CN106667554A - System and method for safety adjustment of automatic puncture - Google Patents
System and method for safety adjustment of automatic puncture Download PDFInfo
- Publication number
- CN106667554A CN106667554A CN201611260481.5A CN201611260481A CN106667554A CN 106667554 A CN106667554 A CN 106667554A CN 201611260481 A CN201611260481 A CN 201611260481A CN 106667554 A CN106667554 A CN 106667554A
- Authority
- CN
- China
- Prior art keywords
- equipment
- multiaxis
- piercing mechanism
- syringe needle
- automatic puncturing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
Abstract
The invention relates to a system and method for safety adjustment of automatic puncture. The system comprises a null detection module, a limiting detection module and a safety control module, wherein the null detection module is used to detect whether a multi-shaft puncture mechanism stays at a null state after automatic puncture equipment is powered on; the limiting detection module is used to detect whether deflection from a set motion route appears during motion of the multi-shaft puncture mechanism; and the safety control module is used to conduct safety adjustment according to a set program when abnormities of the automatic puncture equipment are detected. According to the embodiment of the invention, based on the automatic puncture equipment, force sensing measurement equipment and an impedance measurement equipment are added on hardware, and a safety detection and emergency disposal program is added on software, namely null detection in starting, limiting detection in control of the motion of the multi-shaft puncture mechanism as well as a safety exit mechanism for occurrence of the abnormities are contained. Hence, reliability and safety of the automatic puncture equipment in work can be ensured.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of automatic puncturing safety adjustment system and method.
Background technology
In piercing process, due to each patient's illnesses difference of itself, and the individual diversity of normal human's structure
Different, clinical manipulation doctors experience is different, inevitably results from paracentesis depth in various clinical punctures and is forbidden, and is punctured to and reaches
Without prompting behind target location, or even can cause excessively to puncture and cause penetration damage.With the development of artificial intelligence, intelligently wear
Thorn substitutes artificial puncture will become the development trend of following medical system.
Chinese patent literature CN105056351A, patent name is a kind of acupuncture treatment device automatically, the device include a support body,
It is arranged at bearing mechanism, obtaining mechanism, acupuncture treatment mechanism and the first controlling organization to obtain according to acquisition mechanism on support body
Vessel information, the work of control acupuncture treatment mechanism performs acupuncture treatment and pulls out pin operation to position to be had an acupuncture treatment.Chinese patent literature
CN104473653A, patent name is Three Degree Of Freedom forearm blood sampling robot, and it arranges workbench, first is arranged on the table
Transmission arm, the second transmission arm and contact pin mechanism are drawn blood and acupuncture treatment function with completing machinery.
However, the appearance of automatic puncturing equipment, it will apply in hospital and provide safe and reliable for extensive patients
Service, therefore the problem of primary solution is exactly the safety and reliability of operation.And the emergent intervention safely of existing automatic equipment
And the method reported to the police is usually single jerk, or single feedback such as suspends and reports to the police at the mode.And these all can not
Meet demand of the automatic puncturing equipment to secure context.
The content of the invention
Therefore, it is to solve technological deficiency and the deficiency that prior art is present, the present invention proposes that a kind of automatic puncturing is adjusted safely
Whole system and method.
A kind of safe adjustment system of automatic puncturing is embodiments provided, it is described in being applied to automatic puncturing equipment
Automatic puncturing equipment includes multiaxis piercing mechanism, infrared image acquiring equipment and processor；Safely adjustment is the automatic puncturing
System includes zero testing module, spacing detection module and safety control module；Wherein,
The zero testing module is used to whether locate the multiaxis piercing mechanism after the automatic puncturing device power
Detected in zero-bit state；
The spacing detection module is used for whether deviateing setting motion path in the multiaxis piercing mechanism motor process
Detected；
The safety control module is used to detect in the case that the automatic puncturing equipment has exception according to setting journey
Sequence carries out safe adjustment.
In one embodiment of the invention, the automatic puncturing equipment also includes being arranged on the multiaxis piercing mechanism
And the power sensitive measuring equipment that is connected with syringe needle and impedance bioelectrical measurement equipment；The zero testing module is additionally operable to pass the power
Whether sensed quantity equipment and the impedance bioelectrical measurement equipment are detected in zero-bit.
In one embodiment of the invention, control the multiaxis piercing mechanism in the processor and syringe needle is shifted to into puncture
During point, the spacing detection module is additionally operable to the counteracting force received according to the power sensitive measuring equipment and according to the resistance
The impedance value that anti-measuring apparatus get judges whether the syringe needle reaches predeterminated position.
In one embodiment of the invention, control the multiaxis piercing mechanism in the processor and syringe needle is pierced into into skin
During tissue, the spacing detection module is additionally operable to the counteracting force received according to the power sensitive measuring equipment and according to the electricity
Whether the impedance value that impedance measuring equipment gets judges the syringe needle in home.
In one embodiment of the invention, the safety control module is getting the spacing detection module feedback
Control the multiaxis piercing mechanism after abnormal information syringe needle to be exited into skin histology and points out arm to exit certainly along the former track that punctures
Dynamic pricking device.
In one embodiment of the invention, the automatic puncturing equipment also includes monocular camera, the security control mould
The change adjustment multiaxis piercing mechanism of the arm position that tuber is arrived according to the monocular camera Real-time Collection moves the position of syringe needle
Put.
In one embodiment of the invention, the automatic puncturing equipment also includes emergency power supply, the automatic puncturing peace
Full adjustment system also includes power detecting module, and whether the power detecting module is used for automatic puncturing equipment described in real-time detection
In normal power supply state, testing result is sent to the safety control module with by described when in unexpected off-position
Safety control module starts emergency power supply and powers.
