基于线结构光扫描的手背注射入针平面测量优化方法  

Optimization of Needle Plane Measurement for Dorsal Hand Injection Based on Linear Structured Light Scanning

作　　者：朱子涵 张广渊[1] 靳华磊 王朋[1,2] Zhu Zihan;Zhang Guangyuan;Jin Hualei;Wang Peng(School of Information Science and Electrical Engineering,Shandong Jiaotong University,Jinan 250357,Shandong,China;Institute of Automation,Shandong Academy of Sciences,Jinan 250013,Shandong,China)

机构地区：[1]山东交通学院信息科学与电气工程学院,山东济南250357 [2]山东省科学院自动化研究所,山东济南250013

出　　处：《激光与光电子学进展》2022年第24期118-127,共10页Laser & Optoelectronics Progress

基　　金：中国博士后科学基金(2021M702030);山东省交通运输厅科技计划项目(2021B120)。

摘　　要：新冠肺炎疫情的暴发使得非接触式静脉注射机器人备受医务人员青睐,但目前对机器人入针角度的研究较少,多以粗略的角度进行入针操作,这会增加穿刺失败率,且由于患者本身存在的个体差异,有时会有明显疼痛感。为此,针对手背静脉注射机器人入针角度的确定展开研究,重点完成对手背测量数据的优化,以保证入针角度计算结果的准确性。首先通过单目相机与线结构光扫描相结合的方法获得手背入针区域空间点云,利用最小二乘法对手背点云进行拟合得到手背平面;在线结构光系统标定过程中,通过构造误差函数,采用最优化方法进行迭代求解来消除测量误差;然后以得到的入针区域平面为依据确定入针角度;最后设计实验,验证所提方法的准确性。实验结果表明,优化后结构光平面位置的平均误差约为0.1 mm,满足项目需求,为后续全自动注射奠定基础。Medical professionals have started favoring the use of non-contact intravenous injection robots owing to their importance during the COVID-19 outbreak.However,there are currently few studies considering the robot’s needle insertion angle,and most of the needle insertion operations are performed at a steep angle.This increases the rate of puncture failure,and sometimes causes significant pain in patients depending on their individual differences.Therefore,the intravenous injection of the dorsal hand is performed in this study to investigate the determination of the robot’s needle insertion angle,with a focus on the optimization of the measurement data to ensure accuracy in the calculation of the needle insertion angle.First,the space point cloud of the needle insertion area on the dorsal hand is obtained by combining a monocular camera with the linear structured light scanning method,and the dorsal hand plane is obtained via fitting dorsal hand point clouds using the least squares method.During the calibration process for the linear structured light system,the measurement error is eliminated by formulating an error function and using the optimization method to iteratively solve it.Subsequently,the needle insertion angle is determined based on the obtained needle insertion area plane.Finally,experiments are conducted for the accuracy verification of the proposed method.Based on the experimental results,the average error in the optimized structured light plane position is approximately 0.1 mm,and this serves as a foundation for subsequent automatic injection studies.

关 键 词：手背静脉 线结构光扫描 平面拟合 入针角度 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]