CN113577458A - Automatic injection method, device, electronic equipment and storage medium - Google Patents
Automatic injection method, device, electronic equipment and storage medium 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
- A61M5/42—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 having means for desensitising skin, for protruding skin to facilitate piercing, or for locating point where body is to be pierced
- A61M5/427—Locating point where body is to be pierced, e.g. vein location means using ultrasonic waves, injection site templates
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- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
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- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
- A61M2005/2006—Having specific accessories
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- G06T2207/30—Subject of image; Context of image processing
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- G06T2207/30101—Blood vessel; Artery; Vein; Vascular
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Abstract
The application discloses an automatic injection method, an automatic injection device, electronic equipment and a storage medium, wherein the injection method comprises the following steps: determining an injection part of the object to be injected according to the first image containing the object to be injected, and acquiring position information of the injection part; moving the injection device to the injection site, acquiring a second image containing the injection site, determining a pressing position, applying pressure to the pressing position, recording the applied pressure value, and acquiring a third image after applying the pressure; positioning a subcutaneous blood vessel of the injection part according to the first image, the pressure value and the third image, controlling the injection device to move from the injection part to the target position, and acquiring the acting force of the head of the injection device in the first direction in the process that the injection device moves to the target position; the injection device head is controlled to reach a target position of the object to be injected according to a reaction force of the injection device head in a first direction and a first angle between the injection device and a cortex of the object to be injected.
Description
Technical Field
The invention relates to the technical field of automatic injection, in particular to an automatic injection method, an automatic injection device, electronic equipment and a storage medium.
Background
The position and depth of veins of different people vary according to age, sex and body type. Even more, even in the same person, differences in injection location can result in differences in vein location and depth. Therefore, when intravenous injection is performed, the vein needs to be preliminarily positioned by related means, such as a bandage or beating, and whether the vein is successfully inserted is judged by the hand feeling after the needle is inserted. Based on this, at present, there are few automatic devices for intravenous injection, and manual injection by professional injection personnel is mainly used.
However, in the case of an emergency or a scene requiring a large amount of intravenous injections, the conventional injection method requires a large amount of manpower, and the professional requirement for the person performing the injection is high, which results in a large amount of occupied human resources and a low injection efficiency.
Disclosure of Invention
In order to solve the above problems in the prior art, the embodiment of the application provides an automatic injection method, an automatic injection device, an electronic device and a storage medium, which can realize automatic vein positioning and injection, reduce labor cost consumption and improve injection efficiency.
In a first aspect, embodiments of the present application provide an automatic injection method, where the injection method is applied to an automatic injection device, and a mechanical arm is mounted on the automatic injection device, and a tail end of the mechanical arm is connected to the injection device, and the injection method includes:
acquiring a first image containing a subject to be injected;
determining an injection part of an object to be injected according to the first image, and acquiring position information of the injection part;
moving the injection device to the injection site according to the position information, and acquiring a second image containing the injection site;
determining a compression position according to the second image;
applying pressure to the pressing position, recording a pressure value applied to the pressing position, and acquiring a third image containing the injection part after the pressure is applied;
positioning the subcutaneous blood vessel of the injection part according to the first image, the pressure value and the third image to obtain a target position;
controlling the injection device to move from an injection part to a target position of an object to be injected, and acquiring acting force of the head of the injection device in a first direction in the process of moving the injection device to the target position of the object to be injected, wherein the first direction is the advancing direction of the injection device;
according to the reaction force of the head of the injection device in the first direction and the first angle between the injection device and the cortex of the object to be injected, the head of the injection device is controlled to reach the target position of the object to be injected so as to inject the object to be injected.
In a second aspect, embodiments of the present application provide an automatic injection device having a robotic arm mounted thereon, the end of the robotic arm being connected to the injection device, the injection device comprising:
the positioning module is used for acquiring a first image containing an object to be injected, determining an injection part of the object to be injected according to the first image and acquiring position information of the injection part;
the displacement module is used for moving the injection device to the injection part according to the position information, acquiring a second image containing the injection part, and determining a compression position according to the second image;
the pressurizing module is used for applying pressure to the pressing position, recording the pressure value applied to the pressing position and acquiring a third image containing the injection part after the pressure is applied;
the positioning module is further used for positioning the subcutaneous blood vessel of the injection part according to the first image, the pressure value and the third image to obtain a target position;
the injection module is used for controlling the injection device to move from an injection part to a target position of an object to be injected, and acquiring acting force of the head of the injection device in a first direction in the process that the injection device moves to the target position of the object to be injected, wherein the first direction is the advancing direction of the injection device; and controlling the head of the injection device to reach the target position of the object to be injected according to the reaction force of the head of the injection device in the first direction and the first angle between the injection device and the cortex of the object to be injected so as to inject the object to be injected.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor coupled to the memory, the memory for storing a computer program, the processor for executing the computer program stored in the memory to cause the electronic device to perform the method of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, the computer program causing a computer to perform the method according to the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program, the computer operable to cause the computer to perform a method according to the first aspect.
