CN111839542A - Multi-link mechanism for blood sampling robot device - Google Patents
Multi-link mechanism for blood sampling robot device Download PDFInfo
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- CN111839542A CN111839542A CN202010508085.XA CN202010508085A CN111839542A CN 111839542 A CN111839542 A CN 111839542A CN 202010508085 A CN202010508085 A CN 202010508085A CN 111839542 A CN111839542 A CN 111839542A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 38
- 238000010241 blood sampling Methods 0.000 title description 6
- 239000008280 blood Substances 0.000 claims abstract description 21
- 210000004369 blood Anatomy 0.000 claims abstract description 21
- 239000000523 sample Substances 0.000 claims abstract description 16
- 230000001154 acute effect Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 description 7
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000001990 intravenous administration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150748—Having means for aiding positioning of the piercing device at a location where the body is to be pierced
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150015—Source of blood
- A61B5/15003—Source of blood for venous or arterial blood
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/153—Devices specially adapted for taking samples of venous or arterial blood, e.g. with syringes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Hematology (AREA)
- Surgery (AREA)
- Biophysics (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Vascular Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The present disclosure provides a multi-link mechanism for a blood collection robot device, including a driving link, a fixing link, a first link, a second link, a third link, and a fixing plate. The driving connecting rod is connected with the driving device and can rotate around the first center under the driving of the driving device. The fixed connecting rod is hinged with the driving connecting rod at the first center and is fixed on the ultrasonic probe fixing clamp. The first connecting rod is arranged in parallel with the fixed connecting rod and is hinged with the driving connecting rod. The second connecting rod is arranged in parallel with the driving connecting rod, and the second connecting rod is hinged with the fixed connecting rod and the first connecting rod. The third connecting rod is arranged in parallel with the fixed connecting rod, and the third connecting rod is hinged with the driving connecting rod and the second connecting rod at the same time. The fixed plate is hinged to the first link at a third center and to the third link at a fourth center; the connecting line of the third center and the fourth center is parallel to the driving connecting rod. The multi-link mechanism disclosed by the invention can enable the blood taking needle to stably and accurately move.
Description
Technical Field
The present disclosure relates to the field of medical devices, and more particularly, to a multi-link mechanism for a blood collection robot apparatus.
Background
At present, when nurses adopt the existing artificial vein blood sampling mode to take blood, the problems of large workload, complex process, poor finding of blood vessels and the like exist, not only is inconvenience brought to the work of the nurses, but also the pain of the patients is increased. In the blood sampling process, the medical care personnel and the patient cannot be in contact with each other or exposed, so that the risk of germ infection exists, and the problem of medical care occupational potential safety hazards is solved. The automatic vein blood collection robot technology at present has the defects of low blood collection success rate and the like, and one reason of the low blood collection success rate is that the blood collection needle cannot stably and accurately move due to the design structure related to the movement of the blood collection needle.
Disclosure of Invention
To solve or at least alleviate at least one of the above technical problems, the present disclosure provides a multi-link mechanism for a blood collection robot device capable of stably and precisely moving a blood collection needle.
According to one aspect of the present disclosure, a multi-link mechanism for a blood collection robotic device includes:
the driving connecting rod is connected with the driving device and can rotate around the first center under the driving of the driving device;
the fixed connecting rod is hinged with the driving connecting rod at the first center and is fixedly connected to the ultrasonic probe fixing device;
The first connecting rod is arranged in parallel with the fixed connecting rod and is hinged with the driving connecting rod;
the second connecting rod is arranged in parallel with the driving connecting rod, is hinged with the fixed connecting rod at a second center, and is also hinged with the first connecting rod;
the third connecting rod is arranged in parallel with the fixed connecting rod and is hinged with the driving connecting rod and the second connecting rod simultaneously; and
a fixing plate for setting a lancet, the fixing plate being hinged to the first link at a third center and hinged to the third link at a fourth center; and a connecting line of the third center and the fourth center is parallel to the driving connecting rod.
According to at least one embodiment of the present disclosure, the first link and the third link are located on the same side of the fixed link, and a distance between a hinge point of the first link, the third link and the fixed plate and the driving link is greater than a distance between the second link and the driving link.
