CN106039487B - A kind of automatic acupuncture treatment system and its control method - Google Patents
A kind of automatic acupuncture treatment system and its control method Download PDFInfo
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- CN106039487B CN106039487B CN201610512205.7A CN201610512205A CN106039487B CN 106039487 B CN106039487 B CN 106039487B CN 201610512205 A CN201610512205 A CN 201610512205A CN 106039487 B CN106039487 B CN 106039487B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/42—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests having means for desensitising skin, for protruding skin to facilitate piercing, or for locating point where body is to be pierced
- A61M5/427—Locating point where body is to be pierced, e.g. vein location means using ultrasonic waves, injection site templates
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
- A61B5/0064—Body surface scanning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150175—Adjustment of penetration depth
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150206—Construction or design features not otherwise provided for; manufacturing or production; packages; sterilisation of piercing element, piercing device or sampling device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4887—Locating particular structures in or on the body
- A61B5/489—Blood vessels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/46—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests having means for controlling depth of insertion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/08—Limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/12—Blood circulatory system
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Abstract
The invention provides a kind of automatic acupuncture treatment system and its control method.The system includes：Image capture module, image processing module, blood vessel recognition module, locating module and the acupuncture treatment module being sequentially connected；Described image acquisition module, IMAQ is carried out to treat acupuncture treatment region；Described image processing module, to carry out image dividing processing to the image of collection；The blood vessel recognition module, blood vessel identifying processing is carried out to the image after image dividing processing, and calculate the location point for being adapted to acupuncture treatment on blood vessel；The locating module, treat acupuncture treatment region and detected, be adapted to the location point of acupuncture treatment to be positioned according on the blood vessel calculated, and the location information is exported to acupuncture treatment module；The acupuncture treatment module, it is administered to be had an acupuncture treatment according to the location information.The system and its control method can effectively improve current medical model, improve doctor-patient relationship, lift the medical treatment experience of patient.
Description
Technical field
The present invention relates to the technical field of medicine equipment, specifically, is related to a kind of automatic acupuncture treatment system and its controlling party
Method.
Background technology
Tele-medicine refer to by computer technology, remote sensing, remote measurement, telecontrol engineering for rely on, give full play to large hospital or
The medical technology and Medical Devices advantage at specialized health center, on the outlying district poor to medical condition, island or naval vessel
The sick and wounded carry out telediagnosis, treatment and consulting.Be intended to improve diagnosis with medical level, reduce medical expenses, meet it is vast
One brand-new medical services of people's health care demand.At present, Tele medicine is from initial TV monitoring, electricity
Words remote diagnosis develop into using express network carry out numeral, image, voice comprehensive transmission, and realize real-time voice
With exchanging for HD image, broader development space is provided for the application of modern medicine.The external hair in this field
Existing more than the 40 years history of exhibition, and China is only just paid attention to and developed in recent years.
In recent years, as the development of tele-medicine, unmanned medical services are proposed in more fields and technical elements
Higher requirement and developing direction.Patient is lined up in hospital and had an injection at present, is lined up garter, be lined up blood drawing etc. be required to undergo it is very long
Queuing, delay treatment, and be easily caused the deterioration of doctor-patient relationship.
The entitled live body palm angiographic image Acquisition Instrument of Application No. 200410074345.8 in the prior art,
It only can in real time be gathered and reflect the overall picture of sufferer palm blood vessel network, and the vessel position point that be adapted to acupuncture treatment can not be carried out
Guide.A kind of solution method is treated therefore, saving now, to solve the problem.
The content of the invention
In view of this, the defects of the technical problem to be solved in the present invention is to overcome prior art, there is provided a kind of automatic
Acupuncture treatment system, including：Image capture module, image processing module, blood vessel recognition module, locating module and the bundle being sequentially connected
Pin module；
Described image acquisition module, IMAQ is carried out to treat acupuncture treatment region；
Described image processing module, to carry out image dividing processing to the image of collection；
The blood vessel recognition module, blood vessel identifying processing is carried out to the image after image dividing processing, and calculate blood vessel
The upper location point for being adapted to acupuncture treatment；
The locating module, treat acupuncture treatment region and detected, according to the location point for being adapted to acupuncture treatment on the blood vessel calculated
Positioned, and the location information is exported to acupuncture treatment module；
The acupuncture treatment module, it is administered to be had an acupuncture treatment according to the location information.
