CN106580344B - The Venous Sampling Methods of the robot of venous blood collection robot and application - Google Patents
The Venous Sampling Methods of the robot of venous blood collection robot and application Download PDFInfo
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- CN106580344B CN106580344B CN201611161133.2A CN201611161133A CN106580344B CN 106580344 B CN106580344 B CN 106580344B CN 201611161133 A CN201611161133 A CN 201611161133A CN 106580344 B CN106580344 B CN 106580344B
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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
- A61B5/15—Devices for taking samples of blood
- A61B5/153—Devices specially adapted for taking samples of venous or arterial blood, e.g. with syringes
- A61B5/154—Devices using pre-evacuated means
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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
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150015—Source of blood
- A61B5/15003—Source of blood for venous or arterial blood
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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
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150732—Needle holders, for instance for holding the needle by the hub, used for example with double-ended needle and pre-evacuated tube
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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
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150748—Having means for aiding positioning of the piercing device at a location where the body is to be pierced
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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
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150763—Details with identification means
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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
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150946—Means for varying, regulating, indicating or limiting the speed or time of blood collection
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- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The present invention relates to a kind of venous blood collection robots, including arm bracket, the mechanical driving mechanism for being provided with full-automatic identification positioning device above arm bracket and being connect with the clamping device of clamping blood taking needle, the side of arm bracket is provided with intelligent navigation blood vessel identification device, and front side is provided with from dynamic pressure arteries and veins device.The venous blood collection robot can reduce blood sampling difficulty, reduce the pain of person of blood collecting to avoid the operation error that manual operation is brought.
Description
Technical field
The invention belongs to intelligent medical equipment technology fields, more particularly to a kind of venous blood collection robot and apply the machine
The Venous Sampling Methods of device people.
Background technology
The blood vessel of people either animal is respectively positioned on subcutaneous tissue either inside bodily tissue after people or animal suffering from disease,
Generally require to vein, artery or tissue puncture, main purpose on the one hand be exactly in order to obtain blood tissues sample into
The various assays of row are instructed doctor to make and are correctly sentenced with indexs such as various biochemical, the immune, pathology that obtain patient
It is disconnected；On the other hand it can be infused patient by puncturing the venous access established.
The flow of venous blood collection：1, the upper limb of person of blood collecting, and in the upper limb underlay disposable pad towel of person of blood collecting, away from wearing
Pulse pressing tourniquet is pricked at thorn point 7 to 10cm, is clenched fist, is selected blood vessel, conventional ＞ 2cm are centered on point of puncture2Skin degerming；2、
Blood taking needle is pierced into blood vessel, after naked eyes visible blood-back punctures successfully, connects vacuum tube, takes blood volume；3, pulse pressing tourniquet, quilt are unclamped
Blood sampling person's pine fist pulls out needle, and aseptic cotton carrier presses point of puncture 5-10 minutes, completes blood sampling operation.
For a long time, when the daily venous blood collection of clinical laboratory medicine, the whether shield of physical examination or hospital outpatient, ward
Scholar repeats identical work when being responsible for blood collection.Existing way mainly relies on the experience of nurse for many years
And feel, it is manually punctured, often occurs pricking inaccurate situation, be especially on the increase in obese patient crowd, in addition baby
In the case that child and ICU unit patients require height to medical staff's acupuncture treatment puncture technique, very big pain is caused to patient,
Increase the probability of doctor-patient dispute.
According to preliminary investigation, newborn needs scalp injecting fluid since blood vessel is tiny, three times injection success rate ability 70%, and one
Secondary injection success rate shows less than 40% according to foreign statistic data, the puncture ability that average 9% patient needs four times or more
It is smoothly inserted into vein blood vessel, each patient, which averagely needs to puncture 2.18 times, can just be successfully found blood vessel.And U.S. children is cured
The statistical data for treating association shows that 40% or more medical institutions allow two to four punctures, to find the blood for the person of being needled
Pipe realizes the purpose of diagnosis and treatment.And the medical institutions of 13% investigation do not have any restrictions to puncture time.And for first aid, shock,
Blood volume caused by losing blood drastically reduces, the person of blood collecting that blood vessel collapses；The person of blood collecting being too obese；Blood vessel elasticity is very poor
Patient；The infant that obstetrics have just been born；Pediatric patient；Cardiovascular kind of Patients with Cardiac Failure；Nephrology dept. anasarca patient；High level cadre section
Patient；First-aid patients；The persons of blood collecting such as hematology, the multiple chemotherapy of oncology, blood sampling, the success rate of transfusion needle thorn is lower, adopts
More, blood sampling, the difficult bigger of transfusion needle thorn of blood, transfusion needle thorn.
When being taken a blood sample by the way of existing conventional venous blood collection, ask there are heavy workload, complex procedures, blood vessel be not difficult to find etc.
Topic, not only brings inconvenience to their work, also adds the pain of patient.
There is also a kind of laser blood-taking devices in the market, it is a doctor for taking blood to patient's progress tip using laser pulse
Instrument is treated, that is, is only taken a blood sample to tips such as finger tips, not to blood vessel, can not be realized full-automatic.Current immediate several hairs
Bright patent has：
It discloses a kind of vein of infrared guiding localization by ultrasonic application No. is the patent of invention of CN201510416445.2 and wears
Thorn system, invention are related to a kind of shallow venipuncture auxiliary system of infrared guiding localization by ultrasonic, which is characterized in that the puncture system
System includes infrared guidance unit and localization by ultrasonic unit, and the infrared guidance unit includes infrared light supply, and signal gathering unit is red
Outer image processing unit, image projection unit, infrared image display unit, the localization by ultrasonic unit include that high frequency ultrasound is visited
Head, ultrasonoscopy processing unit, ultrasonoscopy display unit, and the puncture needle link that is fixed on ultrasonic probe.This is
System can not only carry out locating and displaying by infrared imaging to superficial vein blood vessel, moreover it is possible under the guiding of infrared image, pass through ultrasound
Unit identifies the depth of vein blood vessel, to realize the real-time observation to needle angle and puncture needle depth, reduces venipuncture
Difficulty improves and punctures precision.
