CN214128772U - A fully automatic venipuncture and identification integrated robot - Google Patents
A fully automatic venipuncture and identification integrated robot Download PDFInfo
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- CN214128772U CN214128772U CN202021854375.1U CN202021854375U CN214128772U CN 214128772 U CN214128772 U CN 214128772U CN 202021854375 U CN202021854375 U CN 202021854375U CN 214128772 U CN214128772 U CN 214128772U
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- 239000000523 sample Substances 0.000 claims abstract description 21
- 238000002347 injection Methods 0.000 claims description 15
- 239000007924 injection Substances 0.000 claims description 15
- 239000003814 drug Substances 0.000 claims description 9
- 229940079593 drug Drugs 0.000 claims 2
- 238000000034 method Methods 0.000 description 4
- 210000003462 vein Anatomy 0.000 description 3
- 238000010241 blood sampling Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
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Abstract
本实用新型涉及一种全自动静脉穿刺识别一体机器人，包括穿刺模块、图像获取模块和定位平台；穿刺模块包括穿刺模块外壳、y轴旋转单元、x轴旋转单元、z轴旋转单元和穿刺头构件；y轴旋转单元包括y轴电机和y轴轴承；x轴旋转单元包括x轴转轴和x轴壳体；z轴旋转单元包括z轴电机、z轴转轴、z轴轴承、蜗杆和涡轮；图像获取模块包括超声探头、图像直线电机和近红外摄像机，超声探头通过探头支架固定在图像直线电机的正面活动端上进行上下直线运动。与现有技术相比，本实用新型通过各个模块的立体交错设计，大幅度地减小装置的整体体积；实现了对穿刺头构件的精确控制；实现全自动化的控制。
The utility model relates to a fully automatic venipuncture and identification integrated robot, comprising a puncture module, an image acquisition module and a positioning platform; the puncture module comprises a puncture module shell, a y-axis rotation unit, an x-axis rotation unit, a z-axis rotation unit and a puncture head component ;y-axis rotation unit includes y-axis motor and y-axis bearing; x-axis rotation unit includes x-axis shaft and x-axis housing; z-axis rotation unit includes z-axis motor, z-axis shaft, z-axis bearing, worm and turbine; image The acquisition module includes an ultrasonic probe, an image linear motor and a near-infrared camera, and the ultrasonic probe is fixed on the front movable end of the image linear motor through a probe bracket to move up and down linearly. Compared with the prior art, the utility model greatly reduces the overall volume of the device through the three-dimensional staggered design of each module; realizes the precise control of the puncture head components; and realizes the fully automatic control.
Description
Technical Field
The utility model belongs to the technical field of the vein puncture robot and specifically relates to an integrative robot of full-automatic vein puncture discernment is related to.
Background
The manual venipuncture accuracy of medical personnel is low and easily produces doctor-patient cross infection, and automatic venipuncture robot is a new direction of intelligent medical treatment because of the advantage that degree of automation is high, the puncture is accurate itself, but current venipuncture robot has the problems such as low control accuracy, bulky, mode singleness. For example, chinese patent CN 109960285a discloses an automatic blood sampling robot, which performs blood sampling by matching different modules. However, the device has a large overall volume and a single mode, is difficult to adapt to application places with small scenes such as a hospital bed and the like, cannot automatically identify and collect blood vessels, and is poor in safety. In addition, the existing devices are directly punctured by a single needle head, and cannot be applied to the venipuncture process of a needle injector.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a full-automatic venipuncture discernment integrated robot for overcoming the defects existing in the prior art.