In some embodiments, described image acquisition module includes infrared eye.
In some embodiments, the locating module includes being worn on the positioning chain at wrist；The chain that positions is by blood
It is adapted to the location point of acupuncture treatment to be modulated into location point coordinate signal on pipe, then exports location point coordinate signal to acupuncture treatment module.
In some embodiments, in addition to the drug delivery module that is connected of acupuncture treatment module, the drug delivery module to
The dosage and/or administration species of control acupuncture treatment module.
In some embodiments, the positioning chain positions chain for the electromagnetic induction with hot-wire coil；The electromagnetism sense
Using to adjust the spacing between the adjacent hot-wire coil, to realize the adjustment to positioning chain length.
In some embodiments, the both ends of the positioning chain are equipped with the connector for connecting positioning both ends.
In some embodiments, the acupuncture treatment module includes syringe needle and micro-control unit, and by the microcontroller list
The angle control and rotatable parts of member control；
Syringe needle, to penetrate percutaneous drug delivery；
Angle control, to control syringe needle to penetrate the angle of skin；
Rotatable parts, to control the syringe needle 360 degree of rotations in the horizontal direction；
Micro-control unit, to receive the location information of the locating module, needle position is adjusted according to the location information,
And the depth for controlling syringe needle to insert；
The syringe needle, angle control and rotatable parts are sequentially connected.
In some embodiments, the acupuncture treatment module is placed in the side that the positioning chain deviates from wrist.
Present invention also offers a kind of control method of automatic acupuncture treatment system, comprise the following steps：
Step S10, treat acupuncture treatment region and carry out IMAQ；
Step S20, image dividing processing is carried out to the image of collection；
Step S30, blood vessel identifying processing is carried out to the image after image dividing processing, and calculate and be adapted to acupuncture treatment on blood vessel
Location point；
Step S40, treat acupuncture treatment region and detected, be adapted to the location point of acupuncture treatment to be determined according on the blood vessel calculated
Position, and the location information is exported to acupuncture treatment module；
Step S50, had an acupuncture treatment and be administered according to the location information.
In some embodiments, the step of in addition to adjusting dosage and/or administration species.
The beneficial effect of a kind of automatic acupuncture treatment system and its control method provided by the invention is：
The present invention carries out blood vessel identifying processing, and count by blood vessel recognition module to the image after image dividing processing
Calculate the location point for being adapted to acupuncture treatment on blood vessel；Then by locating module, treat acupuncture treatment region and detected, according to the blood calculated
It is adapted to the location point of acupuncture treatment to be positioned on pipe, and the location information is exported to acupuncture treatment module；Module of having an acupuncture treatment is further according to positioning
Information, which carries out acupuncture treatment administration, realizes automating, being intelligent for acupuncture treatment process.The system accurate positioning, there is intelligent reminding, intelligence
The function of acupuncture treatment position can be adjusted, suitable for remote operation.Avoid when patient sees a doctor and be lined up for a long time.Enable patient easily
It is in and enjoys medical services.
To sum up, the system and control method can effectively improve current medical model, improve doctor-patient relationship, and lifting is suffered from
The medical treatment experience of person.
Brief description of the drawings
It should be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore it is not construed as to model
The restriction enclosed, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these
Accompanying drawing obtains other related accompanying drawings.
Fig. 1 is the block diagram of the automatic acupuncture treatment system of an embodiment；
Fig. 2 is the block diagram of the acupuncture treatment module of an embodiment；
Fig. 3 is the flow chart of the automatic acupuncture treatment system control method of an embodiment；
Fig. 4 is the structural representation of acupuncture treatment module.
