阅读说明：本技术 超声平面外血管穿刺辅助机器人 (Ultrasonic plane external blood vessel puncture auxiliary robot ) 是由 张磊 张博 张立群 张哲明 黄强 藤江正克 于 2019-01-15 设计创作，主要内容包括：本发明实施例提供一种超声平面外血管穿刺辅助机器人,包括：图像识别处理单元,用于对穿刺目标区域的血管实时影像进行分析计算,获取血管轮廓形状数据和血管中心位置数据；穿刺导航单元,用于基于血管轮廓形状数据和血管中心位置数据,计算优选穿刺姿态和优选穿刺路径；运动规划单元,用于基于优选穿刺路径,计算得出穿刺针具由当前姿态调整到优选穿刺姿态所需的电机控制参数；运动控制单元,用于基于电机控制参数,控制电机驱动单元,驱动穿刺针具移动到优选穿刺姿态,并沿优选穿刺路径进行穿刺。其中,上述各单元依次连接。本发明实施例能有效避免平面外穿刺技术存在并发症风险,并有效提高穿刺成功率。(The embodiment of the invention provides an ultrasonic plane external vascular puncture auxiliary robot, which comprises: the image recognition processing unit is used for analyzing and calculating the blood vessel real-time image of the puncture target area to obtain blood vessel contour shape data and blood vessel central position data; the puncture navigation unit is used for calculating a preferable puncture posture and a preferable puncture path based on the blood vessel contour shape data and the blood vessel center position data; the motion planning unit is used for calculating motor control parameters required by adjusting the puncture needle tool from the current posture to the optimal puncture posture based on the optimal puncture path; and the motion control unit is used for controlling the motor driving unit based on the motor control parameter, driving the puncture needle tool to move to the optimal puncture posture and puncturing along the optimal puncture path. Wherein the units are connected in sequence. The embodiment of the invention can effectively avoid the risk of complications in the out-of-plane puncture technology and effectively improve the puncture success rate.)

1. An out-of-plane ultrasound vessel puncture assisting robot, comprising: the puncture navigation device comprises an image recognition processing unit, a puncture navigation unit, a motion planning unit, a motion control unit and a motor driving unit which are sequentially connected;

the image recognition processing unit is used for analyzing and calculating the blood vessel real-time image of the puncture target area to obtain blood vessel contour shape data and blood vessel central position data;

the puncture navigation unit is used for calculating a preferred puncture posture and a preferred puncture path based on the blood vessel contour shape data and the blood vessel center position data;

the motion planning unit is used for calculating motor control parameters required by the puncture needle tool to be adjusted from the current posture to the optimal puncture posture based on the optimal puncture path;

the motion control unit is used for controlling the motor driving unit based on the motor control parameter, driving the puncture needle tool to move to the optimal puncture posture, and puncturing along the optimal puncture path.

2. The auxiliary robot of claim 1, wherein the puncture navigation unit is further configured to calculate a preferred puncture speed;

correspondingly, the motion control unit is specifically configured to control the motor driving unit to drive the puncture needle tool to puncture along the preferred puncture path at the preferred puncture speed.

3. The auxiliary robot of claim 1, wherein the puncture navigation unit is specifically configured to:

and calculating to obtain the optimal puncture posture comprising the optimal puncture angle, the coordinate of the puncture needle point, the puncture needle depth and the puncture speed by comparing the pre-stored blood vessel puncture experience data based on the blood vessel contour shape data and the blood vessel center position data.

4. The auxiliary robot according to claim 1, wherein the motor driving unit includes a translation control motor, a pitch control motor, and a puncture control motor;

correspondingly, the motion planning unit is specifically configured to: and acquiring the set target positions and the set speeds corresponding to the translation control motor, the pitching control motor and the puncture control motor respectively through inverse solution calculation based on the current posture, the preferred puncture posture and the preferred puncture path.

5. The auxiliary robot of claim 4, wherein the motion control unit is specifically configured to:

and converting the set target position and the set speed respectively corresponding to the translation control motor, the pitching control motor and the puncture control motor into a position code value and a rotating speed value required by motor control, and sending the position code value and the rotating speed value to a servo motor controller of the motor driving unit through a communication bus, so that the servo motor controller can control the positions and the speeds of the translation control motor, the pitching control motor and the puncture control motor according to the position code value and the rotating speed value.

6. The auxiliary robot according to any one of claims 1 to 5, further comprising an ultrasound detection unit for ultrasonically imaging blood vessels of the puncture target region by ultrasonically scanning the puncture target region, and acquiring a real-time image of the blood vessels of the puncture target region.

7. The auxiliary robot according to any one of claims 6, further comprising an operation display unit for displaying a preferred puncture path guide line, and simulating and displaying a state and a trajectory of the puncture needle tool penetrating into the blood vessel in real time in the form of a legend.

8. The auxiliary robot of claim 7, further comprising a needle point telecentric control unit, configured to rotate the puncture needle tool with a point of the blood vessel punctured by the puncture needle tool as a fulcrum by a needle point telecentric control technique, and maintain the needle point of the puncture needle tool in the ultrasonic detection sound beam plane all the time when adjusting the angle of the puncture needle tool, so as to enable the needle point ultrasonic image of the puncture needle tool to be developed all the time.

