehicle and the sewing needle, plan the most efficient needle finding path according to the sewing needle position, and start looking for the sewing needle. After reaching the position where the positioning signal and the sound wave signal are sent, the image collector will further identify the sewing needle position. After identifying the sewing needle, the control module starts the magnetic suction plate to adsorb the sewing needle to complete the needle finding.

[0021] The above scheme has the following beneficial effects:

[0022] 1. Unlike the prior art that uses magnetic induction technology to locate sewing needles, the present invention uses positioning signals and sound wave signals to locate sewing needles through the design of feature recognition modules, which greatly improves the accuracy of sewing needle positioning. Considering that the positioning chip and the speaker are expensive, the cost is high if they are directly installed on the sewing needle, so a ring that engages with the sewing needle is designed, which not only realizes the positioning of the sewing needle by positioning signals and sound wave signals, but also can locate the positioning chip and the speaker.

[0023] 2. The present invention can form a mobile map through the design of the map construction module, so that the mobile vehicle can move unimpeded in the operating room. Combined with the design of the needle-finding planning module, the mobile vehicle can find the suture needle through the shortest path at the fastest speed, effectively improving the needle-finding efficiency.

[0024] 3. The sleeve in the present invention is elastic and can adapt to different sizes of suture needles, making it easy for the sleeve and the suture needle to engage. At the same time, because the sleeve is elastic, when the suture needle falls, the sleeve can protect the suture needle, chip and speaker, reducing the damage caused by the suture needle, chip and speaker. The friction force on the surface of the sleeve is greater than that of the suture needle, and the design of the sleeve slightly increases the volume of the tail of the suture needle, which allows the doctor to hold the suture needle well without affecting the doctor's operation, reducing the situation of the suture needle falling; and when the suture needle falls, it is better to find the suture needle by observing the sleeve than by observing the suture needle.

[0025] Furthermore, the feature recognition module also includes a bandpass filter. The sound wave recognition unit records a specific sound wave frequency range in which a sewing needle has fallen. The bandpass filter only allows sound waves within the specific sound wave frequency range to pass.

[0026] Beneficial effect: The bandpass filter can filter out the sound frequencies outside the specific sound wave frequency range of the sewing needle drop, thereby reducing the recognition amount of the sound wave recognition unit, improving the recognition efficiency and recognition accuracy, and improving the needle search efficiency. The sound wave recognition unit records the specific sound wave frequency range of the sewing needle drop, so that the collected sound waves can be compared with the sound waves of the sewing needle drop, so as to determine the location of the sewing needle drop.

[0027] Furthermore, the method for constructing the moving map adopts an image enhancement algorithm; the steps of the method for constructing the moving map are as follows:

[0028] S1, histogram equalization: grayscale processing of the image collected by the image collector.

[0029] S2, grayscale transformation enhancement: perform linear grayscale transformation on the grayscale processed image.

[0030] S3, image denoising: perform denoising on the image after linear grayscale transformation.

[0031] S4, image sharpening: gradient sharpening is performed on the denoised image.

[0032] S5, extracting image features: extracting image features of environmental edges and obstacles in the gradient sharpened image.

[0033] S6, mobile map construction: Draw a mobile map based on the image features of the environment edges and various obstacles.

[0034] Furthermore, the image features include contour features, color features, and size features of the environment edges and each obstacle.

[0035] Beneficial effects: Image enhancement algorithms can improve the accuracy of image feature extraction, thereby drawing more accurate mobile maps and making the needle-finding process more efficient.

[0036] Furthermore, the magnetic plate is wavy.

[0037] Beneficial effect: The magnetic plate is wavy, which makes it have a larger adsorption area and better adsorbs to the sewing needle.

[0038] Furthermore, a disinfection box is fixedly connected to the top of the mobile vehicle, disinfectant is stored in the disinfection box, and a pump assembly is connected to the side wall of the disinfection box.

[0039] Beneficial effects: Before each operation, when the mobile vehicle is familiar with the operating room environment, the control module will start the pump assembly to disinfect the operating room.

[0040] Furthermore, a plurality of lighting lamps are fixedly connected to the side walls of the mobile vehicle.

[0041] Beneficial effect: During the image acquisition process of the image collector, the controller will start the lighting to illuminate the operating room, thereby improving the clarity of the image acquired by the image collector.

