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1. (WO2019048269) SYSTEM FOR VENIPUNCTURE AND ARTERIAL LINE GUIDANCE WITH AUGMENTED REALITY
Примечание: Текст, основанный на автоматизированных процессах оптического распознавания знаков. Для юридических целей просьба использовать вариант в формате PDF

CLAIMS:

1. A needle placement assistance device (10) for assisting in venipuncture or arterial line placement, the device comprising:

a stereo camera (14) configured to acquire stereo images of a target portion of a patient; a needle tracker (16) configured to track a current position of an associated needle (12); at least one electronic processor (20); and

a non-transitory storage medium (26) storing data related to one or more of target needle depth, target needle angle, and target needle speed, and instructions readable and executable by the at least one electronic processor to perform a needle placement assistance method (100) including:

performing machine vision processing of the stereo images to generate a three-dimensional (3D) map (32) of the target portion;

detect a blood vessel in the 3D map of the target portion;

determining a target needle position relative to the blood vessel detected by the machine vision processing based on the data related to one or more of target depth, target angle, and target speed; and

identifying corrective action to align a current position of the needle with the target needle position.

2. The device (10) of claim 1, further including:

a feedback mechanism (34) configured to present the corrective action to a user during insertion of the needle (12) into the detected blood vessel.

3. The device (10) of claim 2, wherein the feedback mechanism (34) includes an augmented-reality heads-up display (AR-HUD) device (36) including an AR-HUD display (40), the stereo camera (14) being mounted to the AR-HUD device.

4. The device (10) of claim 3, wherein the processor (20) is programmed to:

receive the stereo images comprising a video stream from the stereo camera (14); generate at least one of text and graphics indicative of the corrective action; and

control the A -HUD display (40) to display the generated at least one of text and graphics.

5. The device (10) of claim 2, wherein the feedback mechanism (34) includes a speaker (42) configured to provide audio instructions to a user presenting the corrective action.

6. The device (10) of any one of claims 2-5, wherein the feedback mechanism (34) includes one or more light emitting diodes (LEDs) (44), the LEDs being configured to illuminate to indicate the corrective action during insertion of the needle into the detected blood vessel.

7. The device (10) of claim 6, wherein the corrective action includes an adjustment of an angle of the current position of the needle (12) to align with the target needle angle.

8. The device (10) of claim 6, wherein the corrective action includes an adjustment of a rate of change of the current position of the needle (12) to align with the target needle speed.

9. The device (10) of claim 2, wherein the feedback mechanism (34) includes a haptic device (46) operatively connected with the needle (12) and configured to present the corrective action comprising haptic feedback to the user.

10. The device (10) of any one of claims 1-9, wherein the needle tracker (16) comprises the at least one electronic processor (20) and the non-transitory storage medium (26), wherein the needle placement assistance method (100) further includes:

performing needle tracking machine vision processing of the stereo images to determine the current position of the needle (12) relative to the detected blood vessel.

11. The device (10) of claim 10, wherein the needle tracker (16) further comprises visual markers (30) disposed to move with the needle (12), wherein the needle tracking machine vision processing further includes:

detecting the visual markers in the stereo images.

12. The device (10) of any one of claims 1-11, wherein the needle tracker (16) comprises one or more of: an accelerometer; a gyroscope; and an electromagnetic (EM) tracking system with an EM sensor disposed to move with the needle (12).

