CN115227286B

CN115227286B - Device, method and blood collection box for ultrasonic probe adaptively guided puncture

Info

Publication number: CN115227286B
Application number: CN202210742045.0A
Authority: CN
Inventors: 齐鹏; 李昊洋
Original assignee: Tongji University
Current assignee: Tongji University
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2025-01-03
Anticipated expiration: 2042-06-28
Also published as: CN115227286A

Abstract

The present invention discloses a device, method and blood collection box for adaptively guiding puncture with an ultrasonic probe, so as to solve the problem that the pressing force of the ultrasonic probe cannot be adaptively adjusted 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 the pressure information to the control chip in real time, and determines whether the surface extrusion force exceeds the pressure setting threshold through the code to control the drive motor. The blood collection box including the device first obtains the optimal puncture area through a near-infrared camera and computer image processing, and then obtains the pressure information of the ultrasonic probe through the control chip to ensure that a high-quality ultrasonic image is obtained, thereby guiding the puncture with high precision. The mechanical operating end of the present invention can meet the puncture requirements of multiple puncture areas, while reducing the difficulty of control operation.

Description

Device and method for adaptively guiding puncture by ultrasonic probe and blood sampling box

Technical Field

The invention relates to the technical field of venipuncture robots, in particular to a device and a method for adaptively guiding puncture by an ultrasonic probe and a blood collection box.

Background

Near infrared and ultrasonic guided puncturing have become the main means for achieving automatic puncturing. The near infrared camera acquires plane distribution information of vein blood vessels, and the ultrasonic probe emits ultrasonic waves to subcutaneous veins, so that longitudinal information of the veins is displayed, and the puncture needle is guided to puncture. Because the ultrasonic cannot penetrate through the air, the ultrasonic probe must contact the skin surface of a patient at a proper pressure, when the pressure is too high, blood vessels are flattened, and when the pressure is too low, air can enter between the skin and the probe, and finally an ultrasonic image is completely black, so that the pressing force of the ultrasonic probe during measurement directly influences the deformation rate of tissues, and the quality of the ultrasonic image is influenced. Suitable compression forces are important for ultrasonic testing.

Chinese patent publication No. CN105107067a, publication No. 20151202 discloses a venipuncture system by infrared guidance and ultrasonic positioning, which primarily realizes the basic framework of automatic puncture by near infrared and ultrasonic guidance of puncture needle puncture. However, the ultrasonic height adjusting device is manually mechanically adjusted by a knob, is similar to the traditional ultrasonic probe held by medical staff for detection and guidance, and cannot realize automatic ultrasonic height adjustment and positioning.

Chinese patent publication No. CN111084638a, publication No. 20200501 discloses an ultrasonic probe surface pressure detection device, which fixes a film pressure sensor on the surface of the ultrasonic probe detection end, feeds back pressure information, and further changes the detection position, direction and angle by changing the motor parameters. But the invention also has certain limitations. Because the skin surface of the human body is not smooth and an air gap exists, a medical ultrasonic couplant is generally required to be smeared before ultrasonic detection so as to improve the quality of ultrasonic images. The invention places the film pressure sensor on the surface of the detecting end of the ultrasonic probe, and in practical application, the film pressure sensor is directly contacted with the ultrasonic couplant, so that the sensor is polluted and damaged. Meanwhile, the device adopts a mechanical arm structure, the control method is complex, and the common venipuncture area, namely the area where the median elbow vein, the great vein and the like are positioned in the antecubital region is relatively horizontal, so that complicated angle and direction adjustment are not needed.

Therefore, developing a venipuncture device and method that can not only scientifically and efficiently realize ultrasonic guided puncture, but also adaptively adjust the height and the pressing force is a technical problem to be solved urgently.

Disclosure of Invention

Because of the defects in the prior art, the invention provides a device and a method for adaptively guiding puncture by an ultrasonic probe and a blood collection box, so as to solve the problem that the ultrasonic image quality is affected because the pressing force of the ultrasonic probe cannot be adaptively adjusted.

