CN111513822A

CN111513822A - Auxiliary imbedding device for arteriovenous internal fistula indwelling needle

Info

Publication number: CN111513822A
Application number: CN202010359842.1A
Authority: CN
Inventors: 周彬
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-04-29
Filing date: 2020-04-29
Publication date: 2020-08-11
Anticipated expiration: 2040-04-29
Also published as: CN111513822B

Abstract

The invention relates to an auxiliary implanting device for an arteriovenous internal fistula indwelling needle, which at least comprises: the auxiliary insertion device further comprises a visualization component and a manipulator component, wherein the manipulator component is used for grasping the indwelling needle component and assisting the indwelling needle component to be inserted into the operation object, and the manipulator component is used for adjusting the needle inserting operation posture of the indwelling needle component into the operation object based on the bin body blood returning information and/or the tube body blood returning information which are obtained by processing by the visualization component.

Description

Auxiliary imbedding device for arteriovenous internal fistula indwelling needle

Technical Field

The invention relates to the technical field of indwelling needles, in particular to an auxiliary implanting device for an arteriovenous internal fistula indwelling needle.

Background

Currently, arteriovenous internal fistula (AVF) has become the first choice for a vascular access of a maintenance hemodialysis patient due to its sufficient blood flow, safety and convenient use, and is called a "life line" of the hemodialysis patient. However, the internal fistula is narrow and blocked to lose function due to various reasons, so that dialysis cannot be normally performed, how to take care of the internal fistula and prolong the service life of the internal fistula are problems that nurses in each dialysis room need to pay attention to. Regarding arteriovenous internal fistula, the fistula is a vascular pathway or called as an autoarteriovenous internal fistula, is a life line of a hemodialysis patient and is a channel responsible for leading blood out of an extracorporeal circulation device and infusing the blood back into a blood vessel of the patient. Hemodialysis circulates in blood flow of 300 milliliters per minute, the veins of a patient cannot meet the requirement of hemodialysis blood flow at all, and arterial puncture has the condition limitations of easy hematoma, difficult puncture and the like. And the uremia patients are more old patients, the fragility of blood vessels of the old patients is increased, and the puncture hematoma is easier to occur during puncture. Therefore, the patient's own vein and artery are connected through the arteriovenous internal fistula, thus not only meeting the requirement of blood flow, but also being safe and easy to puncture.

Although AVF is the accepted optimal vascular access, the maturation of autologous arteriovenous internal fistulas has been a problem that plagues a wide range of professional care givers engaged in hemodialysis. The related articles disclosed in the syringy forum indicate that: the definition of the prior literature on the maturation of the internal fistula is summarized as follows, 1. the venous blood flow of the internal fistula body is increased, the blood flow requirement during dialysis can be met, and the expressions such as vein collapse and recirculation are avoided during dialysis; 2. the wall of the internal fistula body vein is thickened, the puncture needle can be retracted to stop bleeding after being pulled out, and hematoma does not exist around the puncture point; 3. the fistula body vein has shallow surface and expanded diameter, is convenient for puncture, the length of a blood vessel for puncture is increased, the distance between two needles reaches more than 10cm during arteriovenous puncture, and repeated puncture can be realized; 4. the boundary of the internal fistula is clear and can be touched, noise and tremble at the internal fistula are obvious, and the puncture can be safely carried out without leakage; 5. can complete at least 1 dialysis, or can use internal fistula for dialysis more than 6 times in 1 month, and Kt/v is more than 1.2 for each hemodialysis. However, these are all perceptual and non-quantitative indicators. For a long time, the experience of specialized nurses in hemodialysis rooms is the 'gold standard' for mature judgment of internal fistulae, and because all internal fistulae are used in hands, advanced physical examination of internal fistulae and long-term accumulated empirical intuition enable senior nurses in hemodialysis rooms to have extremely strong ability to judge whether a newly established autologous arteriovenous internal fistula can meet the basic requirements of needle insertion, dialysis blood flow and hemostasis. However, this also allows the determination of autologous arteriovenous internal fistula to be involved in a "closed loop": the determination of the fistula maturation is to enable safe puncture use, but the determination of whether the fistula satisfies several conditions for maturation is not possible without trial puncture use. Based on this, the K-DOQI guidelines set forth 3 "6" criteria, i.e., internal fistula vein inner diameter greater than 6mm, internal fistula blood flow greater than 600mL/min, internal fistula vein depth less than 6mm from subcutaneous depth. However, even after the quantitative standard is provided, in the actual operation, the hemodialysis room nurse can only roughly judge the actual situation through empirical intuition and sense, and the error in the process is difficult to estimate. Especially to the uremia patient, the uremia patient is easy to appear the anti-manic phenomenon when the state of an illness is critical, and traditional arteriovenous pjncture needle point front end is sharp, leads to actuating vein hematoma because patient's agitation causes the pjncture needle to shift to punch through the blood vessel easily, and arteriovenous internal fistula blood flow is fast, in case take place the hematoma and can oppress arteriovenous internal fistula and lead actuating vein internal fistula and lose merit, the patient will not carry out the dialysis treatment.

For example, the problem that the maturity of the internal fistula is difficult to quantitatively judge is pointed out above, and various problems that the indwelling needle selection, the puncture position selection, the puncture success judgment and the like can only be based on experience intuition and sense exist in the process of the arteriovenous internal fistula indwelling needle puncture. No solution provided by the prior art for solving the above problems and suitable for arteriovenous internal fistula indwelling needle puncture process has been found.

An automatic pricking device proposed in the related art as patent document No. CN105056351B includes: a frame body; the bearing mechanism is arranged on the frame body and is used for bearing the position to be punctured; the acquisition mechanism is arranged on the frame body and used for acquiring the blood vessel information on the part to be punctured; the needle inserting mechanism is arranged on the frame body and is used for performing needle inserting and needle pulling operations on a part to be inserted; and the first control mechanism is connected with the needle inserting mechanism and the acquiring mechanism and used for controlling the working state of the needle inserting mechanism according to the blood vessel information acquired by the acquiring mechanism.

The automatic device injects the medicine completely according to the preset scheme, but because the difference between the operation of injecting the medicine and the operation of the arteriovenous internal fistula indwelling needle puncture is large, the arteriovenous internal fistula indwelling needle puncture operation has large complexity, the accuracy of the indwelling needle puncture is still difficult to realize according to a plurality of sensors, the device is limited by the development of an image processing technology, the existing documents do not provide the standard for guiding the automatic device to perform the indwelling needle puncture, and therefore the existing automatic needle puncturing device provided by the above method is difficult to be applied to the arteriovenous internal fistula indwelling needle puncture.

Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.

Disclosure of Invention

Aiming at the puncture of an arteriovenous internal fistula indwelling needle, the process has the problems that the maturity of the internal fistula is difficult to quantitatively judge, however, clinical medical staff at present basically select according to empirical intuition and sense organ, the reliability is low, aiming at the problem, the prior art also provides a solution such as an automatic acupuncture device, the automatic device completely injects the medicine according to a preset scheme, however, because the difference between the operation of injecting the medicine and the operation of puncturing by the arteriovenous internal fistula indwelling needle is large, the puncturing operation of the arteriovenous internal fistula indwelling needle is complex, the accuracy of the indwelling needle puncturing according to a plurality of sensors still has great difficulty, the method is limited by the development of an image processing technology, and the existing documents do not provide a standard for guiding an automatic device to perform the indwelling needle puncturing, so that the existing automatic needle puncturing device is difficult to be applied to the arteriovenous internal fistula indwelling needle puncturing.

Aiming at the defects of the prior art, the invention provides the auxiliary implanting device for the arteriovenous internal fistula indwelling needle, the solution provided by the application utilizes different visualization degrees between the inside and the outside of the skin, the information acquisition does not depend on the development of an image processing technology, and the treatment cost can be effectively controlled; in the solution, the position of the current needle body can be judged only by monitoring whether a blood vessel area exists in the image, the data processing amount is very small, and the most important continuity and reliability in the puncture process can be ensured; meanwhile, the single-step operation of the manipulator assembly is monitored in the whole process, so that the operation risk possibly caused by the actual operation of the manipulator assembly is eliminated, and the smooth insertion of the sleeve type indwelling needle assembly is particularly facilitated.

The application provides arteriovenous internal fistula keeps somewhere needle with supplementary device of putting into includes at least: the auxiliary insertion device further comprises a visualization component and a manipulator component, wherein the manipulator component is used for grasping the indwelling needle component and assisting the indwelling needle component to be inserted into the operation object, and the manipulator component is used for adjusting the needle inserting operation posture of the indwelling needle component into the operation object based on the bin body blood returning information and/or the tube body blood returning information which are obtained by processing by the visualization component.

The method and the device have the advantages that the different visualization degrees of the inside and the outside of the skin are utilized to realize the smooth puncture of the indwelling needle, the acquisition of visualization degree information does not depend on the progress of an image processing technology any more, and the treatment cost can be effectively controlled; according to the solution, the position of the current needle body can be judged only by monitoring whether a blood vessel region (referring to a blood return observation bin and a hose on an indwelling needle assembly) exists in the image, the data processing amount is very small, and the most important continuity and reliability in the puncture process can be ensured.

Further explanation is provided for the corresponding relationship between the above-mentioned bin body blood return information and/or tube body blood return information and the needle insertion operation posture: the operation actions performed by the manipulator assembly based on the bin body blood return information and/or the tube body blood return information comprise two operation modes of prospective posture operation and compensatory posture operation. It is further divided into a preparation phase and a compensation phase of the robot assembly for a single insertion operation step. The preparation period referred to herein is a period of time from a point of time when the previous insertion operation step ends to the next insertion operation step, at which the robot assembly prepares for the next operation step, i.e., gradually changes from the current operation posture to the next operation posture (i.e., the above-described intended posture operation). The compensation period referred to herein is a period in which the operation of the robot assembly is controlled complementarily during the transition to the next operation posture so as to eliminate the operation risk that may be caused by the actual operation of the robot assembly.

Since the patient's blood vessels have been analyzed before implantation and both the expected and the unexpected disturbances, such as age, vessel thickness, vessel volume flow, etc., can be adapted to individual differences by selecting a suitable tip size and a suitable vessel, and the expected postural manipulation, but the influence of the unexpected disturbances, such as disturbing factors of increased blood viscosity due to certain diseases, is difficult to eliminate. In contrast, in the present invention, a corresponding risk response scheme is preset for the unexpected interference, that is, the preset time required for collecting the bin body blood return information or the tube body blood return information is relatively prolonged, so as to eliminate the slow blood return effect caused by the unexpected interference.

According to a preferred embodiment, the visualization assembly comprises at least: the first visualization device is aligned with an internal fistula establishing area on an operation object at one end and is used for assisting the indwelling needle assembly in puncturing by utilizing the special sensitivity property of hemoglobin in a fluid passage to near infrared rays in the embedding process of the indwelling needle assembly; and the second imaging device is erected on the manipulator component in a manner that one end of the second imaging device is aligned with the region where the indwelling needle assembly is located, and is used for assisting the indwelling needle assembly in puncturing by utilizing the special sensitivity property of hemoglobin in the indwelling needle assembly to near infrared rays in the process of placing the indwelling needle assembly.

It is further preferred here for the first and second visualization devices to: the first illumination coating range of the first display device is a space defined by projecting light from the position of the first display device to the position of the indwelling needle from top to bottom. The second illumination coating range of the second imaging device is a space defined by projecting light from the side surface of the indwelling needle to the position of the indwelling needle from the position of the second imaging device. An overlapping interval exists between the first illumination cladding range and the second illumination cladding range. When the auxiliary insertion device is used for puncture of a remaining needle, the first imaging device and the second imaging device determine the projection time domain of each device in the puncture process of the remaining needle in a mode that the time domains of the respective projection light rays conform to a dynamic time division multiplexing rule. And enabling no overlapping interval to exist between the first illumination cladding range and the second illumination cladding range under the determined projection time domain of the first display device and the second display device based on the dynamic time division multiplexing rule. The problem of projecting the overlapping interval exists between two former image display devices, and this problem will lead to each image display device to receive the influence of the light that throws each other when gathering the image, to this problem, has adopted above-mentioned setting in this application, carries out the rule to each image display device time domain of throwing light separately and judges, has eliminated the overlapping interval between the two, avoids mutual interference, has guaranteed simultaneously that each image display device can gather required image information.

