Portable blood vessel puncture scanner

Abstract

The invention relates to the technical field of blood vessel puncture scanning, in particular to a portable blood vessel puncture scanner which comprises a base, a positioning support is fixedly connected to the front end of the upper surface of the base, and a fixing frame is fixedly connected to the upper surface of the base; the blood vessel puncture process is completed under the combination of machinery and a system, that is, image acquisition and processing are performed on the arm of a user through the infrared imaging component, the blood vessel position of the arm of the user is obtained, the blood vessel puncture position is determined, and puncture treatment is performed by controlling the puncture mechanical arm; the position and direction of the needle head can be flexibly adjusted according to the blood vessel positions of the arms of different patients, the whole device can be conveniently carried and carried through the rectangular grooves in the two sides of the fixing frame, the overall portability of the device can be improved, analysis is conducted by recognizing two points of interference and historical puncture records, and the accuracy of the device is improved. Therefore, the current puncture equipment and the puncture mechanical arm can be managed and corrected, and the identification interference risk and the puncture deviation risk can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vascular puncture scanning, and particularly to a portable vascular puncture scanner. Background Art

[0002] The blood vessels of the human body or animals are all located inside the subcutaneous tissue or body tissue. After a person or animal gets sick, it is often necessary to puncture veins, arteries or tissues. The main purposes are, on the one hand, to obtain blood tissue samples for various laboratory analyses to obtain various biochemical, immune, pathological and other indicators of the patient, so as to guide doctors to make correct judgments; on the other hand, intravenous infusion can be carried out on the patient through the venous channel established by puncture.

[0003] With the continuous development of medical technology, at present, some domestic institutions are developing intelligent medical devices to replace medical staff to complete tasks such as intravenous infusion and blood collection. However, in the existing technology, it is impossible to supervise and feedback the interference factors for blood vessel recognition, and thus it is impossible to accurately identify the spatial position of blood vessels, let alone distinguish the blood vessel lumen and the blood vessel wall. At the same time, it is impossible to safely supervise the puncture regulation of the puncture device, thereby increasing the risk of puncture deviation.

[0004] In view of the above technical defects, a solution is proposed now. Summary of the Invention

[0005] The purpose of the present invention is to provide a portable vascular puncture scanner to solve the above-mentioned technical defects. The present invention completes the vascular puncture process through the combination of machinery and system, that is, the infrared imaging component is used to collect and process the image of the user's arm, obtain the position of the blood vessels on the user's arm, determine the vascular puncture position, and puncture the blood vessels on the arm through the control of the first electric push rod, the adjustment arm and the second electric push rod, so as to be able to flexibly adjust the position and direction of the needle according to the blood vessel position of different patients' arms, accurately complete the puncture action, and through the rectangular grooves on both sides of the fixing frame, it is convenient to carry and transport the whole device, thereby helping to improve the overall portability of the device.

[0006] The purpose of the present invention can be realized by the following technical solutions: A portable vascular puncture scanner, including a base, the front end of the upper surface of the base is fixedly connected with a positioning bracket, the upper surface of the base is fixedly connected with a fixing frame, the lower surface of the fixing frame is slidably connected with a first electric push rod, one end of the first electric push rod away from the fixing frame is rotatably connected with an adjustment arm, the inside of the adjustment arm is fixedly inserted with a second electric push rod, the lower end of the second electric push rod is fixedly connected with a puncture needle, one side of the lower surface of the fixing frame is fixedly connected with an infrared imaging component, and one side of the fixing frame is fixedly connected with a control panel.

[0007] Inside the control panel, there are a puncture supervision module, a puncture database, an identification evaluation module, a puncture regulation module, a puncture positioning module, a propulsion analysis module, and an execution response module.

