CN207856026U - A kind of vein puncture device and system - Google Patents
A kind of vein puncture device and system Download PDFInfo
- Publication number
- CN207856026U CN207856026U CN201720235633.XU CN201720235633U CN207856026U CN 207856026 U CN207856026 U CN 207856026U CN 201720235633 U CN201720235633 U CN 201720235633U CN 207856026 U CN207856026 U CN 207856026U
- Authority
- CN
- China
- Prior art keywords
- needle
- vein puncture
- outer barrel
- puncture device
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The utility model provides a kind of vein puncture device and system, the system comprises：Control device and vein puncture device；Vein puncture device and ultrasonic probe are connect with control device respectively；Vein puncture device, the data information for acquiring pre-selection target vessel by ultrasonic probe, and it is sent to control device；Control device, the location information for calculating target vessel according to data information generate control signal according to location information；Vein puncture device is additionally operable to, and controls itself fixed needle body to be punctured according to control signal and hose to be placed in punctures skin.Apparatus and system overall cost opposed robots' medical system is at low cost；It can realize and automatically control the action that vein puncture device carries out inserting needle, sets pipe and the withdraw of the needle, reduce the labor intensity of operator；It can be matched with ultrasonic probe, under the guiding of ultrasonic probe, positioning accuracy is high；One-handed performance can be achieved, the skill requirement of operator is reduced, and adapt to certain dynamic environment.
Description
Technical field
The utility model is related to automatic tube indwelling technology fields, in particular to a kind of vein puncture device and system.
Background technology
Venipuncture is to be convenient for a kind of medical nursing means of long-term infusion to mitigate the pain that patient punctures repeatedly.
Pain caused by venipuncture can effectively avoid superficial vein from puncturing repeatedly, also can effectively avoid destruction of the antitumor drug to blood vessel
And local tissue necrosis caused by drug extravasation.The key point for influencing the development of retaining venipuncture technology is exactly guiding puncture device
With the control to puncturing needle movement.Compared with human hand operates, it is very high accurate to have using the medical assistance robot of mechanical force
Property and stability, and the labor intensity of operator can be reduced.Therefore, hand is punctured in order to stablize and accurately implement soft tissue
Art, robot assisted puncture receive more and more attention.
But since robot is expensive, the calibration of robot and patient and mating mode are more complicated, robot is grasped
Make the factors such as mode excessively specialization, robot assisted puncture is also difficult to reach widely applied degree.
Utility model content
In view of this, the utility model embodiment is designed to provide a kind of vein puncture device and system, Neng Gougao
The realization of precision automatically controls the action that vein puncture device carries out inserting needle, sets pipe and the withdraw of the needle, and the labour for reducing operator is strong
It spends and at low cost.
In a first aspect, the utility model embodiment provides a kind of vein puncture device, including：Fixing device is oriented to dress
It sets and driving device；The fixing device and the guider slidable connection, the fixing device and the driving device
It is fixedly connected, the driving device with control device for connecting；
Hose to be placed in is fixed on by needle body to be punctured in the fixing device；
The guider, for guiding the fixing device and the needle body to be moved with fixed direction；
The driving device, for driving the fixing device to be moved along the direction that the guider guides.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect,
In, the hose is fixed at by the needle body on syringe；The fixing device includes：Inner cylinder, outer barrel, the first connector
And fixed plate；
The syringe setting is fixedly connected in the inner cylinder with the inner cylinder, and the inner cylinder passes through first connector
It is arranged in the outer barrel, and outer barrel can be with the inner cylinder slidable connection；The outer barrel is fixed by first connector
It is arranged in the fixed plate.
The possible embodiment of with reference to first aspect the first, the utility model embodiment provide the of first aspect
Two kinds of possible embodiments, wherein the fixing device further includes needle card；
The needle card is matched with withdraw of the needle button, for triggering the withdraw of the needle button under the effect of external force, so that described
Needle body is detached with the hose and is return back in the syringe.
The possible embodiment of with reference to first aspect the first, the utility model embodiment provide the of first aspect
Three kinds of possible embodiments, wherein the vein puncture device further includes ultrasonic probe；The guider includes：
Needle guiding part and outer barrel guide part；
The needle guiding part is fixed on the ultrasonic probe, and the needle body is erected at the needle guiding part
On；The ultrasonic probe, the data information for preselecting target vessel by ultrasonic acquisition, and data information is sent to control
Device processed；
The outer barrel guide part is fixed in the fixed plate, and the outer barrel is erected on the outer barrel guide part.
The possible embodiment of with reference to first aspect the first, the utility model embodiment provide the of first aspect
Four kinds of possible embodiments, wherein the driving device includes：Control needle motor and the second connector；
The control needle motor is fixed in the fixed plate, and is fixed with the inner cylinder by second connector
Connection.
4th kind of possible embodiment of the possible embodiment of with reference to first aspect the first or first aspect,
The utility model embodiment provides the 5th kind of possible embodiment of first aspect, wherein the driving device further includes：
Set pipe motor, third connector, outer barrel connecting rod and motor connecting rod；
The pipe motor of setting is fixed at by the motor connecting rod in the fixed plate；It is described to set pipe motor and institute
It states third connector to be fixedly connected, the third connector is connect by the outer barrel connecting rod with the outer barrel.
The utility model embodiment provide a kind of vein puncture device, with it is in the prior art manually puncture or
The medical assistance robot manipulation of mechanical force punctures and compares, and has the advantage that：1, overall cost opposed robots medical department
It unites at low cost, practicability is stronger；2, vein puncture device and ultrasonic probe, which are formed, punctures basic machine, and coordinates control device
It realizes and automatically controls the action that vein puncture device carries out inserting needle, sets pipe and the withdraw of the needle, reduce the labor intensity of operator；3, quiet
Most of component in arteries and veins sting device is process using polythene material, high, the small, light weight with intensity,
So that operator's degree of being held by hand comfortably is good；4, it can be matched with ultrasonic probe, under the guiding of ultrasonic probe, positioning accuracy
It is high；5, one-handed performance can be achieved, the skill requirement of operator is reduced, and adapt to certain dynamic environment.
Second aspect, the utility model embodiment additionally provide a kind of venipuncture system, including：Control device and first
Aspect any one of them vein puncture device；The vein puncture device is connect with the control device；
The vein puncture device, the data information for acquiring pre-selection target vessel by ultrasonic probe, by the number
It is believed that breath is sent to the control device；
The control device calculates the position of the target vessel according to the data information for receiving the data information
Confidence ceases, and generates the control signal for controlling the vein puncture device work according to the positional information；
The vein puncture device is additionally operable to, and is controlled itself fixed needle body to be punctured according to the control signal and is waited setting
Enter hose and punctures skin.
