CN107811645A - Extract the machine of blood in blood vessel - Google Patents
Extract the machine of blood in blood vessel Download PDFInfo
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- CN107811645A CN107811645A CN201711300831.0A CN201711300831A CN107811645A CN 107811645 A CN107811645 A CN 107811645A CN 201711300831 A CN201711300831 A CN 201711300831A CN 107811645 A CN107811645 A CN 107811645A
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- human body
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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
- A61B5/1545—Devices using pre-evacuated means comprising means for indicating vein or arterial entry
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
-
- 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
- A61B5/150175—Adjustment of penetration depth
-
- 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
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B2017/12004—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for haemostasis, for prevention of bleeding
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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- General Health & Medical Sciences (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Hematology (AREA)
- Vascular Medicine (AREA)
- Reproductive Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The machine for extracting blood in blood vessel is provided, it includes：Fixed cell, for fixed human body to be drawn blood；Image acquisition units, collection patient skin image, described image collecting unit sends the skin image collected to described control unit；The positional information of described control unit flesh body vessel according to corresponding to obtaining the skin image；Piercing assembly, it is set on the robotic arm, and the piercing assembly includes syringe needle and pressure sensor；Control unit, described control unit control the syringe needle to extract the blood in the blood vessel according to predetermined policy.The present invention provides a kind of precise positioning vessel position, the blood sample collecting device of automatic puncturing blood sampling.
Description
Technical field
The present invention relates to technical field of medical instruments, is exactly specifically a kind of machine for extracting blood in blood vessel.
Background technology
Blood routine examination is one of inspection project most extensive, most basic in clinical examination, by routine examination specimen blood
The analysis of cell, it can be realized that the change of the quantity and form of patient's haemocyte, contribute to clinical made to disease preferably
Early diagnosis.Mainly there are three kinds of tip blood sampling, venous blood collection and tip diluted blood in the source of routine examination specimen at present, and by not
The result that same Blood collection measures has different, wherein, venous blood collection can avoid more influence factor, measure standard
Really and stabilization time is grown, and can directly reflect the health of patient.
It is well known that inside the located subcutaneously tissue of vein blood vessel or bodily tissue, at present mainly by manually from vein
Obtain blood tissues sample and carry out the indexs such as various assays, various biochemical, the immune, pathology to obtain patient,
Doctor is instructed to make diagnostic result based on result of laboratory test again.For example, experience and feel by nurse for many years, are manually worn
Thorn, but often occur pricking inaccurate situation, particularly it is on the increase in obese patient crowd, in addition infant and ICU (severes
Intensive care) unit patients to medical personnel have an acupuncture treatment puncture technique require more and more higher in the case of, caused to patient very big
Pain, while also increase the probability of doctor-patient dispute.
Therefore, people start to research and develop various blood sampling auxiliary equipments, such as infrared angiograph and CDFI
Blood vessel identification equipment.Wherein, infrared angiograph mainly make use of hemoglobin in blood vessel to the absorptivity of near infrared light with
The different principle of its hetero-organization, by a series of processing to digitized video, veins beneath the skin in-situ projection is included in skin table
Face, enable a physician to clearly identify the subcutaneous 8mm-10mm of patient trickle blood vessel.Infrared angiograph is that a kind of blood sampling is auxiliary
Equipment is helped, one intuitively refers to mainly to nurse, can actually also improve the accuracy rate of puncture.But actual blood sampling behaviour
Make, still by being accomplished manually, to there is also and prick inaccurate situation, can still cause doctor-patient dispute.
CDFI blood vessel identification equipment borrows Colored doppler ultrasound and carries out blood vessel identification, colored how general
It is usually to carry out LDA signal processor with autocorrelation technique to strangle ultrasound, and the blood flow signal that autocorrelation technique obtains is compiled through colour
It is superimposed in real time on 2d after code, that is, forms Color Doppler Ultrasonic picture.But the color Doppler of formation
Supersonic blood image is all analog image, is exported without digitalized data.The main purpose of color Doppler echocardiography angiography
It is the CDFI in order to be positioned with blood flow signal information that is noninvasive, providing lesion region in real time, rather than blood vessel
Blood vessel identification equipment can only be used as blood sampling auxiliary equipment, can not realize the automation of blood vessel blood sampling.
Therefore, those skilled in the art need a kind of precise positioning vessel position of research and development, the blood sample of automatic puncturing blood sampling badly
Collecting device, reduce or avoid doctor-patient dispute.
