CN111166351A - Automatic venipuncture machine and control method thereof - Google Patents
Automatic venipuncture machine and control method thereof Download PDFInfo
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- CN111166351A CN111166351A CN202010063352.7A CN202010063352A CN111166351A CN 111166351 A CN111166351 A CN 111166351A CN 202010063352 A CN202010063352 A CN 202010063352A CN 111166351 A CN111166351 A CN 111166351A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/153—Devices specially adapted for taking samples of venous or arterial blood, e.g. with syringes
- A61B5/154—Devices using pre-evacuated means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150015—Source of blood
- A61B5/15003—Source of blood for venous or arterial blood
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150206—Construction or design features not otherwise provided for; manufacturing or production; packages; sterilisation of piercing element, piercing device or sampling device
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Abstract
The invention provides an automatic venipuncture machine, comprising: a frame; the horizontal sliding frame is detachably connected with the rack, and the horizontal sliding frame is parallel to the bottom surface of the rack; the longitudinal adjusting frame is detachably connected with the horizontal sliding frame and can slide along the horizontal sliding frame; the connecting frame is detachably connected with the longitudinal adjusting frame and can slide along the longitudinal adjusting frame; the angle adjusting frame is arranged at one end of the longitudinal adjusting frame and can finely adjust the rotation angle of the longitudinal adjusting frame around the axis of the longitudinal adjusting frame; the invention also provides a control method of the automatic venipuncture machine.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an automatic venipuncture machine and a control method of the automatic venipuncture machine.
Background
Superficial venipuncture is the key operation of clinical venous blood collection, administration through the venous route and fluid infusion, and is basically completed manually by medical staff at present, and the success rate of one-time puncture is uneven. The result is that the medical efficiency is reduced, the pain of the patient is increased, and the serious patient even influences the harmony of doctor-patient relationship. Although the vein imaging device can be used for improving the identification degree of the vein and improving the success rate of venipuncture to a certain extent, the uncertainty of manual puncture still cannot be avoided. The existing automatic venous blood sampling equipment patent realizes the improvement of the success rate of venous puncture by positioning blood vessels and puncture needles and utilizing a mechanical arm to improve the fine degree of motion control of the puncture needle.
Patent application No. 20141222058.0 discloses a full-automatic mechanical arm for venipuncture and a use method thereof, wherein a computer is used for controlling and adjusting the puncture process of a blood taking needle, but the specific structure of the mechanical arm and how to realize puncture control are not disclosed, and accurate control of puncture depth cannot be guaranteed.
Patent application No. 201410473142.X discloses a full-automatic intelligent blood sampling method and device that need not artifical puncture, at first carries out the ultrasonic wave digital identification location to being sampled the point, secondly according to the locating data, through 4 axles (or more than 4 axles) full automatic positioning mechanical structure with the accurate position of puncture syringe needle accuracy insertion in the person of being sampled. Blood or tissue samples are sucked into the test tube through the vacuum system again to finish the sampling process, but the specific details of the four-axis positioning mechanical structure are not disclosed, so that the accurate control of the puncture depth cannot be ensured, and the puncture success rate cannot be ensured.
Disclosure of Invention
The automatic venipuncture machine provided by the invention can adjust the horizontal direction, the height direction and the rotation angle of the puncture arm, and the angle between the puncture arm and the connecting frame is also adjustable, so that five-dimensional adjustment of needle insertion of a blood taking needle is realized, the adjustment precision is high, and the adaptability is good.
The invention also provides a control method of the automatic venipuncture machine, provides an adjustment method of the blood taking needle, realizes accurate control of the puncture process, can finely adjust the needle insertion depth and improves the puncture success rate.
The technical scheme provided by the invention is as follows:
an automatic venipuncture machine comprising:
a negative pressure blood collection needle having a puncture needle and a return needle;
a needle changing device capable of accommodating and fixing a plurality of blood collection tubes and inserting or extracting the return needles into or from the blood collection tubes;
a blood collection tube transport device provided on one side of the needle changing device and capable of transporting a blood collection tube to the needle changing device;
the puncture machine body can fix the puncture needle and adjust the position of the puncture needle so that the puncture needle can be punctured into the blood vessel of the patient.
