Drip blood return detection device, detection circuit and detection method

Abstract

The invention relates to the technical field of interventional robots, and discloses an instillation blood return detection device, circuit and method, the device comprises a sensor transmitting end and a sensor receiving end, the sensor transmitting end and the sensor receiving end are arranged on two opposite sides of the outer wall of an infusion pipeline, and the sensor transmitting end is connected with the sensor receiving end. Wherein the sensor transmitting end is used for transmitting optical detection light towards the infusion pipeline, and the sensor receiving end is used for receiving the optical detection light penetrating out of the infusion pipeline. The sensor transmitting end and the sensor receiving end are arranged on the infusion pipeline connected with the interventional robot, and whether blood backflow exists in the infusion pipeline or not is judged by comparing two groups of transmitted and acquired optical detection light.

Description

Technical Field

[0001] The present application relates to the technical field of interventional robots, and in particular to a drip blood return detection device, a detection circuit and a detection method. Background Art

[0002] During the operation of the interventional robot, the catheter instrument needs to be connected to the external fluid system through a T-valve. The fluid system usually includes heparinized saline and contrast agents. In order to keep the catheter channel lubricated and prevent blockage, the corresponding liquid needs to be continuously injected into the catheter from the T-valve through the pipeline. However, when the corresponding liquid drip is used up or the pipeline switching operation is wrong, the drip pressure may be lower than the internal pressure of the system, causing blood to flow back into the pipeline. If this reflux is not discovered and handled in time, it will increase the risk factor of the intervention process and affect the intervention effect.

[0003] Therefore, the problem that existing interventional robots cannot accurately detect blood reflux in fluid pipelines needs to be solved urgently. Summary of the invention

[0004] The main purpose of the present application is to provide a drip blood return detection device, a detection circuit and a detection method, aiming to solve the technical problem that the existing interventional robot cannot accurately detect the blood backflow in the liquid pipeline.

[0005] The first aspect of the present application proposes a dripping blood back detection device, which is applied to an interventional robot, wherein the interventional robot includes a power device, the power device includes a T-valve connected to a catheter on one side, and the catheter is connected to a liquid circuit system through an infusion pipeline installed on the liquid circuit connection port of the T-valve; the dripping blood back detection device includes a sensor transmitting end and a sensor receiving end, the sensor transmitting end and the sensor receiving end are respectively arranged on opposite sides of the outer wall of the infusion pipeline, wherein the sensor transmitting end is used to emit optical detection light toward the infusion pipeline, and the sensor receiving end is used to receive the optical detection light passing through the infusion pipeline.

[0006] Furthermore, a pipeline fixing slot is provided between the sensor transmitting end and the sensor receiving end, and the infusion pipeline is fixed between the sensor transmitting end and the sensor receiving end through the pipeline fixing slot.

[0007] The second aspect of the present application provides a dripping blood return detection circuit, comprising: a photoelectric transmitting circuit, a photoelectric receiving circuit, a signal processing circuit and a main control circuit; wherein the photoelectric transmitting circuit is used to transmit optical detection light, and the photoelectric receiving circuit is used to receive the optical detection light emitted by the photoelectric transmitting circuit, and convert the optical detection light into a signal to be processed;

[0008] The photoelectric transmitting circuit is connected to the main control circuit, and the main control circuit is used to adjust the working current and the emission light intensity of the photoelectric transmitting circuit;

[0009] The photoelectric receiving circuit is connected to the signal processing circuit and the main control circuit in sequence; the signal processing circuit is used to perform signal processing on the signal to be processed transmitted by the photoelectric receiving circuit, and transmit the processed signal to the main control circuit.

[0010] Further, the photoelectric transmitting circuit includes: a DC power supply, a constant current driving module and a photoelectric transmitting tube; wherein the photoelectric transmitting circuit is connected to the main control circuit through the constant current driving module; the negative end of the DC power supply is the ground end, and the positive end is connected to the first end of the constant current driving module; the second end of the constant current driving module is connected to the first end of the photoelectric transmitting tube, and the second end of the photoelectric transmitting tube is the ground end; the third end of the constant current driving module is connected to the main control circuit.

