CN115227286A

CN115227286A - Device and method for puncture self-adaptive guiding of ultrasonic probe and blood sampling box

Info

Publication number: CN115227286A
Application number: CN202210742045.0A
Authority: CN
Inventors: 齐鹏; 李昊洋
Original assignee: Tongji University
Current assignee: Tongji University
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2022-10-25

Abstract

The invention discloses a device and a method for self-adaptively guiding puncture of an ultrasonic probe and a blood sampling box, which aim to solve the problem that the pressing force of the ultrasonic probe cannot be self-adaptively adjusted to influence the quality of an ultrasonic image. The device comprises an ultrasonic probe, an ultrasonic probe supporting assembly, a screw rod module, a driving motor and a control chip; the ultrasonic probe supporting assembly is internally provided with a pressure sensor above the non-detection end of the ultrasonic probe; the pressure sensor feeds pressure information back to the control chip in real time, and whether the surface extrusion force exceeds a pressure setting threshold value is judged through codes so as to control the driving motor. The blood sampling box comprising the device firstly obtains an optimal puncture area through the image processing of the near-infrared camera and the computer, and then obtains the pressure information of the ultrasonic probe through the control chip to ensure that a high-quality ultrasonic image is obtained, so that the puncture is guided with high precision. The mechanical operation end of the invention can meet the puncture requirements of a plurality of puncture areas, and simultaneously reduces the difficulty of control operation.

Description

Device and method for puncture self-adaptive guiding of ultrasonic probe and blood sampling box

Technical Field

The invention relates to the technical field of venipuncture robots, in particular to a device and a method for self-adaptively guiding puncture by an ultrasonic probe and a blood collection box.

Background

Near infrared and ultrasonic guided puncture have become the main means for realizing automatic puncture. The near-infrared camera acquires the plane distribution information of the vein, and the ultrasonic probe sends ultrasonic waves to the subcutaneous vein, so that the longitudinal information of the vein is displayed, and the puncture needle is guided to puncture. Because ultrasonic waves cannot penetrate air, an ultrasonic probe must contact the surface of the skin of a patient with proper pressure, and when the pressure is too high, a blood vessel is squeezed flat; when the pressure is too small, air enters between the skin and the probe, and finally the ultrasonic image is completely black, so that the pressing force of the ultrasonic probe during measurement directly influences the deformation rate of the tissue, and the quality of the ultrasonic image is influenced. Proper pressing force becomes the focus of ultrasonic testing.

Chinese patent publication No. CN105107067a and published japanese 20151202 disclose a venipuncture system with infrared guidance and ultrasonic positioning, which initially realizes a basic framework of automatic puncture by puncturing a puncture needle through near infrared and ultrasonic guidance. However, the ultrasonic height adjusting device of the invention is a manual mechanical knob type adjustment, and similar to the traditional medical personnel holding the ultrasonic probe for detection and guidance, the automatic ultrasonic height adjustment and positioning can not be realized.

Chinese patent publication No. CN111084638a, publication No. 20200501 discloses an ultrasonic probe surface pressure detection device, in which a film pressure sensor is fixed on the surface of the detection end of an ultrasonic probe, pressure information is fed back, and a control chip changes the detection position, direction and angle by changing the motor parameters. However, the invention also has certain limitations. Because the surface of human skin is not smooth and has air gaps, a medical ultrasonic couplant is usually required to be smeared before ultrasonic detection so as to improve the quality of an ultrasonic image. In the invention, the film pressure sensor is arranged on the surface of the detection end of the ultrasonic probe, and is directly contacted with the ultrasonic couplant in practical application to cause pollution and damage to the sensor. Meanwhile, the device adopts a mechanical arm structure, the control method is complex, and for common venipuncture areas, namely areas where the median elbow vein, the basilic vein and the like in the anterior elbow region are relatively horizontal, complex angle and direction adjustment is not needed.

Therefore, it is an urgent technical problem to develop a venipuncture device and method that can scientifically and efficiently realize ultrasound-guided puncture and can adaptively adjust the height and the pressing force.

Disclosure of Invention

Due to the defects in the prior art, the invention provides a device and a method for the self-adaptive guide puncture of an ultrasonic probe and a blood sampling box, and aims to solve the problem that the pressing force of the ultrasonic probe cannot be self-adaptively adjusted to influence the quality of an ultrasonic image.