It is further preferred for the above mentioned dynamic time division multiplexing rule that: the dynamic time division multiplexing rule means that the projection light rays of at least one visualization device are interlaced in different time domains based on the position relation between the stage of the current putting-in operation and the visualization device, so that the projection light rays of each visualization device act independently relatively without an overlapping interval. The "stage at which the current operation is performed" is determined based on the cartridge body blood return information and/or the tube body blood return information about the indwelling needle assembly mounted on the manipulator assembly, which is acquired by the visualization assembly, and the current operation and/or the operation to be performed are/is performed at the stage during the entire operation of the indwelling needle. The above-mentioned "positional relationship of the developing devices" refers to a relative spatial positional relationship between the first illumination coverage of the first developing device and the second illumination coverage of the second developing device. The second imaging device is relatively fixed on the manipulator assembly, so that the second imaging device moves relative to the first imaging device, and the relative spatial position relation is dynamically changed, and the time division multiplexing rule is dynamically judged in real time. Under the arrangement, the time domain of the projection light of each display device not only avoids mutual interference, but also can meet the acquisition requirement of the information required by the current stage of the embedding operation under the time division multiplexing of the display device.

According to a preferred embodiment, the manipulator assembly adjusts the needle insertion operation posture by successively changing a relative inclination angle between the needle body of the indwelling needle assembly and the surface to be operated and a penetration depth between the needle body of the indwelling needle assembly and the surface to be operated. Therefore, the auxiliary implanting device for the arteriovenous internal fistula indwelling needle provided by the invention adjusts the needle inserting operation posture based on the monitoring of the subcutaneous blood vessel region and the needle body blood vessel region by the first imaging device and the second imaging device respectively. The needle body 'blood vessel region' refers to a needle body region with an inner cavity containing blood return, has great visualization degree and reliability degree, can effectively control treatment cost without depending on the progress of an image processing technology, and can judge the position of the current needle body only by monitoring whether the 'blood vessel region' exists in an image. The data processing amount is small, and the consistent and reliable puncture process is ensured. Different from the automatic acupuncture device provided by the prior art, which relies on the subcutaneous blood vessel imaging technology to try to strictly control the acupuncture depth and the acupuncture angle, the image processing algorithm adopted by the blood vessel imaging equipment provided at present still stays at the stage of the Niblack + binarization algorithm, that is, although the blood vessel and the surrounding tissues are divided into two different gray values by the measured bottom, the final image presents rough, saw-toothed or granular blood vessel edges, so the automatic acupuncture device in the prior art cannot rely on the subcutaneous blood vessel imaging technology and cannot achieve the strict control on the acupuncture depth and the acupuncture angle. Particularly aiming at the puncture of an arteriovenous internal fistula indwelling needle assembly, an auxiliary solution is not provided for the implantation process in the prior art, but the invention provides an auxiliary implantation device for an arteriovenous internal fistula indwelling needle based on the sleeve type structural characteristic of the arteriovenous internal fistula indwelling needle, the puncture angle and the puncture depth of the needle body are not only separately adjusted but also sequentially completed in the operation time, so that when a hose is sent into a blood vessel, the continuity of the implantation process is not influenced, the smaller blood vessel puncture angle is ensured, and the smooth implantation of the sleeve type indwelling needle assembly is facilitated.

According to a preferred embodiment, the manipulator assembly comprises at least one resistance monitoring module for monitoring the driving force required by the manipulator during the gradual insertion of the manipulator into the operation object while advancing the indwelling needle assembly. In this regard, it is preferable that the information on the position of the needle tip that the needle tip has penetrated into the fluid pathway is determined based on the trend of the driving force corresponding to the sense of falling empty when the needle tip penetrates into the fluid pathway. Therefore, the purpose of quantitatively monitoring the falling feeling of the needle point when the needle point penetrates into the blood vessel is realized by monitoring the change of the required driving force for pushing the indwelling needle assembly to continuously advance when the needle point of the indwelling needle assembly just penetrates through the blood vessel wall and is positioned in the blood vessel, and the reliability of automatically puncturing the indwelling needle by the manipulator is further optimized.

According to a preferred embodiment, the manipulator assembly further comprises a first manipulator and a second manipulator, the second manipulator being configured to assist the first manipulator in continuing to advance the catheter in a manner that the stylet-catheter is detached by stabilizing the relative position of the needle wings based on the catheter body flashback information regarding the indwelling needle assembly processed by the visualization assembly. Preferably, the first manipulator is held by a hose fixing wing of the indwelling needle assembly, and the second manipulator is held by a needle wing of the indwelling needle assembly. Different from the prior art that only a single mechanical arm is arranged and the movable range is limited, and the single mechanical arm can execute a single operation type, the mechanical arm assembly in the application comprises different mechanical arms different from different holding positions, and based on the blood return information of the tube body of the indwelling needle assembly, the different mechanical arms are operated by mutual cooperation, so that the operable range is larger, and the continuity requirement of the indwelling needle puncture process under high complexity can be met.

According to a preferred embodiment, the manipulator assembly obtains arteriovenous internal fistula information of a patient in a mode of information interaction with a hospital clinic system, and judges whether the patient meets arteriovenous internal fistula indwelling needle puncture conditions or not based on the arteriovenous internal fistula information and actual fluid path information which is collected by the visualization assembly and relates to an operation object internal fistula establishment area. Aiming at the problem that the maturity of the internal fistula is difficult to quantitatively judge in the puncture process of the arteriovenous internal fistula indwelling needle, clinical medical care personnel are basically selected according to empirical intuition and sense organ at present, the reliability is low, the application provides a method for judging the arteriovenous internal fistula information datamation, solves the problem that whether the internal fistula can perform puncture and is difficult to judge, does not depend on empirical intuition and sense organs any more, the auxiliary implantation device provided by the application not only provides an auxiliary effect for the implantation process of the arteriovenous internal fistula indwelling needle, meanwhile, the arteriovenous internal fistula condition established on the arm of each patient can be collected and analyzed, so that the arteriovenous internal fistula condition of each patient can be monitored, medical personnel can be assisted to master the actual condition of the patient in more aspects, and the medical personnel can make a decision to obtain a more favorable nursing scheme for the patient.

According to a preferred embodiment, the first visualization device is configured to perform image analysis on the internal fistula establishment area of the operation object before arteriovenous internal fistula puncture is performed, and to determine actual fluid passage information about the internal fistula establishment area of the operation object based on the analysis result. Preferably, the actual fluid pathway information includes at least fluid pathway width, fluid pathway depth, blood flow.

The present application further proposes a system, the system comprising: a memory; at least one processor coupled to the memory, the system further comprising a manipulator assembly and a visualization assembly, the processor communicatively coupled to the manipulator assembly and the visualization assembly, respectively, the at least one processor configured to: the action posture of the manipulator component is adjusted based on the bin body blood return information and/or the tube body blood return information which are collected by the visual component and are about the indwelling needle component assembled on the manipulator component.