In order to achieve the above purpose, in one aspect, the invention provides a device for adaptively guiding puncture of an ultrasonic probe, which comprises the ultrasonic probe and an ultrasonic probe supporting component, and is characterized by further comprising a linear screw rod module, a driving motor and a control chip;

The ultrasonic probe supporting assembly is divided into an inner layer and an outer layer, an outer layer base is fixedly connected with a sliding block on the linear screw rod module, an inner layer wrapping shell and an inner layer supporting base are clamped and fixed to the ultrasonic probe, the inner layer supporting base moves up and down in the outer layer base through a sliding rail, a pressure sensor is arranged above the inner layer supporting base and between the inner layer supporting base and the outer layer base, the linear screw rod module is driven by a driving motor to drive the ultrasonic probe to move in the vertical direction through the sliding block, the pressure sensor acquires relative pressure between the inner layer supporting base and the outer layer base, the control chip comprises a motor driving module and a pressure acquisition module, the pressure sensor feeds back pressure information in real time and outputs the pressure information to the control chip through a connecting wire, and whether the surface extrusion force F exceeds a pressure setting threshold F' is judged through codes so as to control the work of the driving motor.

And a computer performs image segmentation operation on an image acquired by the near infrared camera through an algorithm to acquire an optimal puncture area and coordinate pose regression, so as to guide the position parameter movement of the ultrasonic probe.

Further, the inner layer wrapping shell and the inner layer supporting base are screwed or clamped through bolts and nuts to fix the ultrasonic probe, and platform bulges are arranged on two sides below the outer layer base to determine the lowest height of the whole ultrasonic probe and the inner layer wrapping shell relative to the bottom surface of the outer layer base.

Further, the control chip is a single chip microcomputer, the ultrasonic probe is a 75MHz and 48 array element ST-1C ultrasonic probe, and can transmit and receive high-frequency ultrasonic signals to skin tissues, so that a section image of a blood vessel, the thickness of a pipe wall structure, the size and the shape of a pipe cavity can be displayed in real time, and the position and the angle of a puncture needle can be tracked in real time.

Further, the pressure sensor is provided with a power supply module, the rated pressure range is 0-100Mpa, the highest resolution is 100Pa, the highest working temperature is 175 ℃, and the rated comprehensive precision is +/-0.02% FS (maximum range).

On the other hand, the invention provides a blood collection box, which comprises a puncture assembly and is characterized by further comprising the ultrasonic probe self-adaptive puncture guiding device as an image detection module, three groups of orthogonal linear screw rod modules and a soft supporting plate, wherein the linear screw rod modules are one group of the orthogonal linear screw rod modules, the soft supporting plate supports the arm of a human body, and the image detection module is positioned right above the arm of the human body and can move along the orthogonal linear screw rod modules to realize the function of positioning a region to be punctured.

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

In still another aspect, the present invention provides a method for adaptively guiding a puncture by an ultrasonic probe, wherein the blood collection kit comprises the following steps:

S11, horizontally placing the front area of the elbow of the human body on the soft supporting plate with the right side upwards;

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

S13, the orthogonal linear screw rod module drives the ultrasonic probe to move to the position right above the optimal puncture area, and the driving motor drives the ultrasonic probe to move downwards along the vertical direction;

S14, when the ultrasonic probe detection end is pressed, the pressure sensor converts a pressure signal detected in real time into an analog voltage signal through a voltage dividing circuit and inputs the analog voltage signal into 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, and carries out data processing to judge whether F is greater than a pressure setting threshold F';

S16, transmitting clear ultrasonic images to a computer by the ultrasonic probe, performing image segmentation by a deep learning related algorithm, calculating the depth of the vein diameter and the puncture center from the skin surface, establishing a puncture depth model, and guiding puncture.

Further, the specific control step of the control chip for data processing includes:

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 related register;

S24, a PID control algorithm is written by combining the numerical values read by the encoder, and the PWM duty ratio is changed according to the value returned by the PID control algorithm.

Further, a medical ultrasound couplant needs to be smeared on the region to be detected before the ultrasound probe is used, so that the image quality is improved.

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

(1) The pressure sensor is arranged above the ultrasonic non-detection end, so that a pressure signal is output, and the self-adaptive height adjustment in the vertical direction can be realized;

(2) Aiming at different patients to be detected, the extrusion force of the ultrasonic probe to the skin surface can be effectively controlled by setting a pressure threshold, so that the imaging quality of an ultrasonic image is greatly improved;

(3) The ultrasonic couplant is effectively prevented from being in direct contact with the sensor, and the service life and the sensing precision of the sensor are improved;

(4) The Cartesian rectangular coordinate system is adopted, the positioning requirement is realized through three groups of orthogonal screw rod transmission modules, the pertinence is stronger, the puncture requirements of puncture areas such as the median elbow vein and the great vein can be met, and meanwhile, the control operation difficulty is reduced;

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

(6) The device is rational in infrastructure, easily processing, and control hardware commonality is strong, facilitate promotion uses.