13. A needle placement assistance device (10) for assisting in venipuncture or arterial line placement, the device comprising:

a stereo camera (14) configured to acquire stereo images of a target portion of a patient; a needle tracker (16) configured to track a current position of an associated needle (12); a feedback mechanism (34) configured to present the corrective action to a user during insertion of the needle (12) into the detected blood vessel, the feedback mechanism (34) including at least an augmented-reality heads-up display (AR-HUD) device (36) including an AR-HUD display (40), the stereo camera (14) being mounted to the AR-HUD device;

at least one electronic processor (20); and

a non-transitory storage medium (26) storing data related to one or more of target needle depth, target needle angle, and target needle speed, and instructions readable and executable by the at least one electronic processor to perform a needle placement assistance method (100) including:

performing machine vision processing of the stereo images to generate a three-dimensional (3D) map (32) of the target portion;

detect a blood vessel in the 3D map of the target portion;

determining a target needle position relative to the blood vessel detected by the machine vision processing based on the data related to one or more of target depth, target angle, and target speed; and

identifying corrective action to align a current position of the needle with the target needle position;

wherein the needle tracker (16) comprises the at least one electronic processor (20) and the non-transitory storage medium (26), wherein the needle placement assistance method (100) further includes:

performing needle tracking machine vision processing of the stereo images to determine the current position of the needle (12) relative to the detected blood vessel

14. The device (10) of claim 13, wherein the processor (20) is programmed to:

receive the stereo images comprising a video stream from the stereo camera (14); generate at least one of text and graphics indicative of the corrective action; and

control the A -HUD display (40) to display the generated at least one of text and graphics.

15. The device (10) of either one of claims 13 and 14, wherein the feedback mechanism (34) further includes one or more light emitting diodes (LEDs) (44), the LEDs being configured to illuminate to indicate the corrective action during insertion of the needle into the detected blood vessel.

wherein the corrective action includes at least one of:

an adjustment of an angle of the current position of the needle (12) to align with the target needle angle; and

an adjustment of a rate of change of the current position of the needle (12) to align with the target needle speed.

16. The device (10) of any one of claims 13-15, wherein the needle tracker (16) further comprises visual markers (30) disposed to move with the needle (12), wherein the needle tracking machine vision processing further includes:

detecting the visual markers in the stereo images.

17. A needle placement assistance device (10) for assisting in venipuncture or arterial line placement, the device comprising:

a stereo camera (14) configured to acquire stereo images of a target portion of a patient; a needle tracker (16) configured to track a current position of an associated needle (12); a feedback mechanism (34) configured to present the corrective action to a user during insertion of the needle (12) into the detected blood vessel,

at least one electronic processor (20); and

a non-transitory storage medium (26) storing data related to one or more of target needle depth, target needle angle, and target needle speed, and instructions readable and executable by the at least one electronic processor to perform a needle placement assistance method (100) including:

performing machine vision processing of the stereo images to generate a three-dimensional (3D) map (32) of the target portion;

detect a blood vessel in the 3D map of the target portion;

determining a target needle position relative to the blood vessel detected by the machine vision processing based on the data related to one or more of target depth, target angle, and target speed; and

identifying corrective action to align a current position of the needle with the target needle position.

wherein the feedback mechanism includes at least a speaker (42) configured to provide audio instructions to a user presenting the corrective action.

18. The device (10) of claim 17, wherein the feedback mechanism (34) further includes one or more light emitting diodes (LEDs) (44), the LEDs being configured to illuminate to indicate the corrective action during insertion of the needle into the detected blood vessel. wherein the corrective action includes at least one of:

an adjustment of an angle of the current position of the needle (12) to align with the target needle angle; and

an adjustment of a rate of change of the current position of the needle (12) to align with the target needle speed.

19. The device (10) of either one of claims 17 and 18, wherein the needle tracker (16) comprises the at least one electronic processor (20), the non-transitory storage medium (26) and visual markers (30) disposed to move with the needle (12), wherein the needle placement assistance method (100) further includes:

performing needle tracking machine vision processing of the stereo images to detect the visual markers in the stereo images and determine the current position of the needle (12) relative to the detected blood vessel.

20. The device (10) of either one of claims 17 and 18, wherein the needle tracker (16) comprises one or more of: an accelerometer; a gyroscope; and an electromagnetic (EM) tracking system with an EM sensor disposed to move with the needle (12).