CN108836440B - Control decision method and system for puncture auxiliary robot - Google Patents
Control decision method and system for puncture auxiliary robot Download PDFInfo
- Publication number
- CN108836440B CN108836440B CN201810236512.6A CN201810236512A CN108836440B CN 108836440 B CN108836440 B CN 108836440B CN 201810236512 A CN201810236512 A CN 201810236512A CN 108836440 B CN108836440 B CN 108836440B
- Authority
- CN
- China
- Prior art keywords
- puncture
- blood vessel
- data
- real
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
-
- 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
Abstract
The invention provides a control decision method and a control decision system for a puncture auxiliary robot, wherein the method comprises the following steps: s1, establishing a real-time blood vessel model of the blood vessel in the puncture target area based on the real-time ultrasonic image data of the puncture target area on the target human body, and establishing a reference blood vessel model based on the given physical sign parameters of the target human body and pre-stored medical data; s2, carrying out section-by-section corresponding comparison on the blood vessel in the real-time blood vessel model and the blood vessel in the reference blood vessel model, and determining puncture feasibility evaluation data of each section of the blood vessel in the real-time blood vessel model; and S3, determining the optimal puncture site in the puncture target area based on the puncture feasibility evaluation data. The invention can effectively make up for the shortage of experience of doctors, provide quantitative indexes for puncture operation, effectively ensure the success rate and positive effect of the feasibility of the puncture operation and avoid the risk of puncture failure.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a control decision method and a control decision system for a puncture auxiliary robot.
Background
Central venipuncture is the first step of central venipuncture catheterization, and is an important medical technology widely applied to the fields of emergency treatment, intensive care, cardiovascular interventional therapy, surgical anesthesia, high-energy nutrition support and the like. The puncture operation has higher requirement on the operation skill level of medical personnel, and the success rate of the initial puncture is lower.
The main factors influencing the success rate of central venipuncture include the selection of puncture site, puncture path, control of puncture needle, and the like. There are also other factors, such as the deformation of the target vessel. The puncture auxiliary robot under the ultrasonic intervention solves the problem that a doctor needs to have better clinical experience in the aspects of real-time ultrasonic image acquisition and identification, puncture decision, accurate puncture movement positioning and the like, and avoids the risks of puncture failure and complications caused by human factors. In the prior art, a method for determining the puncture location by a computer program according to geometric and positional parameters such as the position and size of a blood vessel exists.
However, in the actual puncturing operation process, the feasibility of puncturing cannot be accurately evaluated due to the influence of various physical factors such as the body type, age, blood pressure, vascular deformation and anatomical variation of a patient, and the success rate and effect of puncturing operation cannot be guaranteed.
Disclosure of Invention
In order to overcome the above problems or at least partially solve the above problems, the present invention provides a control decision method and system for a puncture-assisting robot, which are used to comprehensively consider multiple influencing factors of a puncture process, thereby effectively ensuring the success rate and positive effect of the puncture operation.
In one aspect, the present invention provides a control decision method for a puncture-assisted robot, including: s1, establishing a real-time blood vessel model of the blood vessel in the puncture target area based on the real-time ultrasonic image data of the puncture target area on the target human body, and establishing a reference blood vessel model based on the given physical sign parameters of the target human body and pre-stored medical data; s2, carrying out section-by-section corresponding comparison on the blood vessel in the real-time blood vessel model and the blood vessel in the reference blood vessel model, and determining puncture feasibility evaluation data of each section of the blood vessel in the real-time blood vessel model; and S3, determining the optimal puncture site in the puncture target area based on the puncture feasibility evaluation data.
Further, after the step of S3, the method further includes: based on the real-time ultrasonic image data of the optimal puncture position, acquiring position data and shape data of the blood vessel in the real-time ultrasonic image data of the optimal puncture position by utilizing an image recognition technology; calculating an optimal puncture point, an optimal puncture path and puncture control parameters by using a puncture planning model based on the position data and the shape data; and adjusting the posture and the motion state of the puncture needle tool according to the optimal puncture path and the puncture control parameters, and controlling the puncture needle tool to reach the optimal puncture point and puncture the human blood vessel at the optimal puncture point.
Further, the method further comprises: and detecting the stress state of the puncture needle in the puncture process, and judging the puncture state of the puncture needle based on the stress state.
Further, the method further comprises: displaying the puncturing state through a stress curve; and/or sending out corresponding prompt signals according to different puncturing states.
Wherein the step of sending out corresponding prompt signals for different piercing states further comprises: and recording puncture time after the puncture blood vessel prompting signal is sent out, and sending a puncture blood vessel risk alarming prompting signal to prompt the stop of puncture operation when judging that the puncture time reaches set safe time.
Wherein the step of S2 further comprises: segmenting the blood vessel in the real-time blood vessel model and the corresponding blood vessel in the reference blood vessel model according to the same interval unit, and calculating the cross-sectional area ratio of the blood vessel in the real-time blood vessel model and the corresponding segment on the blood vessel in the reference blood vessel model; and determining puncture feasibility evaluation data of each section of the blood vessel in the real-time blood vessel model based on the cross-sectional area ratio.
Wherein the given physical sign parameters include gender, age, size, and blood pressure; correspondingly, the step of establishing a reference blood vessel model based on the given physical sign parameters of the target human body and the pre-stored medical data in step S1 further includes: and matching reference blood vessel data in the medical data based on the gender, the age and the body type, correcting the reference blood vessel data based on the blood pressure, and generating the reference blood vessel model.
In another aspect, the present invention provides a control decision system for a puncture-assisting robot, including: the data storage module is used for storing medical data and real-time ultrasonic image data of a puncture target area on a target human body; the data input interface is used for acquiring given physical sign parameters of the target human body; the data processing module is used for establishing a real-time blood vessel model of a blood vessel in the puncture target area based on the real-time ultrasonic image data, establishing a reference blood vessel model based on the given physical sign parameters of the target human body and the medical data, and comparing the blood vessel in the real-time blood vessel model with the blood vessel in the reference blood vessel model in a section-by-section corresponding manner to determine puncture feasibility evaluation data of each section of the blood vessel in the real-time blood vessel model; and the control decision module is used for determining the optimal puncture part in the puncture target area based on the puncture feasibility evaluation data.