[0011] Furthermore, the photoelectric receiving circuit includes: a photoelectric receiving tube and a transimpedance amplifier, wherein the first end of the photoelectric receiving tube is a ground end; the first end of the transimpedance amplifier is connected to the second end of the photoelectric receiving tube, and is used to receive the photocurrent generated by the phototube and convert the photocurrent into a voltage value signal;

[0012] The second end of the transimpedance amplifier is connected to the signal processing circuit for transmitting the voltage value signal to the signal processing circuit for signal optimization, and the third end of the transimpedance amplifier is a ground end.

[0013] Furthermore, the signal processing circuit includes a filter circuit and a photoelectric signal conditioning circuit; the signal processing circuit is connected to the photoelectric receiving circuit through the first end of the filter circuit, and is used to filter out noise interference on the voltage value signal output by the photoelectric receiving circuit;

[0014] The signal processing circuit is connected to the second end of the filter circuit via the first end of the photoelectric conditioning circuit, and is used for performing signal amplification processing on the voltage value signal after the noise interference is filtered out.

[0015] Furthermore, the main control circuit includes a main controller and a calibrator, the calibrator is electrically connected to the main controller, and the calibrator is used to calibrate the initial value before the circuit is enabled, and transmit the calibrated initial value to the main controller.

[0016] Furthermore, the wavelength range of the optical detection light emitted by the photoelectric emission circuit is 530nm-550nm.

[0017] The third aspect of the present application provides a method for detecting blood return during dripping, comprising:

[0018] Based on the first start instruction, the sensor transmitting end is controlled by driving current to emit light intensity within a preset range;

[0019] Obtain the initial value corresponding to the blood-free environment under the current emission light intensity;

[0020] Acquire the detection data of the sensor receiving end in real time, and filter the detection data to obtain the actual sampling value;

[0021] Based on a preset detection threshold, performing a comparison operation on the actual sampling value and the initial value;

[0022] Based on the comparison operation result, determine whether there is blood backflow in the current infusion pipeline.

[0023] Furthermore, the step of judging whether there is blood backflow in the current infusion pipeline based on the comparison operation result includes:

[0024] If the difference between the initial value and the actual sampling value is greater than a preset detection threshold, it is determined that blood return exists in the current infusion pipeline;

[0025] If the difference between the initial value and the actual sampling value is less than or equal to the preset detection threshold, it is determined that there is no blood return in the current infusion pipeline.

[0026] Beneficial effects:

[0027] The present application sets a corresponding sensor at the infusion pipeline, sends optical detection light and receives the optical detection light after passing through the infusion pipeline, and compares the two sets of optical detection light to calculate whether the emitted optical detection light is absorbed by the specified liquid in the infusion pipeline, and verifies whether there is blood reflux in the infusion pipeline through the absorption situation, so as to give the operator corresponding prompts when reflux is detected, and ensure that the system can respond in time when abnormal situations occur. Through intelligent detection, it can reduce human operating errors and reduce safety risks in the intervention process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structural connection of a dripping blood return detection device according to one embodiment of the present application;

[0029] Figure 2 It is a partial structural schematic diagram of a dripping blood return detection device according to an embodiment of the present application;

[0030] Figure 3 This is a circuit diagram of a drip blood return detection according to an embodiment of the present application;

[0031] Figure 4 This is a schematic diagram of the process steps of a method for detecting blood return by dripping according to an embodiment of the present application;

[0032] Among them, 1. power device; 11. slender medical device; 12. first catheter; 13. T valve; 14. fluid connection port; 21. infusion pipeline; 22. sensor transmitting end; 23. sensor receiving end; 24. mounting substrate; 25. pipeline fixing slot; DC, direct current power supply; U1, constant current drive module; D1, photoelectric transmitting tube; T1, photoelectric receiving tube; U2, operational amplifier; R, feedback resistor; U3, filter circuit; U4, photoelectric signal conditioning circuit; U5, main controller; 30, calibrator;