Another embodiment of the present invention provides a kind of safe method of adjustment of automatic puncturing, is applied to automatic puncturing equipment
In, the automatic puncturing equipment includes multiaxis piercing mechanism, infrared image acquiring equipment and processor；Methods described includes：
The multiaxis piercing mechanism is detected after the power-up whether in zero-bit state, and is controlled when zero-bit state is not in
The multiaxis piercing mechanism performs back to zero program；
Detect whether the multiaxis piercing mechanism deviates setting motion path in motor process, and deviateing the setting
Spacing operation is carried out after motion path.
In one embodiment of the invention, the automatic puncturing equipment also includes being arranged on the multiaxis piercing mechanism
And the power sensitive measuring equipment that is connected with syringe needle and impedance bioelectrical measurement equipment；Methods described also includes：
When the multiaxis piercing mechanism is controlled by syringe needle piercing skin histology, received according to the power sensitive measuring equipment
Counteracting force and whether the impedance value that got according to the impedance bioelectrical measurement equipment judges the syringe needle in security bit
Put.
In one embodiment of the invention, also include：
The syringe needle be pierced into skin histology after, according to the power sensitive measuring equipment receive counteracting force and according to institute
When stating the impedance value that impedance bioelectrical measurement equipment gets and determining that the syringe needle is in unsecure position, control the multiaxis and puncture
Syringe needle is exited skin histology by mechanism along the former track that punctures.
The embodiment of the present invention, by increasing safe Regulation mechanism in automatic puncturing equipment, from start when zero testing,
Safe withdrawing mechanism when controlling the spacing detection in multiaxis piercing mechanism motor process and occurring abnormal.Increased on hardware
Power sensitive measuring equipment and impedance bioelectrical measurement equipment and trinocular vision system, increased safety detection and emergent place on software
Put program, it is ensured that automatic puncturing equipment reliability at work and safety.
Become obvious by the other side and feature below with reference to the detailed description of accompanying drawing, the present invention.But should know
Road, the accompanying drawing is only the purpose design explained, not as the restriction of the scope of the present invention, this is because it should refer to
Appended claims.It should also be noted that unless otherwise noted, it is not necessary to scale accompanying drawing, they merely attempt to concept
Ground explanation structure described herein and flow process.
Description of the drawings
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.
Fig. 1 is a kind of structural representation of automatic puncturing equipment provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of binocular near-infrared image forming apparatus provided in an embodiment of the present invention；
Fig. 3 is a kind of structural representation of multiaxis piercing mechanism provided in an embodiment of the present invention；
Fig. 4 is a kind of track schematic diagram of puncture path provided in an embodiment of the present invention；
Fig. 5 is the structural representation that a kind of automatic puncturing provided in an embodiment of the present invention adjusts safely system；
Fig. 6 is a kind of schematic diagram of the safe method of adjustment of automatic puncturing provided in an embodiment of the present invention；
Fig. 7 is a kind of schematic flow sheet of the safe method of adjustment of automatic puncturing provided in an embodiment of the present invention；
Fig. 8 is a kind of frame for movement schematic diagram of power sensitive measuring equipment provided in an embodiment of the present invention；
Fig. 9 is that the frame for movement of a kind of power sensitive measuring equipment provided in an embodiment of the present invention and impedance bioelectrical measurement equipment is shown
It is intended to；
Figure 10 is a kind of structural representation of electrical impedance puncture needle provided in an embodiment of the present invention；And
Figure 11 is a kind of feedback data schematic diagram for puncturing safety adjustment provided in an embodiment of the present invention.
Specific embodiment
It is understandable to enable the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
Embodiment one
Fig. 1 is referred to, Fig. 1 is a kind of structural representation of automatic puncturing equipment provided in an embodiment of the present invention.This is automatic
Pricking device 10 includes：Multiaxis piercing mechanism 11, infrared image acquiring equipment 13 and processor 15.Wherein, in patient by arm
After stretching into automatic puncturing equipment and fixing, the arm of the collection patient of infrared image acquiring equipment 13 or the infrared figure of hand
Picture, optimum point of puncture position is determined by processor 15 according to the infrared image, controls multiaxis piercing mechanism by processor 15 afterwards
11 complete puncture action according to setting track.
Wherein, Fig. 2 is referred to, Fig. 2 is that a kind of structure of binocular near-infrared image forming apparatus provided in an embodiment of the present invention is shown
It is intended to.The infrared image acquiring equipment 13 is preferably binocular near-infrared image forming apparatus, and the binocular near-infrared image forming apparatus include setting
The CCD camera lenses, the 2nd CCD camera lenses and the infrared light supply that are placed on support and the image pick-up card, the DSP that are arranged in shell
Image processor and video frequency collection card.The equipment gets human or animal's body surface image by CCD camera lenses, and image pick-up card is by image
Data are converted into digital signal by analogue signal, and giving DSP image processors carries out image procossing, the DSP image processors pair
The image for collecting carries out image enhaucament, and then extracting blood vessel feature, then be converted to USB interface through screen capture card to know
Other signal, now, has been put into industrial computer (i.e. processor), by upper soft through human or animal's body surface image of image procossing
Part is matched to two width images, and the upper software is for example write by OpenCV, processes to complete to original through Stereo matching
The three-dimensional reconstruction of image, shows afterwards in display screen, marks suitable point of puncture.
