CN115227286A - Device and method for puncture self-adaptive guiding of ultrasonic probe and blood sampling box - Google Patents

Abstract

The invention discloses a device and a method for self-adaptively guiding puncture of an ultrasonic probe and a blood sampling box, which aim to solve the problem that the pressing force of the ultrasonic probe cannot be self-adaptively adjusted to influence the quality of an ultrasonic image. The device comprises an ultrasonic probe, an ultrasonic probe supporting assembly, a screw rod module, a driving motor and a control chip; the ultrasonic probe supporting assembly is internally provided with a pressure sensor above the non-detection end of the ultrasonic probe; the pressure sensor feeds pressure information back to the control chip in real time, and whether the surface extrusion force exceeds a pressure setting threshold value is judged through codes so as to control the driving motor. The blood sampling box comprising the device firstly obtains an optimal puncture area through the image processing of the near-infrared camera and the computer, and then obtains the pressure information of the ultrasonic probe through the control chip to ensure that a high-quality ultrasonic image is obtained, so that the puncture is guided with high precision. The mechanical operation end of the invention can meet the puncture requirements of a plurality of puncture areas, and simultaneously reduces the difficulty of control operation.

Description

Device, method and blood collection box for self-adaptive guided puncture of ultrasonic probe

technical field

The invention relates to the technical field of venipuncture robots, and more particularly, to a device, method and blood collection box for an ultrasonic probe to self-adaptively guide puncture.

Background technique

Near-infrared and ultrasound-guided puncture have become the main means to achieve automatic puncture. The near-infrared camera obtains the planar distribution information of the venous blood vessels, and the ultrasound probe sends out ultrasound to the subcutaneous vein, thereby displaying the longitudinal information of the vein and guiding the puncture needle for puncturing. Since ultrasound cannot penetrate air, the ultrasound probe must contact the patient's skin surface with a suitable pressure. When the pressure is too high, the blood vessels will be squeezed; when the pressure is too small, air will enter between the skin and the probe, resulting in an ultrasound image. It is completely black, so the pressing force of the ultrasonic probe during measurement directly affects the deformation rate of the tissue, thereby affecting the quality of the ultrasonic image. Appropriate pressing force becomes the focus of ultrasonic testing.

The Chinese patent with publication number CN105107067A and publication date 20151202 discloses a venipuncture system guided by infrared and ultrasonic positioning. The venipuncture system preliminarily realizes the basic structure of automatic puncture through near-infrared and ultrasonic guided puncture needle puncture. However, the ultrasonic height adjustment device of this invention is a manual mechanical knob adjustment, which is similar to the traditional medical staff holding an ultrasonic probe for detection and guidance, and cannot realize automatic ultrasonic height adjustment and positioning.

The Chinese patent with publication number CN111084638A and publication date of 20200501 discloses a pressure detection device on the surface of an ultrasonic probe. The detection device fixes a film pressure sensor on the surface of the detection end of the ultrasonic probe, feeds back pressure information, and then controls the chip to change the motor parameters. Change the detection position, direction and angle. However, this invention also has certain limitations. Because the surface of human skin is not smooth and there are air gaps, it is usually necessary to apply medical ultrasonic couplant before ultrasonic testing to improve the quality of ultrasonic images. In this invention, the thin film pressure sensor is placed on the surface of the detection end of the ultrasonic probe. In practical application, it directly contacts the ultrasonic couplant, causing pollution and damage to the sensor. At the same time, the device adopts a mechanical arm structure, and the control method is relatively complicated. For common venipuncture areas, that is, the areas where the median cubital vein and the cubital vein in the antecubital region are located are relatively horizontal, and there is no need for complex angle and direction adjustment.

Therefore, it is an urgent technical problem to develop a venipuncture device and method that can realize ultrasound-guided puncture scientifically and efficiently, and can adaptively adjust the height and pressing force.

Contents of the invention

Due to the above-mentioned defects in the prior art, the present invention provides a device, method and blood collection box for the self-adaptive guided puncture of an ultrasonic probe, so as to solve the problem that the pressing force of the ultrasonic probe cannot be adjusted adaptively and affects the quality of ultrasonic images.

