CN106725762A - A kind of automatic puncturing method - Google Patents
A kind of automatic puncturing method Download PDFInfo
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- CN106725762A CN106725762A CN201611265078.1A CN201611265078A CN106725762A CN 106725762 A CN106725762 A CN 106725762A CN 201611265078 A CN201611265078 A CN 201611265078A CN 106725762 A CN106725762 A CN 106725762A
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- puncture
- syringe needle
- point
- vessel
- blood vessel
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- 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
-
- 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
- A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
Abstract
The present invention relates to a kind of automatic puncturing method, methods described is performed by Needle-driven Robot, and methods described includes：Obtain vessel information；Point of puncture is selected according to the vessel information and puncture path is set；Control syringe needle performs puncture procedure along the puncture path.Puncture process is performed using method provided in an embodiment of the present invention, it is to avoid medical personnel realize the automation of puncture because puncturing the fluctuations of effect caused by the level of puncture, alleviate the work load of medical personnel, save manpower.
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of automatic puncturing method.
Background technology
Puncture is one of most common medical act in hospital, either acupuncture treatment or is taken a blood sample, and is typically all at present by passing through
The medical personnel of special training are crossed to undertake.In blood collection procedure, medical personnel need to check doctor's advice and select heparin tube, paste information
Bar code, checks patient identity, tells patient points for attention, prepares after puncture articles for use, and patient is clenched fist, and medical personnel are selected into pin
Puncture is put and performs, syringe needle is taken a blood sample after reaching correct position, heparin tube is removed in subsequent patient pine fist, medical personnel's withdraw of the needle,
Sample is simultaneously carried out to mark and place and located in place by cross-check information bar code.Whole process is comparatively laborious, consumes more
The energy of medical personnel, occupies current natively relatively more nervous medical resource.
Additionally, medical personnel need to preferably could be identified by special training to suitable vessel, and preferably complete
Execution is pushed pin action.It follows that the pain for puncturing effect and patient is received easily to be subject to the current technology water of the medical personnel
The influence of flat, working experience and physical and mental statuse, therefore also have larger fluctuation.
The content of the invention
Therefore, to solve technological deficiency and deficiency that prior art is present, the invention provides a kind of automatic puncturing method,
Method is performed by Needle-driven Robot, and method includes：
Obtain vessel information；
Point of puncture is selected according to vessel information and puncture path is set；
Control syringe needle performs puncture procedure along puncture path.
In one embodiment of the invention, vessel information is obtained, including：
Gather first infrared image and the second infrared image of blood vessel；
The three-dimensional information of blood vessel is determined according to the first infrared image and the second infrared image.
In one embodiment of the invention, the three-dimensional letter of blood vessel is determined according to the first infrared image and the second infrared image
Breath, including：
Grey level enhancement treatment is carried out to the first infrared image and the second infrared image；
Blood vessel feature extraction is carried out to the first infrared image and the second infrared image and forms the first blood-vessel image and the second blood
Pipe image；
Graphic Pattern Matching treatment is carried out to the first blood-vessel image and the second blood light image to determine the first blood-vessel image and second
The image-region of the Optimum Matching in blood light image；
Visual difference according to corresponding pixel points in the image-region of Optimum Matching calculates vessel depth to form the three of blood vessel
Dimension information.
In one embodiment of the invention, point of puncture is selected according to vessel information, including：
The gentle degree choosing of transverse width and blood vessel from the three-dimensional information of blood vessel according to blood vessel in the range of certain length
Select point of puncture.
In one embodiment of the invention, puncture path is set, including：
Puncture path is divided into positioning section, punctures section, puncture adjustment section by the three-dimensional information according to point of puncture position and blood vessel
And horizontal sliding section.
In one embodiment of the invention, Needle-driven Robot is the Needle-driven Robot of 6 axis mechanisms, and 6 axis mechanisms include that X is straight
Spooling mechanism, Y straight lines axis mechanism, Z straight lines axis mechanism, horizontal rotation axis mechanism, vertical axis of rotation mechanism and push axis mechanism；Control
Syringe needle processed performs puncture procedure along puncture path, including：
Control X straight lines axis mechanism, Y straight lines axis mechanism, Z straight lines axis mechanism, horizontal rotation axis mechanism, vertical axis of rotation mechanism
Syringe needle is moved to point of puncture position to complete the motion of positioning section；
Control pushes axis mechanism and syringe needle is pierced into blood vessel by point of puncture along straight line and arrives into a little to complete to puncture section
Motion；
Control pushes axis mechanism and syringe needle is pushed to horizontal sliding point to complete to puncture tune by vertical axis of rotation mechanism by inlet point
Whole section of motion；
Control pushes axle and syringe needle is pushed into final position by horizontal sliding point along straight line to complete the motion of horizontal sliding section.
