CN106974623A - Blood vessel identification lancing system, blood vessel recognition methods - Google Patents
Blood vessel identification lancing system, blood vessel recognition methods Download PDFInfo
- Publication number
- CN106974623A CN106974623A CN201710290676.2A CN201710290676A CN106974623A CN 106974623 A CN106974623 A CN 106974623A CN 201710290676 A CN201710290676 A CN 201710290676A CN 106974623 A CN106974623 A CN 106974623A
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- Prior art keywords
- blood vessel
- lancing system
- scanning recognition
- mechanical arm
- blood
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
- A61B5/0064—Body surface scanning
-
- 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
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4887—Locating particular structures in or on the body
- A61B5/489—Blood vessels
Abstract
The present invention discloses a kind of blood vessel identification lancing system, blood vessel recognition methods, is related to technical field of medical instruments, to solve the existing technical problem that manual blood collection's mode efficiency is low and accuracy is poor.Blood vessel of the present invention recognizes lancing system, including：Scanning recognition mechanism and piercing mechanism are provided with mechanical arm mechanism, the mechanical arm mechanism；Wherein, scanning recognition mechanism is used to be scanned the arm of person of blood collecting, and identifies blood vessel to be punctured；Piercing mechanism is used to puncture the blood vessel identified；Also, mechanical arm mechanism is used to drive scanning recognition mechanism and piercing mechanism to be moved accordingly respectively.The blood vessel provided using the present invention recognizes lancing system, can conveniently realize automation puncture blood collecting, and be effectively prevented from blood vessel discrimination relatively low situation during artificial operation；Meanwhile, the workload of nurse can be reduced again, effectively improve operating efficiency.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of blood vessel identification lancing system, blood vessel recognition methods.
Background technology
Venipuncture is mainly used in intravenous injection and venous blood collection and transfused blood etc., it may be said that with everyone all manner of breathing
Close.
At present, among clinical, typically all medical personnel, which observe by the naked eye, touches with finger and relies on experience pair
Selection is identified in the vein blood vessel of person of blood collecting, then implements puncture procedure again.
However, present inventor has found, existing manual mode of operation is in addition to time and effort consuming the drawbacks of bigger
Living human eye's discrimination is relatively low, it is difficult to one-time puncture success.Further, since Superficial veins are than relatively fine, particularly subcutaneous fat
Compared with having scar on thick one, old weak person and skin, person is even more to be difficult to.
Therefore, how a kind of blood vessel identification lancing system, blood vessel recognition methods are provided, can efficiently and accurately enter promoting circulation of blood
The identification of pipe and puncture procedure, and mitigate the pain of person of blood collecting to a certain extent, it is to avoid it is psychologically caused bad
Influence, it has also become the technical problem of those skilled in the art's urgent need to resolve.
The content of the invention
It is an object of the invention to provide a kind of blood vessel identification lancing system, blood vessel recognition methods, to solve existing people
The technical problem that work Blood collection efficiency is low and accuracy is poor.
The present invention provides a kind of blood vessel identification lancing system, including：It is provided with mechanical arm mechanism, the mechanical arm mechanism
Scanning recognition mechanism and piercing mechanism；The scanning recognition mechanism is used to be scanned the arm of person of blood collecting, and identifies
Blood vessel to be punctured；The piercing mechanism is used to puncture the blood vessel identified；The mechanical arm mechanism is used to divide
The scanning recognition mechanism and the piercing mechanism is not driven to be moved accordingly.
Wherein, the scanning recognition mechanism includes infrared camera component.
Specifically, the scanning recognition mechanism also includes color camera component；The color camera component be provided with two, and
It is located at the both sides of the infrared camera component respectively.
Further, it is additionally provided with sensor on the mechanical arm mechanism.
Further, the sensor is displacement transducer.
Yet further, the piercing mechanism is puncture needle.
During practical application, the blood vessel identification lancing system also includes：Host shell；The host shell is located at described
The outside of mechanical arm mechanism, the scanning recognition mechanism and the piercing mechanism, and the host shell is provided with and is used to wear and penetrate
The through hole of person of blood collecting's arm.
Further, the blood vessel identification lancing system also includes：Control processor；The control processor and the machine
Tool arm mechanism, the scanning recognition mechanism, the piercing mechanism and the sensor are connected respectively.