Wherein, Fig. 3 is referred to, Fig. 3 is a kind of structural representation of multiaxis piercing mechanism provided in an embodiment of the present invention.Should
Multiaxis piercing mechanism 11 is preferably 6 axle piercing mechanisms, and the mechanism pushes away including 3 straight line axis mechanisms, 2 revolution axis mechanisms and 1
Send axis mechanism.Wherein, the straight line axis mechanism includes X-axis kinematic pair X1, X2, X-axis power source XD, Y-axis kinematic pair Y1, Y2, Y-axis
Power source YD, Z axis kinematic pair Z1, Z2, Z axis power source ZD, the X-axis power source XD, the Y-axis power source YD and the Z axis
Power source ZD controls respectively the X-axis kinematic pair X1, X2, the Y-axis kinematic pair Y1 according to the instruction of processor 15, Y2 and described
Z axis kinematic pair Z1, Z2 are moved.Wherein, the linear axis of X, Y, Z tri- difference representation space rectangular coordinate system three axes, for positioning
Point of puncture.Revolution axis mechanism includes horizontal rotation kinematic pair U1, U2, horizontal rotation power source UD, pitching gyration secondary V1,
V2, pitching rotary motive power source VD, the horizontal rotation power source UD and the pitching rotary motive power source VD are according to processor 15
Instruction controls respectively the horizontal rotation kinematic pair U1, and U2 and the pitching gyration secondary V1, V2 are moved.Horizontal adjustment is turned round
Axle be used for adjust syringe needle and treat puncture vessel trend between horizontal direction angle；Pitching adjustment gyroaxis be used for adjust syringe needle with
Treat the vertical direction angle of puncture vessel.It is described push axis mechanism include linear motion secondary W1, W2, power source for linear motion WD,
Power source for linear motion WD controls the linear motion secondary W1, W2 motions according to the instruction of processor 15.Push linear axis
For completing the action and the action for exiting skin histology of syringe needle puncture.
The global design of the multiaxis piercing mechanism adopts gantry type frame structure, Stability Analysis of Structures reliability, design to ensure end
Executor is worked in always in the infrared vision form of binocular.Power sensitive measuring equipment and impedance bioelectrical measurement equipment can ensure that syringe needle
Ink vessel transfusing can be penetrated.Driving member adopts high precision ball leading screw, and motor is using high precision ac servo motor and closed loop stepping
Motor, it is ensured that the precision of automatic puncturing equipment.On the premise of the job area of automatic puncturing equipment is met, in each axle or so
Two ends add highly sensitive inductance approach switch, spacing for left and right, it is ensured that the equipment executor tail end moment is in safety
Position.And it is hard spacing in the addition of stroke two ends, after limit switch is ineffective, it is also possible to guarantee the safety of operation.
Fig. 4 is referred to, Fig. 4 is a kind of track schematic diagram of puncture path provided in an embodiment of the present invention.The present invention is provided
Piercing mechanism operation principle it is as follows：
The processor 15 controls multiaxis piercing mechanism and is punctured according to the path of setting after point of puncture is determined.Should
Puncture path be divided into a point fast rough section, be accurately positioned at a slow speed section, puncture section, pierce through adjustment section, horizontal sliding section, withdraw of the needle section and
Section is quickly return, 7 sections altogether.
(1) fast rough section (A sections)：This section of track is linked by two gyroaxises of U, V and the linear axis of X, Y, Z tri-, needle point
From zero-bit (X0,Y0,Z0) to (Xm,Ym,Zm- a) quickly approach to form the geometric locus with particular pose；
(2) section (B sections) is accurately positioned at a slow speed：This section of track is linked by the gyroaxis of U, V two and the linear axis of X, Y, Z tri-, needle point
From (Xm,Ym,Zm- a) to (XM ＇,YM ＇,ZM ＇) approach at a slow speed to form the geometric locus with particular pose；
(3) section (C sections) is punctured：This section of track, the gyroaxis of U, V two and the linear axis of X, Y, Z tri- locking under the premise of, needle point with
W pushes axle displacement L1, blood vessel wall is punctured from (XM ＇,YM ＇,ZM ＇) reach (Xn,Yn,Zn) form the geometric locus；
(4) adjustment section (E sections) is pierced through：This section of track, U gyroaxises and the linear axis of X, Y, Z tri- locking under the premise of, needle point with
W pushes axle displacement L2, while V gyroaxises are rotated after α angles, from (Xn,Yn,Zn) reach (XN ＇,YN ＇,ZN ＇) form the track
Curve；
(5) horizontal sliding section (F sections)：This section of track, the gyroaxis of U, V two and the linear axis of X, Y, Z tri- locking under the premise of, needle point with
W linear axis displacements L3, from (XN ＇,YN ＇,ZN ＇) reach (X1,Y1,Z1) when the geometric locus that formed.
(6) withdraw of the needle section (G sections)：This section of track, the gyroaxis of U, V two and the linear axis of X, Y, Z tri- locking under the premise of, needle point with
W pushes axle displacement L4, exit beyond skin, from (X1,Y1,Z1) reach (X2,Y2,Z2) form the geometric locus.
(7) section (H sections) is quickly return：This section of track is linked by the gyroaxis of U, V two and the linear axis of X, Y, Z, W tetra-, needle point from
(X2,Y2,Z2) return to (X0,Y0,Z0) when the geometric locus that formed.
Fig. 5 is referred to, Fig. 5 is the structural representation that a kind of automatic puncturing provided in an embodiment of the present invention adjusts safely system
Figure.The system 20 can be the software program being arranged in the processor of the automatic puncturing equipment 10.Wherein, the system 20 can be with
Including zero testing module 21, spacing detection module 23 and safety control module 25；The zero testing module is used for described
Whether the multiaxis piercing mechanism is detected in zero-bit state after automatic puncturing device power；The spacing detection module
For whether being detected beyond setting motion path in the multiaxis piercing mechanism motor process；The safety control module
For carrying out safe disposal according to setting program detecting in the case that the automatic puncturing equipment has exception.
In addition, the automatic puncturing equipment also includes that being arranged at the power being connected on the multiaxis piercing mechanism and with syringe needle passes
Sensed quantity equipment and impedance bioelectrical measurement equipment；The zero testing module is additionally operable to the power sensitive measuring equipment and the electricity
Whether impedance measuring equipment is detected in zero-bit.
The processor control the multiaxis piercing mechanism by syringe needle movement to point of puncture when, the spacing detection module
It is additionally operable to the counteracting force received according to the power sensitive measuring equipment and the resistance got according to the impedance bioelectrical measurement equipment
Anti- value judges whether the syringe needle reaches predeterminated position.