[0008] Preferably, the puncture supervision module is used to retrieve the identification interference information and historical puncture information of the puncture device from the puncture database, and send the identification interference information and historical puncture information to the identification evaluation module and the puncture regulation module respectively;

[0009] The identification evaluation module is used to conduct a puncture identification risk assessment feedback analysis on the received identification interference information, conduct a discriminant analysis on the obtained facility interference value and interference evaluation coefficient, and obtain a reliable signal or an identification interference signal;

[0010] The puncture regulation module is used to conduct a puncture regulation accuracy assessment analysis on the received historical puncture information, conduct a discriminant processing on the obtained puncture assessment risk value, and obtain a precise signal or a risk signal;

[0011] The puncture positioning module is used to construct a puncture model and conduct a trajectory positioning analysis in response to the reliable signal and the precise signal, and obtain a preferred movement trajectory;

[0012] The propulsion analysis module is used to respond to the preferred movement trajectory, retrieve the user's blood vessel information at the same time, and conduct a propulsion safety supervision feedback analysis on the blood vessel information to obtain a stop signal or a continuous signal.

[0013] Preferably, the puncture identification risk assessment feedback analysis process is as follows:

[0014] Collect the operation period of the puncture device and set it as the time threshold, and obtain the identification interference information of the puncture device within the time threshold. The identification interference information includes the facility interference value and the interference evaluation coefficient;

[0015] The interference evaluation coefficient represents the number of values of the identification interference information that exceed the preset threshold. The identification interference information includes the environmental electromagnetic interference value and the operating voltage; conduct a discriminant analysis on the facility interference value and the interference evaluation coefficient to obtain a reliable signal or an identification interference signal

[0016] Preferably, the facility interference value represents the number of times that the performance evaluation coefficient of the blood vessel information acquisition device of the puncture device is lower than the preset performance evaluation coefficient threshold. The blood vessel information acquisition device includes an infrared device and an ultrasonic device, and the performance evaluation coefficient represents the proportion of the number of errors in the total number of punctures based on the acquisition data of the blood vessel information acquisition device by the puncture device.

[0017] Preferably, the puncture regulation accuracy assessment analysis process is as follows:

[0018] Obtain the historical puncture information of the puncture device within the time threshold. The historical puncture information includes puncture feasibility and puncture deviation index. Compare and analyze the puncture feasibility and puncture deviation index with the preset puncture feasibility threshold and preset puncture deviation index threshold. Set the number of puncture feasibility and puncture deviation index that are greater than or equal to the preset puncture feasibility threshold and preset puncture deviation index threshold as the puncture evaluation risk value, and perform discrimination processing on the puncture evaluation risk value to obtain a precise signal or a risk signal.

[0019] Preferably, the puncture feasibility represents the ratio of the number of times the tip coordinate of the puncture needle on the puncture robotic arm deviates from the set coordinate in the total number of historical punctures; the puncture deviation index represents the number of times the advancement distance and advancement angle of the puncture needle deviate from the preset threshold during the puncture of the blood vessel by the puncture needle of the puncture robotic arm in the total number of historical punctures.

[0020] Preferably, the process of constructing the puncture model and analyzing the trajectory positioning is as follows:

[0021] Take the midpoint connection of the two long sides of the base, and the direction away from the control panel as the X-axis. Take the midpoint connection of the two short sides of the base, and the direction away from the front surface as the Y-axis. Take the upward direction perpendicular to the intersection point of the X-axis and the Y-axis as the Z-axis to establish a puncture coordinate system;

[0022] Collect images of the user's arm through the infrared imaging component, obtain the arm feature image of the user within the time threshold, and preprocess the arm feature image. Obtain blood vessel information from the preprocessed arm feature image. The blood vessel information includes blood vessel diameter, blood vessel trajectory, and blood vessel wall thickness. Preprocess the blood vessel information. The preprocessing includes cleaning and screening. Based on the preprocessed blood vessel information and the puncture coordinate system, construct a puncture blood vessel model;