Preferably, the puncture machine body includes:
a frame;
the horizontal sliding frame is detachably connected with the rack, and the horizontal sliding frame is parallel to the bottom surface of the rack;
the longitudinal adjusting frame is detachably connected with the horizontal sliding frame and can slide along the horizontal sliding frame;
the connecting frame is detachably connected with the longitudinal adjusting frame and can slide along the longitudinal adjusting frame;
the angle adjusting frame is arranged at one end of the longitudinal adjusting frame and can finely adjust the rotation angle of the longitudinal adjusting frame around the axis of the longitudinal adjusting frame;
and the puncture arm is rotatably connected with the connecting frame.
Preferably, the horizontal sliding frame includes:
the surface of the horizontal mounting plate is provided with a horizontal sliding rail;
the horizontal screw rod is rotatably supported on the horizontal mounting plate;
and an output shaft of the horizontal driving motor is connected with the horizontal lead screw and can drive the horizontal lead screw to rotate.
Preferably, the longitudinal adjustment frame includes:
the longitudinal mounting rack is a square frame;
the connecting bolt is arranged on one side of the longitudinal mounting rack, sleeved on the horizontal lead screw and capable of sliding along the horizontal lead screw;
the longitudinal rotating shaft is rotatably supported on the longitudinal mounting rack;
the longitudinal sliding rail is connected with the longitudinal rotating shaft and can rotate along with the longitudinal rotating shaft;
the longitudinal screw is rotatably supported on the longitudinal slide rail;
and the longitudinal driving motor is arranged at one end of the longitudinal lead screw and can drive the longitudinal lead screw to rotate.
Preferably, the angle adjusting bracket includes:
the rotating wheel is sleeved on the longitudinal rotating shaft;
and the angle driving motor is arranged on one side of the rotating wheel, an output shaft is meshed with the rotating wheel, and the angle driving motor can drive the rotating wheel to rotate.
Preferably, one end of the connecting frame is provided with a sliding nut which can be in threaded fit with the longitudinal lead screw so that the connecting frame can slide along the longitudinal sliding rail.
Preferably, the piercing arm comprises:
a negative pressure blood taking needle;
one end of the first rotating arm is rotatably supported at one end of the negative pressure blood taking needle, and the other end of the first rotating arm is rotatably supported on the connecting frame;
one end of the second rotating arm is rotatably supported in the middle of the negative pressure blood taking needle, and the other end of the second rotating arm is rotatably supported on the connecting frame;
wherein the second boom length is greater than the first boom length.
A control method of an automatic venipuncture machine comprises the following steps:
firstly, establishing a Cartesian three-dimensional coordinate system; wherein the origin of coordinates of the Cartesian coordinate system is: placing the frame at any internal angle end point of a plane; the rack placing plane is used as an xy plane, the length extending direction of the horizontal sliding frame is an x axis, and the height direction of the rack is used as a z axis component;
step two, determining the end point coordinate (x) of the initial position of the negative pressure blood taking needle1,y1,z1) (ii) a Determining patient puncture point coordinates (x ', y ', z ');
adjusting the transverse position of the negative pressure blood taking needle to enable the longitudinal adjusting rack to slide along the horizontal sliding rack, wherein the horizontal sliding distance is
If x' -x1Positive, sliding in the positive direction along the x-axis of the coordinate system, if x' -x1Negative, sliding in the negative direction along the x-axis of the coordinate system,
is a horizontal spacing;
step four, adjust the vertical position of negative pressure blood taking needle, make the connecting block follow vertical adjustment frame slides, wherein, vertical sliding distance is: l isz＝|z′-z1L + λ; if z' -z1Positive values, sliding positively along the z-axis of the coordinate system, if LzThe negative value is obtained, the sliding is performed along the z axis of the coordinate system in the negative direction, and the lambda is the longitudinal distance;
step five, finely adjusting the corner of the longitudinal adjusting frame through the angle adjusting frame;
and step six, the negative pressure blood taking needle is rotated by the first rotating arm and the second rotating arm, the needle inserting depth is controlled, and the venipuncture of a patient is realized.