In order to achieve the above object, in one aspect, the present invention provides an apparatus for adaptively guiding a puncture by an ultrasonic probe, which includes an ultrasonic probe, an ultrasonic probe supporting assembly, and is characterized by further including a linear lead screw module, a driving motor, and a control chip;

the ultrasonic probe supporting assembly is divided into an inner layer and an outer layer, the outer layer base is fixedly connected with the sliding block on the linear screw rod module, and the inner layer wrapping shell and the inner layer supporting base clamp and fix the ultrasonic probe; the inner layer supporting base moves up and down in the outer layer base through a sliding rail; a pressure sensor is arranged above the inner layer supporting base; the driving motor drives the linear screw rod module, and the ultrasonic probe is driven to move along the vertical direction through the sliding block; the control chip comprises a motor driving module and a pressure acquisition module; the pressure sensor feeds back pressure information in real time and outputs the pressure information to the control chip through a connecting line, and whether the surface extrusion force F exceeds a pressure setting threshold value F' is judged through codes so as to control the work of the driving motor.

Furthermore, the inner-layer wrapping shell is fixedly connected with an obliquely downward supporting plate, and a near-infrared camera is fixed on the supporting plate; and a computer performs operations such as image segmentation on the image acquired by the near-infrared camera through an algorithm, acquires an optimal puncture area and coordinate pose regression, and further guides the position parameter motion of the ultrasonic probe.

Further, the inner layer wrapping shell and the inner layer supporting base are screwed or clamped tightly through bolts and nuts to fix the ultrasonic probe; platform bulges are arranged on two sides below the outer layer base to determine the lowest height of the whole body of the ultrasonic probe and the inner layer wrapping shell relative to the bottom surface of the outer layer base.

Further, the control chip is a single chip microcomputer; the ultrasonic probe adopts a 75MHz and 48-array element ST-1C ultrasonic probe, transmits and receives high-frequency ultrasonic signals to skin tissues, can display section images of blood vessels, the thickness of a vessel wall structure, the size and the shape of a vessel cavity in real time, and tracks the position and the angle of a puncture needle in real time.

Furthermore, the pressure sensor is provided with a power supply module, the pressure rated range is 0-100Mpa, the highest resolution reaches 100Pa, the highest working temperature reaches 175 ℃, and the rated comprehensive precision reaches +/-0.02 percent FS.

On the other hand, the invention provides a blood sampling box, which comprises a puncture assembly and is characterized by also comprising an ultrasonic probe self-adaptive puncture guiding device serving as an image detection module, three groups of orthogonal linear screw rod modules and a soft supporting plate; the linear lead screw module is one of the orthogonal linear lead screw modules; the soft supporting plate supports the arms of the human body; the image detection module is positioned right above the arm of the human body and can move along the orthogonal linear lead screw module, so that the function of positioning the region to be punctured is realized.

Furthermore, the soft supporting plate is provided with a fixed handle for the patient to hold tightly so as to stabilize the arm.

In another aspect, the present invention provides a method for adaptively guiding puncture by an ultrasonic probe, wherein the method comprises the following steps:

s11, horizontally placing the front area of the elbow of the human body upwards on the soft supporting plate;

s12, the near-infrared camera acquires a near-infrared image of a local arm, a two-dimensional model of a puncture vein is established through computer processing, and planar distribution information of a blood vessel is acquired to obtain an optimal puncture area;

s13, the orthogonal linear screw rod module drives the ultrasonic probe to move right above the optimal puncture area; the driving motor drives the ultrasonic probe to move downwards along the vertical direction;

s14, when the detection end of the ultrasonic probe is pressed, the pressure sensor converts a pressure signal detected in real time into an analog voltage signal through a voltage division circuit, and inputs the analog voltage signal into the control chip; obtaining pressure information of the detection end of the ultrasonic probe through A/D conversion of the pressure acquisition module in the control chip;

s15, the control chip transmits the pressure of the surface of the ultrasonic probe and each part of the detected human body through a data line, performs data processing, and judges whether F is greater than a pressure setting threshold value F'; if F 'is larger than or equal to F', the motor driving module of the control chip controls the driving motor to stop working immediately, otherwise, the driving motor continues to rotate, and the steps are repeated until the motor stops working, so that the extrusion force of the ultrasonic probe on the surface of the skin is controlled;

and S16, the ultrasonic probe transmits the clear ultrasonic image to a computer, image segmentation is carried out through a deep learning related algorithm, the vein diameter and the depth from the puncture center to the skin surface are calculated, a puncture depth model is established, and then puncture is guided.

