Automatic body invasion device and control method thereof

Abstract

To provide an automatic body invasion device and a control method thereof, more particularly, a device and a control method capable of adjusting a direction of an inclined plane of an injection needle of an injection needle unit.SOLUTION: An automatic body invasion device includes: an inclined plane adjustment unit 22 that adjusts a direction of an inclined plane of an injection needle of an injection needle unit 200; and an injection needle unit movable unit that supports the injection needle unit with the direction of the inclined plane being adjusted by the inclined plane adjustment unit, arranges the injection needle unit in an orientation enabling body invasion, and performs invasion.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an automatic body invasive device and a control method thereof, and more particularly to an injection needle unit The present invention relates to an apparatus and a control method for adjusting the direction of the bevel of an injection needle. [Background technology]

[0002] When inserting a needle into a human superficial vein to draw blood or inject an injection at a medical institution such as a hospital or clinic. Currently, doctors are trained to find the location of blood vessels such as superficial veins. The doctor, nurse or clinical pathologist who has been trained for a long time searches for the superficial vein and inserts the needle. It takes time, requires constant costs for hiring specialized personnel, and is a one-time success. The problem is that it is often impossible to sting the baby and it takes multiple attempts to succeed. In the elderly, those undergoing anti-cancer treatment, and other people with poor vascular health, or those with dark skin, When blood vessels are not visible to the naked eye, even experienced specialists have a very difficult time finding them. There is a limit to how much it can be done.

[0003] Furthermore, even well-trained and experienced medical staff are often required to repeatedly draw blood. However, it is also a medical technique that causes high levels of fatigue and many people to reject it. There is always the risk that the fluid could splash onto or get into the medical technician's body, causing infection. There are many problems with blood sampling from humans, such as the need to collect blood from infected animals.

[0004] In order to solve such problems of the conventional technology, the applicant has For example, regarding a method for automatically detecting the location of superficial veins, the Korea Patent application No. 10-2020-0010302 relates to an automated body invasive device. The patent application was filed on April 2, 2020 under Korean Patent Application No. 10-2020-0040097. The contents of these patent applications are incorporated herein in their entirety. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Korean Patent Registration No. 10-1601421 (Name of invention: Automatic blood sampling method, Announcement date: March 10, 2016) Summary of the Invention [Problem to be solved by the invention]

[0006] In the present invention, when the position of the body part to be invasively performed is determined, an invasive device is moved to the position. In order to perform an invasion with a more favorable condition, for example, the arrangement of the bevel of the injection needle Automatic body invasive device capable of adjusting orientation and control method thereof The purpose of this document is to provide a method for [Means for solving the problem]

[0007] The automatic body invasive device according to the present invention has an inclined needle for adjusting the direction of the inclined surface of the injection needle unit. a surface adjustment section, and a needle unit whose slope direction is adjusted by the slope adjustment section. The injection needle unit is arranged in an orientation that allows for body invasion and the invasion is performed. The syringe includes a movable needle unit.

[0008] The automated body invasive device according to the present invention transfers an injection needle unit from a first position to a second position. A transport portion may further be included.

[0009] The inclination adjustment unit includes a support arm that supports the injection needle unit and a support arm that rotates the support arm. The injection needle may include a drive unit and a detection unit that detects the direction of the bevel of the injection needle.

[0010] According to another embodiment of the present invention, the slope adjustment portion has at least one a seventh drive unit which rotates the roller to rotate the injection needle unit; and a detection unit that detects the direction of the bevel of the injection needle.

[0011] The transfer portion may include a movable arm supporting the injection needle unit, the movable arm being , may be mounted to move between a first position and a second position.

[0012] The slope adjustment portion is adjacent to at least one of the first position and the second position. It can be arranged. The inclination adjustment portion is configured to adjust the movement of the injection needle unit in a direction other than the rotation direction of the injection needle unit. The movement limiter may further include a movement limiter.

[0013] The automated body invasive device according to the present invention includes a probe unit for detecting the body position of a target. The probe unit may further include a probe support unit. and a pressing portion adapted to press against the body of the target.

[0014] The probe unit further includes an elastic member that connects the pressing portion and the probe support portion. It is possible to do so.

[0015] The roller may include teeth that abut or mesh with the outer circumferential surface of the needle unit. do.

[0016] The method for controlling an automatic body invasive device according to the present invention includes the steps of: a first stage in which the needle supports the needle; and a second stage in which the needle bevel adjustment portion adjusts the bevel of the needle. The injection needle unit drives the injection needle unit movable part in an orientation capable of performing a body invasion. and a fourth step of driving the movable part of the injection needle unit to perform the invasion. Cut.

[0017] The control method according to another aspect of the present invention is a step of adjusting the bevel of the injection needle by the bevel adjustment part of the injection needle. a first step, and a second step in which a transfer unit moves the injection needle unit from a first position to a second position; The injection needle unit movable part supports the injection needle unit by transmitting the injection needle unit from the second position. and a third stage of holding the injection needle unit in an orientation that allows the injection needle unit to perform a body invasion. The fourth stage is to drive the moving part of the injection needle unit, and the fifth stage is to drive the moving part of the injection needle unit to perform the invasion. and

[0018] According to another aspect of the present invention, there is provided a control method for a syringe in which a movable part of the syringe unit supports the syringe unit. The first stage is a stage in which the inclination adjustment portion of the injection needle adjusts the inclination of the injection needle, and the second stage is a stage in which the inclination adjustment portion of the injection needle adjusts the inclination of the injection needle. The third stage is to move the needle unit into contact with the target's body, and the second stage is to invade the body. A fourth step of driving the injection needle unit movable part in an orientation in which the injection needle unit can be struck; and a fifth step of driving the movable part to perform the invasion.

