Venipuncture executing device and puncture angle and position adjusting method

Abstract

The venipuncture execution device comprises a first linear driving mechanism, a first rotary driver, a swing arm, a second rotary driver, a second linear driving mechanism and a third rotary driver, the output end of the first linear driving mechanism is connected with the first rotary driver, the output end of the first rotary driver is connected with one end of the swing arm, and the output end of the second rotary driver is connected with the other end of the swing arm. The other end of the swing arm is fixedly connected with the second rotary driver, the output end of the second rotary driver is connected with the second linear driving mechanism, and the output end of the third rotary driver is connected with the first linear driving mechanism. The device has multiple degrees of freedom, provides selection of various puncture angles, distances and postures, is convenient to operate, and can meet individual requirements of different patients. The invention further provides a method for adjusting the puncture angle and position, when the puncture posture is adjusted, the position of the needle point of the puncture needle is kept unchanged, the puncture stability and the puncture precision are improved, and the puncture requirements of special blood vessels in different angles and different directions are met.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an intravenous puncture execution device and a method for adjusting puncture angle and position. Background Art

[0002] As an advanced medical puncture device, an intravenous puncture robot is used to realize automated intravenous puncture operations and replace traditional manual puncture methods. However, the existing intravenous puncture devices have insufficient degrees of freedom and are difficult to cover various blood vessel directions and angles. Especially when facing special patient groups (such as infants, the elderly, obese patients, or patients with deep veins), the puncture accuracy and success rate are relatively low. When adjusting the puncture angle, the existing devices often require compensation of the overall mechanism, resulting in the deviation of the needle tip position and unable to always stay at a puncture point, affecting the puncture accuracy and stability.

[0003] Patent No. CN111839534A proposes a puncture execution mechanism suitable for standardized blood vessel punctures, but its design is only applicable to standardized blood vessel punctures and is difficult to meet the individual needs of different patients. The puncture execution module of this mechanism has a complex structure, a high failure rate, and is not convenient for cleaning and disinfection. It is large in size and heavy in weight, which is not conducive to nurses' operation and carrying, restricting its wide application in clinics. Summary of the Invention

[0004] Therefore, the present invention proposes an intravenous puncture execution device and a method for adjusting puncture angle and position to solve the problems mentioned in the background art and overcome the deficiencies existing in the prior art.

[0005] The device includes a first linear drive mechanism, a first rotary drive, a swing arm, a second rotary drive, a second linear drive mechanism, and a third rotary drive. The output end of the first linear drive mechanism is connected to the first rotary drive, the output end of the first rotary drive is connected to one end of the swing arm, the other end of the swing arm is fixedly connected to the second rotary drive, the output end of the second rotary drive is connected to the second linear drive mechanism, and the output end of the third rotary drive is connected to the first linear drive mechanism.

[0006] Preferably, it further includes a fourth rotary drive and a puncture needle clamping device. The fourth rotary drive is fixedly connected to the output end of the second linear drive mechanism, and the output end of the fourth rotary drive is connected to the puncture clamping device.

[0007] In any of the above solutions, preferably, the puncture clamping device includes a jaw and a clamping plate. The output end of the fourth rotary drive is connected to the jaw, and the jaw cooperates with the clamping plate to clamp the puncture needle.

[0008] Preferably, in any of the above solutions, the axis of the first linear drive mechanism is arranged vertically, the axis of the third rotary drive is arranged vertically, the axis of the first rotary drive is arranged horizontally, and the axis of the second rotary drive is arranged horizontally.

[0009] Preferably, in any of the above solutions, it further includes a fixing plate and a first pressure sensor. The output end of the second linear drive mechanism is connected to the fixing plate through the first pressure sensor. The fixing plate is fixedly connected to the fourth rotary drive and the clamping plate respectively. The axis of the fourth rotary drive and the clamping plate are perpendicular to the fixing plate respectively.

[0010] Preferably, in any of the above solutions, it further includes a support frame and a rotating plate. The third rotary drive is fixed on the support frame. The output end of the third rotary drive is connected to the rotating plate. The rotating plate is fixedly connected to the first linear drive mechanism.