The implementation of the embodiment of the application has the following beneficial effects:
it can be seen that in the present embodiment, the subcutaneous vein of the subject to be injected is precisely positioned by means of visual positioning. Specifically, by establishing a relationship between age, sex, body type, pressure value, color after vein compression, and subcutaneous depth of the vein, the third image including the injection site after the pressure is applied is analyzed, and then the subcutaneous blood vessel of the injection site is positioned to obtain the target position. Therefore, the subcutaneous veins at different parts of the human body can be accurately positioned. Meanwhile, the injection device is controlled to move from the injection site to the target position of the object to be injected by acquiring the acting force of the head of the injection device in the first direction in the process of moving the injection device to the target position of the object to be injected. Specifically, the injection device head can be controlled to reach the target position of the object to be injected according to the reaction force of the injection device head in the first direction and the first angle between the injection device and the cortex of the object to be injected, so that the fact that the injection device reaches the target position can be accurately determined when the machine injects, and the injection accuracy can be improved. From this, realized intravenous route's automation, when guaranteeing the precision, very big reduction human resource's occupancy to injection efficiency has been promoted.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic diagram of a hardware structure of an automatic injection device according to an embodiment of the present disclosure
FIG. 2 is a schematic view of an automatic injection system provided by an embodiment of the present application;
FIG. 3 is a schematic flow chart of an automatic injection method provided in an embodiment of the present application;
fig. 4 is a schematic flowchart of a method for acquiring location information of an injection site according to an embodiment of the present disclosure;
fig. 5 is a schematic flowchart of a method for locating a subcutaneous blood vessel of an injection site to obtain a target location according to a first image, a pressure value and a third image according to an embodiment of the present application;
fig. 6 is a block diagram illustrating functional modules of an automatic injection device according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application.
The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, result, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
First, referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of an automatic injection device according to an embodiment of the present disclosure. The automatic injection device 100 includes at least one processor 101, a communication link 102, a memory 103, and at least one communication interface 104.
In this embodiment, the processor 101 may be a general processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more ics for controlling the execution of programs according to the present disclosure.
The communication link 102, which may include a path, carries information between the aforementioned components.
The communication interface 104 may be any transceiver or other device (e.g., an antenna, etc.) for communicating with other devices or communication networks, such as an ethernet, RAN, Wireless Local Area Network (WLAN), etc.
The memory 103 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
In this embodiment, the memory 103 may be independent and connected to the processor 101 through the communication line 102. The memory 103 may also be integrated with the processor 101. The memory 103 provided in the embodiments of the present application may generally have a nonvolatile property. The memory 103 is used for storing computer-executable instructions for executing the scheme of the application, and is controlled by the processor 101 to execute. The processor 101 is configured to execute computer-executable instructions stored in the memory 103, thereby implementing the methods provided in the embodiments of the present application described below.
In alternative embodiments, computer-executable instructions may also be referred to as application code, which is not specifically limited in this application.
In alternative embodiments, processor 101 may include one or more CPUs, such as CPU0 and CPU1 of FIG. 1.
In an alternative embodiment, the automatic injection device 100 may include multiple processors, such as processor 101 and processor 107 in FIG. 1. Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).
In an alternative embodiment, if the automatic injection apparatus 100 is a server, the automatic injection apparatus 100 may further include an output device 105 and an input device 106. The output device 105 is in communication with the processor 101 and may display information in a variety of ways. For example, the output device 105 may be a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display device, a Cathode Ray Tube (CRT) display device, a projector (projector), or the like. The input device 106 is in communication with the processor 101 and may receive user input in a variety of ways. For example, the input device 106 may be a mouse, a keyboard, a touch screen device, or a sensing device, among others.
The automatic injection device 100 may be a general purpose device or a special purpose device. The present embodiment does not limit the type of the automatic injection device 100.
Next, referring to fig. 2, fig. 2 is a schematic diagram of an automatic injection system 200 according to the present application, which includes a robot arm 201, an injection device 202, a camera device 203, and a processor (not shown). Wherein, the end of the mechanical arm 201 is connected with the injection device 202, and is used for controlling the movement of the injection device 202 according to the instruction of the processor; the injection device 202 is used for performing injection operation according to instructions of the processor; the camera 203 is disposed at the end of the robot arm 201, and is configured to collect an image and transmit the image to a processor for analysis.