[0019] According to yet another aspect of the present invention, a control method includes: adjusting the slope of the injection needle by a slope adjusting portion of the injection needle; a first step in which the injection needle unit is inserted into the injection hole, and a second step in which the injection needle unit is moved from the first position to the second position by the transfer unit. The injection needle unit movable part is moved from the second position to the injection needle unit. A third stage of supporting the target, and a fourth stage of moving the holding part in contact with the target's body. and driving the injection needle unit movable part in an orientation capable of performing a body invasion. and a sixth step of driving the injection needle unit movable part to perform the invasion. This can be done.

[0020] The retainer can move in a straight line. The holding portion is configured to move within a certain distance range relative to the body of the target. It can be done.

[0021] The needle slope adjustment device of the needle unit according to the present invention is A holding part for supporting at least one of the sides of the needle and the beveled surface of the injection needle by rotating the holding part. and a drive unit for adjusting the direction of the

[0022] According to yet another aspect of the present invention, a needle slope adjustment device of a needle unit is a holder for supporting at least one of the inside and outside of the injection needle unit; and rotating the roller to change the direction of the inclination of the needle. and a drive unit for adjusting the

[0023] The roller may include teeth that abut or mesh with the outer circumferential surface of the needle unit. do.

[0024] The drive unit of the bevel adjustment unit of the automated invasive device according to the present invention comprises a rotary drive module and a linear drive module. The second module may be at least one of the first and second movement modules. Effect of the Invention

[0025] According to the present invention, the inclination of the injection needle can be adjusted to a desired direction, making the body invasion smoother. It is therefore possible to provide an automatic body invasive device that can be easily performed. In addition, according to the present invention, by straightening the blood vessel, the body is made more favorable for detecting the blood vessel position and for blood sampling. The advantage is that an automated invasive device can be provided. [Brief description of the drawings]

[0026] [Figure 1] 1 is a block diagram of an automated body invasive device according to the present invention; [Diagram 2] FIG. 2 is a front view of a bevel adjustment portion of an automated body invasive device according to the present invention. [Diagram 3] FIG. 2 is a side view of a bevel adjustment portion of an automated body invasive device according to the present invention. [Figure 4] 1 is a side view of a delivery section of an automated body invasive device according to the present invention; [Diagram 5] 1 is a plan view of a transport section of an automated body invasive device according to the present invention; [Figure 6] FIG. 13 is a plan view of a slope adjustment portion according to another embodiment of the present invention. [Figure 7] 1 is a front view of a movable part of an injection needle unit of an automated body invasive device according to the present invention; [Figure 8] 1 is a side view of a movable part of an injection needle unit of an automated body invasive device according to the present invention; [Figure 9] 1 is a side view of a probe unit of an automated body invasive device according to the present invention; [Figure 10] 1 is a flow diagram of an automated body invasion method according to the present invention. [Figure 11] 11 is a flow diagram of a method for detecting a target body part according to the steps shown in FIG. 10. [Figure 12] 11A and 11B are diagrams for explaining a method for detecting a target blood vessel. [Figure 13] 11A and 11B are diagrams for explaining a method for detecting a target blood vessel. [Figure 14]11A and 11B are diagrams for explaining a method for detecting a target blood vessel. [Figure 15] 11A and 11B are diagrams for explaining a method for detecting a target blood vessel. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] The present invention will now be described in detail with reference to the accompanying drawings.

[0028] In this specification, only the minimum components necessary for the description of the present invention are described. It does not mention extraneous elements, and it is an exclusive statement that includes only the elements mentioned. should not be construed in any other way as a non-exclusive statement that may include other elements not mentioned. It should be interpreted in a different sense.

[0029] The exemplary embodiments described herein are illustrative of the structure, function, manufacture, and function of the devices disclosed herein. The present invention provides a general understanding of the principles of the operation and use of one or more of these methods. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a method for manufacturing a semiconductor device according to an embodiment of the present invention; The apparatus and methods described are non-limiting and exemplary embodiments, and the scope of the invention is not limited to the above. It should be understood that the scope of the invention is defined by the claims. Features illustrated or described in connection with one embodiment may also be combined with features of other embodiments. Such modification or variation may be are intended to fall within the scope of the present invention.

[0030] In describing the present invention, the order of steps is such that the preceding step is always logically and chronologically preceded by the succeeding step. Unless the steps are to be performed prior to the next step, the order of steps is not to be construed as limiting. In other words, except in the exceptional cases mentioned above, the process described as a later stage must be The essence of the invention is not affected even if a step is performed prior to the steps described as preceding steps. The scope of the right must be defined regardless of the order of steps. "A or B" in the above does not only refer to either A or B, but also to both A and B. In addition, the term "include" as used herein is intended to mean that the present invention is not limited to the above. The terms may also include other elements in addition to the elements listed as including. It has the meaning.

