CN108836440A - A kind of control decision method and system puncturing auxiliary robot - Google Patents
A kind of control decision method and system puncturing auxiliary robot Download PDFInfo
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- CN108836440A CN108836440A CN201810236512.6A CN201810236512A CN108836440A CN 108836440 A CN108836440 A CN 108836440A CN 201810236512 A CN201810236512 A CN 201810236512A CN 108836440 A CN108836440 A CN 108836440A
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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Abstract
The present invention provides a kind of control decision method and system for puncturing auxiliary robot, the method includes：S1 is established the real-time vascular pattern for puncturing target area medium vessels, and given physical sign parameters and pre-stored medical data based on the target body, is established referring to vascular pattern based on the real-time ultrasound image data for puncturing target area in target body；S2, by blood vessel and the blood vessel referring in vascular pattern in the real-time vascular pattern carry out it is corresponding paragraph by paragraph compare, determine each section on the blood vessel in the real-time vascular pattern of puncture feasibility assessment data；S3 is based on the puncture feasibility assessment data, determines the optimal site of puncture in the puncture target area.The present invention can effectively make up the deficiency of doctors experience, provide quantizating index for puncture procedure, and the success rate and good effect of puncture procedure feasibility is effectively ensured, avoids puncture failure risk.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly, to a kind of control decision for puncturing auxiliary robot
Method and system.
Background technique
Central venous puncture is the first step of central venous catheterization, is to be widely used in emergency treatment, severe
The important medical technology in the fields such as monitoring, cardio-vascular interventional therapeutic, surgery anesthesia, energetic nourishing support.Puncture procedure is to medical care
The operative skill level requirement of personnel is higher, and first puncture success rate is lower.
The principal element for influencing central venous puncture success rate has selection, puncture path and the puncture needle of site of puncture
Control etc..In addition there are other factors, such as the deformation of target blood.Then existed using the puncture auxiliary robot under Ultrasound intervention
Real-time ultrasonic image obtains and identification, puncture decision, lancing motion precise positioning etc. solve puncture procedure and needs doctor
There is the problem of preferable clinical experience, avoid the risk of puncture failure caused by human factor and complication.The prior art
Middle there are a kind of according to geometry and location parameters such as position, the sizes of blood vessel, and the side of puncture position is determined by computer program
Method.
It is more by patient size, age, blood pressure, blood vessel deformation, anatomical variation etc. but during actual puncture procedure
The influence of kind sign factor, the feasibility of puncture are unable to accurate evaluation, and the success rate and effect of puncture procedure cannot be guaranteed.
Summary of the invention
In order to overcome the above problem or at least be partially solved the above problem, the present invention provides a kind of puncture auxiliary machinery
The control decision method and system of people, to comprehensively consider the multinomial influence factor of puncture process, so that puncture behaviour be effectively ensured
The success rate and good effect of work.
On the one hand, the present invention provides a kind of control decision method for puncturing auxiliary robot, including：S1 is based on target person
The real-time ultrasound image data that target area is punctured on body establishes the real-time vascular pattern for puncturing target area medium vessels,
And given physical sign parameters and pre-stored medical data based on the target body, it establishes referring to vascular pattern；S2, by institute
State blood vessel in real-time vascular pattern and the blood vessel referring in vascular pattern carry out it is corresponding paragraph by paragraph compare, determine described real-time
Each section of puncture feasibility assessment data on blood vessel in vascular pattern；S3 is based on the puncture feasibility assessment data, determines
Optimal site of puncture in the puncture target area.
Further, after the S3 the step of, the method also includes：Based on the real-time of the optimal site of puncture
Ultrasonic image data obtain blood vessel in the real-time ultrasound image data of the optimal site of puncture using image recognition technology
Position data and shape data；Optimal puncture is calculated using plan model is punctured based on the position data and shape data
Point, optimal puncture path and puncture control parameter；According to the optimal puncture path and the puncture control parameter, adjustment
The posture and motion state of puncture needle control the puncture needle and reach the optimal point of puncture and stab the optimal puncture
Human vas at point.
Further, the method also includes：Detect the stress of puncture needle in puncture process, and based on it is described by
Power state judges the piercing state of the puncture needle.
Further, the method also includes：The piercing state is shown by stress curve；And/or for different
The piercing state, issues corresponding standby signal.
Wherein, described the step of being directed to the different piercing states, issuing corresponding standby signal, further comprises：Note
The puncture time after record thorn medium vessels standby signal sending, and when judging that the puncture time reaches setting safety time,
It issues and pierces through vascular risk alarm alert signal, prompt to stop puncture procedure.
Wherein, the step of S2 further comprises：By the blood vessel and the reference blood vessel in the real-time vascular pattern
Correspondence blood vessel in model is segmented by same intervals unit, and calculates the blood vessel in the real-time vascular pattern and the ginseng
According to the cross-sectional area ratio of corresponding segments on the blood vessel in vascular pattern；Based on the cross-sectional area ratio, determine described real-time
Each section of puncture feasibility assessment data on blood vessel in vascular pattern.
Wherein, the given physical sign parameters include gender, age, figure and blood pressure；Correspondingly, being based on described in step S1
The given physical sign parameters and pre-stored medical data of the target body, foundation are further wrapped referring to the step of vascular pattern
It includes：Based on the gender, age, figure, the reference blood vessel data in the medical data is matched, and be based on the blood pressure, repaired
The just described reference blood vessel data, generates described referring to vascular pattern.
On the other hand, the present invention provides a kind of control decision system for puncturing auxiliary robot, including：Data store mould
Block, for storing the real-time ultrasound image data for puncturing target area in medical data and target body；Data Input Interface is used
In the given physical sign parameters for obtaining the target body；Data processing module is built for being based on the real-time ultrasound image data
Found the real-time vascular pattern for puncturing target area medium vessels, and given physical sign parameters and institute based on the target body
It states medical data, establishes referring to vascular pattern, and by blood vessel in the real-time vascular pattern and described referring to vascular pattern
In blood vessel carry out it is corresponding paragraph by paragraph compare, determine each section on the blood vessel in the real-time vascular pattern of puncture feasibility assessment number
According to；Control decision module is determined and described punctures optimal wearing in target area for being based on the punctures feasibility assessment data
Pierce position.