When the processor controls the multiaxis piercing mechanism by syringe needle piercing skin histology, the spacing detection module
It is additionally operable to the counteracting force received according to the power sensitive measuring equipment and the resistance got according to the impedance bioelectrical measurement equipment
Whether anti-value judges the syringe needle in home.
The safety control module controls the multiaxis after the abnormal information for getting the spacing detection module feedback
Syringe needle is exited skin histology and points out arm to exit automatic puncturing equipment by piercing mechanism along the former track that punctures.
The automatic puncturing equipment also includes monocular camera, and the safety control module is adopted in real time according to the monocular camera
Multiaxis piercing mechanism described in the change real-time adjustment of the point of puncture position for collecting moves the position of syringe needle.By the reality of monocular camera
When monitoring collection vessel position, change puncture point coordinates in real time, it is ensured that finally guarantee that lower pin does not have error, will not be because of arm
Security incident is brought because of rocking in piercing process.Equally when near point of puncture position, translational speed is reduced, it is ensured that
There can be time enough to be processed in the case of generation emergency.For example, safety control module is according to the monitor in real time
The information for getting carries out attitudes vibration and is quickly moved at the 10mm of point of puncture top, and is slowly drop down to point of puncture, if
Point of puncture change in location is now detected, being then retracted into point of puncture top 10mm at once and sentencing guarantees safety, afterwards further according to tune
Point of puncture position after whole is slowly moved to point of puncture again.
The automatic puncturing equipment also includes emergency power supply, and safely adjustment system also includes power detecting to the automatic puncturing
Module, the power detecting module is used for automatic puncturing equipment described in real-time detection and whether is in normal power supply state, when being in
Suddenly testing result is sent to the safety control module during off-position and answers urgent telegram to be started by the safety control module
Source powers.
Wherein, the multiaxis piercing mechanism is using the AC servo motor for carrying band-type brake and the closed loop stepping electricity for increasing speed reducing ratio
Machine, using technical grade high accuracy turn-screw, it is ensured that automatic puncturing equipment reaches ± 0.2mm in control accuracy, will not
Point of puncture is caused to cause skew because controlling error because trueness error is too big.Each motor each joint Dou Chu under power-down conditions
In automatic band-type brake or static state, automatic puncturing equipment will not be made because of the unexpected power-off of external factor in use
Could not brake in time causes malpractice to occur.
In addition, automatic puncturing equipment adopts reliability high in control program, the Programmable logical controller of strong antijamming capability
Device (Programmable Logic Controller, abbreviation PLC).It is different from traditional relay control system to have used greatly
The auxiliary reclay of amount, the time relay, due to poor contact of contacts, easily break down.PLC is avoided well because this
Reason and the potential safety hazard brought.Embedded software control is equally different from, the safety brought because of software BUG is reduced hidden
Suffer from.
In addition, increasing scram button on automatic puncturing equipment, when scram button is pressed, system instantly owns stopping
Which kind of state athletic performance, current syringe needle is judged in by safety control module, if syringe needle is in skin histology, according to
Original route exits stop motion after skin histology, and points out patient to remove arm, waits staff to process.
Further, SR can also be set on automatic puncturing equipment, and when SR is pressed, multiaxis is punctured
Mechanism will in order implement back to zero action automatically, and such as sequence of movement is Z axis → pitching gyroaxis → horizontal axis of rotation → X and Y-axis.
The embodiment of the present invention, by increasing safe Regulation mechanism in automatic puncturing equipment, from start when zero testing,
Safe withdrawing mechanism when controlling the spacing detection in multiaxis piercing mechanism motor process and occurring abnormal.From automatic puncturing equipment
Each stage of design, various aspects consider the safety of operation, and all of safe design is considered are mixed into general control system
In, the safety measure scheme overall so as to constitute automatic puncturing equipment.Power sensitive measuring equipment and resistance are increased on hardware
Anti- measuring apparatus and trinocular vision system, increased safety detection and emergency disposal program, it is ensured that the machine on software
Reliability at work and safety.
Embodiment two
Fig. 6 is referred to, Fig. 6 is a kind of schematic diagram of the safe method of adjustment of automatic puncturing provided in an embodiment of the present invention.This
Embodiment is described in detail on the basis of above-described embodiment to the safety detection and processing method of the present invention.
The method can include：
The multiaxis piercing mechanism is detected after the power-up whether in zero-bit state, and is controlled when zero-bit state is not in
The multiaxis piercing mechanism performs back to zero program；
Detect whether the multiaxis piercing mechanism deviates setting motion path in motor process, and deviateing setting motion
Spacing operation is carried out behind path.
Wherein, when the multiaxis piercing mechanism is controlled by syringe needle piercing skin histology, set according to the power sensing measurement
The standby counteracting force for the receiving and impedance value got according to the impedance bioelectrical measurement equipment judges whether the syringe needle is in
Home.
The syringe needle be pierced into skin histology after, according to the power sensitive measuring equipment receive counteracting force and according to institute
When stating the impedance value that impedance bioelectrical measurement equipment gets and determining that the syringe needle is in unsecure position, control the multiaxis and puncture
Syringe needle is exited skin histology by mechanism along the former track that punctures.
Specifically, Fig. 7 is referred to, Fig. 7 is a kind of stream of the safe method of adjustment of automatic puncturing provided in an embodiment of the present invention
Journey schematic diagram.Specific workflow is as follows：
【Zero-bit is adjusted safely】
When automatic puncturing device power works, judge multiaxis piercing mechanism whether in zero-bit.If be not at zero-bit,
Perform back to zero program, it is ensured that each axle is in mechanical zero, if back to zero program cannot be performed, notify that maintenance person carries out failure inspection
Survey；
Whether judgment sensitive measuring equipment is in zero-bit, if be not at zero-bit, implementation capacity sensing reset routine, if nothing
Method performs reset routine, suspends all operations, notifies that maintenance person carries out fault detect and guarantees that machine is in a safe condition；
Judge that impedance bioelectrical measurement equipment, whether in zero-bit, if be not at zero-bit, performs electrical impedance reset routine, if nothing
Method performs reset routine, suspends all operations, notifies that maintenance person carries out fault detect and guarantees that machine is in a safe condition.