[0033] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] It will be appreciated by those skilled in the art that, unless expressly stated, the singular forms "one", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when an element is said to be "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may also be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0036] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0037] Reference Figure 1 - Figure 2The embodiment of the present application provides a dripping blood back detection device, which is applied to an interventional robot. The interventional robot includes a power device 1, which drives a medical device such as a guide wire or a catheter to move forward or backward through a built-in motor. The power device 1 includes a T-valve 13 connected to a catheter on one side, and the catheter is connected to the liquid circuit system through an infusion pipeline 21 installed on a liquid circuit connection port 14 of the T-valve 13; the dripping blood back detection device includes a sensor transmitting end 22 and a sensor receiving end 23, and the sensor transmitting end 22 and the sensor receiving end 23 are arranged on opposite sides of the outer wall of the infusion pipeline 21, wherein the sensor transmitting end 22 is used to emit optical detection light toward the infusion pipeline 21, and the sensor receiving end 23 is used to receive the optical detection light passing through the infusion pipeline 21.

[0038] In this embodiment, a dripping blood return detection device applied to an interventional robot is provided. The interventional robot includes a power device 1, and a catheter is connected to one side of the power device 1. The catheter here is a first catheter 12, and the first catheter 12 is connected to the liquid circuit system through the liquid circuit connection port 14 of the T valve 13. The liquid circuit system usually includes heparinized saline and contrast agent, for example, including heparinized saline drip for maintaining lubrication of the channel of the first catheter 12 and preventing blockage. The dripping blood return detection device includes a sensor transmitting end 22 and a sensor receiving end 23, and the two sensors are respectively arranged on opposite sides of the outer wall of the infusion pipeline 21. The sensor transmitting end 22 is used to emit optical detection light toward the infusion pipeline 21, and the sensor receiving end 23 is used to receive the optical detection light passing through the infusion pipeline 21.

[0039] The power device 1 is used to control the delivery, withdrawal and rotation of the slender medical device 11 (such as a catheter, a guidewire fast delivery device, etc.) in the blood vessel and the first catheter 12. The first valve port of the T valve 13 is connected to one side of the first catheter 12 as the delivery outlet of the slender medical device 11, and the second valve port of the T valve 13 is used as the delivery inlet of the slender medical device 11. The first valve port and the second valve port are arranged opposite to each other to form a linear delivery channel. The slender medical device 11 enters from the delivery inlet of the T valve 13, and then enters the first catheter 12 connected to one side of the T valve 13 through the delivery outlet and then enters the blood vessel. The T valve 13 here includes a three-way valve, and the third valve port of the three-way valve is used as a liquid circuit connection port 14, and is connected to the liquid circuit system through the infusion pipeline 21. The liquid circuit system includes heparinized saline and contrast agent, etc., which are injected into the first catheter 12 through the infusion pipeline 21 and then enter the blood vessel.

[0040] The sensor transmitting end 22 and the sensor receiving end 23 are respectively arranged on opposite sides of the outer wall of the infusion pipe 21. Specifically, the sensor transmitting end 22 includes a photoelectric transmitting tube D1, which can emit light of a specific wavelength (530nm-550nm). The light within this wavelength range has a strong absorption characteristic for hemoglobin in the blood, and can effectively detect whether there is blood reflux in the infusion pipe 21. The sensor receiving end 23 includes a photoelectric receiving tube T1, which can receive the light passing through the infusion pipe 21. By comparing the photoelectric energy of the two lights, it can be determined whether the corresponding light is absorbed, thereby determining whether blood reflux occurs. A clamping path is formed between the sensor transmitting end 22 and the sensor receiving end 23 through a fixing member, and the fixing member can be a clip or a slot to ensure that the sensor transmitting end 22 and the sensor receiving end 23 are tightly fitted on the outer wall of the infusion pipe 21 to avoid detection errors caused by the movement of the infusion pipe 21. Among them, the transmitting port of the sensor transmitting end 22 is facing the infusion pipe 21, and the light emitting range is fan-shaped, covering the diameter area of ​​the infusion pipe 21. The receiving port of the sensor receiving end 23 is also facing the infusion pipe 21, and the position corresponds to the diameter area of ​​the infusion pipe 21 covered by the optical detection light.

[0041] In one embodiment, a pipeline fixing slot 25 is provided between the sensor transmitting end 22 and the sensor receiving end 23 , and the infusion pipeline 21 is fixed between the sensor transmitting end 22 and the sensor receiving end 23 through the pipeline fixing slot 25 .

