CN106039487A - Automatic pricking system and control method thereof - Google Patents
Automatic pricking system and control method thereof Download PDFInfo
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- CN106039487A CN106039487A CN201610512205.7A CN201610512205A CN106039487A CN 106039487 A CN106039487 A CN 106039487A CN 201610512205 A CN201610512205 A CN 201610512205A CN 106039487 A CN106039487 A CN 106039487A
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- acupuncture treatment
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- blood vessel
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/42—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests having means for desensitising skin, for protruding skin to facilitate piercing, or for locating point where body is to be pierced
- A61M5/427—Locating point where body is to be pierced, e.g. vein location means using ultrasonic waves, injection site templates
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
- A61B5/0064—Body surface scanning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150175—Adjustment of penetration depth
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150206—Construction or design features not otherwise provided for; manufacturing or production; packages; sterilisation of piercing element, piercing device or sampling device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4887—Locating particular structures in or on the body
- A61B5/489—Blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/46—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests having means for controlling depth of insertion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/08—Limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/12—Blood circulatory system
Abstract
The invention provides an automatic pricking system and a control method of the automatic pricking system. The automatic pricking system comprises an image capturing module, an image processing module, a blood vessel identifying module, a positioning module and a pricking module which are connected in sequence, wherein the image capturing module is used for carrying out image capturing on a to-be-pricked area; the image processing module is used for carrying out image segmentation processing on the captured image; the blood vessel identifying module is used for carrying out blood vessel identifying treatment on the image after the image segmentation processing, and calculating the position points suitable for pricking on the blood vessel; the positioning module is used for detecting the to-be-pricked area, carrying out locating according to the calculated position points suitable for pricking on the blood vessel, and outputting the locating information to the pricking module; the pricking module is used for carrying out pricking and medicine administration according to the locating information. With the adoption of the system and the control method of the automatic pricking system, the existing medical model can be effectively improved, the doctor-patient relationship can be improved, and the treatment experience of the patients is promoted.
Description
Technical field
The present invention relates to the technical field of medical apparatus and instruments, specifically, relate to a kind of acupuncture treatment system and controlling party thereof automatically
Method.
Background technology
Tele-medicine refer to by computer technology, remote sensing, remote measurement, telecontrol engineering for rely on, give full play to large hospital or
The medical skill of training medical centre and armarium advantage, on outlying district, island or the naval vessel poor to medical condition
The sick and wounded carry out telediagnosis, treat and seek advice from.Be intended to improve diagnosis with medical level, reduce medical expenses, meet vast
One brand-new medical services of people's health care demand.At present, Tele medicine is from initial TV monitoring, electricity
Words remotely diagnosis develops into the comprehensive transmission utilizing express network to carry out numeral, image, voice, and achieves real-time voice
With exchanging of HD image, the application for modern medicine provides broader development space.Sending out in this field abroad
The exhibition history of existing more than 40 year, and China is only just paid attention in recent years and develops.
In recent years, along with the development of tele-medicine, unmanned medical services are proposed in more field and technical elements
Higher requirement and developing direction.At present patient queues up in hospital and has an injection, queuing garter, and queuing blood drawing etc. is required to experience very long
Queuing, delay treatment, and be easily caused the deterioration of doctor-patient relationship.
Application No. 200410074345.8 invention entitled live body palm angiographic image Acquisition Instrument in prior art,
It is only capable of Real-time Collection and reflects the overall picture of sufferer palm blood vessel network, and can not carry out the vessel position point of applicable acupuncture treatment
Guide.A kind of solution is treated, to solve this problem to this end, save now.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is to overcome the defect of prior art, it is provided that a kind of automatic
Acupuncture treatment system, including: image capture module, image processing module, blood vessel recognition module, locating module and the bundle being sequentially connected with
Pin module；
Described image capture module, carries out image acquisition in order to treat acupuncture treatment region；
Described image processing module, in order to carry out image dividing processing to the image gathered；
Described blood vessel recognition module, carries out blood vessel identifying processing to the image after image dividing processing, and calculates blood vessel
The upper location point being suitable for acupuncture treatment；
Described locating module, treats acupuncture treatment region and detects, according to the location point being suitable for acupuncture treatment on the blood vessel calculated
Position, and this location information is exported to module of having an acupuncture treatment；
Described acupuncture treatment module, in order to be administered according to the acupuncture treatment of described location information.
