WO2008062485A1 - Device for detecting elongated bodies - Google Patents

Device for detecting elongated bodies Download PDF

Info

Publication number
WO2008062485A1
WO2008062485A1 PCT/IT2006/000816 IT2006000816W WO2008062485A1 WO 2008062485 A1 WO2008062485 A1 WO 2008062485A1 IT 2006000816 W IT2006000816 W IT 2006000816W WO 2008062485 A1 WO2008062485 A1 WO 2008062485A1
Authority
WO
WIPO (PCT)
Prior art keywords
videocamera
angle
robot
elongated bodies
calibration
Prior art date
Application number
PCT/IT2006/000816
Other languages
French (fr)
Inventor
Werner Rainer
Paolo Giribona
Daniele Baldassari
Alferino Gabbarrini
Original Assignee
Health Robotics S.R.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Health Robotics S.R.L. filed Critical Health Robotics S.R.L.
Priority to PCT/IT2006/000816 priority Critical patent/WO2008062485A1/en
Priority to RU2009123302/14A priority patent/RU2009123302A/en
Priority to CN2007800434719A priority patent/CN101568307B/en
Priority to US12/516,149 priority patent/US8404492B2/en
Priority to KR1020097011817A priority patent/KR20090093979A/en
Priority to DE602007006687T priority patent/DE602007006687D1/en
Priority to AT07848922T priority patent/ATE468076T1/en
Priority to AU2007323131A priority patent/AU2007323131A1/en
Priority to PCT/IB2007/003577 priority patent/WO2008062285A2/en
Priority to JP2009537711A priority patent/JP5171839B2/en
Priority to CA2669926A priority patent/CA2669926C/en
Priority to EP07848922A priority patent/EP2094174B1/en
Publication of WO2008062485A1 publication Critical patent/WO2008062485A1/en
Priority to NO20092008A priority patent/NO20092008L/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/31—Details
    • A61M5/32—Needles; Details of needles pertaining to their connection with syringe or hub; Accessories for bringing the needle into, or holding the needle on, the body; Devices for protection of needles
    • A61M5/3287—Accessories for bringing the needle into the body; Automatic needle insertion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing

Definitions

  • This invention relates to a device for detecting elongated bodies, particularly for detecting needles of syringes.
  • the exact position of the tip of a syringe needle is a main problem in apparatus employing syringes for dosing substances. This .is particularly true for automatic apparatus. Indeed, the needle uses to curve, displacing its tip from its original, vertical position. This can be due to errors in the production, but also to modifications in the shape, taking place subsequently for mechanical and/or thermal shocks.
  • Fig. 1 is a side view, illustrating an embodiment of this invention,-
  • Fig. 2 is a plan view, diagrammaticalIy illustrating a particular of the first embodiment of this invention
  • Fig. 3 is a schematic view, showing an alternative embodiment of this invention
  • ' Fig. 4 is a flow sheet showing a calibration process according to this invention.
  • Fig. 5 is a flow sheet showing an algorhythm on which the detection is possible.
  • this invention is comprised of a cartesian robot 1, possessing six degrees of ' freedom. On one end, the robot 1 bears, in articulated manner, a videocamera 2, having its lens 3, to be positioned in front of the needle 4 to be detected.
  • the calibration pattern 5 is shown in Fig. 2.
  • a cartesian robot 6 possessing three degrees of freedom.
  • the robot 6 comprises a case 7, displaceable along a rod 8.
  • Two videocameras 9, 10 are positioned at one end of the case 7.
  • the videocameras 9, 10 preferably exhibit an angle.
  • the angle ranges from 20 to 60°, more preferably it ranges from 30 to 50°, most preferably it is 40°.
  • a calibration is carried out.
  • the calibration takes place according to what shown in Fig. 2.
  • the calibration is performed in two steps: a three-D calibration and a two-D calibration.
  • a pattern 5 is scanned with the videocamera at different, known distances.
  • the pattern 5 is a table comprising a number of circles having size and position known.
  • the videocamera takes the picture and inputs the datum into a computer which, correlating it to the corresponding distance and to the exact position of the robot 1 or 6, draws the calibration curve (usually a straight line) .
  • a two-D calibration is performed each three-D calibration.
  • the device is now ready for detecting the position of the needle 4.
  • the robot 1 brings the videocamera 2 in front of the needle 4 and acquires the image.
  • the true position of the needle is calculated by correlating the image with the calibration curve.
  • the videocamera is firstly displaced on a position relative to the needle 4, then to the opposite position and both images are correlated, after a gaussian filtering.
  • the filtering can take place on either a edge detection or an edge strength basis.
  • the robot 6 displaces both videocameras 9, 10, so as to take pictures from different positions.
  • the correlation step is similar than in the previous case, but the position of the needle 4 can be detected with only an acquisition step instead of two.
  • a flow sheet of the process is reported in Figs. 4 and 5.
  • the data acquisition can be performed through the technique of opticle triangles.
  • the device according to this invention allows to detect the position of any kind of needle or any other elongated body. It is very useful in a number of applications. For instance it can be used in automatic devices for preparing toxic substances, like cytotoxic drugs, or in a device for automatically injecting a drug into a patient.