[0011] Preferably, in any of the above solutions, it further includes an adapter fixing plate, and the adapter fixing plate is connected to one end of the support frame away from the third rotary drive.

[0012] The present invention also discloses a method for adjusting the puncture angle and position. For the venous puncture execution device in any of the above items, the method includes:

[0013] Step S1: According to the forward kinematics model, calculate the coordinates of the puncture needle in the puncture coordinate system, and establish an x v y v z v Three-dimensional puncture coordinate system, wherein the z v axis direction coincides with the central axis of the first linear drive mechanism, the z v axis direction is perpendicular to the horizontal plane, x v is the connection line between the axis of the first linear drive mechanism and the axis of the first rotary drive, y v axis is orthogonal to the x v axis and the z v axis; Let the coordinate of the slider on the first linear drive mechanism at the zero position of the slider be Let the coordinate of the axis point of the first rotary drive be Then:

[0014]

[0015] Among them, L4 is the distance from the axis of the first rotary drive to the central axis of the first linear drive mechanism, L 12 is the linear distance from the axis of the first rotary drive to the p1 point in the y v direction; d1 is the distance that the slider moves along the z v axis direction starting from the zero position of the slider; Let the coordinate of the axis point of the second rotary drive be Then:

[0016]

[0017] Among them, L3 is the distance from the axis center of the first rotary driver to the axis center of the second rotary driver, and L 13 is the distance from the axis center of the second rotary driver to point D1 in the y v direction; θ d is the angle by which the output end of the first rotary driver rotates around the y v axis from the zero position of the first rotary driver. Let the position coordinates of the puncture needle be Then:

[0018]

[0019]

[0020] θ needle = θ d + θ c

[0021] Among them, L1 is the horizontal distance between the axis center of the second rotary driver and the tip of the puncture needle, L2 is the vertical distance between the axis center of the second rotary driver and the extension line of the puncture needle, d2 is the distance by which the output end of the second linear drive mechanism extends from the zero position of the second linear drive mechanism, θ c is the angle by which the output end of the second rotary driver rotates around the y v axis from the zero position of the second rotary driver, L 11 is the distance from the axis center line of the second linear drive mechanism to point C1 in the y v direction, and θ needle is the angle between the puncture needle and the x v axis;

[0022] Step S2: Transform the puncture coordinate system into the global coordinate system coordinates;

[0023] Step S3: Adjust the angle and position of the puncture needle according to the inverse kinematic model.

[0024] Preferably, step S2 of transforming the puncture coordinate system into the global coordinate system coordinates includes: establishing a three-dimensional global coordinate system of x U y U z U When the venous puncture execution device is in the zero position, the axis of x U coincides with the axis of x v , the axis of y U coincides with the axis of y v , and the axis of z U coincides with the axis of z vcoincide with the axis, and let the coordinates of the puncture coordinate system in the global coordinate system be (x0, y0, z0);

[0025] The position of the puncture needle in the global coordinate system is When the third rotary drive does not rotate about the z v axis, then:

[0026]

[0027] When the third rotary drive rotates: Let the third rotary drive rotate by θ v degrees about the z axis, then: f degrees, then:

[0028]

[0029] Preferably, in any of the above solutions, step S3 adjusts the angle and position of the puncture needle according to the inverse kinematic model, including:

[0030] Given the position of the puncture needle in the puncture coordinate system and the angle θ v between the puncture needle and the x needle axis; d2 is the distance that the output end of the second linear drive mechanism extends from the zero position of the second linear drive mechanism, and the coordinates of the slider on the first linear drive mechanism at the zero position of the slider are

[0031] According to the forward kinematic model, obtain the inverse kinematic model:

[0032]

[0033] Obtain θ c 、θ d and d1 according to the inverse kinematic model, where f1, f2, f3 are the functional relationships of the inverse kinematic model obtained according to the forward kinematic model, and if there is no analytical expression, it can be solved by numerical methods.

[0034] According to the above θ c control the rotation angle of the first rotary drive, θ d control the rotation angle of the second rotary drive and d1 control the moving distance of the slider in the first linear drive mechanism to realize the adjustment of the angle and position of the puncture needle.

