CN209984193U - Automatic blood sampling robot - Google Patents
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- CN209984193U CN209984193U CN201821462295.4U CN201821462295U CN209984193U CN 209984193 U CN209984193 U CN 209984193U CN 201821462295 U CN201821462295 U CN 201821462295U CN 209984193 U CN209984193 U CN 209984193U
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Abstract
The utility model discloses an automatic blood sampling robot, automatic blood sampling robot based on infrared blood vessel location technique, lateral part and top have the open-ended box shell, be provided with the arm bed in the box shell, a guide rail is respectively established to this arm bed both sides, has set gradually first slide, second slide, third slide along its length direction on the guide rail, all is provided with the pressure arm etc. that are used for fixed arm on first slide and the third slide. The device mainly comprises a box body, an infrared blood vessel positioning modeling system, a mechanical motion system, a puncture system, a fixing system, a control system and a disinfection hemostasis component. Compared with the prior art, the utility model discloses an automatic blood sampling robot, the essential element adopts firm light materials such as engineering plastics, titanium alloy more. The automatic blood sampling robot can realize accurate and efficient automatic blood sampling, saves a large amount of labor cost, relieves the pain of patients and represents the development direction of future intelligent medical treatment.
Description
Technical Field
The utility model relates to an automatic blood sampling robot belongs to medical treatment automation equipment technical field.
Background
Today, many data of health tests are acquired by blood analysis. Therefore, blood drawing is an important link for health examination. With the continuous development of medical technology, blood drawing becomes more and more common, and the workload of blood drawing nurses is generally increased. However, the problem of low efficiency, low precision, medical exposure accident and the like is faced in artificial blood drawing. An automatic blood drawing machine integrating a blood vessel three-dimensional positioning system, an automatic puncture system, a hemostasis system and a disinfection system is designed.
At present, the related technologies are:
firstly, the method comprises the following steps: vein imaging instrument using infrared and LED light sources
The principle that hemoglobin in blood absorbs near-external red light more strongly than other tissues is mainly utilized, and the subcutaneous vein condition is displayed on the surface of the skin in real time in-situ projection through the treatment of a digital image technology, so that medical workers can be assisted to perform operations such as needle insertion, transfusion, blood drawing and the like and observe and evaluate various venous lesions. However, the vein imaging instrument can only display a two-dimensional image of the vein, and cannot provide coordinates of depth and thickness. The automatic blood sampling robot related to the patent can determine the three-dimensional model and the coordinates of the blood vessel, but the three-dimensional model and the coordinates are not displayed on the surface of the skin, but are transmitted to a mechanical motion system, so that accurate puncture is realized.
Second, Veebot blood sampling robot
The blood sampling device is developed by VascuLogic of the American initial company, and adopts infrared and ultrasonic imaging technologies, so that the blood sampling process is safer and more efficient. The prototype medical robot is named Veebot, and is specially used for replacing nurses to inject and draw blood for patients by utilizing infrared and ultrasonic imaging technologies, the accuracy rate is about eighty-three percent, the whole process of each operation lasts for about one minute, and the specific time is also related to the blood volume of the blood drawing. But the appearance design of the payment robot is cool and hard, so that a person who is drawn blood easily generates a creepy feeling, and the accuracy also needs to be improved. The automatic blood sampling robot adopts not less than 3 infrared probes for positioning, so that the positioning accuracy is ensured; simultaneously, real-time calibration is carried out by adopting the same imaging principle; wrap up whole equipment in box casing, LCD screen and stereo set on the casing can carry out the video audio frequency suggestion. Compare Veebot blood sampling robot, the blood sampling rate of accuracy is higher and more humanized.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that needs to solve is not enough to above-mentioned prior art, and provides one kind and utilizes infrared detection, detection methods such as skin range finding to realize the automatic blood sampling robot of accurate positioning to the internal blood vessel of people.
