Invasive artery blood sampling positioning auxiliary system

Abstract

The invention provides an invasive artery blood sampling positioning auxiliary system, and relates to the technical field of blood sampling positioning. The system comprises a shell, a display, an ultrasonic probe, a blood taking needle mounting assembly, a hemostasis bandage, an operation button and a processor, the processor is used for determining a blood vessel puncture position through the ultrasonic images at the multiple positions of the arm; according to the blood vessel puncture position, the telescopic angle and the telescopic length of the blood taking needle are determined; according to the blood vessel puncture position, the placement position of the shell is determined; after the shell is placed according to the placement position and confirmation operation of the operation button is received, the blood taking needle mounting assembly is controlled to stretch out the blood taking needle for blood taking according to the telescopic angle and the telescopic length; and after the stop operation of the operation button is received, the blood taking needle is retracted. According to the method and the device, whether other obstacles exist in the inclined needle inserting path of the blood taking needle or not can be determined in combination with the ultrasonic images at the multiple positions, then a proper blood vessel puncture position is selected, and the possibility of causing extra injuries to a patient is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of blood sampling positioning, and in particular to an invasive arterial blood sampling positioning auxiliary system. Background Art

[0002] In related art, although ultrasound images can be used to locate blood vessels and determine the puncture location during blood collection, this process typically applies to vertical needle insertion. That is, the blood vessel is located using ultrasound images at a specific location, positioned on the skin surface, and the needle is inserted from the skin surface and vertically into the blood vessel for blood collection. However, if the needle is inserted at an angle, and the blood collection needle enters the blood vessel at a certain angle from the skin surface, it is impossible to use ultrasound images to determine whether there are other blood vessels or other obstacles along the path of the blood collection needle from the skin surface into the blood vessel, making it difficult to determine whether the blood collection needle will cause additional harm to the patient during the insertion of the blood collection needle along this path.

[0003] The information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art. Summary of the Invention

[0004] The present invention provides an invasive arterial blood sampling positioning auxiliary system, which can solve the technical problem that it is difficult to determine whether there are other obstacles on the path of the blood collection needle when the blood collection needle is inserted at an angle.

[0005] According to a first aspect of the present invention, there is provided an invasive arterial blood sampling positioning assistance system, comprising:

[0006] Housing, display, ultrasound probe, lancet mounting assembly, hemostatic bandage, operating buttons and processor;

[0007] The front of the housing is provided with a display and operation buttons, the back of the housing is provided with an ultrasound probe and a hemostatic bandage, the side of the housing is provided with a blood collection needle mounting assembly, and the processor is provided inside the housing;

[0008] The ultrasonic probe is used to transmit ultrasonic waves to the arm and receive reflected ultrasonic signals, and transmit the reflected ultrasonic signals to the processor for processing to generate an ultrasonic image;

[0009] The display is used to display ultrasound images;

[0010] The processor is configured to:

[0011] The location of vascular puncture is determined by ultrasound images at multiple locations of the arm;

[0012] Determine the telescopic angle and telescopic length of the blood collection needle according to the blood vessel puncture position;

[0013] Determine the placement position of the shell according to the blood vessel puncture position;

[0014] After the housing is placed according to the placement position and a confirmation operation of the operation button is received, the blood collection needle installation assembly is controlled to extend the blood collection needle according to the telescopic angle and the telescopic length to collect blood;

[0015] After receiving a stop operation of the operation button, retracting the blood collection needle;

[0016] The hemostatic bandage is used for bandaging blood-drawing wounds.

[0017] According to the present invention, the location of blood vessel puncture is determined by ultrasound images at multiple locations of the arm, including:

[0018] Mark the starting position on the arm and align the ultrasound probe with the starting position. Starting from the starting position, push the shell along the axis of the arm at a preset speed;

[0019] Acquiring ultrasonic images at multiple positions during the process of pushing the shell to move along the axial direction of the arm;

[0020] Segment multiple ultrasound images using a trained image segmentation model to obtain multiple foreground regions and background regions;

[0021] determining, from among the multiple foreground regions, a first region where the target blood vessel is located and a vertex position of the first region;

[0022] determining, from the plurality of foreground regions, a second region other than the first region where the target blood vessel is located;

[0023] Acquire a first distance between a blood collection needle installation position of the blood collection needle installation assembly and the ultrasound probe;

[0024] determining a puncture position selection coefficient of the vertex position according to the first distance, the vertex position, and the second area;

[0025] The blood vessel puncture position is determined according to the puncture position selection coefficient.

[0026] According to the present invention, determining the puncture position selection coefficient of the vertex position according to the first distance, the vertex position and the second area includes:

[0027] In the i-th ultrasound image, determining the i-th vertex depth according to the vertex position of the first region;

[0028] In the ikth ultrasound image, the predicted blood collection needle position in the ikth ultrasound image is obtained according to the ith vertex depth and the second distance between the shooting positions of two adjacent ultrasound images, where 1≤k≤ , ,in, is the first distance, is the second distance, is the number of sections of ultrasonic image capturing positions that the lancet passes through during the process of moving from the lancet installation position of the lancet installation assembly to the blood vessel puncture position, i> , and i is a positive integer;

[0029] A puncture position selection coefficient of the vertex position is determined according to the predicted blood collection needle position, the second area and the i-th vertex depth.