In one embodiment of the invention, control pushes axis mechanism and vertical axis of rotation mechanism is pushed away syringe needle by inlet point
Horizontal sliding point is delivered to complete the motion of puncture adjustment section, including：
Control pushes axis mechanism and syringe needle linearly is pushed into syringe needle, and Synchronization Control vertical axis of rotation machine by inlet point
Structure uses the angle that circular interpolation mode is segmented adjustment vertical direction to be adjusted to complete to puncture with Approach by inchmeal to horizontal sliding point position
The motion of section.
In one embodiment of the invention, control vertical axis of rotation mechanism is segmented adjustment vertically using circular interpolation mode
The angle in direction with Approach by inchmeal to horizontal sliding point position, including：To the motion process founding mathematical models of syringe needle, using kinematics
Positive inverse arithmetic and straight line and point position interpolation algorithm, and under the control of Needle-driven Robot, syringe needle is using multi-line section Fine Feed
Mode approaches the path of smoothed curve, so that syringe needle is moved according to class smoothed curve.
In one embodiment of the invention, Needle-driven Robot includes force snesor and electric impedance sensor；In puncture section,
Syringe needle is controlled along puncture path puncture procedure, including：
Control syringe needle is pierced into skin and continuously acquires the force feedback data and electric impedance sensor of force snesor by point of puncture
Electrical impedance feedback data；
Time window is set, if occurring the flex point of the flex point of force feedback data and electrical impedance feedback data in time window,
Then determine that syringe needle is pierced into blood vessel；
After it is determined that syringe needle is pierced into blood vessel, continue to push syringe needle to default inlet point to complete to wear according to preset path
Pierce the operation of section.
In one embodiment of the invention, before vessel information is obtained, also include：
The bar code of patient is scanned, bar code records the identity information of patient；
Recognize the identity of patient, and identity to puncturing articles for use and the patient carries out matching verification.Using of the invention real
The method for applying example offer performs puncture process, it is to avoid medical personnel because puncturing the fluctuations of effect caused by the level of puncture,
The automation of puncture is realized, the work load of medical personnel is alleviated, manpower is saved.
By the detailed description below with reference to accompanying drawing, other side of the invention and feature become obvious.But should know
Road, the accompanying drawing is only the purpose design explained, not as the restriction of the scope of the present invention, 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 only try hard to concept
Ground explanation structure described herein and flow.
Brief description of the drawings
Below in conjunction with accompanying drawing, specific embodiment of the invention is described in detail.
Fig. 1 is a kind of flow chart of automatic puncturing method provided in an embodiment of the present invention；
Fig. 2 is a kind of binocular infrared imaging analysis process figure provided in an embodiment of the present invention；
Fig. 3 is a kind of image local matching algorithm flow chart provided in an embodiment of the present invention；
Fig. 4 is a kind of six shaft mechanical structural representations of piercing mechanism provided in an embodiment of the present invention；
Fig. 5 is that a kind of force snesor provided in an embodiment of the present invention and electric impedance sensor mixing are applied to puncture process
Test data schematic diagram；
Fig. 6 is the schematic diagram that a kind of feedback force value provided in an embodiment of the present invention is changed over time；
Fig. 7 is the schematic diagram that a kind of impedance value provided in an embodiment of the present invention is changed over time；
Fig. 8 chooses schematic diagram for a kind of time window provided in an embodiment of the present invention；
Fig. 9 chooses schematic diagram for another time window provided in an embodiment of the present invention；
Figure 10 is the flow chart of another automatic puncturing method provided in an embodiment of the present invention.
Specific embodiment
To enable the above objects, features and advantages of the present invention more obvious understandable, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
Embodiment one
The embodiment of the present invention proposes a kind of automatic puncturing method, refer to Fig. 1, and Fig. 1 is provided in an embodiment of the present invention
A kind of flow chart of automatic puncturing method, the method is performed by Needle-driven Robot, and the method is specifically included：
S101, acquisition vessel information；
S102, selected point of puncture and to set puncture path according to vessel information；
S103, control syringe needle perform puncture procedure along puncture path.
Puncture process is performed using method provided in an embodiment of the present invention, it is to avoid medical personnel are because puncture level causes
Puncture effect fluctuation, realize the automation of puncture, alleviate the work load of medical personnel, save manpower.
Further, on the basis of above-described embodiment, vessel information is obtained, following steps can be used：
Gather first infrared image and the second infrared image of blood vessel；
The three-dimensional information of blood vessel is determined according to the first infrared image and the second infrared image.
