WO2021115190A1

WO2021115190A1 - Indwelling needle that achieves needle tip positioning in image environment

Info

Publication number: WO2021115190A1
Application number: PCT/CN2020/133557
Authority: WO
Inventors: 朱锐
Original assignee: 深圳市中科微光医疗器械技术有限公司
Priority date: 2019-12-10
Filing date: 2020-12-03
Publication date: 2021-06-17
Also published as: CN110841139A

Abstract

An indwelling needle that achieves needle tip positioning in an image environment, comprising an indwelling needle body (1), the indwelling needle body (1) comprising a needle (1-1) and a positioning layer (2) being provided on the indwelling needle body (1); the positioning layer (2) comprises a light reflecting layer (2-1), the light reflecting layer (2-1) being displayed in an image under the irradiation of an infrared light of a vascular imager as a highlight area. In the indwelling needle that achieves needle tip positioning in an image environment, the positioning layer (2) is provided on the indwelling needle body (1), the positioning layer (2) comprises the light reflecting layer (2-1), and the light reflecting layer (2-1) can be displayed as a highlight area in the image environment, preventing the problem in which the indwelling needle body (1) cannot be accurately displayed in an image during indwelling needle image acquisition, the position of an indwelling needle can be accurately positioned during image processing, thereby increasing needle tip positioning result accuracy; in addition, positioning can be achieved merely by adding the positioning layer (2) to the indwelling needle body (1), and in comparison with positioning indwelling needles in the existing technology, the present invention has a simple structure and is easy to implement.

Description

An indwelling needle capable of realizing needle tip positioning in image environment

Technical field

The invention relates to an indwelling needle, in particular to an indwelling needle for realizing needle tip positioning in an image environment.

Background technique

In clinical treatment, intravenous injection can bring direct and effective treatment to patients by injecting drugs directly into the vein. However, intravenous injection is an invasive treatment method, and the injection needle needs to be inserted into the blood vessel under the skin. Such an invasive behavior will bring pain to the patient. In particular, for some patients who need daily, continuous, and intermittent injection therapy, repeated intravenous infusion will cause multiple injuries to the patient. The use of indwelling needles can allow patients to avoid repeated punctures, reduce the pain of patients, and reduce the workload of medical staff.

However, the widely used indwelling needles cannot provide feedback to the position of the needle tip of the medical staff. Medical staff need to rely on personal experience and hand feeling to judge whether the indwelling needle is accurately inserted into the target blood vessel without piercing the blood vessel, which makes the medical staff The difficulty of the work increases. In the prior art, a blood vessel imager that can determine the position of a blood vessel has appeared, but it is difficult to determine the position of the needle tip.

The prior art U.S. Pat. No. 9247906, publication date: 2016-02-02, describes a method and system for locating the position of a needle tip for intravenous infusion. The system utilizes the absorption of near-infrared light by vascular protein, and uses optical equipment to form a contrast image of the needle tip and the subcutaneous tissue. In addition, the system also uses optical fibers to alternately emit near-infrared light of different wavelengths, and one of the near-infrared light of one wavelength is used to locate the position of the needle tip. Afterwards, the camera collects the reflected near-infrared light and processes it and projects it on the surface of the target area to complete the positioning of the needle tip. However, the indwelling needle positioning system used uses the camera to capture the light emitted from the needle tip and project it to the target after processing. Area, so as to realize the positioning. The light emitted by the needle tip after the optical fiber is used to guide the light is captured by the camera to realize the positioning. The indwelling needle positioning technology in the prior art will cause the needle tip positioning to be not real-time because the emitted light source is not continuous, especially when the medical staff actually implement the puncture, the puncture time is short, and the positioning is not real-time. Just bigger. In addition, the indwelling needle in the prior art is connected to the optical fiber, so it is necessary to use a specially prepared indwelling needle. This type of indwelling needle needs to add a layer of glass to separate the optical fiber and the blood flow area to prevent the optical fiber from being contaminated. This arrangement leads to The process of the indwelling needle is more complicated, and the processing difficulty and cost are also greater. In addition, when the needle tip enters the blood vessel, the gap in the needle tip will be filled with blood, causing the light path of the light source emitted from the needle tip to be affected. Obstacles will eventually lead to the gradual blurring of the positioning of the needle tip, which will affect the positioning effect.

In addition, the prior art can also use image processing methods to process the image of the indwelling needle, thereby predicting the position of the needle tip. However, the image processing method only uses image processing because of excessive noise in the image. For example, the body of the indwelling needle presents the entire transparent color. During the image, the color of the skin will be displayed in the image through the indwelling needle, making it impossible to locate the edge of the indwelling needle, or the edge of the indwelling needle will be unclear due to light factors, resulting in inaccurate needle tip position prediction results, which will cause needle tip positioning Inaccurate, affect the positioning effect.

Summary of the invention

The purpose of the present invention is to provide an indwelling needle capable of realizing needle tip positioning in an image environment, so as to solve the problems of complicated positioning and indwelling needle structure and inaccurate needle tip positioning in the prior art.

In order to achieve the above tasks, the present invention adopts the following technical solutions:

An indwelling needle for realizing needle tip positioning in an image environment, comprising an indwelling needle body, the indwelling needle body includes a needle, and a positioning layer is arranged on the indwelling needle body; the positioning layer includes a reflective layer, so The above-mentioned reflective layer is displayed as a bright area in the image environment.

Further, the positioning layer further includes a light-absorbing layer, the light-absorbing layer is displayed as a shadow area in an image environment, and the light-reflecting layer and the light-absorbing layer are staggered along the length direction of the needle.

Further, the shape of the light-reflecting layer and the shape of the light-absorbing layer are both axisymmetric figures;

The symmetry axis of the light-reflecting layer and the light-absorbing layer is in the same straight line or arranged in parallel with the straight line where the inclined surface of the needle head is parallel to the horizontal plane and faces upward.