Drawings

The invention and its features, aspects and advantages will become more apparent from the detailed description of non-limiting embodiments with reference to the following drawings. Like numbers refer to like parts throughout. The drawings may not be to scale, emphasis instead being placed upon illustrating the principles of the invention.

Fig. 1 is a schematic perspective view of an ultrasound probe adaptive pilot puncture device of the present invention;

FIG. 2 is a front view of an ultrasound probe adaptive pilot penetration device of the present invention;

FIG. 3 is a left side view of the ultrasound probe adaptive pilot penetration device of the present invention;

FIG. 4 is a schematic view of the structure of the blood collection container of the present invention;

FIG. 5 is a flow chart of the steps of the ultrasound probe adaptive pilot penetration method of the present invention;

FIG. 6 is a control flow diagram of the adaptive height adjustment of an ultrasound probe of the present invention;

reference numerals:

1. The ultrasonic image detection device comprises an ultrasonic image detection module, a driving motor, a linear screw rod module, an ultrasonic probe, a near infrared camera, a 105, an outer layer base, a 106, a sliding rail, a 107, an inner layer supporting base, a 108, a pressure sensor, a 109, a sliding block, a 110, an inner layer wrapping shell, a2, orthogonal linear screw rod module, a 3, a human arm and a 4, soft supporting plate.

Detailed Description

The structure of the present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to limit the invention.

Example 1

As shown in fig. 1 to 3, the present embodiment provides an apparatus for adaptively guiding puncture by an ultrasonic probe, which includes an ultrasonic probe 103, an ultrasonic probe support assembly, a linear 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 a linear screw rod module 102, an inner layer wrapping shell 110 and an inner layer supporting base 107 are screwed and fixed with an ultrasonic probe 103 through bolts and nuts, 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, a driving motor 101 drives the linear screw rod module 102, and the ultrasonic probe 103 is driven to move along the vertical direction through the sliding block 109;

The pressure sensor 108 feeds back the pressure information in real time and outputs the pressure information to the control chip through a connecting wire, and judges whether the surface extrusion force F exceeds a pressure setting threshold F' through codes so as to control the operation of the driving motor 101.

In this embodiment, a pressure sensor 108 built in the upper part of the inner layer supporting base 107 feeds back the extrusion force of the non-detection end of the ultrasonic probe 103 and the upper end of the inner layer supporting base 107 to the pressure sensor 108 in real time. As known from newton's third law, the force applied to the ultrasonic probe is balanced in the vertical direction, and the friction force of the inner layer wrapping shell 110 is negligible, so that the extrusion force F ₁ of the surface of the detection end is equal to the extrusion force F ₂ of the upper end of the non-detection section of the ultrasonic probe 103 and the upper end of the inner layer supporting base 107 to the pressure sensor 108, and the function of measuring the extrusion force F of the surface of the detection end of the ultrasonic probe by the pressure sensor 108 in non-direct contact with the skin surface is realized. The pressure setting threshold F' can be changed according to actual medical requirements, and specific values can be consulted by professional medical staff or obtained through clinical experiments.

In this embodiment, platform protrusions are provided on both sides below the outer base 105 to determine the lowest height of the entire ultrasonic probe 103 and the inner casing 110 with respect to the bottom surface of the outer base 105. The feedback output force should be 0 in value while the pressure sensor 108 remains in the non-squeeze state, where the vertical upward support force is provided by the platform protrusions present on both sides below the outer base 105. The control chip is an STM 32F 103RBT6 singlechip, the ultrasonic probe 103 is an ST-1C ultrasonic probe with 75MHz and 48 array elements, and transmits and receives high-frequency ultrasonic signals to skin tissues, so that the section images of blood vessels, the thickness of a pipe wall structure, the size and the shape of a pipe cavity can be displayed in real time, and the position and the angle of a puncture needle can be tracked in real time. The pressure sensor 108 is provided with a power supply module, the rated pressure range is 0-100Mpa, the highest resolution is 100Pa, the highest working temperature is 175 ℃, and the rated comprehensive precision is +/-0.02% FS.

In this embodiment, the inner wrapping shell 110 is fixedly connected with a downward-inclined support plate, a near-infrared camera 104 is fixed on the support plate, and a computer performs operations such as image segmentation on an image acquired by the near-infrared camera 104 through an algorithm to acquire an optimal puncture area and coordinate pose regression, so as to guide the position parameter movement of the ultrasonic probe 103. Near infrared camera 104 emits near infrared light with a wavelength of 780-2526 nanometers, and red blood cells and surrounding tissues of subcutaneous veins have different absorption peaks for near infrared light sources with specific wavelengths. By utilizing the specific absorption spectrum characteristics of deoxyhemoglobin, accurate identification of blood vessels can be realized, then an algorithm is used for dividing the blood vessels to obtain vein network distribution, a puncture area is selected and optimized, and finally a series of needle insertion points suitable for vein puncture are determined.