Further, the system also includes：Motion-control module, for according to determining optimal puncture path, and
Determining puncture control parameter adjusts the posture and motion state of puncture needle, controls the puncture needle and reaches optimal puncture
It puts and stabs the human vas at the optimal point of puncture；Correspondingly, the data processing module is also used to：Based on described optimal
The real-time ultrasound image data of site of puncture obtains blood vessel in the real-time of the optimal site of puncture using image recognition technology
Position data and shape data in ultrasonic image data；Correspondingly, the control decision module is also used to：Based on the position
Data and shape data calculate the optimal point of puncture, the optimal puncture path and the puncture using plan model is punctured
Control parameter.
Further, the system also includes：Pressure detecting module, for detecting the stress of puncture needle in puncture process
State；Correspondingly, the data processing module is also used to：The piercing shape of the puncture needle is judged based on the stress
State.
A kind of control decision method and system puncturing auxiliary robot provided by the invention, for the patient of different constitutions
Puncture decision is made by a variety of data informations, there is auxiliary doctor to assess and puncture feasibility, optimal site of puncture is provided and is worn
The function of piercing motion control parameter and puncture process safety custody, can effectively make up the deficiency of doctors experience, to puncture behaviour
Offer quantizating index is provided, the success rate and good effect of puncture procedure is effectively ensured, avoids puncture failure risk.
Detailed description of the invention
Fig. 1 is a kind of flow chart for the control decision method for puncturing auxiliary robot of the embodiment of the present invention；
Fig. 2 is to determine on blood vessel each section according in a kind of control decision method for puncturing auxiliary robot of the embodiment of the present invention
Puncture feasibility assessment data flow chart；
Fig. 3 is according to the real-time blood vessel established in a kind of control decision method for puncturing auxiliary robot of the embodiment of the present invention
Model and referring to vascular pattern schematic diagram；
Fig. 4 is the adjustment according to puncture needle in a kind of control decision method for puncturing auxiliary robot of the embodiment of the present invention
Decision flow diagram；
Fig. 5 is to puncture according in a kind of puncture process for the control decision method for puncturing auxiliary robot of the embodiment of the present invention
The stress schematic graph of needle set；
Fig. 6 is according to a kind of puncture process medium vessels for the control decision method for puncturing auxiliary robot of the embodiment of the present invention
State change schematic diagram；
Fig. 7 is a kind of structural schematic diagram for the control decision system for puncturing auxiliary robot of the embodiment of the present invention；
Fig. 8 is the structural schematic diagram that the control decision system of auxiliary robot is punctured according to another kind of the embodiment of the present invention；
Fig. 9 is that another punctures the structural schematic diagram of the control decision system of auxiliary robot according to the embodiment of the present invention；
Figure 10 is the point of puncture and puncture according to a kind of control decision system for puncturing auxiliary robot of the embodiment of the present invention
Angle schematic illustration.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, is clearly and completely described the technical solution in the present invention, it is clear that described embodiment is one of the invention
Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
As the one aspect of the embodiment of the present invention, the present embodiment provides a kind of control decision sides for puncturing auxiliary robot
Method is a kind of flow chart for the control decision method for puncturing auxiliary robot of the embodiment of the present invention with reference to Fig. 1, including：
S1 establishes the puncture target area based on the real-time ultrasound image data for puncturing target area in target body
The real-time vascular pattern of medium vessels, and given physical sign parameters and pre-stored medical data based on the target body, build
Vertical reference vascular pattern；
Blood vessel in the real-time vascular pattern is carried out corresponding ratio paragraph by paragraph with the blood vessel referring in vascular pattern by S2
It is right, determine each section on the blood vessel in the real-time vascular pattern of puncture feasibility assessment data；
S3 is based on the puncture feasibility assessment data, determines the optimal site of puncture in the puncture target area.
It can be understood as, it is contemplated that clinical data display manual operation puncture success rate depends primarily on doctor and knows dissection
The height of the understanding of knowledge and self-technique level, while the constitution (for example obesity, angioplerosis degree are low) of patient is also to influence
An important factor for puncture success rate.
Therefore, before the present embodiment implementation, the real-time ultrasound image that target area is punctured in target body is obtained in advance
Data.For example, obtaining and puncturing by assisting Needle-driven Robot ultrasonic probe to be scanned the puncture target area of target body
Target area is continuous, complete blood vessel real-time ultrasound image data.
Meanwhile it collecting medical data in advance and being stored, or being connected to the data-interface of medicine big data.Also, it is right
The given physical sign parameters of target body are measured and are recorded.Such as using the blood pressure of blood pressure detector detection target body, lead to
Height, the weight for crossing measurement target body, judge the bodily form, fat content of target body etc..
The given physical sign parameters include gender, age, figure and blood pressure in one of the embodiments,.
Wherein, in step sl, according to the real-time ultrasound image data obtained in advance, digitized processing is carried out, extracts blood
Pipe feature, and three-dimensional reconstruction is carried out to the blood vessel punctured in target area according to the feature of extraction, establish real-time vascular pattern.
Meanwhile by the way that the given physical sign parameters of target body are matched and corrected with the medical data of storage, establish
Referring to vascular pattern.For example, according to the given physical sign parameters gender, age, figure and blood pressure of above-described embodiment, correspondingly, step
Given physical sign parameters and pre-stored medical data based on the target body described in rapid S1, are established referring to vascular pattern
The step of further comprise：Based on the gender, age, figure, the reference blood vessel data in the medical data, and base are matched
In the blood pressure, correct described referring to blood vessel data, the generation reference vascular pattern.
Wherein, in step s 2, it by being compared by the real-time vascular pattern established and referring to vascular pattern, provides and wears
Pierce the quantization judgment basis of feasibility.That is, according to the specific given parameters of real-time vascular pattern medium vessels and referring to vascular pattern
The two is carried out corresponding comparison, according to comparison result by setting rule, really in the identical parameters of corresponding position by middle corresponding blood vessel
Determine the feasibility quantized data of position on blood vessel.
