CN108056780A - A kind of automatic blood sampling pricking device - Google Patents
A kind of automatic blood sampling pricking device Download PDFInfo
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- CN108056780A CN108056780A CN201711448966.1A CN201711448966A CN108056780A CN 108056780 A CN108056780 A CN 108056780A CN 201711448966 A CN201711448966 A CN 201711448966A CN 108056780 A CN108056780 A CN 108056780A
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- blood
- taking needle
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- puncture
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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
-
- 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
- A61B5/150343—Collection vessels for collecting blood samples from the skin surface, e.g. test tubes, cuvettes
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
Abstract
The invention discloses a kind of automatic blood sampling pricking devices, it is related to intelligent medical equipment technology field, the present invention is using blood vessel identification positioner acquisition blood vessel identification ultrasonic signal, target blood and puncture angle is accurately positioned, by mobile mechanical arm and blood-taking needle holder blood taking needle is made to be punctured according to puncture angle is calculated to target blood；Meanwhile monitor at blood taking needle whether blood back occur by blood back monitoring device, if occurring representing to puncture successfully, control blood taking needle does not continue to puncture.Blood-taking device uses vacuum blood collection capsule, after pin puncture of taking a blood sample success, blood can be automatically into vacuum blood collection capsule, weighing apparatus weight calculation simultaneously, when the weight of weighing apparatus measurement vacuum blood collection capsule reaches blood sampling desired value, stop blood sampling, control device makes blood taking needle remove blood vessel by mobile mechanical arm and blood-taking needle holder, completes blood sampling.So as to fulfill full-automatic unmanned puncture blood collecting, puncture muff is avoided, reduces patient suffering, reduces human cost.
Description
Technical field
The present invention relates to intelligent medical equipment technology fields, and in particular to a kind of automatic blood sampling pricking device.
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 indexs such as the various assays of row, various biochemical, the immune, pathology to obtain patient, instruct doctor to make and correctly sentence
It is disconnected；On the other hand can be infused by puncturing the venous access established patient.
Existing way mainly by the experience and feel of nurse for many years, is manually punctured, and often occurs pricking inaccurate
Situation, be particularly on the increase in obese patient crowd, infant and ICU unit patients have an acupuncture treatment to medical staff and puncture in addition
In the case that technology requirement is high, very big pain is caused to patient, also increases the probability of doctor-patient dispute.
The patent of invention on automatic blood sampling has at present：1st, the intravenous blood collection side of Guangzhou Yang Pu medical science and technologies Co., Ltd
Method and equipment (application number：200910042047.3)；2nd, Bai Jie " a kind of full-automatic blood-sampling method of multichannel cartridge-type and is set
It is standby ".Above-mentioned two patent applications do not include blood vessel automatic identification positioner and automatic puncturing device, so as to can not achieve blood sampling
The full-automation of process, it is impossible to realize the purpose of unmanned blood sampling.
It cannot automatically and the present situations such as unmanned operation, there is an urgent need for one kind without people in order to solve currently available technology blood collection procedure
Work punctures and the equipment of the automatic intelligent of blood sampling blood sampling.
The content of the invention
It is real it is an object of the invention to provide a kind of automatic blood sampling pricking device for defect in the prior art
Existing full-automatic unmanned puncture blood collecting, avoids puncture muff, reduces patient suffering, reduces human cost.
To achieve the above objectives, the present invention adopts the technical scheme that：A kind of automatic blood sampling pricking device, including：
Blood vessel identifies positioner, and the blood vessel identification positioner includes supersonic generator and ultrasonic receiver；
For the supersonic generator for emitting ultrasonic signal, the ultrasonic receiver identifies ultrasonic signal for gathering blood vessel；
Sting device, the sting device include mobile mechanical arm and blood-taking needle holder；The mobile mechanical arm is used for
The blood-taking needle holder is driven to move, the blood-taking needle holder is used to grip the blood taking needle；
Blood-taking device, the blood-taking device include weighing apparatus, the vacuum blood collection capsule that is placed in above the weighing apparatus and with
The blood taking needle that vacuum blood collection capsule is connected；
Blood back monitoring device, the blood back monitoring device include infrared emittance and infrared remote receiver；The infrared generation
For emitting infrared signal, the infrared remote receiver is used to monitor the infrared signal that blood back whether occurs at blood taking needle device；
Control device, the control device lead to respectively with blood vessel identification positioner, sting device and blood-taking device
Letter connection, the control device are used to identify that the blood vessel identification ultrasonic signal that positioner gathers carries out blood vessel positioning according to blood vessel
And blood vessel thickness identification, calculate target blood puncture position and puncture angle；The mobile mechanical arm and blood taking needle is controlled to press from both sides
Holder makes the blood taking needle be moved to target blood puncture position, and the puncture angle for calculating the blood taking needle is into promoting circulation of blood
Pipe punctures；The infrared signal that the blood back monitoring device is sent is received, receives and the infrared of blood back occurs at the blood taking needle
During signal, the mobile mechanical arm is controlled to stop puncturing；The blood sampling capsules weight that the weighing apparatus are sent is received, capsule weight of taking a blood sample
When amount reaches blood sampling desired value, control the mobile mechanical arm and blood-taking needle holder that the blood taking needle is made to remove blood vessel.