Yet further, the blood vessel identification lancing system also includes：Indication mechanism, the indication mechanism and the scanning
Identification mechanism and/or control processor connection.
Relative to prior art, blood vessel identification lancing system of the present invention has the advantage that：
In the blood vessel identification lancing system that the present invention is provided, including：It is provided with and sweeps on mechanical arm mechanism, the mechanical arm mechanism
Retouch identification mechanism and piercing mechanism；Wherein, scanning recognition mechanism is used to be scanned the arm of person of blood collecting, and identifies and treat
The blood vessel of puncture；Piercing mechanism is used to puncture the blood vessel identified；Also, mechanical arm mechanism is used to drive scanning respectively
Identification mechanism and piercing mechanism are moved accordingly.Thus analysis is understood, the blood vessel identification provided using the present invention punctures system
System, can conveniently realize automation puncture blood collecting, and be effectively prevented from blood vessel discrimination relatively low situation during artificial operation；Together
When, the workload of nurse can be reduced again, effectively improve operating efficiency.
The present invention also provides a kind of blood vessel recognition methods, and lancing system is recognized using the blood vessel described in any one as described above；
Comprise the following steps：Pass through hand of the infrared camera component and color camera assembly synergistic in scanning recognition mechanism to person of blood collecting
Arm is scanned, and identifies blood vessel to be punctured.
Specifically, the blood vessel recognition methods, comprises the following steps：Through hole of the arm of person of blood collecting on host shell
In stretch into；Pass through the arm of infrared camera component and color camera assembly synergistic to person of blood collecting under the drive of mechanical arm mechanism
Position is scanned in elbow, and identifies blood vessel to be punctured.
It is identical that the blood vessel recognition methods recognizes that lancing system has the advantage that relative to prior art with above-mentioned blood vessel,
It will not be repeated here.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 recognizes the structural representation of lancing system for a kind of blood vessel provided in an embodiment of the present invention；
Fig. 2 recognizes the structural representation of lancing system for another blood vessel provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic flow sheet of blood vessel recognition methods provided in an embodiment of the present invention；
Fig. 4 is the schematic flow sheet of another blood vessel recognition methods provided in an embodiment of the present invention.
In figure：1- mechanical arm mechanisms；2- scanning recognitions mechanism；3- piercing mechanisms；21- infrared camera components；22-
Color camera component；4- host shells；41- through holes；5- sensors.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, can be with
It is the connection of two element internals.For the ordinary skill in the art, it can understand that above-mentioned term exists with concrete condition
Concrete meaning in the present invention.
Fig. 1 recognizes the structural representation of lancing system for a kind of blood vessel provided in an embodiment of the present invention.
As shown in figure 1, the embodiment of the present invention provides a kind of blood vessel identification lancing system, including：Mechanical arm mechanism 1, machinery
Scanning recognition mechanism 2 and piercing mechanism 3 are provided with arm mechanism 1；Scanning recognition mechanism 2 is used to carry out the arm of person of blood collecting
Scanning, and identify blood vessel to be punctured；Piercing mechanism 3 is used to puncture the blood vessel identified；Mechanical arm mechanism 1 is used for
Scanning recognition mechanism 2 and piercing mechanism 3 is driven to be moved accordingly respectively.
Relative to prior art, the blood vessel identification lancing system described in the embodiment of the present invention has the advantage that：
In blood vessel identification lancing system provided in an embodiment of the present invention, as shown in figure 1, including：Mechanical arm mechanism 1, the machine
Scanning recognition mechanism 2 and piercing mechanism 3 are provided with tool arm mechanism 1；Wherein, scanning recognition mechanism 2 is used for person of blood collecting's
Arm is scanned, and identifies blood vessel to be punctured；Piercing mechanism 3 is used to puncture the blood vessel identified；Also, machine
Tool arm mechanism 1 is used to drive scanning recognition mechanism 2 and piercing mechanism 3 to be moved accordingly respectively.Thus analysis is understood, is used
Blood vessel provided in an embodiment of the present invention recognizes lancing system, can conveniently realize automation puncture blood collecting, and be effectively prevented from
Blood vessel discrimination relatively low situation during artificial operation；Meanwhile, the workload of nurse can be reduced again, effectively improve operating efficiency.
Herein it should be added that, in blood vessel provided in an embodiment of the present invention identification lancing system, above-mentioned mechanical arm
Mechanism 1 can be sextuple (six degree of freedom) travel mechanism, you can to realize the movement of top to bottom, left and right, front and rear six direction, and
Rotation, the movement of three forms of pitching and beat.
