基于超声图像的PICC智能穿刺医疗机器人控制系统设计

Control system design of PICC Intelligent Puncture medical robot based on ultrasonic image

摘要:

为提高静脉穿刺置管手术的穿刺成功率，缓解病人所承担的生理性伤痛，设计基于超声图像的PICC（Peripheraly Inserted Central Cathcte，外周静脉置入的中心静脉导管）智能穿刺医疗机器人控制系统。以晶振复位电路作为穿刺置管的输出动力支持，通过驱动控制电机的传输调度作用，实现对智能传感器的精准化控制，降低置管过程中针头的平均进入深度，完成PICC智能穿刺医疗机器人及其控制应用结构搭建。在此基础上，按照静脉置管图像的实际特征分析结果，转换原有的超声图像格式，经过多次边缘性检测，实现对穿刺超声图像的初级预处理。获取静脉靶向血管的位置信息，在规划穿刺路径的同时，完成对机器人操作手的重定位控制，实现医疗机器人的运动控制模型分析。仿真对比实验结果显示，与常规静脉穿刺手段相比，穿刺控制系统可将进针角数值控制在10°-40°之间、进针深度保持在整个针头的2/3以内，可大幅提升穿刺置管的成功几率，实现减轻病人所承担生理性疼痛的目的。

Abstract:

In order to improve the success rate of venipuncture catheterization and relieve patients' physiological pain, a PICC(Peripheraly Inserted Central Cathcte) intelligent puncture medical robot control system based on ultrasonic images was designed. The crystal oscillator reset circuit is used as the output power support of the puncture catheterization. The transmission scheduling function of the drive control motor is used to realize precise control of the intelligent sensor, reduce the average penetration depth of the needle during the catheterization process, and complete the construction of the PICC intelligent puncture medical robot and its control application structure. On this basis, the original ultrasonic image format was converted according to the analysis results of the actual characteristics of the venous catheterization image, and the preliminary preprocessing of the puncture ultrasonic image was realized after several marginal tests. To obtain the position information of the vein targeted vessels, and at the same time to plan the puncture path, to complete the repositioning control of the robot operator and realize the motion control model analysis of the medical robot. The results of the simulation and comparison experiments show that compared with the conventional venipentesis, the puncture control system can control the value of the insertion Angle between 10° and 40°, and keep the insertion depth within 2/3 of the whole needle, which can greatly improve the success rate of puncture and catheting, and achieve the goal of alleviating the physiological pain of patients.