Example 2

As shown in fig. 4, the embodiment provides a blood collection box, which comprises a puncture assembly, the ultrasonic probe self-adaptive puncture guiding device of embodiment 1, three groups of orthogonal linear screw modules 2 and a soft supporting plate 4, wherein the linear screw modules 102 are one group of the orthogonal linear screw modules 2, the soft supporting plate 4 supports a human arm 3, and the image detection module 1 is positioned right above the human arm 3 and can move along the orthogonal linear screw modules 2 to realize the function of positioning a region to be punctured.

In this embodiment, the inner layer wrapping shell 110 and the inner layer supporting base 107 are used for fixing the ultrasonic probe 103 through a buckle, and the soft supporting plate 4 is provided with a fixing handle for the patient to hold to stabilize the arm.

As shown in fig. 5 and 6, the method for adaptively guiding puncture by using the ultrasonic probe adopted by the blood collection box comprises the following steps:

S11, horizontally placing the elbow front area of the human arm 3 on the soft supporting plate 4 with the right side upwards;

S12, a near infrared camera 104 acquires a near infrared image of a local arm, a two-dimensional model of a puncture vein is established through computer processing, and plane 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 103 to move to the position right above the optimal puncture area, and 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 the pressure signal detected in real time into an analog voltage signal through a voltage dividing circuit and inputs the analog voltage signal into the control chip;

S16, the ultrasonic probe 103 transmits clear ultrasonic images to a computer, image segmentation is carried out through a deep learning related algorithm, the depth of the vein diameter and the puncture center from the skin surface is calculated, a puncture depth model is built, and then puncture is guided.

In this embodiment, a medical ultrasound couplant needs to be smeared on the region to be detected before the ultrasound probe is used, so as to improve the image quality. The specific control steps of the control chip for data processing comprise:

s21, initializing a GPIO port;

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

In the embodiment, the motor rotating speed PID control based on the singlechip STM32, namely a proportional, integral and derivative controller is adopted, the algorithm takes the error as an input quantity, and the output quantity is obtained after weighted summation of the proportional, integral and derivative. In an analog system, the expression of the PID algorithm is:

Where u (T) is the regulator output, e (T) is the regulator bias signal, K _p is the scaling factor, T _i is the integration time, and T _d is the differentiation time.

In the automatic height control system, the rotating speed of the motor is regulated by adopting a PID algorithm, so that the motor responds quickly according to the set condition, the ultrasonic probe 103 realizes the vertical positioning, and the response is in direct proportion to the integral of excitation by combining the control of an integrator in a PID controller, thereby achieving the function of eliminating steady-state errors. According to the function and design requirement 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_ie(k)+K_d[e(k)-2e(k-1)+e(k-2)]

Wherein, K _p、K_i and K _d represent proportional, integral and differential coefficients of the PID controller, and e is a rotation speed error. According to the pressure information fed back by the pressure sensor 108, the rotation speed error can be rapidly extracted by adjusting the proportional term K _p, the rotation speed of the motor can be consistent with a set threshold value by the integral term K _i, the static error is guaranteed to be zero, and the output signal of the motor in the next period can be predicted by the differential term K _d, so that the response speed of the system is rapidly improved.

In summary, the invention discloses a device and a method for adaptively guiding puncture by an ultrasonic probe and a blood collection box, which are used for solving the problem that the ultrasonic image quality is affected due to the fact that the pressing force of the ultrasonic probe cannot be adaptively adjusted. The device comprises an ultrasonic probe, an ultrasonic probe supporting component, a screw rod module, a driving motor and a control chip, wherein a pressure sensor is arranged above a non-detection end of the ultrasonic probe in the ultrasonic probe supporting component, 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 collection box comprising the device obtains an optimal puncture area through near infrared camera and computer image processing, and then obtains ultrasonic probe pressure information through a control chip to ensure that a high-quality ultrasonic image is obtained, so that puncture is guided with high precision. The mechanical operation end can meet the puncture requirements of a plurality of puncture areas, and meanwhile, the control operation difficulty is reduced.

Those skilled in the art will understand that the skilled person can implement the modification in combination with the prior art and the above embodiments, and this will not be repeated here. Such modifications do not affect the essence of the present invention, and are not described herein.