【Spacing safety adjustment】
When guaranteeing that equipment is in normal operating conditions, start normal operation.Now, it is (excellent by infrared image acquiring equipment
Elect binocular near-infrared image collecting device as), vessel position image information is gathered, blood is determined according to the image information by processor
The 3-D view of pipe, selection point of puncture position is gently spent in the 3-D view according to the transverse width of blood vessel and the tendency of blood vessel
Put, and the movement locus of multiaxis piercing mechanism are determined according to the point of puncture position.It is determined that after after movement locus, by processor control
Multiaxis piercing mechanism processed is moved along preset path.
Whether each axle extreme position in real-time judgment preset path is in a safe condition, when being such as not in safe condition,
Control multiaxis piercing mechanism suspends the set action of execution, and performs rezero operation according to original route, while sending warning message extremely
Simultaneously patient is pointed out to exit arm in backstage；
Determine whether the needle point of syringe needle is in a safe condition by impedance bioelectrical measurement equipment and power sensitive measuring equipment in real time,
As when touching skin histology or touching other objects, control multiaxis piercing mechanism suspends the set action of execution, and presses
Rezero operation is performed according to original route, while sending, warning message is to backstage and points out patient to exit arm；
In addition, judging whether needle point reaches point of puncture position (because the fine motion of patient can cause by monocular camera in real time
Predetermined point of puncture deviates the three-dimensional coordinate position of its original), if deviateing, gathered again by infrared image acquiring equipment
Blood-vessel image simultaneously determines new three-dimensional coordinate position by processor, and adjustment multiaxis piercing mechanism carries out position dynamic adjustment.
【Puncture safety adjustment】
When implementing to puncture, needle point is pierced into after blood vessel, is determined according to impedance bioelectrical measurement equipment and power sensitive measuring equipment and is worn
Whether thorn process is in a safe condition.
Needle point is judged whether in home according to impedance bioelectrical measurement equipment, if be not in home, by processing
Device control multiaxis pricking device suspends the set action of execution, and syringe needle is exited into skin histology while sending warning according to original route
Information, and point out patient to exit arm after syringe needle exits skin histology.
Safe adjustment link is being punctured, because syringe needle has been pierced into skin histology, its requirement to safety is highest,
Once if there is mistake, a serious medical accident will be caused.
In order to ensure the running of the link safety and stability, increased power sensitive measuring equipment in needle position and electrical impedance is surveyed
Amount equipment, i.e., increased force transducer at puncture needle retaining device, by the counteracting force of needle point, coordinate a/d conversion device,
Power is sensed the analog electrical signal for producing and is converted into digital data transmission to processor, carried out data analysiss and determine that needle point is currently located
In the position of skin histology.
Specifically, Fig. 8 is referred to, Fig. 8 is a kind of frame for movement of power sensitive measuring equipment provided in an embodiment of the present invention
Schematic diagram.The power sensitive measuring equipment includes connector 111, force transducer 113 and end connecting plate 115；Wherein, the company
Fitting 111 is that T-type structure and its front connecting portion 1111 are fixedly connected with the syringe needle clamping part of pricking device；The force transducer
113 front tension and compression work surface 1131 is contacted for receiving the feedback of puncture needle with the rear connecting portion 1113 of the connector 111
Power；The end connecting plate 115 is consolidated respectively with the rearward end of the force transducer 113 and the push axis mechanism of automatic puncturing equipment
Fixed connection.
It is a kind of power sensitive measuring equipment provided in an embodiment of the present invention and impedance bioelectrical measurement to refer to Fig. 9 and Figure 10, Fig. 9
The frame for movement schematic diagram of equipment, Figure 10 is a kind of structural representation of electrical impedance puncture needle provided in an embodiment of the present invention.Institute
Impedance bioelectrical measurement equipment is stated including electrical impedance puncture needle (131), impedance bioelectrical measurement positive pole (133), impedance bioelectrical measurement negative pole
(135), DC constant current power supply Io(not shown) and potential tester (not shown)；Wherein, the electrical impedance puncture needle
(131) ecto-entad includes outer conducting layer (1311), insulating barrier (1313) and inner conducting layer (1315)；The impedance bioelectrical measurement is just
Pole (133) is respectively electrically connected to the outer conducting layer (1311), the DC constant current power supply (Io) positive pole and the voltage tester
One end of device (V)；The impedance bioelectrical measurement negative pole (135) is respectively to the inner conducting layer (1315), the DC constant current power supply
(Io) negative pole and the potential tester (V) the other end.The impedance bioelectrical measurement equipment mainly by the transformation to puncture needle,
It is divided into outer conducting layer 1311, intermediate insulating layer 1313 and inner conducting layer 1315.Outer conducting layer 1311 and impedance bioelectrical measurement system
Positive pole is connected, and inner conducting layer 1315 is connected with the negative pole of impedance bioelectrical measurement system.During measurement, after pin enters tissue, by
It is different in partes corporis humani's electrical conductivity for knitting of packet, and the electrical conductivity difference of its hetero-organization such as blood and blood vessel wall is larger, so working as
When accompanying the puncture needle intravasation of impedance bioelectrical measurement electrode, voltage between two electrodes can produce an obvious voltage
Change.
Figure 11 is referred to, Figure 11 is a kind of feedback data schematic diagram for puncturing safety adjustment provided in an embodiment of the present invention.