Further, the system further comprises: the motion control module is used for adjusting the posture and the motion state of the puncture needle tool according to the determined optimal puncture path and the determined puncture control parameters, and controlling the puncture needle tool to reach the optimal puncture point and puncture the human blood vessel at the optimal puncture point; correspondingly, the data processing module is further configured to: based on the real-time ultrasonic image data of the optimal puncture position, acquiring position data and shape data of the blood vessel in the real-time ultrasonic image data of the optimal puncture position by utilizing an image recognition technology; correspondingly, the control decision module is further configured to: and calculating the optimal puncture point, the optimal puncture path and the puncture control parameter by utilizing a puncture planning model based on the position data and the shape data.
Further, the system further comprises: the pressure detection module is used for detecting the stress state of the puncture needle tool in the puncture process; correspondingly, the data processing module is further configured to: and judging the puncture state of the puncture needle tool based on the stress state.
According to the control decision method and system of the puncture auxiliary robot, provided by the invention, a puncture decision is made by aiming at patients with different constitutions through various data information, the functions of assisting a doctor in evaluating puncture feasibility, providing optimal puncture position and puncture motion control parameters and monitoring the puncture process safety are provided, the defects of doctor experience can be effectively made up, quantitative indexes are provided for puncture operation, the success rate and positive effect of puncture operation are effectively ensured, and the risk of puncture failure is avoided.
Drawings
Fig. 1 is a flowchart of a control decision method of a puncture-assisting robot according to an embodiment of the present invention;
fig. 2 is a flowchart of determining puncture feasibility evaluation data of each segment on a blood vessel in a control decision method of a puncture-assisted robot according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a real-time blood vessel model and a reference blood vessel model established in a control decision method of a puncture-assisted robot according to an embodiment of the invention;
FIG. 4 is a flowchart illustrating a decision-making process for adjusting the lancet in the decision-making method for controlling the lancing auxiliary robot according to the embodiment of the present invention;
FIG. 5 is a schematic force curve diagram of a puncture needle tool during a puncture process according to a control decision method of a puncture-assisting robot in an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a change of a state of a blood vessel during a puncturing process according to a control decision method of a puncturing-assisted robot in an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a control decision system of a puncture-assisted robot according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a control decision system of another puncture-assisting robot according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a control decision system of a puncture-assisting robot according to another embodiment of the present invention;
fig. 10 is a schematic diagram illustrating the principle of the puncture point and the puncture angle of a control decision system of a puncture-assisted robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As an aspect of the embodiment of the present invention, the embodiment provides a control decision method for a puncture-assisting robot, and referring to fig. 1, is a flowchart of a control decision method for a puncture-assisting robot according to an embodiment of the present invention, and includes:
s1, establishing a real-time blood vessel model of the blood vessel in the puncture target area based on the real-time ultrasonic image data of the puncture target area on the target human body, and establishing a reference blood vessel model based on the given physical sign parameters of the target human body and pre-stored medical data;
s2, carrying out section-by-section corresponding comparison on the blood vessel in the real-time blood vessel model and the blood vessel in the reference blood vessel model, and determining puncture feasibility evaluation data of each section of the blood vessel in the real-time blood vessel model;
and S3, determining the optimal puncture site in the puncture target area based on the puncture feasibility evaluation data.
It can be understood that, considering that the clinical data show that the success rate of manual puncture depends mainly on the knowledge of the doctor about the anatomy and the technical level of the doctor, the physical constitution of the patient (such as obesity and low blood vessel filling degree) is also an important factor influencing the success rate of puncture.
Therefore, before the embodiment is implemented, real-time ultrasonic image data of the puncture target area on the target human body is acquired in advance. For example, the puncture target region of the target human body is scanned by the ultrasonic probe of the auxiliary puncture robot, and continuous and complete blood vessel real-time ultrasonic image data of the puncture target region is acquired.
Meanwhile, medical data are collected in advance for storage, or are connected to a data interface of medical big data. And measuring and recording the given physical sign parameters of the target human body. For example, the blood pressure of the target human body is detected by using a blood pressure detection device, and the body shape, fat content and the like of the target human body are judged by measuring the height and weight of the target human body.
In one embodiment, the given physical parameters include gender, age, size, and blood pressure.
In step S1, the real-time ultrasound image data obtained in advance is digitized, the blood vessel features are extracted, and the blood vessels in the puncture target region are three-dimensionally reconstructed according to the extracted features, so as to establish a real-time blood vessel model.
Meanwhile, a reference blood vessel model is established by matching and correcting the given physical sign parameters of the target human body with the stored medical data. For example, given the physical parameters of gender, age, body type and blood pressure according to the above embodiment, the step of building a reference blood vessel model based on the given physical parameters of the target human body and the pre-stored medical data in step S1 further includes: and matching reference blood vessel data in the medical data based on the gender, the age and the body type, correcting the reference blood vessel data based on the blood pressure, and generating the reference blood vessel model.
In step S2, the established real-time blood vessel model is compared with the reference blood vessel model, so as to provide a quantitative determination basis for the puncture feasibility. Specifically, the specific given parameters of the blood vessel in the real-time blood vessel model and the same parameters of the corresponding blood vessel in the reference blood vessel model at the corresponding position are correspondingly compared, and the feasibility quantitative data at each position on the blood vessel is determined according to the comparison result and the set rule.
For example, in an embodiment, the further processing step of S2 refers to fig. 2, which is a flowchart of determining puncture feasibility evaluation data of each segment on a blood vessel in a control decision method of a puncture-assisted robot according to an embodiment of the present invention, and includes:
s21, segmenting the blood vessel in the real-time blood vessel model and the corresponding blood vessel in the reference blood vessel model according to the same interval unit, and calculating the cross-sectional area ratio of the blood vessel in the real-time blood vessel model and the corresponding segment on the blood vessel in the reference blood vessel model;
and S22, determining puncture feasibility evaluation data of each section on the blood vessel in the real-time blood vessel model based on the cross-sectional area ratio.
Step S21 may be understood as to perform an overall comparison determination on the target blood vessel to avoid local optimization, first segment the blood vessel in the real-time blood vessel model and the corresponding blood vessel in the reference blood vessel model according to the corresponding position and the same segmentation unit, then traverse all segments in the blood vessel, calculate the cross-sectional area of the blood vessel in each segment, and calculate the ratio of the cross-sectional area corresponding to the real-time blood vessel model and the cross-sectional area of the blood vessel in the corresponding position in the reference blood vessel model.