[0031] The control method of the present invention is applicable to computers, tablet PCs, mobile phones, portable computing devices, etc. The present invention may be implemented by an electronic computing device, such as a fixed computing device, a memory, or the like. or more methods or forms are executed by at least one processor. It is important to understand that the processor can be used in computers, tablet PCs, The computer program instructions may be installed in a mobile device, a handheld computing device, etc. These devices are equipped with memories that store the commands. A program is specially programmed to cause the processor to execute stored program instructions. The method includes the steps of: Furthermore, the information and methods described herein may be used in conjunction with one or more further Computers, tablet PCs, mobile devices, mobile It should be understood that the present invention can be implemented by a computer-implemented computing device or the like. The control logic is a program that can be executed by a processor, a control unit, etc. The present invention may be embodied in a non-volatile computer readable medium that contains program instructions. Examples of such programs include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and flash. These include, but are not limited to, flash drives, smart cards, and optical data storage devices. In addition, the computer-readable recording medium may be connected to a network. A system in which the computer-readable medium is distributed among computers, for example, a remote server distributed by server or CAN (Controller Area Network) The program may also be stored and executed in a programmatic manner.

[0032] FIG. 1 shows a block diagram of an automated body invasive device according to the present invention. As shown in the figure, the automatic body invasive device according to the present invention includes a control unit 100, a slope adjustment unit 22, and It includes a transport section 20, an injection needle unit movable section 30, and a probe unit 40.

[0033] The control unit 100 controls the slope adjustment unit 22, the transport unit 20, the injection needle unit movable unit 30, and the pro The control unit 100 controls the operation of the service unit 40. It is possible to logically combine general-purpose hardware with software that performs the functions of that hardware. The control command generated by the control unit 100 for the operation of the automatic body invasive device according to the present invention is is generated by a computer program stored in the computer-readable recording medium It can be done.

[0034] FIG. 2 is a front view of the slope adjustment unit 22, and FIG. 3 is a side view of the slope adjustment unit 22. As shown.

[0035] The slope adjustment unit 22 includes a first driving device 16, a first direction changing unit 18, a first rotating shaft 17, and A main body 19, a second pneumatic device 145, a support arm 14, a support base 15, and a detection unit 222 (e.g., a vision sensor). The support arm 14 includes, as shown in FIG. The second pneumatic actuator may be provided with at least one pair of arms arranged parallel to each other. The actuators 145 can be driven toward or away from each other. The support arms 14 move away from each other from the inside of the needle unit 200. The injection needle unit 200 is supported while being biased in the radial outward direction against the inner wall of the injection needle unit 200. The direction of the bevel at the end of the injection needle of the injection needle unit 200 is determined by the detection unit 22. It can be detected by 2.

[0036] The detected direction of the inclined surface of the injection needle unit 200 provided on the support base 15 is If the direction is not the desired direction, the first drive device 16 is driven by a control command from the control unit 100. By driving the main body 19 to rotate about the first rotation shaft 17, the support arm 14 The direction of the bevel of the injection needle of the injection needle unit 200 supported by the injection needle unit 200 is adjusted to a desired direction. The driving force of the first driving device 16 is directed to rotate the main body 19 by the first direction changing portion 18. The direction of transmission of the driving force of the first driving device 16 can be switched by a known method. The first direction changing unit 18 may be embodied by adopting various mechanical structures. The direction changing section described later in this specification may also include a reduction gear as necessary. The first drive 16 may be a rotary drive, such as a conventional motor, or Alternatively, the actuator may be a linear drive, for example a linear motor. In this case, the first direction changing unit 18 changes the linear motion direction to a rotation direction that rotates the support arm 14. Switch.

[0037] The direction change parts used in not only the slope adjustment part 22 but also other components described later are essential. These are not essential components and may not be used depending on the drive design.

[0038] 4 and 5 show side and top views of the transport section 20 of the automated body invasive device of the present invention. 4 and 5 show a conveying section 20 according to another embodiment of the present invention. According to another embodiment of the present invention, a slope adjustment portion may be provided. A plan view of the above is shown in FIG.

[0039] The transfer unit 20 includes a second driving device 23, a movable arm 24, a second rotating shaft 25, and a first main body. The movable arm 24 includes a first direction changing portion 26 and a second direction changing portion 27. The inclination adjustment portion may be provided on the injection needle unit 200. At least one roller 214 that contacts the needle unit is rotated by rotating the roller 214. A seventh driving device 223 configured to rotate the base 200 and a detection unit 222 (FIGS. 4 to 5) are provided. The injection needle unit 200 may include a first holding portion 211. The first holding portion 211 is supported on the outside by the The arm may include at least one pair of arms parallel to each other, the arms being, for example, a third pneumatic device. The holding portion 211 can be driven toward or away from each other by the holding portion 215. When the needles approach each other and come into contact with the outside of the injection needle unit, the needles move inwardly toward the injection needle unit 200. The holding portion 211 can support the injection needle unit by biasing it in the same manner as the support arm 14. It may be supported on the inside of the knit 200 .

[0040] The roller 214 has teeth on its outer circumferential surface. The injection needle unit 200 has a toothed portion on its outer circumferential surface that is complementary to the toothed portion. When the rollers 214 are pressed together, they can come into contact with each other so as to mesh with each other. The support may be made of acrylic or synthetic resin or metal.

[0041] The slope adjustment portion shown in FIG. 6 is a part for adjusting the slope of the injection needle unit 200 by the rotation of the roller 214. A movement limiting portion 212 that prevents the injection needle unit 200 from moving in any direction other than the basic rotation direction. , 213. The movement limiting portions 212, 213 may be There can be multiple 0's around the outside.