Abstract

A device for detecting elongated bodies is disclosed, comprising a videocamera (2; 9,10) . Preferably, the position is determined through comparison with a series of calibration curves.

Description

DEVICE FOR DETECTING ELONGATED BODIES oooδooo FIELD OF THE INVENTION
This invention relates to a device for detecting elongated bodies, particularly for detecting needles of syringes. BACKGROUND OF THE INVENTION
The exact position of the tip of a syringe needle is a main problem in apparatus employing syringes for dosing substances. This .is particularly true for automatic apparatus. Indeed, the needle uses to curve, displacing its tip from its original, vertical position. This can be due to errors in the production, but also to modifications in the shape, taking place subsequently for mechanical and/or thermal shocks.
Most existing devices use a sensor. Unfortunately, such sensors are not precise enough and cannot provide the user with the coordinates of the needle tip. A wrong feeling in the position of the tip can lead to drawbacks, in particular it can even prevent either the loading or the injection of the liquid. SUMMARY OF THE INVENTION The above drawbacks are brilliantly solved by this invention, relating to a device for detecting elongated bodies, characterised in that it comprises a videocamera. BRIEF DESCRIPTION OF DRAWINGS
Fig. 1 is a side view, illustrating an embodiment of this invention,-
Fig. 2 is a plan view, diagrammaticalIy illustrating a particular of the first embodiment of this invention;
Fig. 3 is a schematic view, showing an alternative embodiment of this invention; ' Fig. 4 is a flow sheet showing a calibration process according to this invention; and
Fig. 5 is a flow sheet showing an algorhythm on which the detection is possible.
BEST WAY OF CARRYING OUT THE INVENTION In the following, this invention will be disclosed for the case of the detection of a syringe needle, which is the favourite case. Anyway, the description applies to the case of any elongated body, mutatis mutandis.
According to its first embodiment, this invention is comprised of a cartesian robot 1, possessing six degrees of ' freedom. On one end, the robot 1 bears, in articulated manner, a videocamera 2, having its lens 3, to be positioned in front of the needle 4 to be detected.
The calibration pattern 5 is shown in Fig. 2.
According to an alternative embodiment, shown in Fig. 2, a cartesian robot 6 is provided, possessing three degrees of freedom. The robot 6 comprises a case 7, displaceable along a rod 8. Two videocameras 9, 10 are positioned at one end of the case 7. The videocameras 9, 10 preferably exhibit an angle. Preferably, the angle ranges from 20 to 60°, more preferably it ranges from 30 to 50°, most preferably it is 40°.
Before starting in using the inventive device, a calibration is carried out. The calibration takes place according to what shown in Fig. 2. The calibration is performed in two steps: a three-D calibration and a two-D calibration. In the three-D calibration, a pattern 5 is scanned with the videocamera at different, known distances. The pattern 5 is a table comprising a number of circles having size and position known. The videocamera takes the picture and inputs the datum into a computer which, correlating it to the corresponding distance and to the exact position of the robot 1 or 6, draws the calibration curve (usually a straight line) . A two-D calibration is performed each three-D calibration. First of all
■ the small circles are found out, then their centre is sought for and finally the position is interpolated through triangles. When a curve for each pixel is complete, it is acquired by the computer and stored in its memory and the resulting beam of curves can be used for the whole life of the device.
The device is now ready for detecting the position of the needle 4. The robot 1 brings the videocamera 2 in front of the needle 4 and acquires the image. The true position of the needle is calculated by correlating the image with the calibration curve. Preferably, the videocamera is firstly displaced on a position relative to the needle 4, then to the opposite position and both images are correlated, after a gaussian filtering. The filtering can take place on either a edge detection or an edge strength basis.
According to the alternative embodiment, the robot 6 displaces both videocameras 9, 10, so as to take pictures from different positions. The correlation step is similar than in the previous case, but the position of the needle 4 can be detected with only an acquisition step instead of two. A flow sheet of the process is reported in Figs. 4 and 5.
In any case, the data acquisition can be performed through the technique of opticle triangles.
It is apparent that the device according to this invention allows to detect the position of any kind of needle or any other elongated body. It is very useful in a number of applications. For instance it can be used in automatic devices for preparing toxic substances, like cytotoxic drugs, or in a device for automatically injecting a drug into a patient.