After puncture needle is pierced into skin histology, power sensitive measuring equipment and impedance bioelectrical measurement equipment carry out measurement in real time and form force feedback
Whether data and electrical impedance feedback data, occur by force feedback data and electrical impedance feedback data in the time window of setting
Data flex point come judge whether be pierced into blood vessel and pierce through blood vessel.
Specifically, for the determination mode of the flex point of the flex point and the electrical impedance feedback data of force feedback data is：
First threshold is arranged to the force feedback data, when the slope for occurring the force feedback value in the time window
When change exceedes the first threshold, it is determined that there is the flex point of the force feedback data in the current time window；
Second Threshold is arranged to the electrical impedance data, when the change for occurring the impedance value in the time window
During more than the Second Threshold, it is determined that there is the flex point of the electrical impedance feedback data in the current time window.
It is as follows for the judgment mode for whether being pierced into blood vessel and pierce through blood vessel：
Occur in time window the flex point and the electrical impedance feedback data of the force feedback data for the first time simultaneously
During flex point, determine that actual time window is the time interval that the syringe needle is pierced into blood vessel.
For example, sizes of the t=0.5s for time window is set, according to the size of the time window force feedback data is captured
The flex point of flex point and electrical impedance feedback data.When occurring two flex points in same time window for the first time, then it is assumed that the time
Window is the time zone that syringe needle is pierced into blood vessel.
After it is determined that syringe needle is pierced into blood vessel, continues through time window and measure, when in time window second
Occur simultaneously the force feedback data flex point and the electrical impedance feedback data flex point when, it is determined that in actual time window
Inside there is the accident of needle pierces blood vessel, the set action of multiaxis piercing mechanism is now promptly suspended by processor, and control many
Syringe needle is exited skin histology by axle piercing mechanism, at the same point out patient arm is exited concurrently send error information send to backstage with
For fault detect.
The embodiment of the present invention, on the basis of the security strategy of existing industrial circle, by increasing force transducer and resistance
Anti- measuring apparatus, and the monitor in real time of the trinocular vision system of binocular near-infrared image collecting device, monocular camera formation, protect
The automatic puncturing equipment reliability is at work demonstrate,proved.
In sum, specific case used herein is set forth to the principle and embodiment of the present invention, the above
The explanation of embodiment is only intended to help and understands the method for the present invention and its core concept；Simultaneously for the general skill of this area
Art personnel, according to the thought of the present invention, will change in specific embodiments and applications, in sum, this
Description should not be construed as limiting the invention, and protection scope of the present invention should be defined by appended claim.
Claims (10)
1. a kind of automatic puncturing adjusts safely system, it is characterised in that in being applied to automatic puncturing equipment, the automatic puncturing sets
It is standby to include multiaxis piercing mechanism, infrared image acquiring equipment and processor；Safely adjustment system includes zero-bit to the automatic puncturing
Detection module, spacing detection module and safety control module；Wherein,
The zero testing module is used for after the automatic puncturing device power whether being in zero to the multiaxis piercing mechanism
Position state is detected；
The spacing detection module is carried out for whether deviateing setting motion path in the multiaxis piercing mechanism motor process
Detection；
The safety control module is used to detect in the case that the automatic puncturing equipment has exception to enter according to setting program
Row safety adjustment.
2. system according to claim 1, it is characterised in that the automatic puncturing equipment also includes being arranged at the multiaxis
The power sensitive measuring equipment being connected on piercing mechanism and with syringe needle and impedance bioelectrical measurement equipment；The zero testing module is additionally operable to
Whether the power sensitive measuring equipment and the impedance bioelectrical measurement equipment are detected in zero-bit.
3. system according to claim 2, it is characterised in that control the multiaxis piercing mechanism by pin in the processor
When head shifts to point of puncture, the spacing detection module is additionally operable to counteracting force and the root received according to the power sensitive measuring equipment
The impedance value got according to the impedance bioelectrical measurement equipment judges whether the syringe needle reaches predeterminated position.
4. system according to claim 2, it is characterised in that control the multiaxis piercing mechanism by pin in the processor
Head be pierced into skin histology when, the spacing detection module be additionally operable to according to the power sensitive measuring equipment receive counteracting force simultaneously
Whether the impedance value got according to the impedance bioelectrical measurement equipment judges the syringe needle in home.
5. system according to claim 4, it is characterised in that the safety control module is getting the spacing detection
Control the multiaxis piercing mechanism after the abnormal information of module feedback syringe needle to be exited into skin histology and is pointed out along the former track that punctures
Arm exits automatic puncturing equipment.
6. system according to claim 1, it is characterised in that the automatic puncturing equipment also includes monocular camera, described
The change of the arm position that safety control module is arrived according to the monocular camera Real-time Collection adjusts the multiaxis piercing mechanism and moves
The position of dynamic syringe needle.
7. system according to claim 1, it is characterised in that the automatic puncturing equipment also includes emergency power supply, described
Safely adjustment system also includes power detecting module to automatic puncturing, and the power detecting module is used to be worn automatically described in real-time detection
Whether thorn equipment is in normal power supply state, testing result is sent to the security control mould when in unexpected off-position
Block is powered with starting emergency power supply by the safety control module.
8. the safe method of adjustment of a kind of automatic puncturing, it is characterised in that in being applied to automatic puncturing equipment, the automatic puncturing sets
It is standby to include multiaxis piercing mechanism, infrared image acquiring equipment and processor；Methods described includes：
The multiaxis piercing mechanism is detected after the power-up whether in zero-bit state, and is controlled when zero-bit state is not in described
Multiaxis piercing mechanism performs back to zero program；
Detect whether the multiaxis piercing mechanism deviates setting motion path in motor process, and deviateing the setting motion
Spacing operation is carried out behind path.
