Intelligent rehabilitation treatment auxiliary equipment

Abstract

The invention provides intelligent rehabilitation treatment auxiliary equipment which comprises a dual-light collection device, a mechanical arm and a controller connected with the dual-light collection device and the mechanical arm, and the controller comprises a control unit which controls the dual-light collection device to conduct image collection on a blood collection area to obtain a blood collection white light image and a blood collection red light image corresponding to the blood collection area; the identification unit determines a positioning coordinate set in the blood sampling red light image based on the vein pixel value, determines a blood sampling positioning area of the blood sampling white light image based on the positioning coordinate set, and identifies a blood sampling abnormal area in the blood sampling white light image; the processing unit processes the blood sampling white light image according to the blood sampling abnormal area and the blood sampling positioning area to obtain a blood sampling recommendation image and sends the blood sampling recommendation image to the display end; the response unit responds to interaction triggering information of a user to the display end, determines a user interaction area of the blood sampling recommendation image, generates an interaction recommendation area in the blood sampling recommendation image based on the user interaction area and the blood sampling red light image, and controls the mechanical arm to drive the blood sampling needle to move to the interaction recommendation area.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to an intelligent rehabilitation processing auxiliary device. Background Art

[0002] In medical examinations, venous blood sampling is one of the most common and important rehabilitation operations. It not only requires the rehabilitation operator to have rich experience, but also requires accurate positioning of the vein to ensure the success rate and safety of blood collection.

[0003] Traditional vein localization methods usually rely on the doctor's experience and palpation. When there are many patients, a large number of medical staff are required to implement it, which increases the time for manual blood collection. In addition, abnormalities may occur at the blood collection site. If the medical staff does not discover it in time, it often leads to blood collection failure, causing unnecessary pain to the patient and prolonging the medical process.

[0004] Therefore, how to avoid blood sampling in abnormal areas according to the actual situation of the patient's blood sampling site, improve the accuracy of blood sampling positioning, and reduce blood sampling time has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides an intelligent rehabilitation treatment auxiliary device, which can avoid blood sampling operations in abnormal areas according to the actual conditions of the patient's blood sampling site, improve the accuracy of blood sampling positioning, and reduce blood sampling time.

[0006] In a first aspect of the present invention, there is provided an intelligent rehabilitation treatment auxiliary device, comprising a dual-light collection device for locating a vein, a mechanical arm for driving a blood collection needle to move, and a controller connected to the dual-light collection device and the mechanical arm, wherein the controller comprises: A control unit, used for controlling the dual-light collection device to collect images of the blood collection area, and obtaining a blood collection white-light image and a blood collection red-light image corresponding to the blood collection area; an identification unit, configured to determine a set of positioning coordinates in the blood sampling red light image based on the vein pixel value, determine a blood sampling positioning area in the blood sampling white light image based on the positioning coordinate set, and identify an abnormal blood sampling area in the blood sampling white light image; A processing unit, used for processing the blood sampling white light image according to the blood sampling abnormal area and the blood sampling positioning area, and obtaining a blood sampling recommended image to send to a display end; A response unit is used to respond to the user's interactive trigger information on the display end, determine the user interaction area of ​​the blood collection recommendation image, generate an interactive recommendation area in the blood collection recommendation image based on the user interaction area and the blood collection red light image, and control the robotic arm to drive the blood collection needle to move to the interactive recommendation area.

[0007] Optionally, in a possible implementation manner of the first aspect, determining a positioning coordinate set in the blood sampling red light image based on the vein pixel value, determining a blood sampling positioning area of ​​the blood sampling white light image based on the positioning coordinate set, and identifying an abnormal blood sampling area in the blood sampling white light image, includes: respectively obtaining the image center points of the blood sampling white light image and the blood sampling red light image, and taking the image center points as the coordinate origin, respectively performing coordinate processing on the blood sampling white light image and the blood sampling red light image; Extracting vein pixel points in the blood sampling red light image based on vein pixel values, and counting vein coordinates corresponding to adjacent vein pixel points to obtain a plurality of vein coordinate sets; A positioning coordinate set is obtained according to the vein coordinates in each of the vein coordinate sets, a blood sampling positioning area of ​​the blood sampling white light image is determined based on the positioning coordinate set, and an abnormal blood sampling area in the blood sampling white light image is identified according to OpenCV.

[0008] Optionally, in a possible implementation manner of the first aspect, obtaining a positioning coordinate set according to the vein coordinates in each of the vein coordinate sets, and determining the blood sampling positioning area of ​​the blood sampling white light image based on the positioning coordinate set includes: Obtaining the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the same vertical coordinate in each of the vein coordinate sets, and obtaining the vein width of the corresponding vertical coordinate in each of the vein coordinate sets according to the difference between the maximum horizontal coordinate and the minimum horizontal coordinate; Selecting the largest vein width in the vein coordinate set as the selected width of the vein coordinate set, and determining the corresponding vertical coordinate in the vein coordinate set as the selected vertical coordinate based on the selected width; Obtaining a selected horizontal coordinate according to an average value of a maximum horizontal coordinate and a minimum horizontal coordinate and a value corresponding to the selected vertical coordinate in the venous coordinate set; Based on the selected horizontal coordinate and the selected vertical coordinate, obtaining selected coordinates corresponding to each of the vein coordinate sets; Taking the selected coordinates as the center of the circle, determining the selected area based on a preset selected radius, obtaining the vein coordinates in each selected area as the positioning coordinates, and counting the positioning coordinates to obtain a positioning coordinate set in the blood sampling red light image; Based on OpenCV, the red light positioning contour composed of the positioning coordinate set is identified, and the coordinates of the contour pixel points corresponding to the red light positioning contour are obtained as the red light contour coordinates; According to the red light contour coordinates, the same coordinates in the blood sampling white light image are determined as positioning contour coordinates, and according to the positioning contour coordinates, the blood sampling positioning area of ​​the blood sampling white light image is determined.

[0009] Optionally, in a possible implementation of the first aspect, the processing the blood sampling white light image according to the blood sampling abnormal area and the blood sampling positioning area to obtain a blood sampling recommended image and send it to a display end includes: Counting the number of pixels in the abnormal blood sampling area to obtain the number of abnormal pixels, and obtaining the abnormal influence coefficient according to the ratio of the number of abnormal pixels to the reference abnormal number; According to the product of the abnormal influence coefficient and the preset influence distance, the abnormal influence distance is obtained, the center point of the abnormal blood sampling area is obtained as the abnormal midpoint, and the abnormal contour point of the abnormal blood sampling area is connected with the abnormal midpoint to obtain the abnormal contour connection line; taking the direction from the abnormal midpoint to the abnormal contour point along the abnormal contour connecting line as the extension direction, and moving the abnormal contour point based on the extension direction and the abnormal influence distance to obtain the moved abnormal contour point; Connecting adjacent abnormal contour points after the movement to obtain the abnormal impact area of ​​the blood sampling white light image; Obtaining the intersection of the abnormal impact area and the blood sampling location area to obtain an impact intersection area, and obtaining a plurality of actual collection areas according to the difference set between the blood sampling location area and the corresponding impact intersection area; A blood collection recommended area is determined according to the actual blood collection area, the blood collection recommended area is updated to the blood collection white light image, and the blood collection recommended image is obtained and sent to the display end.

[0010] Optionally, in a possible implementation of the first aspect, determining the recommended blood collection area according to the actual blood collection area includes: The number of pixels in each actual collection area is obtained to obtain the actual number of pixels, and the actual collection area corresponding to the largest actual number of pixels is obtained as the recommended blood collection area.

[0011] Optionally, in a possible implementation of the first aspect, determining the recommended blood collection area according to the actual blood collection area includes: Counting all coordinates in the actual acquisition area to obtain a set of actual coordinates corresponding to the actual acquisition area; Selecting the largest vein width in the actual coordinate set as the selected width of the actual coordinate set, and selecting the largest selected width of the actual coordinate set as the recommended width; An actual blood collection area corresponding to the recommended width is determined as a recommended blood collection area.