[0042] The movable arm 24 is moved between the first position and the second position by the drive of the second drive device 23. In the present specification, the term "first position" refers to a position where the injection needle unit 200 is in the transport section. The "second position" refers to a position provided in the transport unit 20, and the "second position" refers to a position in which the injection needle unit is movable from the transport unit 20. The inclination adjustment unit 22 is a first position. The first position may be adjacent to the first position and the second position may be adjacent to the second position. Alternatively, it may be provided in a third position other than the first position or the second position. In this case, the movable arm 24 moves the injection needle unit 200 from the first position to the third position. Then, the direction of the inclined surface is adjusted at the third position, and the injection needle unit 200 is moved from the third position to the second position. In such an embodiment, the needle unit can be moved from the first position to the third position. a movable arm for transferring the injection needle unit 200 from the third position to the second position; It may also be configured separately from the movable arm that feeds it.

[0043] The position of the slope adjustment portion 22 is not related to the essential technical idea of ​​the present invention. When the slope adjustment portion is provided at the second position, The moving arm 24 may not be needed.

[0044] FIG. 7 is a front view of the injection needle unit movable part 30 of the automatic body invasive device according to the present invention. 8 shows a side view, respectively.

[0045] The injection needle unit movable part 30 includes a second main body part 31, a first pneumatic device 32, and a third drive device. 33, a fourth driving device 34, a connecting member 35, a third rotating shaft 36, and a third direction changing portion 37. Including,

[0046] The injection needle unit 200 is supported on the connecting member 35 and driven by the first pneumatic device 32. The support member 321 may be supported by at least a pair of second support portions 321.

[0047] When the movable arm 24 moves from the first position to the second position, the operation of the first pneumatic device 32 is stopped at the second position. After the second holding portion 321 supports the injection needle unit 200 by the movement, the third air pressure device 215 By this operation, the holding state between the holding part 211 and the injection needle unit 200 is released. The injection needle unit 200 can be delivered. After this, the movable arm 24 can return to the first position.

[0048] The connecting member 35 may be provided with a slope adjustment portion having a configuration as shown in FIGS. As shown in FIG. 7, the injection needle unit 200 is provided to the injection needle unit movable part 30. In an embodiment in which the needle unit movable part 30 is provided with a slope adjustment part, may not be necessary.

[0049] The injection needle unit 200 is transferred to the injection needle unit movable part 30 and is held by the second holding part 321. In the state where the body is supported by the third drive unit 33 and the fourth drive unit 34, the body can be invasively operated. The injection needle unit 200 is aligned in a proper orientation to contact the target body. Invades the body.

[0050] First, the third driving device 33 is driven to move the second body portion 31 to a predetermined invasive orientation angle. The driving force of the third driving device 33 is in the third direction. The force is converted to a rotational force about the third rotating shaft 36 by the direction changing portion 37. With the body portion 31 rotated, the fourth driving device 34 drives the connecting member 35 to the second body portion 31. The ball is moved along the longitudinal direction of the second main body portion 31 to perform the invasion. A screw is provided so that the connecting member 35 can move.

[0051] Although not shown in FIGS. 7 and 8, the second main body portion 31 is It may be arranged to move in at least one direction, such as to the right or to the other.

[0052] FIG. 9 shows a side view of a probe unit 40 according to the present invention.

[0053] The probe unit 40 according to the present invention includes a probe 41, a probe support portion 42, and a fifth A driving device 43, a sixth driving device 44, a rail portion 45, a movable portion 46, and a fourth direction changing portion 47, a pressing part 48 adapted to press against the body of the target, and a pressing part holder The probe 41 may be, for example, an ultrasonic probe. The pressing portion 48 can be rotatably supported by a pressing portion holder 485, and the roller The pressing portion 48 and the probe support portion 42 are formed of an elastic member 49 ( For example, the pressing portion 48 is connected to the body by a spring so that the pressing portion 48 presses against the body with a predetermined force. It can be.

[0054] By the operation of the fifth driving device 43, the probe support portion 42 rotates about the fourth rotation shaft 475. The driving force of the fifth driving device 43 is directed to the fourth direction changing portion 47. The rotation force can be switched to a rotation force that rotates the support portion 42 about the fourth rotation shaft 475. do.

[0055] The movable portion 46 is moved along the longitudinal direction of the rail portion 45 by the operation of the sixth driving device 44. The rail portion 45 can be provided with a ball screw.

[0056] The probe unit 40 can move in the longitudinal direction of the body 400. An example of a method for detecting the location of a target's body (e.g., a superficial vein) is described below. If the blood vessel is located, it is easier to detect the location by straightening it. The knit 40 is placed on the body support 300 along the longitudinal direction of the body 400 (for example, the upper arm). While moving the body, the pressing part 48 presses the body to straighten it. The range that the lens 48 pushes for straightening is a significant distance for body detection of the target. and can be set within a predetermined range.

[0057] Next, the operation and control method of the present invention will be described with reference to FIGS. 10 and 11, as well as FIGS. 1 to 9. and explain.

[0058] In step 1100, a needle unit 200 is provided. The needle unit 200 includes , can be supplied to the slope adjustment portion 22. In the embodiment shown in FIG. In this case, the injection needle unit 200 can be supported by the support base 15. In the embodiment of the bevel adjustment portion shown in FIG. 6, the injection needle unit 200 is attached to the holder 211. The needle unit 200 is supported by the rollers 214 and is placed between the rollers 214. As described above, the slope adjustment portion can be in at least one of the first position and the second position. A third position other than the first position or the second position may be provided adjacent to one of the first and second positions. It may be provided at or adjacent to the

[0059] When the injection needle unit 200 is supplied, the detection unit 222 detects the direction of the bevel of the injection needle and the end of the injection needle. The position is recognized (step 1110). If the recognized direction of the bevel of the injection needle is different from the set direction, Then, the first driving device 16 or the seventh driving device 223 receives the command from the control unit 100 and starts operating. Then, the needle unit 200 is rotated to adjust the direction of the bevel of the needle (step 1). 120). When the first driving device 16 is actuated, the main body 19 rotates about the first rotating shaft 17. As a result, the injection needle unit 200 supported by the support arm 14 rotates.