Further, the light reflecting layer and the light absorbing layer are both rectangular.

Further, the indwelling needle body further includes a bottom, a sleeve and a needle sleeve arranged along the length direction of the needle, and the needle is installed on the needle sleeve;

The positioning layer is arranged along the outer circumference of the bottom, sleeve and/or needle sleeve.

Further, the positioning layer is arranged along the outer circumference of the needle sleeve.

Further, the indwelling needle body further includes a needle handle, and the positioning layer is also arranged along the length direction of the needle handle.

Further, the positioning layer includes multiple light-reflecting layers and multiple light-absorbing layers, and the area of the multiple light-reflecting layers gradually increases or decreases along the length direction of the indwelling needle.

Further, the value y of the area of the light-reflecting layer with the largest area among the plurality of light-reflecting layers is:

Among them, a, b, h ₁ , h ₂ , p, q ₁ and q ₂ are all constant parameters, and x is the reflectance of the reflective layer; a>0, b>0, h ₁ <0, h ₂ <0, p >0, q ₁ >0, q ₂ >0.

Compared with the prior art, the present invention has the following technical effects:

1. The indwelling needle provided by the present invention for realizing needle tip positioning in an image environment passes through a positioning layer provided on the indwelling needle body. The positioning layer includes a reflective layer that can be displayed as a bright area in the image environment to prevent The problem that the indwelling needle body cannot be accurately displayed in the image caused by the indwelling needle image acquisition can accurately locate the position of the indwelling needle during image processing, thereby improving the accuracy of the needle tip positioning result; and the present invention only needs to be The positioning can be realized by adding a positioning layer on the body of the indwelling needle, which is simpler and easier to realize than the positioning indwelling needle in the prior art;

2. The invention provides an indwelling needle that realizes needle tip positioning in an image environment. By providing a light-absorbing layer in the positioning layer, noise interference near the light-reflective layer can be eliminated, so that the light-reflective layer can be accurately identified, thereby improving The accuracy of the needle point positioning result;

3. The indwelling needle provided by the present invention for realizing needle tip positioning in an image environment. When both the reflective layer and the light-absorbing layer are set as an axially symmetric image, the reflective layer and the light-absorbing layer can be quickly found by the image processing method. The symmetry axis in the image can quickly locate the needle tip position, which improves the real-time performance of the needle tip positioning;

4. In the indwelling needle provided by the present invention for realizing needle tip positioning in an imaging environment, the position of the positioning layer is set at any position of the bottom, the cannula, and the outer circumference of the needle sleeve, which improves Improved the flexibility of positioning layer settings;

5. In an indwelling needle for realizing needle tip positioning in an image environment provided by the present invention, the position of the positioning layer is set on the outer circumference of the needle sleeve, so that the distance between the positioning layer and the needle tip is the shortest, reducing interference and improving It improves the accuracy of positioning layer recognition, thereby improving the real-time performance of needle tip positioning, and can also reduce the difficulty of the manufacturing process and save the material of the positioning layer;

6. In an indwelling needle that realizes needle tip positioning in an image environment provided by the present invention, the position of the positioning layer is also set on the needle handle to provide a positioning auxiliary line, thereby improving the accuracy of needle tip positioning;

7. The indwelling needle provided by the present invention for realizing needle tip positioning in an image environment gradually increases or decreases along the length of the indwelling needle by providing multiple reflective layers, so that the indwelling needle can be quickly found in the image. The direction of the needle tip, which can quickly locate the needle tip position, which improves the real-time positioning of the needle tip;

8. The indwelling needle provided by the present invention for realizing needle tip positioning in an image environment provides a method for determining the area of the reflective layer, and only needs to determine the material of the reflective layer to directly obtain the corresponding reflection under the highest recognition accuracy. The area of the layer enables accurate identification of the reflective layer, thereby improving the accuracy of the needle tip positioning result.

Description of the drawings

FIG. 1 is a schematic diagram of the structure of an indwelling needle provided in an embodiment of the present invention;

2 is a schematic diagram of the indwelling needle provided in an embodiment of the present invention in an image environment;

3 is a schematic diagram of the structure of the positioning layer provided in an embodiment of the present invention;

4 is a schematic diagram of another positioning layer structure provided in an embodiment of the present invention;

Fig. 5 is a schematic diagram of an area model of a reflective layer provided in an embodiment of the present invention;

Figure 6 is a schematic diagram of a label provided in an embodiment of the present invention;

Fig. 7 is a schematic diagram of needle tip depth positioning provided in an embodiment of the present invention.

Detailed ways

The present invention will be described in detail below with reference to the drawings and embodiments. So that those skilled in the art can better understand the present invention. It is important to note that in the following description, when detailed descriptions of known functions and designs may dilute the main content of the present invention, these descriptions will be omitted here.

When clinical medical staff perform indwelling needle puncture operations on patients, in order to better one-time puncture and indwelling success, there is such an operating specification, in order: piercing the tourniquet, removing the needle guard, loosening the puncture needle, and the needle tip. Directly puncture the vein at an angle of 15 to 30 degrees with the inclined surface facing up. After seeing the blood return, reduce the angle to 5 to 10 degrees, continue to insert the needle 2 mm, withdraw the puncture needle 2 to 3 mm, and hold the needle holder to feed the catheter and the puncture needle together. Blood vessels, loosen the tourniquet, open the governor, withdraw the puncture needle completely, and fix the indwelling needle. In this process, the blood returns and continues to puncture 2mm. There is no quantifiable instruction for medical staff. All relying on experience, the indwelling needle provided by the present invention can identify the position of the needle tip in an infrared light environment and visually see the relative position of the needle tip and the punctured blood vessel. ; Then withdraw the puncture needle by 2 to 3 mm so that the needle tip is withdrawn into the catheter. There is no prompt for this operation in the prior art.