9. The auxiliary robot according to claim 7, wherein the operation display unit is further configured to display, in a legend format, a positional relationship among the ultrasonic probe of the ultrasonic detection unit, the puncture needle tool, and the puncture target blood vessel, and to display the preferred puncture path, the preferred puncture path guide wire, and the puncture trajectory simulation wire of the puncture needle tool in solid lines or broken lines of different colors, respectively.

10. The auxiliary robot according to claim 7, wherein the operation display unit is further configured to display a center position of the puncture target blood vessel in a first set color and a first set shape, and to simulate and display a needle tip development of the puncture needle tool in real time in a second set color and a second set shape according to the needle tip position of the puncture needle tool.

Technical Field

The embodiment of the invention relates to the technical field of medical instruments, in particular to an ultrasonic plane external vascular puncture auxiliary robot.

Background

The blood vessel puncture under the ultrasonic guidance has the advantages of observing an anatomical structure and a puncture path in real time, shortening puncture time, reducing puncture complications and the like, and the blood vessel puncture technology under the ultrasonic guidance comprises an in-plane technology and an out-of-plane technology which have advantages and disadvantages in clinical application.

In the plane technology, the puncture needle is always positioned in the scanning plane of the probe, the needle inserting route can be completely displayed in the puncture process, the defects are that surrounding tissues cannot be observed, the probe is unstable in operation and is easy to lose blood vessels, and the puncture failure is caused by the fact that the position relation of the needle point and the section of the blood vessel cannot be determined due to the volume effect of ultrasound.

The out-of-plane technology can clearly display the anatomical relationship of surrounding tissues, the blood vessel information is displayed in an ultrasonic image and is easy to distinguish, the puncture path is short, the puncture needle can be ensured to be positioned at the center of the top end of the blood vessel, the puncture success rate is high, the defects that the needle body and the needle point are invisible in the puncture process, the risk of puncture complications is easily caused, and the problems that the puncture needle is separated from the blood vessel and punctures the blood vessel and the like easily occur when the puncture angle is reduced after the puncture needle.

Disclosure of Invention

In order to overcome the above problems or at least partially solve the above problems, embodiments of the present invention provide an out-of-plane ultrasound vessel puncture assisting robot, so as to effectively avoid the risk of complications in an out-of-plane puncture technique, thereby effectively improving the puncture success rate.

The embodiment of the invention provides an ultrasonic plane external vascular puncture auxiliary robot, which comprises: the puncture needle comprises an image recognition processing unit, a puncture navigation unit, a motion planning unit, a motion control unit and a motor driving unit which are sequentially connected. Wherein:

the image recognition processing unit is used for analyzing and calculating the blood vessel real-time image of the puncture target area to obtain blood vessel contour shape data and blood vessel central position data;

the puncture navigation unit is used for calculating a preferred puncture posture and a preferred puncture path based on the blood vessel contour shape data and the blood vessel center position data;

the motion planning unit is used for calculating motor control parameters required by the puncture needle tool to be adjusted from the current posture to the optimal puncture posture based on the optimal puncture path;

the motion control unit is used for controlling the motor driving unit based on the motor control parameter, driving the puncture needle tool to move to the optimal puncture posture, and puncturing along the optimal puncture path.

Aiming at the problems that the positions of a needle body and a needle point are difficult to determine and puncture complications are easy to occur in the out-of-plane puncture process and the like, the out-of-plane ultrasound blood vessel puncture auxiliary robot provided by the embodiment of the invention realizes accurate control of a puncture needle through a precise mechanical structure and high-precision servo motor drive, applies a computer image recognition technology and a puncture navigation technology, and achieves the effect of assisting a doctor to confirm the position of the puncture needle tip under the out-of-plane puncture technology by simulating and displaying the relative position relationship of the puncture needle and the blood vessel, can better realize the out-of-plane ultrasound blood vessel puncture, can effectively make up for the lack of experience of the doctor, effectively avoids the risk of complications existing in the out-of-plane puncture technology, and improves.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an out-of-plane ultrasound vessel puncture assisting robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a preferred puncture path in an out-of-ultrasonic-plane vessel puncture assisting robot provided according to an embodiment of the invention;

fig. 3 is a schematic diagram of a puncture posture adjusting mechanism in an ultrasonic out-of-plane blood vessel puncture assisting robot provided in accordance with an embodiment of the present invention;

fig. 4 is a schematic view of puncture angle adjustment under a needle point telecentric control technique in the ultrasonic out-of-plane vascular puncture auxiliary robot provided in the embodiment of the invention;

FIG. 5 is a schematic structural diagram of an out-of-plane ultrasound vessel puncture assisting robot according to another embodiment of the present invention;

fig. 6 is a schematic operation flow diagram of an out-of-plane ultrasound vessel puncture assisting robot provided according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention without any creative efforts belong to the protection scope of the embodiments of the present invention.