[0060] In the slope adjustment unit of the other embodiment shown in FIGS. 4 to 6, the seventh driving device 223 When the needle unit 200 is activated, the roller 214 rotates, which rotates the needle unit 200 and tilts it. The orientation of the face is adjusted.

[0061] When the direction of the inclined surface of the injection needle adjusted by the detection unit 222 reaches a set value, The operation of the first driving device 16 or the seventh driving device 223 is stopped to adjust the bevel of the needle. The position information is synchronized with the value recorded in the control unit 100 (step 1130).

[0062] Next, the location of the target's body is selected (step 1140). The selection process for the vein case is shown in FIG.

[0063] First, the probe 41 is moved close to the blood vessel (step 1141). While pressing the blood vessel in step 8, the probe unit 40 is moved to straighten the blood vessel (step 114 2) The holding portion 48 is movable only within a predetermined range of the target's body. Straightening the blood vessel with the pressing portion 48 makes it easier to perform ultrasound scanning and blood sampling. The pressure should be within the range of 0 to 19.6 N and should be an optimized constant pressure. It is possible.

[0064] Once the blood vessel straightening is complete, the probe 41 is brought into contact with the target body and an ultrasound image is taken. The target blood vessel is detected by image processing of the acquired ultrasound image (step 1143). Positioning is performed (step 1144).

[0065] Specific Location Example Implementations When the Target Body Location is a Superficial Vein This embodiment will be described later with reference to FIGS.

[0066] In step 1150, the injection needle unit 200 is moved to the second position. When the needle is disposed adjacent to the first position, the direction of the bevel is adjusted. In a state where the unit 200 is supported by the movable arm 24, the second drive The actuator 23 is actuated to rotate the movable arm 24 about the second rotation axis, thereby setting the movable arm 24 at the first position. The movement from the first position to the second position is not necessarily movable. It does not have to be through the rotation of the arm 24, but may be of known construction or may be of known construction. Any structure that involves a mechanical change in position that is obvious to a person skilled in the art from the structure of the device. may also be applied.

[0067] When the ramp adjustment portion 22 is disposed in or adjacent to the second position, a step In this embodiment, the injection needle unit movable part 30 is provided with the injection needle. With the unit 200 supported, the slope adjustment shown in FIGS. 2 and 3 or FIGS. 4 to 6 The part can be adjusted to adjust the direction of the slope.

[0068] When the inclined surface adjustment unit 22 is provided at the third position, the movable arm 24 moves from the first position to the third position. It can be moved to 3 positions, the direction of the slope can be adjusted in the 3rd position, and then moved to the 2nd position. .

[0069] In the second position, the injection needle unit 200 is supported by the injection needle unit movable part 30. The driving device 33 operates according to the command of the control unit 100 to rotate the second body portion 31 at a predetermined angle. That is, the fourth driving device 34 receives a command from the control unit 100 and rotates the body at an angle for invasive operation. The connecting member 35 is moved along the longitudinal direction of the second main body portion 31 to invade the body. If the rat's body has superficial veins, blood sampling can be performed after the invasion. Although not shown in FIG. 8, the second main body portion 31 is slightly larger in the left-right direction in FIG. 7 and the left-right direction in FIG. It may be provided to move at least in one direction or the other.

[0070] Hereinafter, the image obtained by the ultrasonic probe 41 is processed to detect the invasive body part ( An example of a method for detecting the location of a vein (superficial vein) will be described below. The detection method is described in the applicant's Korean Patent Application No. 10-2020-0010302. The contents are intended only as illustrative examples to aid in the understanding of the present invention. and does not limit the scope of the present invention.

[0071] FIG. 12 shows a flow chart of a method for locating a superficial vein according to the present invention.

[0072] To locate the superficial vein, the subject first places his or her upper arm in the upper arm compression unit 120. Compression is performed (step 1200). The upper arm compression unit 120 provides a compression means of 1 to 5 cm. The compression means compresses the upper arm 3 to 12 cm above the elbow, preferably 6 to 8 cm above the elbow. The pressure may be between 10 and 60 mmHg, preferably between 20 and 30 mmHg. The process described below may be performed without the compression unit 120 compressing the upper arm.

[0073] FIG. 12 shows that upper arm compression is performed before the movement of the ultrasound probe 41. After the ultrasonic probe 41 is moved, the ultrasonic probe 41 starts acquiring the first image data. In the case where the upper arm is compressed after the start of the acquisition of the first image data, Acquiring first image data before performing upper arm compression and first image data after performing upper arm compression can be done.

[0074] Returning to FIG. 12, after compressing the upper arm, the subject is placed at a predetermined distance from the body, for example, 1 mm. Then, the ultrasonic probe 41 is moved to the desired position (step 1205).

[0075] The position of the subject's body where the ultrasound probe 41 is placed is the median cubital vein (median celiac vein). The cubital vein is located 0 to 8 cm, preferably 1 to 3 cm, from the elbow to the elbow. It can be cm.

[0076] In step 1210, the ultrasound probe 41 is moved toward the subject's body while The first image data is acquired when the ultrasonic probe 41 contacts the body of the subject. The image data is before the upper arm is compressed and after the upper arm is compressed. and image data.