According to a preferred embodiment, the at least one processor is configured to: instructing a manipulator assembly equipped with an indwelling needle assembly to act so as to establish an operating channel between the indwelling needle assembly and an object to be communicated; judging whether the needle tip of the indwelling needle assembly is positioned at a preset position through a blood return observation bin arranged on the indwelling needle assembly; and when the needle point of the indwelling needle assembly is judged and determined to be positioned at the preset position, returning the fluid to the empty chamber of the blood return observation chamber. According to a preferred embodiment, the at least one processor is configured to: judging whether the end part of a hose arranged on the indwelling needle assembly is placed into a preset position along with the needle point; and returning the fluid to the empty tube of the hose when judging and determining that one end of the hose is placed into the preset position along with the needle point.

Drawings

Fig. 1 is a simplified overall structural schematic diagram of a first robot provided by the present invention;

FIG. 2 is a schematic view showing the overall structure of a simplified mold for an indwelling needle assembly according to the present invention; and

fig. 3 is a schematic diagram of a simplified module connection relationship of the auxiliary insertion device according to the present invention.

List of reference numerals

1: indwelling needle assembly 2: the visualization component 3: manipulator assembly

4: hospital visit system 101: the blood return observation bin 102: flexible pipe

103: the needle body 104: hose fixing wing 105: needle wing

106: the hose base 107: needle tip protective sheath 108: needle body base

201: first visualization device 202: the second development device 203: second processor

301: the first robot 302: the second manipulator 303: resistance monitoring module

304: first processor

Detailed Description

The following describes in detail the auxiliary implanting device for an arteriovenous internal fistula indwelling needle proposed by the present invention with reference to the accompanying drawings.

First, the auxiliary insertion device for an arteriovenous internal fistula indwelling needle provided by the present invention mainly comprises an indwelling needle assembly 1 and a manipulator assembly 3. To clarify the process of data transmission between hardware devices in the assisted device of the present application, the following description is made: also included in the robot assembly 3 is a first processor 304. The first processor 304 is connected to the second processor 203 and the hospital clinic system respectively, which are provided in the visualization component 2. The first processor 304 is connected to the first robot 301, the second robot 302, and at least one resistance monitoring module provided in the robot assembly 3. At least two resistance monitoring modules are provided on the first manipulator 301 and the second manipulator 302 at positions contacting the indwelling needle assembly 1. The second processor 203 arranged in the visualization component 2 is connected with the first visualization device and the second visualization device, respectively. The first display device and the second display device are respectively used for collecting and processing image data, transmitting the processed information about the implantation process to the second processor 203, and transmitting the information about the implantation process from the second processor 203 to the first processor 304. At least one resistance monitoring module is used for acquiring and processing the data of the advancing resistance or withdrawing resistance received by the manipulator in the process of pushing the indwelling needle assembly 1 to advance or withdraw, and transmitting the processed information about the insertion process to the first processor 304. The first processor 304 interacts with the hospital visit system to obtain the next patient's individual information before proceeding with the next patient's placement procedure. The first processor 304 processes the received information to generate related instructions based on the processed information, and transmits the related instructions to the first manipulator 301 and the second manipulator 302 for placing operation.

As shown in fig. 2, the auxiliary insertion device includes at least an indwelling needle assembly 1. The indwelling needle assembly 1 is used to establish a vascular access to the interior of a blood vessel of a diseased limb. The present invention may employ a conventional structure of an indwelling needle assembly 1. In the following, the main structure of a conventional indwelling needle assembly 1 will be briefly described, and the indwelling needle assembly 1 includes at least a hose 102, a hose base 106, a needle tip protecting sleeve 107, and a needle base 108, which are connected in sequence. Wherein one end of the hose 102 is fixed to the hose base 106, and the inner cavity of the hose base 106 is communicated with the inside of the tube body of the hose 102. The needle tip protective sleeve 107 is sleeved on the hose base 106 and the needle body base 108 at two ends respectively. One end of the needle body 103 is fixedly connected to the needle body base 108. During installation, the needle 103 is inserted one by one into the needle tip protector 107, the hose mount 106, and the hose 102 until the needle mount 108 is received over the needle 103 protector. When the needle body base 108 is taken out, the needle body base 108 is held to be separated from the protective sleeve of the needle body 103, so that the needle points are gradually drawn out from the hose 102 and the hose base 106 until the needle points enter the needle point protective sleeve 107 to be limited and protected, the needle body base 108 is continuously pulled to drive the needle point protective sleeve 107 to be separated from the hose base 106, and finally the open end of the hose base 106 can be closed by adopting the hose 102 plug.

As shown in fig. 2, the indwelling needle assembly 1 is further provided with a blood return observation chamber 101. The blood return observation chamber 101 is a cavity formed on the needle body base 108 near the needle body 103 and communicated with the inside of the needle core. When the needle point of the indwelling needle assembly 1 is punctured into the blood vessel of the affected limb, since the internal pressure of the needle core is obviously lower than the internal pressure of the blood vessel of the patient, a small negative pressure is formed, so that when the needle point is punctured into the blood vessel, the blood is led back into the empty chamber of the blood returning observation chamber 101. The blood return observation chamber 101 is made of transparent material, so that the medical staff can check whether blood returns or not by observing the blood return observation chamber 101 when the medical staff operates the blood return observation chamber by hand.

The indwelling needle assembly 1 is also provided with a hose 102. The tube 102 is sleeved outside the needle, but since the needle tip is exposed out of the end of the tube 102, the needle tip firstly penetrates into the blood vessel of the affected limb, and then the tube 102 enters the blood vessel, so that when one end of the tube 102 is placed into the blood vessel of the affected limb along with the needle tip, blood is introduced back into the empty tube of the tube 102. The blood return observation chamber 101 is made of transparent material, so that the medical staff can check whether blood returns or not by observing the hose 102 when the medical staff holds the blood.

Preferably, in addition to the above-described conventional indwelling needle assembly 1, as shown in fig. 2, it is further provided with a hose fixing wing 104 and a needle wing 105. By providing the hose fixing wing 104 and the needle wing 105, the manipulator can grasp the indwelling needle assembly 1 stably. The hose fixing wing 104 refers to a component provided on the outer wall of the hose base 106 and extending laterally in a direction perpendicular to the outer wall thereof. The needle wings 105 refer to parts provided on the outer wall of the needle body base 108 and extending laterally in a direction perpendicular to the outer wall thereof.

According to a preferred embodiment, the auxiliary insertion device proposed by the present invention further comprises a robot assembly 3. The manipulator assembly 3 is used for grasping the indwelling needle assembly 1 and assisting the placement of the indwelling needle assembly 1 into the affected limb. The first manipulator 301 is held by the hose fixing wing 104 of the indwelling needle assembly 1, and the second manipulator 302 is held by the needle wing 105 of the indwelling needle assembly 1.