In some embodiments, described image capture module includes infrared eye.
In some embodiments, described locating module includes the location chain being worn at wrist；Described location chain is by blood
The location point being suitable for acupuncture treatment on pipe is modulated into location point coordinate signal, then exports location point coordinate signal to module of having an acupuncture treatment.
In some embodiments, also include the drug delivery module being connected with described acupuncture treatment module, described drug delivery module in order to
Control the dosage of acupuncture treatment module and/or be administered kind.
In some embodiments, described location chain is the electromagnetic induction location chain with hot-wire coil；Described electromagnetism sense
Apply to adjust the spacing between adjacent described hot-wire coil, to realize the adjustment to location chain length.
In some embodiments, the two ends of described location chain are equipped with the connector for connecting two ends, location.
In some embodiments, described acupuncture treatment module includes syringe needle and micro-control unit, and by described microcontroller list
The angle control of unit's control and rotatable parts；
Syringe needle, in order to penetrate percutaneous drug delivery；
Angle control, penetrates the angle of skin in order to control syringe needle；
Rotatable parts, in order to control the 360 degree of rotations in the horizontal direction of described syringe needle；
Micro-control unit, in order to receive the location information of described locating module, adjusts needle position according to this location information,
And control the degree of depth that syringe needle inserts；
Described syringe needle, angle control and rotatable parts are sequentially connected with.
In some embodiments, described acupuncture treatment module is placed in described location chain and deviates from the side of wrist.
Present invention also offers the control method of a kind of automatic acupuncture treatment system, comprise the following steps:
Step S10, treats acupuncture treatment region and carries out image acquisition；
Step S20, carries out image dividing processing to the image gathered；
Step S30, carries out blood vessel identifying processing, and calculates applicable acupuncture treatment on blood vessel the image after image dividing processing
Location point；
Step S40, treats acupuncture treatment region and detects, and it is fixed to carry out according to the location point being suitable for acupuncture treatment on the blood vessel calculated
Position, and this location information is exported to module of having an acupuncture treatment；
Step S50, is administered according to the acupuncture treatment of described location information.
In some embodiments, also include adjusting dosage and/or being administered the step of kind.
A kind of automatic acupuncture treatment system and control method thereof that the present invention provides provide the benefit that:
The present invention passes through blood vessel recognition module, the image after image dividing processing is carried out blood vessel identifying processing, and counts
Calculate the location point being suitable for acupuncture treatment on blood vessel；Then by locating module, treat acupuncture treatment region and detect, according to the blood calculated
The location point being suitable for acupuncture treatment on pipe positions, and exports this location information to module of having an acupuncture treatment；Acupuncture treatment module is further according to location
Information carries out acupuncture treatment administration and achieves the automatization of acupuncture treatment process, intellectuality.This system accurate positioning, has intelligent reminding, intelligence
The function of acupuncture treatment position can be regulated, be suitable to remotely operate.Avoid when patient seeks medical advice and queue up for a long time.Make the patient can be easily
It is in enjoyment medical services.
To sum up, this system and control method can effectively improve current medical model, improve doctor-patient relationship, promote and suffer from
The experience of seeking medical advice of person.
Accompanying drawing explanation
It should be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore it is not construed as model
The restriction enclosed, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these
Accompanying drawing obtains the accompanying drawing that other are relevant.
Fig. 1 is the block diagram of the system of automatically having an acupuncture treatment of an embodiment；
Fig. 2 is the block diagram of the acupuncture treatment module of an embodiment；
Fig. 3 is the flow chart of the system control method of automatically having an acupuncture treatment of an embodiment；
Fig. 4 is the structural representation of acupuncture treatment module.