For example, in one embodiment, the S2's is further processed step with reference to Fig. 2, for according to the embodiment of the present invention
It is a kind of puncture auxiliary robot control decision method in determine blood vessel on each section puncture feasibility assessment data flow chart,
Including：
Blood vessel in the real-time vascular pattern is pressed identical with the correspondence blood vessel referring in vascular pattern by S21
It is segmented every unit, and it is corresponding on the blood vessel referring in vascular pattern to calculate the blood vessel in the real-time vascular pattern
The cross-sectional area ratio of segmentation；
S22 is based on the cross-sectional area ratio, determines that each section on the blood vessel in the real-time vascular pattern of puncture is feasible
Property evaluation data.
Step S21 carries out whole contrast judgement to target blood it is to be understood that in order to avoid local optimum, first
First by real-time vascular pattern blood vessel with referring to the corresponding blood vessel in vascular pattern according to corresponding position, with same segment unit
It is segmented, then traverses all segmentations in the blood vessel, calculate the cross-sectional area of each segmentation medium vessels, and calculate real-time blood vessel
The corresponding cross-sectional area of model and the ratio referring to the cross-sectional area of corresponding position blood vessel in vascular pattern.
Then, it in step S22, according to the cross-sectional area ratio being respectively segmented in above-mentioned steps, is worn according to what is be previously set
Feasibility assessment rule is pierced, the puncture feasibility quantized data being respectively segmented on the blood vessel in real-time vascular pattern is determined, that is, punctures
Feasibility assessment data.
The puncture feasibility assessment number being respectively segmented on blood vessel is being determined according to above-described embodiment in one of the embodiments,
According to later, evaluation result is pressed corresponding position in the real-time ultrasound image data for puncturing target area according to the evaluation data
Different colours are shown.
For example, carrying out real-time vascular pattern and the comparison referring to blood vessel data model first, comparison coefficient is real-time blood vessel
For model with referring to the ratio for corresponding to vessel cross-sections product in blood vessel data model, ratio shows real-time vascular pattern closer to 1
It is shown on real-time imaging closer to referring to blood vessel data model, while by ratio by display system.
Feasibility will be punctured according to ratio size and be divided into three sections, ratio less than 0.5 (graphic color is denoted as red,
Numerical value is smaller, and color is deeper) it is that puncture procedure has greater risk；Ratio 0.5~0.7 section (graphic color is denoted as yellow,
Numerical value is smaller, and color is deeper) when indicate puncture need to operate with caution；Ratio is greater than 0.7, and (graphic color is denoted as green, and numerical value is got over
Greatly, color is deeper) when indicate puncture have compared with high success rate.
Wherein, in step s3, the puncture feasibility assessment data obtained according to above-mentioned steps, determine optimal puncture portion
Position.For example, Fig. 3 (a), which rebuilds the position I vascular cross-section product ratio (0.92) in vascular pattern, is greater than the position II vascular cross-section product ratio
It is worth (0.64), therefore, chooses the position I as preferred site of puncture.
Wherein, in one embodiment, it in order to further confirm that optimal site of puncture, is worn according to above-described embodiment determination
It pierces after the optimal site of puncture in target area, according to determining optimal site of puncture, auxiliary Needle-driven Robot ultrasound is visited
Head is moved to target site and scans again, by control decision system contrast judgement and confirms optimal site of puncture, then fixes auxiliary
Help Needle-driven Robot position.Wherein, the clamping of hand-held or auxiliary mechanical arm can be used in the fixed form of mobile auxiliary Needle-driven Robot
Mode.
A kind of control decision method puncturing auxiliary robot provided in an embodiment of the present invention, for the patient of different constitutions
Puncture decision is made by a variety of data informations, there is auxiliary doctor to assess and puncture feasibility, optimal site of puncture is provided and is worn
The function of piercing motion control parameter and puncture process safety custody, can effectively make up the deficiency of doctors experience, to puncture behaviour
Make feasibility assessment and quantizating index is provided, the success rate and good effect of puncture procedure is effectively ensured, avoids puncture failure risk.
In order to further illustrate above-described embodiment, more specific description is carried out below, but does not limit protection model of the invention
It encloses.
Puncture procedure person measures the blood pressure of patient first, and by the blood pressure data of patient and sign data (gender, the age,
Height, weight etc.) input.It selects the ultrasonic probe for being suitble to patient and is mounted on to puncture on auxiliary robot then referring to table 1, choosing
Select suitable ultrasonography depth.Wherein target blood is placed in the center of ultrasound image or made by suitable picture depth expression
Its depth observes the midfield whether patients target's tissue is located at ultrasonic image area than target blood depth 1cm.It is hand-held to puncture auxiliary
The ultrasonic probe of robot is close to skin, using probe axis and blood vessel long axis parallel mode by outer lateral under clavicle on the right side of patient
Inside check targeted vein.
Table 1 corresponds to ultrasonic probe type list selected by different patients for the embodiment of the present invention
| Patient class | Jugular vein | Subclavian vein |
| Infant | High-frequency linear array | High-frequency linear array |
| Children | High-frequency linear array | Medium-high frequency linear array |
| Average adult | Medium-high frequency linear array | Medium-high frequency linear array/dimpling battle array |
| Obese adult | Medium-high frequency linear array | Middle low frequency dimpling battle array |
Under color ultrasound image, the blood flow color towards probe is red, and is blue away from the blood flow color of probe, definition
Vein color is blue.Adjustment ultrasonic probe is using slow along vein trend with blood vessel long axis vertical mode after determining venous locations
It slides probe detection and punctures target area, while observing the ultrasonic image in display system, it is ensured that vein image is located at viewing area
Domain midfield acquires real-time ultrasound image data.Vascular tissue's weight is realized using medical image acquisition, segmentation, three-dimensional reconstruction
It builds, obtains the real-time vascular pattern as shown in Fig. 3 (a).Fig. 3 (a) is according to a kind of puncture auxiliary robot of the embodiment of the present invention
Control decision method in the schematic diagram of real-time vascular pattern established.
