Automatic body invasive device and its control method

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 automated 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 superficial vein of a person 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 in this field searches for superficial veins and inserts the needle. It takes time, requires continuous costs for hiring specialized personnel, and is difficult to achieve in one go. There is a problem that in many cases, the baby cannot be stabbed and has to be stabbed several times before it can be successfully stabbed. In the case of elderly people, patients undergoing anti-cancer treatment, or those with poor vascular health, or those with dark skin, If the blood vessels are not visible to the naked eye, even experienced specialists have great difficulty in finding them. There is a limit to how much

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

[0004] In order to solve the problems of the conventional technology, the applicant has For example, regarding a method for automatically detecting the location of superficial veins, a 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 by reference in their entirety. [Prior art documents] [Patent documents]

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

[0006] In the present invention, once the position of the body part to be invaded is determined, the invading device is moved to the position. In order to perform an invasion with a more preferable injection, for example, the arrangement of the bevel of the injection needle Automatic body invasive device capable of adjusting orientation and its control method The purpose is to provide the law. [Means for solving the problem]

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

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

[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 syringe may include a driving unit and a detecting 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 driving device that 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 that supports the injection needle unit, , may be configured 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. can be arranged. The slope adjustment portion adjusts 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 of 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 connecting the pressing portion and the probe support portion. It can be done.

[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: 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 that allows the injection needle unit to invade the body. a third step of driving the injection needle unit movable part to perform the invasion; and a fourth step of driving the injection needle unit movable part to perform the invasion. Cut.

[0017] The control method according to another aspect of the present invention is a method for adjusting the bevel of the injection needle by the injection needle bevel adjustment unit. 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 in which the injection needle unit is held in an orientation in which the injection needle unit can be inserted into the body. The fourth stage is to drive the moving part of the needle unit, and the fifth stage is to drive the moving part of the injection needle unit to perform the invasion. and

[0018] A control method according to still another aspect of the present invention includes: a first stage in which the syringe needle is held by the syringe holder; a second stage in which the syringe needle bevel adjustment unit adjusts the bevel of the syringe needle; The third stage involves bringing the needle unit into contact with the target's body and moving it. 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] A control method according to yet another aspect of the present invention is a method for adjusting the bevel of the injection needle by a bevel adjusting portion of the injection needle. a first stage in which the needle unit is moved by the transfer unit, and a second stage in which the transfer unit moves the needle unit from the first position to the second position. and 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 by contacting it with the target's body. and the injection needle unit drives the injection needle unit movable part in an orientation that allows the injection needle unit to invade the body. and a sixth step of driving the injection needle unit movable part to perform the invasion. This can be done.

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

[0021] The needle bevel 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 syringe needle, and a holding part for rotating the holding part to hold the syringe needle at the beveled side of the syringe needle; and a drive unit for adjusting the direction of the

[0022] According to a further aspect of the present invention, the needle bevel adjustment device of the needle unit a holding part that supports at least one of the inside and outside of the syringe; and the syringe needle unit. and at least one roller that contacts the needle, and the roller is rotated to change the direction of the bevel 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 automatic invasive device according to the present invention comprises a rotary drive module and a linear drive module. The module may be at least one of the operating modules. [Effects of the Invention]

[0025] According to the present invention, the bevel of the injection needle can be adjusted to a desired direction, thereby making the body invasion smoother. This has the effect of providing 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 suitable for detecting the blood vessel position and for blood sampling. The effect is to provide an automated invasive device. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a block diagram of an automated body invasive device according to the present invention; [Figure 2] 1 is a front view of a bevel adjustment portion of an automated body invasive device according to the present invention. FIG. [Figure 3] 1 is a side view of a bevel adjustment portion of an automated body invasive device according to the present invention. FIG. [Figure 4] 1 is a side view of a delivery section of an automated body invasive device according to the present invention; [Figure 5] 1 is a plan view of a transport section of an automated body invasive device according to the present invention; [Figure 6] FIG. 10 is a plan view of a slope adjustment unit 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. FIG. [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. FIG. [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 chart of a method for detecting a target body part among the steps shown in FIG. 10. [Figure 12] 10A and 10B are diagrams for explaining a method for detecting a target blood vessel. [Figure 13] 10A and 10B are diagrams for explaining a method for detecting a target blood vessel. [Figure 14]10A and 10B are diagrams for explaining a method for detecting a target blood vessel. [Figure 15] 10A and 10B are diagrams for explaining a method for detecting a target blood vessel. DETAILED DESCRIPTION OF THE INVENTION

[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 explaining the present invention are described. It does not mention extraneous components, and it is an exclusive statement that includes only the components mentioned. should not be construed in an exclusive sense and may include other elements not mentioned. It should be interpreted in a different sense.

