A portable vascular puncture scanner

Abstract

This invention relates to the field of vascular puncture scanning technology, and more particularly to a portable vascular puncture scanner, comprising a base, a positioning bracket fixedly connected to the front end of the upper surface of the base, and a fixing frame fixedly connected to the upper surface of the base. This invention completes the vascular puncture process through a combination of mechanics and systems. Specifically, it acquires and processes images of the user's arm using an infrared imaging component to obtain the location of the blood vessels in the user's arm, determines the puncture location, and controls the puncture robotic arm to perform the puncture. This allows for flexible adjustment of the needle position and direction based on the blood vessel location in different patients' arms. The rectangular slots on both sides of the fixing frame facilitate carrying and transporting the entire device, thus improving its overall portability. Furthermore, by analyzing two points—interference identification and historical puncture records—the current puncture equipment and puncture robotic arm can be managed and corrected to reduce the risk of identification interference and puncture deviation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of blood vessel puncture scanning, in particular to a portable blood vessel puncture scanner. BACKGROUND

[0002] The blood vessels of a human or an animal are located in the subcutaneous tissue or the body tissue inside the body. After a human or an animal is ill, a vein, an artery or a tissue often needs to be punctured. One main purpose is to obtain a blood tissue sample for various chemical analysis, to obtain various biochemical, immune and pathological indexes of the patient, to guide the doctor to make a correct judgment. Another main purpose is to establish a vein channel through puncture to perform infusion on the patient.

[0003] With the continuous development of medical technology, at present, some institutions in China are developing intelligent medical devices to replace medical staff to complete the work of intravenous infusion and blood sampling. However, in the prior art, the interference factors of blood vessel recognition cannot be monitored and fed back, so as to accurately recognize the spatial position of the blood vessel, and cannot distinguish the blood vessel cavity and the blood vessel wall. Meanwhile, the puncture control of the puncture device cannot be safely monitored, so as to increase the risk of puncture deviation.

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

[0005] The present application aims to provide a portable blood vessel puncture scanner to solve the above technical defects. The present application 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 to obtain the blood vessel position of the user's arm, determine the blood vessel puncture position, and the electric push rod one, the adjusting arm and the electric push rod two are used to puncture the blood vessel of the arm, so as to flexibly adjust the position and direction of the needle for different blood vessel positions of the patient's arm, accurately complete the puncture action, and the rectangular grooves on both sides of the fixed frame facilitate the carrying and transporting of the whole device, thereby improving the overall portability of the device.

[0006] The present application can be realized by the following technical scheme: a portable blood vessel puncture scanner, comprising a base, a positioning support is fixedly connected to the front end of the upper surface of the base, a fixed frame is fixedly connected to the upper surface of the base, an electric push rod one is slidingly connected to the lower surface of the fixed frame, an adjusting arm is rotatably connected to the end of the electric push rod one away from the fixed frame, an electric push rod two is fixedly inserted into the inside of the adjusting arm, a puncture needle is fixedly connected to the lower end of the electric push rod two, an infrared imaging component is fixedly connected to one side of the lower surface of the fixed frame, and a control panel is fixedly connected to one side of the fixed frame.

[0007] The control panel is internally equipped 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.

[0008] Preferably, the puncture monitoring 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 control module respectively.

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

[0010] The puncture control module is used to evaluate and analyze the puncture control accuracy of the received historical puncture information, and to process the obtained puncture assessment risk value to obtain a precise signal or a risk signal.

[0011] The puncture localization module is used to construct puncture models and perform trajectory localization analysis in response to reliable and accurate signals, thereby obtaining the preferred movement trajectory;

[0012] The propulsion analysis module is used to respond to the preferred movement trajectory, while retrieving the user's vascular information and performing propulsion safety monitoring feedback analysis on the vascular information to obtain a stop signal or a continuous signal.

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

[0014] The running time of the puncture equipment is collected and set as a time threshold. The identification interference information of the puncture equipment within the time threshold is obtained. The identification interference information includes facility interference value and interference evaluation coefficient.

[0015] The interference assessment coefficient represents the number of interference information values ​​that exceed a preset threshold. The interference information includes environmental electromagnetic interference values ​​and operating voltage. Discriminant analysis is performed on the facility interference values ​​and the interference assessment coefficient to obtain a reliable signal or an identified interference signal.