Based on the above technical solutions, the vacuum blood collection capsule and regulating valve phase is passed through between the blood taking needle
Connection, the regulating valve are used to adjust the connected state of the vacuum blood collection capsule and the blood taking needle.
Based on the above technical solutions, the regulating valve default conditions are in off state；After blood sampling punctures successfully, adjust
Section regulating valve makes blood taking needle be connected with vacuum blood collection capsule.
Based on the above technical solutions, the blood taking needle includes the piercing needle being connected with each other and blood back observation storehouse,
The blood back observation storehouse is connected with the regulating valve.
Based on the above technical solutions, the automatic blood sampling pricking device further includes blood sampling capsule transfer device, institute
It states blood sampling capsule transfer device to be used to untapped vacuum blood collection capsule moving to weighing apparatus, be additionally operable to the vacuum after blood sampling
Blood sampling capsule is transported to blood sampling capsule and keeps in place.
Based on the above technical solutions, the automatic blood sampling pricking device further includes chlorination equipment, the disinfection dress
Injector head and thimerosal accommodating device including interconnection are put, the thimerosal accommodating device is described for housing thimerosal
Injector head is used to spray thimerosal under the control of the control device.
Based on the above technical solutions, the automatic blood sampling pricking device includes person of blood collecting's fupport arm, described to be adopted
Blood person fupport arm is used for support person of blood collecting's arm.
Based on the above technical solutions, the blood vessel identification positioner includes multiple supersonic generators, multiple
The ultrasonic transmitter is rectangular to be distributed in person of blood collecting's fupport arm.
Compared with prior art, the advantage of the invention is that：
The present invention identifies positioner using blood vessel, by supersonic generator and ultrasonic receiver acquisition blood vessel identification
Target blood and puncture angle is accurately positioned in ultrasonic signal, by mobile mechanical arm and blood-taking needle holder make blood taking needle according to
Puncture angle is calculated to puncture target blood；Meanwhile it is monitored by blood back monitoring device and whether is returned at blood taking needle
Blood, if occurring representing to puncture successfully, control blood taking needle does not continue to puncture.
Blood-taking device use vacuum blood collection capsule, blood sampling pin puncture success after, blood can automatically into vacuum blood collection capsule,
Weighing apparatus weight calculation simultaneously.When the weight of weighing apparatus measurement vacuum blood collection capsule reaches blood sampling desired value, stop blood sampling, control dress
Put makes blood taking needle remove blood vessel by mobile mechanical arm and blood-taking needle holder, completes blood sampling.It is worn so as to fulfill full-automatic unmanned
Thorn blood sampling, avoids puncture muff, reduces patient suffering, reduces human cost.
Description of the drawings
Fig. 1 is the structure diagram of automatic blood sampling pricking device in the embodiment of the present invention.