Further, on the basis of above-described embodiment, blood vessel is determined according to the first infrared image and the second infrared image
Three-dimensional information, be specifically as follows：
Grey level enhancement treatment is carried out to the first infrared image and the second infrared image；
Blood vessel feature extraction is carried out to the first infrared image and the second infrared image and forms the first blood-vessel image and the second blood
Pipe image；
Graphic Pattern Matching treatment is carried out to the first blood-vessel image and the second blood light image to determine the first blood-vessel image and second
The image-region of the Optimum Matching in blood light image；
Visual difference according to corresponding pixel points in the image-region of Optimum Matching calculates vessel depth to form the three of blood vessel
Dimension information.
Preferably, the blood vessel of patient can be shot using binocular infrared camera, two for receiving and processing blood vessel are infrared anti-
Penetrate image --- the first infrared image and the second infrared image, to obtain the plane information and depth information of patient vessel.
The analysis of binocular infrared imaging obtains the three-dimensional information of blood vessel, can specifically be performed by Binocular Stereo Vision System, performs
Process includes image acquisition procedures, video camera stereo calibration process, image flame detection process, Stereo matching process and depth recovery
Journey.Specifically, refer to Fig. 2, Fig. 2 is a kind of binocular infrared imaging analysis process figure provided in an embodiment of the present invention, such as Fig. 2,
The analysis process specifically includes following steps：
(1) image acquisition procedures S201：Image is obtained by simulated dual purpose mode, using two parallel video cameras pair
Right and left eyes image is obtained.
(2) video camera stereo calibration process S202：Obtained by image characteristic point, set up the geometry imaging mould of video camera
Type.
In actual photographed, some cameras can produce distortion, and the image polar curve for collecting is intersecting.It is follow-up in order to reduce
The difficulty of image Stereo matching, it would be desirable to obtain two focal lengths of camera, principal point coordinate, inclination factor, distortion factor with
And the rotating vector between them.Preferably, the linear relationship existed between the image and material object that are shot using camera, using chess
Disk lattice can obtain the position of multiple angle points, and the inside and outside parameter of video camera is obtained by equation group.
Specifically, a kind of demarcation mode can be：
A. using same scaling board image under the left and right camera collection same time, in gatherer process, make at uncalibrated image
In the centre position of camera view；
B. camera image is read respectively individually to demarcate two cameras, is gathered multiple calibration maps and is completed to demarcate,
The calibration result of each camera is individually stored；
C. the file that left and right camera is obtained is input into calibration tool case, carries out stereo calibration.For example, the calibration tool
Case can be the calibration tool case of MATLAB softwares.
(3) image flame detection process S203：The two images that non-co-planar row in practice is aligned, are corrected into coplanar row alignment
Image.Because when two planes of delineation are that completely coplanar row is aligned, it is simplest to calculate stereoscopic parallax.
(4) Stereo matching process S204：Stereo matching is carried out to image by algorithm, the three-dimensional model of image is set up.Its
In, in a kind of adoptable matching process, initial parallax figure is tried to achieve using local matching algorithm.When two block of pixels reflections are same
During one scene, the pixel value of the two block of pixels will be matched.Most common image block is the square that the length of side is odd number, is closed
Key point position is exactly foursquare center.Two pros can be weighed by comparing the Matching power flow function of pixel in two blocks
The similarity of shape image block.
In one embodiment of the invention, local matching algorithm is in the following way：
For two images, a width left figure, a width right figure, XSC represents left figure, the pixel difference of right figure, specifically, order：
Wherein, IL(X, Y) is pixel of the left figure at (X, Y) place, IR(X, Y-d) is pixel of the right figure at (X, Y-d) place, and w is
The comparison range of window size, i.e. image.The minimum window of XSC values in the range of this is found, that is, have found left image most
Good matched pixel block.In detail, above procedure refer to Fig. 3, and Fig. 3 is a kind of image local matching provided in an embodiment of the present invention
Algorithm flow chart.
In the present embodiment, the scope of window size is in [5,255], it is preferable that be chosen between 5 × 5 to 21 × 21
The length of side for odd number window.Window sets bigger, and hunting zone also can be bigger.Hunting zone can be manually set, and the present invention is not
It is limited herein.
In another embodiment of the present invention, local matching algorithm is in the following way：
Wherein, window size is M*N, and XSC (i, j) represents the difference between gray value or so the two images at (i, j) place
Different size, SI, j(s, t) is gray value of the right image at (i, j) place, and T (x, y) is the gray value of left image；E(SI, j) it is right figure
As the average gray value at (i, j) place, E (T) is the average gray value of left image.Find XSC (i, j) value in the range of this maximum
Window, that is, have found the best match block of pixels of left image.
(5) depth recovery procedure S205：By matching result, recover the third dimension of image, and then obtain the three-dimensional of blood vessel
Information.