[0016] Preferably, the facility interference value represents the number of times the performance evaluation coefficient of the vascular information acquisition device of the puncture device is lower than the preset performance evaluation coefficient threshold. The vascular information acquisition device includes infrared devices and ultrasound devices. The performance evaluation coefficient represents the percentage of errors in the total number of punctures performed by the puncture device based on the data collected by the vascular information acquisition device.

[0017] Preferably, the puncture control accuracy evaluation and analysis process is as follows:

[0018] Historical puncture information of the puncture device within a time threshold is obtained. The historical puncture information includes puncture feasibility and puncture deviation index. The puncture feasibility and puncture deviation index are compared and analyzed with preset puncture feasibility threshold and preset puncture deviation index threshold. The number of puncture feasibility and puncture deviation indices that are greater than or equal to the preset puncture feasibility threshold and preset puncture deviation index threshold is set as the puncture assessment risk value. The puncture assessment risk value is then processed to obtain a precise signal or a risk signal.

[0019] Preferably, the puncture feasibility represents the percentage of the total number of punctures in history where the needle tip coordinates of the puncture needle on the puncture robot arm deviate from the set coordinates; the puncture deviation index represents the number of times the advance distance and advance angle of the puncture needle deviate from the preset threshold during the puncture of the blood vessel by the needle tip of the puncture robot arm in the total number of punctures in history.

[0020] Preferably, the puncture model construction and trajectory localization analysis process is as follows:

[0021] Establish a puncture coordinate system with the direction away from the control panel as the X-axis, the direction away from the front surface as the Y-axis, and the upward direction perpendicular to the intersection of the X-axis and Y-axis as the Z-axis.

[0022] The user's arm is imaged using an infrared imaging component to obtain feature images of the user's arm within a time threshold. The arm feature images are then preprocessed to obtain vascular information, including vascular diameter, vascular trajectory, and vascular wall thickness. The vascular information is further preprocessed, including cleaning and filtering. Based on the preprocessed vascular information and the puncture coordinate system, a puncture vascular model is constructed.

[0023] A puncture point is selected from the puncture vessel model, and the spatial coordinates of the puncture point and the needle tip are obtained. Based on the spatial coordinates of the puncture point and the needle tip, multiple movement trajectories of the puncture robotic arm are generated, and the movement information of each trajectory is obtained, including the movement energy consumption value and the number of motion steps. The product of the corresponding values ​​of the movement energy consumption value and the number of motion steps is set as the 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 the preferred movement trajectory.

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

[0025] The system obtains the spatial coordinates of the puncture point and the user's vascular information. From the user's vascular information, it obtains the minimum and maximum vertical distances from the spatial coordinates of the puncture point to the inner wall of the user's vascular vessel and sets them as the minimum and maximum vertical puncture values, respectively. It also obtains the preset puncture angle of the puncture point. Based on the minimum vertical puncture value and the preset puncture angle, it obtains the lower limit of the calculated advance distance of the puncture needle and the upper limit of the calculated advance distance of the puncture needle based on the maximum vertical puncture value and the preset puncture angle. Finally, it constructs a safe range for the advance distance of the puncture needle based on the lower and upper limits of the calculated advance distance.

[0026] The system obtains the user's puncture time period within the time threshold, and the actual advance distance of the puncture needle within the puncture time period. The actual advance distance is compared and analyzed with the safe advance distance range. If the actual advance distance is within the safe advance distance range, a stop signal is generated; if the actual advance distance is not within the safe advance distance range, a continuous signal is generated.

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

[0028] (1) The present invention completes the vascular puncture process by combining mechanics and system. That is, the infrared imaging component acquires and processes images of the user's arm to obtain the location of the blood vessels in the user's arm and determines the vascular puncture location. The arm blood vessels are punctured by controlling the electric push rod one, the adjusting arm and the electric push rod two. Thus, the position and direction of the needle can be flexibly adjusted according to the location of the blood vessels in different patients' arms, and the puncture action can be completed accurately. In addition, the rectangular slots on both sides of the fixed frame make it easy to carry and transport the whole device, thereby helping to improve the overall portability of the device.