Then, in step S22, based on the cross-sectional area ratio of each segment in the above step, puncture feasibility quantitative data, i.e., puncture feasibility evaluation data, of each segment on the blood vessel in the real-time blood vessel model is determined according to a puncture feasibility evaluation rule set in advance.
In one embodiment, after the puncture feasibility evaluation data of each section on the blood vessel is determined according to the above embodiment, the evaluation result is displayed in different colors at the corresponding position in the real-time ultrasonic image data of the puncture target area according to the evaluation data.
For example, the real-time blood vessel model is compared with the reference blood vessel data model, the comparison coefficient is the ratio of the cross-sectional areas of the corresponding blood vessels in the real-time blood vessel model and the reference blood vessel data model, the closer the ratio is to 1, the closer the real-time blood vessel model is to the reference blood vessel data model is, and meanwhile, the ratio is displayed on a real-time image through a display system.
The puncture feasibility is divided into three intervals according to the ratio, and the ratio is less than 0.5 (the color of the graph is marked as red, the smaller the numerical value is, the darker the color is), so that the puncture operation has greater risk; when the ratio is in the range of 0.5-0.7 (the color of the graph is yellow, the smaller the numerical value is, the darker the color is), the puncture needs to be operated carefully; a ratio greater than 0.7 (the graphic color is green, the larger the number, the darker the color) indicates a higher success rate of lancing.
In step S3, an optimal puncture site is determined based on the puncture feasibility evaluation data acquired in the above-described step. For example, in fig. 3 (a), the ratio of the cross-sectional area of the blood vessel at the I position (0.92) in the reconstructed blood vessel model is greater than that of the blood vessel at the II position (0.64), so that the I position is selected as the preferred puncture site.
In one embodiment, in order to further confirm the optimal puncture site, after the optimal puncture site in the puncture target region is determined according to the above embodiment, the ultrasonic probe of the auxiliary puncture robot is moved to the target site for scanning again according to the determined optimal puncture site, the optimal puncture site is compared and judged and confirmed by the control decision system, and then the position of the auxiliary puncture robot is fixed. Wherein, the fixing mode of the movable auxiliary puncture robot can adopt a handheld mode or an auxiliary mechanical arm clamping mode.
The control decision method of the puncture auxiliary robot provided by the embodiment of the invention can make puncture decisions for patients with different constitutions through various data information, has the functions of assisting doctors in evaluating puncture feasibility, providing optimal puncture position and puncture motion control parameters and monitoring the puncture process safety, can effectively make up the defects of doctor experience, provides quantitative indexes for puncture operation feasibility evaluation, effectively ensures the success rate and positive effect of puncture operation, and avoids puncture failure risk.
To further illustrate the above examples, the following more detailed description is given without limiting the scope of the invention.
The operator first measures the blood pressure of the patient and inputs the blood pressure data and the physical sign data (sex, age, height, weight, etc.) of the patient. Then, an ultrasonic probe suitable for the patient is selected with reference to table 1 and mounted on the puncture-assisting robot, and an appropriate ultrasonic image depth is selected. Wherein the proper image depth means that the target blood vessel is placed in the center of the ultrasonic image or the depth of the target blood vessel is 1cm deeper than the target blood vessel, and whether the target tissue of the patient is positioned in the midfield of the ultrasonic image area or not is observed. An ultrasonic probe of the handheld puncture auxiliary robot is tightly attached to the skin, and a target vein is inwards checked from the lower outer side of the clavicle on the right side of the patient in a mode that the axis of the probe is parallel to the long axis of the blood vessel.
TABLE 1 ultrasonic Probe types Table for different patients according to the present invention
| Type of patient | Internal jugular vein | Subclavian vein |
| Infant and pre-school children | High-frequency linear array | High-frequency linear array |
| Children's toy | High-frequency linear array | Medium-high frequency linear array |
| Common adult | Medium-high frequency linear array | Medium-high frequency linear array/micro-convex array |
| Obese adults | Medium-high frequency linear array | Medium-low frequency micro convex array |
Under the color ultrasound image, the blood flow toward the probe is red, and the blood flow away from the probe is blue, defining the vein as blue. After the vein position is determined, the ultrasonic probe is adjusted, the probe is slowly slid along the vein direction in a mode of being perpendicular to the long axis of the blood vessel to detect a puncture target area, meanwhile, an ultrasonic image on a display system is observed, the vein image is ensured to be located in a middle field of the display area, and real-time ultrasonic image data are collected. The blood vessel tissue reconstruction is realized by applying medical image acquisition, segmentation and three-dimensional reconstruction technology, and a real-time blood vessel model as shown in (a) of fig. 3 is acquired. Fig. 3 (a) is a schematic diagram of a real-time blood vessel model established in a control decision method of a puncture-assisted robot according to an embodiment of the present invention.
Meanwhile, the blood vessel data in the medical data storage unit is automatically matched according to the input patient sign data, and then the correction is performed according to the patient blood pressure data to generate a reference blood vessel model, as shown in (b) of fig. 3. Fig. 3 (b) is a schematic diagram of a reference blood vessel model established in a control decision method of a puncture-assisted robot according to an embodiment of the present invention.
Then, the real-time blood vessel model and the reference blood vessel model are compared according to the above embodiment, and the optimal puncture site is determined according to the comparison result.
To further confirm the optimal puncture site, the operator moves the ultrasonic probe again to the I position for confirmation. After confirmation, the puncture robot can be fixed in a handheld mode or other auxiliary mechanical arms.
Further, on the basis of the above embodiment, after the step of S3, the method further includes a control flow shown in fig. 4, where fig. 4 is a flowchart illustrating a decision making for adjusting the lancet in a decision making method for controlling a lancing auxiliary robot according to an embodiment of the present invention, and the method includes:
s4, acquiring position data and shape data of the blood vessel in the real-time ultrasonic image data of the optimal puncture position by utilizing an image recognition technology based on the real-time ultrasonic image data of the optimal puncture position;
s5, calculating an optimal puncture point, an optimal puncture path and puncture control parameters by using a puncture planning model based on the position data and the shape data;
and S6, adjusting the posture and the motion state of the puncture needle tool according to the optimal puncture path and the puncture control parameters, and controlling the puncture needle tool to reach the optimal puncture point and puncture the human blood vessel at the optimal puncture point.