[0030] According to the present invention, in the ikth ultrasound image, obtaining the predicted lancet position in the ikth ultrasound image according to the ith vertex depth and the second distance between the shooting positions of two adjacent ultrasound images includes:

[0031] The horizontal coordinate of the vertex position of the first region in the i-th ultrasound image is used as the horizontal coordinate of the predicted blood collection needle position in the ik-th ultrasound image;

[0032] According to the formula ,

[0033] Get the ordinate of the predicted blood collection needle position in the ikth ultrasound image ,in, is the depth of the i-th vertex, is the vertical coordinate of the vertex position in the i-th ultrasound image.

[0034] According to the present invention, determining the puncture position selection coefficient of the vertex position based on the predicted lancet position, the second area, and the i-th vertex depth includes:

[0035] In the determining whether there is a color ultrasound image in which the predicted position of the lancet is within the second area among the (i-1)th to (i-1)th color ultrasound images;

[0036] If it exists, the puncture position selection coefficient of the vertex position in the i-th ultrasound image is determined to be 0;

[0037] If not, then in the ikth ultrasound image, determine the position of the edge of each second region;

[0038] Determining the shortest distance between the predicted lancet position and the edge of each second region according to the predicted lancet position in the ikth ultrasound image and the position of the edge of each second region;

[0039] determining a number of second regions in each ultrasound image;

[0040] A puncture position selection coefficient of the vertex position in the i-th ultrasound image is determined according to the shortest distance, the number of the second regions, and the i-th vertex depth.

[0041] According to the present invention, determining the puncture position selection coefficient of the vertex position in the i-th ultrasound image according to the shortest distance, the number of the second regions, and the i-th vertex depth includes:

[0042] According to the formula ,

[0043] Determine the puncture position selection coefficient of the vertex position in the i-th ultrasound image ,in, is the shortest distance between the predicted lancet position in the ikth ultrasound image and the edge of each second region, is the depth of the i-th vertex, is the number of the second region in the ikth ultrasound image, The number of second regions in the j-th ultrasound image, n is the number of ultrasound images, min is the minimum function, j≤n, and both j and n are positive integers.

[0044] According to the present invention, the telescopic angle and telescopic length of the blood collection needle are determined according to the blood vessel puncture position, including:

[0045] According to the formula ,

[0046] Determine the extension angle of the lancet ,in, is the actual depth of the vascular puncture site, A first distance between a lancet installation position of the lancet installation assembly and the ultrasound probe;

[0047] According to the formula ,

[0048] Determine the telescopic length of the lancet ,in, is the radius of the cross section of the target blood vessel where the vascular puncture location is located, is a preset coefficient less than 1;

[0049] in, Ways to obtain include:

[0050] Acquiring a first region where a target blood vessel is located in an ultrasound image at a location where a blood vessel puncture is located;

[0051] Determine the centroid of the first region;

[0052] determining the shortest distance between the centroid of the first region and the edge of the first region as the radius of the first region;

[0053] According to the zoom scale of the ultrasound image and the radius of the first area, determine .

[0054] According to the present invention, determining the placement position of the housing according to the blood vessel puncture position includes:

[0055] Determine the target sequence number of the ultrasound image corresponding to the vascular puncture location;

[0056] Align the ultrasonic probe on the housing with the shooting positions corresponding to the target numbers in multiple positions along the axis of the arm, and obtain a verification ultrasonic image;

[0057] Obtaining, through the encoding layer of the trained image segmentation model, first feature information of the ultrasound image corresponding to the target serial number and second feature information of the verification ultrasound image;

[0058] When the similarity between the first characteristic information and the second characteristic information is higher than a preset similarity threshold, the location of the shell is determined as the placement location.

[0059] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0060] According to the present invention, ultrasound images can be used to assist in positioning blood vessels, thereby improving the accuracy of blood vessel positioning, reducing the possibility of repeated punctures due to inaccurate blood vessel positioning, and reducing harm to patients. Ultrasonic images at multiple positions of the arm can be collected during the movement of the shell, thereby combining the ultrasound images at multiple positions to determine whether there are other obstacles in the path of the blood collection needle's oblique insertion, and then selecting a suitable blood vessel puncture position, thereby reducing the possibility of damage to other blood vessels and other obstacles in the path of the blood collection needle's oblique insertion, thereby causing additional harm to the patient. When determining the predicted blood collection needle position, the predicted path of the blood collection needle can be determined for each vertex position in the ultrasound image, thereby determining the predicted blood collection needle position in the ultrasound image corresponding to the cross-section passed by the predicted path, thereby determining the relationship between the predicted blood collection needle position and the second area in each ultrasound image, and then determining whether the predicted path has an impact on other blood vessels, providing an accurate data basis for screening blood vessel puncture positions. When determining the puncture location selection coefficient, the safety of the predicted path can be determined by the number of second areas in all ultrasound images and the number of second areas in the ultrasound images corresponding to each section through which the predicted path passes. The possibility of puncture causing harm to the patient can be determined by predicting the shortest distance between the blood collection needle position and the edge of the second area and the vertex depth, thereby determining the puncture location selection coefficient, which facilitates finding a blood vessel puncture location that causes less harm to the patient and is highly safe. When determining the telescopic angle and telescopic length of the blood collection needle, the actual depth of the blood vessel puncture location and the radius of the target blood vessel can be calculated based on the zoom scale of the ultrasound image, so that the telescopic angle of the blood collection needle can be calculated based on the geometric relationship. When determining the telescopic length of the blood collection needle, safety factors are taken into account to avoid puncturing the opposite blood vessel wall, limiting the entry depth of the blood collection needle to a value less than the radius of the target blood vessel, and calculating the telescopic length of the blood collection needle based on this, thereby improving the safety of blood collection.

[0061] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and not limiting of the present invention. Other features and aspects of the present invention will become more apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can derive other embodiments based on these drawings without inventive efforts.