Preferably, the rotation angle calculation formula of the longitudinal adjusting frame in the sixth step is as follows:
wherein α is the rotation angle of the longitudinal adjusting frame around the axis of the longitudinal adjusting frame.
Preferably, the depth of the needle insertion in the sixth step is:
χ＝Lb·sinθ-λ；
wherein χ is the depth of needle insertion, λ is the longitudinal distance, θ is the second rotating arm angle, and LbThe distance between the second extension arm and the needle tip;
wherein L isiIs the first extension arm length, RsafThe turning radius of the blood taking needle.
The invention has the advantages of
The automatic venipuncture machine provided by the invention can adjust the horizontal direction, the height direction and the rotation angle of the puncture arm, and the angle between the puncture arm and the connecting frame is also adjustable, so that five-dimensional adjustment of needle insertion of a blood taking needle is realized, the adjustment precision is high, and the adaptability is good.
The invention also provides a control method of the automatic venipuncture machine, provides an adjustment method of the blood taking needle, realizes accurate control of the puncture process, can finely adjust the needle insertion depth and improves the puncture success rate.
Drawings
Fig. 1 is a schematic structural view of an automatic venipuncture machine according to the present invention.
Fig. 2 is a schematic structural diagram of an intelligent needle changing system of the automatic blood sampling machine.
Fig. 3 is a schematic mechanism view of the blood collection tube holder according to the present invention.
Fig. 4 is a schematic structural diagram of the turntable according to the present invention.
Fig. 5 is a schematic structural view of the puncture outfit body according to the present invention.
FIG. 6 is a rear view of the lancing machine body according to the present invention.
Fig. 7 is a schematic view of a connection structure of the connection frame and the longitudinal adjustment frame according to the present invention.
Fig. 8 is a schematic view of the horizontal sliding frame according to the present invention.
Fig. 9 is a schematic structural view of the longitudinal adjustment frame according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
The automatic venipuncture machine of the present invention comprises: heparin tube transportation equipment, negative pressure blood taking needle, trade needle equipment and puncture machine body.
Wherein the negative pressure blood taking needle is provided with a puncture needle and a return needle which are communicated; a needle changing device capable of housing and fixing a plurality of blood collection tubes and capable of inserting or extracting the blood collection tubes 100 with a reverse flow needle; a blood collection tube transport device provided on one side of the needle changing device and capable of transporting a blood collection tube to the needle changing device; the puncture machine body can fix the puncture needle and adjust the position of the puncture needle so that the puncture needle can puncture the blood vessel of the patient.
As shown in fig. 1, the blood collection tube transport apparatus according to the present invention includes: a placing tray 110, a plurality of sets of extrusion conveyors 120, and a drive 130.
The plurality of sets of extrusion transporters 120 are rotatably supported on the placing tray 110, wherein each set of extrusion transporters 120 includes: a forward rotation shaft 121 and a reverse rotation shaft 122.
Wherein, the positive rotation shaft 121 is rotatably supported on the placing disc 110, and the surface has a positive thread groove; the reverse rotating shaft 122 is rotatably supported on the placing disc, the surface of the reverse rotating shaft is provided with a reverse thread groove, the reverse rotating shaft 122 is parallel to the forward rotating shaft 121, and a plurality of accommodating spaces for the blood sampling tubes are formed between the forward thread groove and the reverse thread groove;
wherein, the rotation direction of forward pivot 121 and reverse pivot 122 is opposite, can extrude heparin tube 100 along the axial displacement of pivot, and transmission 130 sets up and places dish 110 one end, can convey the heparin tube 100 to the other end from transmission 130 one end.
As shown in fig. 2, the needle changing apparatus provided by the present invention includes: a base plate 210, a cartridge holder 220, a turntable 230, and a pressing mechanism 240.
The blood collection tube fixing frame 220 is annular and can be rotatably supported on the bottom plate 210, and the blood collection tubes 100 are distributed on the blood collection tube fixing frame 2120 in a circumferential array; the rotary plate 230 is elastically supported on the bottom plate 210 through a spring, rotatably sleeved in the blood collection tube fixing frame 220, capable of clamping the blood collection needle 100 and capable of axially sliding along the blood collection tube fixing frame 220 to enable the blood collection needle to be inserted into or pulled out of the blood collection tube;
the pressing mechanism 240 is disposed on the top of the turntable 230, and can be combined with the turntable 230 to drive the turntable 230 to rotate and push the turntable 230 to slide axially along the cartridge holder 220.