Hereinafter, the automatic injection method disclosed in the present application will be explained:
referring to fig. 3, fig. 3 is a schematic flow chart of an automatic injection method according to an embodiment of the present disclosure, which may be applied to the automatic injection system shown in fig. 2. Specifically, the automatic injection method comprises the following steps:
301: a first image containing a subject to be injected is acquired.
In the present embodiment, the first image may be a whole body image or a half body image with an injection target. Illustratively, the first image may be acquired by a lidar mounted at the end of the mechanical arm. Specifically, the acquisition environment can be scanned by the laser radar, and the spatial position information and the attitude information of the object to be acquired are determined. The spatial position information is used to represent the position of the object to be acquired in the acquisition environment, and the posture information is used to represent the current posture of the object to be acquired, for example: standing or sitting.
And then, controlling the mechanical arm to move towards the object to be registered according to the spatial position information and the attitude information, continuously sending a radar signal to the object to be registered through a laser radar which is also positioned at the tail end of the mechanical arm in the moving process, and receiving first laser radar data returned from the object to be injected.
And finally, obtaining a whole body image or a half body image of the object to be injected according to the first laser radar data.
302: according to the first image, an injection site of the object to be injected is determined, and position information of the injection site is acquired.
Generally, the injection sites commonly used in intravenous injection can be classified into: upper, head and lower limbs. The choice of injection site is also different for people of different ages, sexes and body types. Illustratively, for age, there are more superficial veins under the scalp of an infant, and at the same time, the injection is easily fixed and not easily affected by the activity of the infant. Therefore, for infants, the head is often chosen as the injection site. For another example, the blood coagulation factor activity in the blood of the elderly is high, and the pump action of the calf muscle is weakened, so that the blood is seriously stagnated in the veins, and the incidence of the lower limb venous thrombosis of the elderly is higher than that of the young. Thus, for elderly people, the upper limb is often selected as the injection site, e.g. the back of the hand or the forearm. On the other hand, in the body type, fat accumulation in the upper limb of the obese patient is high, and the subcutaneous superficial vein is shielded greatly, so that the foot or wrist with difficult fat accumulation can be selected as the injection site for the obese patient.
Therefore, in the present embodiment, it is possible to determine the sex, age and posture information of the subject to be injected from the first image, then determine at least one injection site candidate by integrating the sex and age of the subject to be injected, and then determine the injection site of the subject to be injected among the at least one injection site candidate according to the posture information.
Meanwhile, in the present embodiment, after an injection site of an object to be injected is determined, it is necessary to locate the site and acquire position information of the injection site. Illustratively, the present application proposes a method of acquiring location information of an injection site, as shown in fig. 4, the method comprising:
401: from the first image, a plurality of joint points of the object to be injected is determined.
In this embodiment, the first image may be input to a convolutional neural network for feature extraction, and then image features corresponding to the first image may be obtained. Then, according to the image characteristics of the first image, a joint point Confidence map (Part Confidence Maps) and a joint point Affinity field (Part Affinity Fields) corresponding to the first image are obtained. Specifically, the first image may be input vgg19 to the first ten layers of the model to extract features, and the extracted features may be divided into two parts, from which the joint confidence and the affinity vector may be predicted.
402: and connecting the plurality of joint points according to the human body shape to obtain the human body joint point data of the object to be injected.
In this embodiment, vectors of the position and orientation of the limbs in the image may be set by the joint point affinity field, the confidence of each joint point may be noted by the joint point confidence icon, and then the association between each joint point may be determined by jointly learning the position of each joint point. And finally, connecting the joint points of the same person in an even matching mode according to the relation between every two joint points to obtain the data of the joint points of the human body.
403: and determining the position information of the injection part according to the position distribution of the injection part in the human joint point data.
In this embodiment, after the human joint point data of the object to be injected is determined, the position distribution of the injection site in the human joint point data can be determined. Specifically, a corresponding barycentric coordinate system may be generated by any four joint points in the human body joint point data, and then barycentric coordinates of the injection site under the barycentric coordinate system are acquired as the position information of the injection site.
Specifically, with a barycentric coordinate system established by four points in space, the weighted values of the coordinates of the four points can be used to identify the coordinates of any one point in space, as shown in formula (r):
x＝w1×x1+w2×x2+w3×x3+w4×x4………①
wherein x1, x2, x3 and x4 are barycentric coordinates of four points establishing a barycentric coordinate system, w1, w2, w3 and w4 are weights, and w1, w2, w3 and w4 satisfy formula (ii):
w1+w2+w3+w4＝1………②
303: and moving the injection device to the injection site according to the position information, and acquiring a second image containing the injection site.