[0035] Compared with the prior art, the advantages and beneficial effects of the present invention are:

[0036] 1. The venous puncture execution device of the present invention has multiple degrees of freedom, provides a variety of puncture angles, distances, and postures for selection, is easy to operate, can adapt to the individual needs of different patients, and can maintain the stability of the needle tip position during puncture. At the same time, it has the characteristics of small volume, light weight, and easy cleaning, so as to improve the convenience and safety of clinical operations.

[0037] 2. In the method for adjusting the puncture angle and position of the present invention, when adjusting the puncture posture, the position of the needle tip of the puncture needle remains unchanged, which improves the stability and accuracy of puncture and meets the puncture requirements of different angles and directions of special blood vessels.

[0038] The additional aspects and advantages of the present invention will be given in the following description, will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0040] Figure 1 is a schematic structural diagram of the venous puncture execution device provided by the embodiment of the present invention.

[0041] Figure 2 is another schematic structural diagram of the venous puncture execution device provided by the embodiment of the present invention.

[0042] Figure 3 is a schematic connection structure diagram of the first linear drive mechanism and the first rotary drive of the venous puncture execution device provided by the embodiment of the present invention.

[0043] Figure 4 is a schematic connection structure diagram of the first rotary drive and the second rotary drive of the venous puncture execution device provided by the embodiment of the present invention.

[0044] Figure 5 is a schematic structure diagram of the second linear drive mechanism and the puncture fixture device of the venous puncture execution device provided by the embodiment of the present invention.

[0045] Figure 6 is Figure 5 a partial enlarged schematic diagram of part A in

[0046] Figure 7 is a schematic structure diagram of the puncture fixture device in the venous puncture execution device provided by the embodiment of the present invention.

[0047] Wherein: 1 - first linear drive mechanism; 2 - first rotary driver; 3 - swing arm; 4 - second rotary driver; 5 - second linear drive mechanism; 6 - third rotary driver; 7 - fourth rotary driver; 8 - jaw; 9 - clamping plate; 10 - puncture needle; 11 - fixing plate; 12 - first pressure sensor; 13 - support frame; 14 - rotating plate; 15 - adapter fixing plate. Detailed implementation manners

[0048] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0049] As Figures 1 to 7 shown, a venous puncture execution device of the present invention includes a first linear drive mechanism 1, a first rotary driver 2, a swing arm 3, a second rotary driver 4, a second linear drive mechanism 5 and a third rotary driver 6. The output end of the first linear drive mechanism 1 is connected to the first rotary driver 2. The output end of the first rotary driver 2 is connected to one end of the swing arm 3. The other end of the swing arm 3 is fixedly connected to the second rotary driver 4. The output end of the second rotary driver 4 is connected to the second linear drive mechanism 5. The output end of the third rotary driver 6 is connected to the first linear drive mechanism 1.

[0050] The first linear drive mechanism 1 is parallel to the vertical direction. The first rotary driver 2 and the second rotary driver 4 are horizontally arranged. The central axis of the first rotary driver 2 is parallel to the central axis of the second rotary driver 4. The first linear drive mechanism 1 can drive the first rotary driver 2 to move along the vertical direction. The first rotary driver 2 drives the swing arm 3 to rotate around the central axis of the first rotary driver 2. The other end of the swing arm 3 is fixedly connected to the second rotary driver 4. The first rotary driver 2 can drive the second rotary driver 4 to rotate around the central axis of the first rotary driver 2. The central axis of the second rotary driver 4 is perpendicular to the central axis of the second linear drive mechanism. The second rotary driver 4 can drive the second linear drive mechanism to rotate around the central axis of the second rotary driver 4. The first linear drive mechanism 1, the first rotary driver 2 and the second rotary driver 4 realize the adjustment of the position of the puncture needle 10. When adjusted to a suitable position, the puncture just drives the puncture needle 10 to pierce into the blood vessel.

[0051] The central axis of the third rotary drive 6 is parallel to the central axis of the first linear drive mechanism 1. The third rotary drive 6 can drive the first linear drive mechanism 1 to rotate around the central axis of the third rotary drive 6 to achieve position adjustment. In the present invention, detection instruments such as ultrasonic instruments and infrared cameras can also be connected to the output end of the third rotary drive 6 to assist in detecting the position of blood vessels. The third rotary drive 6 can drive the detection instruments and the first linear drive mechanism 1 to rotate and adjust as a whole to assist the execution device of the present invention to complete the puncture task.

