CN113144327A - Medical intelligent auxiliary infusion device and infusion method based on machine vision - Google Patents
Medical intelligent auxiliary infusion device and infusion method based on machine vision Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/1412—Burettes, measuring cylinders
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
- A61M5/16804—Flow controllers
- A61M5/16813—Flow controllers by controlling the degree of opening of the flow line
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
- A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
- A61M5/1684—Monitoring, detecting, signalling or eliminating infusion flow anomalies by detecting the amount of infusate remaining, e.g. signalling end of infusion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
- A61M5/16886—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body for measuring fluid flow rate, i.e. flowmeters
- A61M5/1689—Drip counters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/36—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests with means for eliminating or preventing injection or infusion of air into body
- A61M5/365—Air detectors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/58—Means for facilitating use, e.g. by people with impaired vision
- A61M2205/583—Means for facilitating use, e.g. by people with impaired vision by visual feedback
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- Hematology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Vascular Medicine (AREA)
- Engineering & Computer Science (AREA)
- Anesthesiology (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Emergency Medicine (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention relates to a medical intelligent auxiliary infusion device based on machine vision, which comprises a dropping funnel and an infusion hose; the actuating mechanism module is used for extruding the infusion hose to adjust the dropping speed of liquid drops in the dropping funnel; the camera is used for shooting the drip chamber and the infusion hose to obtain a plurality of infusion images, and the infusion images comprise liquid drop information, liquid level information and bubble information of the infusion hose; the timer is used for recording a plurality of shooting moments; the data processing device is used for determining the actual dropping speed of the liquid drops according to the time difference between any two shooting moments and the liquid drop information of the infusion images in the time difference, obtaining the difference of the dropping speed according to the actual dropping speed and the preset dropping speed, determining the actual liquid level of the dropping funnel according to the liquid level information of the infusion images, and obtaining the liquid level difference according to the actual liquid level and the preset liquid level; and the control device is used for controlling the corresponding action of the actuating mechanism module according to the drop velocity difference, the liquid level difference or the bubble information. The invention also relates to an infusion method of the medical intelligent auxiliary infusion device based on machine vision.
Description
Technical Field
The invention relates to the field of intelligent medical instruments, in particular to a medical intelligent auxiliary infusion device and an infusion method based on machine vision.
Background
Intravenous infusion therapy remains one of the most common treatments for patients in various hospitals.
At present, the monitoring of the venous transfusion in the hospital generally adopts the manual monitoring mode, and the dropping speed is adjusted to a proper value by medical staff according to the experience. However, there are many safety hazards in this monitoring method, for example, the infusion solution may be too fast or too slow or air bubbles or air enters into the blood vessel of the patient, which may cause harm to the body of the patient.
However, the medical intelligent auxiliary infusion device in the prior art is difficult to monitor the infusion dropping speed, the allowance and the air bubbles simultaneously, and is difficult to ensure the infusion safety of a patient when the infusion process is abnormal.
Therefore, the design of a medical intelligent auxiliary infusion device with high reliability to improve the infusion safety of patients and reduce the workload of medical care personnel and family members of patients is a problem which needs to be solved urgently at the present stage.
Disclosure of Invention
Aiming at the technical problems in the prior art, one of the purposes of the invention is as follows: the utility model provides a supplementary infusion set of medical intelligence based on machine vision can monitor infusion drop speed, surplus and bubble simultaneously at the infusion in-process, can guarantee the security that the patient infuses when infusion process appearance is unusual.
Aiming at the technical problems in the prior art, the second purpose of the invention is as follows: the infusion method of the medical intelligent auxiliary infusion device based on machine vision can monitor the infusion drop speed, the infusion allowance and the air bubbles simultaneously, and improves the infusion safety.
In order to achieve the purpose, the invention adopts the following technical scheme:
a medical intelligent auxiliary infusion device based on machine vision comprises
A frame;
the dropping funnel is arranged on the frame and is connected with an infusion hose for infusion;
the actuating mechanism module is used for extruding the infusion hose to adjust the dropping speed of liquid drops in the dropping funnel;
the camera is used for shooting the drip chamber and the infusion hose to obtain a plurality of infusion images and sending the infusion images to the data processing device, wherein the infusion images comprise liquid drop information and liquid level information of the drip chamber and bubble information of the infusion hose;
the timer is connected with the camera and used for recording a plurality of shooting moments and sending the shooting moments to the data processing device, wherein the shooting moments correspond to the infusion images one by one;
the data processing device is used for receiving a plurality of infusion images and a plurality of shooting moments, determining the actual dropping speed of the liquid drops according to the time difference between any two shooting moments and the liquid drop information of the infusion images in the time difference, obtaining the dropping speed difference according to the actual dropping speed and the preset dropping speed, determining the actual liquid level of the dropping funnel according to the liquid level information of the infusion images, obtaining the liquid level difference according to the actual liquid level and the preset liquid level, and respectively sending the dropping speed difference, the liquid level difference and the bubble information to the control device;
and the control device is respectively connected with the data processing device and the actuating mechanism module and is used for controlling the actuating mechanism module to correspondingly act according to the drop velocity difference, the liquid level difference or the bubble information.