Application No. is the patents of invention of CN200910042047.3 to disclose intravenous blood collection method and apparatus, and venous blood is adopted
Set method includes step：1, heparin tube is distributed automatically；2, heparin tube is detected automatically, and guarantee is all closed to the heparin tube that patient takes a blood sample
Lattice, the case where preventing blood sampling failure and repeat to take a blood sample；3, automatic blood sampling, including seat regulatory function, entertainment video
Playing function, illuminating ray regulatory function, from dynamic pressure arteries and veins function, needle tubing positioning function, move pipe/benefit pipe function certainly, terminal is sentenced
Disconnected/blood sampling fault alarm function；4, blood taking needle is destroyed；5, processing is shaken up；6, the sample after blood sampling is gone to corresponding with patient
Support of blood collecting pipe on, can also be docked with automatic assembly line, directly carry out writing the inspection of the project to be examined in doctor's advice exactly；7、
2-6 steps are repeated, the acquisition of different Venous Bloods is completed.There is provided a kind of intravenous blood collection equipment simultaneously.
Application No. is the patents of invention of CN201310023641.4 to disclose a kind of multichannel cartridge-type automatically side of blood sampling
Method and equipment, by Miniature negative pressure pump, miniature electromagnetic valve, bidirectional blood taking needle, pumping needle, without vacuum blood collection tube, optical detection apparatus,
Automatic thorn plug device and multi-channel type into guard system and store up guard system, cartridge-type independence support of blood collecting pipe and heparin tube transmitter, rotation
Vortex mixer forms instant vacuum blood collection system.With automatic thorn plug, move certainly quantitative pipe, automated optical, automatic mixing blood, from
The dynamic function of replacing heparin tube and store heparin tube.Advantage is：Automatic puncturing pipe close moves pipe and storage heparin tube, blood sampling certainly
Speed is fast, and outpatient service, ward and physical examination batch is suitble to take a blood sample.It is big to solve vacuum blood collection tube starting stage negative pressure, subsequent negative pressure
The problem of continuously decreasing.Quantitative using optics, blood sampling volume is accurate.The centrifugal mixing of instant forward and backward in situ, keeps away after blood is in vitro
The generation for having exempted from blood clotting, simplifies operating procedure, accelerates blood sampling speed.
Application No. is the patent of invention of CN201110404881.X disclose a kind of quarantine suitable for big build animal or
The tail vein blood device that research work blood sampling uses, the hemostix is by root of the tail fixed part, tail vein position portion, blood sampling part
Three parts form, and tail vein blood device is fixed at animal root of the tail by when use, position tail vein by cylindrical structure, then
Blood taking needle is inserted into tail vein by blood taking needle mouth and fixed blood taking needle and vacuum blood collection tube start to take a blood sample.
Application No. is the patents of invention of CN201310734633.0 to disclose a kind of blood drawing with from dynamic pressure arteries and veins device comprising
Shell, medical latex tube, runner, motor, sensor and control system, setting through-hole arm is put into hole and locating slot on shell,
In locating slot, both ends are individually fixed on runner for medical latex tube cross-fixing, and two runners are connect with motor respectively, can
It rotates simultaneously, can also fix one and rotate one of them, the sensor is installed on medical latex tube, in range
Between, without impinging on runner, the motor is all connected to control system with sensor.The structure from dynamic pressure arteries and veins device is simple, practical
Property it is strong, it can be achieved that being placed on arm that arm is put into hole from dynamic pressure arteries and veins, can be nurse mitigates workload, reduces process,
And vessel position is quick and precisely found, to improve medical and nursing work efficiency and quality.
Application No. is the patents of invention of CN201300333848.X to disclose a kind of ultrasonic wave added blood sampling searching blood vessel method
And equipment, disease is examined in hospital, needs blood test blood.Women and children are encountered when blood drawing to find with old and frail patient
Blood vessel is a difficult matter, needs abundant experience.The advantages of invention is：Blood sampling situation can be intuitively observed, it is open-and-shut
Look at vascular condition straight.Trend, thickness, depth and the distribution of blood vessel are grasped, when blood sampling knows what's what.In addition, suffering from blood sampling
Person can't see blood sampling site, can get rid of stress.Cotton swab can be effectively eliminated using thimerosal automatic sprayer to disappear
Except the hidden danger that do not bring strictly, and coating is uniform, liquid level is thin convenient for quickly volatilization.
A kind of vein blood vessel depth recognition method is disclosed application No. is the patent of invention of CN201410494365.4 and is carried
Show system, invention is related to a kind of vein blood vessel depth recognition method and prompt system, and blood vessel can not be carried out to solve the prior art
The problem of depth judges.It is deep with blood vessel to establish image modalities by the machine learning regression model in machine vision study for invention
Mapping relations between degree to realize the vessel depth automatic identification based on image, and are prompted in a manner of sound and projection
Vessel depth information so that medical worker can also specify vessel depth while positioning blood vessel, accurately grasp into needle angle
Degree improves the success rate of venipuncture, reduces patient because painful caused by venipuncture.
Application No. is the patents of invention of CN88101957.7 to disclose puncture outfit, invents as medical blood vessel puncture instrument, master
It will be by special puncture needle, conduit, transmission device, elastic mechanism composition.Control circuit and ultrasonic Doppler positioning device can be coordinated.
Blood vessel can be accurately positioned, automatic inserting needle stops needle or the withdraw of the needle.Reduce injury of blood vessel and complication.Except applicable general curative unit
Outside clinical application, the rescue work of the particular surroundings such as particularly suitable field, battlefield, puncture and intubation of less demanding to operating technology
Rapid convenient, applicability is extensive.
Foregoing invention application does not include the automatic blood vessel identification positioning device of computer software and automatic multi-axis robot blood vessel
Automatic guiding locator can not achieve the purpose of unmanned blood sampling to can not achieve the full-automation of blood collection procedure.
Invention content
To overcome, the technical problems existing in the prior art provide a kind of venous blood collection robot to the present invention and application should
The blood-sampling method of venous blood collection robot, the venous blood collection robot can reduce to avoid the operation error that manual operation is brought
Blood sampling difficulty, reduces the pain of person of blood collecting.
A kind of venous blood collection robot, including arm bracket are provided with full-automatic identification positioning dress above arm bracket
The mechanical driving mechanism set and connect with the clamping device of clamping blood taking needle, the side of arm bracket is provided with intelligent navigation blood vessel
Identification device is provided with from dynamic pressure arteries and veins device on front side of arm bracket.