[0012] Optionally, in a possible implementation of the first aspect, the response unit is used to respond to the user's interaction trigger information on the display end, determine the user interaction area of ​​the blood collection recommendation image, generate an interactive recommendation area in the blood collection recommendation image based on the user interaction area and the blood collection red light image, and control the mechanical arm to drive the blood collection needle to move to the interactive recommendation area, including: In response to the user's interaction trigger information on the display terminal, determining the user interaction area of ​​the blood sampling white light image, and obtaining the interaction contour coordinates of the area contour corresponding to the user interaction area; Determine the coordinates in the blood sampling red light image that are identical thereto according to the interactive contour coordinates as coordinates to be calibrated, and determine the contour to be calibrated in the blood sampling red light image based on the coordinates to be calibrated; Determine the vein coordinate set where the contour to be calibrated is located as the interactive coordinate set, and obtain the vein contour composed of each vein coordinate set based on OpenCV; Acquire the vein contour within the contour to be calibrated as the interactive contour, select the shortest interactive contour as the reference contour, and acquire the ordinate in the contour coordinate corresponding to the reference contour as the reference ordinate; Obtaining a reference width corresponding to the reference ordinate according to a difference between a maximum ordinate and a minimum ordinate corresponding to the reference ordinate in the interactive coordinate set; Selecting the largest reference width as the interactive width, and determining the corresponding reference ordinate as the interactive ordinate based on the interactive width; Obtaining the interactive horizontal coordinate according to the average value of the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the interactive vertical coordinate in the interactive coordinate set; Based on the interaction horizontal coordinate and the interaction vertical coordinate, obtaining the interaction coordinate corresponding to the interaction coordinate set; Taking the interactive coordinates as the center of the circle, a red light interactive area is determined based on a preset selected radius, and based on the regional coordinate points of the red light interactive area, an interactive recommendation area in the blood sampling white light image is determined.

[0013] Optionally, in a possible implementation of the first aspect, the method further includes: In response to the blood sampling trigger information from the user to the display terminal, the robot arm is controlled to move the blood sampling needle to the blood sampling recommended area, and the current time is recorded as the initial time of blood sampling; Acquire the blood sampling white light image corresponding to the initial moment of blood sampling as the reference white light image; Based on the blood sampling initial time and the preset blood sampling duration, a blood sampling period is determined, and based on the blood sampling period, a blood sampling white light image corresponding to the blood sampling area is acquired in real time as an activity monitoring image; Obtaining reference part coordinates corresponding to the pixel points of the acquisition part in the reference white light image, and counting the reference part coordinates to obtain a reference part coordinate set of the reference white light image; Acquire the activity part coordinates corresponding to the pixel points of the acquisition part in the activity monitoring image, and count the activity part coordinates to obtain the activity part coordinate set of the activity monitoring image; Obtaining an overlapping coordinate set according to the intersection of the active part coordinate set and the reference part coordinate set; Based on the difference between the reference part coordinate set and the overlapped coordinate set, an active coordinate set is obtained, and the number of coordinates in the active coordinate set is obtained to obtain the active number; When it is determined that the activity number is greater than or equal to the preset activity number, the robotic arm is controlled to remove the blood collection needle.

[0014] Optionally, in a possible implementation of the first aspect, the method further includes: In response to the blood sampling trigger information from the user to the display terminal, the robot arm is controlled to move the blood sampling needle to the interactive center of the interactive recommendation area, and the current time is recorded as the initial time, and the interactive blood sampling period is determined based on the initial time and the preset blood sampling duration; Based on the initial moment, the coordinate point of the interaction circle center is obtained as the reference circle center coordinate, and based on the interactive blood sampling period, the coordinate point of the interaction circle center corresponding to the interactive recommendation area is obtained in real time as the activity circle center coordinate; The activity distance is obtained by calculation based on the reference circle center coordinates and the activity circle center coordinates. When it is determined that the activity distance is greater than or equal to the preset activity distance, the robotic arm is controlled to remove the blood collection needle.

[0015] Optionally, in a possible implementation of the first aspect, the method further includes: Determine the last moment in the blood collection period as the bleeding stop moment, and obtain the tip portion of the blood collection needle and the connecting portion connected to the tip portion; Acquire the tip pixel value of the tip portion and the connection pixel value of the connection portion; Extracting the tip pixel points in the blood sampling recommendation image based on the tip pixel values ​​and the connecting pixel points corresponding to the connecting pixel values; When it is determined that the pixel point adjacent to the tip pixel point is a connecting pixel point, the corresponding tip pixel point is used as a connecting pixel point, and the adjacent connecting pixel points are connected to obtain a connecting line; Constructing a vertical line perpendicular to the connecting line, and determining a direction along the vertical line and away from the connecting part toward the tip part as a positioning direction; The position of the tip pixel value at the end is determined as the hemostasis position based on the positioning direction, and when it is determined that the hemostasis moment has been reached, the robot arm is controlled to move the hemostatic bandage to the hemostasis position for hemostasis treatment.

[0016] According to a second aspect of the present invention, an electronic device is provided, comprising: a memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the first aspect of the present invention and various methods that may be involved in the first aspect.

[0017] According to a third aspect of an embodiment of the present invention, a storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, it is used to implement the first aspect of the present invention and various methods that may be involved in the first aspect.

[0018] The beneficial effects of the present invention are as follows: 1. The present invention can avoid blood sampling operations in abnormal areas according to the actual situation of the patient's blood sampling site, improve the accuracy of blood sampling positioning, reduce blood sampling time, and improve blood sampling efficiency. The device achieves accurate positioning of the blood sampling area by integrating a dual-light acquisition device (including white light and red light) and an advanced image recognition algorithm. At the same time, the recognition unit inside the device can determine the vein position in the red light image based on the vein pixel value, and identify the abnormal situation of the blood sampling area in combination with the white light image, effectively avoiding the risk of blood sampling. In addition, the present invention also designs an intelligent user interaction system, which can adjust and recommend the best blood sampling position in real time according to the user's interactive trigger information on the display end, greatly improving the convenience of operation and the comfort of patients.

[0019] 2. The intelligent rehabilitation treatment auxiliary equipment of the present invention adopts a dual-light acquisition device, combined with the white light image of blood collection and the red light image of blood collection, which can efficiently extract the vein pixel value and determine the vein position in real time. By statistics and analysis of the vein coordinates, a positioning coordinate set is quickly generated to provide an accurate reference for the blood collection positioning area. This technological innovation greatly improves the accuracy of vein positioning and reduces the blood collection failure rate due to incorrect vein position judgment. At the same time, during the blood collection process, the device can automatically identify the blood collection abnormal area in the white light image of blood collection, and calculate the abnormal influence coefficient based on the number of pixels in the abnormal area. This intelligent abnormality detection mechanism can effectively eliminate possible complex factors and ensure the safety and effectiveness of the blood collection process. In addition, the device can also dynamically update the blood collection recommendation area and generate an optimized blood collection plan based on the actual image analysis results, thereby improving the patient's blood collection experience.

[0020] 3. The present invention not only has the functions of vein positioning and blood collection, but also integrates a user interactive response system, which can be dynamically adjusted according to the real-time operational feedback of medical staff. The device can respond to the user's trigger information and obtain the interactive recommendation area in real time to ensure the flexibility and controllability of the blood collection process. At the same time, by recording the initial time of blood collection and monitoring the activity status, the system can determine whether the blood collection needle should be removed, thereby improving the safety and reliability of the blood collection process and avoiding operational errors caused by vein movement or other factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural schematic diagram of an intelligent rehabilitation treatment auxiliary device provided by the present invention; Figure 2 A schematic diagram of the hardware structure of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0023] like Figure 1 As shown, the present invention provides an intelligent rehabilitation treatment auxiliary device, including a dual-light collection device for locating veins, a mechanical arm for driving a blood collection needle to move, and a controller connected to the dual-light collection device and the mechanical arm, wherein the controller includes: S1, a control unit, is used to control the dual-light acquisition device to acquire images of the blood sampling area to obtain a blood sampling white-light image and a blood sampling red-light image corresponding to the blood sampling area.