Furthermore, the actuating mechanism module comprises a driving device, a transmission device and an extrusion piece, the driving device is fixedly connected with the rack, the transmission device is respectively connected with the driving device and the extrusion piece, and the extrusion piece is arranged on one side of the infusion hose and used for extruding the infusion hose.
Further, drive arrangement is the motor, and transmission is including the lead screw and the nut that mutually support, and the motor drive lead screw rotates, and the lead screw rotates to be connected in the frame, and nut sliding connection is in the frame, and the nut is connected with the extruded article.
Further, transmission still includes driving gear and driven gear, and motor drive driving gear rotates, driving gear and driven gear meshing transmission, and driven gear is connected with the lead screw.
Furthermore, one side of the extrusion part is provided with a limit switch, the limit switch is arranged corresponding to the infusion hose, and the limit switch is connected with the control device.
Further, the frame is equipped with the recess, and the drip chamber joint in recess, camera rigid coupling in frame, the camera is arranged towards the drip chamber.
Furthermore, the system also comprises a local interaction module and a mobile interaction module, wherein the local interaction module and the mobile interaction module are respectively connected with the data processing device.
Further, the local interaction module is a touch screen.
Furthermore, the system also comprises an abnormity alarm module, and the abnormity alarm module is connected with the data processing device.
An infusion method of a medical intelligent auxiliary infusion device based on machine vision comprises the following steps,
acquiring a plurality of infusion images and a plurality of shooting moments of a drip chamber and an infusion hose, wherein the infusion images comprise liquid drop information and liquid level information of the drip chamber and bubble information of the infusion hose, and the plurality of shooting moments correspond to the plurality of infusion images one to one;
determining the actual dropping speed of the liquid drop according to the time difference between any two shooting moments and the liquid drop information of the infusion image in the time difference, and obtaining a dropping speed difference according to the actual dropping speed and a preset dropping speed;
determining the actual liquid level of the dropping funnel according to the liquid level information of the infusion image, and obtaining a liquid level difference according to the actual liquid level and a preset liquid level;
and sending the information of the drop velocity difference, the liquid level difference or the air bubbles to a control device, so that the control device controls the corresponding action of the actuating mechanism module according to the information of the drop velocity difference, the liquid level difference or the air bubbles.
In summary, the present invention has the following advantages:
the computer vision detection technology based on deep learning solves the defects of the existing intelligent infusion device in the detection principle, and can monitor the infusion dripping speed, the allowance and the bubbles simultaneously through a single camera, thereby improving the infusion safety of patients and effectively lightening the workload of medical care personnel and family members of the patients.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a schematic diagram of the internal structure of the embodiment of the present invention;
FIG. 3 is a schematic perspective view of an actuator module according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a hardware configuration according to an embodiment of the present invention;
FIG. 5 is a block diagram of a monitoring system according to an embodiment of the present invention;
FIG. 6 is a flow chart of the operation of monitoring the infusion drop rate, the liquid level and the air bubbles according to the embodiment of the invention.
Description of reference numerals:
1 is a transfusion hose, 2 is a left end cover, 3 is a Murphy's dropper, 4 is a clamping module, 5 is a right end cover, 6 is a rear end cover, 7 is a front end cover, 8 is a power supply button, 9 is a reset button, 10 is a touch screen, 11 is a camera connecting piece, 12 is a camera, 13 is a camera extension line module, 14 is an eyebolt, 15 is a UPS uninterrupted power supply, 16 is a motor driving module, 17 is a protective cover, 18 is an execution mechanism module, 19 is an execution mechanism connecting piece, 20 is a motor, 21 is a gear reduction box, 22 is a motor fixing piece, 23 is a driving gear, 24 is a driven gear, 25 is a snap spring, 26 is a limit switch, 27 is a flange nut, 28 is a trapezoidal screw rod, 29 is a screw rod fixing piece, 30 is a flange bearing, 31 is a guide optical axis, 32 is an L-shaped extrusion piece, 33 is a main controller, 34 is a WIFI communication module, 35 is a high-speed WIFI module, 36 is an LED lamp, and 37 is a buzzer.
Detailed Description
The present invention will be described in further detail below.
As shown in fig. 1 and 2, a medical intelligent auxiliary infusion device based on machine vision comprises a frame; the dropping funnel is arranged on the frame, is connected with an infusion hose 1 and is used for infusion; the actuating mechanism module 18 is used for extruding the transfusion hose 1 to adjust the dropping speed of liquid drops in the dropping funnel; the camera 12 is used for shooting the drip chamber and the infusion hose 1 to obtain a plurality of infusion images and sending the infusion images to the data processing device, wherein the infusion images comprise liquid drop information and liquid level information of the drip chamber and bubble information of the infusion hose 1; a timer connected to the camera 12 for recording a plurality of shooting moments and sending the plurality of shooting moments to the data processing device, wherein the plurality of shooting moments correspond to the plurality of infusion images one by one; the data processing device is used for receiving a plurality of transfusion images and a plurality of shooting moments, determining the actual dropping speed of liquid drops according to the time difference between any two shooting moments and the liquid drop information of the transfusion images in the time difference, obtaining the dropping speed difference according to the actual dropping speed and the preset dropping speed, determining the actual liquid level of the dropping funnel according to the liquid level information of the transfusion images, obtaining the liquid level difference according to the actual liquid level and the preset liquid level, and respectively sending the dropping speed difference, the liquid level difference and the bubble information to the control device; and the control device is respectively connected with the data processing device and the actuating mechanism module 18 and is used for controlling the actuating mechanism module 18 to correspondingly act according to the drop velocity difference, the liquid level difference or the air bubble information.