[0029] The exemplary embodiments described herein are intended to be illustrative of the structure, function, manufacture, and performance of the devices disclosed herein. It provides a general understanding of the principles of the operation and application of one or more such practices. The embodiments are illustrated in the accompanying drawings. Those skilled in the art will understand the principles of the present invention as specifically described herein and illustrated in the accompanying drawings. The apparatus and method described are non-limiting and exemplary embodiments, and the scope of the invention is It should be understood that the scope of the invention is defined by the claims. Features illustrated and described in connection with one embodiment may also be combined with features of other embodiments. Such modification or variation may 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 the steps is not to be construed as limiting. In other words, except for the exceptional cases mentioned above, the process described as a later stage must be Even if a step is performed prior to the step described as a preceding step, the essence of the invention is not affected. The scope of rights must be defined regardless of the order of steps. "A or B" in the above does not only refer to either A or B selectively, but also refers to either A or B. In addition, the term "include" as used herein means that The term "includes" includes additional components other than those listed as including. It has the meaning of

[0031] The control method of the present invention is applicable to computers, tablet PCs, mobile phones, portable computing devices, etc. The present invention can be implemented by an electronic computing device such as a fixed computing device. or more methods or forms executed by at least one processor. It is important to understand that processors can be used in computers, tablet PCs, It can be installed in a mobile device, a handheld computing device, etc. These devices are equipped with memories that store instructions. A program is specially programmed to cause the processor to execute stored program instructions. and performing one or more processes as described herein. Furthermore, the information and methods described herein may be used in conjunction with one or more further Computers, tablet PCs, mobile devices, mobile phones, etc., including components and processors It should be understood that the present invention can be implemented by a general-purpose 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 containing program instructions. Examples of such devices include ROM, RAM, CD-ROM, magnetic tape, floppy disk, flash drive, etc. 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) It can also be stored and executed in a controlled 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 comprises a control unit 100, a slope adjustment unit 22, and The syringe includes a transport section, a syringe needle unit movable section, and a probe unit.

[0033] The control unit 100 controls the slope adjustment unit 22, the transport unit 20, the injection needle unit moving unit 30, and the pro The control unit 100 controls the operation of the service unit 40. The control unit 100 may be part of an electronic computing device. It refers to the logical combination of general-purpose hardware and software that performs its functions. 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. is shown.

[0035] The slope adjustment unit 22 includes a first driving device 16, a first direction changing unit 18, a first rotation shaft 17, and The main body 19, the second air pressure device 145, the support arm 14, the support base 15, and the detection unit 222 (e.g., a vision sensor). The support arm 14 includes a The second pneumatic pressure 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 injection 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 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 part 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 changer 18 may be realized by adopting various mechanical structures, and may include a reducer. The direction changer described later in this specification may also include a reducer as needed. The first drive device 16 may be a rotary drive device, such as a conventional motor, or Alternatively, it 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 the rotation direction that rotates the support arm 14. Switch.

[0037] The direction changers used in not only the slope adjustment unit 22 but also other components described later are essential. It is not an essential component 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, the transfer section 20 includes another embodiment of the present invention. A slope adjustment unit according to another embodiment of the present invention may be provided. A plan view of this 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 change portion 26 and a second direction change portion 27. The inclination adjustment portion can be provided in the injection needle unit 200. At least one roller 214 is in contact with the injection needle unit by rotating the roller 214. A seventh driving device 223 that rotates the drive unit 200 and a detection unit 222 (FIGS. 4-10) are also included. 6) and a second holding portion 211. The outer side is supported by the first holding portion 211, and the first holding portion 211 can be held in a predetermined position. 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 in a direction toward or away from each other by the holding portion 211. When the needles approach each other and come into contact with the outside of the injection needle unit, the needles move inwardly of the injection needle unit 200. The holding portion 211 can support the injection needle unit by biasing it in the same way 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, and the outer circumferential surface of the injection needle unit 200 The injection needle unit 200 has teeth on the outer circumferential surface thereof that are complementary to the teeth. When the rollers 214 are pressed together, they can come into contact with each other. The cover may be made of silicon or synthetic resin or metal.