In conjunction with second aspect, the utility model embodiment provides the first possible embodiment of second aspect,
In, the control device includes：Ultrasound Instrument host, CCD image display instrument, data acquisition components, image processor and controller；
The ultrasonic probe is connect with the Ultrasound Instrument host；Described image display instrument and the data acquisition components point
It is not connect with the Ultrasound Instrument host；Described image processor is connect with the data acquisition components and the controller respectively；
The Ultrasound Instrument host, the data information sent for receiving the ultrasonic probe, believes the data
Breath carries out image procossing and generates image data, and described image data are sent to described image display instrument and the data acquire
Card；
Described image display instrument, for showing described image data, and operator is selected according to the image data
Wait for that perforation image position is sent to the Ultrasound Instrument host；
The Ultrasound Instrument host is additionally operable to, and is generated and is waited for perforation image position described in the data collecting card acquisition for controlling
Image data control signal, and be sent to the data collecting card；
The data collecting card waits for puncture figure for receiving the control signal according to described in the control signal acquisition
Described image data are sent to described image processor by the image data of image position；
Described image processor calculates the target vessel for receiving described image data according to described image data
Location information, and it is sent to the controller；
The controller judges that the location information is with pre-stored criteria location information for receiving the location information
It is no to match, if so, generating the control signal for controlling the vein puncture device work according to the positional information.
In conjunction with the first possible embodiment of second aspect, the utility model embodiment provides the of second aspect
Two kinds of possible embodiments, wherein the vein puncture device includes：It controls needle motor and sets pipe motor；The control needle motor
It sets pipe motor with described and is connect respectively with the controller；
The control needle motor, for according to the control signal control the second connector rotate, with drive syringe, inner cylinder and
The whole direction guided to the guider of outer barrel moves；
It is described to set pipe motor, for controlling the rotation of third connector according to the control signal, and pass through outer barrel connecting rod
Outer barrel is driven to be moved along the direction that guider guides.
In conjunction with second aspect, the utility model embodiment provides the third possible embodiment of second aspect,
In, the venipuncture system, further includes supporting rack；Support frame as described above includes：Bottom surface cover die, support rib, support baseboard and
Cushion block；
The support baseboard is fixed at a sharp angle on the bottom surface cover die by the support rib；It is described
The cushion block is provided on support baseboard；The vein puncture device is fixed at the support baseboard by the cushion block
On.
The utility model embodiment provide a kind of venipuncture system, with it is in the prior art manually puncture or
The medical assistance robot manipulation of mechanical force punctures and compares, and has the advantage that：1, overall cost opposed robots medical department
It unites at low cost, practicability is stronger；2, vein puncture device and ultrasonic probe, which are formed, punctures basic machine, and coordinates control device
It realizes and automatically controls the action that vein puncture device carries out inserting needle, sets pipe and the withdraw of the needle, reduce the labor intensity of operator；3, quiet
Most of component in arteries and veins sting device is process using polythene material, high, the small, light weight with intensity,
So that operator's degree of being held by hand comfortably is good；4, it can be matched with ultrasonic probe, under the guiding of ultrasonic probe, positioning accuracy
It is high；5, one-handed performance can be achieved, the skill requirement of operator is reduced, and adapt to certain dynamic environment.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment cited below particularly, and
The appended attached drawing of cooperation, is described in detail below.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 shows a kind of front view for vein puncture device that the utility model embodiment is provided；
Fig. 2 shows a kind of vein puncture devices that the utility model embodiment is provided, and needle body to be promoted to reach default position
Vertical view in the state of postponing and conduit being promoted to continue deeper into blood vessel；
The original of the image of ultrasonic guidance vascular puncture when Fig. 3 shows the horizontal axis position that the utility model embodiment is provided
Reason figure；
The original of the image of ultrasonic guidance vascular puncture when Fig. 4 shows the longitudinal axis positions that the utility model embodiment is provided
Reason figure；
Fig. 5 shows that the utility model embodiment provides the critical force that different puncture speed knit stitch enter different tissues layer
Schematic diagram.
Fig. 6 shows a kind of structural schematic diagram for venipuncture system that the utility model embodiment is provided.
Fig. 7 shows the inserting needle process and speed control comparison diagram that the utility model embodiment is provided.
Fig. 8 shows the host computer procedure Debugging interface that the utility model embodiment is provided.
Fig. 9 shows the control needle motor experiment test data that the utility model embodiment is provided.
Figure 10 shows that the utility model embodiment provided sets pipe motor experiment test data.
Figure 11 shows the structural representation of supporting rack in a kind of vein puncture device that the utility model embodiment is provided
Figure.
Icon：1, vein puncture device；2, control device；3, supporting rack；4, syringe；5, needle body；10, fixing device；11、
Guider；12, driving device；13, ultrasonic probe；100, inner cylinder；101, outer barrel；102, the first connector；103, fixed
Plate；104, needle card；110, needle guiding part；111, outer barrel guide part；120, needle motor is controlled；121, the second connector；122, it sets
Pipe motor；123, third connector；124, outer barrel connecting rod；125, motor connecting rod；126, interior motor fixing plate；20, ultrasonic
Instrument host；21, CCD image display instrument；22, data acquisition components；23, image processor；24, controller；31, bottom surface cover die；32、
Support rib；33, support baseboard；34, cushion block.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment be only the utility model a part of the embodiment, instead of all the embodiments.Usually here described in attached drawing
It can be arranged and design with a variety of different configurations with the component of the utility model embodiment shown.Therefore, below to
The detailed description of the embodiments of the present invention provided in attached drawing is not intended to limit the model of claimed the utility model
It encloses, but is merely representative of the selected embodiment of the utility model.Based on the embodiments of the present invention, those skilled in the art exist
The every other embodiment obtained under the premise of not making creative work, shall fall within the protection scope of the present invention.
Venipuncture is to be convenient for a kind of medical nursing means of long-term infusion to mitigate the pain that patient punctures repeatedly.
Pain caused by venipuncture can effectively avoid superficial vein from puncturing repeatedly, also can effectively avoid destruction of the antitumor drug to blood vessel
And local tissue necrosis caused by drug extravasation.The key point for influencing the development of retaining venipuncture technology is exactly guiding puncture device
With the control to puncturing needle movement, this has very high standard compared with human hand operates, using the medical assistance robot of mechanical force
True property and stability, and the labor intensity of operator can be reduced.Therefore, in order to stable and accurately implementation soft tissue puncture
Operation, robot assisted puncture receive more and more attention.But since robot is expensive, the calibration of robot and patient
It is also difficult to reach wide with factors, robot assisted punctures such as more complicated, the robot manipulation's mode excessively specializations of mating mode
The degree of general application.