As shown in fig. 3, the blood collection tube holder 220 includes: a base 221, a ring frame 222, and a plurality of ring fins 223. The surface of the base 221 is provided with a plurality of grooves distributed in an array for accommodating the blood collection tubes 100; a ring frame which is ring-shaped and is integrally connected to the top of the base 221; the plurality of annular fins 223 are arranged on the annular frame 222 in an array manner, and have notches 222a distributed in an array manner, so that the blood collection tube 100 can be fixed in an auxiliary manner.
As shown in fig. 4, the turntable 230 includes: a rotary column 231 and a plurality of clamping parts 232, wherein the plurality of clamping parts 232 are distributed on the top of the rotary column 231 in an array. The clamping portions 232 each include: the blood taking needle clamping groove 232a is an n-shaped opening; the driving notch 232b is provided at the outer edge 232 of the holding portion and is located at one side of the lancet holding groove 231.
As shown in fig. 5 to 6, the present invention provides a puncture machine body, comprising: a frame 310, a horizontal sliding frame 320, a longitudinal adjusting frame 330, a connecting frame 340, an angle adjusting frame 350 and a puncture arm 360.
The horizontal sliding frame 320 is detachably connected with the rack 310, and the horizontal sliding frame 320 is parallel to the bottom surface of the rack 310; the longitudinal adjusting bracket 330 is detachably connected with the horizontal sliding bracket 320 and can slide along the horizontal sliding bracket 320; the connecting frame 340 is detachably connected with the longitudinal adjusting frame 330 and can slide along the longitudinal adjusting frame 330; the angle adjusting bracket 350 is arranged at one end of the longitudinal adjusting bracket 330, and can finely adjust the rotation angle of the longitudinal adjusting bracket 330 around the axis thereof; piercing arm 360 is rotatably connected to attachment frame 340.
As shown in fig. 7, the horizontal sliding frame 320 includes: a horizontal mounting plate 321, a horizontal lead screw 322 and a horizontal driving motor 323. The horizontal mounting plate 321 has horizontal sliding rails 321a on the surface; the horizontal screw 322 is rotatably supported on the horizontal mounting plate 321; an output shaft of the horizontal driving motor 323 is connected to the horizontal screw 322, and can drive the horizontal screw 322 to rotate.
As shown in fig. 9, the longitudinal adjustment frame 130 includes: a longitudinal mounting frame 131, a connecting bolt, a longitudinal rotating shaft 133, a longitudinal sliding rail 134, a longitudinal lead screw 135 and a longitudinal driving motor 136.
The longitudinal mounting bracket 131 is a square frame; the connecting bolt 132 is arranged on one side of the longitudinal mounting frame 131, sleeved on the horizontal lead screw 122 and capable of sliding along the horizontal lead screw 122;
the longitudinal rotating shaft 133 is rotatably supported on the longitudinal mounting bracket 131; the longitudinal sliding rail 134 is connected with the longitudinal rotating shaft 133 and can rotate along with the longitudinal rotating shaft 133; the longitudinal screw 135 can be rotatably supported on the longitudinal slide rail; the longitudinal driving motor 136 is disposed at one end of the longitudinal screw 135 and can drive the longitudinal screw 135 to rotate.
As shown in fig. 5, the angle adjusting bracket 150 includes: a rotating wheel 151 and an angle driving motor 152, wherein the rotating wheel 151 is sleeved on the longitudinal rotating shaft 133; the angle driving motor 152 is provided on one side of the rotary wheel 151, and a three-dimensional output shaft of the angle driving motor 152 is engaged with the rotary wheel 151 to be able to drive the rotary wheel 151 to rotate.
Preferably, the connecting frame 140 has a sliding nut at one end capable of being threadedly engaged with the longitudinal lead screw 135 to slide the connecting frame 140 along the longitudinal slide 134.