According to at least one embodiment of the present disclosure, the first link is located between the fixed link and the third link.
According to at least one embodiment of the present disclosure, the driving device employs a reduction motor, and an output flange of the reduction motor is fixedly connected to the driving connecting rod.
According to at least one embodiment of the present disclosure, an angle between the fixed link and the vertically downward direction is an acute angle.
According to at least one embodiment of the present disclosure, the second link is located between the connecting line of the third center and the fourth center and the driving link, and a hinge point of the second link and the first link is located in the middle of the length of the first link, and a hinge point of the second link and the third link is located in the middle of the length of the third link.
Compared with the prior art, the multi-link mechanism for the blood sampling robot device has the following advantages: the parallel type link mechanism is adopted, the fixed connecting rod is relatively fixed with the ultrasonic probe fixing device, the driving connecting rod is connected with the driving device, the first connecting rod, the second connecting rod and the third connecting rod are hinged with each other and the fixed connecting rod and the driving connecting rod are hinged with each other to form a parallelogram multi-link mechanism, the fixed plate used for arranging the blood taking needle is hinged with the first connecting rod and the third connecting rod at the same time, the fixed plate and the blood taking needle move along a track limited by the multi-link mechanism under the driving of the driving connecting rod, and therefore the moving position of the blood taking needle is stably and accurately limited.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a schematic structural view of an exemplary embodiment of a multi-link mechanism of the present disclosure.
Fig. 2 is a perspective schematic view of an exemplary embodiment of a multi-link mechanism of the present disclosure.
Description of the drawings:
161-a drive link; 162-a fixed link; 163-a first link; 164-a second link; 165-a third link; 501-a first centerline; 502-an ultrasound probe; 503-ultrasonic probe fixing clip; 504-a gear motor; 506-fixing the plate; 508-a second centerline; 510-a venous blood collection needle; c 1-first center; c 2-second center; c 3-third center; c 4-fourth center; the intersection of the O-center lines.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
According to an aspect of the present disclosure, referring to a structural view of an exemplary embodiment of the multi-link mechanism of the present disclosure shown in fig. 1, there is provided a multi-link mechanism for a blood collection robot device using a parallel-type link mechanism including a driving link 161, a fixed link 162, a first link 163, a second link 164, a third link 165, and a fixed plate 506. The driving link 161 is connected to a driving device, the driving device may be fixedly installed on a certain component of the blood sampling robot device, an output end of the driving device may drive the driving device to rotate around the first center c1, and the driving link 161 is equivalent to an active part in the multi-link mechanism. The fixed link 162 is hinged to the driving link 161 at the first center c1, that is, the hinged point of the fixed link 162 and the driving link 161 is coincident with the first center c1, and the fixed link 162 is fixedly connected to the ultrasonic probe fixing device, for example, by using the ultrasonic probe fixing clip 503, and the ultrasonic probe fixing clip 503 is used for mounting the ultrasonic probe 502. The fixed link 162 and the ultrasonic probe fixing clip 503 are relatively fixed, and the position of the fixed link 162 in the multi-link mechanism is fixed, i.e., does not rotate, so that the whole multi-link mechanism can synchronously move along with the ultrasonic probe fixing clip 503. The first link 163 is disposed in parallel with the fixed link 162, and the first link 163 is hinged to the driving link 161, and the first link 163 can rotate about the hinge point with respect to the driving lever. The second link 164 is disposed in parallel with the driving link 161, the second link 164 is hinged to the fixed link 162 at a second center c2, that is, the hinge point of the second link 164 to the fixed link 162 coincides with the second center c2, the second link 164 can rotate around the second center c2 relative to the fixed link 162, and the second link 164 is also hinged to the first link 163 to rotate around the hinge point relative to the first link 163. The third link 165 is disposed in parallel with the fixed link 162, and the third link 165 is simultaneously hinged to the driving link 161 and the second link 164 and can simultaneously rotate with respect to the driving link 161 and the second link 164. The fixing plate 506 is used for disposing the lancet 510, for example, a lancet 510 mechanism is mounted on the fixing plate 506, so that the fixing plate 506 moves the lancet 510 mechanism synchronously. The fixed plate 506 is hinged to the first link 163 at a third center c3 and to the third link 165 at a fourth center c4, i.e. the fixed plate 506 is hinged to both the first link 163 and the third link 165, both hinge points coinciding with the third center c3 and the fourth center c4, respectively, allowing the fixed plate 506 to rotate simultaneously with respect to the first link 163 and the third link 165. The connecting line between the third center c3 and the fourth center c4 is parallel to the driving link 161. In the present disclosure, a line connecting the first center c1 and the second center c2 is referred to as a first center line 501, and a line connecting the third center c3 and the fourth center c4 is referred to as a second center line 508, and according to the definition of the positional relationship of the respective levers of the multi-link mechanism, the first center line 501 intersects the second center line 508, and an intersection of the two center lines is referred to as an O point. After the lancet 510 is disposed on the fixing plate 506, the direction of the lancet 510 is aligned with the second center line 508, and the lower edge of the contour of the lancet 510 is overlapped with the second center line 508, so that the second center line 508 is located at the position of the lancet 510. As can be seen in fig. 1, the first centerline 501, the second centerline 508, the third link 165, and the drive link 161 coincide with four sides of the parallelogram, respectively.