Meanwhile according to the blood vessel data in the patient sign data Auto-matching medical data storage unit of input, then root
It is modified, is generated referring to vascular pattern, as shown in Fig. 3 (b) according to patient blood pressure data.Fig. 3 (b) is according to the embodiment of the present invention
It is a kind of puncture auxiliary robot control decision method in establish reference vascular pattern schematic diagram.
Then, it is compared by real-time vascular pattern and referring to vascular pattern according to above-described embodiment, and is tied according to comparing
Fruit determines optimal site of puncture.
In order to further confirm that optimal site of puncture, operator moves again to be confirmed on ultrasonic probe to the position I.Really
Hand-held or the fixed Needle-driven Robot of other auxiliary mechanical arms can be passed through after recognizing.
Further, on the basis of the above embodiments, after the S3 the step of, the method also includes such as Fig. 4
Shown in control flow, Fig. 4 be according to the embodiment of the present invention it is a kind of puncture auxiliary robot control decision method in puncture needle
The adjustment decision flow diagram of tool, including：
S4 is obtained blood vessel and existed based on the real-time ultrasound image data of the optimal site of puncture using image recognition technology
Position data and shape data in the real-time ultrasound image data of the optimal site of puncture；
S5 is based on the position data and shape data, using plan model is punctured, calculates optimal point of puncture, optimal wears
It pierces path and punctures control parameter；
S6 adjusts the posture and movement of puncture needle according to the optimal puncture path and the puncture control parameter
State controls the puncture needle and reaches the optimal point of puncture and stab the human vas at the optimal point of puncture.
It is to be understood that after the optimal position punctured according to above-described embodiment decision, also to control puncture needle into
Row puncture procedure.Puncturing auxiliary robot can be determined by obtaining and analyzing sufferer sign data via decision system is punctured, real
Now the quantitative evaluation to targeted vein puncture procedure condition and give optimal lancing motion control data, including optimal puncture position
It sets, puncture path, puncture angle and puncture the parameters such as speed, that realizes under real-time ultrasound guidance accurate punctures and seal wire is set
Enter.
Specifically in step s 4, according to the Vascular Ultrasonography image at determining optimal site of puncture position, schemed by ultrasound
As identification technology, the ultrasonic blood vessel image that this position obtains is identified and parsed, position and the shape of target blood is calculated
Data, i.e., coordinate data and shape data in ultrasonic image.
Then in step s 5, the coordinate data and shape data according to the blood vessel of acquisition in ultrasonic image, using pre-
The puncture plan model first established calculates optimal point of puncture position coordinates, and punctures optimal path, and specific puncture is controlled
Parameter processed, such as puncture angle, puncture speed.
Finally in step s 6, according to optimal puncture path, and the puncture control parameter obtained according to above-mentioned steps is to wearing
Pricker tool adjusts accordingly.Including but not limited to the posture of puncture needle, such as position, angle；Motion state such as moves
Direction, the adjustment for puncturing speed and puncture acceleration etc., control puncture needle are moved to optimal point of puncture and stab blood vessel.
Wherein in one embodiment, after calculating optimal puncture path by puncture plan model, with marking line
Optimal puncture path is shown on ultrasound image by form, is then confirmed by operator.
A kind of control decision method puncturing auxiliary robot provided in an embodiment of the present invention, by optimal being worn to determining
The analysis of targeted vein ultrasonic image at position is pierced, is realized to the posture of puncture needle and the automatic calculating of kinematic parameter, thus
It realizes the quick adjustment to puncture needle posture and motion state, the success rate and efficiency of puncture procedure can be effectively improved.
Further, on the basis of the above embodiments, the method also includes：Detect puncture needle in puncture process
Stress, and judge based on the stress piercing state of the puncture needle.
It is to be understood that can occur during puncture needle is pierced into since vascular tissue has certain elasticity
Deformation, resistance suffered by the process and puncture needle of blood vessel deformation have certain relationship, pass through real-time monitoring penetration Resistance
Judge whether blood vessel deformation is in safe range, runs through target blood to avoid puncture needle.
Specifically during carrying out puncture procedure, through pressure sensor real-time detection puncture needle in puncture process
Stress.In one embodiment, while also stress is shown on the display system in the form of stress curve.
As shown in figure 5, for puncturing through according to a kind of control decision method for puncturing auxiliary robot of the embodiment of the present invention
The stress schematic graph of puncture needle in journey, Fig. 5 show the stress of puncture needle during puncture needle piercing manikin
State.Since venous blood tube wall has certain elasticity, when puncture needle pierces medium vessels, can't pierce through immediately.Fig. 6 is shown
Puncture needle is pierced into the deformation of vascular process medium vessels, for according to a kind of control for puncturing auxiliary robot of the embodiment of the present invention
The puncture process medium vessels state change schematic diagram of decision-making technique processed.Fig. 6 (a) shows puncture needle thorn medium vessels but does not pierce
Broken, blood vessel generates certain Dish deformation.The force feedback numerical value rapid increase of puncture needle is shown by Fig. 5 at this time.When puncture needle after
Continuous to be pierced into, Fig. 6 (b) shows that vascular wall has been cut in puncture needle front end, and Fig. 5 shows that the numerical value of puncture needle force feedback this moment has and slightly returns
It falls.Continue to be pierced into puncture needle, Fig. 6 (c) shows that puncture needle front end has cut completely through vascular wall, and Fig. 5 display punctures needle force
Fed back values are quickly fallen after rise after slightly rebounding.
Further, on the basis of the above embodiments, the method also includes：
The piercing state is shown by stress curve；
And/or for the different piercing states, issue corresponding standby signal.
It is to be understood that the stress of puncture needle can be shown in the form of stress curve according to above-described embodiment
Show on the display system.Different piercing states can be shown with different standby signals simultaneously, such as with different
Color is prompted.It is of course also possible to individually be prompted with standby signal piercing state.Therefore, when puncture needle penetrates
The moment of blood vessel, penetration Resistance are fallen after rise therewith, and control decision system can issue prompt information in the form of sound, light immediately, are prompted
Puncture procedure person should stop inserting needle operation, to effectively improve the safety of puncture process.