[0023] Select a puncture point from the puncture blood vessel model, obtain the spatial coordinate point of the puncture point, and at the same time obtain the spatial coordinate point of the tip of the puncture needle. Generate multiple movement trajectories of the puncture robotic arm based on the spatial coordinate point of the puncture point and the spatial coordinate point of the tip. Obtain the movement information of each movement trajectory. The movement information includes movement energy consumption value and number of action steps. Set the product value obtained by multiplying the corresponding values of the movement energy consumption value and the number of action steps as the movement recommendation coefficient. Obtain the minimum value in the movement recommendation coefficient, and set the movement trajectory corresponding to the minimum value in the movement recommendation coefficient as the preferred movement trajectory

[0024] Preferably, the process of advancing safety supervision feedback analysis is as follows:

[0025] The spatial coordinate points of the puncture point are obtained, and at the same time, the blood vessel information of the user is obtained. From the blood vessel information of the user, the minimum vertical distance from the spatial coordinate point of the puncture point to the inner wall of the user's blood vessel and the maximum vertical distance of the inner wall of the user's blood vessel are obtained, and they are respectively set as the minimum puncture vertical value and the maximum puncture vertical value. At the same time, the preset puncture angle of the puncture point is obtained. Based on the minimum puncture vertical value and the preset puncture angle, the lower limit value of the calculated advancement distance of the puncture needle is obtained. Based on the maximum puncture vertical value and the preset puncture angle, the upper limit value of the calculated advancement distance of the puncture needle is obtained. Furthermore, a safe interval for the advancement distance of the puncture needle is constructed according to the lower limit value of the calculated advancement distance and the upper limit value of the calculated advancement distance;

[0026] The puncture period of the user within the time threshold is obtained, and the actual advancement distance of the puncture needle during the puncture period is obtained. The actual advancement distance is compared and analyzed with the safe interval of the advancement distance. When the actual advancement distance belongs to the safe interval of the advancement distance, a stop signal is generated. When the actual advancement distance does not belong to the safe interval of the advancement distance, a continuous signal is generated.

[0027] The beneficial effects of the present invention are as follows:

[0028] (1) The present invention completes the blood vessel puncture process through the combination of machinery and system. That is, the infrared imaging component is used to collect and process the image of the user's arm, the position of the blood vessels in the user's arm is obtained, and the blood vessel puncture position is determined. The electric push rod one, the adjustment arm, and the electric push rod two are controlled to perform puncture treatment on the blood vessels in the arm. Thus, the position and direction of the needle can be flexibly adjusted according to the blood vessel positions of different patients' arms, and the puncture action can be accurately completed. Moreover, through the rectangular grooves on both sides of the fixing frame, it is convenient to carry and transport the whole device, which helps to improve the overall portability of the device;

[0029] (2) The present invention analyzes through two points of identifying interference and historical puncture records to manage and correct the current puncture device and the puncture robotic arm, so as to reduce the risk of identification interference and the risk of puncture deviation, and improve the puncture recognition accuracy of the puncture device. Based on the puncture model construction and trajectory positioning analysis, the position and direction of the needle can be flexibly adjusted according to the blood vessel positions of different patients' arms, and the puncture action can be accurately completed. At the same time, the advancement during the puncture process is supervised to improve the puncture safety of the user. Description of the Drawings

[0030] The present invention will be further described below with reference to the drawings;

[0031] Figure 1 is a three-dimensional structure diagram of the present invention;

[0032] Figure 2 is a front view of the structure of the present invention;

[0033] Figure 3It is a schematic structural diagram of the positioning bracket of the present invention;

[0034] Figure 4 It is a system flow block diagram of the present invention;

[0035] Figure 5 It is a partial analysis reference diagram of the third embodiment of the present invention.