In the embodiment, in the process of controlling the mechanical arm to move to the injection part of the object to be injected, the laser radar which is also positioned at the tail end of the mechanical arm continuously sends a radar signal to the object to be injected, and receives first laser radar data returned from the object to be injected. Therefore, after the first laser radar data is processed, a group of second images containing the injection part of the object to be injected can be obtained. Therefore, in the embodiment, the position information of the injection part can be dynamically updated by continuously analyzing the newly acquired second image in real time, so that the positioning is more accurate.
304: from the second image, a compression position is determined.
Generally, when injection is performed, pressure is applied to the periphery of the injection site by related means, such as a bandage or beating, so as to contract the subcutaneous superficial veins of the injection site and intercept the blood backflow of large blood vessels, so that the venous blood vessels are inflated, and the injection is easier to identify visually and facilitates needle insertion.
In this embodiment, the compression positions of different injection sites may be planned in advance, and then the currently most suitable compression position may be determined by analysis according to the second image.
305: applying pressure to the compression position, recording the pressure value applied to the compression position, and acquiring a third image containing the injection part after the pressure is applied.
306: and positioning the subcutaneous blood vessel of the injection part according to the first image, the pressure value and the third image to obtain a target position.
In this embodiment, a method for locating a subcutaneous blood vessel of an injection site to obtain a target location according to a first image, a pressure value and a third image is provided, as shown in fig. 5, the method includes:
501: and performing edge extraction on the third image to obtain a fourth image.
In this embodiment, the third image may be subjected to median filtering, then to binarization processing, and finally to edge extraction using a canny operator, so as to obtain a fourth image.
In addition, in the present embodiment, other methods that can achieve edge extraction may also be used, and the present application does not limit this.
502: and extracting the outer contours of all veins in the fourth image according to the topological structure of the preset standard contour of the veins so as to determine the region of all veins in the fourth image.
503: and analyzing each vein in all the veins in the third image respectively according to the areas of all the veins in the fourth image to obtain the color information, the trend information and the thickness information of each vein.
504: and determining a target vein in all veins in the third image according to the trend information and the thickness information of each vein.
In the present embodiment, a vein having a uniform thickness, a diameter larger than a threshold value, and a flat shape may be selected as the target vein.
505: and positioning the target vein according to the first image, the pressure value and the color information of the target vein to obtain a target position.
Specifically, first, sex, age, and posture information of the subject to be injected may be determined from the first image. Then, according to the sex, age and posture information of the object to be injected, in at least one preset calculation model, a target calculation model is determined. The sex corresponding to the target calculation model is consistent with the sex of the object to be injected, the age range corresponding to the target calculation model comprises the age of the object to be injected, and the posture range corresponding to the target calculation model comprises the posture marked by the posture information of the object to be injected.
In particular, the method can be used for respectively counting the color of veins and the subcutaneous depth of the veins of people with different sexes, ages and postures after different injection parts are applied with different pressures. And after grouping the corresponding data, respectively inputting the data into a preset initial model for training to obtain a series of calculation models. Based on the information, after the sex, age and posture information of the object to be injected are obtained, the corresponding calculation model can be matched according to the sex, age and posture information of the object to be injected.
And finally, inputting the pressure value and the color information into a target calculation model to obtain the subcutaneous depth information of the target vein in the object to be injected, wherein the subcutaneous depth information is used for identifying the vertical distance between the target vein and the skin of the object to be injected in the injection part. And determining the target position according to the subcutaneous depth information of the target vein in the object to be injected.
307: the injection device is controlled to move from the injection site to the target position of the object to be injected, and the acting force of the head of the injection device in the first direction in the process of moving the injection device to the target position of the object to be injected is obtained.
In this embodiment, the first direction is the direction in which the injection device is advanced.
308: according to the reaction force of the head of the injection device in the first direction and the first angle between the injection device and the cortex of the object to be injected, the head of the injection device is controlled to reach the target position of the object to be injected so as to inject the object to be injected.
Specifically, a first distance from the injection position to the depth of the target vein at the depth identified by the subcutaneous depth information of the subject to be injected according to the direction in which the injection device is advanced by the injection device may be determined according to a first angle between the injection device and the skin of the subject to be injected and the subcutaneous depth information of the target vein at the subject to be injected. Wherein, the first angle is an included angle which is smaller than or equal to 90 degrees between the injection device and the skin of the object to be injected.
When the difference between the first distance and the distance that the injection device advances is smaller than a first threshold value, information on the change of the reaction force of the injection device in the first direction is acquired. Then, the similarity between the change information and a preset change rule is calculated. And when the similarity is larger than a second threshold value, determining that the head of the injection device reaches the target position of the object to be injected.