By automatic identification positioning device and intelligent navigation blood vessel identification device, the operation of blood taking needle can be accurately controlled
Position can effectively mitigate patient's pain, can meet the actual demand of hospital, fill up phase to improve the one-time success rate of blood sampling
Technological gap is closed, and larger social benefit and economic benefit can be generated：
First, substituting manually, the significant cost of nurse's long-term cultivation is saved, can quickly reduce nurse's supply；Second is that side
Just the masses, this equipment can be placed on each community, and the masses can draw blood at any time, not spend hospital's queuing.Puncture success rate
It can be higher by than nurse very much, reduce masses' pain；Third, during the epidemic virus such as the plague, SARS are propagated, medical care people is reduced
The possibility, etc. of member's cross-infection.
Automatic spray chlorination equipment is additionally provided with above arm bracket, automatic spray chlorination equipment includes nozzle, and nozzle is logical
The thimerosal storage bottle of disinfection liquid pipe connection is crossed, nozzle can also be connected to by the first compressed air hose with compressed air source, the
One compressed air hose is equipped with the first solenoid valve.Automatic spray chlorination equipment, which is mounted on, to be moved along perpendicular to arm axial direction
Automatic identification positioning device is also equipped on dynamic horizontal slider, on horizontal slider.
By the way that the compressed air hose by solenoid valve control is arranged, and it is connected to compressed air source, it can be in compressed air
Negative pressure is formed during blowout, to drive thimerosal to be flowed out from thimerosal storage bottle, and then by thimerosal and compressed air
It is sprayed from nozzle together, spray disinfection is carried out to arm, to cleaner arm surface, ensure to operate the environment in clean hygiene
Lower progress.
Include pressure arteries and veins cylinder from dynamic pressure arteries and veins device, pressure arteries and veins cylinder is connect by the second compressed air hose with compressed air source,
Second compressed air hose is equipped with second solenoid valve, and compressed air hose is connect by pipe fitting with pressure arteries and veins cylinder, pressure arteries and veins cylinder
Piston rod is connect with medical latex tube, and medical latex tube is presented the annular of at least one circle and is received in pressure arteries and veins cylinder in its natural state
The reduced cross-sectional of annular is to by the outer shape of the arm of pressure arteries and veins when contracting.
When it is one to press arteries and veins cylinder, one end of medical latex tube is connect with the piston rod of pressure arteries and veins cylinder, and the other end is fixed
It is arranged from dynamic pressure arteries and veins appliance stand；When it is two to press arteries and veins cylinder, arteries and veins is pressed in every one end of medical latex tube with one respectively
The piston rod of cylinder connects.
The form that emulsion tube is driven by using cylinder, during hand stretches into so that emulsion tube keeps larger ruler
It is very little, after stretching into place so that cylinder is shunk, and emulsion tube is driven to tie tight arm, enables to blood vessel protruding, convenient automatic to know
Other positioning device and intelligent navigation blood vessel identification device identify blood vessel.Moreover, by the way of cylinder contraction, each cylinder is dynamic
The air pressure of work all has uniformity, works tightening force to realize constant pressure arteries and veins so that and haemostatic pressure maintains 10.7~
In 16.0kPa, strength uniform, controllable during tying tight every time, be also unlikely to by arm strangle tension avoid so that user generate
Uncomfortable feeling.
Preferably, automatic identification positioning device and intelligent navigation blood vessel identification device are the guiding positioning of near-infrared hand vein recognition
Device, near-infrared hand vein recognition guiding locator include camera, single-layer type spike filter, multiple field spike filter,
Near-infrared light source and white light source, mirror construction and image processing unit.Near-infrared light source launch wavelength is 730nm~990nm
Infrared light, and direct irradiation or be reflected in human body be tested position, camera be used for human body be tested position carry out image adopt
Collect and signal analysis and processing is carried out by image processing unit.
Near-infrared vein guiding locator utilizes absorption of the vein hemoglobin for near-infrared fixed wave length infrared ray
Vein blood vessel is imaged, after camera collects image, image is optimized and is enhanced by image processing unit, through dividing
Best vein is obtained after analysis can blood-collecting blood vessel guide position；Near-infrared vein guiding locator is electrically connected with intelligent master control system
Connect, it is described intelligence master control system by processed best vein can blood-collecting blood vessel guide position be directly changed into as intelligent controller
The identifiable accurate coordinate position of device people, realize Near-Infrared Absorption Method most preferably take a blood sample position guiding position.
Since vein hemoglobin is for the degree of absorption of other tissue regions of the degree of absorption Yu surrounding body of infrared ray
Difference, it is possible to the position that vein blood vessel is identified by infrared mode, needed for accurately localised puncture
Position, precision can reach within 0.2 millimeter, to which the successful possibility of one-time puncture be greatly improved, reduce patient
Pain.
Preferably, automatic identification positioning device and intelligent navigation blood vessel identification device are doppler ultrasound intelligent navigation master
Control system, doppler ultrasound intelligent navigation master control system include being made of multiple supersonic generators and ultrasonic receiver
Matrix type structure.Doppler ultrasound intelligent navigation master control system first positions blood vessel, in conjunction with blood cells flow movable property
Raw Doppler effect, accurate judgement vessel inner blood flow velocity and blood vessel trend, screen venous blood and arteries, by multiplicity
According to computer software Algorithms Integration is carried out, the accurate position data group of a certain section of a plurality of vein blood vessel of organization internal is automatically formed,
A vein blood vessel most preferably taken a blood sample is selected to carry out puncture blood collecting from position data group again.
Vessel inner blood flow velocity and blood vessel trend are judged by way of supersonic Doppler, and accurate blood vessel can be provided
While the data such as position, flow direction, in conjunction with robot automation mechanized operation means, accurately blood can be acquired, precision
It can at least reach within 0.2 millimeter.This is acquired with medical staff's human hand work and compares, and has operation accurate, repeatable
By force, do not know fatigue, can more greatly reduce patient suffering with benefits such as normalizing operations.