The purpose of the utility model can be realized through the following technical scheme:
a full-automatic venipuncture recognition integrated robot comprises a puncture module, an image acquisition module and a positioning platform;
the puncture module comprises a puncture module shell, a y-axis rotating unit, an x-axis rotating unit, a z-axis rotating unit and a puncture head component, wherein the y-axis rotating unit and the z-axis rotating unit are arranged in the puncture module shell side by side, the x-axis rotating unit is arranged below the y-axis rotating unit and connected with the z-axis rotating unit, and the puncture head component is connected with the x-axis rotating unit;
the y-axis rotating unit comprises a y-axis motor and a y-axis bearing; the puncture module shell comprises a main body part and a connecting part, wherein the connecting part is arched, two ends of a y-axis motor are fixedly connected and penetrate through the main body part at first, then the two ends of the y-axis motor are connected with the arched two ends of the connecting part through y-axis bearings on the outer side of the main body part, an output shaft of the y-axis motor penetrates through one y-axis bearing and then is fixed with the connecting part 112, the central connecting line of the two y-axis bearings is the y axis, and one side of the connecting part is connected with a positioning platform;
the X-axis rotating unit comprises an X-axis rotating shaft and an X-axis shell, the X-axis rotating shaft transversely penetrates through the rear end of the X-axis shell, the puncture head component is connected with the front end of the X-axis shell, and the axis of the X-axis rotating shaft is the X axis;
the z-axis rotating unit comprises a z-axis motor, a z-axis rotating shaft, a z-axis bearing, a worm and a worm wheel, the z-axis motor is installed on the main body part, the lower end of the z-axis motor is connected with the z-axis rotating shaft, the z-axis bearing and the worm are nested on the z-axis rotating shaft, the outer ring of the z-axis bearing is connected with the main body part, the worm is vertically connected with the worm wheel, the worm wheel is connected with the x-axis rotating shaft, and the axis of the z-axis rotating shaft is the z axis;
the image acquisition module comprises an ultrasonic probe, an image linear motor and a near-infrared camera, the ultrasonic probe is fixed on the front movable end of the image linear motor through a probe support to perform vertical linear motion, the near-infrared camera is connected with the back stationary end of the image linear motor through a camera support, and the camera support is further installed on the positioning platform.
Further, the puncture head component comprises a stepping motor, a lead screw, a first bearing, a straight rod, a lead screw seat, a thrust plate and an injection unit, wherein the rear end of the lead screw is connected with the stepping motor, the stepping motor is fixed in the x-axis shell, the front end of the lead screw penetrates through the tubular passage which is connected with the inside of the x-axis shell through the first bearing after passing through the lead screw seat, the thrust plate is connected with the inner wall of the front end face of the x-axis shell and is connected with the lead screw seat through the two parallel straight rods, and the lower ends of the thrust plate and the lead screw seat are connected with the injection unit.
Further, the injection unit comprises a tablet feeding seat, a puncture motor, a tablet feeding pushing seat and an injector clamp, the top end of the tablet feeding seat is connected with a lead screw seat thrust plate and the lead screw seat, the injector clamp is installed below one end of the tablet feeding seat, the puncture motor is installed below the other end of the tablet feeding seat, an output shaft of the puncture motor penetrates through the tablet feeding pushing seat and then is connected with the injector clamp through a bearing, and the tablet feeding pushing seat is connected with an output shaft of the puncture motor through a lead screw and is connected with the tablet feeding seat in a sliding mode.
Furthermore, one side of the connecting part is provided with a transverse side plate for connecting with the positioning platform.
Furthermore, the positioning platform comprises a beam unit and a base unit, the beam unit is fixed on the base unit and comprises a first beam linear motor and a second beam linear motor which are parallel to each other, the puncture module shell is connected with the movable end of the first beam linear motor, and the camera support is connected with the movable end of the second beam linear motor.
Further, the base unit include base, the horizontal linear electric motor of location, location mounting bracket, vertical rotating electrical machines, driving gear, driven gear and vertical pivot, horizontal linear electric motor installs on the base, the lower extreme fixed connection horizontal linear electric motor's of vertical pivot expansion end, the location mounting bracket is passed to the upper end of vertical pivot and is rotated the connection, driven gear installs in vertical pivot, vertical rotating electrical machines is fixed in the location mounting bracket, and driving gear connection driven gear is passed through to vertical rotating electrical machines's output, the crossbeam unit is connected on the top of location mounting bracket.
Further, the base unit further comprises a lifting platform, and the lifting platform is arranged between the top ends of the beam unit and the positioning installation frame.
Furthermore, a cushion pad for placing arms is arranged on the base.
Further, the diameter of the driven gear is larger than that of the driving gear.