[0029] (2) This invention analyzes two points, namely interference and historical puncture records, to manage and correct the current puncture equipment and puncture robotic arm, thereby reducing the risk of interference and puncture deviation and improving the puncture recognition accuracy of the puncture equipment. Based on puncture model construction and trajectory positioning analysis, the position and direction of the needle can be flexibly adjusted according to the blood vessel position of different patients' arms, so as to accurately complete the puncture action. At the same time, the puncture process is monitored to improve the user's puncture safety. Attached Figure Description

[0030] The invention will now be further described with reference to the accompanying drawings;

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

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

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

[0034] Figure 4 This is a flowchart of the system of the present invention;

[0035] Figure 5 This is a reference diagram for the three-part analysis of the present invention.

[0036] Legend: 1. Base; 2. Positioning bracket; 3. Fixing frame; 4. Electric push rod one; 5. Adjusting arm; 6. Electric push rod two; 7. Puncture needle; 8. Infrared imaging component; 9. Control panel. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Example 1:

[0039] Please see Figures 1 to 4 As shown, this invention is a portable vascular puncture scanner, comprising a base 1, a positioning bracket 2 fixedly connected to the front end of the upper surface of the base 1, a fixing frame 3 fixedly connected to the upper surface of the base 1, an electric push rod 4 slidably connected to the lower surface of the fixing frame 3, an adjusting arm 5 rotatably connected to the end of the electric push rod 4 away from the fixing frame 3, an electric push rod 6 fixedly inserted inside the adjusting arm 5, a puncture needle 7 fixedly connected to the lower end of the electric push rod 6, an infrared imaging component 8 fixedly connected to one side of the lower surface of the fixing frame 3, and a fixing element 8 fixed to one side of the fixing frame 3. The device is connected to a control panel 9, in which the user places their arm on the positioning bracket 2. The infrared imaging component 8 acquires and processes images of the user's arm to obtain the location of the blood vessels in the arm and determine the puncture location. The device then controls the electric push rod 1 4, the adjusting arm 5, and the electric push rod 2 6 to perform puncture treatment on the blood vessels in the arm. This allows for flexible adjustment of the needle position and direction according to the blood vessel location of different patients' arms, enabling precise completion of the puncture action. Furthermore, the rectangular slots on both sides of the fixing frame 3 facilitate the carrying and transport of the entire device, thereby improving its overall portability.

[0040] In this embodiment of the invention, the fixed frame 3 is provided with an adjustment shaft inside, which passes through one end of the electric push rod 4. The adjustment shaft is moved by a motor, thereby realizing the horizontal movement of the electric push rod 4.

[0041] In this embodiment of the invention, the mechanism consisting of electric push rod 4, adjusting arm 5, and electric push rod 6 is collectively referred to as the puncture robotic arm.

[0042] Example 2:

[0043] The control panel 9 is internally equipped 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;

[0044] The puncture monitoring 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 control module, respectively.

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

[0046] The running time of the puncture equipment is collected and set as a time threshold. The identification interference information of the puncture equipment within the time threshold is obtained. The identification interference information includes facility interference value and interference evaluation coefficient.

[0047] In this embodiment of the invention, the facility interference value represents the number of times the performance evaluation coefficient of the vascular information acquisition device of the puncture equipment is lower than the preset performance evaluation coefficient threshold. The vascular information acquisition device includes infrared devices, ultrasound devices, etc. The performance evaluation coefficient represents the percentage of the total number of punctures performed by the puncture equipment based on the data collected by the vascular information acquisition device. It should be noted that the interference analysis is performed from the perspective of the facility to understand the vascular puncture identification risk of the current puncture equipment, so as to provide timely early warning feedback and improve the puncture reliability and success rate of the puncture equipment.

[0048] In this embodiment of the invention, the interference evaluation coefficient represents the number of values ​​corresponding to the identified interference information that exceed a preset threshold. The identified interference information includes environmental electromagnetic interference values, operating voltage, etc. It should be noted that the interference analysis is performed from the perspective of non-facilities in order to understand the impact of other interferences outside the facilities.