Specifically, the needle will have a significant reduction in the reaction force in the first direction when it penetrates the wall of the blood vessel into the vein. Based on the method, the change of the reaction force in the first direction when the needle head punctures the blood vessel wall in different positions can be collected, and the change characteristics of the change are extracted to be used as the preset change rule. Simultaneously, through calculating first distance, can make certain prediction to the opportunity of the change of the reaction force of this first direction, then when the distance that injection device gos forward is close first distance, it indicates promptly that the syringe needle is about to reach the vascular wall and begins to impale, at this moment, carries out the full power to the reaction force at first direction and detects, simultaneously, slows down the propulsion dynamics to guarantee the security by the injection object, and the precision of injection.
In summary, in the embodiment of the present application, the subcutaneous vein of the subject to be injected is precisely located by means of visual positioning. Specifically, by establishing a relationship between age, sex, body type, pressure value, color after vein compression, and subcutaneous depth of the vein, the third image including the injection site after the pressure is applied is analyzed, and then the subcutaneous blood vessel of the injection site is positioned to obtain the target position. Therefore, the subcutaneous veins at different parts of the human body can be accurately positioned. Meanwhile, the injection device is controlled to move from the injection site to the target position of the object to be injected by acquiring the acting force of the head of the injection device in the first direction in the process of moving the injection device to the target position of the object to be injected. Specifically, the injection device head can be controlled to reach the target position of the object to be injected according to the reaction force of the injection device head in the first direction and the first angle between the injection device and the cortex of the object to be injected, so that the fact that the injection device reaches the target position can be accurately determined when the machine injects, and the injection accuracy can be improved. From this, realized intravenous route's automation, when guaranteeing the precision, very big reduction human resource's occupancy to injection efficiency has been promoted.
Referring to fig. 6, fig. 6 is a block diagram illustrating functional modules of an automatic injection device according to an embodiment of the present disclosure. As shown in fig. 6, the automatic injection device 600 includes:
the positioning module 601 is configured to acquire a first image including an object to be injected, determine an injection site of the object to be injected according to the first image, and acquire position information of the injection site;
a displacement module 602, configured to move the injection device to the injection site according to the position information, acquire a second image including the injection site, and determine a compression position according to the second image;
a pressurizing module 603, configured to apply pressure to the pressing position, record a pressure value applied to the pressing position, and obtain a third image including an injection site after the pressure is applied;
the positioning module 601 is further configured to position a subcutaneous blood vessel of the injection site according to the first image, the pressure value and the third image to obtain a target position;
the injection module 604 is configured to control the injection device to move from an injection site to a target position of an object to be injected, and obtain an acting force of a head of the injection device in a first direction in a process that the injection device moves to the target position of the object to be injected, where the first direction is a forward direction of the injection device; and controlling the head of the injection device to reach the target position of the object to be injected according to the reaction force of the head of the injection device in the first direction and the first angle between the injection device and the cortex of the object to be injected so as to inject the object to be injected.
In an embodiment of the present invention, in terms of locating a subcutaneous blood vessel of an injection site according to the first image, the pressure value and the third image to obtain a target location, the locating module 601 is specifically configured to:
performing edge extraction on the third image to obtain a fourth image;
extracting the outer contours of all veins in the fourth image according to the topological structure of the preset standard contour of the veins so as to determine the regions of all veins in the fourth image;
analyzing each vein in all the veins in the third image respectively according to the areas of all the veins in the fourth image to obtain color information, trend information and thickness information of each vein;
determining a target vein in all veins in the three images according to the trend information and the thickness information of each vein;
and positioning the target vein according to the first image, the pressure value and the color information of the target vein to obtain a target position.
In an embodiment of the present invention, in terms of locating a target vein according to a first image, a pressure value, and color information of the target vein to obtain a target location, the locating module 601 is specifically configured to:
determining the sex, age and posture information of the object to be injected according to the first image;
according to the sex, the age and the posture information of the object to be injected, determining a target calculation model in at least one preset calculation model, wherein the sex corresponding to the target calculation model is consistent with the sex of the object to be injected, the age range corresponding to the target calculation model comprises the age of the object to be injected, and the posture range corresponding to the target calculation model comprises the posture marked by the posture information of the object to be injected;
inputting the pressure value and the color information into a target calculation model to obtain subcutaneous depth information of a target vein in an object to be injected, wherein the subcutaneous depth information is used for identifying the vertical distance between the target vein and the skin of the object to be injected in an injection part;
and determining the target position according to the subcutaneous depth information of the target vein in the object to be injected.