It is understood that after the optimal puncture site is determined according to the above-described embodiments, the puncture needle tool is also controlled to perform the puncture operation. The puncture auxiliary robot can acquire and analyze patient sign data, and the puncture decision system judges the patient sign data to realize quantitative evaluation of target venipuncture operating conditions and give optimal puncture motion control data, including parameters such as optimal puncture position, puncture path, puncture angle and puncture speed, so that accurate puncture and guide wire insertion under real-time ultrasonic guidance are realized.
Specifically, in step S4, based on the determined blood vessel ultrasound image at the optimal puncture site position, the ultrasound blood vessel image obtained at the position is identified and analyzed by the ultrasound image identification technique, and the position and shape data of the target blood vessel, that is, the coordinate data and shape data in the ultrasound image, are calculated.
Then, in step S5, according to the coordinate data and shape data of the acquired blood vessel in the ultrasound image, the optimal puncture point position coordinates, the optimal puncture path, and specific puncture control parameters, such as puncture angle, puncture speed, etc., are calculated by using a pre-established puncture planning model.
Finally, in step S6, the puncture needle device is adjusted accordingly according to the optimal puncture path and the puncture control parameters obtained in the above steps. Including but not limited to the position of the lancet, such as position, angle, etc.; the motion state, such as the adjustment of the motion direction, the puncture speed, the puncture acceleration and the like, controls the puncture needle tool to move to the optimal puncture point and puncture the blood vessel.
In one embodiment, after the optimal puncture path is calculated by the puncture planning model, the optimal puncture path is displayed on the ultrasound image in the form of a marking line and then confirmed by the operator.
According to the control decision method of the puncture auxiliary robot provided by the embodiment of the invention, the attitude and the motion parameter of the puncture needle tool are automatically calculated by analyzing the determined target vein ultrasonic image at the optimal puncture position, so that the attitude and the motion state of the puncture needle tool are quickly adjusted, and the success rate and the efficiency of puncture operation can be effectively improved.
Further, on the basis of the above embodiment, the method further includes: and detecting the stress state of the puncture needle in the puncture process, and judging the puncture state of the puncture needle based on the stress state.
It can be understood that because vascular tissue has certain elasticity, consequently can take place deformation in the puncture needle utensil process of stabbing, and the process of blood vessel deformation and the resistance that the puncture needle utensil received have certain relation, judges whether blood vessel deformation is in safety range through real-time supervision puncture resistance to avoid the puncture needle utensil to run through the target blood vessel.
Particularly, in the process of puncture operation, the stress state of the puncture needle tool in the puncture process is detected in real time through the pressure sensor. In one embodiment, the stress state is also displayed on the display system in the form of a stress curve.
Fig. 5 is a schematic force curve diagram of a puncture needle during a puncture process according to a control decision method of a puncture-assisting robot in an embodiment of the present invention, and fig. 5 shows a force state of the puncture needle during a process of the puncture needle penetrating into a human body model. Because the vein vessel wall has certain elasticity, when the puncture needle punctures the blood vessel, the puncture needle does not puncture the blood vessel immediately. Fig. 6 shows the deformation of the blood vessel during the puncturing process of the puncturing needle, which is a schematic diagram of the state change of the blood vessel during the puncturing process according to the control decision method of the puncturing auxiliary robot in the embodiment of the invention. Fig. 6 (a) shows that the puncture needle punctures the blood vessel but does not puncture the blood vessel, and the blood vessel is deformed to a certain extent. The force feedback value of the needle rises rapidly as shown in fig. 5. When the puncture needle continues to be inserted, (b) in fig. 6 shows that the puncture needle front has cut the blood vessel wall, and fig. 5 shows that the puncture needle force feedback value falls back slightly at this time. As the puncture needle continues to be inserted, (c) in fig. 6 shows that the puncture needle tip has completely cut the blood vessel wall, and (c) in fig. 5 shows that the puncture needle force feedback value rapidly falls after a small rebound.
Further, on the basis of the above embodiment, the method further includes:
displaying the puncturing state through a stress curve;
and/or sending out corresponding prompt signals according to different puncturing states.
It is understood that, according to the above-described embodiments, the force state of the lancet may be displayed on the display system in the form of a force curve. At the same time, different puncture states can be displayed with different prompting signals, for example, different colors. Of course, the puncture state may be indicated by the indication signal alone. Therefore, when the puncture needle penetrates into the blood vessel, the puncture resistance falls back along with the puncture resistance, the control decision system immediately sends out prompt information in the form of sound and light to prompt a puncture operator to stop the needle inserting operation, and the safety of the puncture process is effectively improved.
For example, according to the change of the slope of the force curve in unit time, the judgment signals are sent out, namely puncturing the skin, puncturing the blood vessel and puncturing the blood vessel. The signal is displayed on the display system in a mode of information and state, and when a blood vessel puncture signal is sent out, a light signal (the light signal is of a yellow grade) of the puncture auxiliary robot is triggered to prompt an operator to pay attention; when a signal for puncturing the blood vessel is sent out, a light signal and a sound signal (the light signal is red grade) are triggered to prompt an operator to stop the puncture operation.
After the puncture needle tool successfully punctures the vein, a needle cylinder negative pressure device of the puncture auxiliary robot is connected with a three-way interface port of the puncture needle tool through a disposable hose, the needle cylinder negative pressure device automatically pulls and pumps the needle cylinder along with the puncture needle tool puncturing the skin so as to establish a negative pressure state, and the speed of pulling and pumping the needle cylinder is consistent with the puncturing speed of the puncture needle. After the puncture needle pierces the blood vessel, the venous blood passes through the puncture needle, flows to the syringe negative pressure device through the hose via the three-way interface port, and is the important mark for the successful puncture after being pumped back.
Wherein, in one embodiment, the step of sending out the corresponding prompt signal for different puncturing states further comprises: and recording puncture time after the puncture blood vessel prompting signal is sent out, and sending a puncture blood vessel risk alarming prompting signal to prompt the stop of puncture operation when judging that the puncture time reaches set safe time.
