Robot for vascular puncture

Abstract

The utility model discloses a robot used for blood vessel puncture, which comprises an equipment box provided with a display mechanism, a puncture control mechanism and a puncture device used for blood vessel automatic identification, positioning and puncture. Wherein the puncture device is respectively connected with the display mechanism and the puncture control mechanism, the puncture device comprises an ultrasonic fixing shell, an ultrasonic probe and a puncture needle are installed on the ultrasonic fixing shell, the angle of the puncture needle can be adjusted, the puncture needle can move horizontally, and a puncture guider and a puncture force sensor are arranged on the puncture needle; the puncture control mechanism is used for controlling the puncture device to rotate and receiving position information and force sensing information fed back by the puncture device. By arranging the puncture control mechanism and the puncture device used for automatically recognizing, positioning and puncturing the blood vessel, automatic recognition, positioning and measurement of the puncture target blood vessel and automatic puncture of the blood vessel are achieved, medical workers are assisted in completing puncture of the vein blood vessel, and the operation requirement and workload of the medical workers are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a robot used for blood vessel puncture. Background Art

[0002] At present, there are two common methods of vascular puncture, namely traditional artificial blood vessel puncture and artificial blood vessel puncture under the guidance of ultrasound images. Among them, the traditional artificial blood vessel puncture method mostly relies on tying a tourniquet, touching and visually inspecting the blood vessels to complete the puncture of the blood vessels. However, due to the differences in subcutaneous tissue and vascular structure of patients, the puncture ability of medical staff is very high, and the success rate of puncture depends on the experience and working status of medical staff. Artificial blood vessel puncture under ultrasound guidance means that medical staff use ultrasound to detect the target blood vessels, and manually insert the needle to complete the puncture according to the measured blood vessel image. This puncture method requires nursing staff to be familiar with medical imaging.

[0003] The success rate of existing vascular puncture methods depends on the work experience, operation level and working status of medical staff, and is easily affected by light and environment. If the patient is a child, the elderly, obese patients, shock patients and other critically ill patients, the puncture will be more difficult, and multiple punctures are likely to cause complications such as phlebitis, and may also cause emotional resistance in patients, increase the psychological pressure of nurses, and affect the clinical treatment effect. Utility Model Content

[0004] In view of the above-mentioned defects or shortcomings, the purpose of the utility model is to provide a robot for vascular puncture, which can realize anthropomorphic automation of the manual puncture operation of medical staff, improve the success rate of puncture, and effectively reduce the workload of medical staff.

[0005] In order to achieve the above purpose, the technical solution of the utility model is:

[0006] A robot for blood vessel puncture comprises: an equipment box, on which a display mechanism, a puncture control mechanism, and a puncture device for automatic blood vessel identification, positioning and puncture are arranged;

[0007] The puncture device is connected to the display mechanism and the puncture control mechanism respectively, and comprises: an ultrasonic fixed shell, on which an ultrasonic probe and an angle-adjustable and horizontally movable puncture needle are mounted, and on which a puncture guide and a puncture force sensor are arranged;

[0008] The puncture control mechanism is used to control the rotation of the puncture device and receive position information and force sensing information fed back by the puncture device.

[0009] The ultrasonic fixed shell is provided with a pitch servo drive mechanism, a pitch adjustment slider is provided on the pitch servo drive mechanism via a pitch adjustment shaft, a feed servo drive mechanism is provided at the end of the pitch adjustment slider, a puncture needle mounting seat is provided on the feed servo drive mechanism, and the puncture needle is mounted on the puncture needle mounting seat; the pitch servo drive mechanism is rotationally connected with the ultrasonic fixed shell via the pitch adjustment shaft, and at the same time, the pitch adjustment slider moves according to instructions to adjust the puncture pitch angle, and the pitch servo drive mechanism feeds back the position information of the pitch adjustment slider to the puncture control mechanism in real time, compares the difference between the sending position and the actual arrival position, and realizes closed-loop control of the pitch angle.