Specifically, after the puncture is completed, the medical staff inputs a preset infusion dropping speed value and a preset level value through the control device. The transfusion dripping speed value is converted into a motion curve of the actuating mechanism module 18 in the data processing device, the control device controls the actuating mechanism module 18 to correspondingly extrude the transfusion hose 1 according to the motion curve, so that liquid drops are intermittently formed in the dropping funnel, and the formed liquid drops are used for transfusion for a patient at a preset dripping speed.
In the present embodiment, the measurement of the infusion drop rate is converted into the calculation of the number of drops detected in a certain period of time by using the concept of the conversion method, so that the infusion drop rate can be obtained by using the camera 12 without separately providing another device such as a velometer. In the infusion process, the camera 12 continuously shoots the drip chamber and the infusion hose 1 to obtain a plurality of infusion images and sends the infusion images to the data processing device, and meanwhile, the timer records the shooting time of each shooting. The data processing device obtains the number of the liquid drops formed in the dropping funnel according to the infusion images at any two shooting moments, calculates and converts the actual dropping speed of the liquid drops into the actual dropping speed of the liquid drops according to the time difference between the number of the liquid drops and any two shooting moments, and then obtains the dropping speed difference between the actual dropping speed and the preset dropping speed.
a. Judging the dropping speed:
if the difference of the dripping speeds is less than 0, the actual dripping speed is over slow, the control device controls the execution mechanism module 18 to increase the extrusion amount of the infusion hose 1 so as to accelerate the dripping speed and correct the dripping speed;
if the dripping speed difference is equal to 0, the actual dripping speed is in accordance with the preset value, the control device does not send any instruction, and dripping speed correction is not needed;
if the difference of the dripping speed is larger than 0, the actual dripping speed is over fast, the control device controls the execution mechanism module 18 to reduce the extrusion amount of the transfusion hose 1 so as to slow down the dripping speed and correct the dripping speed.
b. And (3) judging the allowance: the judgment of the infusion residual quantity also utilizes the idea of indirect conversion to convert the detection of the infusion residual quantity into the detection of the liquid level in the drip chamber. Firstly, the actual liquid level is determined according to the liquid level information of the drip chamber in the infusion image, and then the liquid level difference is obtained according to the actual liquid level and the preset liquid level.
If the liquid level difference is less than or equal to 0, the actual liquid level is shown to reach or be lower than the preset liquid level, the infusion allowance is small, the control device controls the execution mechanism module 18 to compress the infusion hose 1, and infusion is stopped;
if the liquid level difference is larger than 0, the actual liquid level is higher than the preset liquid level, the infusion is still surplus, the control device does not send any instruction, and the execution mechanism module 18 continues to extrude the infusion hose 1 according to the preset value.
c. Judging the bubbles:
if the continuous multi-frame transfusion images detect that the transfusion hose 1 has bubble information, the control device controls the actuating mechanism module 18 to act, so that the actuating mechanism module 18 presses the transfusion hose 1 to stop transfusion;
if the infusion image does not detect that the infusion hose 1 has the bubble information, the control device does not send any instruction, and the execution mechanism module 18 continues to extrude the infusion hose 1 according to the original motion curve.
The fastest dropping speed of the general liquid drops is 120 drops/min, namely 2 drops/s, and the general camera 12 can reach 30 frames/s, so that the condition of collecting the liquid drops can be met by shooting with the camera 12.
When the same droplet appears in multiple consecutive images of the infusion, the prior art is able to identify the same droplet without repeating the count. Specifically, when a droplet is initially formed, the size of the droplet is gradually increased from small to large at the nozzle, and then when the volume of the droplet becomes large enough, the droplet falls due to the self-weight, so that whether the droplet is formed at the nozzle is detected first, and then the falling process of the droplet is detected through image processing, that is, when the droplet is detected to fall behind, the next droplet formed at the nozzle is detected to be the next droplet. Therefore, even if the same liquid drop is collected by a plurality of continuous transfusion images, the actual liquid drop quantity in a certain time period can be accurately obtained.
According to the principle of infusion monitoring, the intelligent auxiliary infusion devices in the prior art can be divided into two categories, namely intelligent auxiliary infusion devices based on non-visual sensor monitoring and intelligent auxiliary infusion devices based on visual sensor monitoring.
The first type of intelligent auxiliary infusion device based on non-visual sensor monitoring commonly adopts gravity type, electrode type, capacitance type, photoelectric type, ultrasonic type and other non-visual sensors as infusion monitoring sensors. Two problems exist in the intelligent auxiliary infusion device: firstly, a single sensor can only monitor one of the infusion dropping speed, the allowance and the air bubbles; secondly, the requirement on the installation precision of the sensor is high, and the monitoring precision is influenced by factors such as shaking and inclination of the device.