As shown in fig. 5, the puncture arm 160 includes: a negative pressure lancet 161, a first rotation arm 162, and a second rotation arm 163. One end of the first rotating arm 162 is rotatably supported at one end of the negative pressure blood collection needle 161, and the other end is rotatably supported on the connecting frame 140; one end of the second rotation arm 163 is rotatably supported at the middle of the negative pressure lancet 161, and the other end is rotatably supported on the connection frame 140; wherein the length of the second rotation arm 163 is greater than the length of the first rotation arm 162.
The blood sampling process of the automatic venipuncture machine is taken as an example for further explanation
Placing the blood collection tube 100 on a blood collection tube transportation device, pressing the blood collection tube 100 to advance by the forward rotation shaft 121 and the reverse rotation shaft 122, rotating the needle changing device to match the opening of the blood collection tube fixing frame 220 of the needle changing device with the blood collection tube transportation device, clamping the blood collection tube 100 into the blood collection tube fixing frame 220, pressing the pressing mechanism 240 to insert the backflow needle of the blood collection needle into the blood collection tube 100, fixing the puncture needle at the other end of the blood collection needle on the puncture arm, roughly adjusting the position of the blood collection needle through the horizontal sliding frame 320 and the longitudinal adjusting frame 130, roughly adjusting the rotation angle of the puncture arm 160 through the angle adjusting frame 150, driving the first rotation arm 162 to rotate, and driving the puncture arm 160 to puncture into the vein.
In another embodiment, the puncture outfit body can also be used for intravenous infusion:
the transfusion needle of the transfusion tube is fixed on the puncture arm 160, the position of the blood taking needle is roughly adjusted through the horizontal sliding frame 320 and the longitudinal adjusting frame 130, the rotating angle of the puncture arm 160 is roughly adjusted through the angle adjusting frame 150, the first rotating arm 162 is driven to rotate, and the puncture arm 160 is driven to puncture the vein.
A control method of an automatic venipuncture machine comprises the following steps:
firstly, establishing a Cartesian three-dimensional coordinate system; wherein the origin of coordinates of the cartesian coordinate system is: placing the frame 110 at any inner corner end of the plane; a placing plane of the rack 110 is used as an xy plane, the length extending direction of the horizontal sliding frame 120 is an x axis, and the height direction of the rack 110 is used as a z axis component;
step two, determining the end point coordinate (x) of the initial position of the negative pressure blood taking needle 1611,y1,z1) (ii) a Determining patient puncture point coordinates (x ', y ', z ');
thirdly, adjusting the transverse position of the negative pressure blood taking needle 161 to enable the longitudinal adjusting rack 130 to slide along the horizontal sliding rack 120, wherein the horizontal sliding distance is
If x' -x1Positive, sliding in the positive direction along the x-axis of the coordinate system, if x' -x1Negative, sliding in the negative direction along the x-axis of the coordinate system,
is a horizontal spacing;
step four, adjusting the longitudinal position of the negative pressure blood taking needle 161 to enable the connecting block 140 to slide along the longitudinal adjusting frame 130, wherein the longitudinal sliding distance is as follows: l isz＝|z′-z1L + λ; if z' -z1Positive values, sliding positively along the z-axis of the coordinate system, if LzThe negative value is obtained, the sliding is performed along the z axis of the coordinate system in the negative direction, and the lambda is the longitudinal distance;
step five, finely adjusting the corner of the longitudinal adjusting frame 130 through the angle adjusting frame 150;
and step six, rotating the negative pressure blood taking needle 161 through the first rotating arm 162 and the second rotating arm 163 to control the needle inserting depth and realize the venipuncture of the patient.
Wherein, the corner formula of calculation of vertical alignment jig is:
wherein α is the rotation angle of the longitudinal adjusting frame around the axis of the longitudinal adjusting frame.
The optimal needle insertion depth is as follows:
χ＝Lb·sinθ-λ；
wherein χ is the depth of needle insertion, λ is the longitudinal distance, θ is the second rotating arm angle, and LbThe distance between the second extension arm and the needle tip;
The automatic venipuncture machine provided by the invention can adjust the horizontal direction, the height direction and the rotation angle of the puncture arm, and the angle between the puncture arm and the connecting frame is also adjustable, so that five-dimensional adjustment of needle insertion of a blood taking needle is realized, the adjustment precision is high, and the adaptability is good.