With the fast development of image viewing technology, B ultrasound (B-scan ultrasonography) and CT
Technologies such as (Computed Tomography, computed tomography) have been more and more widely used in puncturing operation.B
PICC (Peripherally Inserted Central Catheter, through embedding peripheral veins into central veins under super guiding
Conduit) technology, it is the novel venipuncture tube placing operation of rising in recent years, uses ultrasound non-invasive location technology, blood vessel is carried out
It is accurately positioned, the method that venipuncture intubation is carried out under direct-view.Artery, vein, nerve and the surrounding of the lower site of puncture of ultrasound
Tissue display is clear, and when puncture can formulate direction, angle and the depth of needle of puncture needle under B ultrasound, allow puncture become it is intuitive,
Accurately, with strong points, it not only can avoid being strayed into artery when puncturing, pierce through blood vessel or accidentally injure the drawbacks such as surrounding tissue, but also can be improved one
The success rate of secondary puncture prevents the generation of the ill symptoms such as hemotoncus, pneumothorax, reduces puncture time and sets the generation of pipe complication.
Even so, but the person that set pipe as a successful PICC, not only need to be grasped study Vascular Ultrasonography imaging
Principle, understand arteriovenous feature and Conditions Evaluation under ultrasound, how to measure vessel diameter, the assessment professions such as inserting needle mode are known
Know, it is also necessary to carry out special training, the method for grasping hand eye coordination especially grasps the judgement of the lower inserting needle process of ultrasound,
It can guarantee and operate successfully.Since cultivation cycle is long, condition is stringent, leads to domestic outstanding PICC persons that set pipe and few, for not answering
It asks.Simultaneously in disaster or military rescue, it is difficult to complete to puncture manually that people fully relies in a dynamic environment, this tight
One-time successful puncture rate is very low in anxious state, therefore higher requirements are also raised to the technology.Therefore, the utility model is implemented
Example devises a kind of vein puncture device and system, and above-mentioned vein puncture device is a kind of light and easy guiding puncture device,
It uses B ultrasound image to guide, and is controlled by microsystem, achievees the effect that automatic retaining venipuncture.
A kind of vein puncture device and system that the utility model embodiment provides, have following features：1. according to vein
Blood vessel B ultrasound image is automatically performed inserting needle, sets pipe and withdraw of the needle action；2. positioning supporting frame (also referred to as guiding puncture frame) and ultrasonic wave
Popping one's head in, (abbreviation Ultrasonic-B probe) is flexible to be combined, easy to disassemble and installation；3. in vein puncture device in addition to motor, most structures
Part is process using polythene material, and not only intensity is high, but also small (240mm × 80mm × 60mm), light weight, hand
It is good to hold comfort level；4. system guides vein puncture device by B ultrasound image, positioning accuracy is high, keeps puncture more acurrate；5. by original
Both hands operation be changed to one-hand operation, the skill requirement of operator is reduced, and adapt to certain dynamic environment；6. making
Valence opposed robots' medical system considerably cheaper, greatly reduces cost.
The utility model embodiment is provided with reference to Fig. 1-Fig. 5 and specific embodiment vein puncture device and it is
System is described in detail.
With reference to figure 1 and Fig. 2, the utility model embodiment provides a kind of vein puncture device 1, including：Fixing device 10,
Guider 11 and driving device 12；Fixing device 10 and 11 slidable connection of guider, fixing device 10 and driving device
12 are fixedly connected, and driving device 12 with control device 2 for connecting；
Hose to be placed in is fixed on by needle body to be punctured in fixing device 10；
Guider 11, for guiding fixing device 10 and needle body 5 to be moved with fixed direction；
Driving device 12, for driving fixing device 10 to be moved along the direction that guider 11 guides.
In the utility model embodiment, the effect of fixing device 10 be fixed needle body (hereinafter referred needle body 55) to be punctured and
Hose (hereinafter referred hose) to be placed in.Specifically, needle body 5 passes through hose, and secure the hose on needle tubing, formation one is whole
Body, the effect of fixing device 10 are the needle tubings in fixed above-mentioned entirety.Fixing device 10 and 11 slidable connection of guider, lead
Purpose to device 11 is to provide moving direction for fixing device 10, and fixing device 10 is then along the shifting of the guiding of guider 11
It is moved in dynamic direction.Driving device 12 is connect with fixing device 10, it is therefore an objective to for driving fixing device 10 to move, fixed dress
The moving direction that 10 guide under the driving of driving device 12 along guider 11 is set to move.
As an alternative embodiment, above-mentioned driving device 12 can be connect with control device 2, for receiving control
Device 2 gives control signal, and is worked according to the control signal.
Further, the vein puncture device 1 provided with reference to figure 1 and Fig. 2, the utility model embodiment, hose passes through needle
Body 5 is fixed on syringe 4；Fixing device 10 includes：Inner cylinder 100, outer barrel 101, the first connector 102 and fixed plate 103；
The setting of syringe 4 is fixedly connected in inner cylinder 100 with inner cylinder 100, and inner cylinder 100 is arranged by the first connector 102
In outer barrel 101, and outer barrel 101 can be with 100 slidable connection of inner cylinder；Outer barrel 101 is fixed at by the first connector 102
In fixed plate 103.
Specifically, inner cylinder 100 and outer barrel 101 are for hollow cylindrical body, wherein the hollow parts of inner cylinder 100 are first
The hollow parts of chamber, outer barrel 101 are second chamber.In the utility model embodiment, syringe 4 is arranged the first of inner cylinder 100
It is fixedly connected with inner cylinder 100 in chamber, forms an entirety, during puncture, moved integrally and whole static.Inner cylinder
100 are arranged by the first connector 102 in the second chamber of outer barrel 101, outer barrel 101 can with 100 slidable connection of inner cylinder,
Also, outer barrel 101 is also fixed at by the first connector 102 in fixed plate 103；Specifically, driving device 12 can be independent
Outer barrel 101 is driven to move, at this point, the entirety of inner cylinder 100 and syringe 4 is motionless；Driving device 12 can also drive inner cylinder 100 to move,
At this point, the entirety and outer barrel 101 of inner cylinder 100 and syringe 4 moves.
Further, the vein puncture device 1 provided with reference to figure 1 and Fig. 2, the utility model embodiment, fixing device 10
It further include needle card 104；
Needle card 104 is matched with withdraw of the needle button, under the effect of external force trigger withdraw of the needle button so that needle body 5 with it is soft
Pipe is detached and is return back in syringe 4.