[0049] Discriminant analysis was performed on the facility interference value and interference assessment coefficient:

[0050] If the facility interference value is zero and the interference assessment coefficient is zero, then a reliable signal is generated;

[0051] If the facility interference value is not equal to zero, or the interference assessment coefficient is not equal to zero, an identification interference signal is generated and the reliable signal or identification interference signal is sent to the execution response module. After receiving the reliable signal or identification interference signal, the execution response module immediately performs the preset early warning operation corresponding to the reliable signal or identification interference signal in order to manage the current puncture equipment, reduce the risk of identification interference, and improve the puncture identification accuracy of the puncture equipment.

[0052] The puncture control module is used to evaluate and analyze the puncture control accuracy of the received historical puncture information. That is, it analyzes the historical puncture information to determine whether the puncture control risk of the puncture equipment is too high, so as to make timely and targeted corrections to the puncture robotic arm of the puncture equipment to improve puncture accuracy. The specific puncture control accuracy evaluation and analysis process is as follows:

[0053] Historical puncture information of the puncture device within a time threshold is obtained. This information includes puncture feasibility and puncture deviation index. The puncture feasibility and puncture deviation index are compared and analyzed with preset puncture feasibility thresholds and preset puncture deviation index thresholds. The number of puncture feasibility values ​​and puncture deviation indices that are greater than or equal to the preset puncture feasibility thresholds and preset puncture deviation index thresholds is set as the puncture assessment risk value. The puncture assessment risk value is then processed for further judgment.

[0054] If the risk value of the puncture assessment is zero, a precise signal is generated;

[0055] If the puncture assessment risk value is not equal to zero, a risk signal is generated and the accurate signal or risk signal is sent to the execution response module. After receiving the accurate signal or risk signal, the execution response module immediately performs the preset warning operation corresponding to the accurate signal or risk signal, so as to carry out targeted management of the puncture robotic arm and improve the control accuracy and safety of vascular puncture.

[0056] In this embodiment of the invention, the puncture feasibility represents the percentage of the total number of punctures in the history where the coordinate of the needle tip 7 on the puncture robot arm deviates from the set coordinate. It should be noted that the analysis is conducted from the perspective of historical punctures to determine whether the puncture control risk of the puncture device is too high, so as to make timely targeted corrections to the puncture robot arm of the puncture device to improve puncture accuracy.

[0057] In this embodiment of the invention, the puncture deviation index represents the number of times the advance distance and advance angle of the puncture needle 7 deviate from a preset threshold during the puncture of blood vessels by the tip of the puncture needle 7 of the puncture robotic arm 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 puncture abnormality.

[0058] Example 3:

[0059] When reliable and accurate signals are generated, the puncture positioning module is used to construct a puncture model and perform trajectory positioning analysis in response to the reliable and accurate signals. This allows for flexible adjustment of the needle position and direction for different blood vessel locations in the patient's arm, enabling precise completion of the puncture procedure. The specific process of puncture model construction and trajectory positioning analysis is as follows:

[0060] A puncture coordinate system is established with the 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, the 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 the upward direction perpendicular to the intersection of the X-axis and Y-axis as the Z-axis.

[0061] The infrared imaging component 8 acquires images of the user's arm, obtains feature images of the user's arm within a time threshold, and preprocesses the arm feature images to obtain vascular information, including vascular diameter, vascular trajectory, and vascular wall thickness. The vascular information is preprocessed, including cleaning and screening. Based on the preprocessed vascular information and the puncture coordinate system, a puncture vascular model is constructed.

[0062] A puncture point is selected from the puncture vessel model, and the spatial coordinates of the puncture point and the seven needle tips are obtained. Based on the spatial coordinates of the puncture point and the needle tips, multiple movement trajectories of the puncture robotic arm are generated, and the movement information of each trajectory is obtained. The movement information includes the movement energy consumption value and the number of action steps. The product of the movement energy consumption value and the number of action steps is set as the 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 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. This allows for flexible adjustment of the needle position and direction for different patients' arm blood vessel positions, enabling precise completion of the puncture action.

