Body-insertion device and method for controlling the same

A body-insertion device comprising:

• an adjustment unit for adjusting bevel orientation of a needle of a needle unit;
• an ultrasound probe unit configured to acquire an image of a body part, analyze the acquired image based on a trained neural network model to identify a target and avoidance objects in the body part, and determine a final target position based on at least one of first information related to a size of the target, second information related to a depth of the target, or third information related to whether an avoidance object exists on a straight path between the target and a skin surface of the body part;
• and
• a moving unit for the needle unit,
• wherein the adjustment unit comprises, a support arm comprising a pair of arms which are provided parallel to each other for supporting the needle unit, a hydraulic module for driving the support arm, a driving module for rotating the support arm, and a detector for detecting the bevel orientation of the needle of the needle unit,
• wherein the pair of arms of the support arm is configured to move away from each other by the hydraulic module and support the needle unit by applying an outward force to inner walls of the needle unit,
• wherein the driving module is configured to adjust the bevel orientation of the needle of the needle unit by rotating the support arm based on the detected the bevel orientation of the needle of the needle unit by the detector,
• wherein the ultrasound probe unit is further configured to determine whether a boundary of the target overlaps with a boundary of the image data, and when it is determined that the boundary of the target overlaps with the boundary of the image data, move so that a coordinate of the boundary surface is located inside the image and re-acquire the image of the body part, and
• wherein the moving unit is configured to support the needle unit with the bevel orientation of the needle being adjusted, adjust the needle unit to the orientation which is appropriate for body-insertion, and move the needle unit for body-insertion.