[0042] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is an axonometric diagram of a needle-finding device for operating room nursing in an embodiment of the present invention.

[0044] Figure 2 It is a front view of the needle-finding device for operating room nursing in an embodiment of the present invention.

[0045] Figure 3 It is a top view of the needle-finding device for operating room nursing in an embodiment of the present invention.

[0046] Figure 4 It is an axonometric view of the sleeve in the embodiment of the present invention.

[0047] The figure marks in the drawings of the specification include: 1. mobile vehicle; 2. angle adjustment bracket; 3. image acquisition device; 4. disinfection box; 401. drainage pump; 5. lighting lamp; 6. magnetic plate; 7. ring; 8. speaker. DETAILED DESCRIPTION

[0048] The following is further described in detail through specific implementation methods:

[0049] Embodiment 1:

[0050] As attached Figure 1-Figure 4As shown: a needle-finding device for operating room nursing, including a suture needle, a mobile cart 1 and an elastic ring 7, the top of the mobile cart 1 is hinged with an angle adjustment bracket 2, the angle adjustment bracket 2 in this embodiment is the prior art; the top of the angle adjustment bracket 2 is hinged with an image collector 3; one side of the mobile cart 1 is fixedly connected with a magnetic suction plate 6 by bolts; a positioning chip and a speaker 8 are respectively embedded and installed on the ring 7, and specific audio is recorded in the speaker 8; the ring 7 is detachably mounted on the suture needle.

[0051] The mobile vehicle 1 is equipped with a control module, a map construction module, a feature recognition module and a needle finding planning module, and the control module, the map construction module, the feature recognition module and the needle finding planning module are connected to each other by signals. Among them, the control module is mainly used to control the positioning chip and the broadcaster 8 to send positioning signals and sound wave signals to the feature recognition module; the map construction module is mainly used to build a mobile map; the feature recognition module is mainly used to identify positioning signals and sound wave signals; and the needle finding planning module is mainly used to find sewing needles.

[0052] The specific functions of each module are as follows:

[0053] Among them, the control module is used to control the movement of the mobile vehicle 1, the angle adjustment of the angle adjustment bracket 2, and the opening and closing of the image collector 3 and the magnetic suction plate 6; the control module is also used to control the positioning chip and the broadcaster 8 to send positioning signals and sound wave signals to the feature recognition module.

[0054] like Figure 1-4 As shown, before searching for the needle, the control module will control the mobile vehicle 1 to move to the designated position along the designated route. The control module will change the acquisition direction of the image collector 3 by controlling the angle adjustment bracket 2, thereby performing a more comprehensive acquisition of the environment in the operating room, facilitating the subsequent formation of a more accurate mobile map and improving the efficiency of needle searching.

[0055] like Figure 4 As shown, during the operation, after the ring 7 is engaged with the suture needle, if the suture needle falls off, the control module will control the positioning chip and the speaker 8 on the ring 7 to send a positioning signal and a sound wave signal to the feature recognition module.

[0056] The map construction module is used to identify the environmental image in the operating room through the image collector 3, capture the obstacle image in the operating room, and analyze the overall area and structure of the environment, the size and shape of each obstacle, and the relative position of each obstacle in the environment to construct a mobile map in the operating room.

[0057] The map construction module includes a distance detection unit, a direction detection unit and a speed detection unit. The distance detection unit is used to measure the distance between the mobile vehicle 1 and obstacles, the distance between obstacles and the distance between the edges of the environment. The direction detection unit is used to detect and control the moving direction of the mobile vehicle 1. The speed detection unit is used to detect and control the moving speed of the mobile vehicle 1.

[0058] like Figure 1-3 As shown, for example, when the mobile vehicle 1 moves in the operating room, the speed detection unit controls the moving speed of the mobile vehicle 1 to be 0.1 m / s, and the distance acquisition unit measures that the operating room is 5 meters wide and 10 meters long, the distance between the operating bed and the bedside table is 0.3 m, the height of the operating bed from the ground is 0.5 m, the distance between the operating bed and the left and right walls is 4.5 m, the distance from the front wall is 3.2 m, and the distance from the rear wall is 0 m.