Wherein, as shown in figure 1, blood vessel provided in an embodiment of the present invention is recognized in lancing system, above-mentioned scanning recognition mechanism 2
Infrared camera component 21 can be included, the infrared camera component 21 can specifically include：Near Infrared CCD camera, camera lens, filter
Mating plate and near-infrared light source and polarizer etc., so as to preferably realize the subcutaneous superficial vein to arm by infrared camera component 21
Infrared image acquisition is carried out, and then rapidly and accurately finds the blood vessel and corresponding needling position for being appropriate for puncturing.
Fig. 2 recognizes the structural representation of lancing system for another blood vessel provided in an embodiment of the present invention.
Specifically, when having the situation of scar on skin or skin to be protruded for blood vessel, still can preferably it realize
The scanning recognition of blood vessel, as shown in Fig. 2 in blood vessel provided in an embodiment of the present invention identification lancing system, above-mentioned scanning recognition machine
Structure 2 can also include color camera component 22, and the color camera component 22 is provided with two, respectively positioned at infrared camera component
21 both sides, i.e., by infrared camera component 21 and color camera component 22, make system realize single binocular collaboration identification.Wherein,
Color camera component 22 can include：Colorful CCD camera, camera lens, optical filter and visible light source and polarizer etc., so as to pass through
Infrared camera component 21 and the cooperative achievement of color camera component 22 carry out three-dimensional feature IMAQ to the subcutaneous superficial vein of arm,
And then in the case of being protruded for blood vessel and having scar on skin or skin, also more can still find fast accurate
It is appropriate for the blood vessel and corresponding needling position punctured.
Herein it should be added that, be equipped with ccd sensor in above-mentioned Near Infrared CCD camera and colorful CCD camera；
Specifically, charge coupling device CCD image sensor (Charge Coupled Device), is to use a kind of ISO
Semi-conducting material is made, and light can be transformed into electric charge, and data signal, data signal warp are converted into by analog-digital converter chip
Preserved after overcompression by the flash memory or built-in hard disk card of camera internal, thus can be easily data transfer
To computer, and by means of the processing means of computer, image is changed with imagination as needed.
In addition, the above-mentioned blood vessel identification lancing system for being provided only with an infrared camera component 21 belongs to monocular identifying system；
Blood vessel identification lancing system provided with two color camera components 22 belongs to binocular identifying system；In practical application, monocular identification
Based on system, supplemented by binocular identifying system, binocular identifying system carries out assistant reinforcement identification primarily directed to peculiar situation, generally
Also not individualism.
The vein blood vessel combined using single binocular camera recognizes puncture mode, can greatly improve the discrimination of blood vessel, special
Situations such as not being for having scar on blood vessel protrusion skin, skin, it can more accurately realize the determination of point of puncture.
During practical application, as depicted in figs. 1 and 2, blood vessel identification lancing system provided in an embodiment of the present invention can also be wrapped
Include：Host shell 4；The host shell 4 is located at the outside of mechanical arm mechanism 1, scanning recognition mechanism 2 and piercing mechanism 3, to rise
To protective effect well；Also, can be provided with the host shell 4 is used to wear the through hole 41 for penetrating person of blood collecting's arm, in order to
Match with the arm of human body, the preferably circular through hole of through hole 41.
Further, can be with blood vessel provided in an embodiment of the present invention identification lancing system, on above-mentioned mechanical arm mechanism 1
It is provided with sensor 5；Specifically, the sensor 5 can be displacement transducer；Further, the displacement transducer can be sharp
Optical displacement sensor, thus by laser displacement sensor with detect the distance between arm upper surface and camera and detect and
Determine the distance between puncture needle and point of puncture.
Wherein, in order to preferably be punctured to vein blood vessel, as depicted in figs. 1 and 2, blood provided in an embodiment of the present invention
In pipe identification lancing system, above-mentioned piercing mechanism 3 can be puncture needle.
Further, blood vessel identification lancing system provided in an embodiment of the present invention can also include：Control processor；Specifically
Ground, the control processor is connected respectively with mechanical arm mechanism 1, scanning recognition mechanism 2, piercing mechanism 3 and sensor 5.Wherein, control
Processor processed can include control module and processing module, and control module can be used in the movement of control machinery arm mechanism 1, and can
To drive the movement of scanning recognition mechanism 2 and piercing mechanism 3 respectively；Processing module can be used in scanning recognition mechanism 2 and pass
Processing is identified in the corresponding information or signal that sensor 5 is sent respectively.