[0042] In this embodiment, in order to ensure the fixed position of the sensor transmitting end 22 and the sensor receiving end 23 on the infusion pipe 21, a pipeline fixing slot 25 is provided in the device. The pipeline fixing slot 25 is located between the sensor transmitting end 22 and the sensor receiving end 23, adapted to the infusion pipe 21 with a diameter of 3-5 mm, and compatible with the size of the infusion pipe commonly used on the market. The infusion pipe 21 is fixed between the sensor transmitting end 22 and the sensor receiving end 23 through the slot, ensuring the relative position stability between the sensor transmitting end 22 and the sensor receiving end 23, avoiding the detection error caused by the movement of the infusion pipe 21, and improving the accuracy and reliability of the detection.

[0043] Furthermore, the sensor transmitting end 22 and the sensor receiving end 23 are installed on a mounting table, and a depression adapted to the sensor transmitting end 22 and the sensor receiving end 23 is provided on the table top of the mounting table, and one side of the sensor transmitting end 22 and the sensor receiving end 23 is embedded and fixed in the depression, and a mounting substrate 24 is connected to the bottom of the mounting table, and the area of ​​the mounting substrate 24 is larger than the bottom area of ​​the mounting table, and a mounting hole is provided on the mounting substrate 24 for fixing the mounting substrate 24 at a specified position.

[0044] Reference Figure 3 In one embodiment, the present application also proposes a drip blood return detection circuit, including: a photoelectric transmitting circuit, a photoelectric receiving circuit, a signal processing circuit and a main control circuit; wherein the photoelectric transmitting circuit is used to transmit optical detection light, and the photoelectric receiving circuit is used to receive the optical detection light emitted by the photoelectric transmitting circuit, and convert the optical detection light into a signal to be processed; the photoelectric transmitting circuit is connected to the main control circuit, and the main control circuit is used to adjust the working current and the emission light intensity of the photoelectric transmitting circuit; the photoelectric receiving circuit is connected to the signal processing circuit and the main control circuit in sequence; the signal processing circuit is used to perform signal processing on the signal to be processed transmitted by the photoelectric receiving circuit, and transmit the processed signal to the main control circuit.

[0045] In this embodiment, a dripping blood return detection circuit is provided, which includes a photoelectric transmitting circuit, a photoelectric receiving circuit, a signal processing circuit and a main control circuit.

[0046] The photoelectric emission circuit is used to emit optical detection light, and specifically includes a DC power supply DC, a constant current drive module U1, and a photoelectric emission tube D1. The DC power supply DC provides a stable power supply voltage to ensure the normal operation of the photoelectric emission tube D1. The constant current drive module U1 controls the luminous intensity of the photoelectric emission tube D1 by adjusting the input current. The photoelectric emission tube D1 emits light of a specific wavelength (530nm-550nm), and the light within this wavelength range has a strong absorption characteristic for hemoglobin in the blood.

[0047] The photoelectric receiving circuit is used to receive the optical detection light emitted by the photoelectric transmitting circuit, and specifically includes a photoelectric receiving tube T1 and a transimpedance amplifier. The photoelectric receiving tube T1 receives the light passing through the infusion pipe 21 and converts the light intensity into a photocurrent. The transimpedance amplifier converts the photocurrent (I) into a voltage value signal (V) to ensure the stability and reliability of the signal.

[0048] The signal processing circuit is used to process the voltage value signal output by the photoelectric receiving circuit, and specifically includes a filter circuit U3 and a signal conditioning circuit. The filter circuit U3 uses a low-pass filter to remove high-frequency noise and ensure the purity of the signal. The signal conditioning circuit amplifies the filtered voltage value signal to obtain a conditioned voltage value signal (vout), ensuring that the signal amplitude meets the requirements of subsequent processing.

[0049] The main control circuit is used to control the working current and emission light intensity of the photoelectric transmitting circuit, and analyze and process the processed signal, and specifically includes a main controller U5 and a calibrator 30. The main controller U5 is responsible for overall control and signal processing, and adjusts the working current of the photoelectric transmitting tube D1 through the constant current drive module U1, thereby controlling the emission light intensity. The calibrator 30 is used to calibrate the initial value before the circuit is enabled, and transmits the initial value of the calibrated voltage to the main controller U5. Then, based on the voltage value contained in the processed voltage value signal received by the main control circuit, it is compared with the initial value provided by the calibrator 30 to determine whether there is liquid reflux in the infusion pipeline 21. If the difference between the actual sampling value and the initial value is greater than the preset detection threshold, it is determined that there is blood return in the infusion pipeline 21, and the main control circuit immediately issues an alarm to remind the operator to take corresponding measures. The main control circuit can also communicate with the operator's control terminal through an external interface to display the detection results and alarm information in real time.