In the utility model embodiment, above-mentioned needle card 104 is hose needle card.As a kind of specific embodiment, whole
A vein puncture device 1 is completed after puncturing needle body 5 and hose, and user can touch to 104 external force action of needle card, and by needle card 104
Withdraw of the needle button is sent out, finally, so that needle body 5 is return back in syringe 4 and is detached with hose.
Further, further include surpassing in the vein puncture device 1 that the utility model embodiment provides with reference to figure 1 and Fig. 2
Sonic probe 13；Guider 11 includes：Needle guiding part 110 and outer barrel guide part 111；
Needle guiding part 110 is fixed on ultrasonic probe 13, and needle body 5 is erected on needle guiding part 110；Ultrasound
Wave probe 13, the data information for preselecting target vessel by ultrasonic acquisition, and data information is sent to control device 2；
Outer barrel guide part 111 is fixed in fixed plate 103, and outer barrel 101 is erected on outer barrel guide part 111.
In the utility model embodiment, guider 11 specifically includes two components, i.e. needle guiding part 110 and outer barrel is led
To part 111；Needle guiding part 110 is fixed on ultrasonic probe 13, for setting up needle body 5 and making needle body 5 and ultrasonic wave
Probe 13 is generally aligned in the same plane, it is therefore an objective in the piercing process of needle body 5, can observe needle by 13 whole process of ultrasonic probe
The puncture path of body 5, the vertical section of the puncture path, that is, usually said, with reference to figure 3 and Fig. 4.
Specifically, according to the position relationship of plane of ultrasound and puncture needle, technology and the outer technology of plane in plane can be divided into.Institute
Technology in meaning plane is pointer and is popped one's head in the same plane, and the puncture path of needle whole can be observed in piercing process, i.e., vertical
Section.The image of ultrasonic guidance vascular puncture when Fig. 4 is longitudinal axis positions.It, can according to the position relationship of plane of ultrasound and guiding needle
It is divided into technology and the outer technology of plane in plane, referring to Fig. 3, Fig. 4.The outer technology of plane, is direction and the probe vertical of pointer, it is seen that
Image, that is, cross section.Wherein, in Fig. 3 and Fig. 4, (A) indicates that adjustment probe, (B) indicate that ultrasonic screen picture, Art indicate dynamic
Arteries and veins, Vn indicate that vein, P indicate that probe, US indicate that ultrasonic beam plane, a indicate that puncture needle (i.e. needle body 5) enters vein, and b is to wear
Pricker (i.e. needle body 5) intersects with plane of ultrasound, and c is that puncture needle (i.e. needle body 5) passes through vein.
Further, with reference to figure 1 and Fig. 2, in the vein puncture device 1 that the utility model embodiment provides, driving device
12 include：Control needle motor 120 and the second connector 121；Control needle motor 120 is fixed in fixed plate 103, and passes through the
Two connectors 121 are fixedly connected with inner cylinder 100.
Specifically, the effect of control needle motor 120 is control the second connector 121 rotation, to drive the syringe 4, described
Inner cylinder 100 and the whole direction guided to the guider 11 of the outer barrel 101 move.Specifically, control needle motor 120 passes through
Interior motor fixing plate 126 is fixed in fixed plate 103, and is fixedly connected with inner cylinder 100 by the second connector 121.
Above-mentioned driving device 12 further includes：Pipe motor 122, third connector 123, outer barrel connecting rod 124 and motor is set to connect
Extension bar 125；Pipe motor 122 is set to be fixed in fixed plate 103 by motor connecting rod 125；Pipe motor 122 is set with third to connect
Fitting 123 is fixedly connected, and third connector 123 is connect by outer barrel connecting rod 124 with outer barrel 101.
The above-mentioned effect for setting pipe motor 122 is to be rotated according to control signal control third connector 123, and connected by outer barrel
Extension bar 124 drives outer barrel 101 to be moved along the direction that guider 11 guides.
As a kind of embodiment in the utility model embodiment, above-mentioned second connector 121 and third connector 123
It is feed screw nut.
In the design of above-mentioned vein puncture device 1, the load of control needle motor 120 is mainly derived from the resistance for puncturing skin
Power, needle body 5 is oriented to the frictional force of inner cylinder with it and the second connector 121 (being feed screw nut in the utility model embodiment) is secondary
Gearing friction resistance etc..In the utility model embodiment, the quality for choosing needle body 5 is about 20g, needle body 5 and guiding inner cylinder
Damped coefficient is 0.3, therefore frictional resistance is 0.006N.Puncture needle comparison of resistance suffered during puncturing skin is complicated,
Entire piercing process can be divided into following three phases：Before puncturing skin, after puncturing skin, into after blood vessel.Entirely puncturing
The mainly rigid power of the resistance being subject in the process, frictional force and cutting force, and the tissue that needle body 5 is different in skin and blood vessel etc.
And above-mentioned three kinds of resistances that the different stages is subject to also differ, these three resistances belong to non-linear force；Meanwhile penetration Resistance is also
It is related with the puncture speed of needle body 5, since the resistance that needle body 5 punctures suffered by speed difference control needle motor 120 also differs.
Under normal circumstances, in manual piercing process, puncture needle enters skin and the puncture force of blood vessel is smaller, punctures manually
Speed be generally lower than 5mm/s, Fig. 3 shows that needle body 5 under different puncture speed enters the critical forces of different tissues layer.Therefore
The required puncture force of inserting needle is generally less than 4N, it is possible thereby to estimate that the external loading theoretical maximum of control needle motor 120 is
4.006N。
With reference to figure 5, in the case where ensureing control accuracy, in order to which hardware components are light simple as far as possible, venipuncture
Device 1 realizes automatic puncturing using linear motion, to realize stable drive, and positioning accuracy is high, final selected included convenient for control
The micromotor of screw slide is as control needle motor 120.The stepper motor basic parameter is：2 phase, 4 line system, driving voltage 4-
9V/100-500mA, lead screw length are 90mm, slider stroke 80mm, motor diameter 15mm, a diameter of 3mm of lead screw, optical axis
A diameter of 3mm, lead screw screw pitch are 0.5mm, and step angle is 18 °.Equally, it is estimated by inquiry data and sets the outer of pipe motor 122
Section load theoretical maximum is 6N, and the required precision and transmission of actually opposed pipe motor 122 require all than controlling needle motor
120 require low, consider, and for the miniature screw rod stepper motor of final choice single head as pipe motor 122 is set, parameter is as follows：2 phases
4 line systems, driving voltage 5V/100-500mA, lead screw length are 55mm, motor diameter 10mm, a diameter of 3mm of lead screw, lead screw
Screw pitch is 1.2mm, and step angle is 18 °.