[0077] The second image data is collected while the ultrasonic probe 41 contacts and presses the subject's body. According to another embodiment of the present invention, the subject's body is examined by means other than the ultrasound probe 41. may be compressed.

[0078] The first and second image data were analyzed using the Doppler effect of blood flow sound signals. According to another embodiment of the present invention, the first image data and the second image data may include Only one of the data may be used.

[0079] The acquired first and second image data are processed by the image data processing module 30 as The program that runs the method converts the file into a usable format and size ( According to another embodiment of the present invention, the image data is not converted and is then stored in the memory. It is possible to carry out the video data analysis described below.

[0080] The machine learning server 140 uses, for example, a convolutional neural network to process the transformed image. Analyze the image data and display the pixels of the desired target and the avoided target in the image data. (Step 1225).

[0081] In this specification, the desired target refers to a blood vessel such as a superficial vein or artery, and the avoided target refers to a blood vessel such as a superficial vein or artery. means arteries, nerves, bone tissue, etc., and determines the desired targets and avoided targets according to the application. For example, in some applications, avoidance triggers can be triggered when superficial veins are located. - Targeting arteries, nerves, bone tissue, etc. as the intended target. It is also possible.

[0082] The method of displaying the target and the avoidance target may be displayed in pixel units, or Even if you display it as a bounding box based on the median, boundary and distance Or you can add information about the shape (median, circle / ellipse, rectangle, etc.) and the radius / two It is also possible to store information that can identify the shape of the object, such as distance information from the point of interest or the length of one side. stomach.

[0083] Regarding convolutional neural network learning, which is an example of machine learning used in the present invention, I will explain it below.

[0084] In order to train a convolutional neural network, it is necessary to train it using training data in advance. The video data used for training the convolutional neural network is Data including random crop, resize, horizontal flip, etc. of 1st and 2nd image data The data may be pre-processed to increase its generality using data augmentation techniques.

[0085] The machine learning server learns the target and the target object through convolutional neural network learning. Information matching the characteristics of the avoidance target is acquired and stored.

[0086] Such characteristic information includes the echogenicity ( echogenicity intensity, echogenic component distribution pattern information, image Relative location information of the distribution of components identified in the data, height, weight, sex, age of the subject, Information about any illnesses you have, past or current treatments you have had, an ultrasound probe, or Information on compression by other means, real blood flow analyzed using Doppler images The information may include at least one of the time flow information.

[0087] When compressed, pressing on the skin surface with an ultrasound probe or other means, unlike arteries, Veins may be directly compressed, reducing their size, or compressed proximally, inducing congestion. The size of the object expands and shrinks. The information about the object being compressed contains information about it. obtain.

[0088] Real-time information on blood flow shows that arteries, one of the targets for avoidance, are different from veins. The Doppler signal is strong because of the fast blood flow, and the pulse periodically grows and shrinks. This makes it useful for target detection.

[0089] In the convolutional neural network learning, the feature information is used to identify the The system trains the imager to display pixels corresponding to the locations of the desired and avoidance targets. It is possible.

[0090] The learning (training) may be, for example, supervised learning. ), unsupervised learning, semi-supervised learning This can be achieved through semi-supervised learning.

[0091] In the case of supervised learning, training can be done by comparing with images with the correct answer, but the correct answer and The target and the avoidance target found by the convolutional neural network are different. In this case, the loss function can be trained to reduce the loss. BCEloss: Binary Cross Entropy loss, cross entropy, etc. Optimizers include adam, RMSprop, and stochastic gradient descent. The evaluation can also be done using the dice coefficient loss ( This can be done by using the oss.

[0092] Machine learning such as convolutional neural network learning is used to identify target and avoidance strategies. Once the target is determined, the process proceeds to step 230 to determine the final destination target. Step 230 and step 235 may be performed by the central processing module 10. However, it is not necessarily limited thereto. For example, the preprocessed first and second images The data is transmitted to a remote third computing server or the like via a communication network 130 to execute each step according to the present invention. You can also run a backup.

[0093] FIG. 13 shows a flowchart of a specific process of step 1230.

[0094] In step 1300, it is determined whether the target found in step 1225 exists. If the desired target exists, proceed to step 1305 and determine the desired target that was found. Determine whether there is one target or two or more targets. First, if there is one target, One case will now be described.

[0095] If there is one target, the boundary of the target overlaps with the boundary of the image data. If they do not overlap, step 1310 is performed. If they overlap, proceed to step 1355 and check if the boundary surface coordinates are inside the image data, e.g. The ultrasonic probe 41 is moved so that it is positioned at the center, and the process returns to step 1210. The procedure can be performed without moving the ultrasonic probe 41. can.

[0096] In step 1310, one piece of information based on the size of the target is the maximum inscribed circle diameter. The maximum inscribed circle is the circle that contains only the pixels of the target. The largest inscribed circle is the largest size of the target. In addition to the circle diameter, the maximum and minimum length of the horizontal and vertical lines that can be drawn within the target object, The maximum and minimum distances from the target's centroid to the boundary of the desired target, Other information such as the area of ​​the building may be included.

[0097] Then, a depth is calculated (step 1315), which is information based on the depth of the target. It is judged whether the target satisfies the first and second criteria (step (Step 1320). “Depth-based information” includes not just depth, but also information related to depth. It also contains a variety of other information.

[0098] If the target of interest is a superficial vein, the first criterion is that the maximum inscribed circle diameter is equal to or greater than a predetermined value (the The first value is determined within the operating error range of the device. For example, if the maximum inscribed circle diameter is less than 2 mm, the target may be avoided. The target can be classified as a target (step 1375). If it is greater than or equal to, it is determined that the first criterion is met.