Claims

1) A device for detecting elongated bodies, characterised in that it comprises a videocamera (2; 9,10) .
2) A device as claimed in claim 1, characterised in that the videocamera (2) is carried by a cartesian robot (1) , possessing six degrees of freedom.
3) A device as claimed in claim 1, characterised in that it comprises a cartesian robot (6) possessing three degrees of freedom. 4) A device as claimed in claim 3, characterised in that the robot (6) comprises a case (7) , displaceable along a rod (8) .
5) A device as claimed in claim 4, characterised in that two videocameras (9, 10) are positioned at one end of the case (7).
6) A device as in claim 5, characterised in that the videocameras (9, 10) exhibit an angle.
7) A device as claimed in claim 6, characterised in that the angle ranges from 20 to 60°. 8) A device as claimed in claim 7, characterised in that the angle it ranges from 30 to 50°.
9) A device as claimed in claim 8, characterised in that the angle is 40° .
10) A device as claimed in any previous claim, characterised in that the true position of the elongated body is calculated by correlating the image acquired by the videocamera (s) (2; 9, 10) with one or more calibration curves.
11) A device as claimed in any previous claim, characterised in that the data acquisition is performed through the technique of opticle triangles.
12) Use of a device as in any previous claim in a device for the preparation of toxic substances .
13) Use as claimed in claim 12, characterised in that such toxic substances are cytotoxic drugs . 14) Use of a device as claimed in any claim 1 to 11, in a device for automatically injecting a drug into a patient.
PCT/IT2006/000816 2006-11-22 2006-11-22 Device for detecting elongated bodies WO2008062485A1 (en)

Priority Applications (13)

Application Number Priority Date Filing Date Title
PCT/IT2006/000816 WO2008062485A1 (en) 2006-11-22 2006-11-22 Device for detecting elongated bodies
DE602007006687T DE602007006687D1 (en) 2006-11-22 2007-11-21 METHOD AND MACHINE FOR HANDLING TOXIC SUBSTANCES
CN2007800434719A CN101568307B (en) 2006-11-22 2007-11-21 Method and machine for manipulating toxic substances
US12/516,149 US8404492B2 (en) 2006-11-22 2007-11-21 Method and machine for manipulating toxic substances
KR1020097011817A KR20090093979A (en) 2006-11-22 2007-11-21 Method and machine for manipulating toxic substances
RU2009123302/14A RU2009123302A (en) 2006-11-22 2007-11-21 METHOD AND INSTALLATION FOR MANIPULATIONS WITH TOXIC SUBSTANCES
AT07848922T ATE468076T1 (en) 2006-11-22 2007-11-21 METHOD AND MACHINE FOR HANDLING TOXIC SUBSTANCES
AU2007323131A AU2007323131A1 (en) 2006-11-22 2007-11-21 Method and machine for manipulating toxic substances
PCT/IB2007/003577 WO2008062285A2 (en) 2006-11-22 2007-11-21 Method and machine for manipulating toxic substances
JP2009537711A JP5171839B2 (en) 2006-11-22 2007-11-21 Method for operating hazardous substances, computer program and machine for operating hazardous substances
CA2669926A CA2669926C (en) 2006-11-22 2007-11-21 Method and machine for manipulating toxic substances
EP07848922A EP2094174B1 (en) 2006-11-22 2007-11-21 Method and machine for manipulating toxic substances
NO20092008A NO20092008L (en) 2006-11-22 2009-05-25 Method and machine for handling toxic substances