It will be appreciated that, with reference to FIG. 5, the lancet pricksA certain time interval is between the middle blood vessel and the puncture of the blood vessel, and the system records the time T after the puncture of the blood vessel is signaledPAnd with the safety time T stored in the systemPSAnd (7) comparing. In one embodiment, the safe time is calculated by the ratio of the blood vessel diameter to the puncture speed, i.e. T, obtained by image recognitionPS＝DV/VPWherein D isVIs the diameter of the blood vessel, VPThe puncture speed value is used.
When T isPS-TPWhen the blood pressure is less than the set threshold value, prompt information is sent out and displayed on a display system and a light signal (the light signal is red grade) prompts an operator to stop the puncture operation so as to avoid penetrating through the whole vein vessel caused by continuous puncture.
As another aspect of the embodiment of the present invention, the present embodiment provides a control decision system of a puncture-assisting robot, and referring to fig. 7, a schematic structural diagram of the control decision system of the puncture-assisting robot according to the embodiment of the present invention includes: a data storage module 701, a data input interface 702, a data processing module 703 and a control decision module 704. Wherein the content of the first and second substances,
the data storage module 701 is used for storing medical data and real-time ultrasonic image data of a puncture target area on a target human body; the data input interface 702 is used for obtaining given physical sign parameters of the target human body; the data processing module 703 is configured to establish a real-time blood vessel model of a blood vessel in the puncture target region based on the real-time ultrasound image data, establish a reference blood vessel model based on the given physical sign parameters of the target human body and the medical data, and perform segment-by-segment corresponding comparison between a blood vessel in the real-time blood vessel model and a blood vessel in the reference blood vessel model to determine puncture feasibility evaluation data of each segment on the blood vessel in the real-time blood vessel model; the control decision module 704 is configured to determine an optimal puncture site in the puncture target region based on the puncture feasibility evaluation data.
It is to be understood that, referring to fig. 7, the control decision system of a puncture-assisted robot of the present embodiment includes a data storage module 701, a data input interface 702, a data processing module 703 and a control decision module 704. Wherein, the data storage module 701 further comprises an external medical data unit and an ultrasound image unit. The data input interface 702 is used for inputting target human body blood pressure and physical sign data, the external medical data unit, the ultrasonic image unit and the data input interface 702 are connected with the data processing module 703, and the data processing module 703 is connected with the control decision module 704.
Specifically, the data acquisition device comprises an ultrasonic detector, a blood pressure detection device and the like; the data storage comprises medical data storage and ultrasonic image storage; the processing module includes a data processing module 703 and a control decision module 704.
When the system operates, an ultrasonic probe of the ultrasonic detection instrument is arranged at the bottom end of the puncture auxiliary robot. The ultrasonic detection instrument, the physical sign and blood pressure data input module and the pressure detection device are all connected with the data processing system, and the data processing module 703 is connected with the control decision module 704. The data processing module 703 acquires medical data and real-time ultrasound image data of a target region punctured on the target human body from the data storage module 701, and acquires given physical sign parameters of the target human body from the data input interface 702.
Then, a real-time blood vessel model of the blood vessel in the puncture target area is established based on the real-time ultrasonic image data of the puncture target area, a reference blood vessel model is established based on the given physical sign parameters and medical data of the target human body, the blood vessel in the real-time blood vessel model is compared with the blood vessel in the reference blood vessel model in a section-by-section corresponding mode, and puncture feasibility evaluation data of each section of the blood vessel in the real-time blood vessel model are determined. And finally, the control decision module 704 performs decision calculation to obtain the optimal puncture part in the puncture target area.
The control decision system of the puncture auxiliary robot provided by the embodiment of the invention makes puncture decisions for patients with different constitutions by utilizing the data processing module 703 and the control decision module 704 through various data information, has the functions of assisting a doctor to evaluate puncture feasibility, providing optimal puncture parts and puncture motion control parameters and monitoring the puncture process safety, can effectively make up for the shortage of doctor experience, provides quantitative indexes for puncture operation, effectively ensures the success rate and positive effect of puncture operation, and avoids puncture failure risk.
Further, on the basis of the above embodiment, the system further includes: the motion control module is used for adjusting the posture and the motion state of the puncture needle tool according to the determined optimal puncture path and the determined puncture control parameters, and controlling the puncture needle tool to reach the optimal puncture point and puncture the human blood vessel at the optimal puncture point;
correspondingly, the data processing module 703 is further configured to: based on the real-time ultrasonic image data of the optimal puncture position, acquiring position data and shape data of the blood vessel in the real-time ultrasonic image data of the optimal puncture position by utilizing an image recognition technology;
accordingly, the control decision module 704 is further configured to: and calculating the optimal puncture point, the optimal puncture path and the puncture control parameter by utilizing a puncture planning model based on the position data and the shape data.
It can be understood that, in this embodiment, the data processing module 703 may also be configured to identify and analyze the ultrasound blood vessel image obtained from the determined optimal puncture site position by using an ultrasound image identification technology, and calculate to obtain position and shape data of the target blood vessel, that is, coordinate data and shape data in the ultrasound image.
Correspondingly, the control decision module 704 further needs to calculate an optimal puncture point, an optimal path of the puncture needle tool from the optimal puncture point to the blood vessel, and specific puncture control parameters, such as a puncture angle, a puncture speed, and the like, according to the acquired coordinate data and shape data of the blood vessel in the ultrasound image and by using a pre-established puncture planning model.
Correspondingly, a motion control module is additionally arranged in the system and used for correspondingly adjusting the puncture needle according to the optimal puncture path and the puncture control parameters, including but not limited to the posture, such as direction, position, angle and the like, of the puncture needle; the motion state, such as the adjustment of the motion direction, the puncture speed, the puncture acceleration and the like, controls the puncture needle tool to move to the optimal puncture point and puncture the blood vessel.
Further, on the basis of the above embodiment, the system further includes: the pressure detection module is used for detecting the stress state of the puncture needle tool in the puncture process;
correspondingly, the data processing module 703 is further configured to: and judging the puncture state of the puncture needle tool based on the stress state.
It can be understood that because vascular tissue has certain elasticity, consequently can take place deformation in the puncture needle utensil process of stabbing, and the process of blood vessel deformation and the resistance that the puncture needle utensil received have certain relation, judges whether blood vessel deformation is in safety range through real-time supervision puncture resistance to avoid the puncture needle utensil to run through the target blood vessel.
Therefore, the data processing module 703 in the embodiment further needs to detect the force state of the puncture needle tool in real time during the puncturing process by a pressure sensor or the like during the puncturing operation. In one embodiment, the stress state is also displayed on the display system in the form of a stress curve.