Concrete operating principle and operating process can be：Had in various degree near infrared light based on vein and its surrounding tissue
Absorption and scattering, wavelength for 760nm or 850nm LED near infrared lights irradiation under, pass through skin of the ccd sensor to arm
Lower Superficial veins carry out infrared image acquisition, and the image of collection is filtered into denoising, image to it by computer software
The processing such as enhancing and feature extraction, realizes the enhancing to vein image.And IMAQ point sample database is set up, then pass through
The deep learning of computer, so that system can fast and accurately find suitable puncture position.Monocular system can only be obtained
To the difference in height of measured object and the plane of reference, when having scar on blood vessel protrusion skin, skin, the degree of accuracy can
Reduction, and biocular systems utilize the method for binocular stereo vision in machine vision then using phase as a characteristic quantity of matching
The three-dimensional feature of object is asked for, therefore sets up the binocular for being aided with left and right sides color camera based on the monocular of infrared camera
The single binocular vision system being combined, then can efficiently solve this problem, so as to realize precisely identification, the mesh efficiently punctured
's.
Yet further, blood vessel identification lancing system provided in an embodiment of the present invention can also include：Indication mechanism, should
Indication mechanism can be connected with scanning recognition mechanism 2 and/or control processor, so that when indication mechanism and scanning recognition mechanism 2
During connection, the scanning result of arm will can be shown by the display screen of indication mechanism；When indication mechanism and control process
When device is connected, the vein blood vessel image recognized can be shown by the display screen of indication mechanism；When indication mechanism is with sweeping
Retouch identification mechanism 2 and when control processor is all connected with, both can first by the scanning result of arm by indication mechanism display screen
Show, again can show the vein blood vessel image recognized by the display screen of indication mechanism again.
Fig. 3 is a kind of schematic flow sheet of blood vessel recognition methods provided in an embodiment of the present invention.
As shown in figure 3, the embodiment of the present invention also provides a kind of blood vessel recognition methods, comprise the following steps：Step S1, pass through
Infrared camera component 21 and color camera component 22 in scanning recognition mechanism 2 are cooperateed with to be scanned to the arm of person of blood collecting,
And identify blood vessel to be punctured.
Fig. 4 is the schematic flow sheet of another blood vessel recognition methods provided in an embodiment of the present invention.
During practical operation, as shown in figure 4, above-mentioned blood vessel recognition methods, specifically may include steps of：Step S00, quilt
The arm of blood sampling person is stretched into the through hole 41 on host shell 4；Step S01, under the drive of mechanical arm mechanism 1 by infrared
Photomoduel 21 and color camera component 22 cooperate with position in the arm elbow to person of blood collecting to be scanned, and identify and wait to puncture
Blood vessel.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of blood vessel recognizes lancing system, it is characterised in that including：It is provided with mechanical arm mechanism, the mechanical arm mechanism
Scanning recognition mechanism and piercing mechanism；
The scanning recognition mechanism is used to be scanned the arm of person of blood collecting, and identifies blood vessel to be punctured；
The piercing mechanism is used to puncture the blood vessel identified；
The mechanical arm mechanism is used to drive the scanning recognition mechanism and the piercing mechanism to be moved accordingly respectively.
2. blood vessel according to claim 1 recognizes lancing system, it is characterised in that the scanning recognition mechanism includes infrared
Photomoduel.
3. blood vessel according to claim 2 recognizes lancing system, it is characterised in that the scanning recognition mechanism also includes coloured silk
Form and aspect thermomechanical components；The color camera component is provided with two, and is located at the both sides of the infrared camera component respectively.
4. the blood vessel identification lancing system according to any one of claim 1-3, it is characterised in that the mechanical arm machine
Sensor is additionally provided with structure.
5. blood vessel according to claim 4 recognizes lancing system, it is characterised in that the sensor is displacement transducer.
6. blood vessel according to claim 1 recognizes lancing system, it is characterised in that the piercing mechanism is puncture needle.