In figure：1- blood vessels identification positioner, 11- supersonic generators, 12- ultrasonic receivers, 2- sting devices,
21- mobile mechanical arms, 22- blood-taking needle holders, 3- blood-taking devices, 31- weighing apparatus, 32- vacuum blood collection capsules, 33- blood taking needles,
4- blood back monitoring devices, 41- infrared emittances, 42- infrared remote receivers, 5- blood sampling capsule transfer devices, 6- chlorination equipments, 61-
Thimerosal accommodating device, 62- injector heads, 7- person of blood collecting's fupport arms, 8- person of blood collecting's seats.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
Shown in Figure 1, the embodiment of the present invention provides a kind of automatic blood sampling pricking device, including：Blood vessel identification positioning dress
It puts, blood vessel identification positioner includes supersonic generator and ultrasonic receiver；Supersonic generator is used to emit ultrasonic wave
Signal, ultrasonic receiver identify ultrasonic signal for gathering blood vessel；
Sting device, sting device include mobile mechanical arm and blood-taking needle holder；Mobile mechanical arm is taken a blood sample for driving
Needle holder moves, and blood-taking needle holder is used to grip blood taking needle；
Blood-taking device, blood-taking device include weighing apparatus, the vacuum blood collection capsule and and vacuum blood collection being placed in above weighing apparatus
The blood taking needle that capsule is connected；
Blood back monitoring device, blood back monitoring device include infrared emittance and infrared remote receiver；Infrared emittance is used to send out
Infrared signal is penetrated, infrared remote receiver is used to monitor the infrared signal that blood back whether occurs at blood taking needle；
Control device, control device communicate to connect respectively with blood vessel identification positioner, sting device and blood-taking device, control
Device processed is used to identify that the blood vessel that positioner gathers identifies that ultrasonic signal carries out blood vessel positioning and blood vessel thickness is known according to blood vessel
Not, target blood puncture position and puncture angle are calculated；Control mobile mechanical arm and blood-taking needle holder move blood taking needle
To target blood puncture position, and the puncture angle for calculating blood taking needle carries out vascular puncture；Receive blood back monitoring dress
The infrared signal of transmission is put, when receiving the infrared signal that blood back occurs at blood taking needle, control mobile mechanical arm stops puncturing；It connects
The blood sampling capsules weight that weighing apparatus are sent is received, when blood sampling capsules weight reaches blood sampling desired value, controls mobile mechanical arm and blood sampling
Needle holder makes blood taking needle remove blood vessel.
The present invention identifies positioner using blood vessel, by supersonic generator and ultrasonic receiver acquisition blood vessel identification
Target blood and puncture angle is accurately positioned in ultrasonic signal, by mobile mechanical arm and blood-taking needle holder make blood taking needle according to
Puncture angle is calculated to puncture target blood；Regulating valve default conditions are in off state, and are supervised by blood back monitoring device
It surveys at blood taking needle and whether blood back occurs, if occurring representing to puncture successfully, control blood taking needle does not continue to puncture.
Blood-taking device uses vacuum blood collection capsule, and after blood sampling pin puncture success, adjusting regulating valve makes blood taking needle be adopted with vacuum
Blood glue capsule connects, and blood can be automatically into vacuum blood collection capsule, while weighing apparatus count weight.When weighing apparatus measure vacuum blood collection capsule
Weight when reaching blood sampling desired value, stop blood sampling, control device makes blood taking needle by mobile mechanical arm and blood-taking needle holder
Blood vessel is removed, completes blood sampling.So as to fulfill full-automatic unmanned puncture blood collecting, puncture muff is avoided, reduces patient suffering, reduces people
Power cost.
Regulating valve is used to adjust the connected state of vacuum blood collection capsule and blood taking needle.Regulating valve default conditions are closing shape
State；After blood sampling punctures successfully, adjusting regulating valve makes blood taking needle be connected with vacuum blood collection capsule.What blood taking needle included being connected with each other wears
Pricker head and blood back observation storehouse, blood back observation storehouse are connected with regulating valve.
Automatic blood sampling pricking device further includes blood sampling capsule transfer device, and blood sampling capsule transfer device is used for will be untapped
Vacuum blood collection capsule is moved on weighing apparatus, be additionally operable to by the vacuum blood collection capsule after blood sampling be transported to blood sampling capsule keep in place.
Automatic blood sampling pricking device further includes chlorination equipment, and chlorination equipment includes the injector head being connected with each other and thimerosal holds
Device is put, for housing thimerosal, injector head is used to spray thimerosal under control of the control means thimerosal accommodating device.
Blood vessel identification positioner includes person of blood collecting's fupport arm, and person of blood collecting's fupport arm is used for support person of blood collecting's arm.Blood
Pipe identification positioner includes multiple supersonic generators, and multiple ultrasonic transmitter matrix distributions are in person of blood collecting's fupport arm.