[0052] Optionally, the first linear drive mechanism 1 is specifically a linear module, including a drive motor, a guide rail, and a slider. Among them, the output end of the drive motor is connected to the slider through a lead screw to drive the slider to slide along the guide rail; the slider is fixedly connected to the first rotary drive 2, thereby driving the first rotary drive 2 to move along the guide rail. The first linear drive mechanism 1 can also directly adopt a linear motor to drive the first rotary drive 2 to move up and down in the vertical direction. The specific implementation form of the first linear drive mechanism 1 is not limited, and an appropriate drive method can be selected according to actual needs.

[0053] Optionally, the second linear drive mechanism can be a puncture electric cylinder, a servo electric cylinder, an electric cylinder, or any mechanism that can specifically achieve a linear puncture motion.

[0054] Specifically, it further includes a fourth rotary drive 7 and a puncture needle 10 clamping device. The fourth rotary drive 7 is fixedly connected to the output end of the second linear drive mechanism 5, and the output end of the fourth rotary drive 7 is connected to the puncture clamping device.

[0055] Specifically, the puncture clamping device includes a jaw 8 and a clamping plate 9. The output end of the fourth rotary drive 7 is connected to the jaw 8, and the jaw 8 cooperates with the clamping plate 9 to clamp the puncture needle 10.

[0056] The output end of the fourth rotary drive 7 is drivingly connected to the jaw 8, and the jaw 8 and the clamping plate 9 cooperate with each other to form a controllable clamping of the puncture needle 10. A groove matching the shank of the puncture needle 10 is provided on the clamping plate 9. The shank of the puncture needle 10 is placed in the groove, and then the shank of the puncture needle 10 is fixedly clamped in the groove through the cooperation of the jaw 8. The fourth rotary drive 7 drives the jaw 8 to rotate around its central axis. When the puncture needle 10 needs to be replaced, by controlling the clamping or loosening action of the jaw 8 and the clamping plate 9, the rapid disassembly and installation of the puncture needle 10 are realized, thereby significantly improving the convenience and operation efficiency of replacing the puncture needle 10. After the puncture is completed, the puncture needle 10 can be automatically released, facilitating subsequent operations for the puncture robot and the nurse.

[0057] Specifically, the axis of the first linear drive mechanism 1 is arranged vertically, the axis of the third rotary drive 6 is arranged vertically, the axis of the first rotary drive 2 is arranged horizontally, and the axis of the second rotary drive 4 is arranged horizontally.

[0058] The axes of the first linear drive mechanism 1 and the third rotary drive 6 are arranged vertically. The first linear drive mechanism 1 is used to drive the second linear drive mechanism to move in the vertical direction, and the third rotary drive 6 drives the whole device to perform a rotary motion. In a specific embodiment, a standard three-dimensional coordinate system XYZ axis is defined. Among them, the connection line between the first linear drive mechanism 1 and the first rotary drive 2 coincides with the X axis, the connection line between the first linear drive mechanism 1 and the third rotary drive 6 coincides with the Z axis, and the axis line of the first linear drive mechanism 1 coincides with the Y axis. Through the description of the above position relationship, the relative position relationship between the components in the device can be understood more clearly, which is convenient for implementation and operation. The axes of the first rotary drive 2 and the second rotary drive 4 are arranged horizontally, and are used to drive the second linear drive mechanism to adjust and position at multiple angles. By setting the above structure in an orthogonal layout, precise motion control of the puncture needle 10 in a multi-dimensional space is realized, and the flexibility and precision of the puncture operation are improved.

[0059] Specifically, it further includes a fixing plate 11 and a first pressure sensor 12. The output end of the second linear drive mechanism 5 is connected to the fixing plate 11 through the first pressure sensor 12. The fixing plate 11 is fixedly connected to the fourth rotary drive 7 and the clamping plate 9 respectively. The axis of the fourth rotary drive 7 and the clamping plate 9 are perpendicular to the fixing plate 11 respectively.