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IT2006/000816 WO2008062485A1 (en) 2006-11-22 2006-11-22 Device for detecting elongated bodies

Publications (1)

Publication Number Publication Date
WO2008062485A1 true WO2008062485A1 (en) 2008-05-29

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2006/000816 WO2008062485A1 (en) 2006-11-22 2006-11-22 Device for detecting elongated bodies

Country Status (2)

Country Link
CN (1) CN101568307B (en)
WO (1) WO2008062485A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2289578A1 (en) * 2008-06-16 2011-03-02 Nory Co., Ltd. Syringe needle guiding apparatus
US9930297B2 (en) 2010-04-30 2018-03-27 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US10679342B2 (en) 2014-09-08 2020-06-09 Becton, Dickinson And Company Aerodynamically streamlined enclosure for input devices of a medication preparation system

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CN103417375B (en) * 2012-05-18 2016-08-03 辽宁九洲龙跃医用科技股份有限公司 A kind of machine automatization venous medicine dispensing device
CN104602665B (en) * 2012-10-25 2018-09-18 株式会社汤山制作所 Mixed water injection device
JP6128019B2 (en) * 2014-03-05 2017-05-17 株式会社安川電機 Liquid transfer system, liquid transfer control method, liquid transfer control device, and drug manufacturing method
DE102016007625A1 (en) * 2016-06-23 2018-01-18 Kiefel Gmbh APPARATUS FOR MANUFACTURING A MEDICAL BAG AND METHOD FOR OPERATING SUCH AN APPROPRIATE APPARATUS
CN106491358B (en) * 2016-10-31 2019-10-11 成都杰仕德科技有限公司 A kind of positioning device and method for automated dispensing system
CN106580696A (en) * 2016-11-09 2017-04-26 无锡安之卓医疗机器人有限公司 Syringe needle video positioning system and operating method of the same
CN110108248A (en) * 2018-02-01 2019-08-09 深圳市卫邦科技有限公司 A kind of steel needle is inserted in place testing agency, make up a prescription robot and detection method

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Cited By (14)

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Publication number Priority date Publication date Assignee Title
EP2289578A4 (en) * 2008-06-16 2011-06-01 Nory Co Ltd Syringe needle guiding apparatus
EP2289578A1 (en) * 2008-06-16 2011-03-02 Nory Co., Ltd. Syringe needle guiding apparatus
US11064164B2 (en) 2010-04-30 2021-07-13 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US9930297B2 (en) 2010-04-30 2018-03-27 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US10412347B2 (en) 2010-04-30 2019-09-10 Becton, Dickinson And Company System and method for acquiring images of medication preparation
US10554937B2 (en) 2010-04-30 2020-02-04 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US11838690B2 (en) 2010-04-30 2023-12-05 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US11516443B2 (en) 2010-04-30 2022-11-29 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US10692207B2 (en) 2014-09-08 2020-06-23 Becton, Dickinson And Company System and method for preparing a pharmaceutical compound
US11341641B2 (en) 2014-09-08 2022-05-24 Becton, Dickinson And Company Aerodynamically streamlined enclosure for input devices of a medication preparation system
US10853938B2 (en) 2014-09-08 2020-12-01 Becton, Dickinson And Company Enhanced platen for pharmaceutical compounding
US11568537B2 (en) 2014-09-08 2023-01-31 Becton, Dickinson And Company Enhanced platen for pharmaceutical compounding
US11763448B2 (en) 2014-09-08 2023-09-19 Becton, Dickinson And Company System and method for preparing a pharmaceutical compound
US10679342B2 (en) 2014-09-08 2020-06-09 Becton, Dickinson And Company Aerodynamically streamlined enclosure for input devices of a medication preparation system

Also Published As

Publication number Publication date
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CN101568307B (en) 2011-06-15

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