The invention also provides a control method of the automatic venipuncture machine, provides an adjustment method of the blood taking needle, realizes accurate control of the puncture process, can finely adjust the needle insertion depth and improves the puncture success rate.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. An automatic venipuncture machine, comprising:
a negative pressure blood collection needle having a puncture needle and a return needle;
a needle changing device capable of accommodating and fixing a plurality of blood collection tubes and inserting or extracting the return needles into or from the blood collection tubes;
a blood collection tube transport device provided on one side of the needle changing device and capable of transporting a blood collection tube to the needle changing device;
the puncture machine body can fix the puncture needle and adjust the position of the puncture needle so that the puncture needle can be punctured into the blood vessel of the patient.
2. The automated venipuncture machine of claim 1, wherein said puncture machine body comprises:
a frame;
the horizontal sliding frame is detachably connected with the rack, and the horizontal sliding frame is parallel to the bottom surface of the rack;
the longitudinal adjusting frame is detachably connected with the horizontal sliding frame and can slide along the horizontal sliding frame;
the connecting frame is detachably connected with the longitudinal adjusting frame and can slide along the longitudinal adjusting frame;
the angle adjusting frame is arranged at one end of the longitudinal adjusting frame and can finely adjust the rotation angle of the longitudinal adjusting frame around the axis of the longitudinal adjusting frame;
and the puncture arm is rotatably connected with the connecting frame.
3. The automated venipuncture machine of claim 2, wherein said horizontal carriage comprises:
the surface of the horizontal mounting plate is provided with a horizontal sliding rail;
the horizontal screw rod is rotatably supported on the horizontal mounting plate;
and an output shaft of the horizontal driving motor is connected with the horizontal lead screw and can drive the horizontal lead screw to rotate.
4. The automated venipuncture machine of claim 3, wherein said longitudinal adjustment bracket comprises:
the longitudinal mounting rack is a square frame;
the connecting bolt is arranged on one side of the longitudinal mounting rack, sleeved on the horizontal lead screw and capable of sliding along the horizontal lead screw;
the longitudinal rotating shaft is rotatably supported on the longitudinal mounting rack;
the longitudinal sliding rail is connected with the longitudinal rotating shaft and can rotate along with the longitudinal rotating shaft;
the longitudinal screw is rotatably supported on the longitudinal slide rail;
and the longitudinal driving motor is arranged at one end of the longitudinal lead screw and can drive the longitudinal lead screw to rotate.
5. The automated venipuncture machine of claim 4, wherein said angular adjustment mount comprises:
the rotating wheel is sleeved on the longitudinal rotating shaft;
and the angle driving motor is arranged on one side of the rotating wheel, an output shaft is meshed with the rotating wheel, and the angle driving motor can drive the rotating wheel to rotate.
6. The automatic venipuncture machine of claim 5 wherein said connecting frame has a sliding nut at one end capable of threadably engaging said longitudinal lead screw to slide said connecting frame along said longitudinal slide.
7. The automated venipuncture machine of claim 6, wherein said puncture arm comprises:
a negative pressure blood taking needle;
one end of the first rotating arm is rotatably supported at one end of the negative pressure blood taking needle, and the other end of the first rotating arm is rotatably supported on the connecting frame;
one end of the second rotating arm is rotatably supported in the middle of the negative pressure blood taking needle, and the other end of the second rotating arm is rotatably supported on the connecting frame;
wherein the second boom length is greater than the first boom length.