Further, on the basis of above-described embodiment, point of puncture is selected according to vessel information, is specifically as follows：
The gentle degree choosing of transverse width and blood vessel from the three-dimensional information of blood vessel according to blood vessel in the range of certain length
Select point of puncture.It is one of key factor for successfully puncturing to select suitable point of puncture, and the transverse width of blood vessel, shape of blood vessel
Regular degree largely have impact on the selection of point of puncture.
Further, on the basis of above-described embodiment, puncture path is set, can is specifically：According to point of puncture position
And puncture path is divided into positioning section, punctures section, puncture adjustment section and horizontal sliding section by the three-dimensional information of blood vessel.
Further, on the basis of above-described embodiment, Needle-driven Robot is the Needle-driven Robot of 6 axis mechanisms, 6 axis mechanisms
Including X straight lines axis mechanism, Y straight lines axis mechanism, Z straight lines axis mechanism, horizontal rotation axis mechanism, vertical axis of rotation mechanism and push axle
Mechanism, then controlling syringe needle to perform puncture procedure along puncture path can be specifically：
Control X straight lines axis mechanism, Y straight lines axis mechanism, Z straight lines axis mechanism, horizontal rotation axis mechanism, vertical axis of rotation mechanism
Syringe needle is moved to point of puncture position to complete the motion of positioning section；
Control pushes axis mechanism and syringe needle is pierced into blood vessel by point of puncture along straight line and arrives into a little to complete to puncture section
Motion；
Control pushes axis mechanism and syringe needle is pushed to horizontal sliding point to complete to puncture tune by vertical axis of rotation mechanism by inlet point
Whole section of motion；
Control pushes axle and syringe needle is pushed into final position by horizontal sliding point along straight line to complete the motion of horizontal sliding section.
Specifically, Fig. 4 is referred to, Fig. 4 is that a kind of six shaft mechanical structures of piercing mechanism provided in an embodiment of the present invention are shown
It is intended to.For the straight line axis mechanism of six axle construction, i.e., 3,2 revolution axis mechanisms and 1 push axis mechanism.
Wherein, 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, X-axis power source XD, Y-axis power source YD and Z axis power source ZD control X respectively
Axle kinematic pair X1, X2, Y-axis kinematic pair Y1, Y2 and Z axis kinematic pair Z1, Z2 motion.Wherein, the linear axis of X, Y, Z tri- represent empty respectively
Between rectangular coordinate system three axes, for pilot pin Jianzha County pin mark.
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, horizontal rotation power source UD and pitching rotary motive power source VD refer to according to the second of control module 13
Order controlled level gyration secondary U1, U2 and pitching gyration secondary V1, V2 motion respectively.Horizontal adjustment gyroaxis is used to adjust
Horizontal direction angle between syringe needle and blood vessel to be had an acupuncture treatment trend；Pitching adjustment gyroaxis is used to adjust syringe needle with blood vessel to be had an acupuncture treatment
Vertical direction angle.
Pushing axis mechanism includes linear motion secondary W1, W2, power source for linear motion WD, and power source for linear motion WD is according to control
3rd instruction control linear motion secondary W1, W2 motion of molding block 13.Pushing linear axis is used to complete syringe needle puncture and exits blood
Pipe is acted.
Specifically, Y linear axis are made up of linear motion pair with power source YD, and linear motion submember Y1 and pedestal JZ is (i.e.
Pedestal 11) it is fixedly connected, another member Y 2 is connected with X linear axis member X 1, power source YD and the direct or indirect connection of member Y 2,
Drive Y2 actions；
X linear axis are same to be made up of linear motion pair with power source XD, and linear motion submember X1 is connected with member Y 2, separately
One member X 2 is connected with Z straight line shaft components Z1, power source XD and the direct or indirect connection of member X 2, drives X2 actions；
Z linear axis are made up of linear motion pair with power source ZD, and linear motion submember Z1 is connected with member X 2, another structure
Part Z2 and U revolution shaft component U1 be connecteds, power source ZD and component Z2 direct or indirect connections, drive Z2 to act；
U gyroaxises are made up of gyration pair with power source UD, and gyration submember U1 is connected with component Z2, another structure
Part U2 and V revolution shaft component V1 be connecteds, power source UD and component U2 direct or indirect connections, drive U2 to act；
V gyroaxises are made up of gyration pair with power source VD, and gyration submember V1 is connected with component U2, another structure
Part V2 is connected with W straight line shaft components W1, power source VD and component V2 direct or indirect connections, drives V2 actions；
W linear axis are made up of linear motion pair with power source WD, and linear motion submember W1 is connected with component V2, another structure
Part W2 is connected with syringe needle, power source WD and component W2 direct or indirect connections, drives W2 actions.