The content of the invention
In order to solve at least part above-mentioned technical problem, the present invention it is mobile by control unit control machinery arm and then
Syringe needle inserts human body, and the saltus step for detecting the pin stalk internal pressure value of syringe needle judges whether syringe needle is inserted in the blood vessel of human body, from
And automatic puncturing human body blood vessel is realized, gather the purpose of blood sample.Specifically, the present invention includes：
Fixed cell, for fixed human body to be drawn blood；The fixed cell includes the first component and the second component；
Gravity sensor, detect the gravity value on the fixed cell；
Lifting platform, it is arranged on the fixed cell bottom, fixed cell described in the lifting of lifting table；
Image acquisition units, collection patient skin image, described image collecting unit sends out the skin image collected
Deliver to described control unit；The positional information of described control unit flesh body vessel according to corresponding to obtaining the skin image；
Piercing assembly, it is set on the robotic arm, and the piercing assembly includes syringe needle and pressure sensor；
Control unit, when the gravity sensor detects gravity value, described control unit is by first component
The movable end of movable end and second component merges the human body of fixed blood to be extracted, meanwhile, described control unit control institute
State lifting platform to rise so that the fixed cell rises to precalculated position, described control unit controls the pin according to predetermined policy
Head extracts the blood in the blood vessel；
Wherein, the predetermined policy is that (1) controls the mechanical arm to move so that the syringe needle according to the positional information
Positioned at the top of the blood vessel；(2) syringe needle and the vessel；(3) angle of the syringe needle and the blood vessel is adjusted,
And control the syringe needle to puncture intravasation and extract blood.
In some embodiments, it is described to extract in blood vessel in the machine of blood, the predetermined policy also include (4) when
When the pressure value saltus step occurs for the first time, described control unit controls the mechanical arm to move so that the syringe needle is with puncturing flesh
Body is in 30 °~80 ° angles.
In some embodiments, it is described to extract in blood vessel in the machine of blood, the predetermined policy also include (5) when
When saltus step occurs for the second time in the pressure value, described control unit controls the mechanical arm to move so that the syringe needle is with puncturing flesh
Body is in 5 °~20 ° angles.
In some embodiments, it is described to extract in blood vessel in the machine of blood, the predetermined policy also include (6) when
When saltus step occurs in the pressure value third time, it is predetermined that described control unit controls the mechanical arm movement make it that the syringe needle is withdrawn
Distance.
In some embodiments, it is described to extract in blood vessel in the machine of blood, the preset distance be 0.5mm~
2mm。
In some embodiments, in described extraction blood vessel in the machine of blood, in addition to connected with the syringe needle
Blood storage pipe.
In some embodiments, it is vacuum in the blood storage pipe in described extraction blood vessel in the machine of blood,
So that blood is exported into the blood storage pipe from the syringe needle.
In some embodiments, in described extraction blood vessel in the machine of blood, in addition to the detection blood storage
The blood level value is sent to described control unit by the liquid level sensor of blood level value in pipe, the liquid level sensor
In；
Height threshold is prestored in described control unit, when the blood level value is more than or equal to the height threshold,
Work as leading angle with what puncture human body was according to the syringe needle, the controller controls the mechanical arm to move so that the syringe needle
Removed from the puncture human body.
In some embodiments, in described extraction blood vessel in the machine of blood, in addition to：Stop blooding unit, and described
Control unit connects, and prevents blood from being pricked by pin out of human body after being removed for the syringe needle from the puncture human body and flows out.
Brief description of the drawings
Fig. 1 is the workflow diagram of the machine of blood in extraction blood vessel of the present invention.
Embodiment
Now describe the various exemplary embodiment of the present invention in detail, the detailed description is not considered as the limit to the present invention
System, and it is understood as the more detailed description to certain aspects of the invention, characteristic and embodiment.
It should be understood that heretofore described term is only to describe special embodiment, being not intended to limit this hair
It is bright.In addition, for the number range in the present invention, it is thus understood that specifically disclose the scope upper and lower bound value and they
Between each median.Median and any other statement value in any statement value or stated ranges or in the model
The each less scope enclosed between interior median is also included in the present invention.These small range of upper and lower bounds can be only
On the spot include or exclude in the range of.
Unless otherwise stated, all technologies used herein and scientific terminology have the routine in field of the present invention
The identical meanings that technical staff is generally understood that.Although the present invention only describes preferable method and material, the present invention's
Implement or can also be used and similar or equivalent any method described herein and material in testing.The institute mentioned in this specification
There is document to be incorporated by reference into, to the disclosure and description method related to the document and/or material.It is incorporated to any
When document conflicts, it is defined by the content of this specification.