For example, sending judges signal according to the situation of change of stress curve slope in the unit time, skin is respectively punctured
Skin pierces medium vessels, punctures blood vessel and is pierced into blood vessel.Signal is shown in display system in a manner of information and state, and is worked as
When issuing thorn medium vessels signal, it can trigger and puncture auxiliary robot light signal (light signal is yellowness ratings), prompt operation
Person pays attention to；When issuing piercing blood vessel signal, light signal and voice signal (light signal is red scale) can be triggered, is prompted
Operator should stop puncture procedure.
After puncture needle is successfully pierced into vein blood vessel, puncture the syringe negative pressure device of auxiliary robot pass through it is disposable soft
Pipe is connected with the three-way interface port of puncture needle, and syringe negative pressure device is started automatically after being pierced into skin with puncture needle
Drawn needle cylinder is drawn to establish negative pressure state, draws the speed of drawn needle cylinder to be needled into speed with puncture and is consistent.When puncture is needled into
After blood vessel, venous blood passes through puncture needle, flows to syringe negative pressure device by hose via three-way interface port, and pumpback is to quiet
Arteries and veins blood is to puncture successful important symbol.
Wherein, in one embodiment, described to be directed to the different piercing states, issue the step of corresponding standby signal
Suddenly further comprise：The puncture time after record thorn medium vessels standby signal sending, and work as and judge that the puncture time reaches
It when setting safety time, issues and pierces through vascular risk alarm alert signal, prompt to stop puncture procedure.
It is to be understood that it is to have certain time interval that puncture needle, which pierces medium vessels to blood vessel is pierced into, with reference to Fig. 5, system note
Record issues the time T after thorn medium vessels signalP, and with the safety time T that is stored in systemPSCompared to pair.One of embodiment
In, the calculation method of safety time is the blood vessel diameter obtained by image recognition and the ratio for puncturing speed, i.e. TPS=DV/
VP, wherein DVFor blood vessel diameter, VPTo puncture velocity amplitude.
Work as TPS-TPLess than setting threshold value when, issue prompt information be shown in display system and light signal (light letter
Number it is red scale), it prompts operator that should stop puncture procedure, causes to avoid continuing to puncture through entire vein blood vessel.
As the other side of the embodiment of the present invention, the present embodiment provides a kind of control decisions for puncturing auxiliary robot
System is a kind of structural schematic diagram for the control decision system for puncturing auxiliary robot of the embodiment of the present invention with reference to Fig. 7, including：
Data memory module 701, Data Input Interface 702, data processing module 703 and control decision module 704.Wherein,
Data memory module 701 is used to store the real-time ultrasound image that target area is punctured in medical data and target body
Data；Data Input Interface 702 is used to obtain the given physical sign parameters of the target body；Data processing module 703 is used for base
In the real-time ultrasound image data, the real-time vascular pattern for puncturing target area medium vessels is established, and based on described
The given physical sign parameters and the medical data of target body are established referring to vascular pattern, and by the real-time vascular pattern
In blood vessel and the blood vessel referring in vascular pattern carry out it is corresponding paragraph by paragraph compare, determine the blood in the real-time vascular pattern
Manage each section of puncture feasibility assessment data；Control decision module 704 is used to be based on the puncture feasibility assessment data, really
The fixed optimal site of puncture punctured in target area.
It is to be understood that a kind of control decision system of puncture auxiliary robot of the present embodiment includes data with reference to Fig. 7
Memory module 701, Data Input Interface 702, data processing module 703 and control decision module 704.Wherein, data store mould
Block 701 further comprises external medical data cell and ultrasonic image unit.Data Input Interface 702 is used for target body blood pressure
And the input of sign data, external medical data cell, ultrasonic image unit and Data Input Interface 702 and data processing module
703 connections, data processing module 703 are connect with control decision module 704.
Specifically, data acquisition device includes supersonic sounding instrument, blood pressure detector etc.；Data storage includes medicine number
According to storage and ultrasonic image storage；Processing module includes data processing module 703 and control decision module 704.
When system is run, the ultrasonic probe of supersonic sounding instrument is mounted on the bottom end for puncturing auxiliary robot.Ultrasound is visited
It surveys instrument, sign and blood pressure data input module and pressure-detecting device is connect with data processing system, data processing module
703 connect with control decision module 704.Data processing module 703 obtains medical data and target person from data memory module 701
The real-time ultrasound image data that target area is punctured on body obtains the given sign ginseng of target body from Data Input Interface 702
Number.
Later, it based on the real-time ultrasound image data for puncturing target area, establishes and punctures the real-time of target area medium vessels
Vascular pattern, given physical sign parameters and medical data based on target body are established referring to vascular pattern, and by real-time blood vessel
Blood vessel in model with referring to the blood vessel in vascular pattern carry out it is corresponding paragraph by paragraph compare, determine on the blood vessel in real-time vascular pattern
Each section of puncture feasibility assessment data.Decision calculating is finally carried out by control decision module 704, obtains puncturing in target area
Optimal site of puncture.
A kind of control decision system puncturing auxiliary robot provided in an embodiment of the present invention, for the patient of different constitutions
Puncture decision is made by a variety of data informations using data processing module 703 and control decision module 704, there is auxiliary doctor
Assessment punctures feasibility, provides the function of optimal site of puncture and lancing motion control parameter and puncture process safety custody,
The deficiency that doctors experience can effectively be made up, provides quantizating index for puncture procedure, be effectively ensured puncture procedure success rate and
Good effect avoids puncture failure risk.
Further, on the basis of the above embodiments, the system also includes：Motion-control module, for according to really
Fixed optimal puncture path, and the puncture control parameter determined, adjust the posture and motion state of puncture needle, described in control
Puncture needle reaches optimal point of puncture and stabs the human vas at the optimal point of puncture；
Correspondingly, data processing module 703 is also used to：Based on the real-time ultrasound image data of the optimal site of puncture,
Using image recognition technology, position data and shape of the blood vessel in the real-time ultrasound image data of the optimal site of puncture are obtained
Shape data；
Correspondingly, control decision module 704 is also used to：Based on the position data and shape data, planned using puncturing
Model calculates the optimal point of puncture, the optimal puncture path and the puncture control parameter.