[0041] The slope adjustment unit shown in FIG. 6 adjusts the angle of the injection needle unit 200 according to 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 rotational direction. , 213. The movement limiting portions 212, 213 may be There can be multiple 0s around the periphery.

[0042] The movable arm 24 is driven by the second driving device 23 to move between the first position and the second position. In this specification, the "first position" refers to the position where the injection needle unit 200 is in the transfer section. The "second position" means a position provided in the transport unit 20, and the "second position" means a position provided in the transport unit 20, in which the injection needle unit is movable. The inclination adjustment unit 22 is a position where the injection needle unit 200 is transferred to the inclination adjustment unit 30. The first position may be adjacent to or located at the first location, and the second position may be adjacent to or located at the second location. Alternatively, it may be provided at a third position other than the first or 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 transported 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 can also be configured separately from the movable arm that carries 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 unit is provided at the second position, The moving arm 24 may not be required.

[0044] FIG. 7 is a front view of the injection needle unit moving 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 air pressure 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. and,

[0046] The injection needle unit 200 is supported on the connecting member 35 and driven by the first air pressure device 32. The support member 321 can be supported by at least a pair of second support members 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 the configuration shown in FIGS. 4 to 6. 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 injection needle unit movable part 30 is provided with a slope adjustment part, It may not be necessary.

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

[0050] First, the third driving device 33 is driven to move the second body part 31 to a predetermined angle of orientation where the second body part 31 can be invasively moved. The driving force of the third driving device 33 is applied to the third rotation shaft 36. The force is converted into a rotational force about the third rotation axis 36 by the direction changer 37. With the body part 31 rotated, the fourth driving device 34 drives the connecting member 35 to the second body part 31 The ball spring is moved along the longitudinal direction of the second main body portion 31 to perform the invasion. A screw is provided to allow the connecting member 35 to move.

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

[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 holding portion 48 can be rotatably supported by a holding portion holder 485, and the roller The pressing portion 48 and the probe support portion 42 are made 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 the body with a predetermined force. It can be made into.

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

[0055] The movable portion 46 moves 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 locating the location of a target's body (e.g., a superficial vein) is described below. If the target is a blood vessel, it is easier to locate it after straightening it. The knit 40 is placed along the longitudinal direction of the body 400 (for example, the upper arm) placed on the body support part 300. While moving the body, the pressing part 48 presses the body to straighten it. The range that the lens 48 pushes for linearization is a significant distance for target body detection. It 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 , can be supplied to the slope adjustment section 22. In the embodiment shown in FIGS. 4-10, the injection needle unit 200 can be supplied so as to be supported by the support base 15. In the embodiment of the bevel adjustment portion shown in FIG. 6, the 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 set at least in either the first position or the second position. A third position other than the first or 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 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 operation. 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 another embodiment shown in FIGS. 4 to 6, the seventh driving device 223 When 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 the set value, 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 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 the blood vessel is being pressed 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 holding 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 through 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 The 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 positioned adjacent to the first position, the direction of the bevel is adjusted. With the unit 200 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 moving the movable arm 24 to the first position. The movement from the first position to the second position is not necessarily movable. It does not have to be done through the rotation of the arm 24, but may be done by any known or known structure. 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 slope adjustment portion 22 is positioned at or adjacent to the second position, the 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 All you have to do is adjust the direction of the slope.

[0068] When the slope 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 three positions, and after adjusting the slope direction at the third position, it can be moved to the second position. .

[0069] In the second position, the injection needle unit 200 is supported by the injection needle unit movable part 30. The third driving device 33 operates in accordance with 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 perform the body invasion. If the subject'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 axially spaced in the left-right direction in FIG. 7 and the left-right direction in FIG. It can be provided to move at least in one direction or the other.

[0070] Hereinafter, the image image acquired by the ultrasonic probe 41 is processed to detect the invasive body part ( An example of a method for detecting the location of a superficial vein (explained as an example) 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 the superficial vein localization method according to the present invention.

[0072] To locate the superficial vein, the subject first places the upper arm in the upper arm compression unit 120. Compression is performed (step 1200). The upper arm compression unit 120 applies 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 to acquire the first image data. If upper arm compression is performed after the start of 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, for example, 1 mm, from the body of the subject. The ultrasonic probe 41 is moved to the desired position (step 1205).