[0010] The puncture needle mounting seat is provided with a puncture needle sliding slot, the puncture needle is installed in the puncture needle sliding slot, and the puncture force sensor is installed at the end of the puncture needle for obtaining force sensing information.

[0011] The ultrasonic probe is used to detect the patient's target blood vessels, determine the distribution and flow direction of the blood vessels, upload the intercepted blood vessel medical images, determine the blood vessel parameters, and send them to the puncture device controller to control the puncture device to complete the precise blood vessel puncture operation.

[0012] The puncture guide is installed on the tip of the puncture needle and is provided with a puncture needle guide adjustment knob for adjusting the position of the puncture guide.

[0013] The puncture control mechanism comprises: a puncture device controller installed on the equipment box, and a puncture device control button is arranged on the puncture device controller.

[0014] The equipment box comprises: a box body and a cover body hinged on the box body, the cover body is provided with a host computer, a plurality of partitions are provided in the box body, and a sterile bag receiving slot and a puncture needle receiving slot are provided in the partitions.

[0015] The box body is provided with a puncture device control panel and a power supply connected with the puncture control mechanism.

[0016] A puncture device fixing piece is installed in the box body, and the puncture device for puncture is fixedly installed on the puncture device fixing piece.

[0017] Also included is a mobile cart for transporting the equipment box, wherein the equipment box is mounted on the mobile cart.

[0018] The mobile cart comprises: a cart base, a cart stand is arranged on the cart base, an equipment box tray for placing equipment boxes is arranged on the cart stand; and universal casters are installed at the bottom of the cart base.

[0019] Container boxes are arranged on both sides of the cart stand; and a fixed seat armrest is arranged on the cart stand. Compared with the prior art, the beneficial effects of the utility model are as follows:

[0020] The utility model provides a robot for blood vessel puncture. By setting a puncture control mechanism and a puncture device for automatic blood vessel identification, positioning and puncture, the automatic identification, positioning, measurement and automatic puncture of the puncture target blood vessel are realized, and the medical staff can be assisted to complete the puncture of the venous blood vessel, and the operation requirements and workload of the medical staff are reduced. In addition, the robot for blood vessel puncture of the utility model can be handheld, and the puncture device at the end of the mechanical arm can be installed through a quick-change joint, so that the medical staff can quickly move the puncture device to the target area of ​​puncture by hand, identify, locate and measure the target blood vessel, complete the final blood vessel puncture, and improve the efficiency of blood vessel puncture; at the same time, it is also fixed at the end of the mechanical arm, and the mechanical arm completes the automatic movement of the puncture device according to the path planning, so as to realize the automation of the whole process of puncture. Because the utility model is based on the dual feedback of ultrasonic imaging and force perception, the blood vessel identification and positioning puncture, as well as the identification method of successful puncture, make up for the deficiency of medical staff relying on clinical experience in the manual puncture process, and improve the success rate of single puncture;

[0021] In addition, the utility model provides disposable sterile consumables to achieve sterile contact between the ultrasonic probe and the puncture needle and the patient during the use of the puncture device, thereby avoiding cross infection. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the robot mechanism used for blood vessel puncture of the utility model;

[0023] Figure 2 This is a structural diagram of a robot message trajectory transmission query device for vascular puncture of the utility model;

[0024] Figure 3 It is a structural diagram of a robot puncture device for blood vessel puncture of the utility model;

[0025] Figure 4 The utility model is a structural diagram of a robot mobile cart for blood vessel puncture.