8. A method of controlling an automatic venipuncture machine using the automatic venipuncture machine of any one of claims 1 to 7, comprising:
firstly, establishing a Cartesian three-dimensional coordinate system; wherein the origin of coordinates of the Cartesian coordinate system is: placing the frame at any internal angle end point of a plane; the rack placing plane is used as an xy plane, the length extending direction of the horizontal sliding frame is an x axis, and the height direction of the rack is used as a z axis component;
step two, determining the end point coordinate (x) of the initial position of the negative pressure blood taking needle1,y1,z1) (ii) a Determining patient puncture point coordinates (x ', y ', z ');
adjusting the transverse position of the negative pressure blood taking needle to enable the longitudinal adjusting rack to slide along the horizontal sliding rack, wherein the horizontal sliding distance is
If x' -x1Positive, sliding in the positive direction along the x-axis of the coordinate system, if x' -x1Negative, sliding in the negative direction along the x-axis of the coordinate system,
is a horizontal spacing;
step four, adjust the vertical position of negative pressure blood taking needle, make the connecting block follow vertical adjustment frame slides, wherein, vertical sliding distance is: l isz＝|z′-z1L + λ; if z' -z1Positive values, sliding positively along the z-axis of the coordinate system, if LzThe negative value is obtained, the sliding is performed along the z axis of the coordinate system in the negative direction, and the lambda is the longitudinal distance;
step five, finely adjusting the corner of the longitudinal adjusting frame through the angle adjusting frame;
and step six, the negative pressure blood taking needle is rotated by the first rotating arm and the second rotating arm, the needle inserting depth is controlled, and the venipuncture of a patient is realized.
9. The method of controlling an automatic venipuncture machine recited in claim 8, wherein the calculation formula of the rotation angle of the longitudinal adjustment frame in the sixth step is:
wherein α is the rotation angle of the longitudinal adjusting frame around the axis of the longitudinal adjusting frame.
10. The method of controlling an automatic venipuncture machine recited in claim 9, wherein the depth of needle insertion in step six is:
χ＝Lb·sinθ-λ；
wherein χ is the depth of needle insertion, λ is the longitudinal distance, θ is the second rotating arm angle, and LbThe distance between the second extension arm and the needle tip;
wherein L isiIs the first extension arm length, RsafThe turning radius of the blood taking needle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010063352.7A CN111166351A (en) | 2020-01-19 | 2020-01-19 | Automatic venipuncture machine and control method thereof |
| CN202010405894.8A CN111436954B (en) | 2020-01-19 | 2020-05-14 | Non-contact type blood sample collecting device and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010063352.7A CN111166351A (en) | 2020-01-19 | 2020-01-19 | Automatic venipuncture machine and control method thereof |
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| CN202010405894.8A Active CN111436954B (en) | 2020-01-19 | 2020-05-14 | Non-contact type blood sample collecting device and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111790025A (en) * | 2020-08-10 | 2020-10-20 | 华中科技大学同济医学院附属协和医院 | Skin test injection mechanism and control method thereof |
| CN114767173A (en) * | 2022-04-29 | 2022-07-22 | 通许第一医院 | Medical oncology puncture positioner |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114209317B (en) * | 2022-01-01 | 2024-01-30 | 北京伟浩君智能技术有限公司 | Blood taking needle supply device and blood taking robot |
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| CN103007371A (en) * | 2011-09-22 | 2013-04-03 | 深圳市卫邦科技有限公司 | Quantitative suction device for dispensing, and automatic dispensing system applying same |
| CN106510731A (en) * | 2016-11-08 | 2017-03-22 | 华中科技大学同济医学院附属协和医院 | Full-automatic venous blood sampling device |
| CN106580344B (en) * | 2016-12-15 | 2018-08-28 | 北京迈纳士手术机器人技术股份有限公司 | The Venous Sampling Methods of the robot of venous blood collection robot and application |
| CN109953762A (en) * | 2017-12-26 | 2019-07-02 | 北京基因树科技有限公司 | Automatic blood collecting device and automatic blood sampling method |
-
2020
- 2020-01-19 CN CN202010063352.7A patent/CN111166351A/en active Pending
- 2020-05-14 CN CN202010405894.8A patent/CN111436954B/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111790025A (en) * | 2020-08-10 | 2020-10-20 | 华中科技大学同济医学院附属协和医院 | Skin test injection mechanism and control method thereof |
| CN114767173A (en) * | 2022-04-29 | 2022-07-22 | 通许第一医院 | Medical oncology puncture positioner |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111436954B (en) | 2022-11-25 |
| CN111436954A (en) | 2020-07-24 |
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Application publication date: 20200519 |