Research On Sensing And Control Of Vein Puncture Assisted Robot

With the development of technology,the medical level has been greatly improved.When people receive treatment in hospitals,they almost always need to undergo venous puncture,which mostly relies on the experience of medical workers to manually complete.Sometimes,if puncture fails,another venous puncture is required.Patients will suffer from multiple venous punctures,and multiple venous punctures will increase the risk of infection at the puncture site.Therefore,in order to better complete venous puncture blood collection,it is very meaningful to use venous puncture blood collection robots to replace medical staff.In this paper,we designed and built a near infrared venous vessel acquisition device.After collecting the arm vein image,preprocess the arm vein image,and then use proposed and improved algorithms to extract a clear vein skeleton from the vein image,and plan the trajectory of the robot performing vein puncture operations.There is great potential for the application of vein puncture assisted robots in completing vein puncture.The main research work of this article is as follows:(1)In the aspect of arm vein image acquisition,a near-infrared vein vessel acquisition device was independently designed and built according to the theoretical basis of near-infrared venography.Two wavelengths of near-infrared light were used to form a combined light source.The position of the main and auxiliary near-infrared light sources was determined according to the characteristics of the arm.In the experiment,near-infrared light and infrared filters were used to combine to obtain a more uniform near-infrared light irradiation on the arm area to be collected,And the MV-GE300 GM CMOS camera was used to complete the acquisition of arm vein images.(2)In terms of image processing,based on the analysis of the characteristics of the arm vein image,the centroid method is used to extract the region of interest of the arm vein image,which is convenient for subsequent image processing;Improved median filtering with selective median filtering algorithm for denoising venous images,resulting in better results and clear edges of the filtered venous images;Then,threshold segmentation algorithms were analyzed and their segmentation effects were verified.Improvements were made to morphological processing to address connectivity issues in vein images.After image refinement,a complete arm vein skeleton was extracted.(3)The trajectory planning of the venipuncture assistant robot is studied,the robot coordinate system is established,and the forward and inverse kinematics solving process of the six degrees of freedom serial robot is analyzed.The correctness of the forward and inverse kinematics solving of the robot is verified through simulation.Study the basic principles of robot trajectory planning and use polynomial functions for joint trajectory planning.(4)Conduct experimental research on the vein puncture assisted robot system.In the experiment,by changing the light intensity of the near-infrared light source,different vein image processing algorithms were used to process the collected arm vein images.The effectiveness of image processing was compared and analyzed through subjective and objective image evaluation standards,and suitable collection light sources and light intensity were selected.High quality arm vein images were collected,Verified the processing effect of vein processing algorithm on arm vein images,and extracted the skeleton of arm vein.