Vein Detection and Cannula Insertion using Raspberry Pi

There have been cases where it is difficult to recognise veins due to a lack of skilled medical personnel in a number of nations, including underdeveloped nations.Here, a method for automatic injection with vein detection is suggested as a solution for this issue. The device is capable of detecting veins automatically and injecting cannulas into them. Finding the best vein for this process can be challenging, even for experienced doctors, which is a significant issue for the medical industry. When veins are not detected correctly, they can lead to severe complications, including blood clots, rashes, bruises, and even amputation. During the vein detection process, an altered near IR camera is used to take pictures of the veins, from which, through image processing, by applying grey scaling, CLAHE, bilateral filter the vein is identified. The position for injecting can be determined by using bounding box. The centroid of the bounding box determines the position of the vein. The determined vein is considered as the injecting point. Using the IR camera and LIDAR sensor the 3 coordinates of the point is measured and the corresponding data is given to the robotic arm where the cannula is present. After the data is received, with the help of robotic arm the cannula is precisely inserted to the point on the vein. Live video feedback is offered to guarantee the needle's exact alignment and the identified vein spot. To put up all the required components, a mechanical structure is created. The medical industry's modernization could significantly benefit from this initiative.