[0050] During the operation of the interventional robot, the saline in the liquid system needs to be continuously injected into the catheter through the infusion pipe 21 to keep the catheter channel lubricated and prevent blood coagulation. When the saline runs out or the pipeline switching operation is wrong, the drip pressure may be lower than the pressure in the blood vessel, causing blood to flow back into the infusion pipe 21. The drip blood return detection circuit emits light of a specific wavelength through the photoelectric transmitting circuit, the photoelectric receiving circuit receives the light passing through the infusion pipe 21, the signal processing circuit processes the signal, and the main control circuit analyzes and judges the processed signal, promptly detects whether there is blood reflux in the infusion pipe 21, and reminds the operator to handle it, so as to avoid blood loss or other adverse consequences caused by blood reflux.

[0051] In one embodiment, the photoelectric transmitting circuit includes: a direct current power supply DC, a constant current driving module U1 and a photoelectric transmitting tube D1; wherein the photoelectric transmitting circuit is connected to the main control circuit through the constant current driving module U1; the negative end of the direct current power supply DC is the ground end, and the positive end is connected to the first end of the constant current driving module U1; the second end of the constant current driving module U1 is connected to the first end of the photoelectric transmitting tube D1, and the second end of the photoelectric transmitting tube D1 is the ground end; the third end of the constant current driving module U1 is connected to the main control circuit.

[0052] In this embodiment, the photoelectric transmitting circuit includes a direct current power supply DC, a constant current driving module U1 and a photoelectric transmitting tube D1. The direct current power supply DC provides a stable power supply voltage to ensure the normal operation of the photoelectric transmitting tube D1. The negative terminal of the direct current power supply DC is the ground terminal, and the positive terminal is connected to the first terminal of the constant current driving module U1. The constant current driving module U1 controls the luminous intensity of the photoelectric transmitting tube D1 by adjusting the input current (the main control circuit adjusts the working current of the photoelectric transmitting tube D1 through the constant current driving module U1). The first end of the constant current driving module U1 is connected to the positive terminal of the direct current power supply DC, the second end is connected to the first end of the photoelectric transmitting tube D1, and the third end is connected to the main control circuit for receiving the control signal of the main control circuit. The first end of the photoelectric transmitting tube D1 is connected to the second end of the constant current driving module U1, and the second end is the ground terminal. The photoelectric transmitting tube D1 emits light of a specific wavelength, and the light within this wavelength range has a strong absorption characteristic for hemoglobin in the blood. The light passes through the infusion pipe 21 and is received by the photoelectric receiving tube T1.

[0053] The circuit of this embodiment provides a stable power supply voltage through a DC power supply DC, and the constant current drive module U1 adjusts the working current of the photoelectric emission tube D1. The photoelectric emission tube D1 emits light of a specific wavelength, ensuring the accuracy and reliability of the detection. The main control circuit controls the luminous intensity of the photoelectric emission tube D1 through the constant current drive module U1, realizes the precise adjustment of the light intensity, and improves the stability of the system and the sensitivity of the detection.

[0054] In one embodiment, the photoelectric receiving circuit includes: a photoelectric receiving tube T1 and a transimpedance amplifier, wherein the first end of the photoelectric receiving tube T1 is a ground end; the first end of the transimpedance amplifier is connected to the second end of the photoelectric receiving tube T1, and is used to receive the photocurrent generated by the phototube and convert the photocurrent into a voltage value signal; the second end of the transimpedance amplifier is connected to a signal processing circuit, and is used to transmit the voltage value signal to the signal processing circuit for signal optimization, and the third end of the transimpedance amplifier is a ground end.