[0026] In the figure, 101 is an equipment box; 102 is a puncture device; 103 is a mobile cart; 201 is a host computer; 202 is a start-stop cover of the host computer; 203 is a fixed flip cover assembly of the host computer; 204 is a damping hinge of the equipment box; 205 is a control panel of the puncture device; 206 is a power supply; 207 is a controller of the puncture device; 208 is a fixing part of the puncture device; 209 is a closing button assembly of the equipment box; 210 is a sterile bag receiving slot; 211 is a puncture needle receiving slot; 212 is a control button of the puncture device; 301 is an ultrasonic fixed shell ; 302—ultrasound probe; 303—pitch servo drive mechanism; 304—pitch adjustment shaft; 305—pitch adjustment slider; 306—feed servo drive mechanism; 307—puncture needle mounting seat; 308—puncture force sensor; 309—puncture needle sliding slot; 310—puncture needle; 311—puncture needle guide; 312—puncture needle guide adjustment knob; 401—equipment box tray; 402—container box; 403—armrest; 404—trolley stand; 405—trolley base; 406—universal caster. DETAILED DESCRIPTION

[0027] The utility model will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the utility model.

[0028] In order to improve the working efficiency of injection puncture, the utility model provides a robot for blood vessel puncture, such as Figure 1 As shown, it includes: an equipment box 101, on which a display mechanism, a puncture control mechanism, and a puncture device 102 for automatic blood vessel identification, positioning and puncture are arranged;

[0029] Among them, Figure 2As shown, the equipment box 101 includes: a host computer 201, a host computer start-stop cover 202, a host computer fixed flip cover assembly 203, an equipment box damping hinge 204, a puncture device control panel 205, a power supply 206, a puncture device fixing part 208, an equipment box closing button assembly 209, a sterile bag receiving slot 210, and a puncture needle receiving slot 211. Among them, the host computer 201 is nested in the host computer fixed flap assembly 203 by fastening, and the angle of the host computer fixed flap assembly 203 is adjusted to meet the requirements of different medical staff for the display screen during operation; the upper machine start and stop cover plate 202 is made of elastic material, and is used with the host computer fixed flap assembly 203 through interference fit to improve the protection characteristics of the equipment box; the equipment box damping hinge 204 is mainly used to provide rotational damping to ensure that the host computer fixed flap assembly 203 can remain stable at any angle when flipped; the puncture device control panel 205 is installed and arranged with a puncture device control button 212, a charging interface and a communication interface, which are used to realize power supply and communication control between the puncture device 102 and the equipment box 101; the puncture control mechanism includes: a puncture device controller 207 installed on the equipment box 101, and a puncture device control button 212 is provided on the puncture device controller 207. The puncture device controller 207 is used to control the actuator on the puncture device 102, and at the same time receive the position information and force sensing information fed back by the puncture device 102 to complete the closed-loop servo control of the puncture needle; the puncture device fixing part 208 is used to constrain the storage position of the puncture device 102 to ensure transportation safety; the equipment box closing button assembly 209 uses the combined action of the compression spring and the buckle to realize the closing and locking of the upper computer fixed flap assembly 203; the sterile bag receiving slot 210 and the puncture needle receiving slot 211 are respectively used to store the sterile consumables used by medical staff during the puncture process, and are equipped with a label that one-time storage can meet 50 uses, thereby improving the convenience of equipment use.

[0030] Further, such as Figure 3 As shown, the puncture device 102 is connected to the display mechanism and the puncture control mechanism respectively, and the puncture device 102 includes: an ultrasonic fixed shell 301, on which an ultrasonic probe 302 and an angle-adjustable and horizontally movable puncture needle 310 are installed, and the puncture needle 310 is provided with a puncture guide 311 and a puncture force sensor 308; the puncture control mechanism is used to control the rotation of the puncture device 102 and receive the position information and force sensing information fed back by the puncture device 102.