Drawing reference numeral illustrates:
| Title | Label |
| Automatically have an acupuncture treatment system | 1 |
| Image capture module | 11 |
| Image processing module | 12 |
| Blood vessel recognition module | 13 |
| Locating module | 14 |
| Location chain | 141 |
| Connector | 1411 |
| Acupuncture treatment module | 15 |
| Syringe needle | 151 |
| Micro-control unit | 152 |
| Angle control | 153 |
| Rotatable parts | 154 |
Detailed description of the invention
In order to be illustrated more clearly that technical scheme, the right to the present invention below in conjunction with specific embodiment and figure
Requirement is described in further detail, it is to be understood that the following drawings illustrate only certain embodiments of the present invention, the most not
Should be considered as the restriction to scope, the amendment of anyone limited number of time made within the scope of the invention as claimed, still at this
Within the right of invention.
See Fig. 1, the invention provides a kind of acupuncture treatment system 1 automatically, including: the image capture module 11 that is sequentially connected with,
Image processing module 12, blood vessel recognition module 13, locating module 14 and acupuncture treatment module 15；
Described image capture module 11, carries out image acquisition in order to treat acupuncture treatment region；
Described image processing module 12, in order to carry out image dividing processing to the image gathered；
Described blood vessel recognition module 13, carries out blood vessel identifying processing to the image after image dividing processing, and calculates blood
The location point of acupuncture treatment it is suitable on pipe；
Described locating module 14, treats acupuncture treatment region and detects, according to the position being suitable for acupuncture treatment on the blood vessel calculated
Point positions, and by this location information output to acupuncture treatment module 15；
Described acupuncture treatment module 15, in order to be administered according to the acupuncture treatment of described location information.
Above-mentioned, the electronic installation with blood vessel identification positioning function specifically includes that image capture module 11, image procossing mould
Block 12, blood vessel recognition module 13 and locating module 14, the step for that acupuncture treatment module 15 then implementing acupuncture treatment according to location information.
It is understood that image capture module 11 can be the photographic head of medical PAD can also be infrared eye.
Wherein, described image capture module 11 carries out image acquisition in order to treat acupuncture treatment region, and this region to be had an acupuncture treatment is general
For palm, the back of the hand, wrist, ankle or other positions suitably having an acupuncture treatment；Described image processing module 12 is in order to the image gathered
Carry out image dividing processing, the image in the region to be had an acupuncture treatment gathered is divided into the region of non-overlapping copies, to identify blood vessel；Described blood
Pipe identification module 13 carries out blood vessel identifying processing to the image after image dividing processing, and calculates the position being suitable for acupuncture treatment on blood vessel
Put a little；Described locating module 14 detects treating acupuncture treatment region, according to the location point being suitable for acupuncture treatment on the blood vessel calculated
Position point is positioned, and by this location information output to acupuncture treatment module 15.Wherein, described locating module 14 is in being adopted as
Laser positioning module 14, the position signalling that blood vessel is suitable for the location point of acupuncture treatment is modulated into hot spot and exists by this laser positioning module 14
Position on acupuncture treatment position, then calculates the position of hot spot.
Follow-up it is understood that have an acupuncture treatment include injection or the step such as blood drawing.
Further, described image capture module 11 includes infrared eye.
Above-mentioned, concrete, the blood-vessel image at the human arm of image capture module 11 collection or the back of the hand is Real-time and Dynamic
Image, in order to medical worker according to this dynamic image vessel position at location on human body, thus can carry out follow-up bundle
Pin works.
Image capture module 11 includes infrared eye, and this infrared eye provides the light of the light wave being absorbed by the blood
Source module and the light wave sent by described light source module gather the photographing module of blood-vessel image.
Due in blood blood red have absorb infrared ray speciality, on the contrary, the blood vessel of human body the most not this speciality, because of
This, the light source module in infrared eye includes infrared light-emitting diode, and described photographing module includes CCD camera.
Matched with the CCD camera with infrared induction degree by above-mentioned infrarede emitting diode and human body is taken the photograph
Shadow, can take the shaded side recording of blood vessel picture of publishing picture and come.Said blood vessel identification module 13 is by 11 recordings of image capture module
Image be digitized process, to make blood vessel pattern image, carry out Dynamic Display, to complete whole catheter navigation.
Further, described locating module 14 includes the location chain 141 being worn at wrist；Described location chain 141 is by blood
The location point being suitable for acupuncture treatment on pipe is modulated into location point coordinate signal, then exports location point coordinate signal to module of having an acupuncture treatment
15。
Further, also including the drug delivery module being connected with described acupuncture treatment module 15, described drug delivery module is in order to control bundle
The dosage of pin module 15 and/or administration kind.