In an embodiment of the present invention, in controlling the injection device head to reach a target position of the object to be injected according to a reaction force of the injection device head in a first direction and a first angle between the injection device and a cortex of the object to be injected, the injection module 604 is specifically configured to:
determining a first distance from an injection position to a depth of a target vein identified by subcutaneous depth information of a target vein in a subject to be injected according to a first angle between the injection device and the skin of the subject to be injected and the subcutaneous depth information of the target vein in the subject to be injected, wherein the first angle is smaller than or equal to 90 degrees;
when the difference value between the first distance and the advancing distance of the injection device is smaller than a first threshold value, acquiring the change information of the reaction force of the injection device in the first direction;
and calculating the similarity between the change information and a preset change rule, and determining that the head of the injection device reaches the target position of the object to be injected when the similarity is greater than a second threshold value.
In an embodiment of the present invention, in determining an injection site of an object to be injected from the first image, the positioning module 601 is specifically configured to:
determining the sex, age and posture information of the object to be injected according to the first image;
determining at least one candidate injection site according to the sex and age of a subject to be injected;
and determining an injection site of the object to be injected in at least one candidate injection site according to the posture information.
In an embodiment of the present invention, in terms of acquiring the position information of the injection site, the positioning module 601 is specifically configured to:
determining a plurality of joint points of the object to be injected according to the first image;
connecting the plurality of joint points according to human body shapes to obtain human body joint point data of an object to be injected;
and determining the position information of the injection part according to the position distribution of the injection part in the human joint point data.
In an embodiment of the present invention, a laser radar is installed at the end of the mechanical arm, so in terms of acquiring the first image containing the object to be injected, the positioning module 601 is specifically configured to:
determining spatial position information and posture information of an object to be injected;
controlling the injection device to move towards the object to be injected according to the spatial position information and the posture information;
in the process of controlling the injection device to move, sending a radar signal to an object to be injected through a laser radar, and receiving first laser radar data returned from the object to be injected;
according to the first lidar data, a first image containing the object to be injected is acquired.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 7, the electronic device 700 includes a transceiver 701, a processor 702, and a memory 703. Connected to each other by a bus 704. The memory 703 is used to store computer programs and data, and may transfer the data stored in the memory 703 to the processor 702.
The processor 702 is configured to read the computer program in the memory 703 to perform the following operations:
acquiring a first image containing a subject to be injected;
determining an injection part of an object to be injected according to the first image, and acquiring position information of the injection part;
moving the injection device to the injection site according to the position information, and acquiring a second image containing the injection site;
determining a compression position according to the second image;
applying pressure to the pressing position, recording a pressure value applied to the pressing position, and acquiring a third image containing the injection part after the pressure is applied;
positioning the subcutaneous blood vessel of the injection part according to the first image, the pressure value and the third image to obtain a target position;
controlling the injection device to move from an injection part to a target position of an object to be injected, and acquiring acting force of the head of the injection device in a first direction in the process of moving the injection device to the target position of the object to be injected, wherein the first direction is the advancing direction of the injection device;
according to the reaction force of the head of the injection device in the first direction and the first angle between the injection device and the cortex of the object to be injected, the head of the injection device is controlled to reach the target position of the object to be injected so as to inject the object to be injected.
In an embodiment of the present invention, in terms of locating a subcutaneous blood vessel of an injection site according to the first image, the pressure value and the third image to obtain a target location, the processor 702 is specifically configured to perform the following operations:
performing edge extraction on the third image to obtain a fourth image;
extracting the outer contours of all veins in the fourth image according to the topological structure of the preset standard contour of the veins so as to determine the regions of all veins in the fourth image;
analyzing each vein in all the veins in the third image respectively according to the areas of all the veins in the fourth image to obtain color information, trend information and thickness information of each vein;
determining a target vein in all veins in the three images according to the trend information and the thickness information of each vein;
and positioning the target vein according to the first image, the pressure value and the color information of the target vein to obtain a target position.
In an embodiment of the present invention, in terms of locating the target vein to obtain the target position according to the first image, the pressure value, and the color information of the target vein, the processor 702 is specifically configured to perform the following operations:
determining the sex, age and posture information of the object to be injected according to the first image;
according to the sex, the age and the posture information of the object to be injected, determining a target calculation model in at least one preset calculation model, wherein the sex corresponding to the target calculation model is consistent with the sex of the object to be injected, the age range corresponding to the target calculation model comprises the age of the object to be injected, and the posture range corresponding to the target calculation model comprises the posture marked by the posture information of the object to be injected;
inputting the pressure value and the color information into a target calculation model to obtain subcutaneous depth information of a target vein in an object to be injected, wherein the subcutaneous depth information is used for identifying the vertical distance between the target vein and the skin of the object to be injected in an injection part;
and determining the target position according to the subcutaneous depth information of the target vein in the object to be injected.
