CN111012366A - Automatic vein blood sampling equipment and using method - Google Patents
Automatic vein blood sampling equipment and using method Download PDFInfo
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- CN111012366A CN111012366A CN201911280827.1A CN201911280827A CN111012366A CN 111012366 A CN111012366 A CN 111012366A CN 201911280827 A CN201911280827 A CN 201911280827A CN 111012366 A CN111012366 A CN 111012366A
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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
- A61B5/150175—Adjustment of penetration depth
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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
- A61B5/153—Devices specially adapted for taking samples of venous or arterial blood, e.g. with syringes
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Abstract
The invention discloses an automatic vein blood sampling device and a using method thereof, wherein the automatic vein blood sampling device comprises: a frame; the first driving assembly is provided with a first output end, the first output end is configured to move in a plane, and the first output end can rotate around a rotating shaft perpendicular to the plane; the vein imager is fixedly arranged on the first output end; the second driving assembly is arranged on the first output end and is provided with a second output end, and the second output end can lift and rotate relative to the first output end; the needle tube assembly comprises a blood taking needle, the needle tube assembly is arranged on the second output end, and the blood taking needle can slide relative to the second output end; and the control assembly controls the first driving assembly, the vein imager, the second driving assembly and the needle tube assembly to work. The invention makes the first driving component and the second driving component simpler and more convenient when adjusting and controlling the blood taking needle, and avoids excessive coupling between front and back movement.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to automatic vein blood sampling equipment and a using method thereof.
Background
The venous blood sampling is usually completed by the operation of doctors or nurses, the success rate of the first blood sampling can be ensured only through special technical training and years of practical experience, and doctors or nurses of new hands often need to prick needles for many times, so that not only is the pressure on work brought to the doctors or nurses, but also extra pain and emotional dissatisfaction are brought to blood-sampled persons, and even medical disputes can be caused. At present, the hospital has more and more workload for venous blood collection, but the quota of a skilled blood collection doctor or nurse is limited, so that an automatic venous blood collection instrument needs to be configured to complete manual blood collection; the existing automatic venous blood sampling instrument has complex structure, complex kinematic coupling and complex control.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art, and provides an automatic venous blood sampling device and a using method thereof, which can simplify the structure and control of the conventional automatic venous blood sampling instrument.
According to a first aspect of the present invention, there is provided an automatic venous blood collection device comprising:
a frame;
a first driving assembly mounted on the frame, the first driving assembly having a first output end configured to be movable in a plane, and the first output end being rotatable about a rotation axis perpendicular to the plane;
a vein imager fixedly mounted on the first output, the vein imager configured to detect a vein location on an arm;
the second driving assembly is arranged on the first output end and is provided with a second output end, and the second output end can lift and rotate relative to the first output end;
the needle tube assembly comprises a blood taking needle, the needle tube assembly is arranged on the second output end, and the blood taking needle can slide relative to the second output end;
the control assembly controls the first driving assembly, the vein imager, the second driving assembly and the needle tube assembly to work.
In some embodiments, a moving track of the lancet with respect to the second output end is perpendicular to a rotation center of the second output end.
In some embodiments, the first driving assembly further includes a cross beam slidably mounted on the frame, and a sliding seat slidably mounted on the cross beam, and the first output end is rotatably mounted on the sliding seat.
In some embodiments, the second driving assembly includes a lifting base, the lifting base is liftably mounted on the first output end, and the second output end is rotatably mounted on the lifting base.
In some technical solutions, a square mounting hole is formed in the first output end, the lifting seat is arranged in a square rod shape, and one end of the lifting seat can be installed in the square mounting hole in a lifting manner.
In some technical solutions, the needle tube assembly includes a force sensor and a power assembly, the power assembly is installed on the second output end, the power assembly is in transmission connection with the blood taking needle, the force sensor is configured to collect resistance force applied when the blood taking needle advances, and the force sensor is electrically connected with the control assembly.