Preferably, further include blood taking needle automatic supply device, the blood taking needle automatic supply device includes needle belt wheel, described
Needle belt wheel is used to store the needle band of installation disposable wearing pricker, and is rotatably installed on needle wheeled stand, the needle wheeled stand
On be also rotatablely equipped with the needle band idler wheel being sequentially connected with needle translator, the needle translator drives the needle band idler wheel with each
Equidistant mode drives the needle band to run to for pin position, and for the gripping apparatus grips blood taking needle and blood was collected；
Fibre optical sensor is also equipped on the needle wheeled stand, the fibre optical sensor is sentenced by the needle position location hole of detection needle band
Broken needle band movement whether for needle in place.
By above-mentioned blood taking needle automatic supply device, it can be convenient to use at present existing needle band on the market, with folder
Tight device docking.
It is further preferred that further include heparin tube automatic transferring, the heparin tube automatic transferring is by heparin tube
It is removed and placed in from heparin tube library into heparin tube putting hole, is provided with heparin tube automatic supply device and heparin tube below
Library.The heparin tube automatic supply device includes revolution turntable, is uniformly divided using revolution center as the center of circle on the revolution turntable
It is furnished with multiple heparin tube putting holes for placing heparin tube.Heparin tube rotation driving is additionally provided at each heparin tube putting hole
Mechanism, the heparin tube rotation driving mechanism is for driving heparin tube in the heparin tube putting hole rotation to be swept by scanning machine
Code, typing heparin tube information.It, can be before each needle thorn, by heparin tube by above-mentioned heparin tube automatic supply device
Data input, and the information of user is matched, to greatly facilitate the information management of blood sampling person.Moreover, can basis
Medical information, intelligence accurately according to《Clinical and laboratory standard research institute (CLSI) sixth version standard in 2007》That recommends adopts
Blood vessel is that detected person selects heparin tube needed for diagnosis and treatment from eight kinds of heparin tubes using sequence.Heparin tube automatic supply device can be with
Automatic identification heparin tube information, 360 ° of rotation scannings of heparin tube confirm the accuracy of heparin tube information, convenient for energy when intelligence blood sampling
It is enough quickly and accurately to apply heparin tube, it improves the success rate of clinical vein sample collection and is carried the time required to final shortening blood sampling
The blood sampling efficiency of high clinical application.
Still further preferably, further include heparin tube after-treatment system, heparin tube after-treatment system includes that heparin tube is automatic
Evenly mixing device and heparin tube storage device, heparin tube automatic mixing device include with electromagnetism clamping jaw either electric cylinders clamping jaw or pneumatic
Heparin tube automatic clamping device based on clamping jaw, heparin tube automatic clamping device can will take a blood sample under the driving of mixing motor
Blood sample in pipe and anti-coagulants mixing；Heparin tube storage device is arranged by heparin tube automatic mixing device.
By heparin tube automatic mixing device, the detection reagents such as the anti-coagulants in heparin tube is made to need quantitative mixing fusion anti-
It answers, more accurately diagnostic data is provided for clinical diagnosis.
It is further preferred that further include pasting automatic sticking device after needle, it includes pasting machine after needle that automatic sticking device is pasted after needle
Patch supply band unreels roller after pasting supply band driving drum and needle after machinery claw, needle, is pasted after supply band driving drum and needle are pasted after needle
Supply band driving motor is sequentially connected, and upstream of the patch supply with driving drum is provided with patch supply band reversing plate after needle, needle after needle
Supply band reversing plate is pasted afterwards to be used for so that paste supply band after needle pastes supply with patch and needle after driving drum winding hour hands after by needle
Patch supplies band separation afterwards, can be pasted gripper crawl after needle, gripper is pasted after needle and is sequentially connected with gripper driving mechanism.
By pasting automatic sticking device after needle is arranged, it can be person of blood collecting, be pasted after sticking needle at once after blood sampling, and
When stop blooding.
A method of venous blood collection, diagnosis and treatment card of the code reader to person of blood collecting are carried out using above-mentioned venous blood collection robot
It is read out, according to diagnosis and treatment inspection content, heparin tube automatic transferring carries out automation crawl, heparin tube automatic transferring
Supply heparin tube, intelligent master control system meeting auto arrangement heparin tube sequence,
Disposable arm packing paper is provided by arm packing paper apparatus for automatic change, equipment arm bracket is stretched by sampling upper limb
Afterwards,
Pressure arteries and veins hyperemia is carried out from dynamic pressure arteries and veins device,
After sample collection, heparin tube automatic transferring captures heparin tube, is sent into heparin tube automatic mixing device, real
Mixing is now overturned, the reagents such as the anti-coagulants in the blood sample and heparin tube of acquisition is made to mix well, completes sampling process.
Identify positioning device to carrying out near-infrared digitlization identification, guiding by sampling veins of upper extremity by intelligent navigation blood vessel
With positioning or supersonic digital identification, guiding and positioning, punctures successfully, then carry out automatic when blood taking needle is inserted into vein
Blood sampling,
Gripping apparatus grips blood taking needle puncture blood collecting pipe rubber plug, according to positioning acquisition alphabetic data, automatic vacuum system or
Air ventilation device forms quantitative negative pressure so that blood automatically flows into, and realizes that instant negative pressure is quantitatively taken a blood sample, and intelligent navigation blood vessel is known
Other positioning device intelligence confirms blood back by machine vision.
After sample collection, heparin tube automatic transferring captures heparin tube, is sent into heparin tube automatic mixing device, real
Mixing is now overturned, the reagents such as the anti-coagulants in acquisition blood sample and heparin tube is made to mix well, completes sampling process.
Blood-sampling method positioning accuracy is high, can effectively mitigate patient's pain.Moreover, using constant pressure quantitative blood collecting technology, blood sampling
Amount is more accurate.The effective mixing of mixing number is arranged according to clinic blood sampling specification in heparin tube, is conducive to the reagents such as anti-coagulants and blood
Liquid fully reacts, and ensures the quality of collecting sample.Heparin tube is accurately matched with person of blood collecting's information, has ensured safe of sample
Match.