On the basis of above-described embodiment, control pushes axis mechanism and vertical axis of rotation mechanism and syringe needle is pushed by inlet point
To horizontal sliding point with complete puncture adjustment section motion, be specifically as follows：
Control pushes axis mechanism and syringe needle linearly is pushed into syringe needle, and Synchronization Control vertical axis of rotation machine by inlet point
Structure uses the angle that circular interpolation mode is segmented adjustment vertical direction to be adjusted to complete to puncture with Approach by inchmeal to horizontal sliding point position
The motion of section.
Specifically, on the basis of above-described embodiment, control vertical axis of rotation mechanism is segmented tune using circular interpolation mode
The angle of whole vertical direction with Approach by inchmeal to horizontal sliding point position, specially：To the motion process founding mathematical models of syringe needle, adopt
With kinematics sequences algorithm and straight line and point position interpolation algorithm, and under the control of Needle-driven Robot, syringe needle uses multi-line section
The mode of Fine Feed approaches the path of smoothed curve, so that syringe needle is moved according to class smoothed curve.
Further, on the basis of above-described embodiment, Needle-driven Robot includes force snesor and electric impedance sensor；
Section is punctured, control syringe needle is specifically as follows along puncture path puncture procedure：
Control syringe needle is pierced into skin and continuously acquires the force feedback data and electric impedance sensor of force snesor by point of puncture
Electrical impedance feedback data；
Time window is set, if occurring the flex point of the flex point of force feedback data and electrical impedance feedback data in time window,
Then determine that syringe needle is pierced into blood vessel；
After it is determined that syringe needle is pierced into blood vessel, continue to push syringe needle to default inlet point to complete to wear according to preset path
Pierce the operation of section.
Specifically, the size of suffered resistance when entering patient skin tissue with force snesor real-time monitoring puncture needle, and then
Judge that puncture needle enters the depth of patient skin tissue.Using one-dimensional, two dimension, three-dimensional or six-dimension force sensor measures syringe needle
The real-time reaction force feedback obtained during the different tissues structure for penetrating epidermis and hypodermis, and then judge that syringe needle is entered into
Which kind of institutional framework, thus to inserting needle severity control provide foundation, but also can effectively evaluate syringe needle whether bend with
And the degree of blood vessel stress deformation, for safety acupuncture treatment provides the monitoring information for needing.It is same it can be confirmed that in syringe needle through overtesting
Puncture blood vessel in a flash, the numerical value that force snesor is measured has an obvious mutation.
Electric impedance sensor can be also used, when puncture needle enters in patient's body, electric impedance sensor is detected and fed back and wears
Electrical impedance information at the syringe needle of pricker, controller treatment electrical impedance information are so that movement executing mechanism adjusts puncture angle and enters
Needle speed.Preferably, electric impedance sensor can be arranged at piercing needle, and the design of specific electric impedance sensor is ability
Prior art known to field technique personnel, the present invention is not limited herein.Fig. 5 is referred to, Fig. 5 is provided in an embodiment of the present invention
A kind of force snesor and electric impedance sensor mixing are applied to the test data schematic diagram of puncture process.
Wherein, the determination mode of the flex point of the flex point of force feedback data and electrical impedance feedback data is：
Fig. 6 is referred to, Fig. 6 is the schematic diagram that a kind of feedback force value provided in an embodiment of the present invention is changed over time.To power
Feedback data sets first threshold, when the slope variation for occurring force feedback value in time window exceedes first threshold, it is determined that
There is the flex point of force feedback data in current time window；
Fig. 7 is referred to, Fig. 7 is the schematic diagram that a kind of impedance value provided in an embodiment of the present invention is changed over time.To electricity
Impedance data sets Second Threshold, when the change for occurring impedance value in time window exceedes Second Threshold, it is determined that currently
Time window there is the flex point of electrical impedance feedback data.
Specifically, referring to Fig. 8, Fig. 8 chooses schematic diagram for a kind of time window provided in an embodiment of the present invention.First
When occurring the flex point of the flex point of force feedback data and electrical impedance feedback data in time window simultaneously, determine that very first time window is
Syringe needle is pierced into the time interval of blood vessel.
For example, it is the size of very first time window to set t=0.5s, according to the size force trapping feedback coefficient of the time window
According to flex point and electrical impedance feedback data flex point.When occurring two flex points in same time window, then it is assumed that the time window
Mouth is pierced into the time zone of blood vessel for syringe needle.