[0063] The advancement analysis module responds to the preferred movement trajectory, retrieves the user's vascular information, and performs advancement safety monitoring feedback analysis on the vascular information. This allows for precise and timely control of the advancement of the puncture needle 7 based on the feedback information, thereby improving the user's puncture safety and accuracy. The specific advancement safety monitoring feedback analysis process is as follows:

[0064] The spatial coordinates of the puncture point are obtained, along with the user's vascular information. From the user's vascular information, the minimum and maximum vertical distances from the spatial coordinates of the puncture point to the inner wall of the user's vascular vessel are obtained and set as the minimum and maximum vertical puncture values, respectively. Simultaneously, the preset puncture angle of the puncture point is obtained. Based on the minimum vertical puncture value and the preset puncture angle, the lower limit of the calculated advance distance of the puncture needle 7 is obtained. Based on the maximum vertical puncture value and the preset puncture angle, the upper limit of the calculated advance distance of the puncture needle 7 is obtained. Then, a safe range for the advance distance of the puncture needle 7 is constructed based on the lower and upper limits of the calculated advance distance.

[0065] The system obtains the user's puncture time period within the time threshold, and the actual advance distance of the puncture needle 7 within the puncture time period. The actual advance distance is compared and analyzed with the advance distance safety range. If the actual advance distance is within the advance distance safety range, a stop signal is generated. If the actual advance distance is not within the advance distance safety range, a continuous signal is generated. The stop signal or continuous signal is sent to the execution response module. After receiving the stop signal or continuous signal, the execution response module can accurately and timely control the advance of the puncture needle 7 based on the information feedback, so as to improve the user's puncture safety and puncture accuracy.

[0066] In summary, this invention completes the vascular puncture process through a combination of mechanics and systems. Specifically, the infrared imaging component 8 acquires and processes images of the user's arm to obtain the location of the blood vessels in the user's arm and determine the puncture location. The puncture is then performed by controlling the electric push rod 4, the adjusting arm 5, and the electric push rod 6. This allows for flexible adjustment of the needle position and direction according to the different blood vessel locations in different patients' arms, enabling precise completion of the puncture action. Furthermore, the rectangular slots on both sides of the fixing frame 3 facilitate the carrying and transport of the entire device, thereby improving the overall portability of the device.

[0067] By analyzing two points—interference identification and historical puncture records—the current puncture equipment and robotic arm can be managed and corrected to reduce the risk of interference and puncture deviation, thereby improving the puncture identification accuracy of the equipment. Based on puncture model construction and trajectory positioning analysis, the position and direction of the needle can be flexibly adjusted according to the blood vessel location in different patients' arms, enabling precise completion of the puncture action. At the same time, the puncture process can be monitored to improve the user's puncture safety.

[0068] The threshold is set to facilitate comparison. The size of the threshold depends on the amount of sample data and the number of bases set by those skilled in the art for each set of sample data; as long as it does not affect the ratio between the parameter and the quantized value, it is acceptable.

[0069] The size of the coefficient is a specific value obtained by quantifying each parameter to facilitate subsequent comparison. The size of the coefficient depends on the amount of sample data and the corresponding operating coefficient initially set by those skilled in the art for each set of sample data; as long as it does not affect the proportional relationship between the parameter and the quantified value.