The second type of intelligent auxiliary infusion device based on visual sensor monitoring generally adopts a traditional image processing algorithm to realize monitoring, the monitoring process is easily interfered by external environments such as shaking, illumination change and the like, the algorithm robustness is poor, and the infusion method is not ideal.
Due to the technical problems, the intelligent auxiliary infusion device in the prior art is not widely applied in hospitals.
The medical intelligent auxiliary infusion device based on machine vision of the embodiment of the invention solves the defects of the existing intelligent infusion device based on the detection principle by the computer vision detection technology of deep learning, can realize the simultaneous monitoring of the infusion dripping speed, the allowance and the bubbles by a single camera 12, can automatically and correspondingly adjust when the infusion process is abnormal, improves the infusion safety of a patient, effectively lightens the working burden of medical care personnel and the family members of the patient, and can be widely applied to various medical institutions.
The actuating mechanism module 18 comprises a driving device, a transmission device and an extrusion piece, wherein the driving device is fixedly connected to the frame, the transmission device is respectively connected with the driving device and the extrusion piece, and the extrusion piece is arranged on one side of the infusion hose 1 and used for extruding the infusion hose 1.
The power generated by the driving device is transmitted to the extrusion piece through the transmission device, so that the extrusion piece extrudes the infusion hose 1, and the infusion can be carried out at a certain infusion speed.
As shown in fig. 3, the driving device is a motor 20, preferably a stepping motor, the transmission device includes a lead screw and a nut which are matched with each other, the motor 20 drives the lead screw to rotate, the lead screw is rotatably connected to the frame, the nut is slidably connected to the frame, and the nut is connected with the extrusion piece.
The motor 20 rotates to drive the lead screw to rotate, the lead screw rotates to drive the nut matched with the lead screw to linearly slide on the rack, so that the rotation of the motor 20 is converted into the linear movement of the nut, and the extrusion piece is driven to linearly move to extrude the infusion hose 1.
The transmission device further comprises a driving gear 23 and a driven gear 24, the motor 20 drives the driving gear 23 to rotate, the driving gear 23 and the driven gear 24 are in meshed transmission, and the driven gear 24 is connected with the lead screw.
Through the transmission of the driving gear 23 and the driven gear 24, the whole width of the device is reduced, and meanwhile, a more proper transmission ratio is easily obtained, which is beneficial to accurately adjusting the transfusion speed.
One side of the extrusion part is provided with a limit switch 26, the limit switch 26 is arranged corresponding to the infusion hose 1, and the limit switch 26 is connected with the control device.
The extrusion part is arranged between the infusion hose 1 and the limit switch 26, when the limit switch 26 is triggered by the extrusion part, the extrusion part is indicated to completely release the extrusion on the infusion hose 1, the infusion device is in a reset state, the limit switch 26 sends related signals to the control device, and the control device controls the motor 20 to rotate reversely, so that the extrusion part reaches a desired preset position to extrude the infusion hose 1 again.
The frame is equipped with the recess, and the drip chamber joint in recess, camera 12 rigid coupling in frame, camera 12 are towards the drip chamber and arrange.
Because the drip chamber and the infusion hose 1 connected below the drip chamber are arranged in the groove, and the camera 12 is fixed on the frame, when the camera 12 shoots an image, the interference of external environments such as shaking and illumination change is not easy to be caused, the algorithm robustness is good, and the requirement on the installation precision of the camera 12 is reduced.
As shown in fig. 1-4, the intelligent auxiliary infusion device of the present embodiment includes a housing module, a main control module, a human-computer interaction module, a visual detection module, an execution mechanism module 18, an abnormality alarm module, a power module, and a WIFI module.
In this embodiment, the dropper is a Murphy dropper 3. The shell module consists of a left end cover 2, a clamping module 4, a right end cover 5, a rear end cover 6, a front end cover 7 and an eyebolt 14. The left end cover 2, the right end cover 5 and the rear end cover 6 are separated for convenient processing and installation; the image acquisition module, the actuating mechanism module 18 and the power supply module are arranged on the rear end cover 6; the main control module, the abnormity alarm module, the WIFI module and the local interaction module are arranged on the front end cover 7; the lifting bolt 14 is fixed with the rear end cover 6, a rope penetrates through a round hole of the lifting bolt 14, is knotted and is hung on the infusion support; the clamping module 4 mainly comprises a dropper limiting block, a miniature spring, a bolt and a nut, and has the functions that firstly, the miniature spring is used as an energy source, and the dropper limiting blocks which are symmetrical left and right are used for clamping a spout at the upper end of the Murphy's dropper 3 so as to achieve the effect of fixing the Murphy's dropper 3; secondly, the clamping module 4 is convenient for clamping and disassembling the Murphy dropper 3, so that the use experience of medical personnel is improved;
the main control module comprises a main controller 33, and the timer and the data processing device are integrated on the main controller 33. In the present embodiment, the control device is a motor drive module 16. The main controller 33 adopts an Apollo STM32F4 development board of a positive point atom, and comprises a power supply key 8 and a reset key 9. The main controller 33 is respectively connected with the touch screen 10, the camera 12, the UPS uninterruptible power supply 15, the motor driving module 16, the WIFI communication module 34, the high-speed WIFI module 35, the LED lamp 36 and the buzzer 37, and mainly functions to receive and send data and instructions.