Description of the drawings
Fig. 1 is the vertical view of the venous blood collection robot of the embodiment of the present invention 1；
Fig. 2 is the stereoscopic schematic diagram of the venous blood collection robot of the embodiment of the present invention 1；
Fig. 3 is the stereoscopic schematic diagram of the automatic disinfection spray equipment in the embodiment of the present invention 1；
Fig. 4 is the stereoscopic schematic diagram from dynamic pressure arteries and veins device of the embodiment of the present invention 1；
Fig. 5 is the structural schematic diagram of the blood taking needle automatic supply device in the embodiment of the present invention 1.
Fig. 6 is the structural schematic diagram of the heparin tube automatic supply device in the embodiment of the present invention 1；
Fig. 7 is the structural schematic diagram that automatic sticking device is pasted after the needle in the embodiment of the present invention 2.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and it is described in detail
It is as follows：
Embodiment 1：
Fig. 1 is the vertical view of the venous blood collection robot of the embodiment of the present invention 1；Fig. 2 is that the vein of the embodiment of the present invention 1 is adopted
The stereoscopic schematic diagram of blood robot；Fig. 3 is the stereoscopic schematic diagram of the automatic disinfection spray equipment in the embodiment of the present invention 1；Fig. 4 is
The stereoscopic schematic diagram from dynamic pressure arteries and veins device in the embodiment of the present invention 1；Fig. 5 is that the blood taking needle in the embodiment of the present invention 1 supplies automatically
Answer the structural schematic diagram of device；Fig. 6 is the structural schematic diagram of the heparin tube automatic supply device in the embodiment of the present invention 1.
In figure, the meaning that each reference numeral indicates is as follows；101, mechanical driving mechanism；102, arm packing paper is replaced automatically
Device；103, blood taking needle automatic supply device；104, clamping device；105, heparin tube automatic supply device；106, heparin tube library；
107, heparin tube automatic transferring；108, heparin tube automatic mixing device；109, heparin tube storage device；110, intelligent master control
System；111, intelligent navigation blood vessel identifies positioning device；112, arm bracket；113, from dynamic pressure arteries and veins device；114, automatic vacuum
System；115, automatic spray chlorination equipment；202, the first compressed air hose；203, compressed air source；204, the first solenoid valve；
205, liquid pipe is sterilized；206, nozzle；207, antiseptic solution bottle；301, the second compressed air hose；302, second solenoid valve；303, gas
Cylinder；304, connector；305, emulsion tube；501, needle belt wheel；502, needle band；503, needle translator；504, fibre optical sensor；505, one
Secondary property blood taking needle；506, needle band idler wheel；507, needle wheeled stand；601, revolve round the sun turntable driving motor；602, scanning machine；603, it adopts
Blood vessel putting hole；604, heparin tube；605, revolve round the sun support for rotary disc；606, revolve round the sun turntable.
A kind of venous blood collection robot, including arm bracket are provided with full-automatic identification positioning dress above arm bracket
The mechanical driving mechanism set and connect with the clamping device of clamping blood taking needle, the side of arm bracket is provided with intelligent navigation blood vessel
Identification device is provided with from dynamic pressure arteries and veins device on front side of arm bracket.
By automatic identification positioning device and intelligent navigation blood vessel identification device, the operation of blood taking needle can be accurately controlled
Position can effectively mitigate patient's pain, can meet the actual demand of hospital, fill up phase to improve the one-time success rate of blood sampling
Technological gap is closed, and larger social benefit and economic benefit can be generated：
First, substituting manually, the significant cost of nurse's long-term cultivation is saved, can quickly increase nurse's supply；Second is that side
Just the masses, this equipment can be placed on each community, and the masses can draw blood at any time, not spend hospital's queuing.Puncture success rate
It can be higher by than nurse very much, reduce masses' pain；Third, during the epidemic virus such as the plague, SARS are propagated, medical care people is reduced
The occupational hazards of member's cross-infection.
Preferably, it being additionally provided with automatic spray chlorination equipment above arm bracket, automatic spray chlorination equipment includes nozzle,
The thimerosal storage bottle being connected to nozzle by sterilizing liquid pipe, nozzle can also pass through the first compressed air hose and compressed air source
(it can be the air pump compresses air-source that this equipment is individually equipped with, can also be empty for medical compression with hospital or Medical Treatment Room
Air source) connection, equipped with the first solenoid valve, nozzle is installed in be moved along perpendicular to the direction of arm the first compressed air hose
Automatic identification positioning device is also equipped on dynamic horizontal slider, on horizontal slider.
By the way that the compressed air hose by solenoid valve control is arranged, and it is connected to compressed air source, it can be in compressed air
Negative pressure is formed during blowout, to drive thimerosal to be flowed out from thimerosal storage bottle, and then by thimerosal and compressed air
Spray from nozzle, carry out disinfection spray to arm together, to cleaner arm surface, ensure operation clean hygiene environment
Lower progress.
Preferably, include pressure arteries and veins cylinder from dynamic pressure arteries and veins device, pressure arteries and veins cylinder passes through the second compressed air hose and compressed air
Source connects, and the second compressed air hose is equipped with second solenoid valve, and compressed air hose is connect by pipe fitting with pressure arteries and veins cylinder, and arteries and veins is pressed
The piston rod of cylinder is connect with medical latex tube, and medical latex tube is in the annular of first at least one circle in its natural state and is pressing arteries and veins
The reduced cross-sectional of annular is to by the outer shape of the arm of pressure arteries and veins when cylinder is shunk,
It is two to press arteries and veins cylinder, and every one end of medical latex tube is connect with the piston rod of a pressure arteries and veins cylinder respectively.
The form that emulsion tube is driven by using cylinder, during hand stretches into so that emulsion tube keeps larger ruler
It is very little, after stretching into place so that cylinder is shunk, and emulsion tube is driven to tie tight arm, enables to blood vessel protruding, convenient automatic to know
Other positioning device and intelligent navigation blood vessel identification device identify blood vessel.Moreover, by the way of cylinder contraction, each cylinder is dynamic
The air pressure of work all has uniformity, works tightening force to realize constant pressure arteries and veins so that and haemostatic pressure maintains 10.7~
In 16.0kPa, strength uniform, controllable during tying tight every time, be also unlikely to by arm strangle tension and make user generate not
Comfortable feeling.Every time tie tight during strength uniform, controllable, be also unlikely to by arm strangle tension and make user generate
Uncomfortable feeling.