Or, Fig. 9 is referred to, Fig. 9 chooses schematic diagram for another time window provided in an embodiment of the present invention.First
When occurring the flex point of force feedback data in time window and the flex point of electrical impedance feedback data do not occur, record first window when
Between it is interval；
When occurring the flex point of electrical impedance feedback data in the second time window, the time zone of the second time window is recorded
Between；
Time threshold is set, if the time difference of very first time window and the second time window is less than time threshold, by the
The starting point of one time window is starting point and forms the 3rd time window for terminal by the terminal of the second time window, when determining the 3rd
Between window be syringe needle be pierced into skin or be pierced into blood vessel time interval.
For example, the size that t=0.1s is very first time window and the second time window is set, according to the big of the time window
The flex point of small capture force feedback data and the flex point of electrical impedance feedback data.When there is force feedback data in very first time window
Flex point and for there is electrical impedance feedback data flex point when, record very first time window time interval.Continue from follow-up
The flex point of feedback data, when occurring the flex point of electrical impedance feedback data in the second time window, note are intercepted in time window
Record the time interval of second time window, calculate the time difference of very first time window and the second time window (for example,
0.3s), if not less than the time threshold (such as 0.5s) of setting, then it is assumed that with the starting point of very first time window as starting point, with
The terminal of the second time window is that the time interval of the 3rd time window that terminal is formed is considered that syringe needle is pierced into the time of blood vessel
It is interval.
Or, the flex point for occurring electrical impedance feedback data in very first time window and the flex point for force feedback data do not occur
When, record the time interval of first window；
When there is the flex point of force feedback data in the second time window, the time interval of the second time window is recorded；
Time threshold is set, if the time difference of very first time window and the second time window is less than time threshold, by the
The starting point of one time window is starting point, and forms the 3rd time window for terminal by the terminal of the second time window, determines the 3rd
Time window is that syringe needle is pierced into skin or is pierced into the time interval of blood vessel.
In addition, the method is also used as the abnormal alarm to vascular puncture, for example, because arm movement causes to pierce through blood
The anomalous events such as pipe.Specifically, the method can also include：
The flex point for occurring the flex point of force feedback data or electrical impedance feedback data again is monitored whether in time window,
Occur being judged to needle pierces blood vessel during flex point and to transmission warning message.
The embodiment of the present invention, by setting time window, judges force feedback data and electrical impedance data from time window
Flex point, so as to accurately determine that needle point occurs to be pierced into skin or be pierced into the time of blood vessel to aid in the operation of puncture equipment, really
Protect the accuracy and security for piercing through.
Further, on the basis of above-described embodiment, before vessel information is obtained, can also have the following steps：
The bar code of patient is scanned, bar code records the identity information of patient；
Recognize the identity of patient, and identity to puncturing articles for use and the patient carries out matching verification；
Further, puncture as blood sampling is operated, then after syringe needle is away from patient, can also carry out following steps：
The blood sample of the identity information of patient and patient is carried out into matched indicia, mechanical arm is piled up to the blood sample of patient；
Mechanical arm is changed to puncturing articles for use, and the puncture articles for use after replacing match with the identity of next patient.
Further, Needle-driven Robot include multimedia equipment, correspondingly, obtain patient vessel information before or
After syringe needle is away from patient, multimedia equipment plays voice or video information to patient, and voice or video information include pacifying
Information punctures general knowledge, for the pressure of reduction of patient.
Embodiment two
Figure 10 is refer to, Figure 10 is the flow chart of another automatic puncturing method provided in an embodiment of the present invention.
In S301, robot or automechanism by sensor, quick identification verification patient information, occur without missing inspection or
Wrong identification.
In S303, voice and video information.Automatically patient is timely informed, inspection project is understood.
In S304, the automatic replacing and preparation of instrument for blood collection are automatically obtained by mechanical arm or mechanism
In S305, using monocular monitoring and binocular blood vessel identification technology, under noncontact, puncture vessel is carried out accurately
Numeral identification, vessel information is recorded in detail and is called for other systems.
In S306, recognized by monocular vision, Ya Mai mechanisms are automatic to prick tourniquet at 6cm above point of puncture
In S307, carried out according to asptic technique principle, using vision guided navigation technology, guiding mechanical arm enters to needling position
Row secondary sterilization, ranges preferably from：5cm*5cm
In S308, using the identification of binocular blood vessel and monocular syringe needle track following, and power sensing and electrical impedance bio-identification
Technology, is monitored to blood vessel and syringe needle mutual alignment and touch, and real-time adjustment mechanical arm pose realizes safe puncture process.
In S310, recognized also with binocular blood vessel, the geometric distortion under monitoring blood vessel stress；While power tactile and electricity
Impedance transducer signal is together acted in S313, in overall process as safety collision and biological tissue's identification monitoring system；
Finally navigate and plan manipulator motion track automatically, realize fast and accurately withdraw of the needle action；.