[0036] Legend: 1. Base, 2. Positioning bracket; 3. Fixed bracket; 4. Electric push rod 1; 5. Adjusting arm; 6. Electric push rod 2; 7. Puncture needle; 8. Infrared imaging component; 9. Control panel. Specific implementation manners

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] Embodiment 1:

[0039] Please refer to Figures 1 to 4 As shown, the present invention is a portable blood vessel puncture scanner, including a base 1. The front end of the upper surface of the base 1 is fixedly connected with a positioning bracket 2. The upper surface of the base 1 is fixedly connected with a fixed bracket 3. The lower surface of the fixed bracket 3 is slidably connected with an electric push rod 1. One end of the electric push rod 1 away from the fixed bracket 3 is rotatably connected with an adjusting arm 5. An electric push rod 2 is fixedly inserted into the adjusting arm 5. The lower end of the electric push rod 2 is fixedly connected with a puncture needle 7. One side of the lower surface of the fixed bracket 3 is fixedly connected with an infrared imaging component 8. One side of the fixed bracket 3 is fixedly connected with a control panel 9. Among them, the user places the arm on the positioning bracket 2. The infrared imaging component 8 collects and processes the image of the user's arm, obtains the position of the blood vessels of the user's arm, determines the blood vessel puncture position, and controls the electric push rod 1, the adjusting arm 5, and the electric push rod 2 to perform puncture treatment on the blood vessels of the arm. Therefore, the position and direction of the needle can be flexibly adjusted according to the blood vessel positions of different patients' arms, and the puncture action can be accurately completed. Moreover, through the rectangular grooves on both sides of the fixed bracket 3, it is convenient to carry and move the whole device, which helps to improve the overall portability of the device;

[0040] In the embodiment of the present invention, an adjusting shaft is arranged inside the fixed bracket 3. The adjusting shaft penetrates through one end of the electric push rod 1. By setting a motor to drive the adjusting shaft to move, the horizontal movement of the electric push rod 1 is realized;

[0041] In the embodiment of the present invention, the mechanism composed of the electric push rod 1, the adjusting arm 5 and the electric push rod 2 is collectively referred to as the puncture robotic arm.

[0042] Embodiment 2:

[0043] Inside the control panel 9, there are a puncture supervision module, a puncture database, an identification and evaluation module, a puncture regulation module, a puncture positioning module, a propulsion analysis module and an execution response module;

[0044] The puncture supervision module is used to retrieve the identification interference information and historical puncture information of the puncture device from the puncture database, and send the identification interference information and historical puncture information to the identification and evaluation module and the puncture regulation module respectively;

[0045] The identification and evaluation module is used to perform puncture identification risk assessment feedback analysis on the received identification interference information, so as to manage the current puncture device, reduce the identification interference risk, and improve the puncture identification accuracy of the puncture device. The specific puncture identification risk assessment feedback analysis process is as follows:

[0046] Collect the operation period of the puncture device and set it as the time threshold, and obtain the identification interference information of the puncture device within the time threshold. The identification interference information includes the facility interference value and the interference evaluation coefficient;

[0047] In the embodiment of the present invention, the facility interference value represents the number of times that the performance evaluation coefficient of the blood vessel information acquisition device of the puncture device is lower than the preset performance evaluation coefficient threshold. The blood vessel information acquisition device includes infrared devices, ultrasonic devices, etc. The performance evaluation coefficient represents the ratio of the number of errors in the total number of punctures performed by the puncture device based on the acquisition data of the blood vessel information acquisition device. It should be noted that from the perspective of the facility, the identification interference analysis is carried out to understand the blood vessel puncture identification risk situation of the current puncture device, so as to give an early warning feedback in time and improve the puncture reliability and success rate of the puncture device;

[0048] In the embodiment of the present invention, the interference evaluation coefficient represents the number of times that the corresponding value of the identification interference information exceeds the preset threshold. The identification interference information includes the environmental electromagnetic interference value, the operating voltage, etc. It should be noted that from the non-facility perspective, the identification interference analysis is carried out to understand the influence of other interferences except the facility;

[0049] Perform discriminant analysis on the facility interference value and the interference evaluation coefficient:

[0050] If the facility interference value is equal to zero and the interference evaluation coefficient is equal to zero, a reliable signal is generated;