Preferably, automatic identification positioning device and intelligent navigation blood vessel identification device are the guiding positioning of near-infrared hand vein recognition
Device, near-infrared hand vein recognition guiding locator include camera, single-layer type spike filter, multiple field spike filter,
Near-infrared light source and white light source, mirror construction, infrared light of the near-infrared light source for launch wavelength to be 730nm~990nm are straight
It connects irradiation or reflected illumination and is tested position in human body, camera is used to be tested position progress Image Acquisition to human body and passes through figure
Picture processing unit carries out signal analysis and processing,
The upper mechatronics of near-infrared vein guiding locator, host computer is electrically connected with intelligent master control system, upper
The degree of absorption that machine software systems are used to analyze vein hemoglobin for near-infrared fixed wave length infrared ray, using Near-Infrared Absorption Method
Human body veins beneath the skin measures and location technology, optimizes and highlights to image and obtains best vein after vasculature part and can take a blood sample blood
Pipe guide position；Intelligent master control system be used for by processed best vein can blood-collecting blood vessel guide position be directly changed into as intelligence
It can control the identifiable accurate coordinate position of robot, realize that Near-Infrared Absorption Method position guiding of most preferably take a blood sample positions.
Since vein is different for the degree of absorption of infrared ray and the degree of absorption of peripheral region, it is possible to by infrared
Mode identify the position of blood vessel, in favor of accurately localised puncture desired position, precision can reach 0.2 millimeter with
It is interior, to which the successful possibility of one-time puncture be greatly improved, reduce the pain of patient.
Automatic identification positioning device and intelligent navigation blood vessel identification device can also be doppler ultrasound intelligent navigation master
Control system, doppler ultrasound intelligent navigation master control system include being made of multiple supersonic generators and ultrasonic receiver
Matrix type structure, doppler ultrasound intelligent navigation master control system is for first positioning blood vessel, in conjunction with blood cells flow
The Doppler effect of movable property life, accurate judgement vessel inner blood flow velocity and trend, screen venous blood and arteries, by multiplicity
According to computer software Algorithms Integration is carried out, the accurate position data group of a certain section of a plurality of blood vessel of organization internal is automatically formed, then from
A vein blood vessel most preferably taken a blood sample is selected to carry out puncture blood collecting in position data group.
Vessel inner blood flow velocity and trend are judged by way of supersonic Doppler, and accurate blood vessel position can be provided
While the data such as setting, flow to, in conjunction with robot automation mechanized operation means, accurately blood vessel or tissue can be acquired,
Precision can at least reach within 0.2 millimeter.This is acquired with medical staff's human hand work and compares, and has that operation is accurate, can weigh
Renaturation is strong, does not know fatigue, can more greatly reduce patient suffering with benefits such as normalizing operations.
Preferably, further include blood taking needle automatic supply device, blood taking needle automatic supply device includes needle belt wheel, needle band rotation
Dynamic to be mounted on needle wheeled stand, needle belt wheel is for storing needle band, and needle band is for installing disposable wearing pricker, on needle wheeled stand
It is also rotatablely equipped with needle band idler wheel, needle band idler wheel is sequentially connected with needle translator, and needle translator drives needle band idler wheel with every inferior
The mode of distance drives needle band to run to for pin position, and for gripping apparatus grips and blood was collected；Also pacify on needle wheeled stand
Equipped with fibre optical sensor, fibre optical sensor alignment pins band location hole, light sensor is for detecting whether the movement of needle band arrives for needle
Position.
By above-mentioned blood taking needle automatic supply device, it can be convenient to use at present existing needle band on the market, with folder
Tight device docking.
It is further preferred that further including heparin tube automatic transferring, it is provided with below heparin tube automatic transferring
Heparin tube automatic supply device and heparin tube library, heparin tube automatic supply device include revolution turntable, revolution turntable rotation setting
On revolution support for rotary disc, the turntable that revolves round the sun is with revolution turntable driving motor rotation connection, with revolution center for circle on the turntable that revolves round the sun
The heart is uniformly distributed with multiple heparin tube putting holes for placing heparin tube, and blood sampling is additionally provided at each heparin tube putting hole
Pipe rotation driving mechanism, heparin tube rotation driving mechanism is for driving heparin tube in the rotation of heparin tube putting hole to be swept by scanning machine
Heparin tube can be removed and placed in from heparin tube library to blood sampling by code, typing heparin tube information, heparin tube automatic transferring
In pipe putting hole.
By above-mentioned heparin tube automatic supply device, can before each needle thorn, by the data input of heparin tube, and
And the information of user is matched, to greatly facilitate the information management of blood sampling person.Moreover, can be according to medical information, intelligence
Can accurately according to《Clinical and laboratory standard research institute (CLSI) sixth version standard in 2007》The heparin tube of recommendation uses suitable
Sequence is that detected person selects heparin tube needed for diagnosis and treatment from eight kinds of heparin tubes.Heparin tube automatic supply device can be adopted with automatic identification
Vessel information, the accuracy of 360 ° of rotation scanning confirmation heparin tube information of heparin tube, can quickly, accurately when taking a blood sample convenient for intelligence
Application heparin tube in ground improves the success rate of clinical vein sample collection, final to shorten blood sampling required time, improves clinical application
Blood sampling efficiency.
Still further preferably, further include heparin tube after-treatment system, heparin tube after-treatment system includes that heparin tube is automatic
Evenly mixing device and heparin tube storage device, heparin tube automatic mixing device include heparin tube automatic clamping device, and heparin tube is automatic
Clamping device is electromagnetism clamping jaw, and heparin tube automatic clamping device can be under the driving of mixing motor by the blood sample in heparin tube
This and anti-coagulants mixing, heparin tube storage device are arranged by heparin tube automatic mixing device.
By heparin tube automatic mixing device, the detection reagents such as the anti-coagulants in heparin tube is made to need quantitative mixing fusion anti-
It answers, more accurately diagnostic data is provided for clinical diagnosis.
In addition, venous blood collection intelligent robot also has arm packing paper apparatus for automatic change, it is complete by automatic control technology
Function is replaced at the automatic supply of the disposable arm packing paper of automatic blood sampling machine.