Further, the specific control step of the control chip for data processing includes:

s21, initializing a GPIO port;

s22, setting a timer as an encoder mode and initializing;

s23, setting PWM output of the motor rotating speed and configuration of a relevant register;

and S24, writing a PID control algorithm by combining the numerical values read out by the encoder, and changing the PWM duty ratio according to the value returned by the PID control algorithm.

Further, before the ultrasonic probe is used, a medical ultrasonic coupling agent needs to be coated on the region to be detected so as to improve the image quality.

Compared with the prior art, the invention has the following advantages or beneficial effects:

(1) A pressure sensor is arranged above the ultrasonic non-detection end to output a pressure signal, so that the self-adaptive height adjustment in the vertical direction can be realized;

(2) Aiming at different patients to be detected, the extrusion force of the ultrasonic probe on the surface of the skin can be effectively controlled by setting the pressure threshold, so that the imaging quality of the ultrasonic image is greatly improved;

(3) The ultrasonic coupling agent is effectively prevented from being in direct contact with the sensor, and the service life and the sensing precision of the sensor are improved;

(4) The cartesian rectangular coordinate system is adopted, the positioning requirement is realized through three groups of orthogonal screw rod transmission modules, the pertinence is stronger, the puncture requirements of puncture areas such as median elbow veins and basilic veins can be met, and the control operation difficulty is reduced;

(5) The control chip and the algorithm thereof can realize the output control of the ultrasonic probe driving motor with high precision and high sensitivity;

(6) The device is reasonable in structure, easy to process, strong in control hardware universality and convenient to popularize and use.

Drawings

The invention and its features, aspects and advantages will become more apparent from the following detailed description of non-limiting embodiments, which is to be read in connection with the accompanying drawings. Like reference symbols in the various drawings indicate like elements. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.

FIG. 1 is a perspective view of an ultrasound probe adaptive guided penetration device of the present invention;

FIG. 2 is a front view of the ultrasonic probe adaptive guidance penetration device of the present invention;

FIG. 3 is a left side view of the ultrasonic probe adaptive guided penetration device of the present invention;

FIG. 4 is a schematic view of the construction of the blood collection case of the present invention;

FIG. 5 is a flow chart of the steps of an ultrasound probe adaptive guided penetration method of the present invention;

FIG. 6 is a control flow diagram of the adaptive height adjustment of the ultrasonic probe of the present invention;

reference numerals are as follows:

1. an ultrasonic image detection module; 101. a vertical direction drive motor; 102. a linear screw rod module; 103. an ultrasonic probe; 104. a near-infrared camera; 105. an outer base; 106. a slide rail; 107. an inner layer support base; 108. a pressure sensor; 109. a slider; 110. wrapping the shell; 2. an orthogonal linear lead screw module; 3. a human arm; 4. a soft supporting plate.

Detailed Description

The structure of the present invention will be further described with reference to the accompanying drawings and specific examples, but the present invention is not limited thereto.

Example 1

As shown in fig. 1 to 3, the present embodiment provides an apparatus for adaptively guiding a puncture by an ultrasonic probe, which includes an ultrasonic probe 103, an ultrasonic probe supporting assembly, a linear lead screw module 102, a driving motor 101, and a control chip;

the ultrasonic probe supporting assembly is divided into an inner layer and an outer layer, an outer layer base 105 is fixedly connected with a sliding block 109 on the linear lead screw module 102, and an inner layer wrapping shell 110 and an inner layer supporting base 107 are screwed and fixed with the ultrasonic probe 103 through bolts and nuts; the inner layer supporting base 107 moves up and down in the outer layer base 105 through a sliding rail 106; a pressure sensor 108 is arranged above the inner layer supporting base 107; the driving motor 101 drives the linear lead screw module 102, and the slide block 109 drives the ultrasonic probe 103 to move in the vertical direction;

the control chip comprises a motor driving module and a pressure acquisition module; the pressure sensor 108 feeds back pressure information in real time and outputs the pressure information to the control chip through a connecting line, and whether the surface extrusion force F exceeds a pressure setting threshold value F' is judged through codes so as to control the work of the driving motor 101.