Example one:

In this embodiment, an indwelling needle for realizing needle tip positioning in an image environment is disclosed. The indwelling needle body 1 includes a needle head 1-1. The indwelling needle body 1 is provided with a positioning layer 2, and the positioning layer 2 includes the reflective layer 2-1, which is displayed as a bright area in the image environment.

In this embodiment, the image environment specifically refers to the indwelling needle body 1 emitting infrared light and then using an image acquisition device to collect images, that is, the image of the indwelling needle body 1 is collected under the irradiation of infrared light.

In this embodiment, an indwelling needle capable of realizing needle tip positioning is provided. As shown in Fig. 1, compared with ordinary indwelling needles, it has the function of realizing needle tip positioning. Because when the indwelling needle is inserted into the skin, the needle When the position cannot be seen with the naked eye, the reflective layer 2-1 of the indwelling needle provided in this embodiment can be displayed as a highlighted area on the image after imaging in an infrared light environment, as shown in Figure 2, Compared with the prior art adopting the image processing method to process the pure indwelling needle image, there is too much noise, which causes the problem of inaccurate positioning. In this embodiment, the reflective layer 2-1 is added to make the image clear By seeing the position of the reflective layer 2-1, the position of the indwelling needle can be accurately positioned during image processing, thereby improving the accuracy of the needle tip positioning result.

The area of the reflective layer 2-1 set on the indwelling needle body 1 is displayed as a highlight area in the image. After graying the image, the part of the highlight area is displayed as pure white in the image, as shown in Figure 2. .

When the reflective layer 2-1 is set, the positional relationship between the position of the reflective layer 2-1 and the position of the needle tip is known. When the position of the reflective layer 2-1 is obtained on the image, the positional relationship can be used to obtain the position of the needle tip in the image. After obtaining the position of the needle tip in the image, it can be projected onto the skin, so that the medical staff can see the position of the needle tip in real time when performing a needle puncture, and compare the indwelling needle provided in this embodiment with the blood vessel in the prior art. When the imaging equipment is used at the same time, the position of the needle tip can be seen on the basis of the blood vessel, which can effectively prevent the indwelling needle from puncturing the blood vessel and improve the operation convenience of medical staff.

The indwelling needle provided in this embodiment for realizing needle tip positioning in an infrared light environment only needs to provide a positioning layer 2 on the indwelling needle body 1 and combining the image processing methods and image projection methods in the prior art to realize the needle tip positioning.

Optionally, the positioning layer 2 further includes a light-absorbing layer 2-2, the light-absorbing layer 2-2 is displayed as a shadow area in the image environment, and the light-reflecting layer 2-1 and the light-absorbing layer 2-2 are along the length direction of the needle 1-1 Staggered settings.

When the image acquisition device collects the image of the indwelling needle in an infrared light environment, noise often occurs, which leads to inaccurate extraction of the position of the reflective layer 2-1 and inaccurate positioning of the needle tip. Therefore, light absorption is also set in this embodiment. Layer 2-2, the light-absorbing layer 2-2 and the light-reflecting layer 2-1 are arranged staggered. In the image, you can see the black-and-white staggered light-absorbing layer 2-2 and the light-reflecting layer 2-1, as shown in Figure 2, the light-absorbing layer 2- The setting of 2 can eliminate the noise interference near the reflective layer 2-1, so that the reflective layer 2-1 can be accurately identified, and the algorithm can be used to locate the needle tip position and the catheter tip position with simple and fast calculation.

In this embodiment, the arrangement of the light-reflecting layer 2-1 and the light-absorbing layer 2-2 of the positioning layer 2 can be the light-reflecting layer 2-1—the light-absorbing layer 2-2—the light-reflecting layer 2-1, or the light-absorbing layer 2- 2-reflective layer 2-1-light absorbing layer 2-2-reflective layer 2-1-light absorbing layer 2-2 and other staggered structures, taking into account the difficulty of the production process, the accuracy of recognition, and the simple algorithm The time delay is low, and the light-reflecting layer 2-1, the light-absorbing layer 2-2, and the light-reflecting layer 2-1 are the best combination in the present invention.

Optionally, the shape of the light-reflecting layer 2-1 and the shape of the light-absorbing layer 2-2 are both axially symmetrical figures;

The symmetry axis of the light-reflecting layer 2-1 and the light-absorbing layer 2-2 is in the same straight line or arranged in parallel with the straight line where the inclined surface of the needle 1-1 is parallel to the horizontal plane and faces upward.

In this embodiment, as shown in FIG. 3, when the shapes of the light-reflecting layer 2-1 and the light-absorbing layer 2-2 are both axially symmetrical, the light-reflecting layer 2-1 and the light-absorbing layer 2 can be quickly found by the image processing method. -2 The axis of symmetry in the image.

When the line of symmetry axis and the bevel of the needle overlap each other, the line where the axis of symmetry is located is the line where the needle is located. The position of the needle tip can be quickly found by image processing combined with the length of the needle.

When the line of symmetry axis and the bevel of the needle are parallel to each other, you can first locate the line where the needle is located according to the position relationship between the axis of symmetry and the line where the needle is located, and then locate the position of the needle point according to the length of the needle.

In this embodiment, the shape of the positioning layer 2 can be a rectangle, a rhombus, a symmetrical triangle, etc., with axial symmetry, that is to say, as shown in FIG. 3, the light-reflecting layer 2-1 can be a rectangle and the light-absorbing layer 2-2 It can be a diamond shape.

When the combination of the light-reflecting layer 2-1 and the light-absorbing layer 2-2 is the light-reflecting layer 2-1—the light-absorbing layer 2-2—the light-reflecting layer 2-1, as shown in FIG. The shapes can be rectangular, rhombic or elliptical, and the shapes of the two reflective layers 2-1 can also be different from each other.