[0063] Figure 1 A block diagram of an invasive arterial blood sampling positioning assistance system according to an embodiment of the present invention is exemplarily shown;

[0064] Figure 2 A schematic diagram exemplarily illustrates a process in which a housing moves along the axial direction of an arm according to an embodiment of the present invention;

[0065] Figure 3 A schematic diagram exemplarily shows a predicted path of a blood collection needle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0067] The following specific embodiments are used to describe the technical solution of the present invention in detail. 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.

[0068] Figure 1 A block diagram of an invasive arterial blood sampling positioning assistance system according to an embodiment of the present invention is exemplarily shown. The system includes:

[0069] Housing, display, ultrasound probe, lancet mounting assembly, hemostatic bandage, operating buttons and processor;

[0070] The front of the housing is provided with a display and operation buttons, the back of the housing is provided with an ultrasound probe and a hemostatic bandage, the side of the housing is provided with a blood collection needle mounting assembly, and the processor is provided inside the housing;

[0071] The ultrasonic probe is used to transmit ultrasonic waves to the arm and receive reflected ultrasonic signals, and transmit the reflected ultrasonic signals to the processor for processing to generate an ultrasonic image;

[0072] The display is used to display ultrasound images;

[0073] The processor is configured to:

[0074] The location of vascular puncture is determined by ultrasound images at multiple locations of the arm;

[0075] Determine the telescopic angle and telescopic length of the blood collection needle according to the blood vessel puncture position;

[0076] Determine the placement position of the shell according to the blood vessel puncture position;

[0077] After the housing is placed according to the placement position and a confirmation operation of the operation button is received, the blood collection needle installation assembly is controlled to extend the blood collection needle according to the telescopic angle and the telescopic length to collect blood;

[0078] After receiving a stop operation of the operation button, retracting the blood collection needle;

[0079] The hemostatic bandage is used for bandaging blood-drawing wounds.

[0080] According to the invasive arterial blood sampling positioning assistance system of an embodiment of the present invention, the blood vessels can be assisted in positioning through ultrasonic images, thereby improving the accuracy of blood vessel positioning, reducing the possibility of repeated punctures due to inaccurate blood vessel positioning, and reducing harm to patients. Ultrasonic images at multiple positions of the arm can be collected during the movement of the shell, so as to determine whether there are other obstacles in the path of the blood collection needle's oblique insertion in combination with the ultrasonic images at multiple positions, and then select a suitable blood vessel puncture position, thereby reducing the possibility of damage to other blood vessels and other obstacles in the path of the blood collection needle's oblique insertion, thereby causing additional harm to the patient.

[0081] According to one embodiment of the present invention, the housing may be a rectangular housing, wherein the length of the housing is greater than the width of the housing, and the width of the housing is greater than the height of the housing. With the length as the X-axis, the width as the Y-axis, and the height as the Z-axis, the front or back of the housing is parallel to the XOY plane. A display and operating buttons are provided on the front of the housing, and an ultrasound probe and hemostatic bandage are provided on the back of the housing. The housing has four side surfaces, two of which are parallel to the YOZ plane, and the other two are parallel to the XOZ plane. A side surface of the lancet mounting assembly is provided on one of the sides parallel to the YOZ plane, and the lancet mounting assembly is located at the center of the side surface. The lancet mounting assembly can be used to mount a lancet and can also adjust the lancet's orientation in a plane parallel to the XOZ plane. A processor is disposed within the housing, such that the housing protects the processor. Furthermore, the housing may also include a power supply assembly, a communication assembly, etc., though this is not limited by the present invention.

[0082] According to one embodiment of the present invention, an ultrasonic probe may be mounted on the back of the housing, and the probe and the lancet mounting assembly may be located in the same plane parallel to the XOZ plane. The ultrasonic probe may transmit ultrasonic waves directly downward and receive reflected ultrasonic signals. When the back of the housing contacts an arm, the ultrasonic probe may transmit ultrasonic waves toward the arm and receive reflected ultrasonic signals.

[0083] According to one embodiment of the present invention, the processor may have the basic function of processing the reflected ultrasonic signal and converting it into an ultrasonic image, which can be displayed on a display. The processor may also have the function of finding a vascular puncture location. The processor can process ultrasonic images at multiple locations to find a suitable vascular puncture location, ensuring that the lancet will not puncture other obstacles (e.g., other blood vessels) during the oblique insertion process, thereby reducing the possibility of causing additional harm to the patient.

[0084] According to one embodiment of the present invention, the blood vessel puncture position is determined by ultrasound images at multiple positions of an arm, including: marking a starting position on the arm, aligning the ultrasound probe at the starting position, and pushing the shell along the axis of the arm at a preset speed starting from the starting position; acquiring ultrasound images at multiple positions in the process of pushing the shell along the axis of the arm; segmenting the multiple ultrasound images through a trained image segmentation model to obtain multiple foreground areas and background areas; determining a first area where the target blood vessel is located and the vertex position of the first area in the multiple foreground areas; determining a second area other than the first area where the target blood vessel is located in the multiple foreground areas; acquiring a first distance between the blood collection needle installation position of the blood collection needle installation assembly and the ultrasound probe; determining a puncture position selection coefficient of the vertex position based on the first distance, the vertex position and the second area; and determining the blood vessel puncture position based on the puncture position selection coefficient.

[0085] Figure 2 The schematic diagram exemplarily shows the process of the shell moving along the axial direction of the arm according to an embodiment of the present invention.