To further illustrate the technical solution of the present invention, the following examples are given for more specific description, but do not limit the scope of the present invention.
First, the puncture assisting robot according to the embodiment of the present invention has the following features: assembling corresponding ultrasonic probes according to the constitutions of different patients; three-dimensional model reconstruction is carried out according to a vein image of a patient continuously scanned by ultrasonic, comparison with a reference blood vessel data model generated by combining blood pressure and other characteristic data is carried out, an operator is prompted in the form of a puncture feasibility coefficient (0-1) or a color graph (red indicates that the risk is high, yellow indicates that the operation is cautious, and green indicates that the puncture success rate is high), and a part suitable for puncture operation is given; automatically identifying the shape and the position of the blood vessel according to the vein blood vessel ultrasonic image and calculating puncture motion control parameters; the patient sign data and other external medical big data input interfaces are arranged; the posture adjustment of the puncture needle tool has three freedom degrees of motion, namely transverse movement, pitching oscillation and puncture movement; a puncture needle path simulation function; the puncture needle has a force feedback function and a safety monitoring function; synchronously withdrawing the needle and feeding the guide wire; the function of automatically withdrawing venous blood; an ultrasonic image real-time display function; the handle controls the function. And is oriented to the internal jugular vein and subclavian venipuncture, where the arteriovenous are accompanied.
As shown in fig. 8, in one embodiment, a control decision system of a penetration assisting robot is provided, comprising: a plurality of data acquisition modules 806 and a data processing and decision control module 8011, wherein the plurality of data acquisition modules 806 are composed of external medical data 807, blood pressure and physical sign data 808, a pressure detection unit 809 and an ultrasound image unit 8010. The data processing and decision control module 8011 is comprised of a data storage unit 8013, a data processing unit 8014, a puncture decision unit 8015 and a motion control unit 8016. The blood pressure and physical sign data 808, the pressure detection unit 809 and the ultrasonic imaging unit 8010 are all connected with the data processing unit 8014.
Meanwhile, the data processing unit 8014 is connected to the display module 8012 and the puncturing decision unit 8015, respectively, and the puncturing decision unit 8015 is connected to the motion control unit 8016 and is connected to the display module 8012. The external medical data 807 is connected to the data storage unit 8013, and the motion control unit 8016 is connected to the puncture host 804. The bottom of the puncture main machine 804 is provided with an ultrasonic probe 803, and the end of the puncture needle tool 802 is provided with a pressure sensor 805. The motion control unit 8016 is connected with the puncture decision unit 8015, and the display module 8012 is connected with the puncture decision unit 8015. 801 is the target vessel. Fig. 8 is a schematic structural diagram of another control decision system of a puncture-assisting robot according to an embodiment of the present invention.
The pressure sensor 805 of the force detection device according to the above embodiment is disposed at the top end of the lancet, the posture adjustment device of the lancet comprises an adjustment device for adjusting the horizontal position and the puncture angle, and the puncture and guide wire insertion device comprises a puncture control device and a guide wire insertion control device.
Fig. 9 is a schematic structural diagram of a control decision system of a puncture-assisting robot according to another embodiment of the present invention. The embedded industrial personal computer 100 with high performance and various standard interfaces is used as a system control core, the control mode has two modes of automatic control and manual control, and under the two control modes, the ultrasonic probe of the puncture auxiliary medical robot needs to be held by a hand firstly to search for a target vein of a patient, and the position of the puncture auxiliary medical robot is fixed after the target vein is determined.
Then, a working mode is selected, and the puncture auxiliary robot in the automatic mode automatically adjusts the puncture needle to a given puncture position and puncture angle according to the optimal path and motion parameters given by the data processing and decision control module 8011; under the manual mode, the hand-held controller 22 is used for controlling and controlling the posture of the puncture needle tool of the puncture auxiliary robot to be matched with the optimal path given by the puncture decision-making system. In both modes, manual control is required for puncturing and guide wire insertion. The industrial personal computer 100 is connected with a motor driver in a motion control module 110 of the puncture-assisting robot through a bus communication module 20. The stability and reliability of control signal transmission are ensured by adopting bus communication.
Referring to fig. 9, in order to ensure the accuracy and reliability of the puncture positioning, the posture adjustment (position and pitch angle) of the puncture needle tool and the control of the puncture (speed and acceleration) adopt a micro servo motor in combination with a high-precision ball screw, the ball screw adopts a C5 grade, the lead is 1mm, and the positioning accuracy error is +/-0.018 mm. As for the guide wire control motor and the puncture pitching angle control motor, the movement speed is slower than that of puncture movement, so two specifications of servo motors are adopted, wherein the puncture pitching angle and the maximum rotating speed of the guide wire insertion control servo motor are 9430rpm, the motor reduction ratio is 16:1, the maximum adjusting speed of the puncture pitching angle is 18.5 degrees/s, the puncture position translation, the puncture movement and the guide wire insertion control servo motor are 6220rpm, the motor reduction ratio is 6.6:1, the maximum adjusting speed of the puncture needle tool is 12.6mm/s, the resolution of a servo motor encoder is 4096 pulses output per circle, and the driving power supply is 24V/0.17 mA.
In the embodiment of the present invention, the ultrasonic probe 803 transmits an ultrasonic wave to the target venous blood vessel, receives an ultrasonic wave reflected by a scanning region of the probe, and transmits acquired data information to the ultrasonic imaging unit 8010. The ultrasonic imaging unit 8010 receives the data information sent by the probe 803, processes the data information into ultrasonic image data information, and transmits the ultrasonic image data information to the signal acquisition unit 19 of the embedded industrial personal computer. The signal acquisition unit 19 is a standard hardware interface of the computer, and is used for reading in image data information output by the ultrasound imaging unit 8010.
The data processing unit 8014 of the computer assisted puncture robot software system digitally processes the ultrasound image data information acquired by the signal acquisition unit 19 by calling an image function, and performs real-time reconstruction of vascular tissue based on medical image acquisition, segmentation and three-dimensional reconstruction technologies.