In some technical solutions, the power assembly includes a motor and a synchronous belt, the motor is installed at the second output end, the synchronous belt is rotatably installed at the second output end, the motor drives the synchronous belt to rotate, the blood taking needle is installed on the synchronous belt, and the motor is electrically connected with the control assembly.
Any one of the above technical schemes has at least the following beneficial technical effects: first drive assembly can adjust the blood taking needle to vein top among the above-mentioned technical scheme, and the blood taking needle moves towards unanimously with vein, then adjust suitable height and suitable angle of inclination with the blood taking needle through second drive assembly, then the blood taking needle slides and advances the needle, just pierce through vein vascular blood vessel's vascular layer at the blood taking needle after, the blood taking needle stops advancing, second drive assembly drive blood taking needle uses vein blood vessel to go up the point of puncture to be the heart point, it makes the contained angle between blood taking needle and the vein shrink to rotate the blood taking needle, then the blood taking needle advances a little toward vein blood vessel again, carry out vein blood collection. The action of second drive assembly can not influence first drive assembly, and the two does not have the kinematic coupling, reduces the control degree of difficulty, and vein imager fixes at first output, and the initial relative position of vein imager and blood taking needle can be guaranteed through mechanical mounting promptly, makes the image that vein imager gathered and the coordinate transformation between the blood taking needle possess more reliable precision. This technical scheme makes first drive assembly, second drive assembly simple more and convenient when adjusting and control the blood taking needle, has avoided too much coupling between the seesaw.
According to a second aspect of the present invention, there is provided a method of using an automatic venous blood collection device, comprising the steps of:
collecting vein vessel position information of an arm to be sampled by a vein imager, and selecting a proper vein vessel as a vessel to be sampled;
adjusting the position and the posture of the needle tube assembly according to the position information of the vein, so that the direction of the blood taking needle is consistent with the trend of the vein, and the blood taking needle is positioned above the vein;
adjusting the puncture angle of the blood taking needle relative to the vein according to the position of the vein;
adjusting the height of the blood taking needle relative to the vein according to the position of the vein;
the blood collection needle is driven to be inserted into the vein.
In some technical solutions, the method further comprises the following steps:
after the blood taking needle just pierces through the vascular layer of vein, the blood taking needle stops advancing to the point of puncture is the centre of a circle point on the vein, rotates the blood taking needle and makes the contained angle between blood taking needle and the vein reduce, then drives the blood taking needle and advances a little toward the vein in again.
In some embodiments, the force sensor detects whether the lancet pierces a vein.
Any one of the above technical schemes has at least the following beneficial technical effects: the position and the gesture of earlier adjustment blood taking needle among the above-mentioned technical scheme for the blood taking needle direction is unanimous with the vein trend, and the blood taking needle is located the vein top, adjusts blood taking needle height and puncture angle again, can not cause the influence to blood taking needle position and the gesture that has adjusted when adjusting blood taking needle height and puncture angle, and the two does not have the kinematic coupling, reduces the control degree of difficulty.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a schematic view of an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a schematic diagram illustrating operation of an embodiment of the present invention;
FIG. 5 is an enlarged view of a portion A of FIG. 4;
FIG. 6 is a schematic flow chart of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 5, according to a first aspect of the present invention, there is provided an automatic venous blood collection device comprising: the vein imaging device comprises a frame 1, a first driving component 2, a vein imaging instrument 3, a second driving component 4, a needle tube component and a control component; the first driving assembly 2 is mounted on the frame 1, the first driving assembly 2 has a first output end 5, the first output end 5 is configured to be movable in a plane, and the first output end 5 can rotate around a rotating shaft perpendicular to the plane, the first driving assembly 2 can adjust the first output end 5 to any position in the plane and can freely rotate relative to the