CN111707536A

CN111707536A - Manipulator and thrombelastogram instrument

Info

Publication number: CN111707536A
Application number: CN202010720234.9A
Authority: CN
Inventors: 孟祥红
Original assignee: 8th Medical Center of PLA General Hospital
Current assignee: 8th Medical Center of PLA General Hospital
Priority date: 2020-07-23
Filing date: 2020-07-23
Publication date: 2020-09-25

Abstract

The invention provides a manipulator, and relates to the technical field of medical instruments. The manipulator comprises a base and a plurality of straight rods; the straight rods are arranged in parallel, and the straight rods are arranged on the base along the circumferential direction of a reference shaft; at least one straight rod can move so that all straight rods clamp the blood measuring cup. According to the manipulator disclosed by the invention, the blood measuring cup is clamped by one or more straight rods in the plurality of parallel straight rods in a parallel movement manner, so that the contact area between the straight rods and the blood measuring cup and the stability of joint clamping can be increased, and the accuracy and reliability of an experiment in the process of observing blood coagulation are greatly improved. On the basis, the invention also provides a thromboelastogram instrument.

Description

Manipulator and thrombelastogram instrument

Technical Field

The invention relates to the technical field of medical instruments, in particular to a manipulator and a thrombelastogram instrument.

Background

The thrombelastogram instrument is an analytical instrument for detecting dynamic change of blood coagulation, belongs to a non-invasive diagnosis medical instrument, and is used for monitoring and analyzing the coagulation state of a blood sample, thereby playing an auxiliary role in the process of evaluating clinical hemostasis symptoms of a patient.

In conventional thromboelastography, the blood cup is typically placed stationary on a tray, and the hanging wire is extended into the test solution and agitated. Because the blood cup is fixed at stable platform, the effect of stirring by the twisting of the suspension wires is restricted by the platform, and the operation efficiency and the analysis accuracy are lower.

Later, a new thromboelastogram apparatus was designed in which the blood cup with the reagent and the blood sample were lifted and stirred as a whole. However, in order to ensure accurate analysis results, the thromboelastogram should remain horizontally operated during the experiment. And the clip of conventional thrombelastogram appearance is through the swing of articulated arm lock with the centre gripping survey blood cup, and its centre gripping stability is poor, surveys the blood cup and takes place to rock easily.

Disclosure of Invention

The present invention aims to provide a thromboelastogram apparatus which contributes to solving the above-mentioned technical problems.

The invention is realized by the following steps:

a manipulator comprising a base and a plurality of straight rods; the straight rods are arranged in parallel, and the straight rods are arranged on the base along the circumferential direction of a reference shaft; at least one of the straight rods can move so that all the straight rods clamp the blood measuring cup.

When the manipulator is used, the straight rods are moved from top to bottom and surround the blood measuring cup. Then one or more straight rods are driven to be close to each other, so that the blood measuring cup is fixedly clamped. Compare with the articulated formula clip of traditional tong arm, a plurality of straight-bars are bigger with the outer wall contact surface of surveying the blood cup, and is more even to the effort of surveying the blood cup centre gripping, so can improve experiment accuracy and the reliability of observing the blood coagulation in-process by a wide margin.

Further, a driving mechanism, a rebounding mechanism and a plurality of strip-shaped through holes are arranged on the base; the length direction of the strip-shaped through hole is coincident with the radial direction of the reference shaft, and the straight rod penetrates through the strip-shaped through hole; the driving mechanism is used for pushing the straight rod to be close to the reference shaft along the length direction of the strip-shaped through hole, and the rebounding mechanism is used for pushing the straight rod to be far away from the reference shaft along the length direction of the strip-shaped through hole. The technical effects are as follows: the strip-shaped through hole penetrates through the base along the depth direction, and the length direction of the strip-shaped through hole is coincident with the radial direction of the reference shaft, namely perpendicular to the reference shaft. The driving straight rods move along the length direction of the strip-shaped through holes, so that the straight rods can be translated, and the adjacent straight rods are enabled to be parallel and close to each other to realize the clamping function. And the driving mechanism and the rebounding mechanism respectively provide clamping acting force and rebounding force after clamping.

Further, the resilient mechanism comprises an elastic member; one end of the elastic piece is arranged on the inner wall of the strip-shaped through hole, and the other end of the elastic piece faces the straight rod. The technical effects are as follows: the adjacent straight rod can contact the elastic part or compress the elastic part after approaching, and after the acting force of the driving clamping disappears, the elastic part can automatically drive and restore the straight rod to the original position. The elastic element may be a compression spring or a spring plate.