The utility model embodiment provide a kind of vein puncture device, with it is in the prior art manually puncture or
The medical assistance robot manipulation of mechanical force punctures and compares, and has the advantage that：1, overall cost opposed robots medical department
It unites at low cost, practicability is stronger；2, vein puncture device and ultrasonic probe, which are formed, punctures basic machine, and coordinates control device
It realizes and automatically controls the action that vein puncture device carries out inserting needle, sets pipe and the withdraw of the needle, reduce the labor intensity of operator；3, quiet
Most of component in arteries and veins sting device is process using polythene material, high, the small, light weight with intensity,
So that operator's degree of being held by hand comfortably is good；4, it can be matched with ultrasonic probe, under the guiding of ultrasonic probe, positioning accuracy
It is high；5, one-handed performance can be achieved, the skill requirement of operator is reduced, and adapt to certain dynamic environment.
The utility model embodiment additionally provides a kind of venipuncture system, with reference to figure 6, including：Control device 2 and above-mentioned
Vein puncture device 1；Vein puncture device 1 is connect with control device 2；
Vein puncture device 1, for the data information by the acquisition pre-selection target vessel of ultrasonic probe 13, by data information
It is sent to control device 2；
Control device 2 calculates the location information of target vessel according to data information, according to position for receiving data information
Information generates the control signal for controlling the work of vein puncture device 1；
Vein puncture device 1 is additionally operable to, and is controlled itself fixed needle body 5 to be punctured according to control signal and is waited being placed in soft
Pipe punctures skin.
In the utility model embodiment, above-mentioned ultrasonic probe 13 is Ultrasonic-B probe, and vein puncture device 1 passes through above-mentioned B
Super probe emits ultrasonic wave to pre-selection target vessel, and receives the ultrasonic wave by preselecting target vessel reflection, and target blood is preselected with acquisition
Then the data information is issued control device 2 by the data information of pipe.
After control device 2 receives above-mentioned data information, image procossing is carried out to above-mentioned data information and generates image data,
Then the location information of target vessel is calculated according to image data, and meets the standard to prestore in the location information for detecting target vessel
After location information, the control signal for controlling the work of vein puncture device 1 is generated according to the location information.
Further, with reference to figure 6, in the venipuncture system that the utility model embodiment provides, control device 2 specifically wraps
It includes：Ultrasound Instrument host 20, CCD image display instrument 21, data acquisition components 22, image processor 23 and controller 24；
Ultrasonic probe 13 is connect with Ultrasound Instrument host 20；CCD image display instrument 21 and data acquisition components 22 respectively with it is super
Sound instrument host 20 connects；Image processor 23 is connect with data acquisition components 22 and controller 24 respectively；
Ultrasonic probe 13 (i.e. Ultrasonic-B probe) emits ultrasonic wave to pre-selection target vessel, and receives anti-by preselecting target vessel
Reflecting ultrasonic wave for reception is issued Ultrasound Instrument host 20 by the ultrasonic wave penetrated；
Ultrasound Instrument host 20, the data information for receiving the transmission of ultrasonic probe 13 carry out at image data information
Reason generates image data, and image data is sent to CCD image display instrument 21 and data collecting card；
CCD image display instrument 21 is used for display image data, and operator is waited puncturing according to what the image data selected
Picture position is sent to Ultrasound Instrument host 20；
Ultrasound Instrument host 20 is additionally operable to, and generates the image data that perforation image position is waited for for controlling data collecting card acquisition
Control signal, and be sent to data collecting card；
Data collecting card waits for the image data of perforation image position according to control signal acquisition for receiving control signal,
Image data is sent to image processor 23；
Image processor 23 calculates the location information of target vessel according to image data for receiving image data, and sends
To controller 24；
Controller 24 judges whether location information matches with pre-stored criteria location information for receiving location information, if
It is that the control signal for controlling the work of vein puncture device 1 is generated according to location information.
Specifically, ultrasonic probe 13 (i.e. Ultrasonic-B probe) emits ultrasonic wave to pre-selection target vessel, and receive by preselecting target
Reflecting ultrasonic wave for reception is issued Ultrasound Instrument host 20 by the ultrasonic wave of vasoreflex；It is super that Ultrasound Instrument host 20 receives the reflection
Sound wave, and carry out image procossing is reflected ultrasonic wave to this, image data is generated, the image data is then sent to image and is shown
Instrument 21 and data collecting card；21 display image data of CCD image display instrument, and receive operator according to check the image data trigger
Selection waits for puncture position, and this is waited for that puncture position is sent to Ultrasound Instrument host 20, and Ultrasound Instrument host 20 then controls data and adopts
Truck this wait for the image data of perforation image position；Data collecting card acquires under the control of Ultrasound Instrument host 20 and waits for perforation image
The image data of acquisition is sent to image processor 23 by the image data of position；Image processor 23 receives the image data,
The location information that target vessel is calculated according to the image data, is then sent to controller 24 by the location information of the calculating；Control
Device 24 receives the location information, judges whether the location information matches with pre-stored criteria location information, if matching, according to the position
Confidence breath generates the control signal for controlling the work of vein puncture device 1.
Image processor 23 is handled by the gray value to image, can be calculated in the radius r of blood vessel, blood vessel
The critical positions information such as depth h of the heart apart from skin.Data acquisition components 22 acquire a large amount of acquisition vein blood vessel B ultrasound images, by
Image processor 23 calculates corresponding depth h values and inner diameter values, forms blood-vessel image database.In the utility model embodiment,
The successful blood vessel B ultrasound image of 307 hospital of the Chinese People's Liberation Army, 73 venipunctures is acquired, is calculated in 73 groups of data,
In, the minimum value of vein blood vessel radius is 1.23mm, maximum value 3.22mm, average value 2.06mm；Vein blood vessel centre-to-centre spacing
Deep minimum from skin is 3.06mm, maximum value 14.21mm, average value 8.51mm.For security consideration, this practicality
In new embodiment, the depth tolerance band of inserting needle is set as 5.95~10.91mm according to above-mentioned data, by the blood vessel of inserting needle half
Diameter tolerance band is set as 1.57~2.65mm.
Under the premise of safe inserting needle, in order to guarantee to accurately control the distance of inserting needle and in order to mitigate patient suffering
And the time that needle punctures skin is reduced, 6 critical control point are arranged according to the entire inserting needle situation of puncture needle, such as Fig. 7 inserting needle mistakes
Journey and O, E, B, F, C and D point expression in speed control comparison diagram are controlled into needle speed turning point.By this 6
Entire inserting needle process is divided into 5 control sections by a control point, each control section is needle point initial point distance skin height h, blood
The function of tri- tube hub depth d, vessel radius r variables.Give one group of numerical value, so that it may with every section of inserting needle distance of determination, then
According to the pulse equivalency of stepper motor, so that it may to calculate the umber of pulse of every section of needs.To selected stepper motor, in order to improve
Control accuracy, the method for taking Multi-level microstep segment step angle, by PWM pulsewidth modulations, change PWM cycle and turn to adjust motor
Speed.