Aiming at the problems that the positions of a needle body and a needle point are difficult to determine and puncture complications are easy to occur in the out-of-plane puncture process in the prior art, the embodiment of the invention realizes the accurate control of the puncture needle through a precise mechanical structure and a high-precision servo motor drive, and can better realize the out-of-plane blood vessel puncture by applying a computer image recognition technology and a puncture navigation technology, thereby effectively making up for the defects of doctor experience, effectively avoiding the complications risk existing in the out-of-plane puncture technology and improving the puncture success rate. Embodiments of the present invention will be described and illustrated with reference to various embodiments.

Fig. 1 is a schematic structural diagram of an out-of-plane ultrasound vessel puncture assisting robot according to an embodiment of the present invention, and as shown in fig. 1, the assisting robot includes: an image recognition processing unit 101, a puncture navigation unit 102, a motion planning unit 103, a motion control unit 104 and a motor driving unit 105 which are connected in sequence. Wherein:

the image recognition processing unit 101 can acquire real-time image data of the blood vessel 106 under the skin 108 in the puncture target region, which is actually the puncture target blood vessel, in real time. Moreover, the image recognition processing unit 101 may be configured to analyze and calculate real-time image data of the blood vessel 106 in the puncture target region, and obtain blood vessel contour shape data and blood vessel center position data; the puncture navigation unit 102 is used for calculating a preferred puncture gesture and a preferred puncture path based on the blood vessel outline shape data and the blood vessel center position data; the motion planning unit 103 is configured to calculate, based on the preferred puncture path, a motor control parameter required for adjusting the puncture needle 107 from the current posture to the preferred puncture posture; the motion control unit 104 is configured to control the motor driving unit 105 based on the motor control parameter, drive the puncture needle 107 to move to the preferred puncture posture, and perform puncture along the preferred puncture path.

It can be understood that, in the embodiment of the present invention, the ultrasound image recognition processing unit 101 performs manual or automatic recognition and analysis calculation on the acquired real-time ultrasound image of the blood vessel 106 to obtain data such as contour shape data of the target blood vessel cross section, and a position of the center of the blood vessel cross section in the puncture coordinate system, and transmits the data to the puncture navigation unit 102. The puncture target point is marked as a blood vessel section central point by default, and the position coordinates of the puncture target point can be modified through a manual marking mode.

The puncture navigation unit 102 calculates a preferred puncture path according to information such as coordinate data of a marked puncture target point and blood vessel contour data and by comparing with blood vessel puncture experience data stored in advance in a computer, and transmits the preferred puncture path to the motion planning unit 103. After confirming the data calculated by the navigation system, the operator starts a puncture preparation command.

The motion planning unit 103 calculates, according to the preferred puncture path, motor control parameters such as a motor adjustment position, a motor adjustment speed and the like required for adjusting the puncture assisting robot (i.e., adjusting the posture of the puncture needle 107) from the current posture to the preferred puncture posture, and sends the motion parameters to the motion control unit 104.

The motion control unit 104 then controls the motor drive unit 105 of the puncture assisting robot based on these motor control parameters, so that the motor drive unit 105 drives the puncture needle 107 to move to the preferred puncture posture. The posture of the puncture auxiliary robot is adjusted to be consistent with the optimal puncture path in the shortest time.

Thereafter, after the operator confirms the posture of the puncture assisting robot, the motion control unit 104 may control the motor driving unit 105 to drive the puncture needle 107 to perform a puncture operation, and control the puncture needle to puncture the target blood vessel along the preferred puncture path.

In addition, the puncture navigation unit 102 may also be used to calculate a preferred puncture speed. Correspondingly, the motion control unit 104 may be specifically adapted to control the motor drive unit 105 to drive the puncture needle 107 to puncture along the preferred puncture path at the preferred puncture speed. It will be appreciated that the skin and blood vessels are preferably more easily punctured at the puncture rate.

In the puncture process, under a manual mode, when the needle point of the puncture needle tool is punctured into the target blood vessel and reaches the coordinate of the marked puncture point, the puncture state of the puncture operation display picture is displayed as puncture completion, and an operator is prompted to stop needle insertion continuously. Under the automatic mode, when the needle point of the puncture needle tool reaches the coordinate of the marked puncture point, the puncture operation is completed immediately.

Aiming at the problems that the positions of a needle body and a needle point are difficult to determine and puncture complications are easy to occur in the out-of-plane puncture process and the like, the out-of-plane ultrasound blood vessel puncture auxiliary robot provided by the embodiment of the invention realizes accurate control of a puncture needle through a precise mechanical structure and high-precision servo motor drive, applies a computer image recognition technology and a puncture navigation technology, and achieves the effect of assisting a doctor to confirm the position of the puncture needle tip under the out-of-plane puncture technology by simulating and displaying the relative position relationship of the puncture needle and the blood vessel, can better realize the out-of-plane ultrasound blood vessel puncture, can effectively make up for the lack of experience of the doctor, effectively avoids the risk of complications existing in the out-of-plane puncture technology, and improves.