Further, the drive mechanism includes a rotating disk; the rotary plate is perpendicular to the reference shaft, a plurality of arc-shaped through holes are formed in the rotary plate, one end of each arc-shaped through hole in the length direction is close to the reference shaft, the other end of each arc-shaped through hole in the length direction is far away from the reference shaft, and the straight rods penetrate through the arc-shaped through holes respectively. The technical effects are as follows: the arc through hole on the rotating disc is spiral and the straight rod penetrates through the arc through hole. When the rotating disc swings around the reference shaft, the adjacent straight rods can be pushed to gradually approach along the strip-shaped through holes.

A thrombelastogram instrument comprises a shell, a tray and the manipulator; the tray and the manipulator are arranged in the shell; the upper surface of the tray is provided with a containing groove for placing a blood measuring cup; the manipulator is positioned above the tray and can move up and down; still be provided with the stirring test stick on the manipulator, the stirring test stick runs through the base just is located a plurality of between the straight-bar.

Furthermore, a guide groove is formed in the tray; a plurality of guide grooves are formed in the circumferential edge of any accommodating groove; the guide groove extends along the depth direction of the accommodating groove and is used for placing the straight rod. The technical effects are as follows: the guide groove is used with the straight-bar cooperation, and when surveying the blood cup and placing at the storage tank, the guide groove is located around the storage tank, is located the circumference periphery of surveying the blood cup promptly. At this moment, the guide groove does not influence the loading and fixing effect of the accommodating groove on the blood measuring cup. But just provides an operation space for the downward movement of the straight rod.

Further, the device also comprises a control processing module; the control processing module is arranged in the shell and is electrically connected with the stirring test rod. The technical effects are as follows: because the stirring test rod is provided with the suspension wires and other elements, the control processing module can monitor the experimental process and obtain experimental data through the stirring test rod.

Further, the device also comprises an angle measuring module; the angle measuring module is electrically connected with the base and the control processing module respectively. The technical effects are as follows: the angle measurement module obtains the inclination angle data of the blood cup in the experiment through the base, and the control processing module carries out analysis and calculation according to the data.

Further, the device also comprises a temperature control module; the temperature control module is arranged in the shell and is electrically connected with the control processing module. The technical effects are as follows: the experimental process should be performed within a specific temperature range to obtain more accurate analysis data. The temperature control module can measure the temperature of the experimental environment and control the temperature of the experimental environment in a preferred range through the control processing module.

Further, the device also comprises a display screen; the display screen is arranged on the surface of the shell and is electrically connected with the control processing module. The technical effects are as follows: the display screen can display the analysis result data of the blood coagulation dynamic change in time. Meanwhile, the display screen can also adopt a touch screen, which is beneficial to carrying out man-machine operation to realize manual control of the experimental process.

The invention has the beneficial effects that:

according to the manipulator and the thromboelastogram instrument, the blood measuring cup is clamped by one or more straight rods in the plurality of parallel straight rods in a parallel movement manner, all the straight rods can be attached to the side wall of the blood measuring cup, the clamping stability of the straight rods on the blood measuring cup is improved, and the blood measuring cup is prevented from shaking.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a robot provided in a first embodiment of the present invention;

FIG. 2 is a schematic view taken along line A-A in FIG. 1;

FIG. 3 is a schematic view of the direction B-B in FIG. 1;

FIG. 4 is a schematic diagram showing the internal structure of a thrombelastogram apparatus according to a second embodiment of the present invention;

FIG. 5 is a top view of a tray in a thromboelastography device according to a second embodiment of the invention;

fig. 6 is a sectional view showing the internal structure of a tray in a thrombelastogram apparatus according to a second embodiment of the present invention.

In the figure: 100-a base; 110-a drive mechanism; 120-a rebound mechanism; 130-bar-shaped through holes; 200-straight rod; 300-a reference axis; 400-a housing; 410-a control processing module; 420-an angle measurement module; 430-temperature control module; 440-display screen; 500-a tray; 510-a receiving groove; 520-a guide groove; 600-blood cup; 700-stirring test bar.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention that are generally described and illustrated in the figures can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The first embodiment:

fig. 1 is a schematic structural diagram of a robot provided in a first embodiment of the present invention; FIG. 2 is a schematic view taken along line A-A in FIG. 1; fig. 3 is a schematic view of the direction B-B in fig. 1. Referring to fig. 1, 2 and 3, the present embodiment provides a manipulator, which includes a base 100 and a plurality of straight rods 200; the plurality of straight rods 200 are arranged in parallel with each other, and the plurality of straight rods 200 are arranged on the base 100 along the circumferential direction of a reference shaft 300; at least one straight rod 200 can be moved so that all straight rods 200 clamp the blood cup 600.

Preferably, the number of the straight bars 200 is 3, 4, or 6, and a plurality of the straight bars 200 are uniformly distributed along the circumferential direction of the reference shaft 300.