[0059] The feature recognition module is used to receive the positioning signal and specific audio sent by the positioning chip and the broadcaster 8. The feature recognition module analyzes the position of the suture needle based on the positioning signal and the specific audio, and transmits the position of the suture needle to the needle-finding planning module; the sound information of the suture needle falling from different heights is recorded into the feature recognition module in advance. When the ring 7 is not set on the suture needle, the feature recognition module will identify the sound wave of the suture needle falling in the operating room, and compare the sound wave information with the recorded sound information. According to the sound wave signal combined with the moving map, the falling height, direction and range of the suture needle are analyzed, and the falling height, direction and range of the suture needle are transmitted to the displacement planning module.

[0060] The feature recognition module includes a sound wave recognition unit and a positioning recognition unit. The sound wave recognition unit is used to recognize specific audio. The positioning recognition unit is used to receive the positioning signal of the positioning chip and analyze the position of the positioning chip. The feature recognition module also includes a bandpass filter. The sound wave recognition unit records the specific sound wave frequency range where the sewing needle falls, and the bandpass filter only allows sound waves within the specific sound wave frequency range to pass.

[0061] The sound information of the suture needle falling from different heights is recorded in advance into the feature recognition module. When the ring 7 is engaged on the suture needle and the suture needle falls, the control module controls the positioning chip and the speaker 8 on the ring 7 to send a positioning signal and a specific audio to the feature recognition module. The feature recognition module will receive the positioning signal and the specific audio sent by the positioning chip and the speaker 8; at this time, the positioning recognition unit will immediately analyze the position of the suture needle according to the positioning signal, and transmit the analyzed position of the suture needle to the needle finding planning module; if the positioning signal is inaccurate during this process, the sound wave recognition unit will recognize the specific audio emitted by the speaker 8, thereby analyzing the specific position of the suture needle; the positioning signal and the sound wave signal cooperate with each other to effectively avoid the inability to locate the position of the suture needle due to inaccurate signals in either signal.

[0062] When the ring 7 has not yet been engaged with the sewing needle, after the sewing needle falls, the sound wave recognition unit will recognize the specific sound wave of the sewing needle falling, and the bandpass filter only allows the sound waves within the specific sound wave frequency range to pass, thereby reducing the recognition amount of the sound wave recognition unit and improving the recognition efficiency and recognition accuracy. The sound wave recognition unit records the specific sound wave frequency range of the sewing needle falling, so that the collected sound waves can be compared with the sound waves of the sewing needle falling, so as to accurately determine the sound waves belonging to the sewing needle falling, and analyze the height, direction and range of the sewing needle falling.

[0063] The needle-finding planning module is used to locate the position of the mobile vehicle 1 itself according to the current environment image recognized by the image collector 3 in combination with the mobile map, calculate the distance between the mobile vehicle 1 and each obstacle, plan the needle-finding path according to the position of the suture needle, and find the suture needle; when the ring 7 is not set on the suture needle, the needle-finding planning module will plan the needle-finding path according to the falling height, direction and range of the suture needle to find the suture needle.

[0064] The needle-finding planning module includes a visual navigation unit and a laser correction unit. The visual navigation unit uses an image recognizer to identify the surrounding environment of the mobile vehicle 1, thereby analyzing the relative distance and position of the mobile vehicle 1 to the surrounding obstacles and the relative distance and position to the edge of the environment, and planning the moving route of the mobile vehicle 1. The laser correction unit uses a laser radar to emit a laser beam and measures the time difference and angle change from the emission to the reception of the laser beam, thereby calculating the relative distance and position of the mobile vehicle 1 and the obstacles in front, and planning the shortest moving distance and the fastest moving speed of the mobile vehicle 1.

[0065] After the positioning recognition module and the acoustic wave recognition module transmit the analyzed position of the suture needle to the visual navigation unit and the laser correction unit, the visual navigation unit and the laser correction unit will locate the position of the mobile vehicle 1 itself according to the current environment image recognized by the image collector 3 in combination with the mobile map; the visual navigation unit will calculate the distance between the mobile vehicle 1 and each obstacle and the distance and position relationship between the mobile vehicle 1 and the suture needle, plan the most efficient needle-finding path according to the position of the suture needle, and start looking for the suture needle. During the needle-finding process, the laser correction unit will monitor the relative distance and position between the mobile vehicle 1 and the obstacle in front in real time, and further adjust the speed and path of the mobile vehicle 1, so that the mobile vehicle 1 can approach the position of the suture needle with the shortest moving distance and the fastest moving speed.