plane; the vein imager 3 is fixedly installed on the first output end 5, the vein imager 3 is configured to detect the position of vein vessels on the arm, and the vein imager 3 can adopt the existing mature technology and is not detailed here; the second driving assembly 4 is arranged on the first output end 5, the second driving assembly 4 is provided with a second output end 6, and the second output end 6 can lift and rotate relative to the first output end 5; the needle tube assembly comprises a blood taking needle 7, the needle tube assembly is arranged on the second output end 6, the blood taking needle 7 can slide relative to the second output end 6, and the second output end 6 rotates to adjust the puncture angle of the blood taking needle 7 so as to insert the needle at the optimal puncture angle according to the actual situation; the control component controls the first driving component 2, the vein imager 3, the second driving component 4 and the needle tube component to work. First drive assembly 2 in the above-mentioned embodiment can adjust blood taking needle 7 to vein 11 top, and blood taking needle 7 and vein move towards unanimously, then adjust suitable height and suitable angle of inclination with blood taking needle 7 through second drive assembly 4, then blood taking needle 7 slides and advances the needle, after blood taking needle 7 just pierces through vein blood vessel's vascular layer, blood taking needle 7 stops advancing, second drive assembly 4 drive blood taking needle 7 uses the point of puncture on the vein as the centre of circle point, rotate blood taking needle 7 and make the contained angle between blood taking needle 7 and the vein shrink, then drive blood taking needle 7 and advance a little toward the vein again, carry out vein blood collection. The action of second drive assembly 4 can not influence first drive assembly 2, and the two does not have the kinematic coupling, reduces the control degree of difficulty, and vein imager 3 fixes at first output 5, and the initial relative position of vein imager 3 and blood taking needle 7 can be guaranteed through mechanical mounting promptly, makes the image that vein imager 3 gathered and the coordinate transformation between the blood taking needle 7 possess more reliable precision. This technical scheme makes first drive assembly 2, second drive assembly 4 simpler and convenient when adjusting and controlling blood taking needle 7, has avoided too much coupling between the seesaw.
As shown in fig. 1, in some embodiments, the moving track of the lancet 7 with respect to the second output terminal 6 is perpendicular to the rotation center of the second output terminal 6, so that the position information conversion process can be facilitated. Of course, the included angle between the moving track of the blood taking needle 7 relative to the second output end 6 and the rotation center of the second output end 6 can also be an acute angle, and the same technical effect can be achieved only by adding one data processing flow.
As shown in fig. 1, in some embodiments, the first driving assembly 2 further includes a cross beam 8 and a sliding seat 9, the cross beam 8 is slidably mounted on the frame 1, the frame 1 has two linear guide rails, the cross beam 8 is mounted on the linear guide rails, the sliding precision is high, the sliding seat 9 is slidably mounted on the cross beam 8, and the first output end 5 is rotatably mounted on the sliding seat 9. The embodiment of the first driving assembly 2 can accurately and quickly move the first output end 5 to the set position and adjust the first output end to the set orientation, so that subsequent needle insertion is facilitated, after the first output end 5 is adjusted to the set position, the first driving assembly 2 does not work, namely, the position of the first output end 5 is determined, and then the second driving assembly 4 drives the second output end 6 to act. It can be seen that the first driving assembly 2 and the second driving assembly 4 are not coupled in motion, and the control is simple and quick.
Of course, it will be understood by those skilled in the art that the embodiment of the first driving assembly 2 is not limited to the above description, and other configurations are possible, for example, the cross beam 8 and the sliding seat 9 may be mounted on a rotating seat, the rotating seat is rotatably mounted on the frame 1, and the sliding seat 9 may be used as the first output end 5 at this time, and this embodiment can still achieve the same technical effect of moving and adjusting the orientation of the first output end 5 in a plane.
In some embodiments, as shown in fig. 1, the second driving assembly 4 includes a lifting base 10, the lifting base 10 is liftably mounted on the first output end 5, and the second output end 6 is rotatably mounted on the lifting base 10. The lifting seat 10 and the second output end 6 in the second driving assembly 4 of the above embodiment can act simultaneously, and there is no kinematic coupling between the two, so that the adjustment efficiency is high.