In order to achieve the above object, on the one hand, the present invention provides a device for adaptively guiding puncture with an ultrasonic probe, which includes an ultrasonic probe and an ultrasonic probe support assembly, and is characterized in that it also includes a linear screw module, a driving motor and a control chip;

The ultrasonic probe support assembly is divided into inner and outer layers, the outer base is fixedly connected with the slider on the linear screw module, the inner wrapping shell and the inner support base are clamped to fix the ultrasonic probe; the inner The layer support base moves up and down through slide rails in the outer layer base; a pressure sensor is arranged above the inner layer support base; the drive motor drives the linear screw module, and drives the ultrasonic wave through the slider. The probe moves in the vertical direction; the control chip includes a motor drive module and a pressure acquisition module; the pressure sensor feeds back the pressure information in real time and outputs it to the control chip through a connecting line, and judges whether the surface extrusion force F exceeds Pressure sets the threshold F' to control the operation of the drive motor.

Further, the inner wrapping shell is fixedly connected to the support plate inclined downward, and a near-infrared camera is fixed on the support plate; a computer performs image segmentation and other operations on the images acquired by the near-infrared camera through an algorithm, Obtain the optimal puncture area and coordinate pose regression, and then guide the position parameter movement of the ultrasound probe.

Further, the inner wrapping shell and the inner support base are screwed or clamped by bolts and nuts to fix the ultrasonic probe; there are platform protrusions on both sides below the outer base to determine the relationship between the ultrasonic probe and the inner support base. The minimum height of the whole layer wrapping shell relative to the bottom surface of the outer base.

Further, the control chip is a single-chip microcomputer; the ultrasonic probe uses a 75MHz, 48-element ST-1C ultrasonic probe to transmit and receive high-frequency ultrasonic signals to the skin tissue, which can display the section image of the blood vessel and the structure of the vessel wall in real time. thickness, lumen size and shape, and track the position and angle of the puncture needle in real time.

Further, the pressure sensor has its own power supply module, the rated pressure range is 0-100Mpa, the highest resolution is up to 100Pa, the highest working temperature is up to 175°C, and the rated comprehensive accuracy is ±0.02%FS.

On the other hand, the present invention provides a blood collection box, including a puncture assembly, characterized in that it also includes the above-mentioned ultrasonic probe self-adaptively guiding puncture device as an image detection module, three sets of orthogonal linear screw rod modules, and a soft supporting plate The linear screw module is one of the orthogonal linear screw modules; the soft supporting plate supports the human arm; the image detection module is located directly above the human arm and can be positioned along the The movement of the intersecting linear screw module realizes the function of positioning the area to be punctured.

Further, the soft supporting board is provided with a fixed handle for the patient to hold tightly to stabilize the arm.

In yet another aspect, the present invention provides a method for self-adaptively guiding puncture by an ultrasonic probe, characterized in that, using the above-mentioned blood collection box includes the following steps:

S11. The anterior elbow area of the human arm is placed on the soft supporting plate facing upwards;

S12. The near-infrared camera acquires a local near-infrared image of the arm, and through computer processing, establishes a two-dimensional model of the punctured vein, obtains the plane distribution information of the blood vessel, and obtains the optimal puncture area;

S13. The orthogonal linear screw module drives the ultrasonic probe to move directly above the optimal puncture area; the driving motor drives the ultrasonic probe to move downward in the vertical direction;

S14. When the detection end of the ultrasonic probe is under pressure, the pressure sensor converts the real-time detected pressure signal into an analog voltage signal through a voltage divider circuit, and inputs it into the control chip; through the A of the pressure acquisition module in the control chip /D conversion to obtain the pressure information at the detection end of the ultrasonic probe;

S15. The control chip transmits the pressure on the surface of the ultrasonic probe and various parts of the human body through the data line, and performs data processing to determine whether F is greater than the pressure setting threshold F'; if F≥F', the motor of the control chip drives The module controls the driving motor to stop working immediately, otherwise the driving motor continues to rotate, repeat the above steps until the motor stops working, so as to control the extrusion force of the ultrasonic probe on the skin surface;

S16. The ultrasonic probe transmits a clear ultrasonic image to a computer, performs image segmentation through a deep learning related algorithm, calculates the vein diameter and the depth of the puncture center from the skin surface, establishes a puncture depth model, and then guides the puncture.

Further, the specific control steps for the control chip to perform data processing include:

S21, initialize the GPIO port;

S22, setting a timer as an encoder mode and initializing it;

S23, setting the PWM output and related register configuration of the motor speed;

S24. Write a PID control algorithm in combination with the value read by the encoder, and change the PWM duty cycle according to the value returned by the PID control algorithm.