[0086] According to one embodiment of the present invention, a housing can be placed on the wrist to obtain an ultrasound image. Based on the location of a target vessel shown in the ultrasound image, the housing can be adjusted radially along the arm to position the probe directly above the target vessel. At this point, the ultrasound probe's position can be marked as the starting position. The housing can then be moved axially along the arm, with the housing's length (i.e., the X-axis) parallel to the movement. During movement, the speed along the arm's axis remains constant, i.e., maintains a predetermined speed. Fine-tuning can be performed radially at any time (the target vessel is approximately parallel to the arm's axis, so the radial adjustment range is relatively small) to ensure that the ultrasound probe is always directly above the target vessel. During movement, the ultrasound probe's movement path can be recorded. For example, a marker can be placed adjacent to the ultrasound probe to draw the ultrasound probe's movement path on the skin (approximately a straight line). Multiple positions can be set along this path, for example, every 2 mm. The back of the housing is in close contact with the skin of the arm, allowing the ultrasound probe to transmit ultrasound waves into the arm and receive ultrasound signals emitted by the tissue beneath the skin, thereby obtaining an ultrasound image at each position. The above movement process can be achieved by using an electric power-assisted device to push the arm at a constant speed, for example, at a speed of 2 mm / s along the axis of the arm. During the pushing process, the ultrasound probe is pressed against the skin by manual pressure, and an ultrasound image is saved every second, thereby obtaining ultrasound images at multiple locations. Alternatively, the ultrasound probe movement path can be drawn on the skin and multiple positions can be set, and then the ultrasound probe can be used to obtain ultrasound images at each location in sequence.

[0087] According to one embodiment of the present invention, the ultrasound images at multiple positions are obtained above, and the multiple ultrasound images can be analyzed to find the vascular puncture position of the target blood vessel, that is, in the area where the blood vessels in the multiple ultrasound images are located, the optimal vascular puncture position is screened out, so that other obstacles can be avoided on the path of the lancet from the skin surface to the vascular puncture position, thereby reducing the risk of the lancet puncturing other blood vessels and causing additional harm to the patient.

[0088] According to one embodiment of the present invention, it is authorized to segment an ultrasound image to determine the foreground area and background area in the ultrasound image. The foreground area may include multiple blood vessel cross-sections, and the background area may be other tissues (for example, fat, etc.). In addition, there are multiple blood vessels in the arm, and a first area where a target blood vessel (for example, a radial artery) is located can be selected from multiple blood vessel cross-sections. A second area other than the first area where the target blood vessel is located (for example, an area where other blood vessels are located) can also be determined. For example, the area where each blood vessel is located can be determined by instance segmentation, and each area can be distinguished to determine the first area and the second area. The image segmentation model can be Deeplab, and the present invention does not limit the specific category of the image segmentation model.

[0089] According to one embodiment of the present invention, the vertex position of the first area can be determined. For example, in an ultrasound image, each pixel point may have image coordinates. Among the multiple pixel points in the first area, the pixel point corresponding to the minimum vertical coordinate is the vertex of the first area, and the image coordinates of the vertex are the vertex position.

[0090] According to one embodiment of the present invention, a first distance between the lancet installation position of the lancet installation assembly and the ultrasound probe can be obtained. The first distance is the distance in the X-axis direction, for example, the first distance is 6 mm.

[0091] According to one embodiment of the present invention, determining the puncture position selection coefficient of the vertex position according to the first distance, the vertex position and the second area includes: in the i-th ultrasound image, determining the i-th vertex depth according to the vertex position of the first area; in the ik-th ultrasound image, obtaining the predicted blood collection needle position in the ik-th ultrasound image according to the i-th vertex depth and the second distance between the shooting positions of two adjacent ultrasound images, wherein 1≤k≤ , ,in, is the first distance, is the second distance, is the number of sections of ultrasonic image capturing positions that the lancet passes through during the process of moving from the lancet installation position of the lancet installation assembly to the blood vessel puncture position, i> , and i is a positive integer; determining the puncture position selection coefficient of the vertex position according to the predicted blood collection needle position, the second area and the i-th vertex depth.

[0092] Figure 3 A schematic diagram exemplarily shows a predicted path of a blood collection needle according to an embodiment of the present invention.

[0093] According to one embodiment of the present invention, the i-th ultrasound image corresponds to the i-th position. The vertex position of the first region in the i-th ultrasound image is the highest point of the first region, that is, the cross-sectional vertex of the target blood vessel. The vertex depth can be determined based on the vertical coordinate of the vertex position. For example, the difference between the vertical coordinate of the top end of the ultrasound image and the vertical coordinate of the vertex position is the vertex depth. There is a certain proportional relationship between the distance in the ultrasound image and the actual distance (i.e., the scale). Based on this proportional relationship, the actual depth corresponding to the vertex depth can be known. Figure 3 The length of the vertical dashed line in the middle indicates the actual depth.

[0094] According to one embodiment of the present invention, Figure 3The dotted line in the middle indicates the path that the lancet is expected to traverse if the cross-sectional vertex of the target blood vessel directly below the i-th position is used as the puncture position. Furthermore, since there is a certain distance (i.e., the first distance) between the ultrasound probe and the lancet mounting position, the ultrasound probe may pass through multiple positions and obtain multiple ultrasound images during the process of moving from the position on the arm directly opposite the current lancet mounting position to the current position of the ultrasound probe. The number of the above-mentioned multiple positions is the number of cross-sectional positions of the ultrasound images that the lancet traverses during the process of moving from the lancet mounting position of the lancet mounting assembly to the blood vessel puncture position. Therefore, if the lancet punctures along the predicted path, it can be determined whether the lancet will affect other blood vessels while passing through the cross sections corresponding to the multiple positions. In other words, the intersection of the predicted path and each of the cross sections can be determined, and the position of the intersection in the ultrasound image corresponding to the cross section can be determined (i.e., the predicted lancet position), thereby determining whether the predicted lancet position and the second region in each ultrasound image affect each other.