According to a preferred embodiment, the auxiliary insertion device further comprises a visualization assembly 2. As shown in fig. 1, the visualization component 2 comprises at least a first visualization device 201 and a second visualization device 202.

The first imaging device 201 mentioned here is to irradiate near infrared light harmless to the human body to the skin, and the near infrared light is partially absorbed by blood in the blood vessel and reflected by the tissue around the blood vessel, thereby forming a clear blood vessel image. That is, the first visualization device 201 is used to assist the indwelling needle assembly 1 in performing puncture during the insertion of the indwelling needle assembly 1 by utilizing the special sensitivity property of hemoglobin in the blood vessel to near-infrared light. The special sensitivity of hemoglobin to Near-infrared light refers to the special absorption property of hemoglobin to Near-infrared light, the transmission depth of Near-infrared light on human tissues such as skin is about 3mm, and vein images can be obtained by filtering the influence of other light rays under the irradiation of an NIR (Near infrared-Red) light source. The first imaging device 201 may be an infrared vein imaging apparatus proposed by patent document No. CN202821303U with publication number of 3.27.2013, wherein when an optical window is aligned with an imaging point of a corresponding portion of a measured portion, under the irradiation of an NIR light source, a vein containing hemoglobin absorbs and scatters near-infrared light, and since tissues around the vein contain less hemoglobin, the absorption and scattering are not obvious, thereby achieving the purpose of imaging; the infrared camera is used for imaging, the image signals are processed by the rear-end image processor and then enter the projector, the narrow-band filter is used for outputting the image signals in a visible light mode through the projector, the image signals reach the surface of the corresponding part of the detected part through the optical window to obtain projection points, and the projection points and the image pickup points are the same in position, so that blood vessels are visible, and the effect of being convenient to identify is achieved. For example, a VIVO500s projection infrared imaging instrument product for traditional Chinese medicine lithography can assist clinical care workers in quickly positioning the best suitable puncture part, clearly determining the position and the trend of a blood vessel, and simultaneously facilitating observation of the conditions of venous sinus, hematoma, drug extravasation and the like, and the device also introduces an advanced blood vessel depth identification technology.

The second imaging device 202 mentioned here irradiates near infrared light to the indwelling needle assembly 1, and the near infrared light is absorbed by the blood portion in the indwelling needle assembly 1 and reflected by the structure around the blood portion, thereby forming a clear blood path image. That is, the second visualization device 202 is for assisting the puncture of the indwelling needle assembly 1 by utilizing the special sensitivity property to near infrared rays of hemoglobin that is refluxed into the indwelling needle assembly 1 during the insertion of the indwelling needle assembly 1. The first and

second development devices

201 and 202 may be the same type of device.

As shown in fig. 1, regarding the fixing manner of each of the first and second developing devices 201 and 202: the image acquisition end of the first imaging device 201 is aligned with the internal fistula building area on the affected limb. The image capturing end of the second imaging device 202 is aligned with the region where the indwelling needle assembly 1 is located and the second imaging device 202 is mounted on the robot assembly 3. Since the manipulator assembly 3 and the indwelling needle assembly 1 are fixed relative to the second visualization device 202, it can be ensured that the second visualization device 202 is always aligned with the area where the indwelling needle assembly 1 is located. Therefore, the first display device 201 and the second display device 202 always maintain the optical windows thereof corresponding to the respective monitoring areas, which is beneficial to obtaining the blood return information of the bin body and/or the blood return information of the tube body from the image data.

The bin body blood return information and the tube body blood return information in the invention refer to the following information: based on the blood return phenomenon caused by the blood return observation cabin 101 and the flexible tube 102 in the indwelling needle assembly 1 respectively due to the insertion process of the needle 103, the second imaging device 202 judges the insertion position of the needle 103, i.e. judges whether the current insertion position of the needle 103 is in a state that the needle tip pierces the blood vessel or the flexible tube 102 is successfully inserted into the blood vessel. The blood return phenomenon refers to the phenomenon that blood can easily flow out of a blood vessel and enter the needle vessel due to the action of negative pressure after the needle penetrates into the blood vessel. The blood return information of the bin body and the blood return information of the tube body are obtained based on the image data collected by the imaging equipment.

In this embodiment, when the second imaging device 202 irradiates near infrared light to the indwelling needle assembly 1 and the near infrared light in a partial region is strongly absorbed in the acquired image, it is determined that the blood return phenomenon of the blood return observation chamber 101 is caused, that is, the needle 103 has penetrated into the blood vessel. The visual component 2 processes the information about the blood return from the chamber body of the indwelling needle assembly 1.

In a preferred embodiment, when the second imaging device 202 irradiates near infrared light onto the indwelling needle assembly 1 and a partial region of the acquired image is strongly absorbed by the near infrared light and the partial region has a strip shape, it is determined that the blood return phenomenon of the tube 102 is the current blood return phenomenon of the tube 102, that is, the tube 102 is inserted into the blood vessel. The information on the catheter body flashback of the indwelling needle assembly 1 is processed by the visualization component 2.

Further preferably: the manipulator assembly 3 adjusts the needle insertion operation posture for placing the indwelling needle assembly 1 into the affected limb based on the bin body blood return information and/or the tube body blood return information about the indwelling needle assembly 1 collected by the visualization assembly 2. Wherein, the manipulator assembly 3 preferably adjusts the needle insertion operation posture by successively changing the relative inclination angle between the needle body 103 of the indwelling needle assembly 1 and the surface of the affected limb and the penetration depth between the needle body 103 of the indwelling needle assembly 1 and the surface of the affected limb.

Further explanation is provided for the corresponding relationship between the above-mentioned bin body blood return information and/or tube body blood return information and the needle insertion operation posture:

firstly, the operation actions performed by the manipulator assembly 3 based on the bin body blood return information and/or the tube body blood return information include two operation modes of prospective posture operation and compensatory posture operation. It is further divided into a preparation phase and a compensation phase of the robot assembly 3 for a single insertion operation step. The preparation period referred to herein is a period of time from the time when the previous insertion operation step ends to the next insertion operation step, at which the robot assembly 3 prepares for the next operation step, that is, gradually changes from the current operation posture to the next operation posture (i.e., the above-described intended posture operation). The compensation period referred to herein means that the operation process of the robot assembly 3 is subjected to compensatory control during the transition to the next operation posture to eliminate an operation risk that may be caused by the actual operation of the robot assembly 3.