[0066] After reaching the position where the positioning signal and the sound wave signal are sent, the image collector 3 will further confirm whether the suture needle is at this position. After identifying the suture needle, the control module starts the magnetic suction plate 6 to adsorb the suture needle to complete the needle search.

[0067] Embodiment 2:

[0068] As attached Figure 1-3As shown: Different from the above embodiment, the method for constructing a moving map adopts an image enhancement algorithm; the steps of the method for constructing a moving map are as follows:

[0069] S1, histogram equalization: grayscale processing is performed on the image acquired by the image acquisition device 3.

[0070] S2, grayscale transformation enhancement: perform linear grayscale transformation on the grayscale processed image.

[0071] S3, image denoising: perform denoising on the image after linear grayscale transformation.

[0072] S4, image sharpening: gradient sharpening is performed on the denoised image.

[0073] S5, extracting image features: extracting image features of environmental edges and obstacles in the gradient sharpened image.

[0074] S6, mobile map construction: Draw a mobile map based on the image features of the environment edges and various obstacles.

[0075] The image features include contour features, color features and size features of the environment edges and various obstacles.

[0076] The specific implementation process is as follows: During the needle-finding process, the mobile vehicle 1 moves according to the moving map. The image enhancement algorithm can improve the accuracy of image feature extraction, thereby drawing a more accurate moving map, making the needle-finding process more efficient.

[0077] Embodiment 3:

[0078] As attached Figure 1-3 As shown: Different from the above embodiment, the magnetic attraction plate 6 is wavy.

[0079] The specific implementation process is as follows: when the sewing needle is adsorbed, since the magnetic suction plate 6 is wavy, it has a larger adsorption area, so it can better adsorb the sewing needle.

[0080] Embodiment 4:

[0081] As attached Figure 1-3 As shown: Different from the above embodiment, the top of the mobile vehicle 1 is bolted and fixedly connected with a disinfection box 4, in which disinfectant is stored, and the side wall of the disinfection box 4 is connected to a pump assembly. In this embodiment, the pump assembly uses a drainage pump 401.

[0082] The specific implementation process is as follows: before each operation, when the mobile vehicle 1 is familiar with the operating room environment, the control module will start the drainage pump 401 to disinfect the operating room; after the operation, the control module will start the drainage pump 401 again, control the movement of the mobile vehicle 1, and disinfect the operating room again.

[0083] Embodiment 5:

[0084] As attached Figure 1-3 As shown in the figure: Different from the above-mentioned embodiment, a plurality of lighting lamps 5 are fixedly connected to the side wall of the moving vehicle 1 by bolts.

[0085] The specific implementation process is as follows: when the image collector 3 performs image recognition, the controller will start the lighting lamp 5 to illuminate the operating room, thereby improving the clarity of the image collected by the image collector 3.

[0086] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A needle-finding device for operating room nursing, comprising a suture needle, characterized in that: It also comprises a mobile vehicle (1) and an elastic sleeve (7); the mobile vehicle (1) is hinged with an angle adjustment bracket (2) at the top, and the angle adjustment bracket (2) is hinged with an image collector (3) at the top; a magnetic suction plate (6) is fixedly connected to one side of the mobile vehicle (1); A positioning chip and a speaker (8) are respectively embedded and installed on the ring (7), and a specific audio is recorded in the speaker (8); the ring (7) is detachably mounted on the sewing needle; The mobile vehicle (1) is equipped with a control module, a map building module, a feature recognition module and a needle-finding planning module; A control module is used to control the movement of the mobile vehicle (1), the angle adjustment of the angle adjustment bracket (2), and the opening and closing of the image collector (3) and the magnetic suction plate (6); the control module is also used to control the positioning chip and the broadcaster (8) to send positioning signals and sound wave signals to the feature recognition module; A map construction module is used to identify the environment image in the operating room through the image collector (3), capture the obstacle image in the operating room, and thereby analyze the overall area and structure of the environment, the size and shape of each obstacle, and the relative position of each obstacle in the environment, so as to construct a moving map in the operating room; A feature recognition module is used to receive the positioning signal and the specific audio sent by the positioning chip and the broadcaster (8); the feature recognition module analyzes the position of the sewing needle according to the positioning signal and the specific audio, and transmits the position of the sewing needle to the needle search planning module; Sound information of a suture needle falling from different heights is recorded in advance into a feature recognition module. When the ring (7) is not set on the suture needle and the suture needle falls, the feature recognition module will recognize the sound wave of the suture needle falling in the operating room, and compare the sound wave information with the recorded sound information. The height, direction and range of the suture needle falling are analyzed based on the sound wave signal combined with the moving map, and the height, direction and range of the suture needle falling are transmitted to the displacement planning module. The needle-finding planning module is used to locate the position of the mobile vehicle (1) itself based on the current environment image recognized by the image collector (3) and the mobile map, calculate the distance between the mobile vehicle (1) and each obstacle, and plan the needle-finding path according to the position of the needle to find the needle; When the ring (7) is not sleeved on the sewing needle, the needle-finding planning module will plan a needle-finding path to find the sewing needle according to the drop height, position and range of the sewing needle.