[0024] It should be noted that the intelligent rehabilitation processing auxiliary equipment has a dual-light collection device for determining the vein, so that the vein position can be identified based on the dual-light collection device. Among them, blood collection is a necessary part of rehabilitation. To improve the accuracy of blood collection operations during rehabilitation, the robotic arm can be used to drive the blood collection needle to move to the determined blood collection position to achieve blood collection. At the same time, the controller is connected to the dual-light collection device and the robotic arm, and the dual-light collection device and the robotic arm can be controlled by the controller to jointly improve the accuracy and efficiency of blood collection.

[0025] It is understandable that since the thickness of the veins corresponding to different people is different, or the patient may have tattoos, the location of the vein cannot be determined intuitively. Therefore, a dual-light acquisition device can be used to obtain white light blood collection images and red light blood collection images, so that the location of the veins can be obtained through the red light blood collection images, and the white light blood collection images can be combined to identify abnormal areas, namely wounds and swelling areas, so that it can automatically determine the area where blood can be collected, thereby improving the efficiency of blood collection.

[0026] Among them, the dual-light acquisition device is a device that can perform dual-dimensional image acquisition, the blood collection area is the area where blood collection operations can be performed, such as the arm area, the blood collection white light image is the surface image of the corresponding part of the blood collection area, and the blood collection red light image is the internal venous blood vessel position image corresponding to the blood collection area.

[0027] It is not difficult to understand that the acquisition angle, image planning size, etc. of the blood collection white light image and the blood collection red light image are exactly the same, that is, each blood collection red light image corresponds to a blood collection white light image, so that the positions of the coordinate systems subsequently established in the corresponding blood collection white light image and blood collection red light image are one-to-one corresponding.

[0028] S2, an identification unit, is used to determine a positioning coordinate set in the blood sampling red light image based on the vein pixel value, determine a blood sampling positioning area in the blood sampling white light image based on the positioning coordinate set, and identify an abnormal blood sampling area in the blood sampling white light image.

[0029] It can be understood that the recognition unit is a calculation unit that recognizes the image and determines the blood sampling area.

[0030] Among them, the venous pixel value is the pixel value corresponding to the venous blood vessel displayed, such as dark red, the positioning coordinate set is the set of coordinates of the pixel points in the area corresponding to the venous blood vessel in the red light image of the blood collection, the blood collection positioning area is the image area where blood collection can be performed in the white light image of the blood collection, and the blood collection abnormality area is the abnormal area in the white light image of the blood collection, that is, the area where blood collection cannot be performed, such as the area where the skin corresponding to the vein position shown in the white light image of the blood collection has a wound, the area where blood has been drawn multiple times, or the area with swelling, and the area where the needle cannot be inserted for blood collection, so that the blood collection positioning area can be screened according to the blood collection abnormality area later, so that the appropriate blood collection position can be determined, thereby improving the accuracy of identifying the blood collection position.

[0031] In some embodiments, the specific implementation of step S2 (determining the positioning coordinate set in the blood sampling red light image based on the vein pixel value, determining the blood sampling positioning area of ​​the blood sampling white light image based on the positioning coordinate set, and identifying the blood sampling abnormal area in the blood sampling white light image) includes: S21, respectively obtaining the image center points of the blood sampling white light image and the blood sampling red light image, and taking the image center points as the coordinate origin, respectively performing coordinate processing on the blood sampling white light image and the blood sampling red light image.

[0032] It should be noted that in order to be able to perform collaborative analysis on the blood collection red light image and the blood collection white light image, the image center points of the blood collection white light image and the blood collection red light image can be determined respectively through existing image processing technology, such as OpenCV, so as to construct a coordinate system with the image center point as the coordinate origin, and coordinate processing is performed on the blood collection white light image and the blood collection red light image respectively, so that the coordinates of the corresponding position points in the blood collection white light image and the blood collection red light image correspond one to one, so as to facilitate the subsequent determination of the blood collection positioning area corresponding to the corresponding vein in the blood collection white light image according to the vein coordinate set in the blood collection red light image.

[0033] It can be understood that the center point of the image is the center position point corresponding to the image.

[0034] S22, extracting vein pixel points in the blood sampling red light image based on vein pixel values, counting vein coordinates corresponding to adjacent vein pixel points, and obtaining a plurality of vein coordinate sets.

[0035] It can be understood that the vein pixel point is the pixel point in the blood sampling red light image with the same value as the vein pixel, the vein coordinate is the coordinate corresponding to the vein pixel point, and the vein coordinate set is a coordinate set composed of adjacent vein coordinates.

[0036] It is not difficult to understand that since multiple veins can be displayed in the blood sampling red light image, multiple vein coordinate sets can be obtained when adjacent vein coordinates are statistically combined, that is, veins and vein coordinate sets are one-to-one corresponding, and each vein in the image corresponds to a vein coordinate set.

[0037] S23, obtaining a positioning coordinate set according to the vein coordinates in each of the vein coordinate sets, determining the blood sampling positioning area of ​​the blood sampling white light image based on the positioning coordinate set, and identifying the blood sampling abnormal area in the blood sampling white light image according to OpenCV.

[0038] It can be understood that the positioning coordinate set is a coordinate set of the area where blood sampling can be located, that is, a coordinate set composed of the venous coordinates in the venous coordinate set. The blood sampling positioning area is the area corresponding to the venous blood vessels in the blood sampling white light image, that is, the position area corresponding to each coordinate in the positioning coordinate set. The blood sampling abnormal area can be identified by OpenCV in the blood sampling white light image to obtain the blood sampling abnormal area, which is convenient for subsequent screening of the blood sampling positioning area according to the blood sampling abnormal area to determine the accurate blood collection position area.

[0039] In some embodiments, a specific implementation of step S23 (obtaining a positioning coordinate set according to the vein coordinates in each of the vein coordinate sets, and determining the blood sampling positioning area of ​​the blood sampling white light image based on the positioning coordinate set) includes: S231, obtaining the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the same vertical coordinate in each of the vein coordinate sets, and obtaining the vein width of the corresponding vertical coordinate in each of the vein coordinate sets according to the difference between the maximum horizontal coordinate and the minimum horizontal coordinate.

[0040] It should be noted that the thickness of the same vein in different parts also has deviations, that is, the veins corresponding to some positions are thick, and the veins corresponding to other positions are thin. Therefore, in order to improve the effectiveness of blood collection, the widest position corresponding to the vein can be selected as the blood collection positioning area. That is, the maximum and minimum horizontal coordinates corresponding to the same vertical coordinate in the vein coordinate set can be obtained, so as to obtain the horizontal width corresponding to each longitudinal position point, so as to obtain the vein width, so as to determine the appropriate blood collection positioning area later.

[0041] It can be understood that the maximum abscissa is the maximum value corresponding to the abscissa, the minimum abscissa is the minimum value corresponding to the abscissa, and the vein width is the width corresponding to the vein, that is, the difference between the maximum abscissa and the minimum abscissa.

[0042] Through the above implementation, the present invention can obtain the vein width corresponding to the venous blood vessel at each ordinate position, so as to subsequently determine the corresponding blood sampling positioning area.

[0043] S232, selecting the largest vein width in the vein coordinate set as the selected width of the vein coordinate set, and determining the corresponding vertical coordinate in the vein coordinate set as the selected vertical coordinate based on the selected width.

[0044] It can be understood that the selected width is the maximum vein width in the vein coordinate set, and the selected ordinate is the ordinate corresponding to the selected width in the vein coordinate set.

[0045] Through the above implementation, the present invention can determine the selected vertical coordinate, so as to subsequently determine the selected horizontal coordinate according to the selected vertical coordinate, so as to facilitate the determination of the blood sampling positioning area.

[0046] S233, obtaining a selected horizontal coordinate according to an average value of the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the selected vertical coordinate in the vein coordinate set.

[0047] It can be understood that the selected horizontal coordinate is the average value of the sum of the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the selected vertical coordinate in the vein coordinate set.

[0048] S234, obtaining selected coordinates corresponding to each of the vein coordinate sets based on the selected horizontal coordinates and the selected vertical coordinates.

[0049] It can be understood that the selected coordinates are the coordinates of the location point selected for blood sampling. For example, when the selected horizontal coordinate is 8 and the selected vertical coordinate is 9, the selected coordinates of the corresponding vein coordinate set can be obtained as (8,9).

[0050] S235, taking the selected coordinates as the center of the circle, determining the selected area based on a preset selected radius, obtaining the vein coordinates in each selected area as the positioning coordinates, and counting the positioning coordinates to obtain a positioning coordinate set in the blood sampling red light image.