It is to be understood that, when the image recognition processing unit 101 obtains real-time image data of the blood vessel 106, the real-time image data can be obtained by an external ultrasound image recognition device, as shown in fig. 1, or by providing an ultrasound detection unit in the out-of-ultrasound-plane blood vessel puncture assisting robot according to the embodiment of the present invention. The ultrasonic detection unit comprises an ultrasonic probe 109 and an ultrasonic image system 110, and is used for performing ultrasonic imaging on blood vessels in a puncture target region through ultrasonic scanning of the puncture target region, and acquiring a real-time image of the blood vessels in the puncture target region.

In the embodiment of the invention, an operator can firstly hold or control the ultrasonic probe 109 of the puncture auxiliary robot to be close to the skin 108 to scan the puncture target area, obtain the short-axis section image data of the blood vessel of the puncture target area, determine the part suitable for puncture and then fix the puncture auxiliary robot. Then, the ultrasound probe 109 is combined with the ultrasound imaging system 110 to acquire an image of the puncture target region, so as to obtain a real-time image of the blood vessel of the puncture target region, wherein the real-time image can display an ultrasound image of the blood vessel 106.

Wherein, optionally according to the above embodiments, the puncture navigation unit is specifically configured to: based on the blood vessel contour shape data and the blood vessel center position data, preferred motion parameters including a preferred puncture angle, a puncture needle point coordinate, a puncture needle depth and a puncture speed, namely a preferred puncture posture, are calculated by comparing with prestored blood vessel puncture experience data.

It is understood that the ultrasound imaging system 110 may transmit the acquired ultrasound image of the target region to a computer, and implement identification and position shape calculation of the target blood vessel by applying the techniques of medical image acquisition, segmentation, etc. through the manual or automatic image identification processing unit 101. As shown in fig. 2, for the schematic diagram of the preferred puncture path in the out-of-ultrasonic-plane vessel puncture assisting robot provided according to the embodiment of the present invention, the blood vessel cross-section contour shape data, the blood vessel cross-section center point D, and the position (x) in the puncture coordinate system are obtained₁，y₁) And the like, to the puncture navigation unit 102. The puncture navigation unit 102 calculates an optimal puncture angle θ and a puncture needle insertion point coordinate C (x) according to information such as marked puncture target point coordinate data and target blood vessel contour data and empirical puncture data stored in a computer in advance₂，y₂) The puncture needle inserting depth, the puncture speed and other motion parameters.

Optionally, according to the above embodiments, the motor driving unit includes a translation control motor, a pitch control motor, and a puncture control motor. Correspondingly, the motion planning unit is specifically configured to: and acquiring the set target position and the set speed respectively corresponding to the translation control motor, the pitching control motor and the puncture control motor through inverse solution calculation based on the current posture, the preferred puncture posture and the preferred puncture path.

It can be understood that, as shown in fig. 3, a schematic diagram of a puncture posture adjusting mechanism in an ultrasonic out-of-plane blood vessel puncture assisting robot provided according to an embodiment of the present invention is shown, the ultrasonic probe 109 is included in the schematic diagram, the puncture posture adjusting mechanism shown in the schematic diagram is composed of a translation mechanism 307, a tilting mechanism 308 and a puncture mechanism 309, and the three posture adjusting mechanisms are respectively driven by a translation control motor 306, a tilting control motor 305 and a puncture control motor 304. After receiving the preferred puncture path and the puncture related parameters, the motion planning unit 103 obtains the motion parameters of the three motors for adjusting the posture of the puncture auxiliary robot, i.e., the set target position, the set speed, and the like, through inverse solution calculation according to the preferred puncture path and the related parameters, so that the puncture auxiliary robot reaches the preset preferred puncture posture in the shortest time.

According to the above embodiments, the motion control unit is specifically configured to: the method comprises the steps of converting a set target position and a set speed corresponding to a translation control motor, a pitching control motor and a puncturing control motor into a position code value and a rotating speed value required by motor control, and sending the position code value and the rotating speed value to a servo motor controller of a motor driving unit through a communication bus so that the servo motor controller can control the positions and the speeds of the translation control motor, the pitching control motor and the puncturing control motor according to the position code value and the rotating speed value.

It is understood that the motion control unit 104 shown in fig. 1 will first convert the motor set target position and set speed calculated by the motion planning unit 103 into the position code value and the rotation speed value required for motor control. Then, these position code values and rotation speed values are transmitted to the servo motor controller of the motor drive unit 105 through the communication bus. And after the servo motor controller receives the control instruction, the motor is controlled to run to a set position, and the puncture posture of the puncture auxiliary robot is adjusted.

In addition, on the basis of the above embodiments, the puncture assisting robot according to the embodiments of the present invention may further include an operation display unit configured to display a preferred puncture route guide line, and simulate and display a state and a trajectory of the puncture needle inserted into the blood vessel in real time in a form of an illustration.

It is understood that, as shown in fig. 1, an operation display unit 111 may be further provided in the puncture assisting robot according to the embodiment of the present invention in order to more intuitively sense the puncture process and to facilitate confirmation of the puncture accuracy. The operation display unit 111 may simulate and display the state and trajectory of the puncture needle inserted into the blood vessel in real time in the form of a diagram. In addition, in order to facilitate guiding an operator to perform a puncturing operation along a preferred puncturing path accurately, the operation display unit 111 may be used to display a preferred puncturing path guide line.