[0031] Specifically, in the present invention, for the convenience of use, the puncture device 102 can be hand-held, and can also be installed on the end of the mechanical arm through a quick-change joint. The puncture device is ultrasonically fixed to the housing 301 by the puncture device fixing part 208, and can also be detached, so that the medical staff can quickly move the puncture device to the target area for puncture, identify, locate and measure the targeted blood vessels, complete the final blood vessel puncture, and improve the efficiency of blood vessel puncture; at the same time, it is also fixed at the end of the mechanical arm, and the mechanical arm completes the automatic operation of the puncture device according to the path planning. The puncture device 102 is used to automatically identify, locate and puncture blood vessels, and mainly includes an ultrasonic fixed housing 301, an ultrasonic probe 302, a pitch servo drive mechanism 303, a pitch adjustment shaft 304, a pitch adjustment slider 305, a feed servo drive mechanism 306, a puncture needle mounting seat 307, a puncture force sensor 308, a puncture needle sliding slot 309, a puncture needle 310, a puncture needle guide 311, and a puncture needle guide adjustment knob 312. Among them, the ultrasonic fixed housing 301 is used to install and fix the ultrasonic probe 302, and at the same time, it is used as the base of the puncture device 102 to fix the pitch servo drive mechanism 303 and the feed servo drive mechanism 306; the puncture needle mounting seat 307 is installed with a puncture needle sliding card slot 309, the puncture needle 310 is installed in the puncture needle sliding card slot 309, and the puncture force sensor 308 is installed at the end of the puncture needle 310 for obtaining force sensing information. The puncture guide 311 is installed at the tip of the puncture needle 310, and a puncture needle guide adjustment knob 312 for adjusting the position of the puncture guide 311 is provided.The ultrasonic probe 302 is used to detect the patient's target blood vessels, determine the distribution and flow direction of the blood vessels, and upload the intercepted blood vessel medical images to the control mechanism. The intelligent algorithm inside the host computer 201 completes the recognition of the blood vessel image, determines the diameter of the blood vessel and the subcutaneous depth and other parameters, and sends them to the puncture device controller 207 at the same time, and finally controls the puncture device 102 to complete the precise puncture operation of the blood vessel; the pitch servo drive mechanism 303 is rotatably connected to the ultrasonic fixed shell 301 through the pitch adjustment shaft 304, and completes the operation according to the control instructions issued by the puncture device controller 207. The pitch adjustment slider 305 is moved to adjust the puncture pitch angle to adapt to blood vessels of different depths. In addition, the pitch servo drive mechanism 303 feeds back the position information of the pitch adjustment slider 305 to the puncture device controller 207 in real time, compares the difference between the sent position and the actual arrival position, and realizes closed-loop control of the pitch angle; the feed servo drive mechanism 306 is rotatably connected to the pitch adjustment slider 305 and the ultrasonic fixed housing 301 through the feed mechanism fixing member 302, and at the same time completes the position of the puncture needle mounting seat 307 according to the control command issued by the puncture device controller 207. The puncture needle 310 is placed in the puncture needle mounting seat 307, and the puncture needle sliding slot 309 is slidably engaged to fix the puncture needle 310, so that the medical staff can quickly realize the puncture needle 310 falling off from the puncture needle mounting seat 307 after the puncture is successful, thereby improving the puncture efficiency. The puncture force sensor 308 is installed at the tail of the puncture needle mounting seat 307, and is used to detect the resistance of the puncture needle during the puncture process, to determine whether the target position of the blood vessel has been reached, and to feed back the result to the puncture device controller 207 to complete the control of the puncture needle feeding, thereby improving the safety of the puncture and avoiding damage; the puncture needle guide 311 is used to constrain the direction of the puncture needle during the feeding process, and to avoid deviation of the needle caused by other interferences; the puncture needle guide adjustment knob 312 is used to adjust the guide aperture of the puncture needle guide 311, thereby increasing the range of the puncture needle guide 311 to adapt to the puncture needle.