The multi-link mechanism of the present disclosure is used in a blood collection robot device to define a moving track of the lancet 510, and to drive the lancet 510 to swing to a position at a proper angle with respect to a skin surface, so as to perform venipuncture. When the driving device drives the driving link 161 to rotate by an angle, since the fixed link 162 of the multi-link mechanism is fixed on the ultrasonic probe fixing clamp 503 and the position is relatively fixed, the second link 164 and the second center line 508 will rotate by the same angle synchronously. The fixed plate 506 is hinged with the first link 163 and the third link 165, when the driving link 161 drives the second link 164 to rotate, the venous blood collection needle 510 is driven to rotate by an angle through the fixed plate 506, because of the action of each hinge on the links, the driving link 161 and the second link 164 rotate around the hinged point of each hinge on the fixed link 162; likewise, second centerline 508 will rotate about intersection O of first centerline 501 and second centerline 508, so that the center of rotation of the motion of lancet 510 is located at intersection O of first centerline 501 and second centerline 508, and the angle and direction of rotation of lancet 510 is the same as the angle and direction of rotation of drive link 161.
In one embodiment of the present disclosure, the first link 163 and the third link 165 are located on the same side of the fixed link 162, and the hinge points of the first link 163 and the third link 165 with the fixed plate 506 are located at a greater distance from the driving link 161 than the distance from the second link 164 to the driving link 161. This structure can make the moving range of the fixing plate 506 larger, facilitating the adjustment of the position and angle of the lancet 510 in a wider range when used.
In one embodiment of the present disclosure, the first link 163 is located between the fixed link 162 and the third link 165. That is, the first link 163 is closer to the fixed link 162. Preferably, the hinge point of the first link 163 and the driving link 161 is located at the middle of the length of the driving link 161, and the hinge point of the first link 163 and the second link 164 is located at the middle of the length of the second link 164.
In one embodiment of the present disclosure, the driving device may employ a reduction motor 504, for example, the reduction motor 504 is mounted on the ultrasonic probe fixing clamp 503, and an output flange of the reduction motor 504 is fixedly connected with the driving link 161. When the reduction motor 504 rotates, the drive link 161 is driven to rotate by the output flange, and the entire multi-link mechanism is moved in cooperation with each other while the fixed link 162 is stationary with respect to the ultrasonic probe holder 503, so that the position of the lancet 510 is adjusted on a limited movement path.
In one embodiment of the present disclosure, referring to the perspective view of the exemplary embodiment of the multi-link mechanism shown in fig. 2, the angle between the fixed link 162 and the vertically downward direction is an acute angle. That is, the fixing link 162 is fixed to the side of the ultrasonic probe fixing clip 503 in an inclined direction, so that the second center line 508, that is, the lancet 510, has an initial inclination angle, which facilitates reducing the adjustment of the lancet 510.
In one embodiment of the present disclosure, the second link 164 is located between a connection line of the third center c3 and the fourth center c4 and the driving link 161, and a hinge point of the second link 164 and the first link 163 is located at the middle of the length of the first link 163, and a hinge point of the second link 164 and the third link 165 is located at the middle of the length of the third link 165. The arrangement makes the structure of the whole multi-link mechanism compact, and the movement track limit range of the intravenous blood taking needle 510 is more accurate.