[0051] If the facility interference value is not equal to zero, or the interference evaluation coefficient is not equal to zero, an identification interference signal is generated, and a reliable signal or an identification interference signal is sent to the execution response module. After receiving the reliable signal or the identification interference signal, the execution response module immediately performs a preset warning operation corresponding to the reliable signal or the identification interference signal, so as to manage the current puncture device, reduce the risk of identified interference, and improve the puncture identification accuracy of the puncture device;

[0052] The regulation puncture module is used to evaluate and analyze the puncture regulation accuracy of the received historical puncture information, that is, analyze from the perspective of historical punctures to determine whether the puncture regulation risk of the puncture device is too high, so as to timely correct the puncture robotic arm of the puncture device to improve the puncture accuracy. The specific process of puncture regulation accuracy evaluation and analysis is as follows:

[0053] Obtain the historical puncture information of the puncture device within the time threshold. The historical puncture information includes puncture feasibility and puncture deviation index. Compare and analyze the puncture feasibility and puncture deviation index with the preset puncture feasibility threshold and preset puncture deviation index threshold. Set the number of puncture feasibility and puncture deviation index that are greater than or equal to the preset puncture feasibility threshold and preset puncture deviation index threshold as the puncture evaluation risk value, and perform discriminant processing on the puncture evaluation risk value:

[0054] If the puncture evaluation risk value is equal to zero, a precise signal is generated;

[0055] If the puncture evaluation risk value is not equal to zero, a risk signal is generated, and a precise signal or a risk signal is sent to the execution response module. After receiving the precise signal or the risk signal, the execution response module immediately performs a preset warning operation corresponding to the precise signal or the risk signal, so as to perform targeted management on the puncture robotic arm to improve the control accuracy and safety of blood vessel puncture;

[0056] In the embodiment of the present invention, the puncture feasibility represents the ratio of the number of times that the tip coordinates of the puncture needle 7 on the puncture robotic arm deviate from the set coordinates in the total number of historical punctures. It should be noted that, analyzed from the perspective of historical punctures, it is to determine whether the puncture regulation risk of the puncture device is too high, so as to timely correct the puncture robotic arm of the puncture device to improve the puncture accuracy;

[0057] In the embodiment of the present invention, the puncture deviation index represents the number of times that the advancement distance and advancement angle of the puncture needle 7 deviate from the preset threshold during the process of the puncture needle 7 of the puncture robotic arm puncturing the blood vessel in the total number of historical punctures. It should be noted that the larger the value of the puncture deviation index, the greater the risk of abnormal puncture.

[0058] Embodiment Three:

[0059] When generating reliable signals and precise signals, the puncture positioning module is used to respond to the reliable signals and precise signals for puncture model construction and trajectory positioning analysis, so as to flexibly adjust the position and direction of the needle according to the vascular positions of different patients' arms, and accurately complete the puncture action. The specific processes of puncture model construction and trajectory positioning analysis are as follows:

[0060] Taking the midpoint connection of the two long sides of the base 1 and the direction away from the control panel 9 as the X-axis, taking the midpoint connection of the two short sides of the base 1 and the direction away from the front surface as the Y-axis, and taking the upward direction perpendicular to the intersection point of the X-axis and the Y-axis as the Z-axis to establish a puncture coordinate system;

[0061] The infrared imaging component 8 is used to collect images of the user's arm, obtain the arm feature image of the user within the time threshold, and preprocess the arm feature image. Vascular information is obtained from the preprocessed arm feature image. The vascular information includes vascular diameter, vascular trajectory, vascular wall thickness, etc. The vascular information is preprocessed, and the preprocessing includes cleaning, screening, etc. A puncture vascular model is constructed based on the preprocessed vascular information and the puncture coordinate system;