[0055] In this embodiment, the photoelectric receiving circuit includes a photoelectric receiving tube T1 and a transimpedance amplifier. The first end of the photoelectric receiving tube T1 is a ground terminal, and the second end is connected to the first end of the transimpedance amplifier. The first end of the transimpedance amplifier is connected to the second end of the photoelectric receiving tube T1, and is used to receive the photocurrent generated by the photoelectric receiving tube T1 and convert the photocurrent into a voltage value signal. The transimpedance amplifier is composed of an operational amplifier U2 and a feedback resistor R. The cathode (second end) of the photoelectric receiving tube T1 is connected to the inverting input terminal of the operational amplifier U2, the anode (first end) is a ground terminal, and the feedback resistor R is connected between the inverting input terminal (first end) and the output terminal (second end) of the operational amplifier U2. The third end of the transimpedance amplifier is a ground terminal to ensure the stability and reliability of the circuit. The transimpedance amplifier can convert a very small photocurrent into a larger voltage value signal, thereby improving the sensitivity of the detection. At the same time, the transimpedance amplifier usually has a low noise characteristic, which can effectively reduce the influence of background noise and improve the signal-to-noise ratio of the signal. In addition, by selecting a suitable feedback resistor R, the transimpedance amplifier can achieve a wider dynamic range, which is suitable for light signal detection of different intensities. The second end of the transimpedance amplifier is connected to the signal processing circuit, and is used to transmit the voltage value signal to the signal processing circuit for signal optimization, and the optimized signal is transmitted to the main control circuit.

[0056] In this embodiment, the photoelectric receiving circuit receives the light passing through the infusion pipe 21 through the photoelectric receiving tube T1, converts the light intensity into a photocurrent, and then converts the photocurrent into a voltage value signal through a transimpedance amplifier. The output signal of the transimpedance amplifier is transmitted to the signal processing circuit for further signal optimization and processing, ensuring the accuracy and reliability of the detection.

[0057] In one embodiment, the signal processing circuit includes a filter circuit U3 and a photoelectric signal conditioning circuit U4; the signal processing circuit is connected to the photoelectric receiving circuit through the first end of the filter circuit U3, and is used to filter out noise interference on the voltage value signal output by the photoelectric receiving circuit; the signal processing circuit is connected to the second end of the filter circuit U3 through the first end of the photoelectric signal conditioning circuit, and is used to amplify the voltage value signal after noise interference is filtered out.

[0058] In this embodiment, the signal processing circuit includes a filter circuit U3 and a photoelectric signal conditioning circuit U4. The first end of the filter circuit U3 is connected to the second end of the transimpedance amplifier of the photoelectric receiving circuit, and is used to filter out noise interference from the voltage value signal output by the photoelectric receiving circuit. The second end of the filter circuit U3 is connected to the first end of the photoelectric signal conditioning circuit U4, and is used to transmit the filtered voltage value signal. The photoelectric signal conditioning circuit U4 amplifies the filtered voltage value signal by Z times to ensure that the amplitude of the signal meets the requirements of subsequent processing.

[0059] In one embodiment, the main control circuit includes a main controller U5 and a calibrator 30, wherein the calibrator 30 is electrically connected to the main controller U5, and the calibrator 30 is used to calibrate the initial value before the circuit is enabled, and transmit the calibrated initial value to the main controller U5.

[0060] In this embodiment, the main controller U5 is responsible for overall control and signal processing. It receives and processes the voltage value signal from the signal processing circuit, and compares it with the preset initial value to determine whether there is blood return in the infusion pipeline 21. In addition, the main controller U5 also adjusts the working current and emission light intensity of the photoelectric emission circuit to ensure the stability and accuracy of the detection process. The calibrator 30 is electrically connected to the main controller U5 and is used to calibrate the initial value before the circuit is enabled. The calibrator 30 determines the initial value by measuring the voltage value signal in a blood-free environment. The calibrated initial value is transmitted to the main controller U5 and stored in the memory of the main controller U5 as a reference for subsequent detection. Before the circuit is enabled, the calibrator 30 measures the voltage value signal in a blood-free environment to determine the initial value. The calibrator 30 transmits the calibrated initial value to the main controller U5 and stores it in the memory of the main controller U5. The main controller U5 receives the processed voltage value signal from the signal processing circuit. The main controller U5 compares the processed voltage value signal with the stored initial value. If the difference between the processed voltage value signal and the initial value is greater than a preset detection threshold, the main controller U5 determines that blood backflow exists in the infusion pipeline 21 .