Drawing reference numeral explanation：
| Title | Label |
| Automatic acupuncture treatment system | 1 |
| Image capture module | 11 |
| Image processing module | 12 |
| Blood vessel recognition module | 13 |
| Locating module | 14 |
| Position chain | 141 |
| Connector | 1411 |
| Acupuncture treatment module | 15 |
| Syringe needle | 151 |
| Micro-control unit | 152 |
| Angle control | 153 |
| Rotatable parts | 154 |
Embodiment
In order to illustrate more clearly of technical scheme, with reference to specific embodiment and figure to right of the invention
It is required that it is described in further detail, it is to be understood that the following drawings illustrate only certain embodiments of the present invention, therefore not
The restriction to scope is should be considered as, the modification of anyone limited number of time made within the scope of the invention as claimed, still at this
Within the right of invention.
Referring to Fig. 1, the invention provides a kind of automatic acupuncture treatment system 1, including：The image capture module 11 that is sequentially connected,
Image processing module 12, blood vessel recognition module 13, locating module 14 and acupuncture treatment module 15；
Described image acquisition module 11, IMAQ is carried out to treat acupuncture treatment region；
Described image processing module 12, to carry out image dividing processing to the image of collection；
The blood vessel recognition module 13, blood vessel identifying processing is carried out to the image after image dividing processing, and calculate blood
It is adapted to the location point of acupuncture treatment on pipe；
The locating module 14, treat acupuncture treatment region and detected, according to the position for being adapted to acupuncture treatment on the blood vessel calculated
Point is positioned, and the location information is exported to acupuncture treatment module 15；
The acupuncture treatment module 15, is administered to be had an acupuncture treatment according to the location information.
Above-mentioned, the electronic installation with blood vessel identification positioning function mainly includes：Image capture module 11, image procossing mould
Block 12, blood vessel recognition module 13 and locating module 14, acupuncture treatment module 15 is then according to the step for location information implementation acupuncture treatment.
It is understood that image capture module 11 can also be able to be infrared eye for medical PAD camera.
Wherein, described image acquisition module 11 carries out IMAQ to treat acupuncture treatment region, and the region to be had an acupuncture treatment is general
For palm, the back of the hand, wrist, ankle or other positions suitably having an acupuncture treatment；Described image processing module 12 is to the image to collection
Image dividing processing is carried out, the image in the region to be had an acupuncture treatment of collection is divided into the region of non-overlapping copies, to identify blood vessel；The blood
Pipe identification module 13 carries out blood vessel identifying processing to the image after image dividing processing, and calculates the position for being adapted to acupuncture treatment on blood vessel
Put a little；The locating module 14 detects to treating acupuncture treatment region, according to the location point for being adapted to acupuncture treatment on the blood vessel calculated
Position point is positioned, and the location information is exported to acupuncture treatment module 15.Wherein, the locating module 14 is in can be adopted as
The position signalling for the location point for being adapted to acupuncture treatment on blood vessel is modulated into hot spot and existed by laser positioning module 14, the laser positioning module 14
The position having an acupuncture treatment on position, then calculate the position of glossing up.
It may include to inject or the step such as draw blood it is understood that acupuncture treatment is follow-up.
Further, described image acquisition module 11 includes infrared eye.
It is above-mentioned, specifically, the blood-vessel image at human arm or the back of the hand that image capture module 11 gathers is dynamic in real time
Image, in order to which medical worker can be according to the dynamic image in vessel position at positioning on human body, so as to subsequently be pricked
Pin works.
Image capture module 11 includes infrared eye, and the infrared eye provides the light for the light wave being absorbed by the blood
Source module and the light wave sent by the light source module gather the photographing module of blood-vessel image.
Due to the blood red speciality for being known as absorption infrared ray in blood, on the contrary, the blood vessel of human body does not have the speciality but, because
This, the light source module in infrared eye includes infrared light-emitting diode, and the photographing module includes CCD camera.
It is engaged by above-mentioned infrarede emitting diode with the CCD camera with infrared induction degree and human body is taken the photograph
Shadow, you can the shaded side recording for shining blood vessel goes out image.Said blood vessel identification module 13 is by 11 recordings of image capture module
Image be digitized processing, to be made blood vessel pattern image, Dynamic Display is carried out, to complete whole catheter navigation.