Arm packing paper apparatus for automatic change positions the regular length distance of disposable arm packing paper using distance measuring sensor, by
Slave computer software confirms that this time whether in place disposable arm packing paper is replaced, and is completed more by upper computer software control slave computer
It changes, is then communicated with slave computer software, either direct current generator or servo motor, control driving wheel movement are solid for driving motor
Set a distance carries out disposable arm packing paper and replaces.
Also there is automatic vacuum system, automatic vacuum system can quantify equivalent displacement heparin tube for the venous blood collection robot
Inner space, by the sample collection amount of the accurate detected person of pressure and measurement sensor of high progress, equivalent is the skill stopped
Art.Automatic vacuum system may be replaced by air ventilation device.
The method that venous blood collection is carried out using above-mentioned venous blood collection robot：
Code reader is read out the diagnosis and treatment card of person of blood collecting, according to diagnosis and treatment inspection content heparin tube automatic transferring into
Row automation crawl, heparin tube automatic transferring supply heparin tube, and intelligent master control system can the preferential blood of auto arrangement heparin tube
Liquid acquisition order,
Disposable arm packing paper is provided by arm packing paper apparatus for automatic change, equipment arm bracket is stretched by sampling upper limb,
By carrying out pressure arteries and veins hyperemia from dynamic pressure arteries and veins device,
Identify positioning device to carrying out near-infrared guiding digitlization identification by sampling veins of upper extremity by intelligent navigation blood vessel
Positioning or supersonic digital identification positioning, then carry out automatic blood sampling, i.e., when blood taking needle be inserted into venipuncture success,
Intelligent navigation blood vessel identifies that positioning device intelligence confirms blood back by machine vision,
Gripping apparatus grips blood taking needle puncture blood collecting pipe rubber plug presss from both sides automatic vacuum system according to positioning acquisition alphabetic data
Or air ventilation device blood automatically flows into, and realizes instant negative pressure hemostix,
Automatic vacuum system or air ventilation device automatic ration collecting sample,
Heparin tube automatic transferring captures heparin tube after sample collection, is sent into heparin tube automatic mixing device, real
Mixing is now overturned, the reagents such as the anti-coagulants in acquisition blood sample and heparin tube is made to mix well, completes sampling process.
Blood-sampling method positioning accuracy is high, can effectively mitigate patient's pain.Moreover, using constant pressure quantitative blood sampling volume technology, more
It is accurate to add.Heparin tube is taken a blood sample according to clinic is arranged the accurate mixing of mixing number, and the reagents such as advantageous anti-coagulants are fully reacted with blood,
Improve the quality of collecting sample.Heparin tube has automatic detection function, has ensured the safety acquisition of sample.
Embodiment 2：
Fig. 7 is the structural schematic diagram that automatic sticking device is pasted after the needle in the embodiment of the present invention 2.Emerging attached drawing in figure
The represented meaning of label is as follows：401, gripper is pasted after needle；402, patch supply band after needle；403, patch supply band driving electricity after needle
Machine；404, patch supply band reversing plate after needle；405, it is pasted after needle.
The present embodiment and embodiment 1 difference lies in：
Automatic sticking device is pasted after being additionally provided with needle, it includes being pasted after patch gripper, needle after needle that automatic sticking device is pasted after needle
Supply band driving drum (is located at because pasting supply band driving drum after the needle in shell, not depending on going out in figure), pastes and supplies after needle
It should be sequentially connected with patch supply band driving motor after driving drum and needle, upstream of the patch supply with driving drum is provided with needle after needle
Patch supplies band reversing plate afterwards, and patch supply band reversing plate is used for so that patch supply band pastes supply with driving rolling after by needle after needle after needle
Patch is detached with patch supply band after needle after cylinder winding hour hands, can be pasted gripper crawl after needle, wherein pasting gripper after needle can
In the form of using manipulator crawl, the form of vacuum cup absorption can also be used, gripper is pasted after needle and is driven with gripper
Mechanism driving connects.
By pasting automatic sticking device after needle is arranged, it can be person of blood collecting, be pasted after sticking needle at once after blood sampling, and
When stop blooding.
The operating principle of the present embodiment is as follows：
For example, after the completion of person of blood collecting's blood sampling, patch supply band driving drum rolls after needle, starts to patch supply band after needle
Winding is unreeled with patch supply band after the hour hands also patch supply band after needle and is discharged on roller.The motion process of patch supply band after needle
In, due to needing around patch supply band reversing plate after needle, so after needle the operation angle of patch supply band herein occur it is larger
Change, and angle of the patch supply with reversing plate is smaller after needle, for example, 2-3mm, after needle when patch supply band commutation, after needle
Patch will be detached with the matrix of patch supply band after needle after patch supply takes pasted needle, and separation degree is gradually increased.This
When, pasted after patch gripper crawl needle after needle, and under the driving of gripper driving mechanism by needle after be attached to the needle of patient's arm
At thorn, so as in time to patient hemostasis.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited in upper
The specific implementation mode stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, may be used also
By make it is many in the form of, such as：1. cited by embodiment 1 is that heparin tube automatic clamping device is electromagnetism clamping jaw, can also be
Electric cylinders clamping jaw or Pneumatic clamping jaw；2. the pressure arteries and veins cylinder in embodiment 1 is 2, two pressure arteries and veins cylinder collective effects, to tighten breast
Sebific duct, actually can also will pressure arteries and veins cylinder be set as only there are one, the piston rod of one end of medical latex tube and pressure arteries and veins cylinder
Connection, the other end are fixed at from dynamic pressure arteries and veins appliance stand.Within these are all belonged to the scope of protection of the present invention.