The shapes of the two light-reflecting layers 2-1 and one light-absorbing layer 2-1 may be the same or different from each other, that is, the shapes of the two light-absorbing layers 2-1 are also different from each other.

Preferably, the light-reflecting layer 2-1 and the light-absorbing layer 2-2 are both rectangular.

In the present invention, the rectangular positioning layer 2 is selected as the optimal figure, because the rectangular area is the largest and the recognition accuracy is the highest. If other graphics can only recognize a part of the graphics due to rotation, inaccurate mark point recognition will occur, resulting in inaccurate recognition of the needle tip position and the catheter tip position.

In this embodiment, since the needle 1-1 needs to be inserted into the skin, it is impossible and unnecessary to provide the positioning layer 2 on it, so the positioning layer 2 can cover the entire indwelling needle body 1 except for the needle 1-1, so that it can Position the needle tip more accurately, but in order to reduce the cost of the indwelling needle, it is only necessary to provide the positioning layer 2 on the individual positions of the indwelling needle body 1. Optionally, the indwelling needle body 1 also includes the needle 1-1. The bottom 1-2, the cannula 1-3 and the needle sleeve 1-4 are arranged in sequence in the length direction, and the needle 1-1 is installed on the needle sleeve 1-4;

The cannula 1-3 includes a first cannula 1-3-1, a second cannula 1-3-2, and a third cannula 1-3-3 arranged in sequence along the length direction of the needle 1-1. One sleeve 1-3-1 is connected with the bottom 1-2, and the third sleeve 1-3-3 is connected with the needle sleeve 1-4;

The positioning layer 2 is arranged along the outer circumference of the bottom 1-2, the sleeve 1-3 and/or the needle sleeve 1-4.

In this embodiment, the position of the positioning layer 2 is shown in FIG. 1, wherein the positions of the bottom 1-2, the outer circumference of the sleeve 1-3 and/or the needle sleeve 1-4 can all be used as the position of the positioning layer 2 That is to say, one or more positioning layers 2 may be provided on the indwelling needle body 1, and the arrangement of multiple positioning layers 2 can improve the accuracy of needle tip positioning, but will reduce the real-time positioning.

The positioning layer 2 can be provided at any position of the outer circumference of the bottom 1-2, the sleeve 1-3, and the needle sleeve 1-4, wherein due to the gap between the needle sleeve 1-4 and the needle 1-1 With the shortest distance, the field of view will be smaller, the interference will be smaller, and the accuracy of identifying the positioning layer 2 will be higher. Therefore, as shown in Figure 1, the position of the needle sleeve 1-4 is the optimal position of the positioning layer 2, and The positioning layer 2 is arranged on the outer circumference of the needle sleeve 1-4, and the manufacturing process of the positioning layer 2 is relatively low, and the material of the positioning layer 2 can be saved.

Optionally, the indwelling needle body 1 further includes a needle handle 1-5, and the positioning layer 2 is also arranged along the length direction of the needle handle.

In this embodiment, as shown in FIG. 4, the positioning layer 2 at positions 1-5 of the needle handle is rectangular, which is used to provide a parallel line as a reference for positioning, so as to improve the recognition efficiency.

Optionally, the positioning layer 2 includes multiple light-reflecting layers 2-1 and multiple light-absorbing layers 2-2, and the area of the multiple light-reflecting layers 2-1 gradually increases or decreases along the length direction of the indwelling needle.

In this embodiment, the ratio between the areas of the two light-reflecting layers 2-1 separated by a light-absorbing layer 2-2 is between 0 and 1 or greater than 1.

In this embodiment, the reflectivity of the reflective layer 2-1 depends on the concentration of the reflective material of the surface layer. The reflective material of the reflective layer 2-1 required by the present invention has a reflectivity of more than 70% for near-infrared light. 2-2 The absorbance of near-infrared light is greater than 90%. At present, the reflective material mainly used in the medical field is light-absorbing powder, and the light-absorbing material is light-absorbing powder, which can be a multilayer composite polyester film or inorganic nanoparticles and organic coatings. Resin composite film.

Specifically, the reflective layer 2-1 is selected from the 3A101-1 series of traditional Chinese medicine reflective powder produced by Lujia Reflective Material Company, and the light-absorbing layer 2-2 is made of near-infrared light-absorbing powder.

There are three ways to arrange the light-reflecting layer 2-1 and the light-absorbing layer 2-2 on the indwelling needle body 1. The first method is heat shrinking, and the material is directly sheathed on the indwelling needle body 1 by heat shrinking at the corresponding position; The second method is to plate the material directly on the corresponding position on the indwelling needle body 1, and the third method is the adhesive method.

Optionally, the value y of the area of the reflective layer 2-1 is

Among them, a, b, h ₁ , h ₂ , p, q ₁ and q ₂ are all constant parameters, and x is the reflectance of the reflective layer 2-1; a>0, b>0, h ₁ ＜0, h ₂ ＜ 0, p>0, q ₁ >0, q ₂ >0.

In this embodiment, the reflectivity and the reflective area of the reflective layer 2-1 jointly determine the accuracy of the needle tip recognition. When the reflective layer 2-1 has the higher the reflectivity and the reflective area, the greater the accuracy of the needle tip recognition. High, when the reflectance is more than 80% and the minimum reflective area is more than 5mm ² , the needle tip can be accurately identified.