[0075] The position on the subject's body where the ultrasound probe 41 is placed is the median cubital vein (median c The cubital vein is located 0 to 8 cm from the cubital fossa toward the hand, preferably 1 to 3 cm. It can be cm.

[0076] In step 1210, the ultrasound probe 41 is moved toward the body of the subject. The first image data is acquired when the ultrasonic probe 41 comes into contact with the body of the subject. The video 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 scanned by means other than the ultrasound probe 41. may be pressed.

[0078] The first and second image data were analyzed using the Doppler effect of the blood flow sound wave signal. According to another embodiment of the present invention, the first video data and the second video data may be included. 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 format and size that can be used ( (Step 1220). According to another embodiment of the present invention, the video data is later converted without conversion. It is possible to perform 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 target and the target to be avoided 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. indicates arteries, nerves, bone tissue, etc., and determines the target and avoidance targets depending on 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 avoidance target can 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 (e.g. median, circle / oval, rectangle) and radius / two It is also possible to store information that can identify the shape, such as distance information or the length of one side, together with the information stomach.

[0083] Regarding convolutional neural network learning, which is an example of machine learning used in this invention, and explain.

[0084] 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 cropping, resizing, horizontal flipping, etc. of 1st and 2nd video data The data may be pre-processed to increase its generality through 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 target is acquired and stored.

[0086] Such characteristic information includes the echogenicity ( echogenicity intensity, echogenic component distribution pattern information, image Relative position information of the components identified in the data, the subject's height, weight, sex, age, Information about any illnesses you have, past or current treatments you have received, ultrasound probes, 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 can be directly compressed, reducing their size, or compressed proximally, inducing congestion. The size of the object expands and contracts. 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 increases and decreases. This is useful for target detection.

[0089] In convolutional neural network learning, the feature information is used to identify the features in the video data. The system is trained to display pixels corresponding to the positions of the desired and avoided targets. It is possible.

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

[0091] In the case of supervised learning, training can be done by comparing with correct images, but the correct answer and The target and avoidance targets 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 a method such as oss.

[0092] Machine learning such as convolutional neural network learning is used to identify target and avoidance targets. 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 pre-processed 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 the 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. Determine whether there is one target or two or more. First, if there is one target, A certain case will be described.

[0095] If there is one target, the boundary of the target overlaps with the boundary of the video data. If they do not overlap, the process returns to step 1310. If they overlap, proceed to step 1355 and check if the boundary 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 ultrasound probe 41. can.

[0096] In step 1310, one of the pieces 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 target pixels. This means a large inscribed circle. The information based on the size of the target is the maximum inscribed circle. In addition to the circle diameter, you can also specify the maximum and minimum length of the horizontal and vertical lines that can be drawn within the target. The maximum and minimum distances from the target centroid to the boundary of the desired target, Other information such as the area of ​​the

[0097] Then, the depth is calculated (step 1315), which is information based on the depth of the target. Determine 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 whether the maximum inscribed circle diameter is greater than or equal to 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 maximum inscribed circle diameter is the first value. 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 information 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 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 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. It is also possible to select the target as a candidate (step 1370).

[0100] The size-based information is the maximum and minimum distance from the target's centroid to the boundary. In one embodiment, a criterion for determining whether the maximum and minimum distances are equal to or greater than a predetermined value is For example, the distance from the center of gravity of the target to the boundary line of the target can be the first criterion. If the minimum distance to the target is less than 2 mm, the target is classified as an avoidance target. If there are multiple target targets, each target boundary line from the center of gravity can be calculated. The target with the larger sum, product, or average of the distances 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, it is determined whether the area is equal to or greater than a predetermined value. 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 less than 100%, the target can be 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 equal to or less than a predetermined value (second value), for example, 1 cm. If the depth of the target is deeper 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 the target to be avoided. The artery is also to be excluded. And if it is deeper than the second value, the needle will not penetrate. Deep wounds may be caused when the wound is inserted, and important anatomical structures or nerves may be located within the route of the wound. 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 has been met.

[0103] If the first and second criteria are met, the direct contact between the target and the skin surface is established. Determine whether or not 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 result is determined as the target (step 1330).

[0105] If all criteria from the first to third criteria are met, it will be 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 searched for in step 1225 will be described.