Above-mentioned, drug delivery module includes electro-motor, by electro-motor, can control the speed of drug injection and blood drawing.Should
Motor can connect numerical control scheduling deposit machine；This machine mainly gets drug dose for doctor ready for patient's tune, and lays in, can
The multi-medicament after medicine switching that multiple patient has an injection in turn or single individual patient transport home has been supplied to switch at regular time and quantity
Squeeze into.
This drug delivery module can also include data acquisition unit, collects doctor's remote control commands, and doctor is each patient
Measure different amount of liquid medicine, medicinal liquid is injected in numerical control scheduling deposit machine.
Doctor can be that patient gets medicine storage combination ready for patient use at home.
Further, described location chain 141 is the electromagnetic induction location chain 141 with hot-wire coil, described electromagnetic induction
In order to adjust the spacing between adjacent described hot-wire coil, to realize the adjustment to location chain 141 length.
Above-mentioned, this location chain 141 is the electromagnetic induction location chain 141 with hot-wire coil, can be thick according to the wrist of patient
Carefully carry out the regulation of degree of tightness.Control method i.e. can be realized by the size of current in change hot-wire coil.When in hot-wire coil
The sense of current consistent time, according to Ampere law, attract each other between hot-wire coil, location chain 141 clamps wrist.When adjacent two
The sense of current in individual hot-wire coil is contrary, mutually exclusive between hot-wire coil, and location chain 141 relaxes.When location chain 141 two
When end is interconnected to form the location annulus of annulus, this setting circle ring forms a coordinate with the wrist of people as zero
System.Acupuncture treatment location point is modulated into coordinate signal output to acupuncture treatment module 15 by location chain 141.When the sense of current in hot-wire coil
Time consistent, electric current increases, and the gravitation between hot-wire coil can be made to strengthen, and putting more effort of the contraction of location chain 141, blood vessel can be bright
Aobvious prominent, convenient acupuncture treatment.When acupuncture treatment is complete or emergency needs to unclamp, in adjacent hot-wire coil, it is passed through contrary electric current,
Adjacent hot-wire coil produces identical magnetic pole, and location chain 141 will relax out.This location chain 141 can be according to patient's arm
Thickness, dismantles individually hot-wire coil portion or installs, and makes location chain 141 can meet the needs of different patient.
Further, the two ends of described location chain 141 are equipped with the connector 1411 for connecting two ends, location.
Above-mentioned, it is to be understood that when these location chain 141 two ends are coupled together by connector 1411, to be formed circular
Bracelet, it is simple to acupuncture treatment.Certainly, this location chain 141 also can be placed directly within wrist, and wrist is put on the table top of level, it is simple to
This system 1 of automatically having an acupuncture treatment is had an acupuncture treatment at the back of the hand.
Further, described acupuncture treatment module 15 includes syringe needle 151 and micro-control unit 152, and by described microcontroller list
The angle control 153 of unit 152 control and rotatable parts 154；
Syringe needle 151, in order to penetrate percutaneous drug delivery；
Angle control 153, penetrates the angle of skin in order to control syringe needle 151；
Rotatable parts 154, in order to control the 360 degree of rotations in the horizontal direction of described syringe needle 151；
Micro-control unit 152, in order to receive the location information of described locating module 14, adjusts syringe needle according to this location information
151 positions, and control the degree of depth that syringe needle 151 inserts；
Described syringe needle 151, angle control 153 and rotatable parts 154 are sequentially connected with.
Seeing Fig. 2, above-mentioned, rotatable parts 154 may connect to position chain 141 and deviate from the side of skin, control syringe needle 151 and exist
360 degree of rotations in horizontal direction, adjust the position of syringe needle 151.
Angle control 153, for the thickness according to patient's subcutaneous fat, controls syringe needle 151 and inserts the angle of skin.Simultaneously
Micro-control unit 152 can also regulate the insertion depth of syringe needle 151, to ensure the safety of acupuncture treatment process.
Further, described acupuncture treatment module 15 is placed in described location chain 141 and deviates from the side of wrist.