[0062] Select a puncture point from the puncture vascular model, obtain the spatial coordinate point of the puncture point, and at the same time obtain the spatial coordinate point of the tip of the puncture needle 7. Multiple movement trajectories of the puncture robotic arm are generated based on the spatial coordinate point of the puncture point and the spatial coordinate point of the needle tip. The movement information of each movement trajectory is obtained. The movement information includes movement energy consumption value and number of action steps. The product value obtained by multiplying the corresponding values of the movement energy consumption value and the number of action steps is set as the movement recommendation coefficient. The minimum value in the movement recommendation coefficient is obtained, and the movement trajectory corresponding to the minimum value in the movement recommendation coefficient is set as the preferred movement trajectory. The preferred movement trajectory is sent to the execution response module. After receiving the preferred movement trajectory, the execution response module immediately controls the puncture robotic arm to move according to the preferred movement trajectory, so as to flexibly adjust the position and direction of the needle according to the vascular positions of different patients' arms, and accurately complete the puncture action;

[0063] The propulsion analysis module is used to respond to the preferred movement trajectory, simultaneously retrieve the user's vascular information, and perform propulsion safety supervision feedback analysis on the vascular information, so as to accurately and timely control the propulsion of the puncture needle 7 according to the information feedback situation, so as to improve the puncture safety and puncture accuracy of the user. The specific process of propulsion safety supervision feedback analysis is as follows:

[0064] The spatial coordinate points of the puncture point are obtained, and at the same time, the blood vessel information of the user is obtained. From the blood vessel information of the user, the minimum vertical distance from the spatial coordinate point of the puncture point to the inner wall of the user's blood vessel and the maximum vertical distance of the inner wall of the user's blood vessel are obtained, and they are respectively set as the minimum puncture vertical value and the maximum puncture vertical value. At the same time, the preset puncture angle of the puncture point is obtained. Based on the minimum puncture vertical value and the preset puncture angle, the lower limit value of the calculated propulsion distance of the puncture needle 7 is obtained. Based on the maximum puncture vertical value and the preset puncture angle, the upper limit value of the calculated propulsion distance of the puncture needle 7 is obtained. Furthermore, a safe propulsion distance range of the puncture needle 7 is constructed according to the lower limit value of the calculated propulsion distance and the upper limit value of the calculated propulsion distance;

[0065] The puncture period of the user within the time threshold is obtained, and the actual propulsion distance of the puncture needle 7 during the puncture period is obtained. The actual propulsion distance is compared and analyzed with the safe propulsion distance range. When the actual propulsion distance belongs to the safe propulsion distance range, a stop signal is generated. When the actual propulsion distance does not belong to the safe propulsion distance range, a continuous signal is generated. The stop signal or the continuous signal is sent to the execution response module. After receiving the stop signal or the continuous signal, the execution response module can accurately and timely control the propulsion of the puncture needle 7 according to the information feedback situation, so as to improve the puncture safety and puncture accuracy of the user;

[0066] In summary, the present invention completes the blood vessel puncture process through the combination of machinery and system, that is, the infrared imaging component 8 collects and processes the image of the user's arm, obtains the position of the blood vessels of the user's arm, determines the blood vessel puncture position, and punctures the blood vessels of the arm through the control of the electric push rod one 4, the adjustment arm 5, and the electric push rod two 6. Therefore, the position and direction of the needle can be flexibly adjusted according to the blood vessel positions of different patients' arms, and the puncture action can be accurately completed. Moreover, through the rectangular grooves on both sides of the fixing frame 3, it is convenient to carry and transport the whole device, which helps to improve the overall portability of the device;

[0067] By analyzing the two points of recognition interference and historical puncture records, the current puncture device and puncture robotic arm can be managed and corrected to reduce the risks of recognition interference and puncture deviation, so as to improve the puncture recognition accuracy of the puncture device. Based on the puncture model construction and trajectory positioning analysis, the position and direction of the needle can be flexibly adjusted according to the blood vessel positions of different patients' arms, and the puncture action can be accurately completed. At the same time, the propulsion of the puncture process is supervised to improve the puncture safety of the user.