[0095] According to one embodiment of the present invention, in the ikth ultrasound image, based on the ith vertex depth and the second distance between the shooting positions of two adjacent ultrasound images, the predicted blood collection needle position in the ikth ultrasound image is obtained, including: using the abscissa of the vertex position of the first area in the ikth ultrasound image as the abscissa of the predicted blood collection needle position in the ikth ultrasound image; obtaining the ordinate of the predicted blood collection needle position in the ikth ultrasound image according to formula (1): , (1),

[0096] in, is the depth of the i-th vertex, is the vertical coordinate of the vertex position in the i-th ultrasound image.

[0097] According to one embodiment of the present invention, since the ultrasound probe is located directly above the blood vessel, the abscissa of the vertex position of the first region in the i-th ultrasound image can be used as the abscissa of the predicted lancet position in the k-th ultrasound image. Since the aforementioned multiple sections are equally spaced, the ordinates of the predicted lancet positions in the ultrasound images corresponding to the respective sections vary uniformly, i.e., the variation in the ordinates of the predicted lancet positions in the ultrasound images corresponding to adjacent sections is , therefore, the ordinate of the predicted lancet position in the i-1th ultrasound image is , the vertical coordinate of the predicted blood collection needle position in the i-2th ultrasound image is , and so on, the ordinate of the predicted blood collection needle position in the ikth ultrasound image is For example, vertex depth is expressed as the number of pixels. , , , the vertical coordinate of the predicted blood collection needle position in the i-1th ultrasound image is 560, the vertical coordinate of the predicted blood collection needle position in the i-2th ultrasound image is 580, and the vertical coordinate of the predicted blood collection needle position in the i-3th ultrasound image is 600.

[0098] In this way, the predicted path of the lancet can be determined for the vertex position in each ultrasound image, thereby determining the predicted lancet position in the ultrasound image corresponding to the cross-section passed by the predicted path, thereby determining the relationship between the predicted lancet position and the second area in each ultrasound image, and then determining whether the predicted path has an impact on other blood vessels, providing an accurate data basis for screening the blood vessel puncture location.

[0099] According to one embodiment of the present invention, determining the puncture position selection coefficient of the vertex position according to the predicted blood collection needle position, the second area and the i-th vertex depth includes: In the i-th to i-1th color ultrasound images, determine whether there is a color ultrasound image in which the predicted blood collection needle position is within the second area; if so, determine the puncture position selection coefficient of the vertex position in the i-th ultrasound image to 0; if not, determine the position of the edge of each second area in the ik-th ultrasound image; determine the shortest distance between the predicted blood collection needle position and the edge of each second area based on the predicted blood collection needle position in the ik-th ultrasound image and the position of the edge of each second area; determine the number of second areas in each ultrasound image; determine the puncture position selection coefficient of the vertex position in the i-th ultrasound image based on the shortest distance, the number of second areas and the i-th vertex depth.

[0100] According to one embodiment of the present invention, If any of the color ultrasound images (i-1) shows a predicted lancet position within the second region, this indicates that the predicted path of the lancet intersects with other blood vessels. That is, if puncture is performed according to the predicted path, the lancet may puncture other blood vessels, causing additional harm to the patient. Therefore, the puncture location selection coefficient for the vertex position in the i-th ultrasound image can be directly set to 0. Otherwise, the relationship between the predicted path and other blood vessels can be further determined, that is, the relationship between the predicted lancet position and the second region in each ultrasound image can be further analyzed.

[0101] According to one embodiment of the present invention, the location of the second region in each ultrasound image has been determined. The boundary between the second region and the background region is the location of the edge of the second region. The edge of the second region may include multiple pixels. The distance between each pixel on the edge of each second region and the predicted lancet position can be determined sequentially, and the minimum value of these distances can be selected as the shortest distance between the predicted lancet position and the edge of each second region.

[0102] According to one embodiment of the present invention, determining the puncture position selection coefficient of the vertex position in the i-th ultrasound image according to the shortest distance, the number of the second regions and the i-th vertex depth includes: determining the puncture position selection coefficient of the vertex position in the i-th ultrasound image according to formula (2): , (2),

[0103] in, is the shortest distance between the predicted lancet position in the ikth ultrasound image and the edge of each second region, is the depth of the i-th vertex, is the number of the second region in the ikth ultrasound image, The number of second regions in the j-th ultrasound image, n is the number of ultrasound images, min is the minimum function, j≤n, and both j and n are positive integers.

[0104] According to one embodiment of the present invention, in formula (2), is the average number of second regions in all ultrasound images, It represents the average number of second regions in the ultrasound image corresponding to each cross section passed by the predicted path, is the ratio of the above two average numbers. The larger the ratio is, the fewer second areas are near the predicted path of the lancet when the vertex position in the i-th ultrasound image is selected as the vascular puncture position relative to the average number of second areas in all ultrasound images. In other words, the fewer other blood vessels are near the predicted path. Therefore, the safety of the predicted path of the lancet when the vertex position in the i-th ultrasound image is selected as the vascular puncture position is higher, that is, it is more difficult to puncture other blood vessels and cause additional harm to the patient.

