Full-automatic venipuncture and recognition integrated robot

Abstract

The invention relates to a full-automatic venipuncture and recognition integrated robot which comprises a puncture module, an image acquisition module and a positioning platform, wherein the puncturemodule 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; the y-axis rotating unit comprises a y-axis motor and ay-axis bearing; the x-axis rotating unit comprises an x-axis rotating shaft and an x-axis shell; the z-axis rotating unit comprises a z-axis motor, a z-axis rotating shaft, a z-axis bearing, a worm and a turbine; and the image acquisition module comprises an ultrasonic probe, an image linear motor and a near-infrared camera, and the ultrasonic probe is fixed to the movable end of the front surface of the image linear motor through a probe support to do up-down linear motion. Compared with the prior art, through the three-dimensional staggered design of all the modules, the overall size of thedevice is greatly reduced; the precise control on the puncture head component is realized; and full-automatic accurate control is realized.

Description

technical field [0001] The invention relates to the field of venipuncture robots, in particular to a fully automatic venipuncture identification integrated robot. Background technique [0002] Manual venipuncture by medical staff has low accuracy and is prone to cross-infection between doctors and patients. Automatic venipuncture robots are an emerging direction of smart medical care due to their high degree of automation and accurate puncture. However, the existing venipuncture robots have low control accuracy, Problems such as large volume and single mode. [0003] Chinese patent CN 109960285 A discloses an automatic blood collection robot, which performs blood collection through cooperation of different modules. However, the overall volume of the device is large and the mode is single, it is difficult to adapt to the application of small scenes such as hospital beds, and it is also unable to automatically identify and collect blood vessels, and the safety is poor. [00...

AI Technical Summary

Problems solved by technology

Binocular near-infrared recognition and modeling of the patient's forearm vein network consumes too much computing power, takes a long time to achieve real-time performance, and the modeling utilization rate is low. Only the three-dimensional information of the target vessel is the required information, and the morphological information of the target vessel It will change due to the pressure of the ultrasound probe, resulting in a large error in 3D information recognition

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