The application method of automatic blood sampling pricking device is：
Supersonic generator emits ultrasonic signal, ultrasonic receiver acquisition blood vessel identification ultrasonic signal；
Control device identifies that the blood vessel identification ultrasonic signal that positioner gathers carries out blood vessel positioning and blood vessel according to blood vessel
Thickness identifies, calculates target blood puncture position and puncture angle；
Control device controls mobile mechanical arm and blood-taking needle holder that blood taking needle is made to be moved to target blood puncture position, and
The puncture angle for making blood taking needle to calculate carries out vascular puncture；
Infrared emittance emits infrared signal, and the infrared signal of blood back whether occurs at infrared remote receiver monitoring blood taking needle；
When control device receives the infrared signal that blood back occurs at blood taking needle, control mobile mechanical arm stops puncturing；
Control device receives the blood sampling capsules weight that weighing apparatus are sent, when blood sampling capsules weight reaches blood sampling desired value, control
Mobile mechanical arm blood-taking needle holder processed makes blood taking needle remove blood vessel.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
On the premise of the principle of the invention, several improvements and modifications can also be made, these improvements and modifications are also considered as the protection of the present invention
Within the scope of.The content not being described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (8)
1. a kind of automatic blood sampling pricking device, which is characterized in that including：
Blood vessel identifies positioner, and the blood vessel identification positioner includes supersonic generator and ultrasonic receiver；It is described
For supersonic generator for emitting ultrasonic signal, the ultrasonic receiver identifies ultrasonic signal for gathering blood vessel；
Sting device, the sting device include mobile mechanical arm and blood-taking needle holder；The mobile mechanical arm is used to drive
The blood-taking needle holder movement, the blood-taking needle holder are used to grip the blood taking needle；
Blood-taking device, the blood-taking device include weighing apparatus, the vacuum blood collection capsule being placed in above the weighing apparatus and and vacuum
The blood taking needle that blood sampling capsule is connected；
Blood back monitoring device, the blood back monitoring device include infrared emittance and infrared remote receiver；The infrared emittance is used
In transmitting infrared signal, the infrared remote receiver is used to monitor the infrared signal that blood back whether occurs at blood taking needle；
Control device, the control device identify positioner, sting device and blood-taking device communication link with the blood vessel respectively
It connects, the control device is used to identify that the blood vessel identification ultrasonic signal that positioner gathers carries out blood vessel positioning and blood according to blood vessel
Tube thickness identifies, calculates target blood puncture position and puncture angle；Control the mobile mechanical arm and blood-taking needle holder
The blood taking needle is made to be moved to target blood puncture position, and the puncture angle for calculating the blood taking needle carries out blood vessel and wears
Thorn；The infrared signal that the blood back monitoring device is sent is received, receives the infrared signal that blood back occurs at the blood taking needle
When, the mobile mechanical arm is controlled to stop puncturing；The blood sampling capsules weight that the weighing apparatus are sent is received, blood sampling capsules weight reaches
During to blood sampling desired value, control the mobile mechanical arm and blood-taking needle holder that the blood taking needle is made to remove blood vessel.
2. a kind of automatic blood sampling pricking device as described in claim 1, it is characterised in that：The vacuum blood collection capsule and with institute
It states and is connected by regulating valve between blood taking needle, the regulating valve is used to adjust the vacuum blood collection capsule and the blood taking needle
Connected state.
3. a kind of automatic blood sampling pricking device as claimed in claim 2, it is characterised in that：The regulating valve default conditions are pass
Closed state；After blood sampling punctures successfully, adjusting regulating valve makes blood taking needle be connected with vacuum blood collection capsule.
It is 4. as claimed in claim 3 a kind of using automatic blood sampling pricking device, it is characterised in that：The blood taking needle includes mutual
Piercing needle and blood back the observation storehouse of connection, the blood back observation storehouse are connected with the regulating valve.
5. a kind of automatic blood sampling pricking device as described in claim 1, it is characterised in that：The automatic blood sampling pricking device is also
Including capsule transfer device of taking a blood sample, the blood sampling capsule transfer device is used to untapped vacuum blood collection capsule moving to weighing apparatus
On, be additionally operable to by the vacuum blood collection capsule after blood sampling be transported to blood sampling capsule keep in place.
6. a kind of automatic blood sampling pricking device as described in claim 1, it is characterised in that：The automatic blood sampling pricking device is also
Including chlorination equipment, the chlorination equipment includes the injector head being connected with each other and thimerosal accommodating device, the thimerosal house
For housing thimerosal, the injector head is used to spray thimerosal under the control of the control device device.