The man-machine interaction module comprises two interaction modes of local interaction and APP interaction. The local interaction comprises a touch screen 10, and medical staff can realize the interaction with the whole intelligent auxiliary infusion device by utilizing the touch screen 10, in the embodiment of the invention, the touch screen 10 adopts a 4.3-inch MCU capacitive touch screen of a punctual atom and is connected with a main controller 33, and the touch screen has the functions of setting the dropping speed, prompting abnormal information, displaying the dropping speed, the residual amount and normal information of bubbles in real time and the like; APP uses mobile terminal equipment (such as a mobile phone and an iPad) as carriers of APP interactively, and medical care personnel can also realize the functions of dripping speed setting, abnormal information prompting, transfusion dripping speed, allowance and normal bubble information real-time display and the like through the APP. More importantly, compare in local interaction, remove end APP mutual including long-range multimachine monitor function, medical personnel utilize the APP can realize long-range multimachine control, have solved the problem that "patient is many, the nurse is few" well. Local interaction APP interaction can provide good interaction experience for medical personnel.
The visual detection module mainly comprises a camera 12, a high-speed WIFI module 35 and a server. In the embodiment of the invention, the camera 12 is connected to the main controller 33 through the camera extension module 13, the main controller 33 can control the camera 12 to collect image information in the Murphy's dropper 3, the camera 12 is fixed on the rear end cover 6 through the camera connecting piece 11, the adjusting groove is arranged on the rear end cover 6, the position of the camera 12 relative to the Murphy's dropper 3 can be adjusted, and the size of the visual field of the Murphy's dropper 3 in the camera 12 can be adjusted. High-speed WIFI module 35 links to each other with main control unit 33, utilizes high-speed WIFI module 35, can give the server image data wireless transmission. In the embodiment of the present invention, the high-speed WIFI module 35 has a high transmission speed. The common fastest infusion drop speed is 120 drops/min (namely 2 drops/s), and the condition of the drops in the Murphy's dropper 3 can be monitored in real time as long as the transmission speed reaches 1s and 2 pictures are transmitted, so that the requirement of real-time monitoring is met. The server can be a cloud server, a workstation or other equipment capable of building a deep learning target detection algorithm platform to process infusion pictures.
The actuating mechanism module 18 comprises a motor driving module 16, a protective cover 17, an actuating mechanism connecting piece 19, a motor 20, a gear reduction box 21, a motor fixing piece 22, a gear transmission pair (comprising a driving gear 23 and a driven gear 24), a clamp spring 25, a limit switch 26, a flange nut 27, a trapezoidal lead screw 28, a lead screw fixing piece 29, a flange bearing 30, a guide optical axis 31 and an L-shaped extrusion piece 32. The extrusion in this embodiment is an L-shaped extrusion 32.
Function of the actuator linkage 19: firstly, the whole actuator module 18 is fixed on the rear end cover 6; secondly, the motor fixing piece 22 and the lead screw fixing piece 29 are fixed together above, so as to ensure the position relation between the motor 20 and the trapezoidal lead screw 28;
function of the screw mount 29: one is connected with the actuator connecting piece 19; the second is to connect the trapezoidal lead screw 28 through the flange bearing 30, before that, the flange nut 27 and the L-shaped extrusion piece 32 are connected into a whole through the bolt, and then the whole is connected with the trapezoidal lead screw 28, and then the three are connected with the lead screw fixing piece 29. In the embodiment of the invention, a trapezoidal lead screw 28 is adopted (for example, the stroke is 1mm, the trapezoidal lead screw 28 rotates for one circle, the linear displacement is 1mm), two ends of the trapezoidal lead screw 28 are processed into optical axes, a clamping groove is processed at a specific position, and the clamping spring 25 is embedded into the clamping groove of the trapezoidal lead screw 28 to prevent the trapezoidal lead screw 28 from moving in the shaft end direction; thirdly, the guide optical axis 31 is connected with a guide optical axis 31, the guide optical axis 31 penetrates through the reserved through holes of the flange nut 27 and the L-shaped extrusion piece 32, and the optical axes are embedded at two ends of the lead screw fixing piece 29 through interference fit, so that the purpose is to limit the rotational freedom degree of the L-shaped extrusion piece 32; and fourthly, the limit switch 26 is fixed, and the function of the limit switch 26 is to inform the main controller 33 of the position information of the whole actuator module 18 when the infusion hose 1 is completely released, namely in a reset state.
Function of the motor mount 22: one is connected with the actuator connecting piece 19; secondly, the motor 20 with the gear reduction box 21 is fixed.
The gear transmission pair has the following effects: firstly, a motor 20 with a gear reducer 21 is connected with a trapezoidal screw 28; the overall length of the actuator module 18 is significantly reduced.
Function of the protective cover 17: when the mechanism execution module 18 is in the working state, the electric wires of the camera 12, the motor 20 and the limit switch 26 are prevented from being wound into the gear pair, and the influence on the transfusion is prevented.