[0060] Optionally, the first rotary drive 2, the second rotary drive 4, the third rotary drive 6 and the fourth rotary drive 7 are respectively servo motors or rotary motors. The first rotary drive 2, the second rotary drive 4, the third rotary drive 6 and the fourth rotary drive 7 are configured to provide rotary driving force, and can also be other forms of rotary drive structures.

[0061] Specifically, it further includes a support frame 13 and a rotary plate 14. The third rotary drive 6 is fixed on the support frame 13, the output end of the third rotary drive 6 is connected to the rotary plate 14, and the rotary plate 14 is fixedly connected to the first linear drive mechanism 1.

[0062] The fourth rotary drive 7 is arranged on one side of the fixing plate 11, the clamping plate 9 is arranged on the other side of the fixing plate 11, and the output end of the fourth rotary drive 7 passes through the fixing plate 11 and is connected to the clamping jaw 8. The axis of the fourth rotary drive 7 and the clamping plate 9 are both perpendicular to the fixing plate 11. The first pressure sensor 12 measures the puncture pressure in real time. Through the above structure, stable connection and coordinated movement among the second linear drive mechanism, the fourth rotary drive 7 and the clamping plate 9 are realized.

[0063] Specifically, it further includes an adapter fixing plate 15, and the adapter fixing plate 15 is connected to one end of the support frame 13 away from the third rotation driver 6.

[0064] With the above structure, the third rotation driver 6 drives the overall rotation of the rotating plate 14 and the components connected thereto, thereby ensuring the flexible movement and coordinated work of the device in the horizontal direction, and improving the integration and operation accuracy of the device.

[0065] The device in the present invention can cover a puncture direction with a horizontal rotation of ±90°; a puncture angle of 0° to 40°, and a puncture distance adjustable from 0 mm to 60 mm; the working principle of the device is as follows: the first linear drive mechanism controls the overall movement of the first rotation driver, the second rotation driver, the second linear drive mechanism and the puncture needle in the vertical direction, and the first rotation driver and the second rotation driver work together to adjust the angle and position of the puncture needle. The third rotation driver drives the first linear drive mechanism, the first rotation driver, the second rotation driver and the second linear drive mechanism to adjust the horizontal rotation angle, so as to accurately determine the puncture direction of the venous puncture needle according to the blood vessel direction; the first linear drive mechanism, the first rotation driver and the second rotation driver are used to adjust the puncture needle to a suitable angle and position, and the second linear drive mechanism is used to push out the puncture needle for puncture. When the puncture needle needs to be replaced, the fourth rotation driver is controlled to drive the fixture device to clamp or release the puncture needle, so as to complete the replacement of the puncture needle; the second linear drive mechanism drives the puncture needle to perform puncture and retraction operations through pushing and contracting actions.

[0066] The present invention also discloses a method for adjusting the puncture angle and position, which is applicable to the venous puncture execution device of any one of the above, and the method includes:

[0067] Step S1: According to the forward kinematics model, calculate the coordinates of the puncture needle in the puncture coordinate system, and establish a three-dimensional puncture coordinate system of x v y v z v where the z v axis direction coincides with the central axis of the first linear drive mechanism, x v is the connection line between the axis of the first linear drive mechanism and the axis of the first rotation driver, and the y v axis is orthogonal to the x v axis and the z v axis; the puncture needle only moves in a plane parallel to the x v -z v plane. Let the coordinate of the slider on the first linear drive mechanism at the zero position of the slider be Let the coordinate of the axis center point of the first rotation driver be Then:

[0068]

[0069] Among them, L4 is the distance from the axis center of the first rotary driver to the central axis of the first linear drive mechanism, and L 12 is the linear distance from the axis center of the first rotary driver to the p1 point in the y v direction; that is, the shortest linear distance from the axis center of the first rotary driver to the axis center of the first linear drive mechanism. d1 is the distance that the slider moves along the z v axis starting from the zero position of the slider; let the coordinate of the axis center point of the second rotary driver be Then:

[0070]

[0071]