[0032] Exemplarily, a pitch servo drive mechanism 303 is installed on the ultrasonic fixed shell 301, and a pitch adjustment slider 305 is installed on the pitch servo drive mechanism 303 through a pitch adjustment shaft 304, and a feed servo drive mechanism 306 is installed on the end of the pitch adjustment slider 305, and a puncture needle mounting seat 307 is installed on the feed servo drive mechanism 306, and the puncture needle 310 is installed on the puncture needle mounting seat 307; the pitch servo drive mechanism 303 is rotatably connected to the ultrasonic fixed shell 301 through the pitch adjustment shaft 304, and at the same time, the pitch adjustment slider 305 moves according to the instruction to adjust the puncture pitch angle, and the pitch servo drive mechanism 303 feeds back the position information of the pitch adjustment slider 305 to the puncture control mechanism in real time, compares the difference between the sending position and the actual arrival position, and realizes closed-loop control of the pitch angle.

[0033] like Figure 4 As shown, in order to facilitate medical staff to carry the vascular puncture robot, a mobile cart 103 for transporting the equipment box 101 is also provided, and the equipment box 101 is installed on the mobile cart 103.

[0034] Specifically, the mobile cart 103 includes: a cart base 405, a cart stand 404 is provided on the cart base 405, and an equipment box tray 401 for placing the equipment box 101 is provided on the cart stand 404; a universal caster 406 is installed at the bottom of the cart base 405, wherein the equipment box tray 401 and the cart base 405 are fixedly connected through the cart stand 404. Preferably, container boxes 402 are provided on both sides of the cart stand 404; and a fixed seat armrest 403 is provided on the cart stand 404. The armrest 403 is fixed on one side of the cart stand 404, and can be retracted and adjusted to facilitate the grasping and use of medical staff; the container boxes 402 are respectively fixed on both sides of the seat armrest 403 to accommodate and place medical consumables used in the puncture process, which is convenient for medical staff to use.

[0035] When in use, the medical staff moves the robot for blood vessel puncture to the patient by hand or by moving the cart 103, and then uses the ultrasonic probe 302 to detect the patient's target blood vessels, determine the distribution and flow direction of the blood vessels and upload the intercepted blood vessel medical images to the host computer 201, and complete the blood vessel image recognition through the intelligent algorithm inside the host computer 201, determine the parameters such as the diameter of the blood vessel and the subcutaneous depth, and send them to the puncture device controller 207 at the same time. The control command sent by the puncture device controller 207 completes the movement of the pitch adjustment slider 305 to achieve the adjustment of the puncture pitch angle to adapt to blood vessels of different depths. In addition, the pitch servo drive mechanism 303 adjusts the position of the pitch adjustment slider 305 The information is fed back to the puncture device controller 207 in real time, and the difference between the sending position and the actual arrival position is compared to achieve closed-loop control of the pitch angle; the feed servo drive mechanism 306 is rotatably connected to the pitch adjustment slider 305 and the ultrasonic fixed shell 301 through the feed mechanism fixing part 302, and at the same time, the movement of the puncture needle mounting seat 307 is completed according to the control instruction issued by the puncture device controller 207, so as to achieve the movement of the puncture needle and send the needle into the targeted blood vessel. In addition, the feed servo drive mechanism 306 feeds back the position information of the puncture needle mounting seat 307 to the puncture device controller 207 in real time, and compares the difference between the sending position and the actual arrival position to achieve the purpose of closed-loop control of the puncture needle feeding position.