In addition, when the reflectivity is between 70% and 100%, the reflective area is between 1mm ² and 30mm ² , where the reflectivity is x (70%≤x≤100%), and the reflective area y (1mm ² ≤y ≤30mm ² ), the value y of the area of the reflective layer 2-1 is

In this embodiment, the schematic diagram of the model between the value of the area of the reflective layer 2-1 and the reflectance of the reflective layer 2-1 is shown in FIG. 5. According to the model, it can be concluded that when the reflective layer 2-1 is determined When using a material that is less than the same, the reflectance of the material can be obtained, so that the area of the reflective layer 2-1 can be directly obtained, so that the accuracy of needle tip recognition remains stable.

In the present embodiment, a = 0.732, b = 15.726 , h 1 = -37.477, h 2 = -22.716, p = 0.254, q 1 = 0.739, q 2 = 0.917.

Compared with the positioning indwelling needle in the prior art, the indwelling needle provided in this embodiment for realizing needle tip positioning in an image environment only needs to cover the positioning layer 2 on the indwelling needle body 1 to realize the positioning function.

Embodiment two:

In this embodiment, a method for constructing an indwelling needle image segmentation model is disclosed, which is used to segment the infrared image of the indwelling needle provided in the first embodiment, and segment the reflective layer area and the indwelling needle tip area from the image. , The method is executed according to the following steps:

Step 1. Obtain multiple indwelling needle images, wherein the indwelling needle images include multiple reflective layer areas and indwelling needle tip areas;

In this embodiment, the reflective layer is arranged on the outer circumference of the needle sleeve 1-4 and the reflective layer is rectangular, and the obtained indwelling needle image is shown in FIG. 2, wherein the reflective layer area is the white area in the image.

In this embodiment, images of indwelling needles of different shapes are collected. At this time, the indwelling needles of different shapes can be the indwelling needles with different positions or shapes of the positioning layer 2 in the first embodiment, or indwelling needles produced by different manufacturers. In this embodiment, there is no specific requirement on the quality of the image. It can be needle images collected in different environments, and these indwelling needle images can be used as training samples, so that the trained segmentation model can be used for a variety of different indwelling needle images. Split.

Step 2. Perform data enhancement on each indwelling needle image obtained in Step 1 to obtain a sample set;

In this embodiment, considering that the light intensity in the real environment is different, the size of the reflective layer 2-1 in the collected images is different, and the deep learning network requires a large number of samples for training, the data enhancement method is used to For expansion, by adjusting the brightness of the image, cropping and zooming the image, adding different forms of the image, while enhancing the data, it can also collect images under different conditions of the model as much as possible, thereby improving the generalization ability of the model.

Step 3. Mark each reflective layer area and the indwelling needle tip area of each indwelling needle image in the sample set to obtain multiple marked indwelling needle images including the reflective layer mark area and the indwelling needle needle mark area, and obtain First set of tags;

Obtain the contour of each reflective layer marking area and the contour of the indwelling needle needle area in each indwelling needle image in the sample set, and obtain the contours of multiple reflective layer marking areas and the contours of the indwelling needle needle area. A contour indwelling needle image to obtain the second label set;

In this embodiment, as shown in Figure 6, it is considered that although the traditional full convolutional network can obtain the segmentation results of the reflective layer and the needle, it does not use their edge features to constrain the results, which may lead to the segmentation results of the network output. The edge of the middle reflective layer area and the needle area is not smooth enough, the shape is distorted, and there is a certain difference between the real segmentation area of the image, so in this embodiment, a segmentation network based on multi-task is proposed, without the need to increase training samples or Under the premise of other labeling work, the target contour recognition task is introduced. The target contour of the training sample can be obtained according to the edge detection algorithm. By introducing the constraint of the target contour, the recognition accuracy of the contour is improved, so that the network can extract the contour information of the target. In this way, the segmentation result of the target is optimized. Therefore, by introducing a multi-task learning mechanism, the accuracy of the network model can be improved, so as to accurately identify the reflective layer area and the needle area.

In this embodiment, as shown in FIG. 6, for the contour acquisition, an edge extraction method can be used to extract the reflective layer and the edge of the needle, and then use the expansion operation to obtain the object contour, and the expansion operation uses a disk filter with a radius of 5. The introduction of contour recognition tasks is mainly to alleviate the problem that traditional segmentation networks cannot capture the target structure information, and to improve the accuracy of contour recognition by training the network, and then constrain the shape of the segmentation results to achieve the purpose of improving segmentation accuracy.

Step 4. Using the sample set as input and the first label set and the second label set as reference output, training a fully convolutional neural network to obtain an indwelling needle image segmentation model;

The loss function L of the fully convolutional neural network is:

Where λ ₁ and λ ₂ are weighting factors, λ ₁ and λ ₂ are both greater than 0; x represents the xth pixel in the indwelling needle image, l _mask (x) represents the xth pixel is the first label, p _mask (x;l _mask (x)) represents the predicted probability value of the xth pixel as the first label; l _contour (x) represents the xth pixel as the second label, p _contour (x; l _contour (x) ) Represents the predicted probability value of the xth pixel as the second label.

The structure of the segmentation network provided in this embodiment uses a traditional segmentation network. Based on the feature map output by the segmentation network, a 3x3 convolution kernel is used to obtain two results, namely the segmentation result and the contour extraction result, and the convolution kernel The number of channels depends on the number of feature maps, stride is 1, and padding is 1.

In this embodiment, the identified target has two reflective layer 2-1 areas and one needle area, so the number of convolution kernels is 3.

In this embodiment, a method for constructing an indwelling needle image segmentation model is mainly provided. The image segmentation model constructed by the model construction method in this embodiment can be applied to various types of indwelling needle images, thereby improving image segmentation. The flexibility and range of use.

Embodiment three:

This embodiment discloses a method for locating the tip of the indwelling needle image, which is used to locate the position of the tip of the indwelling needle in the image of the indwelling needle, and the method is executed according to the following steps:

Step A: Obtain an image of the indwelling needle to be positioned, wherein the image of the indwelling needle to be positioned includes a plurality of reflective layer regions and the indwelling needle tip area;

In this embodiment, the indwelling needle described in the first embodiment is used, and an image including the indwelling needle in the first embodiment is collected as the image of the indwelling needle to be positioned.