That is, on the puncture operation display screen, the in-plane puncture effect can be simulated in the form of a legend, and a preferred puncture path guide line is displayed, so that the operator can intuitively feel whether the puncture path meets the puncture requirement. For example, an in-plane puncture effect can be simulated and displayed on the left side of the puncture operation display screen in the form of a legend, and calculated values of parameters such as a puncture angle, a puncture point position, a puncture needle insertion depth, and a puncture speed and real-time values can be displayed.

The legend on the left side of the puncture operation display picture simulates and displays the puncture track of the puncture needle in real time, assists an operator to visually judge the real-time position of the needle point of the puncture needle and the relative position of the needle point and the target blood vessel, and effectively improves the reliability and safety of the puncture operation. Meanwhile, the needle point of the puncture needle tool is developed in an ultrasonic picture, and the ultrasonic image identification processing unit captures and identifies the development. And the confirmation that the needle point reaches the blood vessel target point is realized through the mutual verification of the needle point position tracking and the needle point ultrasonic image identification.

The ultrasonic out-of-plane blood vessel puncture auxiliary robot provided by the embodiment of the invention adopts a visualization technology and a dynamic legend to simulate the in-plane puncture effect, so that the real-time display of the puncture needle tool, the real-time position and angle of the needle point and the relative position relationship between the puncture needle tool, the probe and the target blood vessel is realized, a doctor can puncture the whole process of the visible puncture needle tool and the needle point under the out-of-plane puncture technology, and the doctor is assisted to intuitively feel the puncture process.

In addition, according to the above embodiments, one side, for example, the left side or the right side, of the screen of the operation display unit 111 can display a puncture legend in a simulation plane to represent the positional relationship between the ultrasonic probe, the puncture needle, and the blood vessel. Meanwhile, the preferred puncture path, the puncture guide line (i.e., the preferred puncture path guide line), and the virtual line of the puncture needle body (i.e., the simulated line of the puncture trajectory of the puncture needle device) may be respectively indicated by solid lines or dotted lines of different colors in the drawing, and the puncture needle tip may be also indicated by a dot. For example, the puncture path is a dashed line of one color (e.g., green), the puncture guide line is a dashed line of another color (e.g., white), and the virtual line of the puncture body is a solid line of yet another color (e.g., yellowish). Wherein, the needle point representation method is consistent with the needle point position representation method on the ultrasonic image in the picture.

On the basis of the above embodiments, the other side of the screen of the operation display unit 111, corresponding to, for example, the right side or the left side, may also display the real-time ultrasound image, and the target blood vessel center point is marked with a striking color (i.e., a first set color, such as red) and shape (i.e., a first set administration, such as a dot). The tip of the lancet is simulated to "develop" over the ultrasonically imaged blood vessel in another conspicuous color (i.e., a second set color, such as yellow) and shape (i.e., a second set administration, such as dots) pattern by calculating the position of the tip of the lancet as it enters below the probe face of the probe.

The operator visually judges the position relationship between the pre-puncture path and the target blood vessel by operating the legend on the left side of the screen of the display unit 111, and can also perform fine adjustment or correction on the preferred puncture path by changing the coordinate data of the puncture target point and the puncture Angle parameter value, and after clicking the confirmation button, the preferred puncture path data is updated and then sent to the puncture motion planning unit.

In addition, on the basis of the above embodiments, referring to fig. 1, the auxiliary puncture robot according to the embodiments of the present invention may further include a needle point telecentric control unit 112, connected to the motion control unit 104 and the motor motion data processing unit 113, and configured to rotate the puncture needle tool by using a blood vessel puncture point of the puncture needle tool as a fulcrum through a needle point telecentric control technique, and maintain the needle point of the puncture needle tool in the ultrasonic detection sound beam plane all the time when the angle of the puncture needle tool is adjusted, so as to enable the ultrasonic image of the needle point of the puncture needle tool to be developed all the time.

It can be understood that after the needle point of the puncture needle tool reaches a set target position, the needle point position is confirmed by calculating the needle point motion coordinate position data and image recognition needle point real-time ultrasonic image double verification, then the puncture angle needs to be reduced so as to smoothly place the guide wire in, the needle point telecentric control technology is used for rotating by taking the needle body punctured blood vessel point as a pivot, and the needle point is kept in the ultrasonic detection beam plane all the time during the angle adjustment of the puncture needle tool, namely the needle point ultrasonic image is developed all the time.

After the puncture needle is inserted into the blood vessel, the angle of the puncture needle inserted into the blood vessel needs to be properly reduced to achieve the effect of preventing the needle tip from being pulled out of the blood vessel. In order to ensure that the needle point always develops in the ultrasonic plane in the angle adjusting process, a needle point telecentric control technology is applied, so that the puncture needle tool rotates by taking a blood vessel puncture point as a fulcrum, and the needle point is controlled to be always in the ultrasonic sound beam plane.