In order to solve the technical problem, the utility model discloses a technical scheme is:
an automatic blood sampling robot comprises a box-type shell with an opening at the side part and the top, an arm bed is arranged in the box-type shell, a guide rail is respectively arranged at the two sides of the arm bed, a first slide seat, a second slide seat and a third slide seat are sequentially arranged on the guide rail along the length direction of the guide rail, pressing arms for fixing arms are respectively arranged on the first slide seat and the third slide seat, an arch door is arranged between the second slide seats of the two guide rails, at least three infrared blood vessel imaging instruments are distributed on the arch door, a mechanical folding arm is arranged on the arch door, a hollow syringe bin is arranged at the tail end of the mechanical folding arm, a clamping part for fixing a negative pressure blood sampling tube is arranged in the syringe bin, a through hole is arranged at the end part of the syringe bin, a pressure sensor is arranged in the through hole, a blood sampling needle mechanism is arranged outside the through hole, the blood sampling needle mechanism comprises a needle base capable, the other end is fixedly provided with a rubber tube, the rubber tube is connected with a negative pressure blood sampling tube in a needle silo, the needle head and the rubber tube are mutually communicated in a needle seat, a needle sleeve is arranged outside the needle head, a spring is arranged between the needle sleeve and the needle seat, the needle head extends out of the needle sleeve in a compressed state, and a force transmission part in contact with a pressure sensor is arranged outside the rubber tube.
As a further preferred scheme, two sides of the needle silo are respectively provided with an infrared blood vessel imaging instrument, a mechanical needle holder for stabilizing the blood taking needle mechanism is arranged at a position, close to the blood taking needle mechanism, on the needle silo, and a disinfection hemostasis device is arranged on the mechanical needle holder.
As a further preferable mode, a photoelectric door for determining the blood collection amount is installed in the needle silo.
As a further preferable scheme, a skin distance measuring sensor is installed at the through hole at the end part of the needle silo.
As a further preferable scheme, a pair of disinfectant containers is further arranged on the arch.
Compared with the prior art, the utility model discloses an automatic blood sampling robot, the essential element adopts firm light materials such as engineering plastics, titanium alloy more. This automatic blood sampling robot can realize accurate efficient automatic blood sampling, saves a large amount of human costs simultaneously, alleviates patient's misery, represents future intelligent medical development direction, mainly possesses following a bit:
1. the automatic robot that draws blood that this patent relates to can liberate medical staff from the work of drawing blood of heavy, makes medical staff keep away from the exposure accident under the adverse circumstances of medical condition or sanitary conditions that do not possess perfect simultaneously, and the probability that the medical accident takes place significantly reduces.
2. The automatic robot of drawing blood that this patent relates to can practice thrift effectual manpower resources, the medical institution control cost of being convenient for.
3. The automatic blood drawing robot related to the patent can greatly improve the efficiency of hospitalizing patients and the working efficiency of doctors.
4. The accuracy of the automatic blood drawing instrument can greatly improve the medical quality, so that the medical work becomes rapid and scientific, and the error is reduced.
Drawings
FIG. 1 is a schematic view of a box-type housing structure;
FIG. 2 is a schematic view of the structure of the guide rail;
FIG. 3 is a top view of the guide rail;
FIG. 4 is a side view of the guide rail;
figure 5 is a schematic structural view of the needle silo;
FIG. 6 is a schematic view of the structure of the lancet mechanism;
the device comprises a box-type shell, a guide rail, a first sliding seat, a second sliding seat, a third sliding seat, a pressing arm, a 7-arch door, an 8-infrared blood vessel imaging instrument, a mechanical folding arm, a needle silo, a clamping component, a needle seat, a needle, a rubber tube, a needle sleeve, a needle seat, a needle holder, a needle head, a rubber tube, a needle sleeve, a force transmission part, a mechanical needle holder, a disinfecting and hemostatic device and a disinfectant container, wherein the box-type shell is 1, the guide rail is 2, the first sliding seat is 3, the second sliding seat is 4, the third sliding seat is 5, the.
Detailed Description
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the utility model discloses an automatic blood sampling robot, have open-ended box shell 1 including lateral part and top, be provided with the arm bed in the box shell 1, box shell 1 has adopted the box shell of fillet cuboid, goes up the lid that can open (for using the clean convenient of maintenance), the light and firm combined material of material preference. Two holes are arranged on the front and the back of the shell, so that the arm can be completely inserted into the hole, and the hole is horizontally placed on an arm placing arm bed and penetrates through the inner space of the automatic blood sampling robot. The front opening is provided with a double door, so that the opening can be enlarged to facilitate the operation in the subsequent process. The front surface of the shell is embedded with a touch display screen, a manual operation table and a two-dimensional code printer; the rear side of the shell is embedded with a main switch and various data line electric wire interfaces; the box type shell 1 is internally provided with a central processing unit, a data storage system, a voice prompt sound box and other different auxiliary elements which are added according to different actual conditions, so that a control system and a data storage system of the robot are formed.