The execution mechanism module 18 receives an instruction sent by the main controller 33, the main controller 33 sends the instruction to the motor driving module 16, in the embodiment of the invention, the motor driving module 16 is provided with a driving module to drive the motor 20, after the motor 20 is started, the gear reduction box 21 drives the gear transmission pair to move, so that the trapezoidal lead screw 28 moves, the rotation motion of the motor 20 is converted into the linear reciprocating motion of the L-shaped extrusion piece 32 on the lead screw module, and the effect of controlling the elastic infusion hose 1 to accurately regulate the speed is achieved.
The abnormal alarm module comprises a local sound alarm, a light alarm, an information prompt alarm on the touch screen 10, an information prompt alarm on the mobile terminal APP and a voice alarm. In the embodiment of the invention, the buzzer 37 on the development board STM32F4 is used as a local sound alarm, the LED lamp 36 on the development board STM32F4 is used as a local light alarm, and the alarm prompt is realized by receiving an abnormal alarm signal of the main controller 33.
The power module is used for supplying power to other modules. In the embodiment of the present invention, the UPS uninterruptible power supply 15 is used as the power supply of the present invention, and the UPS uninterruptible power supply 15 has an output voltage interface of USB5V, which can be directly connected to the USB interface of the main controller 33 to supply power to the USB interface, and then the main controller 33 supplies power to other modules. In case of emergency (such as power failure in hospital, urgent need for patient to move due to going to toilet, etc.), the UPS 15 can still ensure normal operation of the whole infusion device compared to other power sources.
The WIFI module mainly includes a WIFI communication module 34 and a high-speed WIFI module 35. The WIFI communication module 34 is mainly used for data transmission and is connected to the main controller 33. In the embodiment of the present invention, the data transmission is performed by using the WIFI module, which includes mutual communication among the main controller 33, the server, and the mobile terminal APP.
An infusion method of a medical intelligent auxiliary infusion device based on machine vision comprises the following steps,
acquiring a plurality of infusion images and a plurality of shooting moments of a drip chamber and an infusion hose 1, wherein the infusion images comprise liquid drop information and liquid level information of the drip chamber and bubble information of the infusion hose 1, and the plurality of shooting moments correspond to the plurality of infusion images one to one;
determining the actual dropping speed of the liquid drop according to the time difference between any two shooting moments and the liquid drop information of the infusion image in the time difference, and obtaining a dropping speed difference according to the actual dropping speed and a preset dropping speed;
determining the actual liquid level of the dropping funnel according to the liquid level information of the infusion image, and obtaining a liquid level difference according to the actual liquid level and a preset liquid level;
and sending the information of the drop velocity difference, the liquid level difference or the air bubbles to the control device, so that the control device controls the corresponding action of the actuating mechanism module 18 according to the information of the drop velocity difference, the liquid level difference or the air bubbles.
The specific working process is as follows:
as shown in fig. 5, in the present embodiment, it is assumed that the actuator module 18 is in the initial state of the reset state (i.e., the travel switch 26 is in the activated state).
(1) The rope on the medical intelligent auxiliary infusion device is hung on an infusion support;
(2) the Murphy dropper 3 is clamped into a clamping module 4 in the shell module, and the infusion hose 1 is plugged between the left end cover 2 and the right end cover 5. The power supply key 8 on the main controller 33 is pressed, then the reset key 9 is pressed, so that the whole intelligent transfusion device is in a power-on reset state, and then medical personnel puncture a patient;
(3) after the puncture is completed, the medical staff utilizes the mobile terminal APP or the local touch screen 10 to quickly set the period
Expecting the dripping speed value, the main controller 33 receives the dripping speed value, converts the dripping speed into the number of pulses that the motor 20 needs to rotate through the conversion of the mathematical formula, then the pulse number is transmitted to the PID control algorithm to obtain the acceleration curve and the speed curve information, the main controller 33 controls the motor driving module 16 according to the corresponding acceleration and speed curve, after the motor driving module 16 drives the motor 20, after passing through the gear reduction box 21, the driving gear 23 rotates, the driving gear 23 drives the driven gear 24 by utilizing the meshing principle, so that the trapezoidal screw 28 connected with the driven gear 24 rotates, under the combined action of the flange nut 27 and the guide optical axis 31, the rotary motion of the trapezoidal lead screw 28 is converted into the reciprocating linear motion of the L-shaped extrusion piece 32, and the L-shaped extrusion piece 32 is controlled by a program to move to a set displacement so as to extrude the transfusion hose 1, so that liquid drops drop at a preset dropping speed;
(4) the main controller 33 sends a start signal to the image acquisition module, the main controller 33 is firstly utilized to adjust the resolution of the image to 120 x 160, then the main controller 33 controls the camera 12 through the camera extension line module 13, the camera 12 is started to acquire the image, the image data is wirelessly transmitted to the server at a high speed through the ALK8266WIFI module connected with the main controller 33, the server restores the image data into an image format after receiving the image data, then each image is transmitted to a depth learning real-time target detection algorithm (such as a YOLO algorithm, an SSD algorithm, a Faster-RCNN algorithm and the like) platform in the server, the images are preprocessed, convolved, predicted and the like, then detection results of liquid drops, liquid levels and bubbles in the Murphy dropper 3 are output, and digital signals (such as 0 is detected liquid drops, 1 is no droplet detected, etc.), and finally, sent to the master controller 33 through the ESP8266WIFI communication module 34;