As shown in fig. 1, in some embodiments, a square mounting hole is formed inside the first output end 5, the lifting seat 10 is configured in a square rod shape, one end of the lifting seat 10 can be installed in the square mounting hole in a lifting manner, the lifting seat 10 with the above structure is beneficial to precise guiding, and the lifting seat 10 cannot rotate relative to the square mounting hole, so that guiding precision can be guaranteed.
In some embodiments, the needle assembly comprises a force sensor and a power assembly, the power assembly is mounted on the second output end 6, the power assembly is in transmission connection with the blood collection needle 7, the force sensor is configured to collect resistance force applied when the blood collection needle 7 advances, and the force sensor is electrically connected with the control assembly. When the lancet 7 pierces the vein, the force sensor will detect the sudden drop in the piercing force, at which point it can be known that the lancet 7 has just pierced the vein, and a signal is fed back to the control assembly.
In some embodiments, as shown in fig. 1, the power assembly includes a motor and a timing belt, the motor is mounted at the second output end 6, the timing belt is rotatably mounted at the second output end 6, the motor drives the timing belt to rotate, the lancet 7 is mounted on the timing belt, and the motor is electrically connected to the control assembly. The power assembly of the embodiment controls accurately, and response speed is very fast, for the action stability that further improves blood taking needle 7, is provided with the guide rail on second output 6 for it is spacing to slide to lead for blood taking needle 7.
According to a second aspect of the present invention, there is provided a method of using an automatic venous blood collection device, comprising the steps of:
collecting vein vessel position information of an arm to be sampled by a vein imaging instrument 3, and selecting a proper vein vessel as a vessel to be sampled;
adjusting the position and the posture of the needle tube assembly according to the position information of the vein, so that the direction of the blood taking needle 7 is consistent with the trend of the vein, and the blood taking needle 7 is positioned above the vein;
adjusting the puncture angle of the blood taking needle 7 relative to the vein according to the position of the vein;
adjusting the height of the blood taking needle 7 relative to the vein according to the position of the vein;
the blood collection needle 7 is driven to be inserted into the vein. The position and the gesture of blood taking needle 7 are adjusted earlier in the above-mentioned embodiment for 7 directions of blood taking needle are unanimous with the vein trend, and blood taking needle 7 is located the vein top, and 7 height of blood taking needle and puncture angle are adjusted again, can not cause the influence to the blood taking needle 7 position and the gesture of having adjusted when adjusting 7 height of blood taking needle and puncture angle, and the two does not have the kinematic coupling, reduces the control degree of difficulty.
In certain embodiments, the method further comprises the steps of: after the blood taking needle 7 just pierces the blood vessel layer of the vein blood vessel, the blood taking needle 7 stops advancing, the puncture point on the vein blood vessel is taken as a central point, the blood taking needle 7 is rotated to reduce the included angle between the blood taking needle 7 and the vein blood vessel, and then the blood taking needle 7 is driven to advance a little towards the vein blood vessel. Thus, the puncture needle point position can be in the blood vessel, and the condition of venous blood sampling is ensured; moreover, the blood taking needle 7 makes a circular motion around the puncture point after puncturing the blood vessel to reduce the puncture angle, which is more favorable for protecting the blood vessel. In some embodiments, the force sensor detects whether the lancet 7 pierces the vein, and when the lancet 7 pierces the vein, the force sensor will detect a sudden drop in the piercing force, and it can be known that the lancet 7 has just pierced the vein.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. An automatic venous blood collection device, comprising:
a frame;
a first driving assembly mounted on the frame, the first driving assembly having a first output end configured to be movable in a plane, and the first output end being rotatable about a rotation axis perpendicular to the plane;
a vein imager fixedly mounted on the first output, the vein imager configured to detect a vein location on an arm;
the second driving assembly is arranged on the first output end and is provided with a second output end, and the second output end can lift and rotate relative to the first output end;
the needle tube assembly comprises a blood taking needle, the needle tube assembly is arranged on the second output end, and the blood taking needle can slide relative to the second output end;
the control assembly controls the first driving assembly, the vein imager, the second driving assembly and the needle tube assembly to work.