As can be seen from the above various embodiments of the multi-link mechanism, the driving link 161 in the multi-link mechanism is driven by the reduction motor 504 to rotate by a corresponding angle, and under the cooperative motion of the multi-link mechanism, the second center line 508 also rotates by the same angle around the point O, so that the lancet 510 swings by the same angle, and the lancet 510 is aligned with the tangential direction of the skin. It can be seen that the multi-link mechanism of the present disclosure enables stable, precise movement of the lancet 510.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (6)
1. A multi-link mechanism for a blood collection robotic device, comprising:
the driving connecting rod is connected with the driving device and can rotate around the first center under the driving of the driving device;
the fixed connecting rod is hinged with the driving connecting rod at the first center and is fixedly connected to the ultrasonic probe fixing device;
the first connecting rod is arranged in parallel with the fixed connecting rod and is hinged with the driving connecting rod;
the second connecting rod is arranged in parallel with the driving connecting rod, is hinged with the fixed connecting rod at a second center, and is also hinged with the first connecting rod;
the third connecting rod is arranged in parallel with the fixed connecting rod and is hinged with the driving connecting rod and the second connecting rod simultaneously; and
A fixing plate for setting a lancet, the fixing plate being hinged to the first link at a third center and hinged to the third link at a fourth center; and a connecting line of the third center and the fourth center is parallel to the driving connecting rod.
2. The multi-link mechanism of claim 1, wherein the first link and the third link are located on the same side of the fixed link, and a hinge point of the first link, the third link and the fixed plate is located at a greater distance from the driving link than a hinge point of the second link and the driving link.
3. The multi-link mechanism of claim 2, wherein the first link is located between the fixed link and the third link.
4. The multi-link mechanism of claim 1 wherein the drive mechanism employs a gear motor, an output flange of the gear motor being fixedly connected to the drive link.
5. The multi-link mechanism of claim 1 wherein the fixed link is at an acute angle to the vertical downward direction.
6. The multi-link mechanism of claim 1 wherein the second link is located between the drive link and a connecting line of the third center and the fourth center, and the hinge point of the second link with the first link is located at the middle of the length of the first link, and the hinge point of the second link with the third link is located at the middle of the length of the third link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010508085.XA CN111839542A (en) | 2020-06-05 | 2020-06-05 | Multi-link mechanism for blood sampling robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010508085.XA CN111839542A (en) | 2020-06-05 | 2020-06-05 | Multi-link mechanism for blood sampling robot device |
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| Publication Number | Publication Date |
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| CN111839542A true CN111839542A (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010508085.XA Pending CN111839542A (en) | 2020-06-05 | 2020-06-05 | Multi-link mechanism for blood sampling robot device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022151223A1 (en) * | 2021-01-14 | 2022-07-21 | 苏州迈澜医疗科技有限公司 | Mechanism having remote center of rotation and working device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204181629U (en) * | 2014-10-30 | 2015-03-04 | 付营 | A kind of localization by ultrasonic automatic blood sampling equipment |
| CN108056780A (en) * | 2017-12-27 | 2018-05-22 | 华中科技大学同济医学院附属协和医院 | A kind of automatic blood sampling pricking device |
| CN207708010U (en) * | 2017-05-15 | 2018-08-10 | 浙江理工大学 | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery |
-
2020
- 2020-06-05 CN CN202010508085.XA patent/CN111839542A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204181629U (en) * | 2014-10-30 | 2015-03-04 | 付营 | A kind of localization by ultrasonic automatic blood sampling equipment |
| CN207708010U (en) * | 2017-05-15 | 2018-08-10 | 浙江理工大学 | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery |
| CN108056780A (en) * | 2017-12-27 | 2018-05-22 | 华中科技大学同济医学院附属协和医院 | A kind of automatic blood sampling pricking device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022151223A1 (en) * | 2021-01-14 | 2022-07-21 | 苏州迈澜医疗科技有限公司 | Mechanism having remote center of rotation and working device |
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Application publication date: 20201030 |
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