In the utility model embodiment, controller control control needle motor and the speed control programming for setting pipe motor：This
The controller 24 that is used in utility model embodiment using ST company STM32F411 MCU (Microcontroller Unit,
Micro-control unit), it is encapsulated using 64, possesses 100MHz cpu frequencies, operating voltage is 1.7V~3.6V.The microcontroller is base
In 32 MCU kernels of ARM Cortex-M4, the monocycle accesses, low-power consumption, low price, high-performance.Above controller 24 is adopted
Use CodeWarrior developments room as the translation and compiling environment of control program, CodeWarrior is built-in with abundant STM32 firmwares
Library can easily carry out programming.To simplify program development difficulty, carries out speed control program using modularized thoughts and set
Meter since control object only has stepper motor, therefore uses PWM (Pulse Width Modulation, pulse width modulation) to adjust
The wide method of frequency modulation controls motor speed, in the case of given PWM duty cycle, only changes the progress speed governing of pwm pulse period,
STM32F411 is accessed or is rewritten L6470 by SPI (Serial Peripheral Interface, Serial Peripheral Interface (SPI)) interface
Internal register accelerates stepper motor, deceleration and stopping control.
Further, with reference to figure 6, in the venipuncture system that the utility model embodiment provides, vein puncture device 1 wraps
It includes：It controls needle motor 120 and sets pipe motor 122；It controls needle motor 120 and sets pipe motor 122 and connect respectively with controller 24；
Needle motor 120 is controlled, for controlling the rotation of the second connector 121 according to control signal, to drive syringe 4, inner cylinder 100
It is moved with the whole direction guided to guider 11 of outer barrel 101；
Pipe motor 122 is set, for being rotated according to control signal control third connector 123, and passes through outer barrel connecting rod 124
Outer barrel 101 is driven to be moved along the direction that guider 11 guides.
In order to which whether the control program for verifying controller 24 in the utility model embodiment is correct, the control for including to it is needed
Processing procedure sequence is debugged, specifically, in order to which the debugging of the program of controller is convenient, has write host computer procedure Debugging interface, often
The required umber of pulse of each control section and total kilometres pulse can be calculated by giving one group of diameter d, depth h, internal diameter r numerical value
Number, to accurately control inserting needle distance.It only needs to provide the umber of pulse needed for total kilometres in Debugging interface, program can distribute automatically
Umber of pulse needed for each control section, by buttons such as " inserting needles ", " withdraw of the needle " and " inserting needle tests the speed " carry out to device carry out debugging and
Detection.Fig. 8 is host computer procedure Debugging interface.
In experiment test, Ultrasonic-B probe model and guide pin card slot are unique, so d values are also constant.By adopting
Collect different vein blood vessel B ultrasound images, calculates the depth h and radius r of every image medium vessels, host computer is according to by the two
The given inserting needle distance (umber of pulse) of parameter and pipeline journey (umber of pulse) is set, using above-mentioned speed the strategy of stepwise control, automatically
Carry out the speed control of inserting needle and the withdraw of the needle.Fig. 9 is 120 (big motor) test data of experiment of control needle motor, and Figure 10 is to set pipe motor
122 (small machine) test data of experiment.
Vein puncture device in the utility model embodiment is using STM32F411 as core, by modular design method,
Automatically controlling for inserting needle and withdraw of the needle action is realized, entire expected motion flow is completed；It can be guided by B ultrasound image,
Realize the accurate positionin to target vessel；In inserting needle and in setting pipe test experiments, the traveled distance of two motors is more inclined than theoretical value
It is small, illustrate that the frictional resistance that needle body 5 is advanced in vascular pattern is bigger than theoretical preset value, may cause to lose during decelerating through motor
Step, but in the safe allowable range of error, it was demonstrated that the utility model embodiment vein puncture device can be realized accurately certainly
Dynamic inserting needle function, has good stability.
When further, due to longitudinal axis positions, the front face area opposite with needle body 5 of ultrasonic probe 13 is small, and curved surface
Radian changes greatly, irregularly, and the installation difficulty of vein puncture device is big；Needle body 5 is needed to be visited with ultrasonic wave when horizontal axis position simultaneously
In the same plane, and needle body and blood vessel can all generate crimp to the ultrasonic beams of first 13 transmitting in piercing process, this
Point hardly results in guarantee.Consider, the utility model embodiment takes the outer technology of the plane of big plane, that is, using cross
Axis mounting means.According to the characteristics of ultrasonic probe and the hand-held custom of operator, a kind of branch having hollow three-legged structure is designed
Support 3 is used for the fixed installation of sting device and probe.Figure 11 is 3 schematic diagram of supporting rack.With reference to figure 11, the utility model is implemented
The venipuncture system that example provides, further includes supporting rack 3, and the supporting rack 3 is for playing the role of positioning, i.e. positioning supporting frame；
Supporting rack 3 includes：Bottom surface cover die 31, support rib 32, support baseboard 33 and cushion block 34；
Support baseboard 33 is fixed at a sharp angle on bottom surface cover die 31 by support rib 32；Support baseboard
Cushion block 34 is provided on 33；Vein puncture device 1 is fixed at by cushion block 34 on support baseboard 33.
Specifically, bottom surface cover die 31 is for placing ultrasonic probe 13, support baseboard 33 is for placing vein puncture device
1, for cushion block 34 for adjusting height of the vein puncture device 1 on support baseboard 33, support rib 32 is used to support above-mentioned support
Bottom plate 33, support baseboard 33 to be fixed on bottom surface cover die 31.
As an alternative embodiment, the outer barrel guide part 111 that vein puncture device 1 includes is fixed at the branch
The support baseboard 33 of support 3, to realize that vein puncture device 1 is integrally provided on supporting rack 3.
In the utility model embodiment, using Ultrasonic-B probe model as mold, the bottom made with polyethylene thermoforming technology
Surface cover mould 31, not only light weight, intensity are high, but also firm with probe incorporated, and the comfort level that operator holds also greatly improves.Together
When on bottom surface cover die 31 machining benchmark plane probe and the positioning of needle body 5 can guarantee by the adjustment effect of cushion block 34 in this way
Precision.