[0072] Among them, L3 is the distance from the axis center of the first rotary driver to the axis center of the second rotary driver, and L 13 is the distance from the axis center of the second rotary driver to the D1 point in the y v direction; θ d is the angle by which the output end of the first rotary driver rotates around the y v axis from the zero position of the first rotary driver. Let the coordinate of the puncture needle be Then:

[0073]

[0074] θ needle = θ d + θ c

[0075] Among them, L1 is the horizontal distance between the axis center of the second rotary driver and the tip of the puncture needle, L2 is the vertical distance between the axis center of the second rotary driver and the extension line of the puncture needle, d2 is the distance that the output end of the second linear drive mechanism extends from the zero position of the second linear drive mechanism, and θ c is the angle by which the output end of the second rotary driver rotates around the y v axis from the zero position of the second rotary driver, and L 11 is the distance from the axis center line of the second linear drive mechanism to the C1 point in the y v direction, and θ needle is the angle between the puncture needle and the x v axis; all the above angles are in the right - hand coordinate system, and the counter - clockwise direction is positive.

[0076] Step S2: Transform the puncture coordinate system into the global coordinate system coordinates;

[0077] Step S3: Adjust the angle and position of the puncture needle according to the inverse kinematic model.

[0078] In step S2, the main purpose of converting the puncture coordinate system to the global coordinate system is to optimize the calculation process and improve the calculation efficiency. By mapping the dynamically changing puncture coordinate system to the fixed global coordinate system, the computational complexity can be effectively reduced, and the additional computational burden caused by the dynamic change of the coordinate system can be avoided, thus significantly improving the overall operation efficiency. The global coordinate system, as a fixed reference framework, always maintains its position and orientation unchanged. In contrast, the puncture coordinate system is closely associated with the venous puncture execution device, and its orientation changes accordingly with the horizontal rotation of the device. Therefore, the puncture coordinate system can be dynamically adjusted within the global coordinate system as the venous puncture execution device moves, while the global coordinate system itself remains static. Any position point in the puncture coordinate system can be mapped to the corresponding position point in the global coordinate system through coordinate transformation, so as to achieve data unity between the coordinate systems, facilitating subsequent calculations and analyses.

[0079] Specifically, step S2 of transforming the puncture coordinate system into the global coordinate system coordinates includes: establishing an x U y U z U three-dimensional global coordinate system. When the venous puncture execution device is at the zero position, the axis of x U coincides with the axis of x v coincides with the axis of y U coincides with the axis of y v coincides with the axis of z U coincides with the axis of z v Let the coordinates of the puncture coordinate system in the global coordinate system be (x0, y0, z0);

[0080] The coordinates of the position of the puncture needle in the global coordinate system are When the third rotation driver does not rotate around the z v axis, because x v -y v -z v is parallel to x U -y U -z U each coordinate system, then:

[0081]

[0082] θ needle remains unchanged.

[0083] When the third rotation driver rotates: Suppose the third rotation driver rotates θ v degrees around the z f axis, then:

[0084]

[0085] The above transformation is equivalent to:

[0086] Specifically, step S3 adjusts the angle and position of the puncture needle according to the inverse kinematic model, including:

[0087] The adjustment of the angle of the puncture needle is an independent process. During this part of the operation, only the first rotary drive, the second rotary drive, and the first linear drive mechanism operate, and other mechanisms or devices do not operate. The puncture shaft electric cylinder also remains stationary.

[0088] Therefore, the inverse kinematic model is calculated in the puncture coordinate system and does not involve the global coordinate system. However, it can also be converted to the coordinates of the global coordinate system for calculation.

[0089] The position of the puncture needle in the puncture coordinate system is known and the angle θ between the puncture needle and the x v axis; d2 is the distance that the output end of the second linear drive mechanism extends from the zero position of the second linear drive mechanism. The coordinate of the slider on the first linear drive mechanism at the zero position of the slider is needle ; According to the above forward kinematic model, the inverse kinematic model is obtained:

[0090] According to the above forward kinematic model, the inverse kinematic model is obtained:

[0091]

[0092] θ is obtained according to the inverse kinematic model c 、θ d and d1, where f1, f2, and f3 are the functional relationships of the inverse kinematic model obtained according to the forward kinematic model. If there is no analytical expression, it can be solved by numerical methods. Those skilled in the art should understand that the above numerical solution method can refer to the relevant chapters on kinematic solution in robotics books. In practical applications, an appropriate solution strategy can be selected according to the characteristics of the specific mechanism. When necessary, a hybrid solution method can be adopted by combining the advantages of the analytical solution and the numerical solution.