[0061] In one embodiment, the wavelength range of the optical detection light emitted by the photoelectric emission circuit is 530nm-550nm.

[0062] In this embodiment, the wavelength range of the optical detection light emitted by the photoelectric transmitting circuit is 530nm-550nm. The light within this wavelength range has a strong absorption characteristic for hemoglobin in the blood, so it can effectively detect whether there is blood reflux in the infusion pipe 21. When there is no blood passing through, most of the light of this wavelength emitted by the photoelectric transmitting circuit can be received by the photoelectric receiving circuit. If blood flows through, the hemoglobin therein will absorb the light within this wavelength range, resulting in a decrease in the light received by the photoelectric receiving circuit, thereby confirming whether there is blood reflux in the infusion pipe 21.

[0063] Reference Figure 4 In one embodiment, the present application also proposes a method for detecting blood return during dripping, comprising:

[0064] S1, based on the first start instruction, controlling the sensor transmitting end 22 to emit light intensity within a preset range by driving current;

[0065] S2, obtaining the initial value corresponding to the blood-free environment under the current emission light intensity;

[0066] S3, acquiring the detection data of the sensor receiving end 23 in real time, and filtering the detection data to obtain an actual sampling value;

[0067] S4. Based on a preset detection threshold, compare the actual sampling value with the initial value;

[0068] S5. Based on the comparison operation result, determine whether there is blood backflow in the current infusion pipeline 21.

[0069] In this embodiment, when the system receives the first startup instruction, the main control circuit adjusts the working current of the photoelectric transmitting tube D1 through the constant current driving module U1, and controls the light intensity within the preset range emitted by the sensor transmitting end 22. This ensures that the emitted light intensity is stable and controllable during the detection process. In the absence of blood (for example, before the formal operation after startup), the system measures and records the voltage value signal output by the photoelectric receiving circuit. This value is called the initial value v1, which is used for subsequent comparison and judgment. During use, the system obtains the detection data of the photoelectric receiving end in real time. After the noise interference is removed by the filter circuit U3, these data are amplified by the signal conditioning circuit to finally obtain the actual sampling value v2. The main control circuit compares the actual sampling value v2 obtained in real time with the initial value v1 stored previously. The result of the comparison is to calculate the difference between the actual sampling value and the initial value. If the difference between the actual sampling value and the initial value is greater than the preset detection threshold △V, it is determined that there is blood return in the infusion pipeline 21. At this time, the main control circuit immediately issues an alarm to remind the operator to take corresponding measures.

[0070] In one embodiment, the step of judging whether there is blood return in the current infusion pipeline 21 based on the comparison operation result includes:

[0071] S10, if the difference between the initial value and the actual sampling value is greater than the preset detection threshold, it is determined that blood backflow exists in the current infusion pipeline 21;

[0072] S12: If the difference between the initial value and the actual sampling value is less than or equal to a preset detection threshold, it is determined that there is no blood return in the current infusion pipeline 21.

[0073] In this embodiment, according to actual tests, the corresponding sampling value can be obtained in the presence of blood, and then a preset detection threshold △V is set according to the relationship between the sampling value and the initial value, and the actual sampling value V2 is compared with the initial reference value V1. If the difference between the two exceeds the set threshold △V, it is judged that there is blood reflux. That is, when V1-V2>△V, it is judged that there is blood reflux. The system outputs the result according to the above judgment conditions. If there is blood reflux, the robot movement is stopped immediately, and the operator is reminded to deal with it in time to reduce the safety risk factor during the operation.

[0074] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A dripping blood return detection device, applied to an interventional robot, the interventional robot comprising a power device, the power device comprising a T-valve connected to a catheter on one side, and the catheter is connected to a liquid circuit system through an infusion pipeline installed on a liquid circuit connection port of the T-valve; characterized in that: The dripping blood return detection device includes a sensor transmitting end and a sensor receiving end, wherein the sensor transmitting end and the sensor receiving end are arranged on opposite sides of the outer wall of the infusion pipeline, wherein the sensor transmitting end is used to emit optical detection light toward the infusion pipeline, and the sensor receiving end is used to receive the optical detection light passing through the infusion pipeline.