The puncture decision unit 8015 is responsible for judging an optimal puncture site, and the data processing unit calculates coordinate data and shape data of a blood vessel in an ultrasonic image according to the ultrasonic blood vessel image of the optimal puncture site, and calculates an optimal puncture path through a puncture planning model. Fig. 10 is a schematic diagram illustrating the principle of the puncture point and puncture angle of a control decision system of a puncture-assisting robot according to an embodiment of the present invention. Determining puncture point C, coordinate position (x) by optimal puncture path2,y2) The puncture angle is θ. The optimal puncture path is displayed on the ultrasound image in the form of a marked line.
The puncture decision unit 8015 transmits the calculated coordinate data of the puncture point, the puncture angle and the puncture motion speed parameter to the motion control unit 8016, and the motion control unit 8016 transmits the control parameter to the bus communication module 20 through the data bus of the main board of the industrial personal computer. The bus communication is a CAN bus, the communication protocol is CANOpen, and the model of the bus communication module 20 is CAN-IB 100.
The bus communication module 20 sends the puncture motion control parameters to the motion control module 110, the motion control module 110 is composed of four drivers (23, 24, 25, 26) and four direct current servo motors (27, 28, 29, 30), the communication node numbers of the four drivers on the CAN bus are respectively set to be 1, 2, 3, 4, and the driver model is EPOS 224/2. The driver 23 is connected to a guide wire control motor 27, the driver 24 is connected to a puncture control motor 28, the driver 25 is connected to a pitch control motor 29, and the driver 26 is connected to a position control motor 30.
The position control motor 30 drives the position adjusting mechanism 6 to move to a target position, the pitching control motor 29 drives the pitching adjusting mechanism 33 to a target angle, then the puncture control motor 28 drives the puncture adjusting mechanism 32 to start puncture operation, and after the puncture is finished, the guide wire control motor 27 drives the guide wire adjusting mechanism 31 to insert the guide wire.
After the puncture needle tool successfully punctures the vein, a syringe negative pressure device 36 of the puncture auxiliary robot is connected with the port c of the three-way interface 34 of the puncture needle tool through a disposable hose 35, the syringe negative pressure device 36 starts to automatically pull the syringe along with the puncture needle tool puncturing the skin so as to establish a negative pressure state, and the speed of pulling the syringe is consistent with the puncturing speed of the puncture needle. After the puncture needle has penetrated the blood vessel, the venous blood passes through the puncture needle set 802, flows to the syringe negative pressure device 36 through the hose 35 via the port c of the three-way port 34, and is an important mark for the success of the puncture.
After the puncture is successful, the guide wire can be placed, an operator operates the handheld controller 22 to send a guide wire placing signal to the motion control unit 8016, the guide wire placing signal is transmitted to the driver 23 through the bus communication module 20, the guide wire control motor 27 is further controlled, the guide wire adjusting mechanism 31 is driven to start to move, the guide wire is driven by the guide wire adjusting mechanism 31 to enter through the side hole of the puncture needle until entering into the vein, and the entering length of the guide wire can be calculated by recording the rotating code value of the guide wire control motor encoder.
The code value number of the guide wire control motor encoder in one rotation is 65536, and the insertion length of the guide wire in one rotation of the guide wire control motor is 47.124 mm. When the guide wire insertion length exceeds the puncture needle length, the needle withdrawing and feeding function is started through the handheld controller 22, the guide wire insertion and needle withdrawing operation can be completed synchronously, the guide wire insertion length is set in advance according to the physical condition of a patient, the numerical value interval is 15-20 cm, when the guide wire insertion length reaches the set numerical value, the puncture decision-making system sends a signal to prompt an operator to stop the guide wire insertion operation, and the operator confirms whether the guide wire insertion length reaches the set value requirement. After the confirmation of no error, the puncture auxiliary robot completes the functions of puncture and guide wire insertion, and the operator moves out of the puncture area and then inserts the dilation tube and the central venous catheter.
In addition, it should be understood by those skilled in the art that the terms "comprises," "comprising," or any other variation thereof, in the specification of the present invention, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present invention, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.
However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A control decision system of a puncture-assisting robot, comprising:
the data storage module is used for storing medical data and real-time ultrasonic image data of a puncture target area on a target human body;
the data input interface is used for acquiring given physical sign parameters of the target human body;
the data processing module is used for establishing a real-time blood vessel model of a blood vessel in the puncture target area based on the real-time ultrasonic image data, establishing a reference blood vessel model based on the given physical sign parameters of the target human body and the medical data, and comparing the blood vessel in the real-time blood vessel model with the blood vessel in the reference blood vessel model in a section-by-section corresponding manner to determine puncture feasibility evaluation data of each section of the blood vessel in the real-time blood vessel model;
and the control decision module is used for determining the optimal puncture part in the puncture target area based on the puncture feasibility evaluation data.
2. The system of claim 1, further comprising:
the motion control module is used for adjusting the posture and the motion state of the puncture needle tool according to the determined optimal puncture path and the determined puncture control parameters, and controlling the puncture needle tool to reach the optimal puncture point and puncture the human blood vessel at the optimal puncture point;
correspondingly, the data processing module is further configured to:
based on the real-time ultrasonic image data of the optimal puncture position, acquiring position data and shape data of the blood vessel in the real-time ultrasonic image data of the optimal puncture position by utilizing an image recognition technology;
correspondingly, the control decision module is further configured to: and calculating the optimal puncture point, the optimal puncture path and the puncture control parameter by utilizing a puncture planning model based on the position data and the shape data.
3. The system of claim 1 or 2, further comprising:
the pressure detection module is used for detecting the stress state of the puncture needle tool in the puncture process;
correspondingly, the data processing module is further configured to: and judging the puncture state of the puncture needle tool based on the stress state.
4. The system of claim 3, further comprising a presentation module to:
displaying the puncturing state through a stress curve;
and/or sending out corresponding prompt signals according to different puncturing states.
5. The system of claim 4, wherein the presentation module is specifically configured to:
and recording puncture time after the puncture blood vessel prompting signal is sent out, and sending a puncture blood vessel risk alarming prompting signal to prompt the stop of puncture operation when judging that the puncture time reaches set safe time.
6. The system of claim 1, wherein the data processing module is specifically configured to:
segmenting the blood vessel in the real-time blood vessel model and the corresponding blood vessel in the reference blood vessel model according to the same interval unit, and calculating the cross-sectional area ratio of the blood vessel in the real-time blood vessel model and the corresponding segment on the blood vessel in the reference blood vessel model;
and determining puncture feasibility evaluation data of each section of the blood vessel in the real-time blood vessel model based on the cross-sectional area ratio.