[0093] Control the rotation angle of the first rotary drive according to the above θ c 、control the rotation angle of the second rotary drive according to θ d and control the moving distance of the slider in the first linear drive mechanism by d1 to adjust the angle and position of the puncture needle.

[0094] Explanation of the zero position:

[0095] In the first linear drive mechanism, the highest point where the slider slides to in the first linear drive mechanism is the zero position of the slider.

[0096] When the connecting line between the axes of the first rotary drive and the second rotary drive is in the horizontal direction, the position of the output shaft of the first rotary drive is the zero position of the first rotary drive, and the rotation range of the output shaft of the first rotary drive is 0° to 120°. At this time, the second rotary drive is on the side of the first rotary drive away from the first linear drive mechanism.

[0097] The output end of the second rotary drive is connected to the second linear drive mechanism. When the central axis of the second linear drive mechanism forms an angle of 45 degrees with the horizontal direction, it is the zero position of the second rotary drive. At this time, the posture of the second linear drive mechanism is: the puncture needle is away from the first linear drive mechanism, and the end of the second linear drive mechanism away from the puncture needle is close to the first linear drive mechanism.

[0098] When the axis of the puncture needle is located in the x U -z U plane, it is the zero position of the third rotary drive.

[0099] When the fourth rotary drive opens the jaw to the limit position, the limit position of the jaw can be set according to the situation. Preferably, when the angle between the jaw and the clamping plate is ninety degrees, the jaw is opened to the limit position, which is the zero position of the fourth rotary drive.

[0100] When the output end of the second linear drive mechanism approaches the limit position of the end of the second linear drive mechanism away from the puncture needle, it is the zero position of the second linear drive mechanism. The above zero positions can be defined according to requirements.

[0101] In the adjustment method of the present invention, when adjusting the puncture posture, the position of the tip of the puncture needle remains unchanged; the adjustment efficiency is high, the adjustment accuracy is high, the puncture is more stable, and it can fully cover the puncture requirements of different angles and directions of special blood vessels.

[0102] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

Claims

1. A venous puncture execution device, characterized in that, It includes a first linear drive mechanism, a first rotary drive, a swing arm, a second rotary drive, a second linear drive mechanism and a third rotary drive. The output end of the first linear drive mechanism is connected to the first rotary drive. The output end of the first rotary drive is connected to one end of the swing arm. The other end of the swing arm is fixedly connected to the second rotary drive. The output end of the second rotary drive is connected to the second linear drive mechanism. The output end of the third rotary drive is connected to the first linear drive mechanism.

2. The intravenous puncture execution device according to claim 1, wherein, It further includes a fourth rotary drive and a puncture needle clamping device. The fourth rotary drive is fixedly connected to the output end of the second linear drive mechanism. The output end of the fourth rotary drive is connected to the puncture clamping device.

3. The intravenous puncture execution device according to claim 2, wherein, The puncture clamping device includes a clamping jaw and a clamping plate. The output end of the fourth rotary drive is connected to the clamping jaw. The clamping jaw cooperates with the clamping plate to clamp the puncture needle.

4. The venous puncture execution device according to claim 1, wherein The axis of the first linear drive mechanism is arranged in the vertical direction. The axis of the third rotary drive is arranged in the vertical direction. The axis of the first rotary drive is arranged in the horizontal direction. The axis of the second rotary drive is arranged in the horizontal direction.

5. The intravenous puncture execution device according to claim 4, characterized in that, It further includes a fixed plate and a first pressure sensor. The output end of the second linear drive mechanism is connected to the fixed plate through the first pressure sensor. The fixed plate is fixedly connected to the fourth rotary drive and the clamping plate respectively. The axis of the fourth rotary drive and the clamping plate are perpendicular to the fixed plate respectively.