In this embodiment, the pressure sensor 108 disposed in the upper portion of the supporting base 107 feeds back the magnitude of the pressing force of the non-detection section of the ultrasonic probe 103 and the upper end of the inner supporting base 107 on the pressure sensor 108 in real time. According to Newton's third law, the ultrasonic probe is stressed in a balanced manner in the vertical direction, and the friction force of the inner layer of the wrapping shell 110 is negligible, so that the extrusion force F of the end surface is detected ₁ Is equal to the upper end pair of the non-detection section of the ultrasonic probe 103 and the inner layer supporting base 107Magnitude of squeezing force F of pressure sensor 108 ₂ Thereby realizing the function of measuring the pressing force F by the pressure sensor 108 which is not in direct contact with the skin surface. The pressure setting threshold value F' can be changed according to actual medical requirements, and specific numerical values can be obtained by consulting professional medical staff or through clinical experiments.

In this embodiment, platform protrusions are formed on two sides below the outer base 105 to determine the lowest height of the whole of the ultrasonic probe 103 and the inner wrapping shell 110 relative to the bottom surface of the outer base 105. When the pressure sensor 108 is in a non-compressed state, the feedback output force is 0, and the platform protrusions on the two sides below the outer base 105 provide a vertical upward supporting force. The control chip is an STM32F103RBT6 singlechip; the ultrasonic probe 103 adopts a 75MHz and 48-array-element ST-1C ultrasonic probe, transmits and receives high-frequency ultrasonic signals to skin tissues, can display section images of blood vessels, the thickness of a vessel wall structure, the size and the shape of a vessel cavity in real time, and tracks the position and the angle of a puncture needle in real time. The pressure sensor 108 is provided with a power supply module, the rated pressure range is 0-100Mpa, the highest resolution reaches 100Pa, the highest working temperature reaches 175 ℃, and the rated comprehensive precision reaches +/-0.02 percent FS.

In this embodiment, the inner-layer wrapping shell 110 is fixedly connected to a support plate which is inclined downward, and one near-infrared camera 104 is fixed to the support plate; a computer performs operations such as image segmentation on the image acquired by the near-infrared camera 104 through an algorithm, acquires an optimal puncture region and coordinate pose regression, and further guides the movement of the position parameters of the ultrasonic probe 103. The near-infrared camera 104 emits near-infrared light with a wavelength of 780-2526 nm, and red blood cells of subcutaneous veins and surrounding tissues have different absorption peaks for near-infrared light sources with specific wavelengths. The specific absorption spectrum characteristic of deoxyhemoglobin is utilized to realize accurate identification of blood vessels, then an algorithm is used for carrying out blood vessel segmentation to obtain vein network distribution, a puncture region is selected and optimized, and finally a series of needle feeding points suitable for venipuncture are determined.

Example 2

As shown in fig. 4, the present embodiment provides a blood collection box, which includes a puncture assembly, a device for adaptively guiding puncture by an ultrasonic probe according to embodiment 1 as an image detection module 1, three sets of orthogonal linear screw modules 2, and a soft support plate 4; the linear lead screw module 102 is one of the orthogonal linear lead screw modules 2; the soft supporting plate 4 supports the arms 3 of the human body; the image detection module 1 is positioned right above the arm 3 of the human body and can move along the orthogonal linear lead screw module 2, so that the function of positioning the region to be punctured is realized.

In this embodiment, the inner layer wrapping shell 110 and the inner layer supporting base 107 fix the ultrasonic probe 103 through a buckle; the soft supporting plate 4 is provided with a fixed handle for the patient to hold tightly to stabilize the arm.

As shown in fig. 5 and 6, the method for adaptively guiding puncture by using an ultrasonic probe in the blood collection box comprises the following steps:

s11, flatly placing the front elbow area of the arm 3 of the human body on the soft supporting plate 4 in an upward mode;

s12, the near-infrared camera 104 acquires a near-infrared image of a local arm, a two-dimensional model of a puncture vein is established through computer processing, and planar distribution information of a blood vessel is acquired to obtain an optimal puncture area;

s13, the orthogonal linear screw rod module 2 drives the ultrasonic probe to move right above the optimal puncture area; the driving motor 101 drives the ultrasonic probe to move downwards along the vertical direction;

s14, when the detection end of the ultrasonic probe 103 is pressed, the pressure sensor 108 converts a pressure signal detected in real time into an analog voltage signal through a voltage division circuit, and inputs the analog voltage signal into the control chip; obtaining pressure information of the detection end of the ultrasonic probe through A/D conversion of the pressure acquisition module in the control chip;

s16, the ultrasonic probe 103 transmits the clear ultrasonic image to a computer, performs image segmentation through a deep learning related algorithm, calculates the vein diameter and the depth from the puncture center to the skin surface, establishes a puncture depth model, and further guides puncture.