[0051] It can be understood that the preset selected radius is a planned radius of the blood collection area that is preset, which can be preset manually. The selected area is the positioning area selected for the blood collection operation, that is, the position point corresponding to the selected coordinates is taken as the center of the circle, and the preset selected radius is the circular selected area determined by the radius of the circle. The positioning coordinates are the position coordinates corresponding to the veins in the selected area, and the positioning coordinate set is a coordinate set composed of the positioning coordinates.

[0052] Through the above implementation, the present invention can determine a positioning coordinate set, so as to subsequently preliminarily determine a location area where blood sampling can be performed based on the positioning coordinate set.

[0053] S236, identifying the red light positioning contour composed of the positioning coordinate set based on OpenCV, and obtaining the coordinates of contour pixel points corresponding to the red light positioning contour as red light contour coordinates.

[0054] It is understandable that OpenCV image processing technology can be used to identify and mark the image contour composed of the positioning coordinate set determined in the blood collection red light image to obtain a red light positioning contour, wherein the red light positioning contour is the contour of the blood collection area preliminarily marked in the blood collection red light image.

[0055] It is not difficult to understand that, after the red light positioning contour is determined, the coordinates of the contour pixel points can be acquired according to the red light positioning contour to obtain the red light contour coordinates.

[0056] The contour pixel points are the pixel points of the regional image contour, and the red light contour coordinates are the coordinates of the contour pixel points corresponding to the red light positioning contour.

[0057] S237, determining the same coordinates in the blood sampling white light image according to the red light contour coordinates as positioning contour coordinates, and determining the blood sampling positioning area of ​​the blood sampling white light image according to the positioning contour coordinates.

[0058] It can be understood that the positioning contour coordinates are the same coordinates as the red light contour coordinates in the blood sampling white light image, so that the corresponding positioning area contour can be marked according to the positioning contour coordinates, so that the area surrounded by the area contours can be used as the blood sampling point area.

[0059] Through the above implementation, the present invention can obtain a blood collection positioning area, so that the blood collection positioning area can be screened and processed according to the blood collection abnormal area, thereby obtaining a blood collection recommended image, so that subsequent personnel can select the location where blood collection can be performed according to the blood collection recommended image.

[0060] S3, a processing unit, is used to process the blood sampling white light image according to the blood sampling abnormal area and the blood sampling positioning area to obtain a blood sampling recommended image and send it to a display end.

[0061] It should be noted that the processing unit is a computing unit that performs image data processing. It can process the blood sampling white light image according to the blood sampling abnormal area and the blood sampling positioning area, so as to further determine the position where blood can be safely collected, obtain the blood sampling recommendation image and send it to the display end, thereby enabling personnel to select the blood sampling position by themselves.

[0062] It can be understood that the blood collection recommendation image is an image with a recommended position for the blood collection operation, and the display end is an information terminal that displays the blood collection recommendation image, such as a networked display screen.

[0063] It is not difficult to understand that when the subsequent personnel do not select the blood collection position in the blood collection recommendation image, they can arbitrarily select one of the determined blood collection positions so that the subsequent robotic arm can move to the determined position to achieve safe blood collection.

[0064] In some embodiments, the specific implementation of step S3 (processing the blood sampling white light image according to the blood sampling abnormal area and the blood sampling positioning area to obtain a blood sampling recommended image and send it to the display end) includes: S31, counting the number of pixels in the abnormal blood sampling area to obtain the number of abnormal pixels, and obtaining the abnormal influence coefficient according to the ratio of the number of abnormal pixels to the reference abnormal number.

[0065] It can be understood that the number of abnormal pixels is the number of pixels in the abnormal blood sampling area, the baseline abnormal number is the baseline number for determining the degree of abnormal impact, and the abnormal impact coefficient is the impact coefficient corresponding to the abnormal area, that is, the ratio of the abnormal pixel number to the baseline abnormal number.

[0066] It is not difficult to understand that when the number of abnormal pixels is greater, the area of ​​the corresponding abnormal region is larger, and the abnormal influence coefficient obtained after comparing with the baseline abnormal number will also become larger, which means that the abnormal region has a greater impact on the surrounding blood collection area.

[0067] Through the above implementation, the present invention can obtain the abnormal influence coefficient, so as to subsequently determine the corresponding abnormal influence area according to the abnormal influence coefficient, avoid subsequent blood collection operations on the veins in the area, and improve the safety of blood collection.

[0068] S32, obtaining the abnormal influence distance according to the product of the abnormal influence coefficient and the preset influence distance, obtaining the center point of the abnormal blood sampling area as the abnormal midpoint, connecting the abnormal contour point of the abnormal blood sampling area with the abnormal midpoint, and obtaining the abnormal contour connecting line.

[0069] It should be noted that in order to determine the affected area based on the actual shape of the abnormal blood sampling area, the acquired abnormal contour points and abnormal midpoints can be connected so that subsequent extension can be performed to obtain a new contour shape that is the same as the current shape of the abnormal blood sampling area, thereby improving the accuracy of determining the abnormal area.

[0070] It can be understood that the preset impact distance is the area distance affected by the pre-set number of baseline abnormalities of the equipment, the abnormal impact distance is the impact distance corresponding to the abnormal impact coefficient determined by the number of pixels in the current abnormal area, that is, the product of the abnormal impact coefficient and the preset impact distance, and the abnormal midpoint is the center point of the abnormal blood sampling area. The center horizontal coordinate can be obtained by obtaining the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the abnormal blood sampling area and performing mean calculation. Similarly, the maximum vertical coordinate and the minimum vertical coordinate corresponding to the abnormal blood sampling area are obtained and the center vertical coordinate is obtained by performing mean calculation. The center point of the abnormal blood sampling area can be determined based on the center horizontal coordinate and the center vertical coordinate.

[0071] The abnormal contour point is the regional contour point corresponding to the abnormal blood sampling area, and the abnormal contour connecting line is the line connecting the abnormal contour point and the abnormal midpoint.

[0072] S33, taking the direction from the abnormal midpoint to the abnormal contour point along the abnormal contour connecting line as an extension direction, and moving the abnormal contour point based on the extension direction and the abnormal influence distance to obtain the moved abnormal contour point.

[0073] It can be understood that in order to determine the area affected by the abnormal blood sampling area, the abnormal contour points can be moved along the extension direction corresponding to the abnormal contour connecting line to obtain the moved abnormal contour points, and then obtain the corresponding abnormal affected area.

[0074] The extension direction is the direction in which the abnormal contour point moves, that is, the direction in which the abnormal midpoint points to the abnormal contour point.

[0075] S34, connecting the adjacent abnormal contour points after the movement to obtain the abnormal influence area of ​​the blood sampling white light image.

[0076] It can be understood that adjacent abnormal contour points after movement are connected to obtain an abnormal influence area having the same contour shape as the original blood sampling abnormal area.

[0077] The abnormal impact area is an area that may have an abnormal impact on blood collection.

[0078] S35, obtaining the intersection of the abnormal impact area and the blood sampling location area to obtain the impact intersection area, and obtaining multiple actual collection areas according to the difference set of the blood sampling location area and the corresponding impact intersection area.

[0079] It can be understood that the impact intersection area is the intersection of the abnormal impact area and the blood sampling positioning area, and the actual collection area is the location area where the blood sampling operation can actually be performed, that is, the difference between the blood sampling positioning area and the corresponding impact intersection area.

[0080] It is not difficult to understand that, since the position and shape of the abnormal impact area can be arbitrary, the abnormal impact area may only have a partial intersection with the blood sampling positioning area. Therefore, the abnormal impact area may divide the blood sampling positioning area to obtain multiple actual collection areas.

[0081] S36, determining a blood collection recommended area according to the actual blood collection area, updating the blood collection recommended area to the blood collection white light image, obtaining a blood collection recommended image and sending it to a display terminal.