It is to be understood that data processing module 703 can also be used to according to determining optimal site of puncture in the present embodiment
Vascular Ultrasonography image at position identifies reconciliation to the ultrasonic blood vessel image that this position obtains by ultrasound image identification technology
Analysis, is calculated position and the shape data of target blood, i.e., coordinate data and shape data in ultrasonic image.
Correspondingly, control decision module 704 also needs the coordinate data and shape according to the blood vessel of acquisition in ultrasonic image
Shape data calculate optimal point of puncture and puncture needle and are stabbed by optimal point of puncture using the puncture plan model pre-established
The optimal path of blood vessel, and control parameter is specifically punctured, such as puncture angle, puncture speed.
Correspondingly, motion-control module is in addition arranged in systems, it is used to according to optimal puncture path, and punctures control
Parameter adjusts accordingly puncture needle, including but not limited to the posture of puncture needle, such as direction position, angle；Fortune
Dynamic state, such as the direction of motion, puncture speed and puncture the adjustment of acceleration, control puncture needle be moved to optimal point of puncture and
Stab blood vessel.
Further, on the basis of the above embodiments, the system also includes：Pressure detecting module is worn for detecting
The stress of puncture needle during thorn；
Correspondingly, data processing module 703 is also used to：The piercing shape of the puncture needle is judged based on the stress
State.
It is to be understood that can occur during puncture needle is pierced into since vascular tissue has certain elasticity
Deformation, resistance suffered by the process and puncture needle of blood vessel deformation have certain relationship, pass through real-time monitoring penetration Resistance
Judge whether blood vessel deformation is in safe range, runs through target blood to avoid puncture needle.
Therefore, the present embodiment is also needing carrying out puncture behaviour according to the data processing module 703 in above-described embodiment
During work, pass through stress of the real-time detections puncture needle such as pressure sensor in puncture process.Implement at one
In example, while also stress being shown on the display system in the form of stress curve.
Technical solution in order to further illustrate the present invention, citing carries out more specific description below, but does not limit this
The protection scope of invention.
Firstly, the puncture auxiliary robot according to embodiments of the present invention has following features：According to different patient's constitutions
Assemble corresponding ultrasonic probe；According to the Venous Blood pipe image of ultrasonic continuous scanning carry out reconstructing three-dimensional model, by and knot
It closes the reference blood vessel data model that the sign datas such as blood pressure generate to compare, to puncture feasible property coefficient (0~1) or color figure
The form of (red indicates that greater risk, yellow expression need to operate with caution, green indicates that puncture success rate is higher) is prompted to behaviour
Author, and provide the position for being appropriate for puncture procedure；According to vein blood vessel ultrasonic image automatic identification shape of blood vessel and position
And calculate lancing motion control parameter；With patient sign data and other external medical big data input interfaces；Puncture needle
Having pose adjustment has three transverse shifting, pitching and lancing motion freedom of motion；Puncture needle path simulation function
Energy；Puncture needle force feedback function and safety custody function；The withdraw of the needle is synchronized into seal wire function；Automatic pumpback venous blood function；It is super
Sound shadow is as real-time display function；Handle manipulation function.And towards be jugular vein and subclavian vein puncture art, sound herein
Arteries and veins companion row is together.
As shown in figure 8, in one embodiment, the control decision system of the puncture auxiliary robot provided includes：It is a variety of
Data acquisition module 806, data processing and Decision Control module 8011, many of data acquisition module 806 is by external medical
Data 807, blood pressure and sign data 808, pressure sensing cell 809, ultrasonic image unit 8010 form.Data processing and decision
Control module 8011 is by data storage cell 8013, data processing unit 8014, puncture decision package 8015 and motion control list
Member 8016 forms.Blood pressure and sign data 808, pressure sensing cell 809, ultrasonic image unit 8010 are and data processing unit
8014 connections.
Meanwhile data processing unit 8014 is connected with display module 8012 and puncture decision package 8015 respectively, puncture is determined
Plan unit 8015 and motion control unit 8016 connect, and connect with display module 8012.External medical data 807 and data storage
Memory cell 8013 connects, and motion control unit 8016 and puncture host 804 connect.804 bottom of host is punctured to visit equipped with ultrasonic wave
First 803,802 end of puncture needle is equipped with pressure sensor 805.Motion control unit 8016 and puncture decision package 8015 connect
It connects, display module 8012 and puncture decision package 8015 connect.801 be target blood.Fig. 8 is another according to the embodiment of the present invention
Kind punctures the structural schematic diagram of the control decision system of auxiliary robot.
It is arranged according to the pressure sensor 805 of the force checking device in above-described embodiment in puncture needle top, puncture needle
Tool attitude regulating mechanism includes the adjustment device of horizontal position and puncture angle, punctures and seal wire embedded device includes puncturing control
Device and seal wire are placed in control device.
With reference to Fig. 9, show for another structure for puncturing the control decision system of auxiliary robot according to the embodiment of the present invention
It is intended to.System control core is used as by the built-in industrial control machine 100 of high-performance multiple standards interface, control model has automatic control
Both of which is made and manually controlled, is required to hold first under two kinds of control models and punctures medical assistance robotic ultrasound probe and look into
It brings vexation on oneself the targeted vein of trouble, determines and fixed after targeted vein puncture medical assistance robot location.
Then, operating mode is selected, auxiliary robot is punctured under automatic mode according to data processing and Decision Control module
Puncture needle is automatically adjusted to give puncture position and puncture angle by 8011 optimal paths provided and kinematic parameter；Manual mould
It is then manipulated by hand held controller 22 under formula, the posture that control punctures auxiliary robot puncture needle is allowed to and punctures decision
The optimal path that system provides matches.It is both needed to manually control under both of which and carries out puncturing the merging with seal wire.Industrial personal computer 100
It is attached by the motor driver in the motion-control module 110 of bus communication module 20 and puncture auxiliary robot.It adopts
The stability and reliability of control signal transmission are ensured with bus communication.