Further, the bottom end of the ultrasonic probe is an arc-shaped contact.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the utility model can greatly reduce the whole volume of the device by the three-dimensional staggered design of the puncture module, the image acquisition module and the positioning platform; the puncture module realizes the accurate control of the 'nodding' and 'swinging' of the puncture head component through the mutual matching of the y-axis rotating unit, the x-axis rotating unit and the z-axis rotating unit. And simultaneously, the utility model discloses a set up the image acquisition module for the robot can realize full automated control through the automatic target vein of catching and acquireing of current image recognition method and puncture.
2. The utility model discloses a set up injection unit among the puncture module and be used for adaptation needle tubing syringe, promote the syringe through the removal that advances the medicine and push away the seat in venipuncture, realized the injection puncture of robot.
3. The positioning platform realizes the 'oscillating' control of the puncture head component through the gear matching design, and a large driven gear can be matched with a small driving gear to improve the rotating control precision.
4. The bottom of the ultrasonic probe is an arc-shaped contact head, and the ultrasonic probe is matched with an image linear motor to press the arm, so that the data detection precision is further improved.
Drawings
Fig. 1 is a schematic structural diagram of the present embodiment.
Fig. 2 is a schematic structural view of the puncture module.
Fig. 3 is a schematic structural view of another angle puncturing module.
Fig. 4 is a schematic structural view of the z-axis rotation unit.
Fig. 5 is a schematic structural view of the puncture head member.
Fig. 6 is a schematic structural view of the injection unit.
Fig. 7 is a side view of the image acquisition module.
Fig. 8 is a schematic perspective view of an image acquisition module.
Fig. 9 is a schematic structural diagram of the positioning platform.
Fig. 10 is an external structural view of the base unit.
Fig. 11 is a schematic view of the internal structure of the base unit.
Fig. 12 is a schematic view of the using process of the present embodiment.
Reference numerals:
1. a puncture module, 11, a puncture module housing, 111, a main body part, 112, a connecting part, 12, a y-axis rotating unit, 121, a y-axis motor, 123, a y-axis bearing, 13, an x-axis rotating unit, 131, an x-axis rotating shaft, 132, an x-axis housing, 14, a z-axis rotating unit, 141, a z-axis motor, 142, a z-axis rotating shaft, 143, a z-axis bearing, 144, a worm, 145, a worm wheel, 15, a puncture head member, 151, a stepping motor, 152, a lead screw, 153, a first bearing, 154, a straight rod, 155, a lead screw seat, 156, a thrust plate, 157, an injection unit, 157a, a tablet feeding seat, 157b, a puncture motor, 157c, a tablet feeding seat, 157d, and an injector clamp;
2. the system comprises an image acquisition module 21, an ultrasonic probe 22, an image linear motor 23, a near-infrared camera 24, a probe bracket 25 and a camera bracket;
3. positioning platform, 31, crossbeam unit, 311, first crossbeam linear electric motor, 312, second crossbeam linear electric motor, 32, base unit, 321, base, 322, location horizontal linear electric motor, 323, location mounting bracket, 324, vertical rotating electrical machines, 325, driving gear, 326, driven gear, 327, vertical pivot, 328, lift platform, 329, blotter.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, the embodiment provides a full-automatic venipuncture recognition all-in-one robot, which includes a puncture module 1, an image acquisition module 2 and a positioning platform 3.
As shown in fig. 2 and 3, the puncture module 1 includes a puncture module case 11, a y-axis rotation unit 12, an x-axis rotation unit 13, a z-axis rotation unit 14, and a puncture head member 15. The y-axis rotation unit 12 and the z-axis rotation unit 14 are installed side by side in the puncture module case 11, and the x-axis rotation unit 13 is installed below the y-axis rotation unit 12 and connected to the z-axis rotation unit 14. The puncture head member 15 is connected to the x-axis rotation unit 13.
The y-axis rotation unit 12 includes a y-axis motor 121 and a y-axis bearing 123; the puncture module housing 11 includes a main body portion 111 and a connecting portion 112. The connecting portion 112 is arcuate. Both ends of the y-axis motor 121 are first fixedly connected to the main body 111 by means of bolts or the like. Then, both ends of the y-axis motor 121 are connected to both arcuate ends of the connecting portion 112 through y-axis bearings 123 at the outside of the body portion 111. One side of the connecting portion 112 is further provided with a lateral plate 112a for stably connecting with the positioning platform 3. The output shaft of the y-axis motor 121 passes through a y-axis bearing 123 and is fixed by the key structure and the connecting part 112. The line connecting the centers of the two y-axis bearings 123 is the y-axis. With the structure, the main body part 111 can rotate around the connecting part 112(y axis) through the y-axis bearing 123 under the driving of the y-axis motor 121.