2. The apparatus for venous blood collection according to claim 1, wherein the moving trajectory of the lancet with respect to the second output terminal is perpendicular to the rotation center of the second output terminal.
3. The intravenous blood collection set of claim 1, wherein said first drive assembly further comprises a cross-member slidably mounted to said housing, a slide block slidably mounted to said cross-member, and said first output end rotatably mounted to said slide block.
4. A venous blood collection device according to claim 3, characterised in that the second drive assembly comprises a lifting block which is elevatably mounted on the first output and the second output is rotatably mounted on the lifting block.
5. The apparatus according to claim 4, wherein the first output end is provided with a square mounting hole therein, the lift seat is formed in a square bar shape, and one end of the lift seat is installed in the square mounting hole in a lifting manner.
6. The apparatus of claim 4, wherein the needle assembly includes a force sensor and a power assembly, the power assembly mounted on the second output, the power assembly drivingly coupled to the lancet, the force sensor configured to collect resistance experienced by the lancet as it advances, the force sensor electrically coupled to the control assembly.
7. The apparatus of claim 6, wherein the power assembly comprises a motor and a timing belt, the motor is mounted at the second output end, the timing belt is rotatably mounted at the second output end, the motor drives the timing belt to rotate, the lancet is mounted on the timing belt, and the motor is electrically connected to the control assembly.
8. The use method of the automatic venous blood sampling equipment is characterized by comprising the following steps:
collecting vein vessel position information of an arm to be sampled by a vein imager, and selecting a proper vein vessel as a vessel to be sampled;
adjusting the position and the posture of the needle tube assembly according to the position information of the vein, so that the direction of the blood taking needle is consistent with the trend of the vein, and the blood taking needle is positioned above the vein;
adjusting the puncture angle of the blood taking needle relative to the vein according to the position of the vein;
adjusting the height of the blood taking needle relative to the vein according to the position of the vein;
the blood collection needle is driven to be inserted into the vein.
9. The method of using an automatic venous blood collection device according to claim 8, further comprising the steps of:
after the blood taking needle just pierces through the vascular layer of vein, the blood taking needle stops advancing to the point of puncture is the centre of a circle point on the vein, rotates the blood taking needle and makes the contained angle between blood taking needle and the vein reduce, then drives the blood taking needle and advances a little toward the vein in again.
10. The use method of an automatic venous blood collection device according to claim 9, wherein whether the blood collection needle pierces the venous blood vessel is detected by the force sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911280827.1A CN111012366A (en) | 2019-12-13 | 2019-12-13 | Automatic vein blood sampling equipment and using method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911280827.1A CN111012366A (en) | 2019-12-13 | 2019-12-13 | Automatic vein blood sampling equipment and using method |
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| CN111012366A true CN111012366A (en) | 2020-04-17 |
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| CN111513729A (en) * | 2020-05-07 | 2020-08-11 | 吉林大学 | Efficient prenatal diagnosis interphase fetal cell detection device |
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| CN111820918A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling device |
| CN111820914A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Automatic blood sampling device and automatic blood sampling method |
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| CN111839545A (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 | Accurate small-size 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 |
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| CN111839545B (en) * | 2020-06-05 | 2024-03-29 | 哈工大机器人(中山)无人装备与人工智能研究院 | Accurate small-size blood sampling robot |
| CN112381816A (en) * | 2020-11-26 | 2021-02-19 | 同济大学 | Blood vessel puncture angle obtaining and puncturing method based on image recognition and feedback control |
| CN112381816B (en) * | 2020-11-26 | 2022-06-21 | 同济大学 | Blood vessel puncture angle acquisition and puncture method based on image recognition and feedback control |
| CN112401884A (en) * | 2020-12-02 | 2021-02-26 | 珠海市康利莱科技有限公司 | Blood taking needle suitable for arm and convenient to collect blood and using method thereof |
| CN112401884B (en) * | 2020-12-02 | 2024-05-24 | 珠海市康利莱科技有限公司 | Blood taking needle suitable for arms and convenient for blood collection and use method thereof |
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