In the present invention, vocabulary of terms both includes singulative, also including plural form, unless context separately clearly refers to
Go out.Heretofore described " at least one " refers not only to the situation comprising "one" or " one kind ", prior also comprising " more
It is individual " or " a variety of " situation.
The machine of blood in a kind of extraction blood vessel that the specific embodiment of the invention provides, as shown in figure 1, it includes：
Fixed cell, for fixed human body to be drawn blood；The fixed cell includes the first component and the second component；
Gravity sensor, detect the gravity value on the fixed cell；
Lifting platform, it is arranged on the fixed cell bottom, fixed cell described in the lifting of lifting table；
Image acquisition units, collection patient skin image, described image collecting unit sends out the skin image collected
Deliver to described control unit；The positional information of described control unit flesh body vessel according to corresponding to obtaining the skin image；
Piercing assembly, it is set on the robotic arm, and the piercing assembly includes syringe needle and pressure sensor；
Control unit, when the gravity sensor detects gravity value, described control unit is by first component
The movable end of movable end and second component merges the human body of fixed blood to be extracted, meanwhile, described control unit control institute
State lifting platform to rise so that the fixed cell rises to precalculated position, described control unit controls the pin according to predetermined policy
Head extracts the blood in the blood vessel；
Wherein, the predetermined policy is that (1) controls the mechanical arm to move so that the syringe needle according to the positional information
Positioned at the top of the blood vessel；(2) syringe needle and the vessel；(3) angle of the syringe needle and the blood vessel is adjusted,
And control the syringe needle to puncture intravasation and extract blood.
For syringe needle during puncturing into human body lower floor blood vessel, the pressure change in pin stalk includes following process：First
In the stage, syringe needle is not in contact with human body, its uniform motion in atmosphere, and the pressure value stabilization in pin stalk is in first pressure value；Second-order
Section, needle contact human body skin simultaneously start to puncture skin, and the pressure value in pin stalk that pressure sensor monitors in real time is one and held
The process of continuous change, second pressure value is gradually varied to from first pressure value, pressure sensor detect from first pressure value to
The change procedure of second pressure value is the first time saltus step of pin stalk internal pressure value；Phase III, syringe needle enter human body after be
Uniform motion in soft tissue in puncture vessel, i.e. syringe needle human body, then the pressure value stabilization in pin stalk is in second pressure value；Fourth order
Section, needle contact blood vessel and the gradually process inside the tube wall intravasation of puncture vessel side, what pressure sensor monitored in real time
Pressure value in pin stalk is a process persistently changed, and the 3rd pressure value, pressure sensing are gradually varied to from second pressure value
Device detects that from second pressure value be second of saltus step of pin stalk internal pressure value to the change procedure of the 3rd pressure value；4th
In the stage, syringe needle intravasation, i.e. syringe needle uniform motion in the blood vessel, then the pressure value stabilization in pin stalk is in the 3rd pressure value；The
The process of four stages, the tube wall of needle contact blood vessel opposite side and gradual puncture vessel opposite side tube wall, pressure sensor are real-time
Pressure value in the pin stalk of monitoring is a process persistently changed, is gradually varied to the 4th pressure value from the 3rd pressure value, presses
Force snesor detects that the change procedure from the 3rd pressure value to the 4th pressure value is the third time jump of pin stalk internal pressure value
Become.Therefore, when second of saltus step occurs for pressure value, show that syringe needle has been penetrated into opposite side from the side tube wall of blood vessel
Tube wall, then control unit control machinery arm stops and then syringe needle is stopped, and is retained in order that obtaining syringe needle in blood vessel pipe, from
And make it that syringe needle retains in the blood vessels, to utilize the endovascular blood of negative pressure extracting.Preferably, the preset distance is
0.5mm~2mm.It is highly preferred that the preset distance is 0.5~1mm, for example, the preset distance be 0.5mm, 0.6mm,
0.7mm, 0.8mm, 0.9mm or 1mm.
In some embodiments, in described extraction blood vessel in the machine of blood, in addition to for fixing blood to be extracted
The fixed cell of liquid human body, the fixed cell includes fixed platform subelement and binding subelement, by blood human body to be extracted
The upper skin for being observed that blood vessel is fixed on the fixed platform subelement upwards, and causes local skin corresponding to blood vessel
In the zone of action of mechanical arm, then with binding unit in the region of non-above-mentioned local skin by the human body of blood to be extracted
It is fixed, to fix human body, it is ensured that for mechanical arm during blood drawing, human body is not mobile or rotates, and can accurately find blood vessel,
Smoothly complete blood drawing process.Wherein, the local skin is preferably arranged on to the underface of mechanical arm movable end, to shorten machinery
The traveling time of arm, there is provided blood drawing efficiency.