[0070] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A portable vascular puncture scanner comprising a base (1), characterized in that, The upper surface of the base (1) is fixedly connected with a positioning support (2), the upper surface of the base (1) is fixedly connected with a fixing frame (3), the lower surface of the fixing frame (3) is slidably connected with an electric push rod I (4), the end, away from the fixing frame (3), of the electric push rod I (4) is rotatably connected with an adjusting arm (5), the inside of the adjusting arm (5) is fixedly connected with an electric push rod II (6), the lower end of the electric push rod II (6) is fixedly connected with a puncture needle (7), one side of the lower surface of the fixing frame (3) is fixedly connected with an infrared imaging component (8), one side of the fixing frame (3) is fixedly connected with a control panel (9); The inside of the control panel (9) is provided with a puncture supervision module, a puncture database, an identification evaluation module, a puncture control module, a puncture positioning module, a propulsion analysis module and an execution response module; The puncture supervision module is used for calling identification interference information and historical puncture information of a puncture device from the puncture database, and sending the identification interference information and the historical puncture information to the identification evaluation module and the puncture control module respectively; The identification evaluation module is used for performing puncture identification risk evaluation feedback analysis on the received identification interference information, performing discriminant analysis on obtained facility interference values and interference evaluation coefficients, and obtaining reliable signals or identification interference signals; The puncture control module is used for performing puncture control precision evaluation analysis on the received historical puncture information, performing discriminant processing on obtained puncture evaluation risk values, and obtaining accurate signals or risk signals; The puncture positioning module is used for performing puncture model construction and trajectory positioning analysis in response to the reliable signals and the accurate signals, and obtaining a preferred moving trajectory; The propulsion analysis module is used for responding to the preferred moving trajectory, calling blood vessel information of a user at the same time, and performing propulsion safety supervision feedback analysis on the blood vessel information, and obtaining a stop signal or a continuous signal; The puncture identification risk evaluation feedback analysis process is as follows: A puncture device running period is collected, and is set as a time threshold value, identification interference information of the puncture device within the time threshold value is obtained, the identification interference information includes facility interference values and interference evaluation coefficients; The interference evaluation coefficients represent the number of values corresponding to the identification interference information that exceed a preset threshold value, the identification interference information includes environmental electromagnetic interference values and running voltages; discriminant analysis is performed on the facility interference values and the interference evaluation coefficients, and reliable signals or identification interference signals are obtained; The puncture model construction and trajectory positioning analysis process is as follows: A puncture coordinate system is established with the midpoint connecting line of the two long edges of the base (1) as an X axis, the midpoint connecting line of the two short edges of the base (1) as a Y axis, and the upward direction of the intersection point of the X axis and the Y axis as a Z axis; The infrared imaging component (8) is used for image acquisition of the user's arm, the arm feature image within the time threshold is obtained, and the arm feature image is preprocessed; the blood vessel information is obtained from the preprocessed arm feature image, including the blood vessel diameter, blood vessel trajectory and blood vessel wall thickness; the blood vessel information is preprocessed, including cleaning and screening; a puncture blood vessel model is constructed based on the preprocessed blood vessel information and the 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 needle tip of the puncture needle (7) is also obtained; a plurality of movement trajectories of the puncture mechanical 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, including the movement energy consumption value and the number of action steps; the product value obtained by multiplying the movement energy consumption value and the corresponding 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 promotion safety supervision feedback analysis process is as follows: The spatial coordinate point of the puncture point is obtained, and the blood vessel information of the user is also 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 of the inner wall of the user's blood vessel are obtained from the blood vessel information of the user, and they are respectively set as the puncture vertical minimum value and the puncture vertical maximum value; the preset puncture angle of the puncture point is also obtained; the calculation promotion distance lower limit value of the puncture needle (7) is obtained based on the puncture vertical minimum value and the preset puncture angle; the calculation promotion distance upper limit value of the puncture needle (7) is obtained based on the puncture vertical maximum value and the preset puncture angle; and then the promotion distance safety interval of the puncture needle (7) is constructed according to the calculation promotion distance lower limit value and the calculation promotion distance upper limit value; The puncture time period of the user within the time threshold is obtained, the actual promotion distance of the puncture needle (7) within the puncture time period is obtained, and the actual promotion distance is compared and analyzed with the promotion distance safety interval; when the actual promotion distance belongs to the promotion distance safety interval, a stop signal is generated; when the actual promotion distance does not belong to the promotion distance safety interval, a continuous signal is generated; The facility interference value represents the number of times that the performance evaluation coefficient of the blood vessel information acquisition device of the puncture equipment is lower than the preset performance evaluation coefficient threshold; the blood vessel information acquisition device includes an infrared device and an ultrasonic device; the performance evaluation coefficient represents the corresponding proportion value of the number of errors in the total number of punctures based on the acquisition data of the blood vessel information acquisition device; The puncture control precision evaluation analysis process is as follows: The historical puncture information of the puncture equipment within the time threshold is obtained, including 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 greater than or equal to the preset puncture feasibility threshold and the preset puncture deviation index threshold is set as the puncture evaluation risk value; and the puncture evaluation risk value is discriminated to obtain a precise signal or a risk signal. The puncture feasibility represents a proportion value corresponding to a number of times that a needle tip coordinate of a puncture needle (7) on a puncture robot arm deviates from a set coordinate in a total number of historical punctures; and the puncture deviation index represents a number of times that a puncture distance and a puncture angle of the puncture needle (7) deviate from a preset threshold in a process in which a needle tip of the puncture needle (7) punctures a blood vessel in a total number of historical punctures.

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