That is, after the puncture needle is inserted into the blood vessel, the angle of the needle tip needs to be adjusted for the next step, so as to prevent the needle tip from being removed from the blood vessel. In order to prevent the puncture needle from failing to puncture the blood vessel and separating from the blood vessel in the process of adjusting the puncture angle and ensure that the needle point always develops in an ultrasonic plane, the puncture needle needs to be realized by a needle point telecentric control technology, so that the puncture needle rotates by taking a blood vessel puncture point as a fulcrum and controls the position of the needle point at the same time of rotation.

Specifically, the needle-tip telecentric control unit 112 adjusts the angle of the puncture needle tool with the blood vessel puncture point E as a fulcrum according to the amount of adjustment of the pitch angle by the handheld controller. As shown in fig. 4, for a schematic diagram of adjusting a puncture angle under a needle-tip telecentric control technique in an ultrasonic out-of-plane assisted vessel puncture robot provided by an embodiment of the present invention, an adjustment process ensures that a needle tip D is always located in an ultrasonic scanning acoustic beam, for example, the posture of a puncture needle tool requires that the puncture angle is reduced from θ to θ', and the position coordinate of the needle tip D is changed to (x)₁，y′₁) I.e. the D point x axis coordinate remains unchanged. The needle point telecentric control unit 112 calculates the adjustment amount of the puncture control and the translation control, and sends the adjustment amount to the motion control unit 105 to complete the needle point telecentric control.

The auxiliary robot for the blood vessel puncture outside the ultrasonic plane provided by the embodiment of the invention adopts a needle point telecentric control technology to realize that the puncture angle is adjusted after the puncture needle penetrates into the blood vessel, and simultaneously, the needle point is ensured to be always positioned in the ultrasonic sound beam plane, namely, the needle point of the puncture needle is always developed in the process of adjusting the puncture angle, so that the risk that the puncture needle is easy to fall off and puncture the blood vessel when the puncture angle is manually adjusted can be avoided.

According to the above embodiments, with reference to fig. 1, in order to more conveniently understand the technical solution of the embodiments of the present invention, the above unit modules in the ultrasound out-of-plane blood vessel puncture assisting robot according to the embodiments of the present invention may be partitioned. Specifically, the out-of-ultrasonic-plane blood vessel puncture assisting robot according to the embodiment of the present invention may be considered to include several parts, namely, a puncture robot body 20, an electrical control system 30, a robot control system 40, and an operation display unit 111. The puncture robot body 20 comprises a puncture needle 107, an ultrasonic probe 109 and a puncture posture driving device 114, the electrical control system 30 comprises an ultrasonic imaging system 110 and a motor driving unit 105, and the robot control system 40 comprises an image recognition processing unit 101, a puncture navigation unit 102, a motion planning unit 103, a motion control unit 104, a needle point telecentric control unit 112 and a motion data processing unit 113.

In the process of puncturing by using the puncture auxiliary robot of each embodiment, firstly, the real-time ultrasonic image of the blood vessel in the puncture target area is analyzed and calculated by an image recognition processing technology, and after the coordinate position data of the blood vessel center is obtained, the optimal puncture path and the control parameters are calculated by the puncture navigation unit according to the empirical data stored in the computer.

Then, according to the optimal puncture needle path, the puncture motion planning unit calculates and obtains control parameters such as position, angle, speed and the like required by the puncture auxiliary robot to be adjusted to the optimal puncture posture from the current posture, and then sends the motion control parameters to the puncture motion control unit to drive and control three motors of the posture of the puncture auxiliary robot, so that the puncture auxiliary robot is quickly adjusted to the optimal puncture posture, and then an operator confirms and operates a handle to control the puncture needle inserting motion,

the puncture auxiliary robot system realizes accurate simulation and display of the motion path and the needle point position of the puncture needle tool and the relative position relation between the needle body, the target blood vessel and the probe by matching the puncture motion with the consistency of the coordinate system of the ultrasonic image display system, solves the defect that an operator cannot observe the operation path and the needle point position of the puncture needle tool under the out-of-plane puncture technology, and effectively avoids puncture complications.

When the display confirmation is carried out, an operator firstly confirms the posture of the puncture robot by observing a preferred puncture path on a puncture legend in a plane on an operation display unit screen, then operates a handheld controller to carry out puncture in a manual mode, controls a puncture needle tool to puncture to a target blood vessel along the preferred puncture path at a set puncture speed, simulates the puncture track of the puncture needle tool in real time in a solid line form of one color (such as light yellow) on the puncture legend in the plane, simulates the arrival position of a needle point at the front end of the solid line, and synchronously moves round points on an ultrasonic image along with the puncture operation, so that the operator can intuitively feel the position of the puncture needle point and the relative position of the puncture needle point and the target blood vessel. The problem that the position of a puncture needle tip is difficult to determine in the out-of-plane puncture technology is solved, and the success rate of one-time puncture of the blood vessel is effectively improved.