7. a kind of automatic blood sampling pricking device as described in claim 1, it is characterised in that：The automatic blood sampling pricking device bag
Person of blood collecting's fupport arm is included, person of blood collecting's fupport arm is used for support person of blood collecting's arm.
It is 8. as claimed in claim 7 a kind of using automatic blood sampling pricking device, it is characterised in that：The blood vessel identification positioning dress
It puts including multiple supersonic generators, multiple ultrasonic transmitters are rectangular to be distributed in person of blood collecting's fupport arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711448966.1A CN108056780A (en) | 2017-12-27 | 2017-12-27 | A kind of automatic blood sampling pricking device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711448966.1A CN108056780A (en) | 2017-12-27 | 2017-12-27 | A kind of automatic blood sampling pricking device |
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| CN201711448966.1A Pending CN108056780A (en) | 2017-12-27 | 2017-12-27 | A kind of automatic blood sampling pricking device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108888427A (en) * | 2018-07-17 | 2018-11-27 | 华中科技大学 | A kind of automatic blood sampling and automatic infusion nursing bed |
| CN108937963A (en) * | 2018-08-10 | 2018-12-07 | 冯瑞新 | A kind of blood routine blood drawing robot |
| CN109157227A (en) * | 2018-10-10 | 2019-01-08 | 深圳元华医疗设备技术有限公司 | Blood sampling infusion robot and control method |
| CN109248029A (en) * | 2018-08-29 | 2019-01-22 | 华中科技大学同济医学院附属协和医院 | A kind of automatic blood sampling stretcher |
| CN110464304A (en) * | 2019-08-20 | 2019-11-19 | 吉林大学第一医院 | A kind of blood-sampling method and equipment |
| CN111839534A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling method and blood sampling robot |
| CN111839542A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Multi-link mechanism for blood sampling robot device |
| CN111839540A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Intelligent blood sampling robot |
| CN111904432A (en) * | 2019-05-10 | 2020-11-10 | 江苏哈工智能机器人股份有限公司 | Blood sampling device and blood sampling control method |
| CN112218672A (en) * | 2018-06-06 | 2021-01-12 | 泰尔茂株式会社 | Puncture system |
| CN112842257A (en) * | 2019-11-12 | 2021-05-28 | 磅客策(上海)机器人有限公司 | Blood vessel positioning method and device |
| CN113017625A (en) * | 2021-02-26 | 2021-06-25 | 北京伟浩君智能技术有限公司 | Control method and device of blood sampling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112218672A (en) * | 2018-06-06 | 2021-01-12 | 泰尔茂株式会社 | Puncture system |
| CN108888427A (en) * | 2018-07-17 | 2018-11-27 | 华中科技大学 | A kind of automatic blood sampling and automatic infusion nursing bed |
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| CN108937963B (en) * | 2018-08-10 | 2020-12-15 | 刘淑慧 | Blood routine blood drawing robot |
| CN108937963A (en) * | 2018-08-10 | 2018-12-07 | 冯瑞新 | A kind of blood routine blood drawing robot |
| CN109248029A (en) * | 2018-08-29 | 2019-01-22 | 华中科技大学同济医学院附属协和医院 | A kind of automatic blood sampling stretcher |
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| CN109157227B (en) * | 2018-10-10 | 2024-02-13 | 深圳元华医疗设备技术有限公司 | Blood sampling and transfusion robot and control method |
| CN111904432A (en) * | 2019-05-10 | 2020-11-10 | 江苏哈工智能机器人股份有限公司 | Blood sampling device and blood sampling control method |
| CN110464304A (en) * | 2019-08-20 | 2019-11-19 | 吉林大学第一医院 | A kind of blood-sampling method and equipment |
| CN112842257A (en) * | 2019-11-12 | 2021-05-28 | 磅客策(上海)机器人有限公司 | Blood vessel positioning method and device |
| CN111839540A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Intelligent blood sampling robot |
| CN111839542A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Multi-link mechanism for blood sampling robot device |
| CN111839534B (en) * | 2020-06-05 | 2023-09-05 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling method and blood sampling robot |
| CN111839534A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling method and blood sampling robot |
| CN113017625A (en) * | 2021-02-26 | 2021-06-25 | 北京伟浩君智能技术有限公司 | Control method and device of blood sampling robot |
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