[0082] It is understandable that there may be multiple actual collection areas obtained, but the area size or vein width corresponding to each actual collection area may be different, and the thickness of the vein will affect the accuracy of blood collection and needle insertion. Therefore, the actual collection area can be further processed to obtain the recommended blood collection area, which can then be updated in the blood collection white light image so that it can be intuitively displayed on the display end later to facilitate user viewing, so that subsequent patients can choose an acceptable position in the determined recommended blood collection area to perform blood collection operations, so that subsequent blood collection devices can perform blood collection operations at the location of the recommended blood collection area, thereby improving personnel acceptance.

[0083] Among them, the blood collection recommended area is a location area that is preferentially recommended for blood collection operations.

[0084] In some embodiments, a specific implementation of the step (determining the recommended blood collection area according to the actual blood collection area) includes: A361, obtaining the number of pixels in each actual collection area to obtain the actual number of pixels, and obtaining the actual collection area corresponding to the largest actual number of pixels as the recommended blood collection area.

[0085] It can be understood that the actual number of pixels is the number of pixels in the actual collection area, and the blood sampling recommended area is the actual collection area corresponding to the maximum actual number of pixels.

[0086] It is not difficult to understand that the more actual pixel points there are, the larger the area of ​​the corresponding actual collection area is, and it can be used as a recommended blood collection area so that blood collection operations can be performed in the corresponding area later, thereby improving the effectiveness of venous blood collection and reducing multiple blood collection and needle operations caused by inaccurate venous position determination.

[0087] In some embodiments, the specific implementation of the step (determining the recommended blood collection area according to the actual blood collection area) includes: B361, counting all coordinates in the actual acquisition area to obtain an actual coordinate set corresponding to the actual acquisition area.

[0088] It can be understood that the actual coordinate set is a set of coordinates of all positions in the actual acquisition area.

[0089] Through the above implementation, an actual coordinate set is obtained, so that a corresponding blood sampling recommended area can be determined in the actual coordinate set later.

[0090] B362, selecting the largest vein width in the actual coordinate set as the selected width of the actual coordinate set, and selecting the largest selected width of the actual coordinate set as the recommended width.

[0091] It can be understood that in order to improve the accuracy and safety of subsequent blood collection operations, the largest vein width in the actual coordinate set can be determined as the selected width corresponding to the actual coordinate set, and the selected widths of multiple actual coordinate sets can be compared, and the selected width of the largest actual coordinate set can be selected again as the recommended width.

[0092] Among them, the selected width of the actual coordinate set is the maximum vein width corresponding to the actual coordinate set. The specific implementation method of its determination is the same as the above steps S321-S322, which will not be repeated here. The recommended width is the vein distance width recommended for blood collection operations.

[0093] B363, determine the actual blood collection area corresponding to the recommended width as the recommended blood collection area.

[0094] It is understandable that, after the recommended width is determined, the actual collection area corresponding to the recommended width can be used as the recommended blood collection area, that is, the area with the largest vein width is selected to improve the accuracy and effectiveness of subsequent blood collection operations.

[0095] S4, a response unit, is used to respond to the user's interaction trigger information on the display end, determine the user interaction area of ​​the blood collection recommendation image, generate an interactive recommendation area in the blood collection recommendation image based on the user interaction area and the blood collection red light image, and control the robotic arm to drive the blood collection needle to move to the interactive recommendation area.

[0096] It can be understood that the response unit is an implementation unit that responds to user needs, that is, when the user automatically selects and determines the blood collection location, the server can generate a corresponding interactive recommendation area, thereby controlling the robotic arm to drive the blood collection needle to move to the interactive recommendation area, thereby determining the regional position and automatically completing the blood collection operation to improve the efficiency of blood collection.

[0097] Among them, the interaction trigger information is the operation information that triggers the interaction of the user on the display end. For example, circling the blood collection recommendation picture on the display end to determine the blood collection location selected by the user. The user interaction area is the blood collection area circled by the user, and the interaction recommendation area is the recommended area for blood collection determined by interaction with the user.

[0098] In some embodiments, the specific implementation of step S4 (the response unit is used to respond to the user's interaction trigger information on the display terminal, determine the user interaction area of ​​the blood collection recommendation image, generate the interaction recommendation area in the blood collection recommendation image based on the user interaction area and the blood collection red light image, and control the mechanical arm to drive the blood collection needle to move to the interaction recommendation area) includes: S41, responding to the interaction trigger information of the user to the display terminal, determining the user interaction area of ​​the blood sampling white light image, and obtaining the interaction contour coordinates of the area contour corresponding to the user interaction area.

[0099] It can be understood that in response to the user's interactive trigger information on the display end, the user interaction area of ​​the blood collection white light image is determined according to the user's trigger trajectory, and then the interactive contour coordinates corresponding to the user interaction area can be obtained, so that the corresponding area can be subsequently determined in the blood collection red light image according to the interactive contour coordinates.

[0100] The user interaction area is a blood sampling position area determined independently by the user in the blood sampling white light image, and the interaction contour coordinates are contour coordinates of the contour of the area corresponding to the user interaction area.

[0101] S42, determining the same coordinates in the blood sampling red light image as coordinates to be calibrated according to the interactive contour coordinates, and determining the contour to be calibrated in the blood sampling red light image based on the coordinates to be calibrated.

[0102] It is understandable that because the user interaction area determined by the interaction trigger of the blood collection white light image on the display end may be irregular, and there may be areas that are not veins in the corresponding user interaction area, deviations may occur when blood collection is subsequently performed in the user interaction area, which is not conducive to the safety of subsequent blood collection operations. Therefore, the area of ​​the blood collection red light image can be determined according to the interactive contour coordinates to check whether there are veins in the corresponding user interaction area, so that accurate and safe blood collection can be achieved. Furthermore, the contour to be calibrated can be determined according to the coordinates to be calibrated, so as to obtain the interactive recommendation area later.

[0103] Among them, the coordinates to be calibrated are the coordinates in the blood sampling red light image that are the same as the interactive contour coordinates, and the contour to be calibrated is the area contour for calibrating the user interaction area, that is, the area contour after the corresponding positions of the coordinates to be calibrated in the blood sampling red light image are connected.

[0104] S43, determining the vein coordinate set where the contour to be calibrated is located as the interactive coordinate set, and obtaining the vein contour composed of each vein coordinate set based on OpenCV.

[0105] It can be understood that the interactive coordinate set is the vein coordinate set where the contour to be calibrated is located, and the vein contour is the contour of the vein image corresponding to the vein coordinate set.

[0106] S44, obtaining the vein contour within the contour to be calibrated as the interactive contour, selecting the shortest interactive contour as the reference contour, and obtaining the ordinate in the contour coordinate corresponding to the reference contour as the reference ordinate.

[0107] It can be understood that the interactive contour is the vein contour within the contour to be calibrated, the reference contour is the corresponding short side contour in the interactive contour, and the reference ordinate is the ordinate in the contour coordinate corresponding to the reference contour.

[0108] It is not difficult to understand that in order to determine the interactive recommendation area later, that is, all the areas where blood sampling can be performed are within the area triggered and determined by the user, the shortest interactive contour can be selected as the reference contour, so that the interactive recommendation area obtained later is the blood sampling area position that the user can accept.

[0109] S45, obtaining a reference width corresponding to the reference ordinate according to a difference between a maximum ordinate and a minimum ordinate corresponding to the reference ordinate in the interactive coordinate set.

[0110] It can be understood that the reference width is the vein width at the position corresponding to the reference ordinate, that is, the difference between the maximum abscissa and the minimum abscissa corresponding to the reference ordinate in the interactive coordinate set.

[0111] Through the above implementation, the present invention can determine the reference width, so as to subsequently select the largest reference width as the interactive width, thereby determining the corresponding interactive recommendation area.

[0112] S46, selecting the largest reference width as the interactive width, and determining the corresponding reference ordinate as the interactive ordinate based on the interactive width.

[0113] It can be understood that the interactive width is the maximum reference width, and the interactive ordinate is the ordinate corresponding to the center point of the interactive area, that is, the reference ordinate at the position corresponding to the interactive width.

[0114] S47, obtaining the interactive horizontal coordinate according to the average value of the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the interactive vertical coordinate in the interactive coordinate set.

[0115] It can be understood that in order to obtain the corresponding blood sampling location area later, the center point of the corresponding area of ​​the interactive coordinate set can be obtained, so that the circular blood sampling operation area can be determined according to the center point later. Therefore, the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the interactive vertical coordinate can be averaged to obtain the interactive horizontal coordinate.