The two sides of the arm bed are respectively provided with a guide rail 2, the two guide rails 2 are parallel to the arm bed, each guide rail 2 is sequentially provided with a first sliding seat 3, a second sliding seat 4 and a third sliding seat 5 along the length direction of the guide rail, the first sliding seat 3, the second sliding seat 4 and the third sliding seat 5 are respectively provided with a motor, the three sliding seats move on the guide rails 2 through respective motors, the first sliding seat 3 and the third sliding seat 5 are respectively provided with a pressure arm 6 for fixing the arm, the pressure arm 6 can swing on the sliding seats through a driving motor, so that the arm placed on the arm bed is pressed, and the movement of the sliding seats is adjusted by a control system.
Be provided with arched door 7 between the second slide 4 of two guide rails 2, it has at least three infrared blood vessel imaging instrument 8 to distribute on arched door 7, and a plurality of infrared blood vessel imaging instrument 8 equidistance distribute on arched door 7, and infrared blood vessel imaging instrument 8 on the arched door 7 forms the preliminary definite good to human blood vessel, in addition, still is provided with a pair of antiseptic solution container 19 on the arched door 7.
The arched door 7 is further provided with a mechanical folding arm 9, the mechanical folding arm 9 is divided into two moving arms which move relatively, the end parts of the two moving arms are hinged with each other, one of the moving arms is hinged on the arched door 7, the other moving arm is hinged with the needle cylinder bin 10, each hinged part is driven by a servo motor to move, and the whole movement of the mechanical folding arm 9 is regulated by a control system.
The needle silo 10 is hollow inside, a clamping component 11 used for fixing a negative pressure blood collection tube and a photoelectric door used for determining blood collection amount are arranged in the needle silo 10, a through hole is formed in the end portion of the needle silo 10, a pressure sensor is arranged in the through hole and connected with a robot control system, a blood collection needle mechanism is arranged outside the through hole, the blood collection needle mechanism is pressed after resistance is applied to the blood collection needle mechanism, the pressure sensor sends a signal to the control system, and a small annular gasket single pressure sensor is selected and used as the pressure sensor.
The blood taking needle mechanism comprises a needle seat 12 which can be inserted into a through hole at the end part of a needle silo 10, one end of the needle seat 12 is fixedly provided with a needle 13, the other end of the needle seat 12 is fixedly provided with a rubber tube 14, the rubber tube 14 is connected with a negative pressure blood taking tube in the needle silo 10, the needle 13 and the rubber tube 14 are mutually communicated in the needle seat 12, the outside of the needle 13 is provided with a needle sleeve 15, a spring is arranged between the needle sleeve 15 and the needle seat 12, the needle 13 extends out of the needle sleeve 15 under the compression state of the spring, and the outside of the rubber tube 14 is; the needle cartridge 10 and the lancet mechanism constitute a puncture system, and the forward and backward movement of the blood collection tube is constituted by a transverse motor, a transmission mechanism (a toothed rod) and an arc-shaped holding member below the blood collection tube. The transmission mechanism drives the clamping part to move back and forth under the driving of the motor, so that the blood collection tube moves back and forth, and the rubber tube 14 penetrates into the negative pressure blood collection tube. The clamping component is made of a tough material, and can clamp and fix the blood collection tube through deformation.
Skin range finding sensor is installed to the through-hole department of needle silo 10 tip, and the both sides in needle silo 10 respectively are provided with an infrared blood vessel development appearance 8, form the recalibration location to human blood vessel, and the position that is close to blood taking needle mechanism on needle silo 10 is provided with and is used for stabilizing blood taking needle mechanism machinery needle holder 17, be provided with disinfection hemostasis device 18 on the machinery needle holder 17, specifically divide into disinfection nozzle and hemostasis nozzle (use hemostasis spraying).
The following description is directed to a work flow expected by an automatic blood collection robot, in which a patient who needs to take blood takes a blood collection tube and a dedicated blood collection needle (blood collection needle mechanism) of a desired kind at a doctor or a hospital platform, sits on a table (shelf) on which the automatic blood collection robot is placed, and adjusts the height of a seat according to the height of the arm so that the next relatively comfortable posture can be followed for blood collection.
Clicking 'blood sampling' on the touch screen, and then selecting a blood sampling tube and a blood sampling dose according to options given by the screen. Thus, the double door is opened and the motion system extends the puncture system from the front opening for manual installation of the needle (insertion of the lancet into the through hole in the end of the cartridge 10). In the process of installing the needle tool, the mechanical needle holder 17 is separated from the left and the right, and the channel of the blood collection tube in the middle is opened, namely the blood collection tube is manually inserted into the channel of the blood collection tube upside down to feel that the buckle is blocked (the system can prompt that the blood collection tube is installed in place), and then the installation of the blood collection tube is completed; then, the base part of the hand-held blood taking needle tool is manually pushed into a buckle on the right wing of the needle holder, and the blood taking needle is installed after the buckle is clamped (the system can prompt that the blood taking needle tool is installed in place).