2. The dripping blood return detection device according to claim 1, characterized in that: A pipeline fixing slot is provided between the sensor transmitting end and the sensor receiving end, and the infusion pipeline is fixed between the sensor transmitting end and the sensor receiving end through the pipeline fixing slot.

3. A dripping blood return detection circuit, characterized in that: include: A photoelectric transmitting circuit, a photoelectric receiving circuit, a signal processing circuit and a main control circuit; wherein the photoelectric transmitting circuit is used to transmit optical detection light, and the photoelectric receiving circuit is used to receive the optical detection light emitted by the photoelectric transmitting circuit and convert the optical detection light into a signal to be processed; The photoelectric transmitting circuit is connected to the main control circuit, and the main control circuit is used to adjust the working current and the emission light intensity of the photoelectric transmitting circuit; The photoelectric receiving circuit is connected to the signal processing circuit and the main control circuit in sequence; the signal processing circuit is used to perform signal processing on the signal to be processed transmitted by the photoelectric receiving circuit, and transmit the processed signal to the main control circuit.

4. The dripping blood return detection circuit according to claim 3, characterized in that: The photoelectric transmitting circuit comprises: a direct current power supply, a constant current driving module and a photoelectric transmitting tube; wherein the photoelectric transmitting circuit is connected to the main control circuit through the constant current driving module; the negative terminal of the direct current power supply is the ground terminal, and the positive terminal is connected to the first terminal of the constant current driving module; the second terminal of the constant current driving module is connected to the first terminal of the photoelectric transmitting tube, and the second terminal of the photoelectric transmitting tube is the ground terminal; the third terminal of the constant current driving module is connected to the main control circuit.

5. The dripping blood return detection circuit according to claim 3, characterized in that: The photoelectric receiving circuit comprises: a photoelectric receiving tube and a transimpedance amplifier, wherein the first end of the photoelectric receiving tube is a ground end; the first end of the transimpedance amplifier is connected to the second end of the photoelectric receiving tube, and is used to receive the photocurrent generated by the phototube and convert the photocurrent into a voltage value signal; The second end of the transimpedance amplifier is connected to the signal processing circuit for transmitting the voltage value signal to the signal processing circuit for signal optimization, and the third end of the transimpedance amplifier is a ground end.

6. The dripping blood return detection circuit according to claim 3, characterized in that: The signal processing circuit includes a filter circuit and a photoelectric signal conditioning circuit; the signal processing circuit is connected to the photoelectric receiving circuit through the first end of the filter circuit, and is used to filter out noise interference from the voltage value signal output by the photoelectric receiving circuit; The signal processing circuit is connected to the second end of the filter circuit via the first end of the photoelectric signal conditioning circuit, and is used for performing signal amplification processing on the voltage value signal after the noise interference is filtered out.

7. The dripping blood return detection circuit according to claim 3, characterized in that: The main control circuit includes a main controller and a calibrator. The calibrator is electrically connected to the main controller. The calibrator is used to calibrate the initial value before the circuit is enabled and transmit the calibrated initial value to the main controller.

8. The dripping blood return detection circuit according to claim 3, characterized in that: The wavelength range of the optical detection light emitted by the photoelectric emission circuit is 530nm-550nm.

9. A method for detecting blood return after dripping, characterized in that: include: Based on the first start instruction, the sensor transmitting end is controlled by driving current to emit light intensity within a preset range; Obtain the initial value corresponding to the blood-free environment under the current emission light intensity; Acquire the detection data of the sensor receiving end in real time, and filter the detection data to obtain the actual sampling value; Based on a preset detection threshold, performing a comparison operation on the actual sampling value and the initial value; Based on the comparison operation result, determine whether there is blood backflow in the current infusion pipeline.

10. The method for detecting blood return after dripping according to claim 9, characterized in that: The step of judging whether there is blood return in the current infusion pipeline based on the comparison operation result includes: If the difference between the initial value and the actual sampling value is greater than a preset detection threshold, it is determined that blood return exists in the current infusion pipeline; If the difference between the initial value and the actual sampling value is less than or equal to the preset detection threshold, it is determined that there is no blood return in the current infusion pipeline.

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