Automatically scanning bar code and record blood sampling sample information, record, for external call in internal memory.
Using the automatic blood sampling flow of the present embodiment, auxiliary movement and puncture more comprehensively are performed into flow is all carried out
Optimization.Puncture action more automation and intelligentification.By vision, sensor technology, the bio-identification skill such as power tactile and electrical impedance
The fusion application of art, the blood collection procedure that Traditional Man experience is intervened, become it is a kind of " standard seen, it is palpable, it is safe and reliable, can
Repeat, without manpower intervention " automatic safe blood collection procedure.
To sum up, specific case used herein is set forth to principle of the invention and implementation method, and the above is implemented
The explanation of example is only intended to help and understands the method for the present invention and its core concept；Simultaneously for the general technology people of this area
Member, according to thought of the invention, will change, to sum up, in this specification in specific embodiments and applications
Appearance be 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 method, it is characterised in that methods described is performed by Needle-driven Robot, methods described includes：
Obtain vessel information；
Point of puncture is selected according to the vessel information and puncture path is set；
Control syringe needle performs puncture procedure along the puncture path.
2. the method for claim 1, it is characterised in that obtain vessel information, including：
Gather first infrared image and the second infrared image of the blood vessel；
The three-dimensional information of the blood vessel is determined according to first infrared image and second infrared image.
3. method as claimed in claim 2, it is characterised in that according to first infrared image and second infrared image
Determine the three-dimensional information of the blood vessel, including：
Grey level enhancement treatment is carried out to first infrared image and second infrared image；
Blood vessel feature extraction is carried out to first infrared image and second infrared image and forms the first blood-vessel image and the
Two blood-vessel images；
Graphic Pattern Matching treatment is carried out to first blood-vessel image and second blood light image to determine first vessel graph
The image-region of the Optimum Matching in picture and the second blood light image；
The visual difference of corresponding pixel points calculates vessel depth to form the blood vessel in image-region according to the Optimum Matching
Three-dimensional information.
4. method as claimed in claim 2, it is characterised in that point of puncture is selected according to the vessel information, including：
Transverse width and the blood vessel from the three-dimensional information of the blood vessel according to the blood vessel is in the range of certain length
The gentle degree selection point of puncture.
5. method as claimed in claim 2, it is characterised in that puncture path is set, including：
The puncture path is divided into positioning section, puncture section, worn by the three-dimensional information according to the point of puncture position and the blood vessel
Thorn adjustment section and horizontal sliding section.
6. method as claimed in claim 5, it is characterised in that the Needle-driven Robot is the Needle-driven Robot of 6 axis mechanisms, institute
Stating 6 axis mechanisms includes X straight lines axis mechanism, Y straight lines axis mechanism, Z straight lines axis mechanism, horizontal rotation axis mechanism, vertical axis of rotation machine
Structure and push axis mechanism；
Control syringe needle performs puncture procedure along the puncture path, including：
Control the X straight lines axis mechanism, the Y straight lines axis mechanism, the Z straight lines axis mechanism, the horizontal rotation axis mechanism, institute
Vertical axis of rotation mechanism is stated to be moved to the point of puncture position to complete the motion of positioning section by the syringe needle；
The syringe needle is pierced into blood vessel and arrives into a little to complete by the control push axis mechanism along straight line by the point of puncture
The motion for puncturing section；
The syringe needle is pushed to horizontal sliding point by the control push axis mechanism and the vertical axis of rotation mechanism by the inlet point
To complete the motion of the puncture adjustment section；
The syringe needle is pushed to final position to complete the fortune of horizontal sliding section by the control axle that pushes along straight line by the horizontal sliding point
It is dynamic.
7. method as claimed in claim 6, it is characterised in that control is described to push axis mechanism and the vertical axis of rotation mechanism
The syringe needle is pushed to horizontal sliding point to complete the motion of the puncture adjustment section by the inlet point, including：
The syringe needle is linearly pushed the syringe needle, and Synchronization Control by the control push axis mechanism by the inlet point
The vertical axis of rotation mechanism uses circular interpolation mode to be segmented the angle of adjustment vertical direction with Approach by inchmeal to the horizontal sliding
Position is put to complete the motion of the puncture adjustment section.
8. the method that such as claim 7 is stated, it is characterised in that the control vertical axis of rotation mechanism is using circular interpolation mode point
Section adjusts the angle of vertical direction with Approach by inchmeal to the horizontal sliding point position, including：Motion process to the syringe needle is set up
Mathematical Modeling, using kinematics sequences algorithm and straight line and point position interpolation algorithm, and under the control of the Needle-driven Robot,
The syringe needle approaches the path of smoothed curve by the way of multi-line section Fine Feed, so that the syringe needle enters according to class smoothed curve
Row motion.