Further, the locating module 14 includes being worn on the positioning chain 141 at wrist；The chain 141 that positions is by blood
It is adapted to the location point of acupuncture treatment to be modulated into location point coordinate signal on pipe, then exports location point coordinate signal to acupuncture treatment module
15。
Further, in addition to the acupuncture treatment module 15 drug delivery module being connected, the drug delivery module are pricked to control
The dosage and/or administration species of pin module 15.
Above-mentioned, drug delivery module includes electro-motor, by electro-motor, can control the speed of drug injection and blood drawing.Should
Motor can connect numerical control scheduling deposit machine；The machine is that patient's tune gets drug dose ready mainly for doctor, and lays in, can
Multi-medicament after the medicine switching being had an injection in turn for the multiple patients of completion or single individual patient transport home switches at regular time and quantity
Squeeze into.
The drug delivery module can also include data acquisition unit, collect doctor's remote control commands, doctor is each patient
Different amount of liquid medicine is measured, by decoction injection numerical control scheduling deposit machine.
Doctor can get medicine storage combination ready for patient and supply patient use at home.
Further, the positioning chain 141 positions chain 141, the electromagnetic induction for the electromagnetic induction with hot-wire coil
To adjust the spacing between the adjacent hot-wire coil, to realize the adjustment to positioning the length of chain 141.
It is above-mentioned, the positioning chain 141 for hot-wire coil electromagnetic induction position chain 141, can according to patient wrist it is thick
Carefully carry out elastic regulation.Adjusting method can be achieved by changing the size of current in hot-wire coil.When in hot-wire coil
The sense of current it is consistent when, according to Ampere's law, attracted each other between hot-wire coil, positioning chain 141 clamps wrist.When adjacent two
On the contrary, mutually exclusive between hot-wire coil, positioning chain 141 relaxes the sense of current in individual hot-wire coil.When the two of positioning chain 141
When end is interconnected to form the positioning annulus of annulus, coordinate of the positioning annular into a wrist using people as the origin of coordinates
System.Acupuncture treatment location point is modulated into coordinate signal and exported to acupuncture treatment module 15 by positioning chain 141.When the sense of current in hot-wire coil
When consistent, it electric current increase, can strengthen the gravitation between hot-wire coil, the contraction of positioning chain 141 puts more effort, and blood vessel can be bright
It is aobvious to protrude, convenient acupuncture treatment.When acupuncture treatment finishes or emergency needs to unclamp, opposite electric current is passed through in adjacent hot-wire coil,
Adjacent hot-wire coil produces identical magnetic pole, and positioning chain 141 will relax out.The positioning chain 141 can be according to patient's arm
Thickness, hot-wire coil portion is carried out to dismantle or install individually, positioning chain 141 is met the needs of different patients.
Further, the both ends of the positioning chain 141 are equipped with the connector 1411 for connecting positioning both ends.
It is above-mentioned, it is to be understood that when the both ends of positioning chain 141 are connected by connector 1411, to be formed circular
Bracelet, be easy to have an acupuncture treatment.Certainly, the positioning chain 141 can be also placed directly within wrist, and wrist is put on horizontal table top, is easy to
The automatic acupuncture treatment system 1 is had an acupuncture treatment at the back of the hand.
Further, the acupuncture treatment module 15 includes syringe needle 151 and micro-control unit 152, and by the microcontroller list
The angle control 153 and rotatable parts 154 of the control of member 152；
Syringe needle 151, to penetrate percutaneous drug delivery；
Angle control 153, to control syringe needle 151 to penetrate the angle of skin；
Rotatable parts 154, to control the syringe needle 151 360 degree of rotations in the horizontal direction；
Micro-control unit 152, to receive the location information of the locating module 14, syringe needle is adjusted according to the location information
151 positions, and the depth for controlling syringe needle 151 to insert；
The syringe needle 151, angle control 153 and rotatable parts 154 are sequentially connected.
Above-mentioned referring to Fig. 2, rotatable parts 154 may connect to position the side that chain 141 deviates from skin, and control syringe needle 151 exists
360 degree of rotations in horizontal direction, adjust the position of syringe needle 151.
Angle control 153, for the thickness according to patient's subcutaneous fat, control syringe needle 151 inserts the angle of skin.Simultaneously
Micro-control unit 152 can also adjust the insertion depth of syringe needle 151, to ensure the safety of acupuncture treatment process.
