Research On Key Technology Of Intelligent Robot For Dorsal Hand Intravenous Injection

Intravenous injections is widely used as a basic medical tool in clinical care and is often an essential part of the treatment process.However,at present,intravenous injections still need to be performed manually by skilled medical staff.Although they have extensive experience after special training,the failure rate of punctures remains high.Moreover,in the context of widespread infectious disease settings such as the New Coronation epidemic,some medical staff are cross-contaminated5 by direct contact with infected patients at close range when administering intravenous injections.There is therefore an urgent need for a robot that can replace medical staff in administering intravenous injection.In this context,the group investigates an intelligent robotic system for dorsal hand intravenous injection.The functions required for the system are divided,the key issues are analyzed and the functions are implemented step by step.In this paper,we build on our previous research findings to investigate three key technologies in this robotic system,the main elements of which are as follows.First,this paper analyzes the process used by medical personnel when performing intravenous injections into the back of the hand.This is used as a basis for the design of a robotic intravenous injection process.By analyzing the required performance indicators of the robot,the robot body structure and the highly decoupled end-effector are designed specifically for dorsal hand intravenous injection.Following the design and selection of the hardware architecture of the robot system,the software architecture is designed using the concept of layered design on top of the hardware.Then,for the study of needle entry angle calculation of the dorsal hand intravenous injection robot,this paper proposes a method to optimize the calculation of dorsal hand needle entry angle based on the line structured light scanning.After the monocular camera calibration is completed to obtain the required camera parameters,the focus is on the calibration of the line structured light plane,and the optimization is carried out from three aspects: reprojection constraints,linear constraints and planar constraints.The hand scan data is optimized in terms of reprojection constraint and plane constraint,and the optimized result is fitted to the plane of the needle entry area,and the plane is used as an auxiliary calculation surface for the needle entry angle.Finally,to ensure accurate entry of the puncture needle into the venous vessels,a controlled needle feeding strategy based on a combination of machine vision and puncture force analysis is proposed in this paper.Near-infrared light-based machine vision is used to detect the venous vessel blood return.The axial puncture force of the puncture needle is also analyzed to detect the abrupt change of the puncture force when the needle punctures the wall of the venous blood vessel.Based on the existing experimental conditions,this paper designs venous puncture simulation experiments through ANSYS to collect the puncture force data under different needle entry angles and needle entry speeds.The puncture force detection algorithm is also designed to detect the penetration of the venous blood vessel wall.The results of both tests are considered together for needle entry control,aiming to improve the success rate of the initial puncture.