In some embodiments, it is described to extract in blood vessel in the machine of blood, in the first stage when, syringe needle is vertical
Moved in body surface and towards body surface；When needle contact human body skin and start to puncture the second stage of skin, it is described
When pressure value saltus step occurs for the first time, and when the first saltus step starts, just start to adjust the angle of syringe needle and body surface, it is described
Control unit controls the mechanical arm to move so that the syringe needle and puncture human body are in 30 °~80 ° angles.Due to the general position of blood vessel
In the superficial layer of human body skin, i.e. the distance of blood vessel and skin surface is very short, and according to above-mentioned angle, syringe needle punctures human body skin and entered
Enter inside human body, syringe needle can be extended inside human body not in contact with the path distance before blood vessel, so can accurately detect pin stalk
Interior pressure change, meanwhile, the pain that syringe needle punctures human body can be mitigated.
In some embodiments, the described machine for extracting blood in blood vessel, when the pressure value is jumped for the second time
During change, described control unit controls the mechanical arm to move so that the syringe needle and puncture human body are in 5 °~20 ° angles.Syringe needle exists
Contact a side wall of blood vessel is to another side wall is punctured, and second of saltus step occurs in pressure value, when it takes place in second of saltus step
When, adjust the angle between syringe needle and blood vessel so that be also in 5 °~20 ° of angle between syringe needle and blood vessel, reduce syringe needle and puncture
The pain of blood vessel, lengthen syringe needle the distance between from a side wall of blood vessel to another side wall value, increase syringe needle is in the blood vessel
Movement locus, be so both easy to detect pin stalk in pressure situation of change, and cause syringe needle as much as possible with vessel, so
Both it is easy to draw blood, the accuracy rate of blood drawing can be improved again.
In some embodiments, the described machine for extracting blood in blood vessel, the blood storage connected with the syringe needle
Pipe, it is vacuum to state in blood storage pipe, so that blood is exported into the blood storage pipe from the syringe needle.Syringe needle is extracted out
It is stored between the blood come in blood storage tank, is easy to sealing or subsequent detection to use.
In some embodiments, the described machine for extracting blood in blood vessel, in addition to the detection blood storage pipe
The liquid level sensor of middle blood level value, the blood storage that syringe needle is released is after blood storage tank, liquid level sensor detection institute
The blood level value in blood storage tank is stated, wherein, blood storage tank is generally cylinder, square, cuboid or other rule
Then cube, after liquid level sensor detects blood level value, it can further determine the volume of blood in blood sensor
Value.The difference of the bulking value of the blood needed according to different tests or detection, being prestored in described control unit different has height
Threshold value is spent, when the blood level value is more than or equal to the height threshold, then the blood that illustrates to store in blood storage tank
Bulking value has reached experiment or detection needs, works as leading angle, the controller with what puncture human body was according to the syringe needle
Controlling the mechanical arm to move causes the syringe needle to be removed from described puncture in human body, and syringe needle is extracted from human body, completes to take out
Blood process.Blood demand can so be met, can avoid being automatically stopped the generation of blood drawing phenomenon again, realize criterion control
Blood drawing amount.
In some embodiments, described to extract in blood vessel in the machine of blood, the syringe needle is from the puncture human body
Speed during middle removal is more than the speed when syringe needle punctures.Syringe needle has relatively low speed when puncturing, and can improve
Pressure sensor detects the sensitivity of pressure value, so that syringe needle can accurately determine blood vessel, and extracts endovascular blood, raising is taken out
The accuracy rate of blood
In some embodiments, in described extraction blood vessel in the machine of blood, in addition to：Stop blooding unit, and described
Control unit connects, and prevents blood from being pricked by pin out of human body after being removed for the syringe needle from the puncture human body and flows out.
It is stored with hemostatic cotton in the hemostasis unit, after completing blood drawing, pin hole is pinned using hemostatic cotton, anti-Hemostatic Oral Liquid is by pin hole from flesh
Outflow in vivo.Or the hemostasis unit is the structure with pressing function, the unit that stops blooding is towards being provided with the end face of human body
Disposably, interchangeable hemostatic cotton, often complete after once drawing blood, hemostasis unit moves and common with fixed cell to fixed cell
Pin hole on effect pressing human body, after pressing 2-10 minutes, hemostasis cell orientation is moved in fixed cell, completes hemostasis.