[0099] If the size-based information is the length of the horizontal and vertical lines that can be drawn within the target, It is possible to determine whether the maximum and minimum lengths of the horizontal and vertical lines are equal to or greater than predetermined values. This can be the first criterion. For example, if the minimum length of the horizontal and vertical lines is less than 2 mm, the target If there is more than one desired target, the target can be classified as an avoidance target. The target with the larger sum, product, average, etc. of each horizontal line and each vertical line is the final target. Alternatively, the selected node may be selected as a candidate for the group (step 1370).

[0100] Size-based information is the maximum and minimum distances from the target's center of gravity to its boundary. In one embodiment, a criterion for determining whether the maximum and minimum distances are equal to or greater than a predetermined value is can be the first criterion. For example, If the minimum distance to the desired target is less than 2 mm, the desired target is classified as an avoidance target. If there are multiple target targets, each target boundary line from the center of gravity can be The target with the larger sum, product, average, etc. of the distance is selected as the final target candidate. A selection can be made (step 1370).

[0101] In an embodiment in which the size-based information is area information, whether the area is equal to or larger than a predetermined value is determined. The criterion for judgment may be a first criterion. For example, if the area of ​​the target is 10 mm 2 Not yet If the target is not classified as an avoidance target, the target is classified as an avoidance target. If there are multiple targets, the target with the largest area is selected as the final target candidate. (step 1370)

[0102] The second criterion is that the depth of the target is less than a predetermined value (second value), for example 1 cm. If the depth of the target is greater than the second value, The target is determined as an avoidance target (step 1375). This is because the target is a superficial vein. Deep veins are more difficult to stop bleeding from than superficial veins, so they are targets to be avoided and excluded. The artery is also to be excluded. And if it is deeper than the second value, the needle will not enter. There is a possibility of deep injury when the device is inserted, and important anatomical structures or nerves may be present in the path of the device. If the depth of the target is less than or equal to the second value, the second criterion is applied. If so, it is determined that the second criterion is passed.

[0103] If the first and second criteria are met, then the direct contact between the target and the skin surface is Determine whether there is an avoidance target on the line path (step 1325; third criterion ) If there is an avoidance target in the straight line path, the avoidance target is the nerve on the side of the arm. could be.

[0104] If the determination result in step 1325 is "NO", the target is treated as the final target. The process determines the number of the target objects as the target object (step 1330).

[0105] If all criteria from the first to third criteria are met, it is considered the final target. However, at least one of the first to third criteria must be satisfied. If so, it may be determined as the final target.

[0106] A case where a plurality of target targets are found in step 1225 will now be described.

[0107] If multiple desired targets are found, proceed to step 1360 and select the desired target's Calculate the maximum inscribed circle size for each. Next, compare the sizes of the maximum inscribed circles (step 1365), and select candidates for the final target based on the third criterion (step 1 370).

[0108] The third criterion is as follows: The target with the largest inscribed circle is selected as the final target. In principle, the target is selected as a candidate for the target. The difference between the size of the inscribed circle of the target having the next largest inscribed circle and the size of the inscribed circle of the target having the second largest inscribed circle is a predetermined value ( 3) within 10%, for example, the ultrasonic probe is close to the contact surface, e.g. The target closest to the center of the contact surface of the ultrasonic probe is selected as the final target candidate. It can be determined as:

[0109] Even if the first information is based on size other than the maximum inscribed circle size, the comparison value If the difference is within a predetermined value, the ultrasonic probe is located near the contact surface of the ultrasonic probe, e.g. The target closest to the center of the contact surface is determined as the final target candidate. It is possible.

[0110] Once the final target candidates are determined in step 1370, the process proceeds to step 1315. Then, the above-mentioned subsequent steps are carried out to determine the final target or to determine the avoidance target. and make a decision.

[0111] If it is determined in step 1300 that the desired target does not exist, It is determined whether the search has been performed a predetermined number of times or more. If so, proceed to step 1380 and search for the desired target on the opposite arm. If the number of times is less than 1, the process proceeds to step 1210, and the ultrasonic probe 41 is moved to take the first image. At this time, the ultrasonic probe 41 is moved to a position where it does not overlap with the previous image. The first image data is acquired by performing the above process.

[0112] Once the final destination target is determined through the above process, the final destination target is The injection needle unit 200 moves to the central coordinates and performs the invasion. Step 240).

[0113] The center coordinate is any point X within the maximum inscribed circle that contains only the pixels of the final target. i and is determined as the coordinate of point X where the distance is maximum.

[0114] After the calculation of the center coordinates is completed, the surface of the blood vessel is detected within a straight line path between the center coordinates and the skin surface. If the surface passes through a predetermined number of times, e.g., more than twice, the final target is rejected. It is possible.

[0115] On the other hand, for all pixels in the final target, a given diameter, e.g., 1 mm diameter, A circle having a predetermined ratio of pixels within the circle, for example 30 to 95%, is drawn. If more than 50-70% of the pixels are classified as final targets, If the pixel is not a final target, then the pixel is deleted.

[0116] As shown in FIG. 15, all pixels are within a circle 1520 drawn with a pixel 1510 as a reference. Since there are cells (above a certain ratio), the pixel 1510 is the pixel of the final target. The circle 1511 drawn with respect to pixel 1530 can be classified as a pixel. There are no more than a certain percentage of pixels that are not the final target pixel in , the pixel 1530 can be removed from the final destination target.