Further explanation is provided for the compensation period: the above mentioned operational risks that may be caused by the actual operation of the manipulator assembly 3 are mainly referred to in two ways: on one hand, the adjustment degree of the manipulator assembly 3 in the preparation period (of a certain implantation operation step) exceeds a preset risk threshold, which may cause the operation risk that the needle point penetrates too deeply or the indwelling needle assembly 1 is inclined too much to pierce the opposite blood vessel wall; on the other hand, the deviation between the prediction and judgment of the patient blood vessel condition by the manipulator assembly 3 and the actual patient blood vessel condition exceeds the preset risk threshold, which may cause an operation risk that effective bin body blood return information or tube body blood return information cannot be acquired within a preset time.

In view of the first kind of operational risk, the image information of the indwelling needle assembly 1 is analyzed and processed in real time by the developing device during the compensation period, and the developing device outputs the actual execution posture obtained by the processing to the manipulator assembly 3. The actual execution posture is different from the needle insertion operation posture, which is a posture of the indwelling needle assembly 1 in a predetermined space system calculated based on the instruction information when the manipulator assembly 3 instructs the manipulator to control the indwelling needle assembly 1 to insert (the contents of the needle insertion operation posture are not limited to this, and this is an example); the actual execution posture is a posture in which the actual indwelling needle assembly 1 acquired in real time by the imaging device is in a predetermined space. The posture of the indwelling needle assembly 1 in relation to a predetermined space system is mainly characterized by the insertion depth and the inclination angle. Further, the manipulator assembly 3 compares the received actual execution posture with the needle insertion operation posture, and monitors whether the deviation between the two exceeds a preset risk threshold. The preset risk threshold here is preferably a range value set by a medical staff input in advance. When it is monitored that the deviation satisfies the minimum value in the preset risk threshold (range), the manipulator assembly 3 instructs the manipulator to stop the continued placing in the current operation step, thereby ensuring the operation safety of the manipulator assembly 3 in the compensation period.

In view of the second kind of operation risks, the image information of the indwelling needle assembly 1 is analyzed and processed in real time by the display device during the compensation period, and the display device outputs the processed bin body blood return information or tube body blood return information to the manipulator assembly 3. The information of the blood returning from the cabin body or the blood returning from the tube body mentioned here includes the information that the blood returning is collected within the preset time period or the information that the blood returning is not collected within the preset time period. Especially, under the condition that effective bin body blood return information or tube body blood return information is not acquired within a preset time, namely, a deviation exists between the prediction judgment of the blood vessel condition of the patient before the implantation and the actual blood vessel condition of the patient. Further elucidation of the occurrence of this deviation is made: since the patient's blood vessels have been analyzed before implantation and both the expected and the unexpected disturbances, such as age, vessel thickness, vessel volume flow, etc., can be adapted to individual differences by selecting a suitable tip size and a suitable vessel, and the expected postural manipulation, but the influence of the unexpected disturbances, such as disturbing factors of increased blood viscosity due to certain diseases, is difficult to eliminate. This effect is eliminated in the present invention by the compensatory gesture operation described above. And then the deviation is mainly caused by the unexpected interference, and a risk coping scheme is preset aiming at the unexpected interference, namely the preset time required for collecting the bin body blood return information or the tube body blood return information is relatively prolonged, so that the slow blood return influence caused by the unexpected interference is eliminated. Preferably, the extension value of the preset duration is limited within the safety threshold range, that is, the risk coping scheme for extending the preset duration is executed on the premise of ensuring the safety of the patient, and the medical staff is informed to manually control the operation of the manipulator assembly 3 in view of the situation that blood return still cannot be seen on the basis of correct operations, thereby further ensuring the safety of the placing operation.

Secondly, the needle insertion operation posture also comprises three parameters of time, space and force. The time refers to the chronological order of the steps in the auxiliary embedding method proposed by the present invention. The spatial position, i.e., the (x, y, z) positional parameters of the indwelling needle assembly 1 with respect to the predetermined spatial system are controlled at the time of needle insertion. The force refers to parameters such as the insertion speed and the insertion angle of the indwelling needle assembly 1 controlled by the manipulator assembly 3. Under the prospective posture operation and the compensatory posture operation of the manipulator assembly 3, when the cabin body blood returning information is analyzed by the imaging device based on the image data, the needle point at the moment is determined to be smoothly penetrated into the blood vessel wall, and the manipulator assembly 3 adjusts the needle inserting operation posture suitable for introducing the indwelling needle assembly 1 into the affected limb. More specifically, for the needle insertion operation posture corresponding to the blood return information of the bin body: firstly, reducing the relative inclination angle between the needle body 103 of the indwelling needle assembly 1 and the surface of the affected limb, then increasing the puncture depth between the needle body 103 of the indwelling needle assembly 1 and the surface of the affected limb, and finally withdrawing the needle wing 105 backwards for a certain length; the relative inclination angle between the needle body 103 and the surface of the affected limb is adjusted to 5-10 degrees, the penetration depth between the needle body 103 and the surface of the affected limb is further extended to 2mm, and the needle wing 105 is drawn out backward 1/2 to be about 2-3 mm in length.

In the prospective posture operation and the compensatory posture operation of the manipulator assembly 3, when the tube body blood return information is analyzed by the imaging device based on the image data, it is determined that the open end of the tube 102 has also been smoothly inserted into the blood vessel wall at that time, and the manipulator assembly 3 adjusts the needle insertion posture in which the manipulator assembly 3 places the indwelling needle assembly 1 into the affected limb so that the needle body is separated from the tube. Specifically, the method comprises the following steps: at this time, the first manipulator 301 is held by the needle wing 105, and the second manipulator 302 is held by the tube fixing wing 104, so that the tube 102 is continuously advanced into the blood vessel by the second manipulator 302 while the needle body 103 is separated from the tube 102, while the first manipulator 301 is held fixed.

In particular implementation, as shown in fig. 3, the robot assembly 3 further includes at least one resistance monitoring module 303. The resistance monitoring module 303 is used for monitoring the driving force required by the manipulator in the process of gradually inserting the manipulator into the affected limb when the manipulator advances the indwelling needle assembly 1. The resistance monitoring module 303 determines needle point position information that the needle point has penetrated into the blood vessel based on the driving force variation tendency corresponding to the sense of falling empty when the needle point penetrates into the blood vessel.