6. The intravenous puncture execution device according to claim 1, characterized in that, It further includes a support frame and a rotating plate. The third rotary drive is fixed on the support frame. The output end of the third rotary drive is connected to the rotating plate. The rotating plate is fixedly connected to the first linear drive mechanism.

7. The intravenous puncture execution device according to claim 6, wherein, It further includes an adapter fixing plate. The adapter fixing plate is connected to one end of the support frame away from the third rotary drive.

8. A method for adjusting the puncture angle and position, characterized in that, Applicable to the venous puncture execution device according to any one of claims 1-6, the method includes: Step S1: Calculate the coordinates of the puncture needle in the puncture coordinate system according to the forward kinematics model, and establish an x v y v z v three-dimensional puncture coordinate system, where the z v axis direction coincides with the central axis of the first linear drive mechanism, and x v is the connection line between the axis of the first linear drive mechanism and the axis of the first rotary drive, and y v axis is orthogonal to the x v axis and the z v axis; Let the coordinate of the slider on the first linear drive mechanism at the slider zero position be Let the coordinate of the axis point of the first rotary drive be Then: Wherein, L4 is the distance from the axis of the first rotary driver to the central axis of the first linear drive mechanism, and d1 is the distance that the slider moves along the z v axis direction starting from the zero position of the slider; L 12 is the linear distance from the axis of the first rotary driver to the p1 point in the y v direction; Let the coordinate of the axis point position of the second rotary driver be Then: Among them, L3 is the distance from the axis center of the first rotary driver to the axis center of the second rotary driver, and L 13 is the distance from the axis center of the second rotary driver to the D1 point in the y v direction; θ d is the angle by which the output end of the first rotary driver rotates around the y v axis from the zero position of the first rotary driver. Let the position coordinates of the puncture needle be Then: θ needle = θ d + θ c Among them, L1 is the horizontal distance between the axis of the second rotary drive and the tip of the puncture needle, L2 is the vertical distance between the axis of the second rotary drive and the extension line of the puncture needle, d2 is the distance that the output end of the second linear drive mechanism extends from the zero position of the second linear drive mechanism, and θ c is the angle by which the output end of the second rotary drive rotates around the y v axis from the zero position of the second rotary drive, L 11 is the distance from the axis line of the second linear drive mechanism to the C1 point in the y v direction, and θ needle is the angle between the puncture needle and the x v axis; Step S2: Transform the puncture coordinate system into the global coordinate system coordinates; Step S3: Adjust the angle and position of the puncture needle according to the inverse kinematics model.

9. A method for adjusting the puncture angle and position according to claim 8, characterized in that The step S2 of transforming the puncture coordinate system into the global coordinate system coordinates includes: establishing an x U y U z U three-dimensional global coordinate system. When the venous puncture execution device is in the zero position, the axis of x U coincides with the axis of x v ; the axis of y U coincides with the axis of y v ; the axis of z U coincides with the axis of z v . Let the coordinates of the puncture coordinate system in the global coordinate system be (x0, y0, z0); The coordinates of the position of the puncture needle in the global coordinate system are When the third rotary drive does not rotate about the z v axis, then: When the third rotation driver rotates: Assume that the third rotation driver rotates around the z v axis by θ f degrees, then:

10. A method for adjusting the puncture angle and position according to claim 9, characterized in that, The step S3 of adjusting the angle and position of the puncture needle according to the inverse kinematics model includes: The known position of the puncture needle in the puncture coordinate system and the included angle θ between the puncture needle and the x v axis; the distance d2 that the output end of the second linear drive mechanism extends from the zero position of the second linear drive mechanism, and the coordinate of the slider on the first linear drive mechanism at the zero position of the slider is needle ; Obtain the inverse kinematics model according to the forward kinematics model: Obtain θ according to the inverse kinematics model c , θ d and d₁, where f₁, f₂, and f₃ are the functional relationships of the inverse kinematics model obtained according to the forward kinematics model. If there is no analytical expression, it can be solved by numerical methods. According to the above-mentioned θ c Control the rotation angle of the first rotary drive, θ d Control the rotation angle of the second rotary drive and the moving distance of the slider in the first linear drive mechanism to adjust the angle and position of the puncture needle.

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