Overall description is carried out to the venipuncture system that the utility model embodiment provides with reference to Fig. 6：Module at present
Change design to be widely used in global manufacturing product development process.The utility model embodiment is based on modularized design
The Functional Requirement that method and system uses devises vein puncture device and venipuncture system.The totality of venipuncture system
Scheme is as shown in fig. 6, it is made of vein puncture device 1, supporting rack 3 and 2 three parts of control device.Vein puncture device 1 wraps
It includes and other connection parts such as controls needle motor 120, sets pipe motor 122, use bi-motor screw nut driven mode, control needle
Motor 120 pushes puncture needle and hose to puncture skin to enter blood vessel, set pipe motor 122 push hose in place and trigger the withdraw of the needle by
Button makes needle body 5 retract in syringe 4.
Operator holds automatic puncturing device, and mobile Ultrasonic-B probe finds target vessel position accurately, device posture of having good positioning.Image
The image data that processor 23 is passed back according to B ultrasound host calculates the depth and internal diameter of target vessel, controller 24STM32F411 roots
Pwm pulse number, and selected velocity and acceleration are calculated automatically according to the position signal, by intelligent step motor driving chip
L6470 and respectively control control needle motor and set pipe motor ordered movement.It controls needle motor 120 and drives needle body 5, needle point and PICC is made to lead
Pipe punctures skin, and after accurately reaching target vessel center, then 120 stop motion of control needle motor is set pipe motor 122 and pushed away
Blood vessel a distance is continued deeper into conduit；After conduit enters blood vessel setting length, 122 stop motion of pipe motor is set, simultaneously
Withdraw of the needle button is triggered, conduit is automatically separated with needle body 5, remaining needle Safe withdrawing；Finally control needle motor 120 drives needle body 5 to retreat,
Return to origin stopping.
The utility model embodiment provide a kind of venipuncture system, with it is in the prior art manually puncture or
The medical assistance robot manipulation of mechanical force punctures and compares, and has the advantage that：1, overall cost opposed robots medical department
It unites at low cost, practicability is stronger；2, vein puncture device and ultrasonic probe, which are formed, punctures basic machine, and coordinates control device
It realizes and automatically controls the action that vein puncture device carries out inserting needle, sets pipe and the withdraw of the needle, reduce the labor intensity of operator；3, quiet
Most of component in arteries and veins sting device is process using polythene material, high, the small, light weight with intensity,
So that operator's degree of being held by hand comfortably is good；4, it can be matched with ultrasonic probe, under the guiding of ultrasonic probe, positioning accuracy
It is high；5, one-handed performance can be achieved, the skill requirement of operator is reduced, and adapt to certain dynamic environment.
The control device that the utility model embodiment is provided can be equipment on specific hardware or be installed on equipment
On software or firmware etc..The technique effect of the device that the utility model embodiment is provided, realization principle and generation is with before
It is identical to state embodiment of the method, to briefly describe, device embodiment part does not refer to place, can refer to phase in preceding method embodiment
Answer content.It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit can refer to the corresponding process in above method embodiment, and details are not described herein.
In embodiment provided by the utility model, it should be understood that disclosed device can be by another way
It realizes.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only a kind of logic
Function divides, formula that in actual implementation, there may be another division manner, in another example, multiple units or component can combine or can be with
It is integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed mutual
Coupling, direct-coupling or communication connection can be the INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the utility model can be integrated in a processing unit,
Can also be that each unit physically exists alone, it can also be during two or more units be integrated in one unit.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, the technical solution of the utility model substantially or
Person says that the part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
Personal computer, server or the network equipment etc.) execute each embodiment the method for the utility model whole or portion
Step by step.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), with
Machine accesses various Jie that can store program code such as memory (RAM, Random Access Memory), magnetic disc or CD
Matter.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally it should be noted that：Embodiment described above, only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to aforementioned
The utility model is described in detail in embodiment, it will be understood by those of ordinary skill in the art that：It is any to be familiar with this skill
The technical staff in art field within the technical scope disclosed by the utility model, still can be to the skill recorded in previous embodiment
Art scheme modify or can readily occur in variation or equivalent replacement of some of the technical features；And these modifications,
Variation is replaced, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
It encloses.It should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be wanted with the right
Subject to the protection domain asked.
Claims (10)
1. a kind of vein puncture device, which is characterized in that including：Fixing device, guider and driving device；The fixed dress
It sets and is fixedly connected with the driving device with the guider slidable connection, the fixing device, the driving device is used
It is connect in control device；
Hose to be placed in is fixed on by needle body to be punctured in the fixing device；
The guider, for guiding the fixing device and the needle body to be moved with fixed direction；
The driving device, for driving the fixing device to be moved along the direction that the guider guides.
2. vein puncture device according to claim 1, which is characterized in that the hose is fixedly installed by the needle body
On syringe；The fixing device includes：Inner cylinder, outer barrel, the first connector and fixed plate；
The syringe setting is fixedly connected in the inner cylinder with the inner cylinder, and the inner cylinder is arranged by first connector
In the outer barrel, and outer barrel can be with the inner cylinder slidable connection；The outer barrel is fixedly installed by first connector
In the fixed plate.
3. vein puncture device according to claim 2, which is characterized in that the fixing device further includes needle card；
The needle card is matched with withdraw of the needle button, for triggering the withdraw of the needle button under the effect of external force, so that the needle body
It detaches and is return back in the syringe with the hose.
4. vein puncture device according to claim 2, which is characterized in that further include ultrasonic probe；The guiding dress
Set including：Needle guiding part and outer barrel guide part；
The needle guiding part is fixed on the ultrasonic probe, and the needle body is erected on the needle guiding part；
The ultrasonic probe, the data information for preselecting target vessel by ultrasonic acquisition, and data information is sent to control
Device；
The outer barrel guide part is fixed in the fixed plate, and the outer barrel is erected on the outer barrel guide part.
5. vein puncture device according to claim 2, which is characterized in that the driving device includes：Control needle motor and
Second connector；
The control needle motor is fixed in the fixed plate, and is fixed and connected by second connector and the inner cylinder
It connects.
6. the vein puncture device according to claim 2 or 5, which is characterized in that the driving device further includes：Set pipe electricity
Machine, third connector, outer barrel connecting rod and motor connecting rod；
The pipe motor of setting is fixed at by the motor connecting rod in the fixed plate；It is described to set pipe motor and described the
Three connectors are fixedly connected, and the third connector is connect by the outer barrel connecting rod with the outer barrel.