As shown in fig. 4 and 5, the x-axis rotation unit 13 includes an x-axis rotation shaft 131 and an x-axis housing 132, the x-axis rotation shaft 131 transversely penetrates through a rear end of the x-axis housing 132, and the puncture head member 15 of the puncture module 1 is connected to a front end of the x-axis housing 132. The axis of the x-axis rotation shaft 131 is the x-axis. The z-axis rotation unit 14 includes a z-axis motor 141, a z-axis rotation shaft 142, a z-axis bearing 142, a worm 144, and a worm wheel 145. The z-axis motor 141 is mounted on the main body 111 of the puncture module case, the lower end of the z-axis motor 141 is connected to the z-axis rotation shaft 142, and the z-axis bearing 142 and the worm 144 are fitted on the z-axis rotation shaft 142. The outer race of the z-axis bearing 142 is coupled to the main body 111 of the puncture module housing, and the worm 144 is vertically coupled to the worm gear 145. The worm gear 145 is connected to the x-axis rotary shaft 131. The axis of the z-axis spindle 142 is the z-axis. The x-axis, y-axis and z-axis in this embodiment are perpendicular to each other to form a three-dimensional rectangular coordinate. Accordingly, the rotation of the z-axis motor 141 rotates the worm 144, the worm 144 rotates the worm wheel 145, and the worm wheel 145 drives the body 111 connected to the x-axis rotation shaft 131 to perform a vertical nodding motion.
The piercing head member 15 includes a stepping motor 151, a lead screw 152, a first bearing 153, a straight rod 154, a lead screw holder 155, a thrust plate 156, and an injection unit 157. The rear end of the screw 152 is connected with a stepping motor 151, and the stepping motor 151 is fixed in the x-axis housing 132; the front end of the lead screw 152 passes through the lead screw base 155 and then is connected to the tubular passage inside the x-axis housing 132 through the first bearing 153. The thrust plate 156 is connected to the inner wall of the front end face of the x-axis housing 132 and is connected to the screw base 155 through two parallel straight rods 154. The thrust plate 156 and the lower end of the screw base 155 are connected to the injection unit 157. This structure converts the rotation of the lead screw 152 into the linear motion of the lead screw base 155, that is, the injection unit 157 can move back and forth along the y-axis direction, through the stepping motor 151, the lead screw 152, and the lead screw base 155.
As shown in fig. 6, the injection unit 157 includes a tablet feeding base 157a, a piercing motor 157b, a tablet feeding push base 157c, and a syringe clamp 157 d. The top end of the tablet holder 157a is connected with the lead screw holder thrust plate 156 and the lead screw holder 155, the injector clamp 157d is installed below the front end of the tablet holder 157a, and the puncture motor 157b is installed below the rear end of the tablet holder 157 a. The output shaft of the puncture motor 157b passes through the medicine feeding push seat 157c and then is connected with the end of the syringe clamp 157d through a bearing. The medicine feeding push seat 157c is connected with an output shaft screw of the puncture motor 157b and is connected with the tablet seat 157a at the top part in a sliding way. When in use, the structure drives the medicine pushing seat 157c to move back and forth through the puncture motor 157b, so that the syringe held by the syringe clamp 157d finishes medicine pushing.
As shown in fig. 7 and 8, the image acquisition module 2 includes an ultrasonic probe 21, an image linear motor 22, and a near-infrared camera 23. The ultrasonic probe 21 is fixed on the front movable end of the image linear motor 22 through a probe bracket 24 to perform up-and-down linear motion. The near-infrared camera 23 is connected with the back static end of the image linear motor 22 through a camera support 25, and the camera support 25 is also installed on the positioning platform 3.
As shown in fig. 9, the positioning platform 3 includes a beam unit 31 and a base unit 32. The beam unit 31 is fixed to the base unit 32, and includes a first beam linear motor 311 and a second beam linear motor 312 which are parallel to each other. The puncture module housing 11 is connected to the movable end of the first beam linear motor 311 through the lateral plate 112 a. The camera support 25 is connected to the movable end of the second beam linear motor 312, and the puncture head member 15 is always located within the range of the near-infrared camera 23 through the mutual matching of the first beam linear motor 311 and the second beam linear motor 312.