Furthermore, before using the ultrasonic probe, it is necessary to smear a medical ultrasonic gel on the area to be detected, so as to improve the image quality.

Compared with the prior art, the above invention has the following advantages or beneficial effects:

(1) Through the built-in pressure sensor above the ultrasonic non-detection end, the output pressure signal can realize the self-adaptive height adjustment in the vertical direction;

(2) For different patients to be tested, by setting the pressure threshold, the extrusion force of the ultrasound probe on the skin surface can be effectively controlled, thereby greatly improving the imaging quality of ultrasound images;

(3) The direct contact between the ultrasonic couplant and the sensor is effectively avoided, and the durability and sensing accuracy of the sensor are improved;

(4) Using the Cartesian Cartesian coordinate system, the positioning requirements are achieved through three sets of orthogonal screw drive modules, which are more targeted and can meet the puncture requirements of the puncture areas such as the median cubital vein and the precious vein, while reducing the control Difficulty of operation;

(5) The control chip and its algorithm can realize the output control of the driving motor of the ultrasonic probe with high precision and high sensitivity;

(6) The device has a reasonable structure, is easy to process, and has strong control hardware versatility, which is convenient for popularization and use.

Description of drawings

The invention and its characteristics, configurations and advantages will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings. Like numbers designate like parts throughout the drawings. The drawings may not be drawn to scale, emphasis instead being placed upon illustrating the gist of the invention.

Fig. 1 is a three-dimensional schematic diagram of an ultrasonic probe self-adaptive guiding puncture device of the present invention;

Fig. 2 is the front view of the ultrasonic probe self-adaptive guiding puncture device of the present invention;

Fig. 3 is a left view of the ultrasonic probe self-adaptive guiding puncture device of the present invention;

Fig. 4 is a schematic structural view of the blood collection box of the present invention;

5 is a flow chart of the steps of the self-adaptive guided puncture method of the ultrasonic probe of the present invention;

Fig. 6 is the control flowchart of the self-adaptive height adjustment of the ultrasonic probe of the present invention;

Reference number:

1. Ultrasonic image detection module; 101. Vertical drive motor; 102. Linear screw module; 103. Ultrasonic probe; 104. Near-infrared camera; 105. Outer base; 106. Slide rail; 107. Inner support Base; 108, pressure sensor; 109, slider; 110, wrapping shell; 2, orthogonal linear screw module; 3, human arm; 4, soft supporting plate.

Detailed ways

The structure of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but it is not intended as a limitation of the present invention.

Example 1

As shown in Figures 1 to 3, this embodiment provides a device for adaptively guiding puncture with an ultrasonic probe, including an ultrasonic probe 103, an ultrasonic probe support assembly, a linear screw module 102, a drive motor 101 and a control chip;

The ultrasonic probe support assembly is divided into inner and outer layers, the outer base 105 is fixedly connected with the slider 109 on the linear screw module 102, the inner wrapping shell 110 and the inner support base 107 are fixed by bolts and nuts The ultrasonic probe 103; the inner layer support base 107 moves up and down through the slide rail 106 in the outer layer base 105; a pressure sensor 108 is arranged above the inner layer support base 107; the drive motor 101 drives the The linear screw module 102 drives the ultrasonic probe 103 to move vertically through the slider 109;

The control chip includes a motor drive module and a pressure acquisition module; the pressure sensor 108 feeds back the pressure information in real time and outputs it to the control chip through a connecting line, and judges whether the surface extrusion force F exceeds the pressure setting threshold F' by code. Control the operation of the drive motor 101.

In this embodiment, the built-in pressure sensor 108 above the supporting base 107 feeds back the pressing force of the non-detecting section of the ultrasonic probe 103 and the upper end of the inner supporting base 107 on the pressure sensor 108 in real time. From Newton's third law, it can be seen that the force balance of the ultrasonic probe along the vertical direction, and the friction force of the inner layer of the wrapping shell 110 can be ignored, so the extrusion force F _on the surface of the detection end is equal to the non-detection section of the ultrasonic probe 103 and the inner layer. The pressing force F ₂ of the upper end of the supporting base 107 against the pressure sensor 108 is realized, thereby realizing the function of measuring the pressing force F of the pressure sensor 108 without directly contacting the skin surface. The pressure setting threshold F' can be changed according to actual medical needs, and the specific value can be obtained by consulting professional medical personnel or through clinical experiments.