In an embodiment of the present invention, in controlling the injection device head to reach a target position of the object to be injected according to a reaction force of the injection device head in a first direction and a first angle between the injection device and a cortex of the object to be injected, the processor 702 is specifically configured to perform the following operations:
determining a first distance from an injection position to a depth of a target vein identified by subcutaneous depth information of a target vein in a subject to be injected according to a first angle between the injection device and the skin of the subject to be injected and the subcutaneous depth information of the target vein in the subject to be injected, wherein the first angle is smaller than or equal to 90 degrees;
when the difference value between the first distance and the advancing distance of the injection device is smaller than a first threshold value, acquiring the change information of the reaction force of the injection device in the first direction;
and calculating the similarity between the change information and a preset change rule, and determining that the head of the injection device reaches the target position of the object to be injected when the similarity is greater than a second threshold value.
In an embodiment of the present invention, in determining an injection site of an object to be injected from the first image, the processor 702 is specifically configured to:
determining the sex, age and posture information of the object to be injected according to the first image;
determining at least one candidate injection site according to the sex and age of a subject to be injected;
and determining an injection site of the object to be injected in at least one candidate injection site according to the posture information.
In an embodiment of the present invention, in obtaining the position information of the injection site, the processor 702 is specifically configured to:
determining a plurality of joint points of the object to be injected according to the first image;
connecting the plurality of joint points according to human body shapes to obtain human body joint point data of an object to be injected;
and determining the position information of the injection part according to the position distribution of the injection part in the human joint point data.
In an embodiment of the present invention, the end of the mechanical arm is mounted with a laser radar, and therefore, in terms of acquiring the first image containing the object to be injected, the processor 702 is specifically configured to:
determining spatial position information and posture information of an object to be injected;
controlling the injection device to move towards the object to be injected according to the spatial position information and the posture information;
in the process of controlling the injection device to move, sending a radar signal to an object to be injected through a laser radar, and receiving first laser radar data returned from the object to be injected;
according to the first lidar data, a first image containing the object to be injected is acquired.
It should be understood that the automatic injection device in the present application may include a smart Phone (e.g., Android Phone, iOS Phone, Windows Phone, etc.), a tablet computer, a palm computer, a notebook computer, a Mobile Internet device MID (MID), a wearable device, etc. The above automatic injection devices are exemplary only, not exhaustive, and include, but are not limited to, the automatic injection devices described above. In practical applications, the automatic injection device may further include: intelligent vehicle-mounted terminal, computer equipment and the like.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention can be implemented by combining software and a hardware platform. With this understanding in mind, all or part of the technical solutions of the present invention that contribute to the background can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods according to the embodiments or some parts of the embodiments.
Accordingly, embodiments of the present application also provide a computer-readable storage medium storing a computer program for execution by a processor to implement some or all of the steps of any of the automatic injection methods as recited in the above method embodiments. For example, the storage medium may include a hard disk, a floppy disk, an optical disk, a magnetic tape, a magnetic disk, a flash memory, and the like.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium having a computer program stored thereon, the computer program being operable to cause a computer to perform some or all of the steps of any of the automatic injection methods as set forth in the method embodiments above.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are all alternative embodiments and that the acts and modules referred to are not necessarily required by the application.
In the above embodiments, the description of each embodiment has its own emphasis, and for parts not described in detail in a certain embodiment, reference may be made to the description of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is merely a logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware, or may be implemented in the form of a software program module.
The integrated units, if implemented in the form of software program modules and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, and the memory may include: flash Memory disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the methods and their core ideas of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. An automatic injection method, wherein the method is applied to an automatic injection device, a mechanical arm is arranged on the automatic injection device, the tail end of the mechanical arm is connected with an injection device, and the injection method comprises the following steps:
acquiring a first image containing a subject to be injected;
determining an injection part of the object to be injected according to the first image, and acquiring position information of the injection part;
moving the injection device to the injection site according to the position information, and acquiring a second image containing the injection site;
determining a compression position according to the second image;
applying pressure to the pressing position, recording the pressure value applied to the pressing position, and acquiring a third image containing the injection part after the pressure is applied;
positioning a subcutaneous blood vessel of the injection part according to the first image, the pressure value and the third image to obtain a target position;
controlling the injection device to move from the injection part to the target position of the object to be injected, and acquiring the acting force of the head of the injection device in a first direction in the process of moving the injection device to the target position of the object to be injected, wherein the first direction is the advancing direction of the injection device;
controlling the head of the injection device to reach the target position of the object to be injected according to the reaction force of the head of the injection device in the first direction and the first angle between the injection device and the cortex of the object to be injected so as to inject the object to be injected.