[0068] The setting of the threshold value is for the convenience of comparison. Regarding the size of the threshold value, it depends on the amount of sample data and the base quantity set by those skilled in the art for each group of sample data; as long as the proportional relationship between the parameter and the quantified value is not affected.

[0069] The magnitude of the coefficient is a specific value obtained by quantifying each parameter for subsequent comparison. Regarding the magnitude of the coefficient, it depends on the amount of sample data and the operating coefficients initially set by those skilled in the art for each set of sample data; as long as the proportional relationship between the parameters and the quantified values is not affected.

[0070] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. A portable blood vessel puncture scanner, comprising a base (1), characterized in that: The front end of the upper surface of the base (1) is fixedly connected to a positioning bracket (2), the upper surface of the base (1) is fixedly connected to a fixing frame (3), the lower surface of the fixing frame (3) is slidably connected to an electric push rod 1 (4), the end of the electric push rod 1 (4) away from the fixing frame (3) is rotatably connected to an adjustment arm (5), the inside of the adjustment arm (5) is fixedly plugged with an electric push rod 2 (6), the lower end of the electric push rod 2 (6) is fixedly connected to a puncture needle (7), one side of the lower surface of the fixing frame (3) is fixedly connected to an infrared imaging component (8), and one side of the fixing frame (3) is fixedly connected to a control panel (9); The control panel (9) is internally provided with a puncture monitoring module, a puncture database, an identification and evaluation module, a puncture control module, a puncture positioning module, a propulsion analysis module and an execution response module.

2. A portable blood vessel puncture scanner according to claim 1, characterized in that: The puncture supervision module is used to retrieve the identification interference information and historical puncture information of the puncture device from the puncture database, and send the identification interference information and historical puncture information to the identification evaluation module and the regulation puncture module respectively; The identification and evaluation module is used to perform puncture identification risk evaluation feedback analysis on the received identification interference information, perform discriminant analysis on the obtained facility interference value and interference evaluation coefficient, and obtain a reliable signal or an identification interference signal; The puncture control module is used to evaluate and analyze the puncture control accuracy of the received historical puncture information, and to perform discrimination processing on the obtained puncture evaluation risk value to obtain an accurate signal or a risk signal; The puncture positioning module is used to respond to reliable and accurate signals to build a puncture model and perform trajectory positioning analysis to obtain the preferred movement trajectory; The propulsion analysis module is used to respond to the preferred movement trajectory, retrieve the user's vascular information, and perform propulsion safety supervision feedback analysis on the vascular information to obtain a stop signal or a continuous signal.

3. A portable blood vessel puncture scanner according to claim 2, characterized in that: The puncture identification risk assessment feedback analysis process is as follows: The operation time period of the puncture device is collected and set as a time threshold, and the identification interference information of the puncture device within the time threshold is obtained, and the identification interference information includes a facility interference value and an interference assessment coefficient; The interference assessment coefficient represents the number of values ​​corresponding to the identified interference information exceeding the preset threshold, and the identified interference information includes the environmental electromagnetic interference value and the operating voltage; the facility interference value and the interference assessment coefficient are discriminated and analyzed to obtain a reliable signal or identify an interference signal.

4. A portable blood vessel puncture scanner according to claim 3, characterized in that: The facility interference value indicates that the performance evaluation coefficient of the vascular information collection device of the puncture device is lower than the number corresponding to the preset performance evaluation coefficient threshold. The vascular information collection device includes infrared equipment and ultrasonic equipment. The performance evaluation coefficient indicates the corresponding proportion of the number of errors in the total number of punctures performed by the puncture device based on the collected data of the vascular information collection device.

5. A portable blood vessel puncture scanner according to claim 1, characterized in that: The puncture control accuracy evaluation and analysis process is as follows: The historical puncture information of the puncture device within the time threshold is obtained, and the historical puncture information includes the puncture feasibility and the puncture deviation index. The puncture feasibility and the puncture deviation index are compared and analyzed with the preset puncture feasibility threshold and the preset puncture deviation index threshold. The number of puncture feasibility and puncture deviation index that are greater than or equal to the preset puncture feasibility threshold and the preset puncture deviation index threshold is set as the puncture assessment risk value, and the puncture assessment risk value is discriminated and processed to obtain an accurate signal or a risk signal.