In this embodiment, there are platform protrusions on both sides below the outer base 105 to determine the minimum height of the ultrasonic probe 103 and the inner covering shell 110 relative to the bottom surface of the outer base 105 . When the pressure sensor 108 remains in the non-extruded state, the feedback output force should be 0 in value, and at this time, the platform protrusions on both sides below the outer base 105 provide a vertical upward supporting force. The control chip is a STM32F103RBT6 single-chip microcomputer; the ultrasonic probe 103 selects a 75MHz, 48-element ST-1C ultrasonic probe to transmit and receive high-frequency ultrasonic signals to the skin tissue, and can display the section image of the blood vessel and the thickness of the vessel wall structure in real time , lumen size and shape, and track the position and angle of the puncture needle in real time. The pressure sensor 108 has its own power supply module, the rated pressure range is 0-100Mpa, the highest resolution is 100Pa, the highest working temperature is 175°C, and the rated comprehensive accuracy is ±0.02% FS.

In this embodiment, the inner wrapping shell 110 is fixedly connected to the support plate inclined downward, and a near infrared camera 104 is fixed on the support plate; Image segmentation and other operations are performed to obtain the optimal puncture area and coordinate pose regression, and then guide the position parameter movement of the ultrasonic probe 103 . The near-infrared camera 104 emits near-infrared light with a wavelength of 780-2526 nanometers, and red blood cells in subcutaneous veins and surrounding tissues have different absorption peaks for near-infrared light sources of specific wavelengths. Using the specific absorption spectrum characteristics of deoxygenated hemoglobin, blood vessels can be accurately identified, and then the algorithm is used to segment blood vessels to obtain the distribution of the vein network, select and optimize the puncture area, and finally determine a series of needle entry points suitable for venipuncture.

Example 2

As shown in FIG. 4 , this embodiment provides a blood collection box, including a puncture assembly, the ultrasonic probe adaptively guiding puncture device described in Embodiment 1 as an image detection module 1 , and three sets of orthogonal linear screw modules 2 , a soft support plate 4; the linear screw module 102 is one of the sets of the orthogonal linear screw modules 2; the soft support plate 4 supports the human arm 3; the image detection module 1 It is located just above the human arm 3 and can move along the orthogonal linear screw module 2 to realize the function of locating the area to be punctured.

In this embodiment, the inner layer wrapping shell 110 and the inner layer support base 107 fix the ultrasonic probe 103 through a buckle; the soft support plate 4 is provided with a fixed handle for the patient to grasp to stabilize the arm.

As shown in Fig. 5 and Fig. 6, a method for adaptively guiding puncture with an ultrasonic probe adopted by the above-mentioned blood collection box includes the following steps:

S11. Put the antecubital region of the human arm 3 on the soft supporting plate 4 facing upwards;

S12. The near-infrared camera 104 acquires a near-infrared image of a part of the arm, and through computer processing, establishes a two-dimensional model of the punctured vein, acquires planar distribution information of blood vessels, and obtains an optimal puncture area;

S13, the orthogonal linear screw module 2 drives the ultrasonic probe to move directly above the optimal puncture area; the drive motor 101 drives the ultrasonic probe to move downward in the vertical direction;

S14. When the detection end of the ultrasonic probe 103 is under pressure, the pressure sensor 108 converts the pressure signal detected in real time into an analog voltage signal through a voltage divider circuit, and inputs it into the control chip; The A/D conversion of the module obtains the pressure information of the detection end of the ultrasonic probe;

S15. The control chip transmits the pressure on the surface of the ultrasonic probe and various parts of the human body through the data line, and performs data processing to determine whether F is greater than the pressure setting threshold F'; if F≥F', the motor of the control chip drives The module controls the driving motor to stop working immediately, otherwise the driving motor continues to rotate, repeat the above steps until the motor stops working, so as to control the extrusion force of the ultrasonic probe on the skin surface;

S16. The ultrasonic probe 103 transmits the clear ultrasonic image to the computer, performs image segmentation through deep learning related algorithms, calculates the diameter of the vein and the depth of the puncture center from the skin surface, establishes a puncture depth model, and then guides the puncture.

In this embodiment, before using the ultrasonic probe, a medical ultrasonic couplant needs to be applied to the area to be inspected, so as to improve the image quality. The specific control steps of the control chip for data processing include:

S21, initialize the GPIO port;

S22, setting a timer as an encoder mode and initializing it;

S23, setting the PWM output and related register configuration of the motor speed;

S24, write a PID control algorithm in combination with the value read by the encoder, and change the PWM duty cycle according to the value returned by the PID control algorithm.