[0116] The interactive horizontal coordinate is the horizontal coordinate of the center point of the interactive area, that is, the average value of the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the interactive vertical coordinate in the interactive coordinate set.

[0117] S48, obtaining interaction coordinates corresponding to the interaction coordinate set based on the interaction horizontal coordinate and the interaction vertical coordinate.

[0118] It can be understood that the interaction coordinates are the coordinates of the center point of the interaction area, that is, the coordinates of the position point obtained by combining the interaction horizontal coordinate and the interaction vertical coordinate.

[0119] S49, taking the interactive coordinates as the center of the circle, determining a red light interactive area based on a preset selected radius, and determining an interactive recommendation area in the blood sampling white light image based on the regional coordinate points of the red light interactive area.

[0120] It can be understood that the red light interactive area is a circular interactive area with the interactive coordinates as the center and the preset selected radius as the radius. The regional coordinate point is the position point in the red light interactive area. The interactive recommendation area is the blood collection recommendation area corresponding to the user interaction area, that is, the area composed of the position points in the blood collection white light image that are the same as the regional coordinate points.

[0121] In some embodiments, it also includes: C1, in response to the blood sampling trigger information from the user to the display terminal, the robot arm is controlled to move the blood sampling needle to the blood sampling recommendation area, and the current moment is recorded as the initial moment of blood sampling.

[0122] It is understandable that when the user has determined that blood collection can be performed, the display end will be triggered with information. For example, by clicking the blood collection button, the server will respond to the user's blood collection trigger information on the display end, and then control the robotic arm to move the blood collection needle to the recommended blood collection area. At the same time, the current moment is recorded as the initial moment of blood collection, so as to subsequently obtain the reference white light image corresponding to the initial moment of blood collection, so as to facilitate the subsequent comparison with the image during the blood collection process, and timely detect whether the collection site has moved, so that it can be stopped in time, and the blood collection needle can be removed, thereby improving the safety of blood collection.

[0123] Among them, the blood collection trigger information is the instruction operation information that triggers the display end to send the start of blood collection, and the initial time of blood collection is the time corresponding to when moving to the blood collection recommendation area.

[0124] C2, obtaining the blood sampling white light image corresponding to the initial moment of blood sampling as a reference white light image.

[0125] It should be noted that during the process of blood collection from the user, the blood collection site may move, which may affect the safety of blood collection. Therefore, the blood collection process can be monitored by image in real time to determine whether the blood collection site has moved, so that the blood collection needle can be removed later to avoid dangerous blood collection accidents caused by deviation of the blood collection needle, thereby improving the safety of blood collection for users.

[0126] It can be understood that the reference white light image is the blood sampling white light image corresponding to the initial moment of blood sampling.

[0127] C3, based on the blood sampling initial time and the preset blood sampling duration, determine the blood sampling period, and based on the blood sampling period, acquire the blood sampling white light image corresponding to the blood sampling area in real time as an activity monitoring image.

[0128] It can be understood that the preset blood collection time is the preset time required for blood collection, the blood collection period is the time period for the blood collection operation, and the activity monitoring image is the blood collection white light image corresponding to the blood collection area collected in real time during the blood collection period.

[0129] C4, obtaining reference part coordinates corresponding to the pixel points of the acquisition part in the reference white light image, and counting the reference part coordinates to obtain a reference part coordinate set of the reference white light image.

[0130] It can be understood that the pixel points of the collection part are the pixel points corresponding to the collection part in the reference white light image, such as the pixel points corresponding to the arm in the reference white light image, the reference part coordinates are the coordinates corresponding to the pixel points of the collection part in the reference white light image, and the reference part coordinate set is the set of reference part coordinates.

[0131] Through the above implementation, the present invention can obtain a reference part coordinate set of a reference white light image, so as to provide reference data for subsequent determination of whether the collected part moves.

[0132] C5, obtaining the activity part coordinates corresponding to the pixel points of the acquisition part in the activity monitoring image, and counting the activity part coordinates to obtain the activity part coordinate set of the activity monitoring image.

[0133] It can be understood that the active part coordinates are the coordinates corresponding to the pixel points of the collection part in the activity monitoring image, such as the coordinates of the pixel points corresponding to the arm in the activity white light image, and the active part coordinate set is the set of active part coordinates.

[0134] Through the above implementation, the present invention can obtain a set of active part coordinates, so as to compare it with a set of reference part coordinates later, thereby determining whether the collected part moves.

[0135] C6, obtaining an overlapping coordinate set according to the intersection of the active part coordinate set and the reference part coordinate set.

[0136] It can be understood that when the arm position moves and the movement range is not large, the corresponding active part coordinate set and the reference part coordinate set have the same part, and the corresponding intersection of the sets can be used as the overlapping coordinate set.

[0137] The overlapping coordinate set is a coordinate set of overlapping parts generated by the acquisition parts, that is, the intersection of the active part coordinate set and the reference part coordinate set.

[0138] C7, obtaining an active coordinate set based on the difference between the reference part coordinate set and the overlapping coordinate set, acquiring the number of coordinates in the active coordinate set, and obtaining the active number.

[0139] It can be understood that the active coordinate set is the difference between the reference part coordinate set and the overlap coordinate set, and the active number is the number of coordinates in the active coordinate set.

[0140] Through the above implementation, the present invention can obtain the activity quantity so as to determine whether to remove the blood collection needle.

[0141] It is not difficult to understand that when the swing amplitude of the collection part is large, the blood collection needle is prone to dangerous situations such as blood backflow. Therefore, it is necessary to continue to remove the blood collection needle to improve the safety of the user during the blood collection process. When the movement amplitude of the collection part is small, it will not cause dangerous effects on blood collection, and blood collection can continue.

[0142] C8, when it is determined that the activity number is greater than or equal to the preset activity number, the robot arm is controlled to remove the blood collection needle.

[0143] It can be understood that the preset number of activities is a pre-set benchmark number of activities. When the number of activities is greater than or equal to the preset number of activities, it can be said that the current collection site has a large movement range, and it is necessary to control the robotic arm to remove the blood collection needle to prevent the needle from breaking during swinging, thereby improving the safety of blood collection.

[0144] In some embodiments, the dangerous movement of the collection site may be determined and the blood collection needle may be removed by: D1, in response to the user's blood sampling trigger information on the display end, controls the robotic arm to move the blood sampling needle to the interactive center of the interactive recommendation area, and records the current moment as the initial moment, and determines the interactive blood sampling period based on the initial moment and the preset blood sampling duration.

[0145] It can be understood that after the user's blood collection trigger information on the display end is determined, the robotic arm can be controlled to move the blood collection needle to the interactive center of the interactive recommendation area, so that blood collection can be carried out at the interactive center, so that it can accurately fall on the vein, thereby improving the efficiency of blood collection. At the same time, the current moment is recorded as the initial moment in order to determine the interactive blood collection period, so that image collection can be performed subsequently according to the interactive blood collection period.

[0146] Among them, the blood collection trigger information is the instruction information that triggers the start of blood collection, the interaction center is the center of the interaction recommendation area, the initial moment is the current moment corresponding to the movement of the blood collection needle to the interaction center, the preset blood collection duration is the pre-set blood collection duration, and the interactive blood collection period is the time period for blood collection in the interactive recommendation area.

[0147] D2, based on the initial moment, obtaining the coordinate point of the interaction circle center as the reference circle center coordinate, and based on the interactive blood sampling period, obtaining the coordinate of the interaction circle center corresponding to the interactive recommendation area in real time as the activity circle center coordinate.

[0148] It can be understood that the reference circle center coordinates are the coordinates of the position point of the interaction circle center corresponding to the initial moment, and the activity circle center coordinates are the coordinates of the interaction circle center corresponding to the interactive recommendation area obtained in real time during the interactive blood sampling period.

[0149] Through the above implementation, the present invention can obtain the reference circle center coordinates and the active circle center coordinates, so as to compare the two later, thereby determining the movement of the collection site, so that when it is determined that the movement amplitude is large, the corresponding blood collection needle can be removed in time.