In this embodiment, before the ultrasound probe is used, a medical ultrasound coupling agent needs to be applied to the region to be detected, so as to improve the image quality. The specific control steps of the control chip for data processing comprise:

s21, initializing a GPIO port;

s22, setting a timer as an encoder mode and initializing;

In the embodiment, the motor rotating speed PID control based on the single chip microcomputer STM32, namely a proportional, integral and differential controller is adopted, the algorithm takes an error as an input quantity, and an output quantity is obtained after proportional, integral and differential weighting summation. In a simulation system, the expression of the PID algorithm is:

where u (t) is the regulator output, e (t) is the deviation signal of the regulator, K _p Is a proportionality coefficient, T _i For integration time, T _d Is the differential time.

In the automatic height control system, the rotating speed of the motor is adjusted by adopting a PID algorithm, so that the motor can quickly respond according to set conditions, the ultrasonic probe 103 can realize vertical positioning, and the response is in direct proportion to the integral of excitation by combining the control of an integrator in a PID controller, thereby achieving the function of eliminating steady-state errors. According to the function and design requirement of the system, a digital incremental PID controller is designed, and the calculation formula of the controller is as follows:

Δu＝K _p [e(k)-e(k-1)]+K _i e(k)+K _d [e(k)-2e(k-1)+e(k-2)]

wherein, K _p 、K _i And K _d And e is the rotating speed error. According to the feedback pressure information of the pressure sensor 108, the proportion term K _p The regulation can quickly extract the rotation speed error and the integral term K _i The rotating speed of the motor can be consistent with a set threshold value, the static error is zero, and the differential term K _d The output signal of the motor in the next period can be predicted, so that the response speed of the system is rapidly improved.

In conclusion, the invention discloses a device and a method for adaptively guiding puncture of an ultrasonic probe and a blood collection box, and aims to solve the problem that the pressing force of the ultrasonic probe cannot be adaptively adjusted to influence the quality of an ultrasonic image. The device comprises an ultrasonic probe, an ultrasonic probe supporting assembly, a screw rod module, a driving motor and a control chip; the ultrasonic probe supporting assembly is internally provided with a pressure sensor above the non-detection end of the ultrasonic probe; the pressure sensor feeds pressure information back to the control chip in real time, and whether the surface extrusion force exceeds a pressure setting threshold value is judged through codes so as to control the driving motor. The blood sampling box comprising the device firstly obtains an optimal puncture area through the image processing of a near-infrared camera and a computer, and then obtains the pressure information of the ultrasonic probe through a control chip to ensure that a high-quality ultrasonic image is obtained, so that the puncture is guided with high precision. The mechanical operation end of the invention can meet the puncture requirements of a plurality of puncture areas, and simultaneously reduces the difficulty of control operation.

Those skilled in the art will appreciate that variations may be implemented by those skilled in the art in combination with the prior art and the above-described embodiments, and will not be described herein in detail. Such variations do not affect the essence of the present invention and are not described herein.

The above description is that of the preferred embodiment of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.

Claims

1. A device for adaptively guiding puncture by an ultrasonic probe comprises the ultrasonic probe (103) and an ultrasonic probe supporting assembly, and is characterized by further comprising a linear lead screw module (102), a driving motor (101) and a control chip;

the ultrasonic probe supporting assembly is divided into an inner layer and an outer layer, an outer layer base (105) is fixedly connected with a sliding block (109) on the linear screw rod module (102), and an inner layer wrapping shell (110) and an inner layer supporting base (107) clamp and fix the ultrasonic probe (103); the inner layer supporting base (107) moves up and down in the outer layer base (105) through a sliding rail (106); a pressure sensor (108) is arranged above the inner layer supporting base (107); the driving motor (101) drives the linear lead screw module (102) to drive the ultrasonic probe (103) to move along the vertical direction through the sliding block (109);

the control chip comprises a motor driving module and a pressure acquisition module; the pressure sensor (108) feeds back pressure information in real time and outputs the pressure information to the control chip through a connecting line, and whether the surface extrusion force F exceeds a pressure setting threshold value F' is judged through codes so as to control the work of the driving motor (101).