(5) the main controller 33 receives the digital signal and determines it. As shown in fig. 6, is the invention pair
The judgment flow chart of the infusion dropping speed, the allowance and the air bubbles comprises the following judgment flows:
a. judging the dropping speed: by utilizing the concept of the conversion method, the invention converts the measurement of the transfusion dropping speed into the calculation of the number of drops detected in the set time. First, the number of drops is initialized and the current time T is recorded0(ii) a Secondly, judging whether liquid drops in the picture are detected or not, if the liquid drops are detected, adding 1 to the number of the liquid drops, and if the liquid drops are not detected, skipping to continue to execute the next step; then, the current time T is judgednAnd T0If the difference is 30s, calculating the dropping speed and outputting a dropping speed value if the difference is 30 s; if not, returning to the initial cycle. The dropping speed value output every 30s is firstly compared with a dropping speed threshold value set in a program:
if the actual dropping speed value is lower than the dropping speed threshold value, which indicates that the infusion is abnormal, the main controller 33 sends a dropping speed abnormal instruction to the local buzzer 37 and the LED lamp 36 for audible and visual alarm prompt, and carries out information prompt of the dropping speed abnormality on the touch screen 10; meanwhile, an ESP8266WIFI communication module 34 is used for sending a dropping speed abnormal instruction to a mobile terminal APP, and medical staff are informed of abnormal dropping speed through voice prompt and abnormal information display;
if the actual dropping speed is higher than the dropping speed threshold value, subtracting the expected dropping speed value from the actual dropping speed value, and judging:
1) if the dripping speed deviation is less than 0, which means that the actual dripping speed is too slow, the main controller 33 converts the dripping speed deviation into the pulse number required to be adjusted by the motor 20, and sends the pulse number to the motor driving module 16, and the driving motor 20 increases the extrusion amount of the infusion hose 1 to correct the dripping speed;
2) if the drop rate deviation is equal to 0, the main controller 33 does not need to send any command, as usual;
3) if the drop speed deviation is larger than 0, which means that the actual drop speed is too fast, the main controller 33 converts the drop speed deviation into the pulse number required to be adjusted by the motor 20, and sends the pulse number to the motor driving module 16, and the driving motor 20 reduces the extrusion amount of the infusion hose 1 to correct the drop speed;
b. and (3) judging the allowance: the judgment of the infusion residual quantity also utilizes the idea of indirect conversion, the detection of the infusion residual quantity is converted into the liquid level detection in the Murphy's dropper 3, and the liquid level detection condition of the Murphy's dropper 3 is judged in real time:
if the detected liquid level value is lower than the set liquid level threshold value, the main controller 33 sends an instruction of abnormal allowance to the execution mechanism module 18 to inform the execution mechanism module of automatic infusion immediately; the main controller 33 also sends an instruction of the margin abnormality to the local buzzer 37 and the local LED lamp 36 for audible and visual alarm prompt, and prompts information of the margin abnormality on the touch screen 10; meanwhile, the ESP8266WIFI communication module 34 is used for sending a margin abnormal instruction to the mobile terminal APP, and medical staff are informed of the fact that the infusion margin is too small through voice prompt and abnormal information display.
If the detected liquid level value is higher than the set liquid level threshold value, the main controller 33 does not need to send any instruction, and all the operations are normal;
c. judging the bubbles: if the continuous multiframes detect that bubbles exist, the main controller 33 sends an abnormal instruction of the existence of the bubbles to the execution mechanism module 18 to inform and immediately stop automatic transfusion; the main controller 33 also sends an abnormal instruction of the existence of bubbles to the local buzzer 37 and the local LED lamp 36 for audible and visual alarm prompt, and displays the information prompt of the existence of bubbles on the touch screen 10; meanwhile, the ESP8266WIFI communication module 34 is used for sending an abnormal instruction with bubbles to the mobile terminal APP, and the medical staff is informed of the bubbles in the infusion through voice prompt and abnormal information display; on the contrary, the main controller 33 does not need to send any command, and once normal;
(6) in the infusion process, in the detection of the infusion dropping speed, the infusion residue or the air bubbles, if the abnormal condition occurs, the medical staff is informed to come to handle the abnormal condition, after the medical staff solves the abnormal condition, the man-machine interaction module is used for one-key reset, the main controller 33 receives a signal and then sends the signal to the execution mechanism module 18, the motor 20 controls the L-shaped extrusion piece 32 to move towards the direction of the initial position quickly, when the limit switch 26 is triggered, the execution mechanism module 18 is in the reset state at the moment and should be stopped immediately, and the motor 20 is informed to rotate reversely according to the expected dropping speed value set previously, so that the L-shaped extrusion piece 32 reaches the expected position. And (5) repeating the step (5) to realize real-time monitoring and adjustment of the whole venous transfusion process until the transfusion process is finished.
And (5) if the abnormal conditions of the infusion dripping speed, the allowance or the bubbles are not detected in the infusion process, directly repeating the step (5), and realizing the real-time monitoring and adjustment of the whole venous infusion process until the infusion process is finished.