6. A portable blood vessel puncture scanner according to claim 5, characterized in that: The puncture feasibility indicates the percentage of the number of times the coordinates of the needle tip of the puncture needle (7) on the puncture robot arm deviate from the corresponding number of set coordinates in the total number of historical punctures; the puncture deviation index indicates the number of times the advancement distance and advancement angle of the puncture needle (7) deviate from the preset threshold value during the process of the needle tip of the puncture needle (7) of the puncture robot arm puncturing the blood vessel in the total number of historical punctures.

7. A portable blood vessel puncture scanner according to claim 2, characterized in that: The puncture model construction and trajectory positioning analysis process are as follows: A puncture coordinate system is established with a line connecting the midpoints of the two long sides of the base (1) and the direction away from the control panel (9) as the X-axis, a line connecting the midpoints of the two short sides of the base (1) and the direction away from the front surface as the Y-axis, and an upward direction perpendicular to the intersection of the X-axis and the Y-axis as the Z-axis; The infrared imaging component (8) collects images of the user's arm to obtain a characteristic image of the user's arm within a time threshold, and pre-processes the characteristic image of the arm to obtain blood vessel information from the pre-processed characteristic image of the arm, wherein the blood vessel information includes blood vessel diameter, blood vessel trajectory, and blood vessel wall thickness. The blood vessel information is pre-processed, and the pre-processing includes cleaning and screening. A puncture blood vessel model is constructed based on the pre-processed blood vessel information and a puncture coordinate system; A puncture point is selected from the puncture blood vessel model, the spatial coordinate point of the puncture point is obtained, and the spatial coordinate point of the tip of the puncture needle (7) is obtained at the same time. Based on the spatial coordinate point of the puncture point and the spatial coordinate point of the tip of the needle, multiple movement trajectories of the puncture robot arm are generated, and movement information of each movement trajectory is obtained. The movement information includes a movement energy consumption value and a number of action steps. The product value obtained by multiplying the corresponding values ​​of the movement energy consumption value and the number of action steps is set as a movement recommendation coefficient, the minimum value of the movement recommendation coefficient is obtained, and the movement trajectory corresponding to the minimum value of the movement recommendation coefficient is set as a preferred movement trajectory.

8. A portable blood vessel puncture scanner according to claim 2, characterized in that: The process of advancing safety supervision feedback analysis is as follows: The spatial coordinate point of the puncture point is obtained, and at the same time, the blood vessel information of the user is obtained. The minimum vertical distance from the spatial coordinate point of the puncture point to the inner wall of the user's blood vessel and the maximum vertical distance from the inner wall of the user's blood vessel are obtained from the blood vessel information of the user, and they are set as the minimum vertical value of the puncture and the maximum vertical value of the puncture respectively. At the same time, the preset puncture angle of the puncture point is obtained, and the lower limit value of the calculated advancement distance of the puncture needle (7) is obtained based on the minimum vertical value of the puncture and the preset puncture angle, and the upper limit value of the calculated advancement distance of the puncture needle (7) is obtained based on the maximum vertical value of the puncture and the preset puncture angle, and then the advancement distance safety interval of the puncture needle (7) is constructed according to the lower limit value of the calculated advancement distance and the upper limit value of the calculated advancement distance; The puncture period of the user within the time threshold is obtained, and the actual advancement distance of the puncture needle (7) within the puncture period is obtained, and the actual advancement distance is compared and analyzed with the advancement distance safety interval. When the actual advancement distance belongs to the advancement distance safety interval, a stop signal is generated, and when the actual advancement distance does not belong to the advancement distance safety interval, a continuous signal is generated.

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