[0150] D3, calculating according to the reference circle center coordinates and the activity circle center coordinates to obtain the activity distance, and when it is determined that the activity distance is greater than or equal to the preset activity distance, controlling the robotic arm to remove the blood collection needle.

[0151] It can be understood that the activity distance is the distance between the reference circle center coordinates and the activity circle center coordinates, and the preset activity distance is a pre-set movable reference distance. When it is determined that the activity distance is greater than or equal to the preset activity distance, it can be explained that the movement range of the current collection part is large, and continuing blood collection may cause dangerous accidents. Therefore, the robotic arm can be controlled to remove the blood collection needle. When it is determined that the activity distance is less than the preset activity distance, it can be explained that the movement range of the collection part is small, so there is no need to remove the blood collection needle, and blood collection can be carried out normally until the end.

[0152] It is not difficult to understand that a line segment can be determined between two points, so the length distance between the two points can be calculated based on the coordinates of the reference circle center and the coordinates of the active circle center.

[0153] It should be noted that after blood collection is completed, it is necessary to prevent needle infection and stop bleeding from the wound. Therefore, the corresponding blood collection needle can be removed and a hemostatic patch can be attached to stop bleeding at the blood collection site to protect the user from bleeding in time after blood collection. Therefore, in some embodiments, it also includes: E1, determine the last moment in the blood collection period as the bleeding stop moment, obtain the tip portion of the blood collection needle, and the connecting portion connected to the tip portion.

[0154] It can be understood that the hemostasis moment is the end moment of stopping blood collection, that is, the end moment corresponding to the blood collection period, the tip part is the needle tube part corresponding to the blood collection needle, and the connecting part is the part connected to the tip part, for example, it can be a handheld device.

[0155] Through the above implementation, the present invention can determine the tip portion and the connection portion, so that the hemostasis position can be determined later and the hemostasis treatment can be performed in time.

[0156] E2, obtaining the tip pixel value of the tip portion and the connection pixel value of the connection portion.

[0157] It can be understood that the tip pixel value is the pixel value of the tip of the lancet, for example, the needle tip is usually silver, so the corresponding tip pixel value can be silver, and the connection pixel value is the pixel value corresponding to the connection part, for example, it can be blue.

[0158] E3, extracting the tip pixel points in the blood sampling recommendation image and the connecting pixel points corresponding to the connecting pixel values ​​based on the tip pixel values.

[0159] It can be understood that the tip pixel point is the pixel point corresponding to the tip pixel value in the blood sampling recommended image, and the connection pixel point is the pixel point corresponding to the connection pixel value in the blood sampling recommended image.

[0160] E4, when it is determined that the adjacent pixel point of the tip pixel point is a connecting pixel point, the corresponding tip pixel point is used as a connecting pixel point, and the adjacent connecting pixel points are connected to obtain a connecting line.

[0161] It can be understood that the connecting pixel point is the pixel point at the connection between the tip part and the connecting part, that is, the adjacent pixel point of the tip pixel point is the tip pixel point when the connecting pixel point is connected, and the connecting line is the line segment after the adjacent connecting pixel points are connected.

[0162] Through the above implementation, the present invention can obtain a connecting line, so as to subsequently determine the positioning direction of the hemostasis position according to the connecting line.

[0163] E5, constructing a vertical line perpendicular to the connecting line, and determining a direction along the vertical line and away from the connecting part to the tip part as a positioning direction.

[0164] It can be understood that the direction vertical line is a straight line perpendicular to the connecting line, and the positioning direction is the direction for determining the hemostasis position, that is, the direction along the direction vertical line and away from the connecting part to the tip part.

[0165] Through the above implementation, the present invention can obtain the positioning direction, so as to subsequently determine the position where hemostasis needs to be performed according to the positioning direction, so that hemostasis treatment can be performed in a timely and accurate manner.

[0166] E6, based on the positioning direction, determine the position of the tip pixel value at the end as the hemostasis position, and when it is determined that the hemostasis moment has been reached, control the robot arm to move the hemostatic bandage to the hemostasis position for hemostasis treatment.

[0167] It can be understood that the hemostasis position is the position where the hemostasis treatment is performed, that is, the position of the tip pixel value moving to the end along the positioning direction.

[0168] It is not difficult to understand that when it is determined that the moment of hemostasis has been reached, it means that blood collection has been completed, so the robotic arm can be controlled to move the hemostatic bandage to the hemostasis position to achieve hemostasis treatment, avoid continuous bleeding of the wound, and thus improve the safety of blood collection.

[0169] See also Figure 2 , is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention, the electronic device 20 includes: a processor 21, a memory 22 and a computer program; wherein The memory 22 is used to store the computer program, and the memory may also be a flash memory. The computer program is, for example, an application program, a functional module, etc. for implementing the above method.

[0170] The processor 21 is used to execute the computer program stored in the memory to implement each step performed by the device in the above method. For details, please refer to the relevant description in the above method embodiment.

[0171] Optionally, the memory 22 may be independent or integrated with the processor 21 .

[0172] When the memory 22 is a device independent of the processor 21, the device may further include: The bus 23 is used to connect the memory 22 and the processor 21 .

[0173] The present invention also provides a readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, it is used to implement the methods provided by the various embodiments described above.

[0174] Among them, the readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application-specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the readable storage medium can also exist in a communication device as discrete components. The readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0175] The present invention also provides a program product, which includes an execution instruction, which is stored in a readable storage medium. At least one processor of a device can read the execution instruction from the readable storage medium, and at least one processor executes the execution instruction so that the device implements the methods provided in the above various embodiments.

[0176] In the embodiments of the above-mentioned devices, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0177] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent rehabilitation treatment auxiliary device, characterized in that: It includes a dual-light collection device for locating veins, a mechanical arm for driving a blood collection needle to move, and a controller connected to the dual-light collection device and the mechanical arm, wherein the controller includes: A control unit, used for controlling the dual-light collection device to collect images of the blood collection area, and obtaining a blood collection white-light image and a blood collection red-light image corresponding to the blood collection area; an identification unit, configured to determine a set of positioning coordinates in the blood sampling red light image based on the vein pixel value, determine a blood sampling positioning area in the blood sampling white light image based on the positioning coordinate set, and identify an abnormal blood sampling area in the blood sampling white light image; A processing unit, used for processing the blood sampling white light image according to the blood sampling abnormal area and the blood sampling positioning area, and obtaining a blood sampling recommended image to send to a display end; A response unit is used to respond to the user's interactive trigger information on the display end, determine the user interaction area of ​​the blood collection recommendation image, generate an interactive recommendation area in the blood collection recommendation image based on the user interaction area and the blood collection red light image, and control the robotic arm to drive the blood collection needle to move to the interactive recommendation area.

2. The device according to claim 1, characterized in that The method of determining a positioning coordinate set in the blood sampling red light image based on the vein pixel value, determining a blood sampling positioning area in the blood sampling white light image based on the positioning coordinate set, and identifying an abnormal blood sampling area in the blood sampling white light image includes: respectively obtaining the image center points of the blood sampling white light image and the blood sampling red light image, and taking the image center points as the coordinate origin, respectively performing coordinate processing on the blood sampling white light image and the blood sampling red light image; Extracting vein pixel points in the blood sampling red light image based on vein pixel values, and counting vein coordinates corresponding to adjacent vein pixel points to obtain a plurality of vein coordinate sets; A positioning coordinate set is obtained according to the vein coordinates in each of the vein coordinate sets, a blood sampling positioning area of ​​the blood sampling white light image is determined based on the positioning coordinate set, and an abnormal blood sampling area in the blood sampling white light image is identified according to OpenCV.