With reference to Fig. 9, in order to ensure accurate reliable, the pose adjustment (position and pitch angle) of puncture needle of Needle localization
Control with puncture (speed, acceleration) uses micro servo motor and combines high-accuracy ball-screw, and ball-screw uses C5
Grade, lead 1mm, positioning accuracy error are ± 0.018mm.Motor is controlled for seal wire and punctures pitch angle and controls motor,
Its movement velocity slowly, therefore will use the servo motor of two kinds of specifications with respect to lancing motion, wherein puncturing pitch angle, seal wire is set
Enter to control servo motor maximum speed 9430rpm, decelerating through motor is than 16:1, puncture pitch angle maximal regulated speed be 18.5 °/
S, puncture position translation, lancing motion and seal wire merging control servo motor maximum speed 6220rpm, decelerating through motor is than 6.6:1,
It is 12.6mm/s that puncture needle, which adjusts maximum speed, and encoder for servo motor resolution ratio is that every circle exports 4096 pulses, driving
Power supply is 24V/0.17mA.
In present example, ultrasonic probe 803 emits ultrasonic wave to targeted vein blood vessel, and receives scanning probe region
The ultrasonic wave of reflection, by collected data information transfer to ultrasonic image unit 8010.Ultrasonic image unit 8010, which receives, to be visited
It is first 803 send data informations, and by processing data information be ultrasound image data information after be transmitted further to built-in industrial control machine
Signal acquisition unit 19.Signal acquisition unit 19 is the standard hardware interface of computer, for reading in ultrasonic image unit
The image data information of 8010 outputs.
Computer punctures the data processing unit 8014 of auxiliary robot software systems by calling imaging function function pair
The collected ultrasound image data information of signal acquisition unit 19 carries out digitized processing, is based on medical image acquisition, segmentation, three
It ties up reconstruction technique and implements vascular tissue's real-time reconstruction.
It punctures decision package 8015 to be responsible for judging optimal site of puncture, data processing unit is according to the super of optimal site of puncture
Sound blood vessel image calculates coordinate data and shape data of the blood vessel in ultrasonic image, and is calculated by puncturing plan model
Optimal puncture path.As shown in Figure 10, for according to a kind of control decision system for puncturing auxiliary robot of the embodiment of the present invention
Point of puncture and puncture angle schematic illustration.Optimal puncture path determines point of puncture C, coordinate position (x2,y2), puncture angle is
θ.Optimal puncture path is shown on ultrasound image in the form of marking line.
Decision package 8015 is punctured to pass calculated puncture point coordinate data, puncture angle and lancing motion speed parameter
Motion control unit 8016 is given, control parameter is sent to always by motion control unit 8016 by industrial control computer mainboard data/address bus
Line communication module 20.Bus communication is CAN bus, communication protocol CANOpen, 20 model CAN- of bus communication module
IB100。
Lancing motion control parameter is sent to motion-control module 110, motion-control module 110 by bus communication module 20
It is made of four drivers (23,24,25,26) and four DC servo motors (27,28,29,30), four drivers are in CAN
Communication node number in bus is respectively set to 1,2,3,4, and drive model is EPOS 2 24/2.Driver 23 and seal wire
It controls motor 27 to be connected, driver 24 is connected with control motor 28 is punctured, and driver 25 is connected with pitching control motor 29, driving
Device 26 is connected with position control motor 30.
30 activation point regulating mechanism 6 of position control motor moves to target position, and pitching control motor 29 drives pitching
Then regulating mechanism 33 punctures the control driving of motor 28 and punctures the beginning puncture procedure of regulating mechanism 32, punctured to target angle
Cheng Hou, seal wire control motor 27 and seal wire regulating mechanism 31 are driven to carry out seal wire merging.
After puncture needle is successfully pierced into vein blood vessel, the syringe negative pressure device 36 for puncturing auxiliary robot passes through disposably
Hose 35 is connected with the 34 port c of three-way interface of puncture needle, and syringe negative pressure device 36 is as puncture needle is pierced into skin
After start to draw drawn needle cylinder automatically to establish negative pressure state, draw the speed of drawn needle cylinder to be needled into speed with puncture and be consistent.When
After puncture is needled into blood vessel, venous blood passes through puncture needle 802, flows to needle by hose 35 via 34 port c of three-way interface
Negative well bore pressure device 36, and pumpback is to puncture successful important symbol to venous blood.
It can start the merging of seal wire after puncturing successfully, operator operates hand held controller 22, issues seal wire merging letter
Number motion control unit 8016 is given, by bus communication module 20, is transferred to driver 23, and then control seal wire and control motor
27,31 setting in motion of seal wire regulating mechanism is driven, seal wire regulating mechanism 31 drives seal wire to enter via puncture needle side opening, until
Into in vein blood vessel, seal wire can be calculated into length by the rotation code value that record seal wire controls motor encoder.
The code value number that seal wire control motor encoder rotation is turned around is 65536, and seal wire control motor revolves the seal wire that turns around
Merging length is 47.124mm.After seal wire merging length is more than the length of puncture needle, started at this time by hand held controller 22
The withdraw of the needle can synchronously complete seal wire merging and withdraw of the needle operation into silk function, and seal wire is placed in length according to the constitution situation thing of patient
It is first set, numerical intervals are 15~20cm, after seal wire merging length reaches setting numerical value, puncture decision system and issue letter
Number prompt operator stop seal wire merging operation, by operator carry out confirmation seal wire merging length whether have reached setting value
It is required that.Confirm it is errorless after, puncture auxiliary robot i.e. complete puncture and seal wire be placed in function, paracentesis area is removed by operator
Domain, then carry out the insertion manual operation of insertion expansion pipe and central venous catheter.