[0117] This process smooths the boundary of the final target and removes any misclassified pixels. However, this is not a necessary step for the implementation of the present invention. It is an incidental process.

[0118] The present invention has been described above with reference to the accompanying drawings, but the scope of the present invention is limited to the following specific examples. The scope of the present invention is determined by the claims and should not be construed as being limited to the above-described embodiments and / or drawings. Moreover, the invention as claimed in the present application should not be interpreted as being in any way obvi- ous to a person skilled in the art. It should be expressly understood that all such improvements, modifications and alterations are within the scope of the present invention. .

Claims

1. An automated body invasive device, comprising: a slope adjustment unit for adjusting the direction of the slope of the injection needle of the injection needle unit; The injection needle unit is supported with the inclination direction adjusted by the inclination adjustment portion, and the injection needle is The unit is placed in an orientation that allows for body invasion, and the injection is performed. A needle unit movable part, body automatic invasion device

2. a transfer unit that transfers the injection needle unit from the first position to the second position; The automated body invasive device of claim 1 .

3. The slope adjustment portion is a support arm for supporting the injection needle unit; A drive unit that rotates the support arm; A detection unit that detects the direction of the bevel of the injection needle. The automated body invasive device of claim 1 .

4. The slope adjustment portion is At least one roller that contacts the injection needle unit; a seventh drive device that rotates the roller to rotate the injection needle unit; A detection unit that detects the direction of the bevel of the injection needle. The automated body invasive device of claim 1 .

5. The transport unit includes a movable arm that supports the injection needle unit, The movable arm moves between a first position and a second position.

5. An automated body invasive device according to any one of claims 2 to 4.

6. The slope adjustment portion is adjacent to at least one of the first position and the second position. To be placed, 5. An automated body invasive device according to any one of claims 2 to 4.

7. The slope adjustment portion is A movement control that limits the movement of the injection needle unit in a direction other than the rotation direction of the injection needle unit. Further comprising a limiting portion, The automated body invasive device of claim 4.

8. further comprising a probe unit for detecting a body position of the target; The probe unit includes a probe, a probe support, and a probe for pressing against the body of a target. and a pressing portion adapted to press the pressing portion against the pressing portion.

5. An automated body invasive device according to any one of claims 1 to 4.

9. The probe unit includes an elastic member that connects the pressing portion and the probe support portion. Further including: The automated body invasive device of claim 8.

10. The roller includes teeth that abut or mesh with an outer peripheral surface of the injection needle unit.

8. An automated body invasive device according to claim 4 or 7.

11. 10. A method of controlling an automated body invasive device according to claim 1, comprising: a first stage in which the injection needle unit movable part supports the injection needle unit; a second stage in which the needle bevel adjustment portion adjusts the bevel of the needle; The injection needle unit drives the injection needle unit movable part in an orientation capable of performing a body invasion. The third stage is and a fourth step of driving the injection needle unit movable part to perform the invasion. A method for controlling an automated body invasive device.

12. 3. A method for controlling an automated body invasive device according to claim 2, comprising: a first stage in which the needle bevel adjustment unit adjusts the bevel of the needle; a second step in which the transfer unit moves the injection needle unit from the first position to the second position; The injection needle unit movable part is moved from the second position to the injection needle unit. The third stage is to support The injection needle unit drives the injection needle unit movable part in an orientation capable of performing a body invasion. The fourth stage is and a fifth step of driving the injection needle unit movable part to perform the invasion. A method for controlling an automated body invasive device.

13. 9. A method of controlling an automated body invasive device according to claim 8, comprising: a first stage in which the injection needle unit movable part supports the injection needle unit; a second stage in which the needle bevel adjustment portion adjusts the bevel of the needle; A third step of moving the holding portion in contact with the body of the target; The injection needle unit drives the injection needle unit movable part in an orientation capable of performing a body invasion. The fourth stage is and a fifth step of driving the injection needle unit movable part to perform the invasion. A method for controlling an automated body invasive device.

14. 9. A method of controlling an automated body invasive device according to claim 8, comprising: a first stage in which the needle bevel adjustment unit adjusts the bevel of the needle; a second step in which the transport unit moves the injection needle unit from the first position to the second position; The injection needle unit movable part is moved from the second position to the injection needle unit. The third stage is to support A fourth step of moving the holding portion in contact with the body of the target; The injection needle unit drives the injection needle unit movable part in an orientation capable of performing a body invasion. The fifth stage is and a sixth step of driving the injection needle unit movable part to perform the invasion. A method for controlling an automated body invasive device.

15. Moving the pressing part in a straight line; A method for controlling an automatic body invasive device according to claim 13 or 14.

16. The holding portion moves within a certain distance range relative to the target's body. A method for controlling an automatic body invasive device according to claim 13 or 14.

17. A needle slope adjustment device for a needle unit, comprising: a holding part that supports at least one of an inner side and an outer side of the injection needle unit; A drive unit that rotates the holding unit to adjust the direction of the bevel of the injection needle. A needle slope adjustment device for a needle unit.

18. A needle slope adjustment device for a needle unit, comprising: a holding part that supports at least one of an inner side and an outer side of the injection needle unit; At least one roller that contacts the injection needle unit; A driving unit that rotates the roller to adjust the direction of the inclined surface of the injection needle. A needle slope adjustment device for a needle unit.

19. The roller includes teeth that abut or mesh with the outer peripheral surface of the needle unit. The needle bevel adjustment device of the needle unit according to claim 18.

20. The drive unit includes at least one of a rotary drive module and a linear drive module. One of them is The automated body invasive device of claim 3.

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