9. method according to claim 8, it is characterised in that the automatic puncturing equipment also includes being arranged at the multiaxis
The power sensitive measuring equipment being connected on piercing mechanism and with syringe needle and impedance bioelectrical measurement equipment；Methods described also includes：
When the multiaxis piercing mechanism is controlled by syringe needle piercing skin histology, according to the anti-of power sensitive measuring equipment reception
Whether active force and the impedance value got according to the impedance bioelectrical measurement equipment judge the syringe needle in home.
10. method according to claim 9, it is characterised in that also include：
The syringe needle be pierced into skin histology after, according to the power sensitive measuring equipment receive counteracting force and according to the electricity
When the impedance value that impedance measuring equipment gets determines that the syringe needle is in unsecure position, the multiaxis piercing mechanism is controlled
Syringe needle is exited into skin histology along the former track that punctures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611260481.5A CN106667554A (en) | 2016-12-30 | 2016-12-30 | System and method for safety adjustment of automatic puncture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611260481.5A CN106667554A (en) | 2016-12-30 | 2016-12-30 | System and method for safety adjustment of automatic puncture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106667554A true CN106667554A (en) | 2017-05-17 |
Family
ID=58873576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611260481.5A Pending CN106667554A (en) | 2016-12-30 | 2016-12-30 | System and method for safety adjustment of automatic puncture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106667554A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374707A (en) * | 2017-08-23 | 2017-11-24 | 李旭 | A kind of Cardiological clinical function mating type therapeutic system |
| WO2019119297A1 (en) * | 2017-12-20 | 2019-06-27 | 深圳先进技术研究院 | Wearable vascular interventional surgical robot apparatus |
| CN109960285A (en) * | 2017-12-26 | 2019-07-02 | 北京基因树科技有限公司 | Automatic blood sampling robot and automatic blood sampling method |
| CN110675937A (en) * | 2019-09-09 | 2020-01-10 | 苏州华墨信息科技有限公司 | Puncture point positioning method and intelligent management system for puncture |
| CN111096796A (en) * | 2019-12-30 | 2020-05-05 | 哈尔滨工业大学 | Full-automatic vein puncture robot multilayer control system |
| CN111166437A (en) * | 2020-02-17 | 2020-05-19 | 杭州三坛医疗科技有限公司 | Auxiliary method for epidural anesthesia needle placement |
| CN111436923A (en) * | 2020-03-27 | 2020-07-24 | 武汉联影智融医疗科技有限公司 | Puncture path determination device, surgical navigation system, surgical navigation apparatus, and storage medium |
| CN112381816A (en) * | 2020-11-26 | 2021-02-19 | 同济大学 | Blood vessel puncture angle obtaining and puncturing method based on image recognition and feedback control |
| CN112842257A (en) * | 2019-11-12 | 2021-05-28 | 磅客策(上海)机器人有限公司 | Blood vessel positioning method and device |
| CN113812902A (en) * | 2021-11-22 | 2021-12-21 | 极限人工智能有限公司 | Method and device for controlling tail end of flexible instrument, electronic equipment and storage medium |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88203061U (en) * | 1988-02-05 | 1988-11-23 | 黄传诗 | Puncture needle for viscera |
| CN2123324U (en) * | 1992-06-06 | 1992-12-02 | 黄强 | Automatic pulling up unit for infusion |
| CN2448303Y (en) * | 2000-09-28 | 2001-09-19 | 邸若谷 | CT led automatic positioning puncture outfit |
| US20070032823A1 (en) * | 2005-08-04 | 2007-02-08 | St. Jude Medical Puerto Rico B.V. | Tissue puncture closure device with coiled automatic tamping system |
| CN101032414A (en) * | 2007-03-29 | 2007-09-12 | 高志 | Intelligent thorax and abdominal cavity percutaneous biopsy instrument |
| CN102090916A (en) * | 2011-01-18 | 2011-06-15 | 四川大学华西第二医院 | Intelligent positioning laparoscope puncture apparatus with safety protection function |
| CN203280890U (en) * | 2013-05-08 | 2013-11-13 | 纪华雷 | Intelligent positioning marrow transfusion puncture system |
| CN103976762A (en) * | 2014-05-22 | 2014-08-13 | 中国科学院高能物理研究所 | Full-automatic mammary gland biopsy puncture method and device |
| CN203988268U (en) * | 2014-06-24 | 2014-12-10 | 南通市第三人民医院 | A kind of safety automation endoscope-assistant surgery perforator |
| CN104586479A (en) * | 2015-01-07 | 2015-05-06 | 东南大学 | Puncture device for laparoscope operation capable of automatically warning |
| CN204364086U (en) * | 2014-12-10 | 2015-06-03 | 万恒 | Automatic puncturing position finder under the CT being convenient to manipulate guides |
| CN105534575A (en) * | 2016-03-03 | 2016-05-04 | 殷波 | Color Doppler ultrasound puncture dual-guide control system for department of orthopaedics |
-
2016
- 2016-12-30 CN CN201611260481.5A patent/CN106667554A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88203061U (en) * | 1988-02-05 | 1988-11-23 | 黄传诗 | Puncture needle for viscera |
| CN2123324U (en) * | 1992-06-06 | 1992-12-02 | 黄强 | Automatic pulling up unit for infusion |
| CN2448303Y (en) * | 2000-09-28 | 2001-09-19 | 邸若谷 | CT led automatic positioning puncture outfit |
| US20070032823A1 (en) * | 2005-08-04 | 2007-02-08 | St. Jude Medical Puerto Rico B.V. | Tissue puncture closure device with coiled automatic tamping system |
| CN101032414A (en) * | 2007-03-29 | 2007-09-12 | 高志 | Intelligent thorax and abdominal cavity percutaneous biopsy instrument |
| CN102090916A (en) * | 2011-01-18 | 2011-06-15 | 四川大学华西第二医院 | Intelligent positioning laparoscope puncture apparatus with safety protection function |