3. The device according to claim 2, characterized in that The step of obtaining a positioning coordinate set according to the vein coordinates in each of the vein coordinate sets, and determining the blood sampling positioning area of ​​the blood sampling white light image based on the positioning coordinate set, comprises: Obtaining the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the same vertical coordinate in each of the vein coordinate sets, and obtaining the vein width of the corresponding vertical coordinate in each of the vein coordinate sets according to the difference between the maximum horizontal coordinate and the minimum horizontal coordinate; Selecting the largest vein width in the vein coordinate set as the selected width of the vein coordinate set, and determining the corresponding vertical coordinate in the vein coordinate set as the selected vertical coordinate based on the selected width; Obtaining a selected horizontal coordinate according to an average value of a maximum horizontal coordinate and a minimum horizontal coordinate and a value corresponding to the selected vertical coordinate in the venous coordinate set; Based on the selected horizontal coordinate and the selected vertical coordinate, obtaining selected coordinates corresponding to each of the vein coordinate sets; Taking the selected coordinates as the center of the circle, determining the selected area based on a preset selected radius, obtaining the vein coordinates in each selected area as the positioning coordinates, and counting the positioning coordinates to obtain a positioning coordinate set in the blood sampling red light image; Based on OpenCV, the red light positioning contour composed of the positioning coordinate set is identified, and the coordinates of the contour pixel points corresponding to the red light positioning contour are obtained as the red light contour coordinates; According to the red light contour coordinates, the same coordinates in the blood sampling white light image are determined as positioning contour coordinates, and according to the positioning contour coordinates, the blood sampling positioning area of ​​the blood sampling white light image is determined.

4. The device according to claim 3, characterized in that The processing of the blood sampling white light image according to the blood sampling abnormal area and the blood sampling positioning area to obtain a blood sampling recommended image and send it to the display end includes: Counting the number of pixels in the abnormal blood sampling area to obtain the number of abnormal pixels, and obtaining the abnormal influence coefficient according to the ratio of the number of abnormal pixels to the reference abnormal number; According to the product of the abnormal influence coefficient and the preset influence distance, the abnormal influence distance is obtained, the center point of the abnormal blood sampling area is obtained as the abnormal midpoint, and the abnormal contour point of the abnormal blood sampling area is connected with the abnormal midpoint to obtain the abnormal contour connection line; taking the direction from the abnormal midpoint to the abnormal contour point along the abnormal contour connecting line as the extension direction, and moving the abnormal contour point based on the extension direction and the abnormal influence distance to obtain the moved abnormal contour point; Connecting adjacent abnormal contour points after the movement to obtain the abnormal impact area of ​​the blood sampling white light image; Obtaining the intersection of the abnormal impact area and the blood sampling location area to obtain an impact intersection area, and obtaining a plurality of actual collection areas according to the difference set between the blood sampling location area and the corresponding impact intersection area; A blood collection recommended area is determined according to the actual blood collection area, the blood collection recommended area is updated to the blood collection white light image, and the blood collection recommended image is obtained and sent to the display end.

5. The device according to claim 4, characterized in that The step of determining the recommended blood collection area according to the actual blood collection area comprises: The number of pixels in each actual collection area is obtained to obtain the actual number of pixels, and the actual collection area corresponding to the largest actual number of pixels is obtained as the recommended blood collection area.

6. The device according to claim 4, characterized in that The step of determining the recommended blood collection area according to the actual blood collection area comprises: Counting all coordinates in the actual acquisition area to obtain a set of actual coordinates corresponding to the actual acquisition area; Selecting the largest vein width in the actual coordinate set as the selected width of the actual coordinate set, and selecting the largest selected width of the actual coordinate set as the recommended width; An actual blood collection area corresponding to the recommended width is determined as a recommended blood collection area.

7. The device according to claim 2, characterized in that The response unit is used to respond to the user's interactive trigger information on the display terminal, determine the user interactive area of ​​the blood collection recommendation image, generate an interactive recommendation area in the blood collection recommendation image based on the user interactive area and the blood collection red light image, and control the mechanical arm to drive the blood collection needle to move to the interactive recommendation area, including: In response to the user's interaction trigger information on the display terminal, determining the user interaction area of ​​the blood sampling recommendation image, and obtaining the interaction contour coordinates of the area contour corresponding to the user interaction area; Determine the coordinates in the blood sampling red light image that are identical thereto according to the interactive contour coordinates as coordinates to be calibrated, and determine the contour to be calibrated in the blood sampling red light image based on the coordinates to be calibrated; Determine the vein coordinate set where the contour to be calibrated is located as the interactive coordinate set, and obtain the vein contour composed of each vein coordinate set based on OpenCV; Acquire the vein contour within the contour to be calibrated as the interactive contour, select the shortest interactive contour as the reference contour, and acquire the ordinate in the contour coordinate corresponding to the reference contour as the reference ordinate; Obtaining a reference width corresponding to the reference ordinate according to a difference between a maximum ordinate and a minimum ordinate corresponding to the reference ordinate in the interactive coordinate set; Selecting the largest reference width as the interactive width, and determining the corresponding reference ordinate as the interactive ordinate based on the interactive width; Obtaining the interactive horizontal coordinate according to the average value of the maximum horizontal coordinate and the minimum horizontal coordinate corresponding to the interactive vertical coordinate in the interactive coordinate set; Based on the interaction horizontal coordinate and the interaction vertical coordinate, obtaining the interaction coordinate corresponding to the interaction coordinate set; Taking the interactive coordinates as the center of the circle, determining a red light interactive area based on a preset selected radius, and determining an interactive recommendation area in the blood sampling recommendation image based on the regional coordinate points of the red light interactive area; The center point of the interactive recommendation area is determined as the center of the interactive circle, and the robotic arm is controlled to drive the blood collection needle to move to the center of the interactive circle for blood collection.

8. The device according to claim 4, characterized in that Also includes: In response to the blood sampling trigger information from the user to the display terminal, the robot arm is controlled to move the blood sampling needle to the blood sampling recommended area, and the current time is recorded as the initial time of blood sampling; Acquire the blood sampling white light image corresponding to the initial moment of blood sampling as the reference white light image; Based on the blood sampling initial time and the preset blood sampling duration, a blood sampling period is determined, and based on the blood sampling period, a blood sampling white light image corresponding to the blood sampling area is acquired in real time as an activity monitoring image; Obtaining reference part coordinates corresponding to the pixel points of the acquisition part in the reference white light image, and counting the reference part coordinates to obtain a reference part coordinate set of the reference white light image; Acquire the activity part coordinates corresponding to the pixel points of the acquisition part in the activity monitoring image, and count the activity part coordinates to obtain the activity part coordinate set of the activity monitoring image; Obtaining an overlapping coordinate set according to the intersection of the active part coordinate set and the reference part coordinate set; Based on the difference between the reference part coordinate set and the overlapped coordinate set, an active coordinate set is obtained, and the number of coordinates in the active coordinate set is obtained to obtain the active number; When it is determined that the activity number is greater than or equal to the preset activity number, the robotic arm is controlled to remove the blood collection needle.

9. The device according to claim 7, characterized in that Also includes: In response to the blood sampling trigger information from the user to the display terminal, the robot arm is controlled to move the blood sampling needle to the interactive circle center of the interactive recommendation area, and the current time is recorded as the initial blood sampling time, and the blood sampling period is determined based on the initial blood sampling time and the preset blood sampling duration; Based on the initial moment of blood sampling, the coordinate point of the center of the interaction circle is obtained as the reference center coordinate, and based on the blood sampling period, the coordinate point of the center of the interaction circle corresponding to the interaction recommendation area is obtained in real time as the activity center coordinate; The activity distance is obtained by calculation based on the reference circle center coordinates and the activity circle center coordinates. When it is determined that the activity distance is greater than or equal to the preset activity distance, the robotic arm is controlled to remove the blood collection needle.

10. The device according to claim 8 or 9, characterized in that Also includes: Determine the last moment in the blood collection period as the bleeding stop moment, and obtain the tip portion of the blood collection needle and the connecting portion connected to the tip portion; Acquire the tip pixel value of the tip portion and the connection pixel value of the connection portion; Extracting the tip pixel points in the blood sampling recommendation image based on the tip pixel values ​​and the connecting pixel points corresponding to the connecting pixel values; When it is determined that the pixel point adjacent to the tip pixel point is a connecting pixel point, the corresponding tip pixel point is used as a connecting pixel point, and the adjacent connecting pixel points are connected to obtain a connecting line; Constructing a vertical line perpendicular to the connecting line, and determining a direction along the vertical line and away from the connecting part toward the tip part as a positioning direction; The position of the tip pixel value at the end is determined as the hemostasis position based on the positioning direction, and when it is determined that the hemostasis moment has been reached, the robot arm is controlled to move the hemostatic bandage to the hemostasis position for hemostasis treatment.

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