This embodiment adopts the PID control of the motor speed based on the single-chip microcomputer STM32, that is, the proportional, integral, and differential controller. The algorithm uses the error as the input, and the output is obtained after the weighted sum of the proportional, integral, and differential three items. In the simulated system, the expression of the PID algorithm is:

Among them, u(t) is the output of the regulator, e(t) is the deviation signal of the regulator, K _p is the proportional coefficient, T _i is the integral time, and T _d is the differential time.

In the automatic height control system, the PID algorithm is used to adjust the motor speed, so that the motor responds quickly according to the set conditions, so that the ultrasonic probe 103 can be positioned in the vertical direction. Combined with the integrator control in the PID controller, the integral of the response and the excitation is formed. Proportional, so as to achieve the function of eliminating the steady-state error. According to the function and design requirements of the system, a digital incremental PID controller is designed, and the calculation formula of the controller is as follows:

Δu=K _p [e(k)-e(k-1)]+K _i e(k)+K _d [e(k)-2e(k-1)+e(k-2)]

Among them, K _p , K _i and K _d represent the proportional, integral and differential coefficients of the PID controller, and e is the speed error. According to the pressure information fed back by the pressure sensor 108, the adjustment of the proportional term K _p can quickly extract the speed error, the integral term K _i can make the motor speed consistent with the set threshold, and ensure that the static error is zero, and the differential term K _d can control the motor in the next Periodic output signals are predicted to rapidly improve the response rate of the system.

In conclusion, the present invention discloses a device, method and blood collection box for an ultrasonic probe to guide puncture adaptively, so as to solve the problem that the pressing force of the ultrasonic probe cannot be adjusted adaptively and affects the quality of the ultrasonic image. The device includes an ultrasonic probe, an ultrasonic probe support assembly, a screw module, a drive motor and a control chip; the ultrasonic probe support assembly has a built-in pressure sensor above the non-detection end of the ultrasonic probe; the pressure sensor feeds back pressure information in real time. The control chip controls the drive motor by judging whether the surface pressing force exceeds the pressure setting threshold through the code. The blood collection box including the device first obtains the optimal puncture area through near-infrared camera and computer image processing, and then obtains ultrasonic probe pressure information through the control chip to ensure high-quality ultrasonic images, thereby guiding puncture with high precision. The mechanical operating end of the invention can meet the puncturing requirements of multiple puncturing areas, and at the same time reduce the difficulty of control operation.

Those skilled in the art should understand that those skilled in the art can implement variations by combining the existing technology and the foregoing embodiments, and details are not described here. Such variations do not affect the essence of the present invention, and will not be repeated here.

The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; Under the circumstances of the technical solution of the invention, many possible changes and modifications can be made to the technical solution of the present invention by using the methods and technical contents disclosed above, or be modified into equivalent embodiments with equivalent changes, which does not affect the essence of the present invention . Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention, which do not deviate from the technical solution of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims (10)

1. A device for adaptively guiding puncture by an ultrasonic probe comprises the ultrasonic probe (103) and an ultrasonic probe supporting assembly, and is characterized by further comprising a linear lead screw module (102), a driving motor (101) and a control chip;

the ultrasonic probe supporting assembly is divided into an inner layer and an outer layer, an outer layer base (105) is fixedly connected with a sliding block (109) on the linear screw rod module (102), and an inner layer wrapping shell (110) and an inner layer supporting base (107) clamp and fix the ultrasonic probe (103); the inner layer supporting base (107) moves up and down in the outer layer base (105) through a sliding rail (106); a pressure sensor (108) is arranged above the inner layer supporting base (107); the driving motor (101) drives the linear lead screw module (102) to drive the ultrasonic probe (103) to move along the vertical direction through the sliding block (109);

the control chip comprises a motor driving module and a pressure acquisition module; the pressure sensor (108) feeds back pressure information in real time and outputs the pressure information to the control chip through a connecting line, and whether the surface extrusion force F exceeds a pressure setting threshold value F' is judged through codes so as to control the work of the driving motor (101).