After the needle tube and the needle tool are installed and the patient clicks 'confirm', the puncture system can retract into the box-type shell 1 of the automatic blood sampling robot, and the double doors can be closed. After the machine gives a prompt that the arm can be inserted in a posture that the palm of the hand is upward, the patient can insert the arm into the box-type shell 1 of the automatic blood sampling robot and relax on the arm placing bed.
Then, the arch 7 moves on the guide rail 2, systematically scans the arm from beginning to end, maps a three-dimensional distribution model of the blood vessels on the surface layer of the arm through the scanning of the infrared blood vessel imaging instrument 8, and determines the position (interval) which is most suitable for blood sampling through the analysis of an algorithm. Then the fixed arm can move to the two sides between the belt areas, and the pressing arm is put down to press the arm of the patient to play a role in fixing. The distance between the pressure arms is set, so that a sufficient working space can be provided for the puncture system, and the fixing task can be well completed. Thus, the automatic blood sampling robot can prompt the patient to "please move the arm no longer, please keep still as much as possible. And then, three infrared instruments carry out local detailed three-dimensional modeling on the blood vessel, determine the predicted needle head motion track, the puncture angle and the puncture direction in the process, and prepare for final preparation before puncture.
The mechanical folding arm 9 starts to convey the puncture system to the skin surface, the infrared blood vessel imaging instruments 8 on two sides of the needle silo 10 work all the time in the process, the coordinates of the needle head are updated at any time, and the real-time coordinates are transmitted to the data processor to be compared and calibrated with the theoretical coordinates, so that the action accuracy of the needle head is ensured. The needle hub 15 of the dedicated needle will first come into contact with the skin and the spring at the rear of the hub will be compressed as the descent continues. When the compression amount reaches a certain value, the skin distance measuring system and the mechanical sensor transmit the stress data to the data processor, the skin distance measuring system and the positioning calibration system work cooperatively in the process to realize the complementation of the positioning range and the precision, and the coordinate data of the blood vessel positioning modeling system is combined to form triple insurance, so that the accuracy of the needle point movement is further ensured.
The needle point of the needle head 13 is pushed to be about 1mm away from the skin, all servo motors on the mechanical folding arm 9 are closed, the servo motors of the puncture system are started, and the needle point structure of the puncture system is quickly pushed into the skin to realize quick puncture. After the puncture is successful, the blood collection tube in the needle cylinder is pushed forwards by the blood collection tube movement mechanism to complete the connection between the blood collection tube and the blood collection needle, and the blood collection is started. The photoelectric door in the syringe structure can determine whether the blood sampling amount meets the requirement according to the height of blood shielding. After sufficient blood is collected, the needle cylinder is drawn out backwards by a motor of the blood collecting tube moving mechanism of the puncture system. The hemostasis oil spray sprays out hemostasis liquid to stop blood, and hemostasis is finished, and meanwhile, the machine reminds that the machine avoids wiping the hemostasis liquid medicine spray position within one minute as much as possible.
Arm servo motor restarts, moves away the arm surface with puncture system, and two doors are opened, and the patient shifts out the arm, and the system reminds "pressing blood sampling point" simultaneously.
After the arm of the patient is completely removed (count down for 5 s), the puncture system extends out of the front opening, the left wing and the right wing of the needle holder are opened towards two sides, the needle is manually rotated to take off the needle and discarded (at the moment, the needle sleeve is separated from the skin, the needle tip is hidden in the needle sleeve again under the action of the spring, so that the needle sleeve is basically not dangerous for the operator, but the system can remind the patient of paying attention to safety), and then the blood collection tube is taken away.
The system can recover automatically after the manual confirmation operation is completed, and meanwhile, the two-dimensional code is printed by the two-dimensional code printer and is manually attached to the blood sampling tube, and then the blood sampling tube is taken away for subsequent processing.