In addition, those skilled in the art are it should be understood that in application documents of the invention, term " includes ",
"comprising" or any other variant thereof is intended to cover non-exclusive inclusion so that include a series of elements process,
Method, article or equipment not only include those elements, but also including other elements that are not explicitly listed, or are also wrapped
It includes as elements inherent to such a process, method, article, or device.In the absence of more restrictions, by sentence " including
One ... " limit element, it is not excluded that there is also another in the process, method, article or apparatus that includes the element
Outer identical element.
In specification of the invention, numerous specific details are set forth.It should be understood, however, that the embodiment of the present invention can
To practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this specification.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into a single embodiment, figure, or description thereof sometimes.
It is intended to however, should not explain the method for the disclosure in reflection is following：That is the claimed invention requirement
Features more more than feature expressly recited in each claim.More precisely, as claims are reflected
Like that, inventive aspect is all features less than single embodiment disclosed above.Therefore, it then follows the power of specific embodiment
Thus sharp claim is expressly incorporated in the specific embodiment, wherein each claim itself is as independent reality of the invention
Apply example.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, and those skilled in the art should understand that：It still can be right
Technical solution documented by foregoing embodiments is modified or equivalent replacement of some of the technical features；And this
It modifies or replaces, the spirit and model of technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (10)
1. a kind of control decision method for puncturing auxiliary robot, which is characterized in that including：
S1 establishes blood in the puncture target area based on the real-time ultrasound image data for puncturing target area in target body
The real-time vascular pattern of pipe, and given physical sign parameters and pre-stored medical data based on the target body establish ginseng
According to vascular pattern；
S2, by blood vessel and the blood vessel referring in vascular pattern in the real-time vascular pattern carry out it is corresponding paragraph by paragraph compare,
Determine each section on the blood vessel in the real-time vascular pattern of puncture feasibility assessment data；
S3 is based on the puncture feasibility assessment data, determines the optimal site of puncture in the puncture target area.
2. the method according to claim 1, wherein further including after the S3 the step of：
Based on the real-time ultrasound image data of the optimal site of puncture, using image recognition technology, obtain blood vessel it is described most
Position data and shape data in the real-time ultrasound image data of excellent site of puncture；
Based on the position data and shape data, using plan model is punctured, calculate optimal point of puncture, optimal puncture path and
Puncture control parameter；
According to the optimal puncture path and the puncture control parameter, the posture and motion state of puncture needle are adjusted, is controlled
The puncture needle is made to reach the optimal point of puncture and stab the human vas at the optimal point of puncture.
3. method according to claim 1 or 2, which is characterized in that further include：
The stress of puncture needle in puncture process is detected, and judges the piercing of the puncture needle based on the stress
State.
4. according to the method described in claim 3, it is characterized in that, further including：
The piercing state is shown by stress curve；
And/or for the different piercing states, issue corresponding standby signal.
5. according to the method described in claim 4, sending corresponds to it is characterized in that, described be directed to the different piercing states
Standby signal the step of further comprise：
Record thorn medium vessels standby signal issue after the puncture time, and when judge the puncture time reach set it is safe when
Between when, issue pierce through vascular risk alarm alert signal, prompt stop puncture procedure.
6. the method according to claim 1, wherein the step of S2, further comprises：
By blood vessel and the corresponding blood vessel referring in vascular pattern in the real-time vascular pattern by same intervals unit into
Row segmentation, and calculate the cross of corresponding segments on the blood vessel in the real-time vascular pattern and the blood vessel referring in vascular pattern
Sectional area ratio；
Based on the cross-sectional area ratio, each section on the blood vessel in the real-time vascular pattern of puncture feasibility assessment number is determined
According to.
7. the method according to claim 1, wherein the given physical sign parameters include gender, the age, figure and
Blood pressure；
Correspondingly, given physical sign parameters and pre-stored medical data described in step S1 based on the target body, build
It is vertical to further comprise referring to the step of vascular pattern：
Based on the gender, age, figure, the reference blood vessel data in the medical data is matched, and be based on the blood pressure, repaired
The just described reference blood vessel data, generates described referring to vascular pattern.
8. a kind of control decision system for puncturing auxiliary robot, which is characterized in that including：
Data memory module, for storing the real-time ultrasound image data for puncturing target area in medical data and target body；
Data Input Interface, for obtaining the given physical sign parameters of the target body；
Data processing module establishes the reality for puncturing target area medium vessels for being based on the real-time ultrasound image data
When vascular pattern, and given physical sign parameters and the medical data based on the target body establish referring to vascular pattern,
And by blood vessel and the blood vessel referring in vascular pattern in the real-time vascular pattern carry out it is corresponding paragraph by paragraph compare, determination
Each section of puncture feasibility assessment data on blood vessel in the real-time vascular pattern；
Control decision module determines optimal in the puncture target area for being based on the puncture feasibility assessment data
Site of puncture.
9. system according to claim 8, which is characterized in that further include：
Motion-control module, for adjusting puncture needle according to determining optimal puncture path, and determining puncture control parameter
The posture and motion state of tool control the puncture needle and reach optimal point of puncture and stab the human body at the optimal point of puncture
Blood vessel；
Correspondingly, the data processing module is also used to：
Based on the real-time ultrasound image data of the optimal site of puncture, using image recognition technology, obtain blood vessel it is described most
Position data and shape data in the real-time ultrasound image data of excellent site of puncture；
Correspondingly, the control decision module is also used to：Based on the position data and shape data, mould is planned using puncturing
Type calculates the optimal point of puncture, the optimal puncture path and the puncture control parameter.
10. system according to claim 8 or claim 9, which is characterized in that further include：
Pressure detecting module, for detecting the stress of puncture needle in puncture process；
Correspondingly, the data processing module is also used to：The piercing state of the puncture needle is judged based on the stress.
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| CN109805991A (en) * | 2019-03-14 | 2019-05-28 | 北京理工大学 | Vascular puncture auxiliary control 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 |
| CN111434316A (en) * | 2019-01-15 | 2020-07-21 | 北京理工大学 | Ultrasonic plane external blood vessel puncture auxiliary robot |
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| CN114237400A (en) * | 2021-12-17 | 2022-03-25 | 山东大学齐鲁医院 | PICC reality augmentation system, reality augmentation method and mobile terminal |
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