In the case of without departing substantially from the scope or spirit of the invention, the embodiment of description of the invention can be done more
Kind is improved and change, and this will be apparent to those skilled in the art.Other realities obtained by the specification of the present invention
It is apparent obtain for technical personnel to apply mode.Present specification and embodiment are only exemplary.
Claims (9)
- A kind of 1. machine for extracting blood in blood vessel, it is characterised in that including：Fixed cell, for fixed human body to be drawn blood；The fixed cell includes the first component and the second component；Gravity sensor, detect the gravity value on the fixed cell；Lifting platform, it is arranged on the fixed cell bottom, fixed cell described in the lifting of lifting table；Image acquisition units, collection patient skin image, described image collecting unit by the skin image that collects send to Control unit；The positional information of described control unit flesh body vessel according to corresponding to obtaining the skin image；Piercing assembly, it is set on the robotic arm, and the piercing assembly includes syringe needle and pressure sensor；Described control unit, when the gravity sensor detects gravity value, described control unit is by first component The movable end of movable end and second component merges the human body of fixed blood to be extracted, meanwhile, described control unit control institute State lifting platform to rise so that the fixed cell rises to precalculated position, described control unit controls the pin according to predetermined policy Head extracts the blood in the blood vessel；Wherein, the predetermined policy is that (1) controls the mechanical arm to move so that the syringe needle is located at according to the positional information The top of the blood vessel；(2) syringe needle and the vessel；(3) angle of the syringe needle and the blood vessel is adjusted, and is controlled Make the syringe needle and puncture intravasation extraction blood.
- 2. the machine according to claim 1 for extracting blood in blood vessel, it is characterised in that the predetermined policy also includes (4) when the pressure value saltus step occurs for the first time, described control unit control the mechanical arm move cause the syringe needle with It is in 30 °~80 ° angles to puncture human body.
- 3. the machine according to claim 2 for extracting blood in blood vessel, it is characterised in that the predetermined policy also includes (5) when the pressure value saltus step occurs for the second time, described control unit control the mechanical arm move cause the syringe needle with It is in 5 °~20 ° angles to puncture human body.
- 4. the machine according to claim 3 for extracting blood in blood vessel, it is characterised in that the predetermined policy also includes (6) when saltus step occurs in pressure value third time, described control unit controls the mechanical arm to move so that the syringe needle returns Remove preset distance.
- 5. the machine according to claim 4 for extracting blood in blood vessel, it is characterised in that the preset distance is 0.5mm ~2mm.
- 6. the machine according to claim 1 for extracting blood in blood vessel, it is characterised in that also include connecting with the syringe needle Blood storage pipe.
- 7. the machine according to claim 6 for extracting blood in blood vessel, it is characterised in that be true in the blood storage pipe Sky, so that blood is exported into the blood storage pipe from the syringe needle.
- 8. the machine according to claim 6 for extracting blood in blood vessel, it is characterised in that also include the detection blood and deposit The liquid level sensor of blood level value in pipe is stored up, the blood level value is sent to described control unit by the liquid level sensor In；Height threshold is prestored in described control unit, when the blood level value is more than or equal to the height threshold, according to The syringe needle works as leading angle with what puncture human body was in, and the controller controls the mechanical arm movement to cause the syringe needle from institute State to puncture and removed in human body.
- 9. the machine according to claim 8 for extracting blood in blood vessel, it is characterised in that also include：Stop blooding unit, with institute Control unit connection is stated, prevents blood from being pricked by pin out of human body after being removed for the syringe needle from the puncture human body and flows Go out.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711300831.0A CN107811645A (en) | 2017-12-10 | 2017-12-10 | Extract the machine of blood in blood vessel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711300831.0A CN107811645A (en) | 2017-12-10 | 2017-12-10 | Extract the machine of blood in blood vessel |
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| CN111481211A (en) * | 2020-04-14 | 2020-08-04 | 中国人民解放军陆军军医大学第一附属医院 | Positioning device for blood drawing |
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|---|---|---|---|---|
| CN111481211A (en) * | 2020-04-14 | 2020-08-04 | 中国人民解放军陆军军医大学第一附属医院 | Positioning device for blood drawing |
| CN111481211B (en) * | 2020-04-14 | 2022-12-02 | 中国人民解放军陆军军医大学第一附属医院 | Positioning device for blood drawing |
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Application publication date: 20180320 |