7. a kind of venipuncture system, which is characterized in that including：Control device and claim 1-6 any one of them veins
Sting device；The vein puncture device is connect with the control device；
The vein puncture device, the data information for acquiring pre-selection target vessel by ultrasonic probe, the data are believed
Breath is sent to the control device；
The control device, for receiving the data information, the position that the target vessel is calculated according to the data information is believed
Breath generates the control signal for controlling the vein puncture device work according to the positional information；
The vein puncture device is additionally operable to, and is controlled itself fixed needle body to be punctured according to the control signal and is waited being placed in soft
Pipe punctures skin.
8. venipuncture system according to claim 7, which is characterized in that the control device includes：Ultrasound Instrument host,
CCD image display instrument, data acquisition components, image processor and controller；
The ultrasonic probe is connect with the Ultrasound Instrument host；Described image display instrument and the data acquisition components respectively with
The Ultrasound Instrument host connection；Described image processor is connect with the data acquisition components and the controller respectively；
The Ultrasound Instrument host, the data information sent for receiving the ultrasonic probe, to the data information into
Row image procossing generates image data, and described image data are sent to described image display instrument and the data collecting card；
Described image display instrument waits wearing for showing described image data, and by operator according to what the image data selected
Thorn picture position is sent to the Ultrasound Instrument host；
The Ultrasound Instrument host is additionally operable to, and is generated for controlling the figure for waiting for perforation image position described in the data collecting card acquisition
As the control signal of data, and it is sent to the data collecting card；
The data collecting card waits for perforation image position for receiving the control signal according to described in the control signal acquisition
Described image data are sent to described image processor by the image data set；
Described image processor calculates the position of the target vessel according to described image data for receiving described image data
Information, and it is sent to the controller；
The controller, for receiving the location information, judge the location information and pre-stored criteria location information whether phase
Matching, if so, generating the control signal for controlling the vein puncture device work according to the positional information.
9. venipuncture system according to claim 8, which is characterized in that the vein puncture device includes：Control needle electricity
Machine and set pipe motor；The control needle motor and the pipe motor of setting are connect with the controller respectively；
The control needle motor, for controlling the rotation of the second connector according to the control signal, to drive syringe, inner barrel and outer barrel
The whole direction guided to the guider moves；
It is described to set pipe motor, for controlling the rotation of third connector according to the control signal, and driven by outer barrel connecting rod
Outer barrel is moved along the direction that guider guides.
10. venipuncture system according to claim 7, which is characterized in that further include supporting rack；Support frame as described above packet
It includes：Bottom surface cover die, support rib, support baseboard and cushion block；
The support baseboard is fixed at a sharp angle on the bottom surface cover die by the support rib；The support
The cushion block is provided on bottom plate；The vein puncture device is fixed at by the cushion block on the support baseboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720235633.XU CN207856026U (en) | 2017-03-10 | 2017-03-10 | A kind of vein puncture device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720235633.XU CN207856026U (en) | 2017-03-10 | 2017-03-10 | A kind of vein puncture device and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207856026U true CN207856026U (en) | 2018-09-14 |
Family
ID=63473699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720235633.XU Withdrawn - After Issue CN207856026U (en) | 2017-03-10 | 2017-03-10 | A kind of vein puncture device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207856026U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106730149A (en) * | 2017-03-10 | 2017-05-31 | 王燕青 | A kind of vein puncture device, system and venipuncture control method |
| CN112381816A (en) * | 2020-11-26 | 2021-02-19 | 同济大学 | Blood vessel puncture angle obtaining and puncturing method based on image recognition and feedback control |
-
2017
- 2017-03-10 CN CN201720235633.XU patent/CN207856026U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106730149A (en) * | 2017-03-10 | 2017-05-31 | 王燕青 | A kind of vein puncture device, system and venipuncture control method |
| CN112381816A (en) * | 2020-11-26 | 2021-02-19 | 同济大学 | Blood vessel puncture angle obtaining and puncturing method based on image recognition and feedback control |
| CN112381816B (en) * | 2020-11-26 | 2022-06-21 | 同济大学 | Blood vessel puncture angle acquisition and puncture method based on image recognition and feedback control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2018161620A1 (en) | Venipuncture device, system, and venipuncture control method | |
| EP3815636A1 (en) | Ultrasound-guided assistance device and system for needle | |
| JP7422773B2 (en) | Intravenous therapy system for vessel detection and vascular access device placement | |
| Balter et al. | Adaptive kinematic control of a robotic venipuncture device based on stereo vision, ultrasound, and force guidance | |
| US20150065916A1 (en) | Fully automated vascular imaging and access system | |
| CN103976778A (en) | Full-automatic venipuncture mechanical arm and application method thereof | |
| WO2011025786A1 (en) | Automated needle insertion mechanism | |
| CN108836440A (en) | A kind of control decision method and system puncturing auxiliary robot | |
| CN207856026U (en) | A kind of vein puncture device and system | |
| CN204218918U (en) | A kind of full-automatic intelligent blood sampling apparatus without the need to manually puncturing | |
| CN102451041A (en) | Arteriovenous puncture instrument | |
| US20230132148A1 (en) | High Fidelity Doppler Ultrasound Using Vessel Detection For Relative Orientation | |
| US20210353910A1 (en) | Central Venous Cannulation Device and Method | |
| CN108635023A (en) | A kind of artery and vein puncture device and piercing method | |
| Koskinopoulou et al. | Robotic Devices for Assisted and Autonomous Intravenous Access | |
| TWM583743U (en) | Blood vessel position detecting device for blood drawing | |
| WO2023002933A1 (en) | Vascular puncture device and vascular puncture system | |
| US20230200847A1 (en) | Penetrative Medical Access Devices, and Related Methods and Systems | |
| CN202605013U (en) | Arterial and intravenous puncture instrument | |
| CN220275669U (en) | Femoral artery and vein ultrasonic positioning semiautomatic puncture device | |
| EP4230157A1 (en) | Mountable device for autonomous blood vessel interfacing and instrument actuation | |
| US20230138970A1 (en) | Optimized Functionality Through Interoperation of Doppler and Image Based Vessel Differentiation | |
| CN2657593Y (en) | Medical puncturing needlew ith angulometer | |
| CN116919546A (en) | Method for constructing positioning scale for ultrasonic arterial puncture | |
| WO2023062007A1 (en) | Mountable device for autonomous blood vessel interfacing and instrument actuation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190725 Address after: 100039 Fengtai District West Fourth Ring Road, Beijing, No. 100 Patentee after: Fifth Medical Center, General Hospital of the Chinese People's Liberation Army Address before: 100071 Department of Lymphoma, 307 Hospital of PLA, 8 Dongjie, Fengtai District, Beijing Patentee before: Wang Yanqing |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180914 Effective date of abandoning: 20200421 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180914 Effective date of abandoning: 20200421 |