9. method as claimed in claim 5, it is characterised in that the Needle-driven Robot includes that force snesor and electrical impedance are sensed
Device；In the puncture section, syringe needle is controlled along the puncture path puncture procedure, including：
The syringe needle is controlled to be pierced into skin by the point of puncture and continuously acquire the force feedback data of the force snesor and described
The electrical impedance feedback data of electric impedance sensor；
Time window is set, if occurring the flex point of the force feedback data and turning for the electrical impedance feedback data in time window
Point, it is determined that the syringe needle is pierced into blood vessel；
After it is determined that the syringe needle is pierced into blood vessel, continue to push the syringe needle to default inlet point with complete according to preset path
Into the operation of the puncture section.
10. the method for claim 1, it is characterised in that before vessel information is obtained, also include：
The bar code of patient is scanned, the bar code records the identity information of patient；
Recognize the identity of patient, and identity to puncturing articles for use and the patient carries out matching verification.
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| CN201611265078.1A CN106725762A (en) | 2016-12-30 | 2016-12-30 | A kind of automatic puncturing method |
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| CN201611265078.1A CN106725762A (en) | 2016-12-30 | 2016-12-30 | A kind of automatic puncturing method |
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| CN108814621A (en) * | 2018-04-11 | 2018-11-16 | 于雪 | A kind of protection infectious disease blood sampling unit |
| CN108836440A (en) * | 2018-03-21 | 2018-11-20 | 北京理工大学 | A kind of control decision method and system puncturing auxiliary robot |
| CN110051328A (en) * | 2019-04-19 | 2019-07-26 | 中国联合网络通信集团有限公司 | Automatic pressing method and system after a kind of blood sampling |
| CN110432977A (en) * | 2019-08-07 | 2019-11-12 | 杭州睿笛生物科技有限公司 | A kind of electric pulse ablation apparatus and it is applicable in its emulation mode |
| CN110624152A (en) * | 2019-08-28 | 2019-12-31 | 中国福利会国际和平妇幼保健院 | Intelligent puncturing device and puncturing method for venous trocar |
| 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 |
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| CN108814621A (en) * | 2018-04-11 | 2018-11-16 | 于雪 | A kind of protection infectious disease blood sampling unit |
| CN108814621B (en) * | 2018-04-11 | 2021-09-07 | 于雪 | Protection formula passes catch disease blood specimen collection system |
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| CN111434316A (en) * | 2019-01-15 | 2020-07-21 | 北京理工大学 | Ultrasonic plane external blood vessel puncture auxiliary robot |
| CN110051328A (en) * | 2019-04-19 | 2019-07-26 | 中国联合网络通信集团有限公司 | Automatic pressing method and system after a kind of blood sampling |
| CN110051328B (en) * | 2019-04-19 | 2021-12-03 | 中国联合网络通信集团有限公司 | Automatic pressing method and system after blood sampling |
| CN110432977A (en) * | 2019-08-07 | 2019-11-12 | 杭州睿笛生物科技有限公司 | A kind of electric pulse ablation apparatus and it is applicable in its emulation mode |
| CN110624152A (en) * | 2019-08-28 | 2019-12-31 | 中国福利会国际和平妇幼保健院 | Intelligent puncturing device and puncturing method for venous trocar |
| 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 |
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| CN111026269A (en) * | 2019-12-04 | 2020-04-17 | 上海褚信医学科技有限公司 | Haptic feedback method, device and equipment of biological tissue structure based on force feedback |
| CN111820920A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Vein blood sampling data processing method and device and intelligent blood sampling robot |
| CN111820919A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling puncture control method and device and storage medium |
| CN111839534A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling method and blood sampling robot |
| CN111839534B (en) * | 2020-06-05 | 2023-09-05 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling method and blood sampling robot |
| CN111658144A (en) * | 2020-06-15 | 2020-09-15 | 覃士忠 | Control system and method of vascular robot based on autonomous control |
| CN112022294A (en) * | 2020-08-24 | 2020-12-04 | 同济大学 | Operation trajectory planning method of venipuncture robot based on ultrasonic image guidance |
| CN112957041B (en) * | 2021-03-08 | 2023-03-31 | 北京伟浩君智能技术有限公司 | Blood sampling robot control method and device based on blood vessel image |
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| CN116196112A (en) * | 2023-02-22 | 2023-06-02 | 极限人工智能有限公司 | Mechanical arm motion control method and surgical robot |
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| CN117017488A (en) * | 2023-10-10 | 2023-11-10 | 华中科技大学同济医学院附属协和医院 | Puncture arm path planning method comprising non-autonomous motion compensation |
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