2. The adaptive ultrasound probe-guided puncture device according to claim 1, wherein the inner casing (110) is fixedly connected to a support plate inclined downward, and a near-infrared camera (104) is fixed to the support plate; and a computer performs operations such as image segmentation on the image acquired by the near-infrared camera (104) through an algorithm, acquires an optimal puncture area and coordinate pose regression, and further guides the position parameter motion of the ultrasonic probe (103).

3. The adaptive puncture guiding device for the ultrasonic probe as claimed in claim 2, wherein the inner wrapping shell (110) and the inner supporting base (107) are screwed or clamped by bolts and nuts to fix the ultrasonic probe (103); platform bulges are arranged on two sides below the outer layer base (105) to determine the lowest height of the whole of the ultrasonic probe (103) and the inner layer wrapping shell (110) relative to the bottom surface of the outer layer base (105).

4. The device for adaptively guiding puncture of an ultrasonic probe according to claim 2, wherein the control chip is a single chip microcomputer; the ultrasonic probe (103) adopts a 75MHz and 48-array ST-1C ultrasonic probe, transmits and receives high-frequency ultrasonic signals to skin tissues, can display section images of blood vessels, the thickness of a vessel wall structure, the size and the shape of a vessel cavity in real time, and tracks the position and the angle of the puncture needle in real time.

5. The apparatus of claim 2, wherein the pressure sensor (108) is self-powered, with a pressure rated range of 0-100Mpa, a maximum resolution of 100Pa, a maximum operating temperature of 175 ℃, and a nominal combined accuracy of ± 0.02% fs.

6. A blood collection box comprises a puncture assembly, and is characterized by further comprising the device for the adaptive puncture guide of the ultrasonic probe as claimed in any one of claims 2 to 5, as an image detection module (1), three groups of orthogonal linear screw rod modules (2) and a soft supporting plate (4); the linear screw rod module (102) is one of the orthogonal linear screw rod modules (2); the soft supporting plate (4) supports the arms (3) of the human body; the image detection module (1) is positioned right above the human body arm (3) and can move along the orthogonal linear screw rod module (2), so that the function of positioning the region to be punctured is realized.

7. A blood collection container according to claim 6, wherein the flexible support plate (4) is provided with a fixed handle for the patient to grasp for stabilizing his arm.

8. A method for adaptively guiding puncture by an ultrasonic probe, which is characterized in that the blood collection box of claim 6 or 7 is adopted, and comprises the following steps:

s11, the front side of the elbow of the human arm (3) is upwards and flatly placed on the soft supporting plate (4);

s12, the near-infrared camera (104) acquires a local near-infrared image of the arm, a two-dimensional model of a puncture vein is established through computer processing, and planar distribution information of a blood vessel is acquired to obtain an optimal puncture area;

s13, the orthogonal linear screw rod module (2) drives the ultrasonic probe to move right above the optimal puncture area; the driving motor (101) drives the ultrasonic probe to move downwards along the vertical direction;

s14, when the detection end of the ultrasonic probe (103) is pressed, the pressure sensor (108) converts a pressure signal detected in real time into an analog voltage signal through a voltage division circuit, and inputs the analog voltage signal into the control chip; obtaining pressure information of the detection end of the ultrasonic probe through A/D conversion of the pressure acquisition module in the control chip;

s15, the control chip transmits the pressure of the surface of the ultrasonic probe and each part of the detected human body through a data line, performs data processing, and judges whether F is greater than a pressure setting threshold value F'; if F 'is larger than or equal to F', the motor driving module of the control chip controls the driving motor to stop working immediately, otherwise, the driving motor continues to rotate, and the steps are repeated until the motor stops working, so that the extrusion force of the ultrasonic probe on the surface of the skin is controlled;

s16, the ultrasonic probe (103) transmits the clear ultrasonic image to a computer, image segmentation is carried out through a deep learning related algorithm, the vein diameter and the depth from the puncture center to the skin surface are calculated, a puncture depth model is built, and then puncture is guided.

9. The method for adaptively guiding the puncture by the ultrasonic probe according to claim 8, wherein the specific control step of the data processing by the control chip comprises:

s21, initializing a GPIO port;

s22, setting a timer as an encoder mode and initializing;

s23, setting PWM output of the motor rotating speed and configuration of a relevant register;

and S24, writing a PID control algorithm by combining the numerical values read out by the encoder, and changing the PWM duty ratio according to the value returned by the PID control algorithm.

10. The method of claim 8, wherein a medical ultrasound coupling agent is applied to the region to be detected before the ultrasound probe is used to improve the image quality.

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