7. The system of claim 1, wherein the given physical parameters include gender, age, size, and blood pressure;
correspondingly, the data processing module is specifically configured to:
and matching reference blood vessel data in the medical data based on the gender, the age and the body type, correcting the reference blood vessel data based on the blood pressure, and generating the reference blood vessel model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810236512.6A CN108836440B (en) | 2018-03-21 | 2018-03-21 | Control decision method and system for puncture auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810236512.6A CN108836440B (en) | 2018-03-21 | 2018-03-21 | Control decision method and system for puncture auxiliary robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108836440A CN108836440A (en) | 2018-11-20 |
| CN108836440B true CN108836440B (en) | 2020-04-14 |
Family
ID=64211858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810236512.6A Expired - Fee Related CN108836440B (en) | 2018-03-21 | 2018-03-21 | Control decision method and system for puncture auxiliary robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108836440B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109589145A (en) * | 2018-12-28 | 2019-04-09 | 吴莹 | A kind of intelligence renal fibroblast control system |
| CN111434316B (en) * | 2019-01-15 | 2021-06-29 | 北京理工大学 | Ultrasonic plane external blood vessel puncture auxiliary robot |
| CN109805991B (en) * | 2019-03-14 | 2022-02-01 | 北京理工大学 | Blood vessel puncture auxiliary control method and device |
| CN111096796B (en) * | 2019-12-30 | 2021-11-19 | 哈尔滨工业大学 | Full-automatic vein puncture robot multilayer control system |
| CN111603245B (en) * | 2020-06-02 | 2022-08-12 | 嘉兴市第二医院 | Integrated arteriovenous internal fistula blood vessel puncture robot and control method thereof |
| CN111658144B (en) * | 2020-06-15 | 2021-07-27 | 青岛市中心医院 | Control system and method of vascular robot based on autonomous control |
| CN112150376B (en) * | 2020-08-21 | 2023-08-15 | 深圳睿心智能医疗科技有限公司 | Vascular medical image analysis method, vascular medical image analysis device, vascular medical image analysis computer equipment and vascular medical image storage medium |
| CN112075981B (en) * | 2020-08-27 | 2021-09-03 | 同济大学 | Venipuncture robot control method, device and computer-readable storage medium |
| CN112022346B (en) * | 2020-08-31 | 2022-02-18 | 同济大学 | Control method of full-automatic venipuncture recognition integrated robot |
| CN114237400B (en) * | 2021-12-17 | 2023-04-21 | 山东大学齐鲁医院 | PICC reality augmentation system, reality augmentation method and mobile terminal |
| CN116036421B (en) * | 2023-01-19 | 2023-12-22 | 成都市凯瑞医疗科技有限公司 | Intelligent wearable automatic puncture equipment |
| CN115844545B (en) * | 2023-02-27 | 2023-05-23 | 潍坊医学院附属医院 | Vascular intervention intelligent surgical robot and control method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009144730A1 (en) * | 2008-05-28 | 2009-12-03 | Technion Research & Development Foundation Ltd. | Ultrasound guided robot for flexible needle steering |
| JP6120497B2 (en) * | 2012-06-26 | 2017-04-26 | キヤノン株式会社 | Puncture control device and method |
| US10828120B2 (en) * | 2014-06-19 | 2020-11-10 | Kb Medical, Sa | Systems and methods for performing minimally invasive surgery |
| DE102014222293A1 (en) * | 2014-10-31 | 2016-05-19 | Siemens Aktiengesellschaft | Method for automatically monitoring the penetration behavior of a trocar held by a robot arm and monitoring system |
| CN106109016A (en) * | 2016-08-17 | 2016-11-16 | 北京柏惠维康医疗机器人科技有限公司 | Abdominal-cavity minimal-invasion surgery system and wherein play the determination method in pin moment |
| CN106725762A (en) * | 2016-12-30 | 2017-05-31 | 西安中科微光影像技术有限公司 | A kind of automatic puncturing method |
-
2018
- 2018-03-21 CN CN201810236512.6A patent/CN108836440B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN108836440A (en) | 2018-11-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108836440B (en) | Control decision method and system for puncture auxiliary robot | |
| CN108814691B (en) | Ultrasonic guide auxiliary device and system for needle | |
| JP6176646B2 (en) | Automatic vascular access device and system based on real-time volumetric ultrasound | |
| CN111434316B (en) | Ultrasonic plane external blood vessel puncture auxiliary robot | |
| CN109805991B (en) | Blood vessel puncture auxiliary control method and device | |
| CN110090069B (en) | Ultrasonic puncture guiding method, guiding device and storage medium | |
| CN101171046A (en) | Cannula inserting system. | |
| CN111166437B (en) | Auxiliary method for epidural anesthesia needle placement | |
| US20210045711A1 (en) | Systems and methods for portable ultrasound guided cannulation | |
| CN113164117A (en) | Ultrasound guided alignment and insertion of percutaneous cannula instrument | |
| CN106730149B (en) | Venipuncture device and system | |
| US20220172354A1 (en) | Ultrasound System with Pressure and Flow Determination Capability | |
| CN111134794A (en) | Ultrasonic guide out-of-plane puncture method | |
| JP2020092830A (en) | Portable ultrasonic image diagnostic apparatus | |
| EP3417790A1 (en) | System and method for image-guided procedure analysis | |
| US20220354534A1 (en) | Auxilliary device and auxilliary method for epidural anesthesia needle placement | |
| WO2020142338A1 (en) | Needle insertion into subcutaneous target | |
| CN108635023A (en) | A kind of artery and vein puncture device and piercing method | |
| JP2023016128A (en) | Blood vessel puncture support device | |
| CN220275669U (en) | Femoral artery and vein ultrasonic positioning semiautomatic puncture device | |
| WO2023002933A1 (en) | Vascular puncture device and vascular puncture system | |
| WO2024070978A1 (en) | Blood vessel puncture apparatus and blood vessel determination apparatus | |
| CN116439801A (en) | Femoral artery and vein ultrasonic positioning semiautomatic puncture system and puncture method | |
| CN114533212A (en) | Needle placement system, needle placement real-time display method and computer readable storage medium | |
| WO2023002849A1 (en) | Vascular puncture assistance device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200414 |