The preferred embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in which the apparatus and structures not described in detail are to be understood as being embodied in a manner commonly understood in the art, and that many possible variations and modifications may be made to the technical solution of the invention by any person skilled in the art using the methods and techniques disclosed above, or modified to equivalent embodiments without departing from the spirit of the invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A device for adaptively guiding puncture with an ultrasonic probe, comprising an ultrasonic probe (103) and an ultrasonic probe support assembly, characterized in that it also comprises a linear screw module (102), a drive motor (101) and a control chip;

The ultrasonic probe support assembly is divided into two layers, an outer layer base (105) is fixedly connected to a slider (109) on the linear screw module (102), and an inner layer wrapping shell (110) and an inner layer support base (107) clamp and fix the ultrasonic probe (103); the inner layer support base (107) is moved up and down in the outer layer base (105) via a slide rail (106); a pressure sensor (108) is arranged above the inner layer support base (107) and between the inner layer support base (107) and the outer layer base (105); the driving motor (101) drives the linear screw module (102) and drives the ultrasonic probe (103) to move in a vertical direction via the slider (109); the pressure sensor (108) collects the relative pressure between the inner layer support base (107) and the outer layer base (105);

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

2. A device for adaptively guiding puncture with an ultrasound probe according to claim 1, characterized in that the inner wrapping shell (110) is fixedly connected to a support plate inclined downward, and a near-infrared camera (104) is fixed to the support plate; a computer performs image segmentation operations on the image acquired by the near-infrared camera (104) through an algorithm to obtain the optimal puncture area and coordinate posture regression, thereby guiding the position parameter movement of the ultrasound probe (103).

3. An ultrasonic probe adaptively guided puncture device according to claim 2, characterized in that 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); there are platform protrusions on both sides below the outer base (105) to determine the lowest height of the ultrasonic probe (103) and the inner wrapping shell (110) as a whole relative to the bottom surface of the outer base (105).

4. The device for adaptively guiding puncture with an ultrasound probe according to claim 2 is characterized in that the control chip is a single-chip microcomputer; the ultrasound probe (103) uses a 75MHz, 48-element ST-1C ultrasound probe to transmit and receive high-frequency ultrasound signals to skin tissue, and can display the cross-sectional image of the blood vessel, the thickness of the vessel wall structure, the size and shape of the lumen, and track the position and angle of the puncture needle in real time.

5. According to claim 2, an ultrasonic probe adaptively guided puncture device is characterized in that the pressure sensor (108) has its own power supply module, a rated pressure range of 0-100Mpa, a maximum resolution of 100Pa, a maximum operating temperature of 175°C, and a rated comprehensive accuracy of ±0.02% of the maximum range.

6. A blood collection box, comprising a puncture assembly, characterized in that it also comprises the ultrasonic probe adaptively guided puncture device according to any one of claims 2 to 5 as an image detection module (1), three groups of orthogonal linear screw modules (2), and a soft support plate (4); the linear screw module (102) is one group of the orthogonal linear screw modules (2); the soft support plate (4) supports a human arm (3); the image detection module (1) is located directly 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.

7. A blood collection box according to claim 6, characterized in that the soft support plate (4) is provided with a fixed handle for the patient to hold tightly to stabilize the arm.

8. A method for puncturing with an ultrasonic probe adaptively guided, characterized by using the blood collection box according to claim 6 or 7, comprising the following steps:

S11, the human arm (3) is placed flat on the soft support plate (4) with the front area of the elbow facing upwards;

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

S13, the orthogonal linear screw module (2) drives the ultrasonic probe to move to just 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 the signal into the control chip; and obtains 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 ultrasound 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 drive module of the control chip controls the drive motor to stop working immediately, otherwise the drive motor continues to rotate, and the above steps are repeated until the motor stops working, thereby controlling the size of the extrusion force of the ultrasound probe on the skin surface;

S16. The ultrasound probe (103) transmits a clear ultrasound 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 guides the puncture.

9. The method for adaptively guiding puncture with an ultrasonic probe according to claim 8, wherein the specific control steps for the control chip to perform data processing include:

S21, initialize GPIO port;

S22, setting a timer to encoder mode and initializing it;

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

S24. Write a PID control algorithm based on the value read out by the encoder, and change the PWM duty cycle according to the value returned by the PID control algorithm.

10. A method for adaptively guiding puncture with an ultrasonic probe according to claim 8, characterized in that a medical ultrasonic coupling agent needs to be applied to the area to be detected before using the ultrasonic probe to improve image quality.