Compared with the prior art, the invention has the following advantages:
(1) the invention adopts the visual sensor as the detection sensor, and can simultaneously monitor the liquid drops, the liquid level and the bubbles in the Murphy's dropper 3;
(2) the invention adopts a deep learning real-time target detection algorithm to realize the detection of liquid drops, liquid levels and bubbles in the Murphy's dropper 3, and has strong adaptability to the environment and good robustness of the algorithm;
(3) the intelligent auxiliary infusion device is powered by the UPS (uninterrupted power supply) 15, so that the normal operation of the infusion device can be ensured under emergency conditions (such as power failure in hospitals, moving in toilets and the like);
(4) the invention combines the internet technology, enables medical care personnel to manage a plurality of infusion monitoring devices simultaneously by remote control, can well lighten the work burden of the medical care personnel, embodies the idea of intelligent medical treatment,
the intelligent hospital is created.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a medical intelligent auxiliary infusion device based on machine vision which characterized in that: comprises that
A frame;
the dropping funnel is arranged on the frame and is connected with an infusion hose for infusion;
the actuating mechanism module is used for extruding the infusion hose to adjust the dropping speed of liquid drops in the dropping funnel;
the camera is used for shooting the drip chamber and the infusion hose to obtain a plurality of infusion images and sending the infusion images to the data processing device, wherein the infusion images comprise liquid drop information and liquid level information of the drip chamber and bubble information of the infusion hose;
the timer is connected with the camera and used for recording a plurality of shooting moments and sending the shooting moments to the data processing device, wherein the shooting moments correspond to the infusion images one by one;
the data processing device is used for receiving a plurality of infusion images and a plurality of shooting moments, determining the actual dropping speed of the liquid drops according to the time difference between any two shooting moments and the liquid drop information of the infusion images in the time difference, obtaining the dropping speed difference according to the actual dropping speed and the preset dropping speed, determining the actual liquid level of the dropping funnel according to the liquid level information of the infusion images, obtaining the liquid level difference according to the actual liquid level and the preset liquid level, and respectively sending the dropping speed difference, the liquid level difference and the bubble information to the control device;
and the control device is respectively connected with the data processing device and the actuating mechanism module and is used for controlling the actuating mechanism module to correspondingly act according to the drop velocity difference, the liquid level difference or the bubble information.
2. The machine-vision-based medical intelligent auxiliary infusion device of claim 1, wherein: the actuating mechanism module comprises a driving device, a transmission device and an extrusion piece, the driving device is fixedly connected to the rack, the transmission device is respectively connected with the driving device and the extrusion piece, and the extrusion piece is arranged on one side of the infusion hose and used for extruding the infusion hose.
3. A machine vision based medical intelligent auxiliary infusion device according to claim 2, characterized in that: the driving device is a motor, the transmission device comprises a lead screw and a nut which are matched with each other, the motor drives the lead screw to rotate, the lead screw is rotatably connected to the rack, the nut is slidably connected to the rack, and the nut is connected with the extrusion piece.
4. A machine vision based medical intelligent auxiliary infusion device according to claim 3, characterized in that: the transmission device further comprises a driving gear and a driven gear, the motor drives the driving gear to rotate, the driving gear and the driven gear are in meshed transmission, and the driven gear is connected with the lead screw.
5. A machine vision based medical intelligent auxiliary infusion device according to claim 2, characterized in that: one side of the extrusion part is provided with a limit switch, the limit switch is arranged corresponding to the infusion hose, and the limit switch is connected with the control device.
6. The machine-vision-based medical intelligent auxiliary infusion device of claim 1, wherein: the frame is equipped with the recess, and the drip chamber joint in recess, camera rigid coupling in frame, the camera is arranged towards the drip chamber.
7. The machine-vision-based medical intelligent auxiliary infusion device of claim 1, wherein: the system also comprises a local interaction module and a mobile interaction module, wherein the local interaction module and the mobile interaction module are respectively connected with the data processing device.
8. A machine vision based medical intelligent assisted infusion device as defined in claim 7 in which: the local interaction module is a touch screen.
9. The machine-vision-based medical intelligent auxiliary infusion device of claim 1, wherein: the system also comprises an abnormity alarm module, and the abnormity alarm module is connected with the data processing device.
10. A method for infusion by using a machine vision-based medical intelligent auxiliary infusion device, which is disclosed by any one of claims 1-9, and is characterized in that: comprises the following steps of (a) carrying out,
acquiring a plurality of infusion images and a plurality of shooting moments of a drip chamber and an infusion hose, wherein the infusion images comprise liquid drop information and liquid level information of the drip chamber and bubble information of the infusion hose, and the plurality of shooting moments correspond to the plurality of infusion images one to one;
determining the actual dropping speed of the liquid drop according to the time difference between any two shooting moments and the liquid drop information of the infusion image in the time difference, and obtaining a dropping speed difference according to the actual dropping speed and a preset dropping speed;
determining the actual liquid level of the dropping funnel according to the liquid level information of the infusion image, and obtaining a liquid level difference according to the actual liquid level and a preset liquid level;
and sending the information of the drop velocity difference, the liquid level difference or the air bubbles to a control device, so that the control device controls the corresponding action of the actuating mechanism module according to the information of the drop velocity difference, the liquid level difference or the air bubbles.
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