[0105] According to one embodiment of the present invention, The minimum value of the shortest distance between the predicted lancet position and the edge of the second region in each ultrasound image can be used to represent the closest distance between the predicted path and other blood vessels. The larger the closest distance, the less likely the lancet will puncture other blood vessels when the vertex position in the i-th ultrasound image is selected as the blood vessel puncture position, and the less likely it is to cause additional harm to the patient. The smaller it is, the smaller the depth of the target blood vessel, the shorter the predicted path, the less damage to the patient during puncture, and the better the effect of pressing to stop bleeding after blood collection. The higher it is, the less harm it will cause to the patient if the vertex position in the i-th ultrasound image is selected as the vascular puncture position.

[0106] In this example, the average number of second regions in all ultrasound images is 2.5, and the average number of second regions in ultrasound images corresponding to each cross section through which the predicted path passes is 2. , , the shortest distances between the predicted blood collection needle position and the edge of each second region in the i-1th, i-2nd, and i-3th ultrasound images are 65, 62, and 58, respectively. , ,but , therefore, the puncture position selection coefficient of the vertex position in the i-th ultrasound image is .

[0107] According to one embodiment of the present invention, multiplying the above two items can obtain the puncture position selection coefficient of the vertex position in the i-th ultrasound image. The higher the puncture position selection coefficient, the less harm to the patient caused by selecting the vertex position in the i-th ultrasound image as the vascular puncture position, and the higher the safety.

[0108] In this way, the safety of the predicted path can be determined by the number of second areas in all ultrasound images and the number of second areas in ultrasound images corresponding to each cross-section passed by the predicted path. The possibility of puncture causing harm to the patient can be determined by predicting the shortest distance between the blood collection needle position and the edge of the second area and the vertex depth, and then the puncture position selection coefficient can be determined, which facilitates finding a blood vessel puncture position that causes less harm to the patient and is safer.

[0109] According to one embodiment of the present invention, after determining the puncture position selection coefficients of the vertex positions in each ultrasound image, the vertex position in the ultrasound image corresponding to the maximum puncture position selection coefficient may be determined as the blood vessel puncture position.

[0110] According to one embodiment of the present invention, after determining the blood vessel puncture location, the serial number of the corresponding ultrasound image can be determined, thereby determining the shooting location of the ultrasound image, so that the ultrasound probe can be aimed at the location. At this time, the lancet mounting assembly next to the ultrasound probe can control the lancet for puncture.

[0111] According to one embodiment of the present invention, the telescopic angle and telescopic length of the blood collection needle are determined according to the blood vessel puncture position, including: determining the telescopic angle of the blood collection needle according to formula (3) , (3),

[0112] in, is the actual depth of the vascular puncture site, is the first distance between the blood collection needle installation position of the blood collection needle installation assembly and the ultrasonic probe; the telescopic length of the blood collection needle is determined according to formula (4) , (4),

[0113] in, is the radius of the cross section of the target blood vessel where the vascular puncture location is located, is a preset coefficient less than 1; where The acquisition method includes: obtaining a first area where the target blood vessel is located in the ultrasound image where the blood vessel puncture position is located; determining the centroid of the first area; determining the shortest distance between the centroid of the first area and the edge of the first area as the radius of the first area; determining the radius of the first area according to the zoom scale of the ultrasound image and the radius of the first area .

[0114] According to one embodiment of the present invention, both the cross-sectional radius of the target vessel at the vascular puncture location and the actual depth of the vascular puncture location can be determined using the ultrasound image zoom scale. For example, the actual depth of the vascular puncture location can be equal to the product of the vertex depth corresponding to the vascular puncture location and the zoom scale. When calculating the cross-sectional radius of the target vessel at the vascular puncture location, for safety reasons, the shortest distance between the centroid of the first region and the edge of the first region is selected as the radius of the first region. The radius of the first region is then multiplied by the ultrasound image zoom scale to obtain the cross-sectional radius of the target vessel at the vascular puncture location. This ensures that the length of the lancet inserted into the target vessel is minimized when determining the telescopic length of the lancet, thereby avoiding puncturing the opposing vessel wall.

[0115] According to one embodiment of the present invention, in formula (4), the telescopic angle of the lancet is the angle between the direction of the lancet and the line connecting the lancet mounting assembly and the ultrasonic probe. Since the lancet points to the blood vessel puncture position, the actual depth of the blood vessel puncture position is , the length of the line connecting the blood collection needle mounting assembly and the ultrasonic probe is the first distance, therefore, is the tangent value of the telescopic angle of the blood collection needle. Correspondingly, the telescopic angle of the blood collection needle is In the example, , ,therefore, , the telescopic angle is 45°.

[0116] According to one embodiment of the present invention, in formula (5), The straight-line distance between the puncture site and the blood collection needle installation site. Furthermore, the blood collection needle not only needs to reach the puncture site, but also needs to puncture the puncture site to enter the target blood vessel for blood collection. Therefore, the telescopic length of the blood collection needle needs to be greater than , the depth of entering the target blood vessel can be slightly less than , that is, the depth of entering the target blood vessel can be set to ,For example, , since the extension angle of the blood collection needle is , therefore, the depth of the target blood vessel of the blood collection needle is In summary, the telescopic length of the blood collection needle is In the example, , , , , ,Therefore, the telescopic length of the lancet is approximately 10.4 mm.

[0117] In this way, the actual depth of the blood vessel puncture position and the radius of the target blood vessel can be calculated based on the zoom scale of the ultrasound image, so that the extension angle of the blood collection needle can be calculated based on the geometric relationship. When determining the extension length of the blood collection needle, safety factors are taken into consideration to avoid puncturing the opposite blood vessel wall. The entry depth of the blood collection needle is limited to a value less than the radius of the target blood vessel, and the extension length of the blood collection needle is calculated based on this, thereby improving the safety of blood collection.