When the puncture needle tip reaches the coordinate of the marked puncture point, the color indication block which indicates that the puncture needle tool has punctured into the blood vessel is lightened to prompt the operator to stop inserting the needle. Meanwhile, the puncture needle point is developed in the ultrasonic image, and the computer image recognition processing unit captures the development and recognizes the development. The confirmation of the position of the needle tip in the blood vessel is realized through double verification of needle tip position calculation tracking and needle tip ultrasonic image identification.

Fig. 5 is a schematic structural diagram of an out-of-plane ultrasound vessel puncture assisting robot according to another embodiment of the present invention, and as shown in fig. 5, the assisting robot includes:

the embedded industrial personal computer 50 with high performance and various standard interfaces is used as a system control core, the control mode has two modes of automatic control and manual control, and under the two control modes, the ultrasonic probe of the puncture-assisted medical robot is firstly held or controlled by hands to scan a target vein, and the pose of the puncture-assisted medical robot is fixed after the target vein is determined.

In the automatic mode, the puncture auxiliary robot determines a puncture target through the image recognition processing unit 501, and gives a preferred puncture path and motion parameters through the puncture navigation unit 502, so that the puncture robot is automatically adjusted to a preferred puncture position and puncture angle; the manual mode is different from the automatic mode in that the operator controls the puncture-assisting robot to be in a posture matching the preferred puncture path by operating the hand-held controller 70. The industrial personal computer 50 is connected with the servo driver in the motor driving unit 60 through the bus communication module 508. The stability and reliability of control signal transmission are ensured by adopting bus communication.

In the embodiment of the present invention, the ultrasound probe 109 transmits ultrasound waves to the target venous blood vessel, receives ultrasound waves reflected by a scanning region of the probe, and transmits acquired data information to the ultrasound imaging system 110.

The ultrasound imaging system 110 receives data sent by the ultrasound probe 109, processes the data into ultrasound image data information, and transmits the ultrasound image data information to the signal acquisition module 507 of the industrial personal computer 50. The data transmission interface is HDMI, and the signal acquisition module 507 is connected with the industrial personal computer 50 through a computer standard PCIe interface.

The image recognition processing unit 501 digitizes the ultrasound image data information acquired by the signal acquisition module 507 with an image function, and implements contour recognition of the target blood vessel and D coordinates (x) of the blood vessel center position by a boundary-based image segmentation method₁，y₁) And (4) calculating.

The puncture navigation unit 502 calculates a preferred puncture path through a puncture path model according to the coordinate data and the shape data of the target blood vessel in the ultrasonic image, and the puncture path model has a self-learning function by combining with the empirical puncture data. Determination of puncture point C coordinate position (x) of preferred puncture path₂，y₂) And a penetration angle θ.

The motion planning unit 503 obtains motion parameters (target position, motion speed) of the puncture robot posture adjustment servo motor (translation motor, pitching motor, puncture motor) and an adjustment strategy for enabling the puncture robot to reach the preset puncture posture in the shortest time through inverse solution calculation according to the optimal puncture path and other parameters. The operational control parameters are then sent to the motion control unit 504.

The motion control unit 504 converts the received operation control parameters into target position code values and set rotating speed values required by the servo motor control, and sends the target position code values and the set rotating speed values to the motion control unit 504 through a bus communication module 508, wherein the bus communication module 508 is in the form of a CAN bus.

The motor driving unit 60 is composed of three drivers (601, 602, 603) and three direct current servo motors (604, 605, 606), the three drivers are connected in series on a CAN bus, and the numbers of the communication nodes are respectively set to 1, 2, and 3. Driver 601 is connected to lancing control motor 604, driver 602 is connected to pitching control motor 605, and driver 603 is connected to position control motor 606.

The translation control motor 606 drives the translation adjustment mechanism 607 to move to a target position, the pitch control motor 605 drives the pitch adjustment mechanism 608 to a target angle, and the puncture control motor 604 drives the puncture adjustment mechanism 609 to perform puncture adjustment.

After the puncture-assisting robot moves to the preset puncture posture, the operator performs the puncture operation, the angle adjustment, and the like through the hand-held controller 70. The hand-held controller 70 is connected with the data acquisition module 509 through a data line, and the data acquisition module 509 converts the signal sent by the hand-held controller 70 into a standard signal and sends the standard signal to the motion control unit 504, so as to control the motion control unit 504.

The puncture control motor 604 drives the puncture mechanism 609 to move to the blood vessel center position D along the preferred puncture path, and meanwhile, the needle point is visualized in the ultrasonic image to show that the needle point reaches the preset position. The puncture auxiliary robot system confirms that the needle point is positioned in the middle of a blood vessel through double verification of needle point position calculation tracking and needle point ultrasonic image identification. In addition, the puncture auxiliary robot is also provided with a syringe negative pressure device 80, the syringe negative pressure device 80 is connected with the port c of the three-way connector 610 through a hose 801, the three ports a, b and c are communicated with each other, wherein the port b of the three-way connector 610 is connected with the cavity at the tail end of the needle body, the syringe negative pressure device 80 automatically establishes negative pressure along with the puncture needle tool puncturing human tissues, after the puncture needle tool enters a target blood vessel, blood in the blood vessel flows to the port b of the three-way connector 610 through the cavity of the needle body under the action of the negative pressure, and flows into the syringe negative pressure device 80 through the port c of the three-way connector 610 through the hose.