2. The injection method of claim 1, wherein the locating the subcutaneous blood vessel of the injection site from the first image, the pressure value and the third image to obtain a target location comprises:
performing edge extraction on the third image to obtain a fourth image;
extracting the outer contours of all veins in the fourth image according to the topological structure of a preset vein standard contour so as to determine the regions of all veins in the fourth image;
analyzing each vein in all the veins in the third image respectively according to the areas of all the veins in the fourth image to obtain color information, trend information and thickness information of each vein;
determining a target vein in all veins in the three images according to the trend information and the thickness information of each vein;
and positioning the target vein according to the first image, the pressure value and the color information of the target vein to obtain the target position.
3. The injection method according to claim 2, wherein the locating the target vein according to the first image, the pressure value and the color information of the target vein to obtain the target position comprises:
determining the sex, age and posture information of the object to be injected according to the first image;
according to the sex, the age and the posture information of the object to be injected, a target calculation model is determined in at least one preset calculation model, wherein the sex corresponding to the target calculation model is consistent with the sex of the object to be injected, the age range corresponding to the target calculation model comprises the age of the object to be injected, and the posture range corresponding to the target calculation model comprises the posture marked by the posture information of the object to be injected;
inputting the pressure value and the color information into the target calculation model to obtain subcutaneous depth information of the target vein in the object to be injected, wherein the subcutaneous depth information is used for identifying the vertical distance between the target vein and the skin of the object to be injected in the injection part;
and determining the target position according to the subcutaneous depth information of the target vein in the object to be injected.
4. The injection method according to claim 3, wherein the controlling the injection device head to a target position of the subject to be injected according to a reaction force of the injection device head in the first direction and a first angle between the injection device and a cortex of the subject to be injected to inject the subject to be injected comprises:
determining a first distance from the injection position to the depth of the target vein identified by the subcutaneous depth information of the object to be injected according to a first angle between the injection device and the skin of the object to be injected and the subcutaneous depth information of the target vein in the object to be injected, wherein the first angle is smaller than or equal to 90 degrees;
when the difference value between the first distance and the advancing distance of the injection device is smaller than a first threshold value, acquiring the change information of the reaction force of the injection device in the first direction;
and calculating the similarity between the change information and a preset change rule, and determining that the head of the injection device reaches the target position of the object to be injected when the similarity is greater than a second threshold value.
5. The injection method according to claim 1, wherein determining an injection site of the subject to be injected from the first image comprises:
determining the sex, age and posture information of the object to be injected according to the first image;
determining at least one candidate injection site according to the sex and age of the object to be injected;
according to the posture information, determining an injection site of the object to be injected in the at least one candidate injection site.
6. The injection method of claim 5, wherein the obtaining the location information of the injection site comprises:
determining a plurality of joint points of the object to be injected according to the first image;
connecting the plurality of joint points according to human body shapes to obtain human body joint point data of the object to be injected;
and determining the position information of the injection part according to the position distribution of the injection part in the human joint point data.
7. The injection method according to any one of claims 1 to 6, wherein the end of the mechanical arm is mounted with a lidar, and the acquiring a first image containing an object to be injected comprises:
determining spatial position information and posture information of the object to be injected;
controlling the injection device to move towards the object to be injected according to the spatial position information and the posture information;
in the process of controlling the injection device to move, sending a radar signal to the object to be injected through the laser radar, and receiving first laser radar data returned from the object to be injected;
and acquiring a first image containing the object to be injected according to the first laser radar data.
8. An automatic injection device having a robotic arm mounted thereon, the end of the robotic arm being connected to an injection device, the injection device comprising:
the positioning module is used for acquiring a first image containing an object to be injected, determining an injection part of the object to be injected according to the first image and acquiring position information of the injection part;
the displacement module is used for moving the injection device to the injection part according to the position information, acquiring a second image containing the injection part, and determining a pressing position according to the second image;
the pressurizing module is used for applying pressure to the pressing position, recording the pressure value applied to the pressing position and acquiring a third image containing the injection part after the pressure is applied;
the positioning module is further configured to position a subcutaneous blood vessel of the injection site according to the first image, the pressure value and the third image to obtain a target position;
the injection module is used for controlling the injection device to move from the injection part to the target position of the object to be injected, and acquiring acting force of the head of the injection device in a first direction in the process that the injection device moves to the target position of the object to be injected, wherein the first direction is the advancing direction of the injection device; and controlling the head of the injection device to reach the target position of the object to be injected according to the reaction force of the head of the injection device in the first direction and the first angle between the injection device and the cortex of the object to be injected so as to inject the object to be injected.
9. An electronic device comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the one or more programs including instructions for performing the steps in the method of any of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which is executed by a processor to implement the method according to any one of claims 1-7.
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| CN113100834A (en) * | 2021-04-14 | 2021-07-13 | 深圳市罗湖医院集团 | Human body physiological sample collecting method and device, electronic equipment and storage medium |
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