[0118] According to one embodiment of the present invention, the placement position of the shell is determined according to the blood vessel puncture position, including: determining the target serial number of the ultrasound image corresponding to the blood vessel puncture position; aligning the ultrasound probe on the shell with the shooting position corresponding to the target serial number in multiple positions of the arm axis, and obtaining a verification ultrasound image; obtaining first feature information of the ultrasound image corresponding to the target serial number and second feature information of the verification ultrasound image through the encoding layer of the trained image segmentation model; when the similarity between the first feature information and the second feature information is higher than a preset similarity threshold, the position of the shell is determined as the placement position.

[0119] According to one embodiment of the present invention, in addition to finding the target serial number of the ultrasound image corresponding to the vascular puncture location, after aligning the ultrasound probe with the capture position corresponding to the target serial number, a new ultrasound image can be acquired for verification, i.e., a verification ultrasound image. The encoding layer of the trained image segmentation model can be used to obtain first feature information of the ultrasound image corresponding to the target serial number and second feature information of the verification ultrasound image. Both the first feature information and the second feature information are vector-based information. Furthermore, the cosine similarity between the first and second feature information can be calculated. If the cosine similarity exceeds a preset similarity threshold (e.g., 0.9), the housing can be correctly positioned. In other words, the ultrasound probe can be aligned with the capture position of the ultrasound image corresponding to the vascular puncture location, and blood sampling can now be performed. The processor can generate a prompt message indicating that blood sampling can be performed and display it on the display. After viewing the prompt message, the user can confirm the operation by pressing a button.

[0120] According to one embodiment of the present invention, after the processor receives the confirmation operation, it can control the blood collection needle mounting assembly to extend the blood collection needle for blood collection according to the telescopic angle and the telescopic length determined above. For example, the blood collection needle is controlled to pierce the target blood vessel at the blood vessel puncture position, and the rear end of the blood collection needle can be connected to a vacuum blood collection tube for blood collection. After the blood collection is completed, the user can stop the operation button, and the processor can retract the blood collection needle after receiving the stop operation.

[0121] According to one embodiment of the present invention, after the blood collection needle is retracted, the hemostatic bandage provided on the back of the housing can be used to bandage the blood collection wound. When bandaging, a certain force can be applied to the blood collection wound to press and stop bleeding. Providing a hemostatic bandage on the back of the housing can save operation time and reduce the amount of bleeding. After the blood collection is completed, the bandage can be directly applied, which can complete the invasive arterial blood collection work more efficiently. Furthermore, the surface of the housing can be treated with an anti-slip treatment to facilitate the user's grip. If the situation is urgent or the grip needs to be held for a long time, this treatment can maintain a good grip and improve the convenience and stability of operation.

[0122] According to an embodiment of the present invention, the invasive arterial blood sampling positioning assistance system can assist in positioning blood vessels through ultrasound images, improve the accuracy of blood vessel positioning, reduce the possibility of repeated punctures due to inaccurate blood vessel positioning, and reduce harm to the patient. It can also collect ultrasound images at multiple positions of the arm during the movement of the shell, and thus determine whether there are other obstacles in the path of the blood collection needle's oblique insertion by combining the ultrasound images at multiple positions, and then select a suitable blood vessel puncture position, thereby reducing the possibility of damage to other blood vessels and other obstacles in the path of the blood collection needle's oblique insertion, thereby causing additional harm to the patient. When determining the predicted blood collection needle position, the predicted path of the blood collection needle can be determined for each vertex position in the ultrasound image, thereby determining the predicted blood collection needle position in the ultrasound image corresponding to the cross-section traversed by the predicted path, thereby determining the relationship between the predicted blood collection needle position and the second area in each ultrasound image, and then determining whether the predicted path has an impact on other blood vessels, providing an accurate data basis for screening blood vessel puncture positions. When determining the puncture location selection coefficient, the safety of the predicted path can be determined by the number of second areas in all ultrasound images and the number of second areas in the ultrasound images corresponding to each section through which the predicted path passes. The possibility of puncture causing harm to the patient can be determined by predicting the shortest distance between the blood collection needle position and the edge of the second area and the vertex depth, thereby determining the puncture location selection coefficient, which facilitates finding a blood vessel puncture location that causes less harm to the patient and is highly safe. When determining the telescopic angle and telescopic length of the blood collection needle, the actual depth of the blood vessel puncture location and the radius of the target blood vessel can be calculated based on the zoom scale of the ultrasound image, so that the telescopic angle of the blood collection needle can be calculated based on the geometric relationship. When determining the telescopic length of the blood collection needle, safety factors are taken into account to avoid puncturing the opposite blood vessel wall, limiting the entry depth of the blood collection needle to a value less than the radius of the target blood vessel, and calculating the telescopic length of the blood collection needle based on this, thereby improving the safety of blood collection.

[0123] Those skilled in the art will appreciate that the embodiments of the present invention described above and shown in the accompanying drawings are intended to be illustrative only and are not intended to limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.