The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. An automatic blood sampling robot which is characterized in that: the device comprises a box-type shell (1) with an opening at the side part and the top part, an arm bed is arranged in the box-type shell (1), two guide rails (2) are respectively arranged at the two sides of the arm bed, a first slide seat (3), a second slide seat (4) and a third slide seat (5) are sequentially arranged on the guide rails (2) along the length direction of the guide rails, pressing arms (6) for fixing the arms are respectively arranged on the first slide seat (3) and the third slide seat (5), an arch door (7) is arranged between the second slide seats (4) of the two guide rails (2), at least three infrared blood vessel visualizers (8) are distributed on the arch door (7), a mechanical folding arm (9) is arranged on the arch door (7), a needle silo (10) with a hollow inner part is arranged at the tail end of the mechanical folding arm (9), a clamping part (11) for fixing a negative pressure blood sampling tube is arranged in the needle silo (10), and, the through hole is internally provided with a pressure sensor, a blood taking needle mechanism is arranged outside the through hole, the blood taking needle mechanism comprises a needle seat (12) which can be inserted into the through hole at the end part of a needle silo (10), one end of the needle seat (12) is fixedly provided with a needle head (13), the other end of the needle seat is fixedly provided with a rubber tube (14), the rubber tube (14) is connected with a negative pressure blood taking tube in the needle silo (10), the needle head (13) and the rubber tube (14) are mutually communicated in the needle seat (12), a needle sleeve (15) is arranged outside the needle head (13), a spring is arranged between the needle sleeve (15) and the needle seat (12), the needle head (13) stretches out of the needle sleeve (15) under the compression state, and a force transmission part (16.
2. An automated blood collection robot according to claim 1, wherein: the blood taking needle device is characterized in that two sides of the needle silo (10) are respectively provided with an infrared blood vessel imaging instrument (8), a mechanical needle holder (17) used for stabilizing the blood taking needle mechanism is arranged at a position, close to the blood taking needle mechanism, on the needle silo (10), and a disinfection hemostasis device (18) is arranged on the mechanical needle holder (17).
3. An automated blood collection robot according to claim 1, wherein: the needle silo (10) is internally provided with a photoelectric door for determining the blood sampling amount.
4. An automated blood collection robot according to claim 1, wherein: a skin distance measuring sensor is arranged at the through hole at the end part of the needle silo (10).
5. An automated blood collection robot according to claim 1, wherein: the arch (7) is also provided with a pair of disinfectant containers (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821462295.4U CN209984193U (en) | 2018-09-07 | 2018-09-07 | Automatic blood sampling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821462295.4U CN209984193U (en) | 2018-09-07 | 2018-09-07 | Automatic blood sampling robot |
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| Publication Number | Publication Date |
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| CN209984193U true CN209984193U (en) | 2020-01-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821462295.4U Expired - Fee Related CN209984193U (en) | 2018-09-07 | 2018-09-07 | Automatic blood sampling robot |
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| Country | Link |
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| CN (1) | CN209984193U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171651A (en) * | 2018-09-07 | 2019-01-11 | 东南大学 | A kind of automatic blood sampling robot |
| CN111839543A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Nine-degree-of-freedom blood sampling robot |
| CN111839533A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Portable blood sampling robot and blood sampling method |
| CN111839547A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Small blood sampling robot |
| CN111839548A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling robot and control method thereof |
| CN111887864A (en) * | 2020-06-05 | 2020-11-06 | 哈工大机器人(中山)无人装备与人工智能研究院 | End effector for blood collection robotic device |
| CN111973197A (en) * | 2020-06-05 | 2020-11-24 | 哈工大机器人(中山)无人装备与人工智能研究院 | Eight-degree-of-freedom blood sampling robot |
| CN112450929A (en) * | 2020-12-02 | 2021-03-09 | 彭海 | Hematology medical collection instrument based on wireless signals and using method thereof |
-
2018
- 2018-09-07 CN CN201821462295.4U patent/CN209984193U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171651A (en) * | 2018-09-07 | 2019-01-11 | 东南大学 | A kind of automatic blood sampling robot |
| CN111839543A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Nine-degree-of-freedom blood sampling robot |
| CN111839533A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Portable blood sampling robot and blood sampling method |
| CN111839547A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Small blood sampling robot |
| CN111839548A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling robot and control method thereof |
| CN111887864A (en) * | 2020-06-05 | 2020-11-06 | 哈工大机器人(中山)无人装备与人工智能研究院 | End effector for blood collection robotic device |
| CN111973197A (en) * | 2020-06-05 | 2020-11-24 | 哈工大机器人(中山)无人装备与人工智能研究院 | Eight-degree-of-freedom blood sampling robot |
| CN112450929A (en) * | 2020-12-02 | 2021-03-09 | 彭海 | Hematology medical collection instrument based on wireless signals and using method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20200124 Termination date: 20210907 |