The puncture angle of the puncture needle needs to be reduced before proceeding to the next step, so as to prevent the needle tip from being pulled out of the blood vessel. The needle point telecentric control function is started to realize the adjustment of the puncture angle of the puncture needle tool and ensure that the puncture needle point always develops in an ultrasonic plane.

To further illustrate the technical solutions of the embodiments of the present invention, the embodiments of the present invention provide the following processing flows according to the above embodiments, but do not limit the scope of the embodiments of the present invention.

Fig. 6 is a schematic operation flowchart of an out-of-plane ultrasound vessel puncture assisting robot according to an embodiment of the present invention, where the flowchart may include:

step 1, an operator selects an ultrasonic probe suitable for a patient and a puncture needle tool with a suitable model according to physical sign data (age, fat and thin) of an examination object and a puncture part and installs the ultrasonic probe and the puncture needle tool on a puncture auxiliary robot.

And 2, executing a calibration function of the puncture auxiliary robot system, wherein the calibration function comprises initializing an initial parameter of the puncture auxiliary robot control system, judging whether a sensor signal of the self-checking puncture auxiliary robot is normal or not, judging whether a motion function of the self-checking system is normal or not, and associating a motion coordinate system of the puncture auxiliary robot and an ultrasonic image display picture coordinate system, so that the actual motion path calculation parameter of the puncture needle tool is consistent with the ultrasonic image display coordinate system of the puncture needle tool.

And 3, selecting a proper ultrasonic image depth (such as 2cm, 3cm, 4cm or other depths) by an operator, holding the puncture auxiliary robot ultrasonic probe by hand or through an automatic arm device, moving and scanning the target blood vessel, and observing whether the target blood vessel is positioned in the midfield of the ultrasonic image area.

The operator can hold the puncture auxiliary robot by hand or hold the puncture auxiliary robot through a mechanical arm device, so that the ultrasonic probe is tightly attached to a target area, and a target blood vessel is checked in a mode of being parallel to a long axis of the blood vessel. After the vein position is determined under the ultrasonic image, the ultrasonic probe is adjusted to detect the punctured target blood vessel in a mode of being perpendicular to the long axis of the blood vessel, the blood vessel ultrasonic image on the operation display unit is observed, and the target blood vessel image is ensured to be located on the central line of the ultrasonic display area.

And 4, keeping the position of the puncture robot after the position of the target blood vessel is determined, and locking the position of the puncture auxiliary robot through a bracket system.

And 5, starting a puncture navigation unit, identifying the position of the central point of the target blood vessel by the puncture navigation unit according to the computer image identification processing unit, providing a preferred puncture path on the picture of the operation display unit by combining the empirical puncture data, and confirming or finely adjusting the preferred puncture path by an operator.

And 6, executing a puncture robot posture preparation function, adjusting the puncture robot posture to the optimal puncture path, and displaying a puncture robot posture guide line which is matched with an optimal puncture path marking line on an operation display unit picture to show that the puncture robot posture is adjusted in place.

And 7, operating a needle insertion button on the handheld controller to perform puncture operation by an operator in the manual mode, executing the puncture button on the handheld controller to start the puncture operation by the operator in the automatic mode, and observing an ultrasonic image of a puncture operation display picture, a puncture legend simulation state in a plane, a needle point position tracking virtual image and puncture motion data information by the operator at the same time to assist in judging the actual position of the needle point.

And 8, controlling the puncture needle to penetrate into a target blood vessel by the operator in the manual mode, observing whether the needle point of the puncture needle is developed or not and whether the needle point position tracking virtual image is superposed with a target point or not in the ultrasonic image of the puncture operation display picture by the operator after the puncture needle reaches the target point position, and automatically operating the puncture needle to reach the target point position according to set parameters in the automatic mode.

And 9, executing a telecentric control function of the puncture needle, operating a pitching reducing button on the handheld controller by an operator, and adjusting the needle inserting angle of the puncture needle to an angle suitable for the next operation.

And step 10, after the operation is finished, the operator executes the puncture needle tool withdrawing function.

The embodiment of the invention realizes the accurate control of the puncture needle tool through the precise mechanical structure and the high-precision servo motor drive, effectively makes up the deficiency of the experience of doctors by applying the computer image recognition technology and the puncture navigation technology, solves the defect of the out-of-plane puncture technology, and effectively ensures the success rate of the puncture operation.

It is understood that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly, can also be implemented by hardware. Based on such understanding, the technical solutions mentioned above may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a usb disk, a removable hard disk, a ROM, a RAM, a magnetic or optical disk, etc., and includes several instructions for causing a computer device (such as a personal computer, a server, or a network device, etc.) to execute the methods described in the method embodiments or some parts of the method embodiments.

In addition, it should be understood by those skilled in the art that in the specification of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the description of the embodiments of the invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.

However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of an embodiment of this invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.