As shown in fig. 10 and 11, the base unit 32 includes a base 321, a positioning horizontal linear motor 322, a positioning mount 323, a vertical rotation motor 324, a driving gear 325, a driven gear 326, and a vertical rotation shaft 327. The horizontal linear motor 322 is mounted on the base 321. The lower end of the vertical rotating shaft 327 is fixedly connected with the movable end of the horizontal linear motor 322, and the upper end of the vertical rotating shaft 327 passes through the positioning mounting bracket 323 and is rotatably connected with the positioning mounting bracket 323. The driven gear 326 is mounted on a vertical rotating shaft 327. The vertical rotation motor 324 is fixed in the positioning mounting frame 323, and the output end of the vertical rotation motor 324 is connected with the driven gear 326 through the driving gear 325. The driven gear 326 is much larger in diameter than the drive gear 325 for better adjustment of rotational speed. The top end of the positioning mount 323 is connected to the beam unit 31. Driven by the vertical rotating motor 324, the driving gear 325 rotates around the driven gear 326, so as to drive the vertical rotating motor 324 and the positioning mounting rack 323 to rotate around the vertical rotating shaft 327 together, thereby realizing the left-right swing of the positioning mounting rack 323. A lifting platform 328 can be further arranged between the top ends of the beam unit 31 and the positioning mounting frame 323, the beam unit 31 is connected with the top of the positioning mounting frame 323 through the lifting platform to realize the lifting of the beam unit 31, and the lifting platform 328 is of a common motor and slide rail structure and is not unfolded. A cushion 329 is provided on the base 321 to facilitate arm placement. In addition, in the present embodiment, the near-infrared camera 23 may adopt a monocular or binocular near-infrared camera; the bottom end of the ultrasonic probe 21 is an arc-shaped contact.
The working principle of the embodiment is as follows:
as shown in FIG. 12, the syringe is placed in the syringe clamp and the patient places the arm on cushion 329. The image acquisition module 2 and the positioning platform 3 cooperate to control the near-infrared camera 23 to move above the arm for continuous image shooting, and then an optimal puncture position is identified through an external control system (a dotted circle in the figure is a shooting visual angle, and X is marked as the optimal puncture position). The image acquisition module 2 and the positioning platform 3 are matched to control the ultrasonic probe 21 to move to the front upper part of the optimal puncture position, slightly oppress a distance (about 1 cm) of the upstream of the optimal puncture position, and meanwhile, the ultrasonic probe 21 collects ultrasonic information and carries out 3D model construction on the intravascular structure through an external control system. In this embodiment, the external control system adopts the algorithm in the prior art, and therefore, the external control system is not deployed. The puncture module 1 obtains the calculated optimal puncture posture, and controls the puncture head component to adjust the puncture posture through the y-axis rotating unit, the x-axis rotating unit and the z-axis rotating unit. Finally, the penetration is achieved by the piercing head member and is accomplished by the injection unit advancing the medicament within the syringe.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021854375.1U CN214128772U (en) | 2020-08-31 | 2020-08-31 | A fully automatic venipuncture and identification integrated robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021854375.1U CN214128772U (en) | 2020-08-31 | 2020-08-31 | A fully automatic venipuncture and identification integrated robot |
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| CN214128772U true CN214128772U (en) | 2021-09-07 |
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| CN202021854375.1U Expired - Fee Related CN214128772U (en) | 2020-08-31 | 2020-08-31 | A fully automatic venipuncture and identification integrated robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112089490A (en) * | 2020-08-31 | 2020-12-18 | 同济大学 | A fully automatic venipuncture and identification integrated robot |
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2020
- 2020-08-31 CN CN202021854375.1U patent/CN214128772U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112089490A (en) * | 2020-08-31 | 2020-12-18 | 同济大学 | A fully automatic venipuncture and identification integrated robot |
| CN112089490B (en) * | 2020-08-31 | 2025-02-14 | 同济大学 | A fully automatic venipuncture recognition robot |
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Granted publication date: 20210907 |