Step B. Input the indwelling needle image to be positioned into the indwelling needle image segmentation model obtained by the indwelling needle image segmentation model construction method of the second embodiment, and obtain the mark indwelling including the reflective layer mark area and the mark area of the indwelling needle needle Needle image

Step C: Obtain the shape information and position information of the marked area of each reflective layer from the mark indwelling needle image, and obtain the shape information and position information of the marked area of the indwelling needle needle;

In this embodiment, the shape information of the marking area of the reflective layer is the shape of the reflective layer, that is, the axisymmetric image in the first embodiment, which can be an ellipse, a symmetrical triangle, or a rectangle; the shape of the marking area of the indwelling needle pillow is generally a rectangle.

In this embodiment, the position information is position information of vertices of various shapes.

Step D, according to the shape information of the marking area of each reflective layer and the shape information of the marking area of the indwelling needle tip, searching for an image with the highest similarity in the indwelling needle image database as a sample image;

The indwelling needle image database includes a plurality of marked indwelling needle images output by the indwelling needle image segmentation model obtained by the method for constructing the indwelling needle image segmentation model in the second embodiment; wherein each marked indwelling needle image corresponds to a scale parameter

Where P ₁ is the coordinates of the center point of any reflective layer marking area, P ₂ is the coordinates of the center point of another reflective layer marking area, and P ₃ is the coordinates of the tip point of the indwelling needle;

Is the image distance from point _{P 2 to} point P _{1, in pixels,}

Is the image distance from point _{P 3 to} point P _{2 in pixels;}

Obtaining the scale parameter K of the sample image;

In this embodiment, a random sampling consensus algorithm can be used to find an image that best matches the reflective layer mark area and the needle mark area in the indwelling needle image to be positioned among all the images in the database.

The purpose of this step is to obtain the scale parameter K, and use the scale parameter K of the sample image as the scale parameter K of the indwelling needle image to be positioned.

Step E. According to the position information of each reflective layer mark area in the mark indwelling needle image obtained in step C, obtain the center point position coordinates of the two reflective layer mark areas, which are P ₁ ′ and P ₂ ′, respectively; The positions of the two marking areas of the reflective layer are the same as the positions of the two marking areas of the reflective layer selected when calculating the ratio parameter K of the sample image;

Step F: Use formula II to obtain the needle tip position point coordinate P ₃ ′ in the image of the indwelling needle to be positioned:

among them,

It is _{the image distance from point P 2} ′ to point P ₁ ′, and the unit is pixel point.

In this step, the position of the needle tip in the image can be calculated by formula II, and the medical staff can view the position of the needle tip in the image in real time. After obtaining the position of the needle tip in the image, the image coordinate system and The transformation relationship of the actual coordinate system obtains the actual position of the needle tip, and then cooperates with the existing vascular imagers on the market to determine whether the needle tip penetrates the blood vessel in real time, which further improves the convenience of operation by medical staff.

Embodiment four:

In this embodiment, a method for locating the depth of the tip of the indwelling needle image is disclosed, which is used to obtain the depth of the tip of the indwelling needle, which is executed according to the following steps:

Step I: Obtain an indwelling needle image to be positioned, wherein the indwelling needle image includes a plurality of reflective layer areas and an indwelling needle needle area;

Step II: Using the method for positioning the tip of the indwelling needle image described in the third embodiment to obtain the coordinate P ₃ ′ of the position of the tip of the indwelling needle to be positioned in the image of the indwelling needle;

Step III: Calibrate the sample image obtained in step D when using the indwelling needle image tip positioning method in the third embodiment to obtain coordinate transformation parameters

Where P ₁ is the center point of any marking area of the reflective layer, P ₂ is the center point of the marking area of the other reflective layer,

Is the actual distance between two center points, the unit is mm,

Is the image distance from point _{P 2 to} point P _{1 in pixels;}

In this embodiment, on the basis of the third embodiment, when the indwelling needle image is calibrated, it can be pre-calibrated for each marked indwelling needle image in the database in the third embodiment, and the sample image of the third embodiment The coordinate transformation parameter of is used as the transformation parameter of the image of the indwelling needle to be positioned, which can effectively save the time of program running and improve the real-time nature of needle tip depth positioning.

Step IV: Use formula III to obtain the depth H of the tip of the indwelling needle, in mm:

Wherein P ₄ ′ is the position of the needle penetrating the skin in the position information of the indwelling needle needle mark area obtained in step C of the indwelling needle image needle tip positioning method of claim 2 for the indwelling needle image to be positioned obtained in step I coordinate of;

P ₃ ′ is the needle tip position point coordinate obtained by using the indwelling needle image tip positioning method according to claim 2 for the indwelling needle image to be positioned obtained in step I;

P ₁ ′ and P ₂ ′ are the position coordinates of the center points of the two reflective layer mark areas obtained in step E of the indwelling needle image tip positioning method of claim 2 for the indwelling needle image to be positioned obtained in step I;

Is the image distance between the point where the needle penetrates the skin and the point where the needle tip is located, in pixels;

Is _{the image distance from P 2} ′ to P ₁ ′, in pixels;

It is _{the actual distance from point P 2} ′ to point P ₁ ′, and the unit is mm.