2. The adaptive ultrasound probe-guided puncture device according to claim 1, wherein the inner casing (110) is fixedly connected to a support plate inclined downward, and a near-infrared camera (104) is fixed to the support plate; and a computer performs operations such as image segmentation on the image acquired by the near-infrared camera (104) through an algorithm, acquires an optimal puncture area and coordinate pose regression, and further guides the position parameter motion of the ultrasonic probe (103).

3. The adaptive puncture guiding device for the ultrasonic probe as claimed in claim 2, wherein the inner wrapping shell (110) and the inner supporting base (107) are screwed or clamped by bolts and nuts to fix the ultrasonic probe (103); platform bulges are arranged on two sides below the outer layer base (105) to determine the lowest height of the whole of the ultrasonic probe (103) and the inner layer wrapping shell (110) relative to the bottom surface of the outer layer base (105).

4. The device for adaptively guiding puncture of an ultrasonic probe according to claim 2, wherein the control chip is a single chip microcomputer; the ultrasonic probe (103) adopts a 75MHz and 48-array ST-1C ultrasonic probe, transmits and receives high-frequency ultrasonic signals to skin tissues, can display section images of blood vessels, the thickness of a vessel wall structure, the size and the shape of a vessel cavity in real time, and tracks the position and the angle of the puncture needle in real time.

5. The apparatus of claim 2, wherein the pressure sensor (108) is self-powered, with a pressure rated range of 0-100Mpa, a maximum resolution of 100Pa, a maximum operating temperature of 175 ℃, and a nominal combined accuracy of ± 0.02% fs.

6. A blood collection box comprises a puncture assembly, and is characterized by further comprising the device for the adaptive puncture guide of the ultrasonic probe as claimed in any one of claims 2 to 5, as an image detection module (1), three groups of orthogonal linear screw rod modules (2) and a soft supporting plate (4); the linear screw rod module (102) is one of the orthogonal linear screw rod modules (2); the soft supporting plate (4) supports the arms (3) of the human body; the image detection module (1) is positioned right above the human body arm (3) and can move along the orthogonal linear screw rod module (2), so that the function of positioning the region to be punctured is realized.

7. A blood collection container according to claim 6, wherein the flexible support plate (4) is provided with a fixed handle for the patient to grasp for stabilizing his arm.

8. A method for adaptively guiding puncture by an ultrasonic probe, which is characterized in that the blood collection box of claim 6 or 7 is adopted, and comprises the following steps:

s11, the front side of the elbow of the human arm (3) is upwards and flatly placed on the soft supporting plate (4);

s12, the near-infrared camera (104) acquires a local near-infrared image of the arm, a two-dimensional model of a puncture vein is established through computer processing, and planar distribution information of a blood vessel is acquired to obtain an optimal puncture area;

s13, the orthogonal linear screw rod module (2) drives the ultrasonic probe to move right above the optimal puncture area; the driving motor (101) drives the ultrasonic probe to move downwards along the vertical direction;

s14, when the detection end of the ultrasonic probe (103) is pressed, the pressure sensor (108) converts a pressure signal detected in real time into an analog voltage signal through a voltage division circuit, and inputs the analog voltage signal into the control chip; obtaining pressure information of the detection end of the ultrasonic probe through A/D conversion of the pressure acquisition module in the control chip;

s16, the ultrasonic probe (103) transmits the clear ultrasonic image to a computer, image segmentation is carried out through a deep learning related algorithm, the vein diameter and the depth from the puncture center to the skin surface are calculated, a puncture depth model is built, and then puncture is guided.

9. The method for adaptively guiding the puncture by the ultrasonic probe according to claim 8, wherein the specific control step of the data processing by the control chip comprises:

s21, initializing a GPIO port;

s22, setting a timer as an encoder mode and initializing;

10. The method of claim 8, wherein a medical ultrasound coupling agent is applied to the region to be detected before the ultrasound probe is used to improve the image quality.