| CN203280890U (en) * | 2013-05-08 | 2013-11-13 | 纪华雷 | Intelligent positioning marrow transfusion puncture system |
| CN103976762A (en) * | 2014-05-22 | 2014-08-13 | 中国科学院高能物理研究所 | Full-automatic mammary gland biopsy puncture method and device |
| CN203988268U (en) * | 2014-06-24 | 2014-12-10 | 南通市第三人民医院 | A kind of safety automation endoscope-assistant surgery perforator |
| CN204364086U (en) * | 2014-12-10 | 2015-06-03 | 万恒 | Automatic puncturing position finder under the CT being convenient to manipulate guides |
| CN104586479A (en) * | 2015-01-07 | 2015-05-06 | 东南大学 | Puncture device for laparoscope operation capable of automatically warning |
| CN105534575A (en) * | 2016-03-03 | 2016-05-04 | 殷波 | Color Doppler ultrasound puncture dual-guide control system for department of orthopaedics |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374707A (en) * | 2017-08-23 | 2017-11-24 | 李旭 | A kind of Cardiological clinical function mating type therapeutic system |
| WO2019119297A1 (en) * | 2017-12-20 | 2019-06-27 | 深圳先进技术研究院 | Wearable vascular interventional surgical robot apparatus |
| CN109960285A (en) * | 2017-12-26 | 2019-07-02 | 北京基因树科技有限公司 | Automatic blood sampling robot and automatic blood sampling method |
| CN110675937A (en) * | 2019-09-09 | 2020-01-10 | 苏州华墨信息科技有限公司 | Puncture point positioning method and intelligent management system for puncture |
| CN112842257A (en) * | 2019-11-12 | 2021-05-28 | 磅客策(上海)机器人有限公司 | Blood vessel positioning method and device |
| CN111096796A (en) * | 2019-12-30 | 2020-05-05 | 哈尔滨工业大学 | Full-automatic vein puncture robot multilayer control system |
| CN111096796B (en) * | 2019-12-30 | 2021-11-19 | 哈尔滨工业大学 | Full-automatic vein puncture robot multilayer control system |
| CN111166437B (en) * | 2020-02-17 | 2021-11-16 | 杭州三坛医疗科技有限公司 | Auxiliary method for epidural anesthesia needle placement |
| CN111166437A (en) * | 2020-02-17 | 2020-05-19 | 杭州三坛医疗科技有限公司 | Auxiliary method for epidural anesthesia needle placement |
| CN111436923A (en) * | 2020-03-27 | 2020-07-24 | 武汉联影智融医疗科技有限公司 | Puncture path determination device, surgical navigation system, surgical navigation apparatus, and storage medium |
| CN112381816A (en) * | 2020-11-26 | 2021-02-19 | 同济大学 | Blood vessel puncture angle obtaining and puncturing method based on image recognition and feedback control |
| CN112381816B (en) * | 2020-11-26 | 2022-06-21 | 同济大学 | Blood vessel puncture angle acquisition and puncture method based on image recognition and feedback control |
| CN113812902A (en) * | 2021-11-22 | 2021-12-21 | 极限人工智能有限公司 | Method and device for controlling tail end of flexible instrument, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106667554A (en) | System and method for safety adjustment of automatic puncture | |
| CN106725762A (en) | A kind of automatic puncturing method | |
| CN110488745B (en) | Automatic ultrasonic scanning robot for human body, controller and control method | |
| CN107049431A (en) | A kind of automatic puncturing robot | |
| CN109157227B (en) | Blood sampling and transfusion robot and control method | |
| CN108577945A (en) | Nerve block anesthesia intelligent robot auxiliary system | |
| CN106999250A (en) | System for the medical treatment of robot assisted | |
| CN110840666B (en) | Wheelchair mechanical arm integrated system based on electro-oculogram and machine vision and control method thereof | |
| CN113164117A (en) | Ultrasound guided alignment and insertion of percutaneous cannula instrument | |
| JP6339323B2 (en) | Automatic needle insertion device | |
| CN112568998B (en) | Remote master-slave interactive medical system and method | |
| CN110215287A (en) | A kind of master-slave mode medical treatment control system | |
| CN106726340A (en) | A kind of human body lower limbs recovery exercising robot of intelligent and safe protection | |
| CN113842165A (en) | Portable remote ultrasonic scanning system and safe ultrasonic scanning compliance control method | |
| CN106725526A (en) | Puncture servicing unit and method based on power sensing and electrical impedance | |
| CN104771232A (en) | Electromagnetic positioning system and selection method for three-dimensional image view angle of electromagnetic positioning system | |
| CN109960285A (en) | Automatic blood sampling robot and automatic blood sampling method | |
| CN113413216A (en) | Double-arm puncture robot based on ultrasonic image navigation and puncture method | |
| CN111407370A (en) | Navigation device for accurate tumor puncture and CT (computed tomography) visual navigation system | |
| CN114788735A (en) | Remote interactive ultrasound guided puncture system and method with main end force feedback | |
| CN113364843B (en) | Indoor timely rescue system who meets accident alone of old person | |
| CN109938809A (en) | A kind of object location navigation system and method | |
| CN107981872A (en) | The image-guided intervention medical robotic system of multiple degrees of freedom | |
| WO2023124732A1 (en) | Device control method and system for image-guided interventional punctures | |
| CN207545116U (en) | A kind of ultrasound section office ultrasound diagnosis stent |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yang Wenbo Inventor after: Li Zhuo Inventor after: Chang Keke Inventor after: Dang Lei Inventor after: Zhu Rui Inventor before: Yang Wenbo Inventor before: Li Zhuo Inventor before: Chang Keke Inventor before: Dang Lei Inventor before: Zhu Rui Inventor before: Li Jianan |
|
| CB03 | Change of inventor or designer information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170517 |
|
| RJ01 | Rejection of invention patent application after publication |