In this embodiment, a simple and effective method for acquiring the depth of the needle tip is provided. As shown in FIG. 7, the center point coordinates of the two reflective layers can be obtained according to the segmentation results of the two reflective layers, and the two reflective layers are calculated. The distance between the center points can be the distance L2, L1 represents the actual distance between the two reflective layers, which is a known quantity, then the angle 1 can be expressed as:

In Figure 7, point P ₄ ′ is the needle entry point between the needle and the skin. The position of this point can be obtained through the segmentation model. Point P ₃ ′ is the predicted needle position, so point P ₄ ′ to point P ₃ The image distance of ′ can be calculated; and because the angle 1 is equal to the angle 2, the formula III is obtained, and the depth information of the needle tip can be obtained simply and effectively through the formula III.

On the basis of the needle tip position obtained in the third embodiment, combined with the needle insertion position information that can be directly collected in the image, the similar triangle method is used to obtain the needle tip depth information proportionally. The needle tip depth positioning method provided in this embodiment solves the problem It overcomes the technical difficulty of the traditional technology that the needle tip depth information cannot be obtained, and the accuracy is high, and the real-time performance is high, which can meet the requirements of medical workers in actual use.

Embodiment five:

In this embodiment, a device for constructing an indwelling needle image segmentation model is disclosed. The device includes an image acquisition module, a data enhancement module, a label acquisition module, and a model training module;

The image acquisition module is used to acquire multiple indwelling needle images, where the indwelling needle image includes multiple reflective layer areas and the indwelling needle needle area;

The data enhancement module is used to perform data enhancement on each indwelling needle image obtained to obtain a sample set;

The label acquisition module is used to mark each reflective layer area and the indwelling needle needle area in each indwelling needle image in the sample set, and obtain multiple marked indwelling needle images including the reflective layer mark area and the indwelling needle needle mark area, and obtain the first A set of labels;

Obtain the contour of each reflective layer marking area and the contour of the indwelling needle needle area in each indwelling needle image in the sample set, and obtain multiple contour indwellings including the contours of multiple reflective layer marking areas and the contours of the indwelling needle needle area Pin image to obtain the second label set;

The model training module is used to take the sample set as the input, the first label set and the second label set as the reference output, train the full convolutional neural network, and obtain the indwelling needle image segmentation model;

The loss function L of the fully convolutional neural network is:

Embodiment 6:

An indwelling needle image needlepoint positioning device, characterized in that the device includes an image acquisition module, an image segmentation module, an information acquisition module, a sample comparison module, a position point coordinate acquisition module, and a needlepoint position calculation module;

The image acquisition module is used to obtain an image of the indwelling needle to be positioned, wherein the image of the indwelling needle to be positioned includes a plurality of reflective layer regions and the indwelling needle tip area;

The image segmentation module inputs the indwelling needle image to be positioned into the indwelling needle image segmentation model obtained by the indwelling needle image segmentation model construction device of claim 4, and obtains the marked indwelling needle image including the reflective layer marking area and the indwelling needle tip marking area;

The information obtaining module is used to obtain the shape information and position information of the marked area of each reflective layer from the mark indwelling needle image, and obtain the shape information and position information of the marked area of the indwelling needle needle;

The sample comparison module is used to find the image with the highest similarity in the indwelling needle image database as the sample image according to the shape information of the marking area of each reflective layer and the shape information of the marking area of the indwelling needle needle;

The indwelling needle image database includes a plurality of marked indwelling needle images output by the indwelling needle image segmentation model obtained by the indwelling needle image segmentation model construction device of claim 4; wherein each marked indwelling needle image corresponds to a scale parameter

Is the image distance from point _{P 2 to} point P _{1, in pixels,}

Is the image distance from point _{P 3 to} point P _{2 in pixels;}

Obtain the scale parameter K of the sample image;

The position point coordinate obtaining module is used to obtain the center point position coordinates of the two reflective layer marking areas according to the position information of each reflective layer marking area in the obtained marking indwelling needle image, which are respectively P ₁ ′ and P ₂ ′; two of them are The positions of the marking areas of the two reflective layers are the same as the positions of the two marking areas of the reflective layer selected when calculating the ratio parameter K of the sample image;

The needle tip position calculation module is used to obtain the needle tip position point coordinate P ₃ ′ in the image of the indwelling needle to be positioned by using formula II:

among them,

Embodiment Seven:

In this embodiment, an indwelling needle image tip depth positioning device is disclosed for obtaining the depth of the indwelling needle tip, characterized in that the device includes an image acquisition module, a transformation parameter acquisition module, and a needle tip depth acquisition module;

The transformation parameter acquisition module is used to calibrate the indwelling needle image to obtain coordinate transformation parameters

Is the actual distance between two center points, the unit is mm,

Is the image distance from point _{P 2 to} point P _{1 in pixels;}

Used to obtain the depth H of the tip of the indwelling needle using formula III, the unit is mm:

Where P ₄ ′ is the coordinates of the position point where the needle penetrates the skin in the position information of the needle mark area of the indwelling needle obtained by the information obtaining module of the indwelling needle image needle tip positioning device of claim 5 in the indwelling needle image to be positioned;

P ₃ ′ is the position point coordinates of the needle tip obtained by the indwelling needle image needle tip positioning device of claim 5 for the indwelling needle image to be positioned;

P ₁ ′ and P ₂ ′ are the position coordinates of the center points of the two reflective layer mark areas obtained by the position point coordinate obtaining module of the indwelling needle image needle point positioning device of claim 2 for the obtained indwelling needle image to be positioned;

Is _{the image distance from P 2} ′ to P ₁ ′, in pixels;

Embodiment 8:

In this embodiment, an indwelling needle tip positioning system is provided, which includes an image acquisition and recognition device and an indwelling needle. The indwelling needle includes an indwelling needle body 1, and the indwelling needle body 1 includes a needle 1-1, and the indwelling needle body 1 is provided with Reflective layer 2;

The image acquisition and recognition device includes an image acquisition module, the indwelling needle image tip positioning device in the sixth embodiment, the indwelling needle image tip depth positioning device in the seventh embodiment, a blood vessel imaging module, an image projection module, a light source module, and a power supply module;