[0107] If multiple desired targets are found, proceed to step 1360 and select the desired target's Next, compare the sizes of the maximum inscribed circles (step 1365), and select final target candidates 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. The difference between the size of the inscribed circle of the target with the next largest inscribed circle and the size of the inscribed circle of the target with the next largest inscribed circle is a predetermined value ( Third value), for example, if it is within 10%, it is close to the contact surface of the ultrasonic probe, for example The target closest to the center of the contact surface of the ultrasonic probe is selected as the final target candidate. can be determined as:

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

[0110] Once the final destination target candidates are determined in step 1370, the process proceeds to step 1315. , and then carry out the subsequent steps described above to determine the final target or the avoidance target. and decide.

[0111] If it is determined in step 1300 that the 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 the above operation.

[0112] Once the final target has been determined through the above process, the final target is The injection needle unit 200 moves to the center coordinates and performs the injection. 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 the maximum.

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

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

[0116] As shown in FIG. 15, all pixels are located within a circle 1520 drawn with a pixel 1510 as the reference. Since there are cells (more than a predetermined ratio), the pixel 1510 is the pixel of the final target. The circle 1511 drawn with respect to the 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 eliminates the presence of misclassified pixels. This is a process to eliminate the possibility of this happening, but it is not a necessary process for carrying out 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 invention will be limited to the following claims. 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. and modifications of the claimed invention that are obvious to a person skilled in the art. It should be expressly understood that all such modifications and variations are within the scope of the present invention. .

Claims

1. an automatic body invasive device, comprising: a detection unit that detects a direction of a bevel of an injection needle of an injection needle unit; and a bevel adjustment unit that adjusts the direction of the bevel of the injection needle of the injection needle unit based on the direction of the bevel of the injection needle detected via the detection unit; a probe unit for detecting a body position of a target, the probe unit including a probe, a probe support portion, and a pressing portion configured to press against the body of the target; an injection needle unit movable part that supports the injection needle unit whose slope direction has been adjusted by the slope adjustment part, and positions the injection needle unit in a direction that allows body invasion, thereby performing the invasion; the probe unit is an ultrasound probe configured to acquire images of the body part, analyze the acquired images based on a neural network learning model to identify a target and an avoidance object in the body part, and determine a final target location based on at least one of first information on the size of the target, second information on the depth of the target, and third information on whether an avoidance object exists on a straight-line path between the target and a skin surface of the body part; The ultrasound probe is further configured to determine whether a boundary of the target overlaps a boundary of the image data, and if it is determined that the boundary of the target overlaps the boundary of the image data, move the ultrasound probe so that the coordinates of the boundary surface are located within the image, and re-acquire an image of the body part.

2. The slope adjustment unit is The automated body invasive device according to claim 1 , comprising: a support arm that supports the injection needle unit; and a drive unit that rotates the support arm.

3. The slope adjustment unit is 2. The automated body invasive device of claim 1, further comprising: at least one roller that contacts the needle unit; and a seventh drive device that rotates the roller to thereby rotate the needle unit.

4. The automatic body invasive device according to claim 3 , wherein the slope adjustment portion further includes a movement limiting portion that limits movement of the injection needle unit in directions other than a rotational direction of the injection needle unit.

5. The automatic body invasive device according to claim 1 , wherein the probe unit further includes an elastic member connecting the pressing portion and the probe support portion.

6. 5. The automated body invasive device according to claim 3, wherein the roller includes teeth that abut or mesh with the outer peripheral surface of the injection needle unit.

7. 2. The automatic body invasive device according to claim 1, wherein the bevel adjustment unit includes: a holding unit that supports at least one of the inside and outside of the injection needle unit; and a drive unit that rotates the holding unit to adjust the direction of the bevel of the injection needle.

8. 2. The automatic body invasive device according to claim 1, wherein the bevel adjustment unit includes: a holding unit that supports at least one of the inside and outside of the injection needle unit; at least one roller that abuts against the injection needle unit; and a drive unit that rotates the roller to adjust the direction of the bevel of the injection needle.

9. 9. The automated body invasive device of claim 8, wherein the roller includes teeth that abut or mesh with the outer circumferential surface of the needle unit.

10. The automated body invasive device of claim 2 , wherein the drive unit is at least one of a rotary drive module and a linear drive module.

Images