[0036] The utility model can automatically identify, locate, measure and automatically puncture target blood vessels, and assist medical staff in completing venous puncture, reducing the operation requirements and workload of medical staff. In addition, the integrated design form is adopted, and the upper computer, puncture device controller, puncture device and medical consumables are laid out and designed according to the usage habits of medical staff to improve the use efficiency. In addition, since the puncture device can be held in hand and installed on the end of the robotic arm through a quick-change connector, it is convenient for medical staff to quickly move the puncture device to the target area of ​​puncture, identify, locate and measure the targeted blood vessels, complete the final blood vessel puncture, and improve the efficiency of blood vessel puncture; at the same time, it is also fixed at the end of the robotic arm, and the robotic arm completes the automatic movement of the puncture device according to the path planning, so as to realize the automation of the whole process of puncture; the utility model provides a method based on ultrasonic imaging and force perception dual feedback to complete blood vessel identification and positioning puncture, as well as identification of successful puncture, to make up for the deficiency of medical staff relying on clinical experience in the process of manual puncture, and improve the success rate of single puncture; the utility model provides disposable sterile consumables to realize the sterile contact between the ultrasonic probe and the puncture needle and the patient during the use of the puncture device, so as to avoid cross infection.

[0037] It is obvious to those skilled in the art that the above-mentioned specific examples are only preferred schemes of the present invention. Therefore, the improvements and changes that may be made by those skilled in the art to certain parts of the present invention still reflect the principles of the present invention and achieve the purpose of the present invention, and all belong to the scope of protection of the present invention.

Claims

1. A robot for vascular puncture, characterized in that: include: A mobile cart (103) is provided with a device box (101) detachably mounted on the mobile cart (103), wherein the device box (101) is provided with a host computer (201), a puncture control mechanism, and a puncture device (102) for automatic blood vessel identification, positioning, and puncture; wherein the puncture device (102) is connected to the host computer (201) and the puncture control mechanism, respectively, and comprises: an ultrasonic fixed housing (301), wherein an ultrasonic probe (302) and a puncture needle (310) with adjustable angle and horizontal movement are mounted on the ultrasonic fixed housing (301), and wherein the puncture needle (310) is provided with a puncture guide (311) and a puncture force sensor (308).

2. The robot for vascular puncture according to claim 1, characterized in that: The ultrasonic fixed housing (301) is provided with a pitch servo drive mechanism (303), a pitch adjustment slider (305) is provided on the pitch servo drive mechanism (303) via a pitch adjustment rotating shaft (304), a feed servo drive mechanism (306) is provided at the end of the pitch adjustment slider (305), a puncture needle mounting seat (307) is provided on the feed servo drive mechanism (306), and the puncture needle (310) is provided on the puncture needle mounting seat (307).

3. The robot for vascular puncture according to claim 2, characterized in that: The puncture needle mounting seat (307) is provided with a puncture needle sliding slot (309), the puncture needle (310) is installed in the puncture needle sliding slot (309), and the puncture force sensor (308) is installed at the end of the puncture needle (310) for obtaining force sensing information.

4. The robot for vascular puncture according to claim 1, characterized in that: The puncture control mechanism comprises: a puncture device controller (207) installed on the equipment box (101), and a puncture device control button (212) is arranged on the puncture device controller (207).

5. The robot for blood vessel puncture according to claim 1, characterized in that: The equipment box (101) comprises: a box body and a cover body hinged on the box body, and the host computer (201) is arranged and installed on the cover body; a plurality of partitions are arranged in the box body, and a sterile bag receiving slot (210) and a puncture needle receiving slot (211) are arranged in the partitions.

6. The robot for blood vessel puncture according to claim 5, characterized in that: A puncture device control panel (205) and a power source (206) connected to the puncture control mechanism are installed in the box.

7. The robot for blood vessel puncture according to claim 6, characterized in that: A puncture device fixing part (208) is installed in the box, and the puncture device (102) is fixedly installed on the puncture device fixing part (208).

8. The robot for blood vessel puncture according to claim 1, characterized in that: The mobile cart (103) comprises: a cart base (405), a cart stand (404) is arranged on the cart base (405), and an equipment box tray (401) for placing the equipment box (101) is arranged on the cart stand (404); and universal casters (406) are installed at the bottom of the cart base (405).

9. The robot for blood vessel puncture according to claim 8, characterized in that: Container boxes (402) are arranged on both sides of the cart stand (404); and fixed seat armrests (403) are arranged on the cart stand (404).

Images