The needle point position information determined by the resistance monitoring module 303 is that the needle point is quantified with respect to the sense of falling empty when the needle point penetrates into the blood vessel, at this time, the needle point has penetrated through the blood vessel wall, and the advancing resistance is reduced in a small magnitude, so that the driving force required by the manipulator to advance the indwelling needle assembly 1 is correspondingly reduced. The resistance monitoring module is arranged at the position of the manipulator, which is contacted with the indwelling needle assembly 1, and a force sensor is arranged in the manipulator, so that the advancing resistance or withdrawing resistance which is borne by the manipulator in the process of pushing the indwelling needle assembly 1 to advance or withdraw is realized, and the resistance is mainly formed by the resistance action between the skin vessel wall of the affected limb and the indwelling needle assembly 1. Further, when the needle tip of the indwelling needle assembly 1 is just pierced through the blood vessel wall and positioned inside the blood vessel, the driving force required for advancing the indwelling needle assembly 1 to continue the travel is greatly reduced, and the purpose of quantitatively monitoring the falling feeling of the needle tip when the needle tip penetrates the blood vessel is achieved. When monitoring the needle point position information when the needle point penetrates into the blood vessel wall, the mechanical arm is suspended from propelling the indwelling needle assembly 1, and then the second imaging device 202 acquires the blood return information of the blood return observation cabin 101 through the acquired image, that is, the needle point at the moment is determined to have smoothly penetrated into the blood vessel wall. The process is independent of the progress of image processing technology and the data processing amount is small. The reliability of the automatic puncture remaining needle executed by the mechanical arm is further optimized.

As shown in fig. 3, it is further preferable that the manipulator assembly 3 acquires arteriovenous internal fistula information of the patient by way of information interaction with the hospital clinic system 4 before arteriovenous internal fistula puncture is performed.

The hospital visiting system 4 refers to a platform for resource sharing among departments in the hospital, and the visiting information and personal information of the patient are stored in the hospital visiting system 4.

Preferably, whether the patient meets the arteriovenous internal fistula indwelling needle puncture condition is judged based on arteriovenous internal fistula information and actual blood vessel information about an affected limb internal fistula establishment region collected by the visualization component 2. Further preferably, whether the patient meets the arteriovenous internal fistula indwelling needle puncture condition is judged based on the arteriovenous internal fistula establishing time and actual blood vessel information about the limb internal fistula establishing region collected by the visualization component 2.

Wherein, the puncture condition of the intravenous fistula indwelling needle refers to that the arteriovenous fistula is mature and the actual blood vessel condition meets the 3 '6' standards proposed by the K-DOQI guideline.

Furthermore, the maturation of the arteriovenous internal fistula generally means 8-12 weeks after the internal fistula formation, the internal fistula is easily used too early, the venous wall is thin and fragile, and subcutaneous hematoma is easily generated when a plurality of times of puncture is started to influence the next puncture. Whether the patient meets the puncture condition may be determined based on the arteriovenous fistula establishment time.

And 3 standards of '6', which are proposed by the K-DOQI guideline, namely that the inner diameter of the internal fistula vein is more than 6mm, the blood flow of the internal fistula is more than 600mL/min, and the depth of the internal fistula vein from the subcutaneous part is less than 6 mm. The above criteria can also be adjusted by the medical staff on their own to better suit the actual situation based on their rich clinical experience. The actual blood vessel information can be compared with the standard provided by the guideline according to the actual blood vessel information about the internal fistula establishing area acquired and processed by the first imaging device 201 to determine whether the current patient meets the puncture condition.

Before arteriovenous internal fistula puncture is performed, the first imaging device 201 is over against an internal fistula establishing region, and the first imaging device 201 performs image analysis on an image collected by the first imaging device 201 and related to the internal fistula establishing region of an affected limb. The first visualization device 201 determines actual blood vessel information about the established region of the internal fistula of the affected limb based on image analysis. The first modality may be, for example, a product of a chinese lithography VIVO500s projection infrared imager, which collects information on actual blood vessels including at least blood vessel width, blood vessel depth, and blood flow. Comparing the actual vessel information with the 3 "6" criteria set forth in the K-DOQI guidelines, it can be determined whether the patient is eligible for the puncture condition. Further quantifying the assessment process prior to arteriovenous fistula puncture to be available. Compared with the conventional solution which is manually evaluated whether the internal fistula can perform puncture or not and can only be based on empirical intuition and sense organs in the prior art, the problem that whether the internal fistula can perform puncture or not and is difficult to judge is solved, and the empirical intuition and sense organs are not relied on any more, so that the solution provided by the invention can not only unify the standard and has strong reliability.

An auxiliary implantation method for an arteriovenous internal fistula indwelling needle is completed by the aid of the auxiliary implantation device. Specifically, the auxiliary embedding method at least comprises one or more of the following steps:

before arteriovenous internal fistula puncture is carried out, the first imaging device 201 is over against an internal fistula establishing region, and the first imaging device 201 carries out image analysis on an image collected by the first imaging device 201 and related to the internal fistula establishing region of an affected limb;

the first imaging device 201 determines actual blood vessel information about the internal fistula establishment area of the affected limb based on image analysis, wherein the acquired actual blood vessel information at least comprises blood vessel width, blood vessel depth and blood flow;

before arteriovenous internal fistula puncture is carried out, the manipulator component 3 acquires arteriovenous internal fistula information of a patient in a mode of carrying out information interaction with the hospital hospitalization system 4;

judging whether the patient meets the arteriovenous internal fistula indwelling needle puncture condition or not based on the arteriovenous internal fistula establishing time and the actual blood vessel information about the affected limb internal fistula establishing region collected by the visualization component 2;

under the condition that the condition of the patient is judged to meet the arteriovenous internal fistula indwelling needle puncture condition, judging puncture points in an internal fistula establishment area on the affected limb based on the arteriovenous internal fistula puncture frequency, the arteriovenous internal fistula puncture mode and the arteriovenous internal fistula puncture position in the arteriovenous internal fistula information;

the arteriovenous internal fistula puncture mode at least comprises rope ladder type or button hole type puncture, and based on the puncture scheme adopted by the puncture and the punctured position, fixed-point puncture can be avoided, the fixed-point puncture is easy to cause the damage of the vessel wall at the position of a blood vessel with much use, the elasticity is weakened, and the service life of the internal fistula is shortened;

after the puncture position is determined, the first manipulator 301 held on the needle wing 105 adjusts the posture of the needle on the skin to be 30-40 degrees between the needle point and the skin for needle insertion;

in the process that the manipulator pushes the indwelling needle assembly 1 to be gradually placed into the affected limb, the driving force required by the manipulator is monitored by the resistance monitoring module 303;