2. The needle-finding device for operating room nursing according to claim 1, characterized in that: The map construction module includes a distance detection unit, a direction detection unit and a speed detection unit; The distance detection unit is used to measure the distance between the moving vehicle (1) and the obstacle, the distance between obstacles and the distance between the edges of the environment; The direction detection unit is used to detect and control the moving direction of the moving vehicle (1); The speed detection unit is used to detect and control the moving speed of the moving vehicle (1).

3. The needle-finding device for operating room nursing according to claim 2, characterized in that: The feature recognition module includes a sound wave recognition unit and a positioning recognition unit; The sound wave recognition unit is used to recognize specific audio; The positioning identification unit is used to receive the positioning signal of the positioning chip and analyze the position of the positioning chip.

4. The needle-finding device for operating room nursing according to claim 3, characterized in that: The needle-finding planning module includes a visual navigation unit and a laser correction unit; The visual navigation unit uses an image recognizer to recognize the surrounding environment of the mobile vehicle (1), analyzes the relative distance and position between the mobile vehicle (1) and surrounding obstacles and the relative distance and position between the mobile vehicle (1) and the edge of the environment, and plans the moving route of the mobile vehicle (1); The laser correction unit uses a laser radar to emit a laser beam and measures the time difference and angle change from the emission to the reception of the laser beam, calculates the relative distance and position between the moving vehicle (1) and the obstacle in front, and plans the shortest moving distance and the fastest moving speed of the moving vehicle (1).

5. The needle-finding device for operating room nursing according to claim 4, characterized in that: The feature recognition module also includes a bandpass filter. The specific sound wave frequency range where the sewing needle has fallen is recorded in the sound wave recognition unit, and the bandpass filter only allows sound waves within the specific sound wave frequency range to pass.

6. The needle-finding device for operating room nursing according to claim 5, characterized in that: The method for constructing a moving map adopts an image enhancement algorithm; the steps of the method for constructing a moving map are as follows: S1, histogram equalization: grayscale processing of the image acquired by the image acquisition device (3); S2, grayscale transformation enhancement: perform linear grayscale transformation on the grayscale processed image; S3, image denoising: performing denoising on the image after linear grayscale transformation; S4, image sharpening: gradient sharpening of the denoised image; S5, extracting image features: extracting image features of environmental edges and various obstacles in the gradient sharpened image; S6, mobile map construction: Draw a mobile map based on the image features of the environment edges and various obstacles.

7. The needle-finding device for operating room nursing according to claim 6, characterized in that: Image features include contour features, color features, and size features of environmental edges and obstacles.

8. The needle-finding device for operating room nursing according to claim 7, characterized in that: The magnetic attraction plate (6) is wavy.

9. The needle-finding device for operating room nursing according to claim 8, characterized in that: A disinfection box (4) is fixedly connected to the top of the mobile vehicle (1), disinfectant is stored in the disinfection box (4), and a pump assembly is connected to the side wall of the disinfection box (4).

10. The needle-finding device for operating room nursing according to claim 9, characterized in that: A plurality of lighting lamps (5) are fixedly connected to the side wall of the mobile vehicle (1).

Images