Further, the acupuncture treatment module 15 is placed in the side that the positioning chain 141 deviates from wrist.
Referring to Fig. 3, present invention also offers a kind of control method of automatic acupuncture treatment system 1, comprise the following steps：
The corresponding contents of step S10 are to treat acupuncture treatment region to carry out IMAQ；
The corresponding contents of step S20 are to carry out image dividing processing to the image of collection；
The corresponding contents of step S30 are to carry out blood vessel identifying processing to the image after image dividing processing, and calculate blood
It is adapted to the location point of acupuncture treatment on pipe；
The corresponding contents of step S40 are to treat acupuncture treatment region to be detected, according to suitable acupuncture treatment on the blood vessel calculated
Location point is positioned, and the location information is exported to acupuncture treatment module 15；
The corresponding contents of step S50 are to be had an acupuncture treatment and be administered according to the location information.
Further, the step of in addition to adjusting dosage and/or administration species.
It should be appreciated that although the present specification is described in terms of embodiments, not each embodiment only includes one
Individual independent technical scheme, this narrating mode of specification is only that those skilled in the art will should say for clarity
For bright book as an entirety, the technical scheme in each embodiment may also be suitably combined to form those skilled in the art can
With the other embodiment of understanding.
Applicant states that the present invention can only for of the invention by a series of describe in detail of those listed above
Row embodiment illustrates, but the invention is not limited in above-mentioned detailed process equipment and technological process.And i.e. not
Mean that the present invention should rely on above-mentioned detailed process equipment and technological process and could implement.Person of ordinary skill in the field should
This is clear, any improvement in the present invention, and the equivalence replacement and auxiliary element to each raw material of product of the present invention are added, are specific square
Selection of formula etc., within the scope of all falling within protection scope of the present invention and disclosing.
Claims (8)
- A kind of 1. automatic acupuncture treatment system, it is characterised in that including：Image capture module, image processing module, the blood being sequentially connected Pipe identification module, locating module and acupuncture treatment module；Described image acquisition module, IMAQ is carried out to treat acupuncture treatment region；Described image processing module, to carry out image dividing processing to the image of collection；The blood vessel recognition module, blood vessel identifying processing is carried out to the image after image dividing processing, and calculate and fitted on blood vessel Close the location point of acupuncture treatment；The locating module, treat acupuncture treatment region and detected, carried out according to the location point of acupuncture treatment is adapted on the blood vessel calculated Positioning, and the location information is exported to acupuncture treatment module；The acupuncture treatment module, it is administered to be had an acupuncture treatment according to the location information；Wherein, the locating module includes being used to be worn on the positioning chain at wrist；The positioning chain will be adapted to acupuncture treatment on blood vessel Location point be modulated into location point coordinate signal, then location point coordinate signal is exported to the acupuncture treatment module；The positioning chain positions chain for the electromagnetic induction with hot-wire coil；The electromagnetic induction is adjusting the adjacent energization Spacing between coil, to realize the adjustment to positioning chain length.
- 2. automatic acupuncture treatment system as claimed in claim 1, it is characterised in that：Described image acquisition module fills including infrared photography Put.
- 3. automatic acupuncture treatment system as claimed in claim 1, it is characterised in that：Also include the administration being connected with the acupuncture treatment module Module, the drug delivery module to control acupuncture treatment module dosage and/or administration species.
- 4. automatic acupuncture treatment system as claimed in claim 1, it is characterised in that：The both ends of the positioning chain are equipped with for connecting Position the connector at both ends.
- 5. automatic acupuncture treatment system as claimed in claim 1, it is characterised in that the acupuncture treatment module includes syringe needle and microcontroller list Member, and angle control and rotatable parts by the micro-control unit controls；Syringe needle, to penetrate percutaneous drug delivery；Angle control, to control syringe needle to penetrate the angle of skin；Rotatable parts, to control the syringe needle 360 degree of rotations in the horizontal direction；Micro-control unit, to receive the location information of the locating module, needle position is adjusted according to the location information, and control The depth of syringe needle insertion processed；The syringe needle, angle control and rotatable parts are sequentially connected.