when the resistance monitoring module 303 determines that the needle point has penetrated into the blood vessel based on the driving force variation tendency corresponding to the sense of falling empty when the needle point penetrates into the blood vessel, the pushing of the manipulator to the indwelling needle assembly 1 is suspended;

then, the second imaging device 202 acquires blood return information of the blood return observation bin 101 through the acquired image, and determines that the needle point at the moment is smoothly penetrated into the blood vessel wall;

the manipulator component 3 is used for adjusting the needle inserting operation posture of the indwelling needle component 1 for placing the indwelling needle component 1 into the affected limb, specifically, the relative inclination angle between the needle body 103 of the indwelling needle component 1 and the surface of the affected limb is firstly reduced, then the puncture depth between the needle body 103 of the indwelling needle component 1 and the surface of the affected limb is increased, and finally the needle wing 105 is pulled out backwards for a certain length;

the relative inclination angle between the needle body 103 and the surface of the affected limb is adjusted to be 5-10 degrees, the penetration depth between the needle body 103 and the surface of the affected limb is further extended to 2mm, and the needle wing 105 is drawn out backward 1/2 to be about 2-3 mm long;

then, the first imaging device 201 acquires blood return information of the inner cavity of the hose 102 through the acquired image, and determines that the open end of the hose 102 at the moment is smoothly punctured into the vessel wall;

at this time, the first manipulator 301 is held by the needle wing 105, the second manipulator 302 is held by the tube fixing wing 104, the first manipulator 301 is kept fixed, the tube 102 is continuously advanced into the blood vessel by the second manipulator 302, and the needle body 103 is separated from the tube 102;

when the needle is taken out, the needle wing 105 is held, the needle body base 108 is separated from the protective sleeve of the needle body 103, so that the needle points are gradually pulled out of the hose 102 and the hose base 106 until the needle points enter the needle point protective sleeve 107 to be limited and protected, the needle body base 108 is continuously pulled to drive the needle point protective sleeve 107 to be separated from the hose base 106, and finally the open end of the hose base 106 can be closed by adopting the hose 102 plug.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.

Claims

1. An arteriovenous internal fistula is kept somewhere supplementary device of putting into for needle, includes at least:

an indwelling needle assembly (1) for establishing a fluid passage communicating with the inside of an operation subject;

a blood return observation chamber (101) provided in the indwelling needle assembly (1) and configured to return blood into an empty chamber thereof when a needle tip of the indwelling needle assembly (1) is pierced into an operation subject;

a hose (102) provided to the indwelling needle assembly (1) and configured to return blood to an empty tube thereof when one end thereof is inserted into the inside of the operation subject with the needle tip,

it is characterized in that the utility model is characterized in that,

the auxiliary insertion device also comprises a visualization component (2) and a manipulator component (3), wherein the manipulator component (3) is used for grasping the indwelling needle component (1) and assisting the indwelling needle component to be inserted into an operation object, and the manipulator component (3) adjusts the needle inserting operation posture of the indwelling needle component (1) into the operation object based on the bin body blood return information and/or the tube body blood return information of the indwelling needle component (1) processed by the visualization component (2).

2. The auxiliary insertion device according to claim 1, wherein said visualization means (2) comprise at least:

a first visualization device (201) having one end aligned with an internal fistula establishing region on the operation subject;

a second visualization device (202) having one end aligned with the region where the indwelling needle assembly (1) is located,

wherein, the first visualization device (201) and the second visualization device (202) are both used for assisting the puncture of the indwelling needle assembly (1) by utilizing the special sensitivity property of hemoglobin in a fluid passage to near infrared rays during the implantation process of the indwelling needle assembly (1).

3. The auxiliary implanting device according to one of the preceding claims, wherein the manipulator assembly (3) adjusts the needle insertion operation posture by successively changing a relative inclination angle between the needle body (103) of the indwelling needle assembly (1) and the surface of the operation object and a penetration depth between the needle body (103) of the indwelling needle assembly (1) and the surface of the operation object.

4. Auxiliary insertion device according to one of the preceding claims, wherein said manipulator assembly (3) comprises at least one resistance monitoring module (303), said resistance monitoring module (303) being adapted to monitor the driving force required by said manipulator during the progressive insertion of said manipulator into the object to be operated by advancing the indwelling needle assembly (1).

5. Auxiliary insertion device according to one of the preceding claims, wherein said manipulator assembly (3) further comprises a first manipulator (301) and a second manipulator (302), said first manipulator (301) being gripped on the hose retaining wing (104) of said indwelling needle assembly (1) and said second manipulator (302) being gripped on the needle wing (105) of said indwelling needle assembly (1).

6. The auxiliary implanting device according to one of the preceding claims, wherein the manipulator assembly (3) obtains arteriovenous internal fistula information of a patient by means of information interaction with a hospital clinic visiting system (4), and judges whether the patient meets arteriovenous internal fistula indwelling needle puncture conditions based on the arteriovenous internal fistula information and actual fluid passage information about an operation object internal fistula establishing area collected by the visualization assembly (2).

7. The auxiliary implanting device according to one of the preceding claims, wherein the first visualization apparatus (201) is configured to perform an image analysis of the internal fistula establishing area of the operation subject before performing arteriovenous fistula puncture, and to determine actual fluid passage information about the internal fistula establishing area of the operation subject based on the analysis result.

8. A system, the system comprising:

a memory;

at least one processor coupled to the memory,

the system is characterized by further comprising a manipulator assembly (3) and a visualization assembly (2), wherein the processors are respectively in communication connection with the manipulator assembly (3) and the visualization assembly (2), and the at least one processor is configured to:

the action posture of the manipulator component (3) is adjusted based on the bin body blood return information and/or tube body blood return information about the indwelling needle component (1) assembled on the manipulator component (3) collected by the visualization component (2).

9. The system of claim 8, wherein the at least one processor is configured to:

instructing a manipulator assembly (3) equipped with an indwelling needle assembly (1) to act to establish an operation channel between the indwelling needle assembly (1) and an object to be communicated;

judging whether the needle tip of the indwelling needle assembly (1) is positioned at a preset position through a blood return observation bin (101) arranged on the indwelling needle assembly (1);

and when the needle point of the indwelling needle assembly (1) is judged and determined to be positioned at the preset position, returning the fluid into the empty chamber of the blood return observation chamber (101).

10. The system of claim 9, wherein the at least one processor is configured to:

judging whether the end part of a hose (102) arranged on the indwelling needle assembly (1) is placed into a preset position along with the needle point;

and when judging and determining that one end of the hose (102) is placed into a preset position along with the needle point, returning the fluid into the empty tube of the hose (102).