Claims (8)
1. a kind of venous blood collection robot, it is characterised in that：Including arm bracket, be provided with above the arm bracket it is complete from
Dynamic identification positioning device and the mechanical driving mechanism being connect with the clamping device of clamping blood taking needle, the side of the arm bracket is set
It is equipped with intelligent navigation blood vessel identification device, is provided on front side of the arm bracket from dynamic pressure arteries and veins device；
Described to include pressure arteries and veins cylinder from dynamic pressure arteries and veins device, the pressure arteries and veins cylinder passes through the second compressed air hose and compressed air source connects
It connects, second compressed air hose is equipped with second solenoid valve, and the compressed air hose passes through pipe fitting and the pressure arteries and veins cylinder
The piston rod of connection, the pressure arteries and veins cylinder is connect with medical latex tube, and the medical latex tube is presented at least in its natural state
The annular of one circle and when pressing arteries and veins cylinder to shrink the annular reduced cross-sectional extremely by the outer shape of the arm of pressure arteries and veins；
Further include pasting automatic sticking device after needle, it includes pasting after needle to supply after patch gripper, needle that automatic sticking device is pasted after the needle
Should be with driving drum, patch supply band driving drum is sequentially connected with patch supply band driving motor after the needle after the needle, described
Upstream of the patch supply with driving drum is provided with patch supply band reversing plate after needle after needle, and patch supply band reversing plate is used for after the needle
So that patch supply band pastes patch and patch supply band point after the needle after supply band driving drum winding hour hands after by needle after the needle
From can be captured by gripper is pasted after needle, patch gripper is sequentially connected with the gripper driving mechanism after the needle.
2. venous blood collection robot according to claim 1, it is characterised in that：It is additionally provided with above the arm bracket certainly
Dynamic spray disinfecting device, the automatic spray chlorination equipment includes nozzle, and the nozzle is connected to thimerosal storage by sterilizing liquid pipe
Bottle is deposited, the nozzle can also be connected to compressed air source by the first compressed air hose, be set on first compressed air hose
There is the first solenoid valve, the automatic spray chlorination equipment is mounted on can be along the horizontal slider moved perpendicular to arm axial direction
On.
3. venous blood collection robot according to claim 1, it is characterised in that：
When the pressure arteries and veins cylinder is one, one end of the medical latex tube is connect with the piston rod of the pressure arteries and veins cylinder, separately
One end is fixed on from dynamic pressure arteries and veins appliance stand, when the pressure arteries and veins cylinder is two, every one end point of the medical latex tube
It is not connect with the piston rod of a pressure arteries and veins cylinder.
4. venous blood collection robot according to claim 1, it is characterised in that：
The automatic identification positioning device and intelligent navigation blood vessel identification device are near-infrared hand vein recognition guiding locator, institute
State near-infrared hand vein recognition guiding locator include camera, it is single-layer type spike filter, multiple field spike filter, close red
Outer light source and white light source, mirror construction and image processing unit, and be electrically connected with intelligent master control system, the near-infrared light source
Launch wavelength be 730nm~990nm infrared light, and direct irradiation or be reflected in human body be tested position, camera is to human body
Tested position carries out Image Acquisition and carries out signal analysis and processing by image processing unit,
The near-infrared vein guiding locator utilizes absorption of the vein hemoglobin for near-infrared fixed wave length infrared ray
Vein blood vessel is imaged, after camera collects image, image is optimized and is enhanced by image processing unit, through dividing
Best vein is obtained after analysis can blood-collecting blood vessel guide position；Near-infrared vein guiding locator is electrically connected with intelligent master control system
Connect, it is described intelligence master control system by processed best vein can blood-collecting blood vessel guide position be directly changed into as intelligent controller
The identifiable accurate coordinate position of device people, realize Near-Infrared Absorption Method most preferably take a blood sample position guiding position.
5. venous blood collection robot according to claim 1, it is characterised in that：
The automatic identification positioning device and intelligent navigation blood vessel identification device are doppler ultrasound intelligent navigation master control system,
The doppler ultrasound intelligent navigation master control system includes the square being made of multiple supersonic generators and ultrasonic receiver
Configuration structure, the doppler ultrasound intelligent navigation master control system first position blood vessel, are flowed in conjunction with haemocyte
The Doppler effect of generation, accurate judgement vessel inner blood flow velocity and blood vessel trend, screen venous blood and arteries, and will be more
Tuple automatically forms the accurate position data group of a certain section of a plurality of blood vessel of organization internal according to computer software Algorithms Integration is carried out,
A best vein blood vessel is selected to carry out puncture blood collecting from position data group again.
6. venous blood collection robot according to claim 1, it is characterised in that：Further include blood taking needle automatic supply device,
The blood taking needle automatic supply device includes needle belt wheel, and the needle belt wheel is used to store the needle band of installation disposable wearing pricker, and
It is rotatably installed on needle wheeled stand, the needle band being sequentially connected with needle translator is also rotatablely equipped on the needle wheeled stand and is rolled
Wheel, the needle translator drive the needle band idler wheel that the needle band is driven to run to for pin position in a manner of equidistant every time,
For the gripping apparatus grips blood taking needle and blood was collected；It is also equipped with fibre optical sensor on the needle wheeled stand, it is described
Fibre optical sensor by detect needle band needle position location hole, judge needle band movement whether for needle in place.
7. the venous blood collection robot according to any one of claim 1-6, it is characterised in that：Further include that heparin tube is automatic
Heparin tube can be removed and placed in from heparin tube library to heparin tube and place by transfer device, the heparin tube automatic transferring
Kong Zhong is provided with heparin tube automatic supply device and heparin tube library, the blood sampling below the heparin tube automatic transferring
Pipe automatic supply device includes revolution turntable, is uniformly distributed with multiple be used for by the center of circle of revolution center on the revolution turntable
The heparin tube putting hole of heparin tube is placed, heparin tube rotation driving mechanism is additionally provided at each heparin tube putting hole, it is described to adopt
Blood vessel rotation driving mechanism is for driving heparin tube in the heparin tube putting hole rotation with by scanning machine barcode scanning, typing heparin tube
Information.
8. venous blood collection robot according to claim 7, it is characterised in that：Further include heparin tube after-treatment system, institute
It includes heparin tube automatic mixing device and heparin tube storage device, the heparin tube automatic mixing dress to state heparin tube after-treatment system
It sets including heparin tube automatic clamping device, the heparin tube automatic clamping device includes electromagnetism clamping jaw either electric cylinders clamping jaw or gas
Dynamic clamping jaw, the heparin tube automatic clamping device can under the driving of mixing motor by heparin tube blood sample and anti-freezing
Agent mixing；The heparin tube storage device is arranged by the heparin tube automatic mixing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611161133.2A CN106580344B (en) | 2016-12-15 | 2016-12-15 | The Venous Sampling Methods of the robot of venous blood collection robot and application |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611161133.2A CN106580344B (en) | 2016-12-15 | 2016-12-15 | The Venous Sampling Methods of the robot of venous blood collection robot and application |
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