- 6. automatic acupuncture treatment system as claimed in claim 1, it is characterised in that：The acupuncture treatment module is placed in the positioning chain and deviated from The side of wrist.
- 7. a kind of control method of automatic acupuncture treatment system, it is characterised in that comprise the following steps：Step S10, treat acupuncture treatment region and carry out IMAQ；Step S20, image dividing processing is carried out to the image of collection；Step S30, blood vessel identifying processing is carried out to the image after image dividing processing, and calculate the position for being adapted to acupuncture treatment on blood vessel Put a little；Step S40, treat acupuncture treatment region and detected, be adapted to the location point of acupuncture treatment to be positioned according on the blood vessel calculated, And the location information is exported to acupuncture treatment module；Wherein, the location point for being adapted to acupuncture treatment on blood vessel is modulated into position point coordinates letter for being worn on the positioning chain at wrist Number, then location point coordinate signal is exported to the acupuncture treatment module；The positioning chain positions chain for the electromagnetic induction with hot-wire coil；The electromagnetic induction is adjusting the adjacent energization Spacing between coil, to realize the adjustment to positioning chain length.
- 8. the control method of automatic acupuncture treatment system as claimed in claim 7, it is characterised in that：Also include adjustment dosage And/or the step of administration species.
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| TWI663998B (en) * | 2018-04-02 | 2019-07-01 | National Chin-Yi University Of Technology | Intelligent intravenous insertion identification system and method thereof |
| CN108744158B (en) * | 2018-04-03 | 2021-12-17 | 中国人民解放军总医院第三医学中心 | Automatic intravenous injection system and injection method |
| CN108814621B (en) * | 2018-04-11 | 2021-09-07 | 于雪 | Protection formula passes catch disease blood specimen collection system |
| CN109567761A (en) * | 2019-01-31 | 2019-04-05 | 中国人民解放军陆军军医大学第附属医院 | A kind of method and its application that venipuncture makes blood vessel develop |
| CN110522969B (en) * | 2019-09-25 | 2021-08-27 | 合肥京东方光电科技有限公司 | Injection device, infusion equipment and injection control method |
| CN111839681A (en) * | 2020-07-08 | 2020-10-30 | 胡飞青 | Compression area identification platform and method using content analysis |
| CN112022293B (en) * | 2020-08-18 | 2022-04-05 | 同济大学 | Gesture recognition venipuncture method and device for intravenous injection robot |
| CN112684224A (en) * | 2020-12-29 | 2021-04-20 | 无锡圆方半导体测试有限公司 | Method and system for efficiently preventing chip welding spot needle insertion deviation |
| CN112891685B (en) * | 2021-01-14 | 2022-07-01 | 四川大学华西医院 | Method and system for intelligently detecting position of blood vessel |
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| CN101171046A (en) * | 2005-05-10 | 2008-04-30 | 皇家飞利浦电子股份有限公司 | Cannula inserting system. |
| CN104739370A (en) * | 2013-12-31 | 2015-07-01 | 环达电脑(上海)有限公司 | Electronic device with blood vessel identifying and positioning functions and blood vessel identifying and positioning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AU2009268341B2 (en) * | 2008-07-11 | 2014-08-21 | Houston Medical Robotics, Inc. | Methods and apparatus for introducing a medical device into the body of a patient |
| CN104856649B (en) * | 2015-04-24 | 2018-04-20 | 北京迈纳士手术机器人技术股份有限公司 | It is a kind of that the device with puncture vessel is identified by infrared imaging and pressure change |
| CN105056351B (en) * | 2015-07-31 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of automatic acupuncture treatment device |
| CN105536093B (en) * | 2016-03-10 | 2019-05-03 | 京东方科技集团股份有限公司 | Transfusion system and the infusion method for using transfusion system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101171046A (en) * | 2005-05-10 | 2008-04-30 | 皇家飞利浦电子股份有限公司 | Cannula inserting system. |
| CN104739370A (en) * | 2013-12-31 | 2015-07-01 | 环达电脑(上海)有限公司 | Electronic device with blood vessel identifying and positioning functions and blood vessel identifying and positioning method |
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