See Fig. 3, present invention also offers the control method of a kind of automatic acupuncture treatment system 1, comprise the following steps:
The corresponding content of step S10 is, treats acupuncture treatment region and carries out image acquisition；
The corresponding content of step S20 is, the image gathered is carried out image dividing processing；
The corresponding content of step S30 is the image after image dividing processing to be carried out blood vessel identifying processing, and calculates blood
The location point of acupuncture treatment it is suitable on pipe；
The corresponding content of step S40 is, treats acupuncture treatment region and detects, according to being suitable for acupuncture treatment on the blood vessel calculated
Location point positions, and by this location information output to acupuncture treatment module 15；
The corresponding content of step S50 is, is administered according to the acupuncture treatment of described location information.
Further, also include adjusting dosage and/or being administered the step of kind.
It is to be understood that, although this specification is been described by according to embodiment, but the most each embodiment only comprises one
Individual independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should will say
Bright book is as an entirety, and the technical scheme in each embodiment can also be through appropriately combined, and forming those skilled in the art can
With other embodiments understood.
Applicant states, the present invention by a series of detailed description of those listed above be only for the present invention can
Illustrating of row embodiment, but the invention is not limited in above-mentioned detailed process equipment and technological process.And the most not
Mean that the present invention should rely on above-mentioned detailed process equipment and technological process could be implemented.Person of ordinary skill in the field should
This understands, any improvement in the present invention, and the equivalence of raw material each to product of the present invention is replaced and the interpolation of auxiliary element, specifically side
The selection etc. of formula, within the scope of all falling within protection scope of the present invention and disclosure.
Claims (10)
1. an automatic acupuncture treatment system, it is characterised in that including: the image capture module that is sequentially connected with, image processing module, blood
Pipe identification module, locating module and acupuncture treatment module；
Described image capture module, carries out image acquisition in order to treat acupuncture treatment region；
Described image processing module, in order to carry out image dividing processing to the image gathered；
Described blood vessel recognition module, carries out blood vessel identifying processing, and calculates on blood vessel suitable the image after image dividing processing
Close the location point of acupuncture treatment；
Described locating module, treats acupuncture treatment region and detects, and the location point according to being suitable for acupuncture treatment on the blood vessel calculated is carried out
Location, and this location information is exported to module of having an acupuncture treatment；
Described acupuncture treatment module, in order to be administered according to the acupuncture treatment of described location information.
2. system of automatically having an acupuncture treatment as claimed in claim 1, it is characterised in that: described image capture module includes that infrared photography fills
Put.
3. system of automatically having an acupuncture treatment as claimed in claim 1, it is characterised in that: described locating module includes being worn at wrist
Location chain；The location point being suitable for acupuncture treatment on blood vessel is modulated into location point coordinate signal by described location chain, is then sat by location point
Mark signal exports to module of having an acupuncture treatment.
4. system of automatically having an acupuncture treatment as claimed in claim 1, it is characterised in that: also include the administration being connected with described acupuncture treatment module
Module, described drug delivery module is in order to control the dosage of acupuncture treatment module and/or to be administered kind.
5. system of automatically having an acupuncture treatment as claimed in claim 4, it is characterised in that: described location chain is the electromagnetism with hot-wire coil
Sensing location chain；Described electromagnetic induction is in order to adjust the spacing between adjacent described hot-wire coil, to realize location chain length
Adjust.
6. system of automatically having an acupuncture treatment as claimed in claim 4, it is characterised in that: the two ends of described location chain are equipped with for connecting
The connector at two ends, location.
7. system of automatically having an acupuncture treatment as claimed in claim 1, it is characterised in that described acupuncture treatment module includes syringe needle and microcontroller list
Unit, and by the angle control of described micro-control unit controls and rotatable parts；
Syringe needle, in order to penetrate percutaneous drug delivery；
Angle control, penetrates the angle of skin in order to control syringe needle；
Rotatable parts, in order to control the 360 degree of rotations in the horizontal direction of described syringe needle；
Micro-control unit, in order to receive the location information of described locating module, adjusts needle position according to this location information, and controls
The degree of depth that syringe needle processed inserts；
Described syringe needle, angle control and rotatable parts are sequentially connected with.