The power supply module is used to supply power to the image acquisition module, the image needle tip positioning device of the indwelling needle, the image needle tip depth positioning device of the indwelling needle, the blood vessel imaging module, the image projection module and the light source module;

The light source module is used to project infrared light to the skin;

The image acquisition module is used to collect an image of the indwelling needle to be positioned in an infrared light environment, where the image of the indwelling needle to be positioned includes a plurality of reflective layer areas and the indwelling needle tip area;

The indwelling needle image needle point positioning device is used to input the indwelling needle image to be positioned, and output the needle point position point coordinates in the indwelling needle image;

The indwelling needle image needle tip depth positioning device is used to input the indwelling needle image to be positioned, and output the needle tip depth in the indwelling needle image;

The blood vessel imaging module is used to obtain blood vessel images;

The image projection module is used to project the blood vessel image on the skin;

The image projection module is also used to superimpose and project the needle tip on the blood vessel image according to the coordinates of the needle tip position;

The image projection module is also used to project the needle tip depth on the skin.

In this embodiment, the indwelling needle is the indwelling needle provided in the first embodiment for realizing the needle tip positioning under the image environment.

The functions realized by the indwelling needle tip positioning system provided in this embodiment are:

1. Project the position of the blood vessel on the skin;

2. The position of the needle tip and the position of the blood vessel are superimposed and projected on the skin, so that the medical staff can view the position of the needle tip in the blood vessel on the patient's skin in real time;

3. Project the depth information of the needle tip onto the skin so that volunteers can see the depth of the needle tip in real time.

In this embodiment, the blood vessel imaging module is used to obtain the blood vessel image. The blood vessel imaging module adopts a mature blood vessel imager in the prior art. The blood vessel imager also uses the blood vessels to show different images in the image under infrared irradiation. Color-realized blood vessel image acquisition.

In this embodiment, the image needle tip positioning device of the indwelling needle, the needle tip depth positioning device of the indwelling needle, and the blood vessel imaging device can be integrated in a microprocessor for implementation.

Optionally, the image acquisition module is a near-infrared sensitive photosensitive module.

In this embodiment, the image acquisition module is the OV2710DVP module.

Optionally, the light source module includes an optical lens and a near-infrared light source, wherein the near-infrared light source is a near-infrared light source with a wavelength of 700 nm to 1700 nm.

As an optimal implementation, the near-infrared light source selects a near-infrared light source with a wavelength of 850 nm or 940 nm.

In this embodiment, when the image projection module superimposes the needle tip position and the blood vessel position on the skin, it sets a marker point to represent the needle tip position projected on the skin. The marker point can be a circle, a triangle, a star, etc. The color can be any color that can be displayed on the skin, such as red and green.

In this embodiment, the image acquisition and recognition device further includes a fan, a button module, and the like.

Claims

An indwelling needle for realizing needle tip positioning in an image environment, comprising an indwelling needle body (1), the indwelling needle body (1) includes a needle (1-1), and is characterized in that the indwelling needle body ( 1) is provided with a positioning layer (2); the positioning layer (2) includes a reflective layer (2-1), and the reflective layer (2-1) is displayed as a highlight area in an image environment.
The indwelling needle for realizing needle tip positioning in an imaging environment according to claim 1, wherein the positioning layer (2) further comprises a light-absorbing layer (2-2), and the light-absorbing layer (2-2) It is displayed as a shaded area in an image environment, and the light-reflecting layer (2-1) and the light-absorbing layer (2-2) are staggered along the length direction of the needle (1-1).
The indwelling needle for realizing needle tip positioning in an image environment according to claim 2, wherein the shape of the light-reflecting layer (2-1) and the shape of the light-absorbing layer (2-2) are both axially symmetrical figures;

The symmetry axis of the light-reflecting layer (2-1) and the light-absorbing layer (2-2) is in the same straight line or parallel to the line on which the inclined plane of the needle (1-1) is parallel to the horizontal plane and faces upward. Set up.
The indwelling needle for realizing needle tip positioning in an image environment according to claim 3, characterized in that the light-reflecting layer (2-1) and the light-absorbing layer (2-2) are both rectangular.
The indwelling needle for realizing needle tip positioning in an imaging environment according to claim 4, characterized in that, the indwelling needle body (1) further comprises a bottom (1) arranged along the length direction of the needle (1-1) -2), a sleeve (1-3) and a needle sleeve (1-4), the needle (1-1) is installed on the needle sleeve (1-4);

The positioning layer (2) is arranged along the outer circumference of the bottom (1-2), the sleeve (1-3) and/or the needle sleeve (1-4).
The indwelling needle for realizing needle tip positioning in an image environment according to claim 5, wherein the positioning layer (2) is arranged along the outer circumference of the needle sleeve (1-4).
The indwelling needle for realizing needle tip positioning in an image environment according to claim 6, characterized in that the indwelling needle body (1) further comprises a needle handle (1-5), and the positioning layer (2) is also It is arranged along the length of the needle handle.
The indwelling needle for realizing needle tip positioning in an imaging environment according to claim 2, wherein the positioning layer (2) includes a plurality of light-reflecting layers (2-1) and a plurality of light-absorbing layers (2-2) The area of the plurality of reflective layers (2-1) gradually increases or decreases along the length direction of the indwelling needle.
The indwelling needle for realizing needle tip positioning in an image environment according to claim 8, wherein the value y of the area of the largest area of the reflective layer (2-1) among the plurality of reflective layers (2-1) is :

Among them, a, b, h 1 , h 2 , p, q 1 and q 2 are all constant parameters, and x is the reflectance of the reflective layer (2-1); a>0, b>0, h 1 <0, h 2 <0, p>0, q 1 >0, q 2 >0.