Robot venipuncture method considering pain

• Main Authors: PENG LIXIA, LI RUI, GAO ZHIQIANG, WANG WENHUI, FU WEIPING
• Format: Patent
• Language: Chinese; English
• Published: 13.09.2022
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROMTHE BODY; DIAGNOSIS; HANDLING RECORD CARRIERS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS; SURGERY

The invention discloses a robot venipuncture method considering pain, and provides two models: an expression pain model based on facial expression; the other model is a skin pain model based on physical pain identification of the skin, and the skin pain model is directly related to the strain energy density; solving different needle inserting angles, needle inserting speeds and a puncture force and strain energy density change rule of a needle head through finite elements; the corresponding weights of the two models are determined by using a questionnaire survey method, the pain degree of a patient is comprehensively judged, different control strategies are made for different crowds, and an impedance control model considering the pain feeling is established. According to the method, the visual signals and the physiological signals are integrated, the accuracy of pain assessment is improved, different needle inserting strategies are made for different crowds, the pain feeling of the crowds is minimum, and a fo