7. blood vessel according to claim 1 recognizes lancing system, it is characterised in that also include：Host shell；The main frame
Housing is located at the outside of the mechanical arm mechanism, the scanning recognition mechanism and the piercing mechanism, and the host shell
Being provided with is used to wear the through hole for penetrating person of blood collecting's arm.
8. blood vessel according to claim 4 recognizes lancing system, it is characterised in that also include：Control processor；The control
Processor processed is connected respectively with the mechanical arm mechanism, the scanning recognition mechanism, the piercing mechanism and the sensor.
9. blood vessel according to claim 8 recognizes lancing system, it is characterised in that also include：Indication mechanism, the display
Mechanism is connected with the scanning recognition mechanism and/or the control processor.
10. a kind of blood vessel recognition methods, it is characterised in that known using the blood vessel as any one of above-mentioned claim 1-9
Other lancing system；Comprise the following steps：
The arm of person of blood collecting is swept by the infrared camera component and color camera assembly synergistic in scanning recognition mechanism
Retouch, and identify blood vessel to be punctured.
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| CN201710290676.2A CN106974623A (en) | 2017-04-27 | 2017-04-27 | Blood vessel identification lancing system, blood vessel recognition methods |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710290676.2A CN106974623A (en) | 2017-04-27 | 2017-04-27 | Blood vessel identification lancing system, blood vessel recognition methods |
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Cited By (13)
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| CN109171651A (en) * | 2018-09-07 | 2019-01-11 | 东南大学 | A kind of automatic blood sampling robot |
| CN109259774A (en) * | 2018-09-18 | 2019-01-25 | 京东方科技集团股份有限公司 | A kind of blood sampling robot and its control method |
| CN109646112A (en) * | 2019-01-31 | 2019-04-19 | 苏州佳世达电通有限公司 | Ultrasound probe positioning system and ultrasound probe localization method |
| CN109938747A (en) * | 2019-03-29 | 2019-06-28 | 西安医学院 | A kind of full-automatic venous blood collection machine |
| CN110711286A (en) * | 2018-07-11 | 2020-01-21 | 杜景旭 | Puncture tube placing method and device for superficial venous indwelling needle |
| CN111053960A (en) * | 2019-12-16 | 2020-04-24 | 中国人民解放军总医院第五医学中心 | Method for identifying left and right offset angles of blood vessel |
| CN111493893A (en) * | 2020-04-26 | 2020-08-07 | 武汉儿童医院 | Children's peripheral blood collection robot |
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| CN111839543A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Nine-degree-of-freedom blood sampling robot |
| CN111904432A (en) * | 2019-05-10 | 2020-11-10 | 江苏哈工智能机器人股份有限公司 | Blood sampling device and blood sampling control method |
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| CN113069112A (en) * | 2021-03-16 | 2021-07-06 | 四川省肿瘤医院 | Automatic blood sampling system |
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| CN109646112A (en) * | 2019-01-31 | 2019-04-19 | 苏州佳世达电通有限公司 | Ultrasound probe positioning system and ultrasound probe localization method |
| CN109938747A (en) * | 2019-03-29 | 2019-06-28 | 西安医学院 | A kind of full-automatic venous blood collection machine |
| CN111904432A (en) * | 2019-05-10 | 2020-11-10 | 江苏哈工智能机器人股份有限公司 | Blood sampling device and blood sampling control method |
| CN111053960A (en) * | 2019-12-16 | 2020-04-24 | 中国人民解放军总医院第五医学中心 | Method for identifying left and right offset angles of blood vessel |
| CN111493893A (en) * | 2020-04-26 | 2020-08-07 | 武汉儿童医院 | Children's peripheral blood collection robot |
| CN111820914A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Automatic blood sampling device and automatic blood sampling method |
| CN111839543A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Nine-degree-of-freedom blood sampling robot |
| CN111973197A (en) * | 2020-06-05 | 2020-11-24 | 哈工大机器人(中山)无人装备与人工智能研究院 | Eight-degree-of-freedom blood sampling robot |
| CN115867223A (en) * | 2020-07-03 | 2023-03-28 | 斯夸尔迈德公司 | Robot device for guiding robot arm |
| CN115867223B (en) * | 2020-07-03 | 2023-08-01 | 斯夸尔迈德公司 | Robot device for guiding a robot arm |
| CN113069112A (en) * | 2021-03-16 | 2021-07-06 | 四川省肿瘤医院 | Automatic blood sampling system |
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Application publication date: 20170725 |