Further, as shown in fig. 1 and 3, the base 100 is provided with a driving mechanism 110, a rebounding mechanism 120 and a plurality of strip-shaped through holes 130; the length direction of the strip-shaped through hole 130 is overlapped with the radial direction of the reference shaft 300, and the straight rod 200 penetrates through the strip-shaped through hole 130; the driving mechanism 110 is used for pushing the straight rod 200 to approach the reference shaft 300 along the length direction of the strip-shaped through hole 130, and the rebounding mechanism 120 is used for pushing the straight rod 200 to depart from the reference shaft 300 along the length direction of the strip-shaped through hole 130.

Further, as shown in fig. 2, the resilient mechanism 120 includes an elastic member; one end of the elastic member is disposed on the inner wall of the bar-shaped through hole 130, and the other end of the elastic member faces the straight bar 200.

The elastic element may be a compression spring or a spring plate. When the straight rod 200 moves from the outside to the inside, the straight rod 200 will contact and compress the elastic member, and at the same time, the distances of the straight rods 200 are close to facilitate the clamping of the blood measuring cup 600. After the force of the driving mechanism 110 is removed, the compression spring or the spring plate can push the straight rod 200 to return to the initial position.

Further, as shown in fig. 1, 3, the driving mechanism 110 includes a rotating disk; the rotating disc is perpendicular to the reference shaft 300, a plurality of arc-shaped through holes are formed in the rotating disc, one ends of the arc-shaped through holes in the length direction are close to the reference shaft 300, and the other ends of the arc-shaped through holes in the length direction are far away from the reference shaft 300; the straight rods 200 respectively penetrate through the arc-shaped through holes.

The arc-shaped through hole can be also set to be a special-shaped through hole, the edge of the special-shaped through hole is a plurality of arc-shaped bending curves, and therefore when the rotating disk rotates, the rotating disk can press the straight rod 200 to gradually approach each other along the strip-shaped through hole 130 by utilizing the bending edge.

Alternatively, the structural combination of the driving mechanism 110, the rebounding mechanism 120 and the plurality of strip-shaped through holes 130 may be a structural combination of a nut and a tapered sleeve with an external thread on an outer wall, and the diameter of the tapered sleeve is changed by rotating the nut, so that the distance between the straight rods 200 is changed.

The working principle and the operation method of the manipulator are as follows:

when the manipulator of this embodiment is used, the straight rods 200 are moved from top to bottom and surround the blood cup 600. One or more straight rods 200 are then driven to approach each other, thereby achieving a fixed grip on the blood cup 600. The clamp of the articulated formula of tong arm of conventional thrombelastogram appearance is the punctiform contact with survey blood cup 600, and centre gripping stability is poor, surveys blood cup 600 and takes place easily and rock. Compare with traditional clip, a plurality of straight-bars 200 are bigger with the outer wall contact surface of surveying blood cup 600, and is more even to the effort of surveying the centre gripping of blood cup 600, so can improve experiment accuracy and the reliability of observing the blood coagulation in-process by a wide margin.

Second embodiment:

FIG. 4 is a schematic diagram showing the internal structure of a thrombelastogram apparatus according to a second embodiment of the present invention; FIG. 5 is a top view of a tray 500 in a thromboelastography device according to a second embodiment of the invention; fig. 6 is a sectional view showing the internal structure of a tray 500 in a thrombelastogram apparatus according to a second embodiment of the present invention. Referring to fig. 4, 5 and 6, the present embodiment provides a thromboelastography instrument, which includes a housing 400, a tray 500 and the manipulator of the above embodiment; the tray 500 and the robot are disposed in the case 400; the upper surface of the tray 500 is provided with a containing groove 510 for placing the blood measuring cup 600; the manipulator is positioned above the tray 500 and can move up and down; the manipulator is further provided with a stirring test rod 700, and the stirring test rod 700 penetrates through the base 100 and is located among the straight rods 200.

Further, as shown in fig. 5 and 6, the tray 500 is further provided with a guide groove 520; a plurality of guide grooves 520 are formed at the circumferential edge of any one of the receiving grooves 510; the guide groove 520 extends along the depth direction of the receiving groove 510 for receiving the straight rod 200. Similarly, the number of the guide grooves 520 corresponds to the number of the straight rods 200, and is also 3, 4, or 6.

Preferably, the tray 500 may be provided with a plurality of receiving grooves 510. The plurality of receiving slots 510 are distributed in a matrix form, or when the manipulator moves in an arc form under the swinging action of the manipulator, the plurality of receiving slots 510 should be distributed in an arc form.