[0124] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above 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 invasive arterial blood sampling positioning auxiliary system, characterized in that: include: The housing has a display for displaying ultrasound images and operation buttons on the front, an ultrasound probe and a hemostatic bandage on the back, a blood collection needle mounting assembly on the side, and a processor inside; The processor is used to: Mark the starting position on the arm, align the ultrasound probe with the starting position, and start pushing the shell along the axis of the arm at a preset speed; Acquire ultrasound images at multiple positions using the ultrasound probe during the pushing process; Segment multiple ultrasound images using a trained image segmentation model to obtain foreground and background areas; determining a first region where the target blood vessel is located and a vertex position thereof in the foreground region; determining a second region other than the first region in the foreground region; Acquire a first distance between a blood collection needle installation position of the blood collection needle installation assembly and the ultrasound probe; determining a puncture position selection coefficient of the vertex position according to the first distance, the vertex position, and the second area; Determine the blood vessel puncture position according to the puncture position selection coefficient; Determine the telescopic angle and telescopic length of the blood collection needle according to the blood vessel puncture position; Determine the placement position of the shell according to the blood vessel puncture position, and place the shell; After receiving the confirmation operation of the operation button, the blood collection needle is extended according to the extension angle and extension length to collect blood; After receiving a stop operation of the operation button, retracting the blood collection needle; Hemostatic bandages are used to bandage blood collection wounds.

2. The invasive arterial blood sampling positioning auxiliary system according to claim 1, characterized in that: Determining a puncture position selection coefficient of the vertex position according to the first distance, the vertex position, and the second area includes: In the i-th ultrasound image, determining the i-th vertex depth according to the vertex position of the first region; In the ikth ultrasound image, the predicted blood collection needle position in the ikth ultrasound image is obtained according to the ith vertex depth and the second distance between the shooting positions of two adjacent ultrasound images, where 1≤k≤ , ,in, is the first distance, is the second distance, is the number of sections of ultrasonic image capturing positions that the lancet passes through during the process of moving from the lancet installation position of the lancet installation assembly to the blood vessel puncture position, i> , and i is a positive integer; A puncture position selection coefficient of the vertex position is determined according to the predicted blood collection needle position, the second area and the i-th vertex depth.

3. The invasive arterial blood sampling positioning auxiliary system according to claim 2, characterized in that: In the ikth ultrasound image, obtaining a predicted blood collection needle position in the ikth ultrasound image according to the ith vertex depth and the second distance between the shooting positions of two adjacent ultrasound images includes: The horizontal coordinate of the vertex position of the first region in the i-th ultrasound image is used as the horizontal coordinate of the predicted blood collection needle position in the ik-th ultrasound image; According to the formula ， Get the ordinate of the predicted blood collection needle position in the ikth ultrasound image ,in, is the depth of the i-th vertex, is the vertical coordinate of the vertex position in the i-th ultrasound image.

4. The invasive arterial blood sampling positioning auxiliary system according to claim 2, characterized in that: Determining a puncture position selection coefficient of a vertex position according to the predicted lancet position, the second area, and the i-th vertex depth includes: In the determining whether there is a color ultrasound image in which the predicted position of the lancet is within the second area among the (i-1)th to (i-1)th color ultrasound images; If it exists, the puncture position selection coefficient of the vertex position in the i-th ultrasound image is determined to be 0; If not, then in the ikth ultrasound image, determine the position of the edge of each second region; Determining the shortest distance between the predicted lancet position and the edge of each second region according to the predicted lancet position in the ikth ultrasound image and the position of the edge of each second region; determining a number of second regions in each ultrasound image; A puncture position selection coefficient of the vertex position in the i-th ultrasound image is determined according to the shortest distance, the number of the second regions, and the i-th vertex depth.

5. The invasive arterial blood sampling positioning auxiliary system according to claim 4, characterized in that: Determining a puncture position selection coefficient of a vertex position in an i-th ultrasound image according to the shortest distance, the number of the second regions, and the i-th vertex depth includes: According to the formula ， Determine the puncture position selection coefficient of the vertex position in the i-th ultrasound image ,in, is the shortest distance between the predicted lancet position in the ikth ultrasound image and the edge of each second region, is the depth of the i-th vertex, is the number of the second region in the ikth ultrasound image, The number of second regions in the j-th ultrasound image, n is the number of ultrasound images, min is the minimum function, j≤n, and both j and n are positive integers.

6. The invasive arterial blood sampling positioning auxiliary system according to claim 1, characterized in that: Determine the telescopic angle and telescopic length of the blood collection needle according to the puncture location of the blood vessel, including: According to the formula ， Determine the extension angle of the lancet ,in, is the actual depth of the vascular puncture site, A first distance between a lancet installation position of the lancet installation assembly and the ultrasound probe; According to the formula ， Determine the telescopic length of the lancet ,in, is the radius of the cross section of the target blood vessel where the vascular puncture location is located, is a preset coefficient less than 1; in, Ways to obtain include: Acquiring a first region where a target blood vessel is located in an ultrasound image at a location where a blood vessel puncture is located; Determine the centroid of the first region; determining the shortest distance between the centroid of the first region and the edge of the first region as the radius of the first region; According to the zoom scale of the ultrasound image and the radius of the first area, determine .

7. The invasive arterial blood sampling positioning auxiliary system according to claim 1, characterized in that: Determine the placement of the housing based on the location of blood vessel puncture, including: Determine the target sequence number of the ultrasound image corresponding to the vascular puncture location; Align the ultrasonic probe on the housing with the shooting positions corresponding to the target numbers in multiple positions along the axis of the arm, and obtain a verification ultrasonic image; Obtaining, through the encoding layer of the trained image segmentation model, first feature information of the ultrasound image corresponding to the target serial number and second feature information of the verification ultrasound image; When the similarity between the first characteristic information and the second characteristic information is higher than a preset similarity threshold, the location of the shell is determined as the placement location.

Images