8. system of automatically having an acupuncture treatment as claimed in claim 3, it is characterised in that: described acupuncture treatment module is placed in described location chain and deviates from
The side of wrist.
9. the control method of an automatic acupuncture treatment system, it is characterised in that comprise the following steps:
Step S10, treats acupuncture treatment region and carries out image acquisition；
Step S20, carries out image dividing processing to the image gathered；
Step S30, carries out blood vessel identifying processing, and calculates the position being suitable for acupuncture treatment on blood vessel the image after image dividing processing
Put a little；
Step S40, treats acupuncture treatment region and detects, and the location point according to being suitable for acupuncture treatment on the blood vessel calculated positions,
And this location information is exported to module of having an acupuncture treatment；
Step S50, is administered according to the acupuncture treatment of described location information.
10. the control method of injecting systems automatically as claimed in claim 9, it is characterised in that: also include adjusting dosage
And/or it is administered the step of kind.
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| CN201610512205.7A CN106039487B (en) | 2016-06-30 | 2016-06-30 | A kind of automatic acupuncture treatment system and its control method |
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| CN106645732A (en) * | 2016-10-31 | 2017-05-10 | 苏州立源信智能科技有限公司 | Infrared automatic-detection blood sugar detector |
| CN108744158A (en) * | 2018-04-03 | 2018-11-06 | 佛山市博知盾识科技有限公司 | A kind of automatic intravenous injection system and injecting method |
| CN108814621A (en) * | 2018-04-11 | 2018-11-16 | 于雪 | A kind of protection infectious disease blood sampling unit |
| CN109567761A (en) * | 2019-01-31 | 2019-04-05 | 中国人民解放军陆军军医大学第附属医院 | A kind of method and its application that venipuncture makes blood vessel develop |
| TWI663998B (en) * | 2018-04-02 | 2019-07-01 | National Chin-Yi University Of Technology | Intelligent intravenous insertion identification system and method thereof |
| CN110522969A (en) * | 2019-09-25 | 2019-12-03 | 合肥京东方光电科技有限公司 | A kind of injection device, infusion equipment and injection control method |
| CN112022293A (en) * | 2020-08-18 | 2020-12-04 | 同济大学 | Gesture recognition venipuncture method and device for intravenous injection robot |
| CN112684224A (en) * | 2020-12-29 | 2021-04-20 | 无锡圆方半导体测试有限公司 | Method and system for efficiently preventing chip welding spot needle insertion deviation |
| CN112891685A (en) * | 2021-01-14 | 2021-06-04 | 四川大学华西医院 | Method and system for intelligently detecting position of blood vessel |
| WO2022007128A1 (en) * | 2020-07-08 | 2022-01-13 | 胡飞青 | Compression area recognition platform and method using content analysis |
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| TWI663998B (en) * | 2018-04-02 | 2019-07-01 | National Chin-Yi University Of Technology | Intelligent intravenous insertion identification system and method thereof |
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| CN108814621A (en) * | 2018-04-11 | 2018-11-16 | 于雪 | A kind of protection infectious disease blood sampling unit |
| CN109567761A (en) * | 2019-01-31 | 2019-04-05 | 中国人民解放军陆军军医大学第附属医院 | A kind of method and its application that venipuncture makes blood vessel develop |
| CN110522969A (en) * | 2019-09-25 | 2019-12-03 | 合肥京东方光电科技有限公司 | A kind of injection device, infusion equipment and injection control method |
| WO2022007128A1 (en) * | 2020-07-08 | 2022-01-13 | 胡飞青 | Compression area recognition platform and method using content analysis |
| CN112022293A (en) * | 2020-08-18 | 2020-12-04 | 同济大学 | Gesture recognition venipuncture method and device for intravenous injection robot |
| CN112022293B (en) * | 2020-08-18 | 2022-04-05 | 同济大学 | Gesture recognition venipuncture method and device for intravenous injection robot |
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| CN112891685A (en) * | 2021-01-14 | 2021-06-04 | 四川大学华西医院 | Method and system for intelligently detecting position of blood vessel |
| CN112891685B (en) * | 2021-01-14 | 2022-07-01 | 四川大学华西医院 | Method and system for intelligently detecting position of blood vessel |
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