In addition, a sink may be provided at one end of the tray 500. After measuring at every turn, the manipulator can swing and wash cleanly to washing tank on, guarantees that dangling silk and straight-bar 200 do not remain the reagent and the blood sample of previous experiment to next experiment can go on smoothly.

Further, the tray 500 and the cleaning tank should be detachably mounted from the side of the case 400, so as to facilitate the placement of the test material and the maintenance of the temperature in the case 400.

Further, as shown in fig. 4, a control processing module 410 is further included; the control processing module 410 is disposed in the housing 400 and electrically connected to the stirring test bar 700. In this configuration, since the stirring test bar 700 is provided with the suspension wires and other elements, the control processing module 410 can monitor the experimental process and obtain experimental data through the stirring test bar 700.

Further, as shown in fig. 4, an angle measurement module 420 is further included; the angle measuring module 420 is electrically connected to the base 100 and the control processing module 410, respectively. The angle measurement module 420 obtains the inclination angle data of the blood cup 600 in the experiment through the base 100, and the control processing module 410 performs analysis and calculation according to the data, so as to ensure the accuracy and reliability of the analysis data.

Further, as shown in fig. 4, a temperature control module 430 is further included; the temperature control module 430 is built in the case 400 and electrically connected to the control processing module 410. The experimental process should be performed within a specific temperature range to obtain more accurate analysis data. The temperature control module 430 may measure the temperature of the experimental environment and control the experimental environment temperature to a preferred range by controlling the processing module 410.

Further, as shown in fig. 4, a display screen 440 is also included; the display screen 440 is disposed on the surface of the casing 400 and electrically connected to the control processing module 410. The display screen 440 can display the analysis result data of the blood coagulation dynamic changes in time. Optionally, the display screen 440 may also be a touch screen, which is helpful for performing human-machine operation to realize manual control of the experimental process.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator, characterized by comprising a base (100) and a plurality of straight rods (200); the straight rods (200) are arranged in parallel, and the straight rods (200) are arranged on the base (100) along the circumferential direction of a reference shaft (300); at least one of the straight rods (200) can move so that all the straight rods (200) clamp the blood measuring cup (600).

2. The manipulator according to claim 1, wherein the base (100) is provided with a driving mechanism (110), a rebounding mechanism (120) and a plurality of strip-shaped through holes (130); the length direction of the strip-shaped through hole (130) is overlapped with the radial direction of the reference shaft (300), and the straight rod (200) penetrates through the strip-shaped through hole (130); the driving mechanism (110) is used for pushing the straight rod (200) to be close to the reference shaft (300) along the length direction of the strip-shaped through hole (130), and the rebounding mechanism (120) is used for pushing the straight rod (200) to be far away from the reference shaft (300) along the length direction of the strip-shaped through hole (130).

3. The manipulator according to claim 2, wherein the resilient mechanism (120) comprises an elastic member; one end of the elastic piece is arranged on the inner wall of the strip-shaped through hole (130), and the other end of the elastic piece faces the straight rod (200).

4. The manipulator according to claim 2, characterized in that the drive mechanism (110) comprises a rotating disc; the rotating disc is perpendicular to the reference shaft (300), a plurality of arc-shaped through holes are formed in the rotating disc, one end of each arc-shaped through hole in the length direction is close to the reference shaft (300), and the other end of each arc-shaped through hole in the length direction is far away from the reference shaft (300); the straight rods (200) penetrate through the arc-shaped through holes respectively.

5. A thromboelastography device, comprising a housing (400), a tray (500) and a manipulator according to any of claims 1-4; the tray (500) and the robot are disposed within the housing (400); the upper surface of the tray (500) is provided with a containing groove (510) for placing the blood measuring cup (600); the manipulator is positioned above the tray (500) and can move up and down; the manipulator is further provided with a stirring test rod (700), and the stirring test rod (700) penetrates through the base (100) and is located among the straight rods (200).

6. The apparatus according to claim 5, wherein the tray (500) further comprises a guide groove (520); a plurality of guide grooves (520) are formed in the circumferential edge of any accommodating groove (510); the guide groove (520) extends along the depth direction of the accommodating groove (510) and is used for accommodating the straight rod (200).

7. The thromboelastography device of claim 5, further comprising a control processing module (410); the control processing module (410) is arranged in the shell (400) and is electrically connected with the stirring test rod (700).

8. The thromboelastography device of claim 7, further comprising an angle measurement module (420); the angle measuring module (420) is electrically connected with the base (100) and the control processing module (410) respectively.

9. The thromboelastography device of claim 7, further comprising a temperature control module (430); the temperature control module (430) is arranged in the shell (400) and is electrically connected with the control processing module (410).

10. The thromboelastography device of claim 7, further comprising a display screen (440); the display screen (440) is arranged on the surface of the shell (400) and is electrically connected with the control processing module (410).