A collaborative control method for an intelligent blood sampling robot based on three-dimensional collaboration

Abstract

The present invention discloses a collaborative control method of an intelligent blood sampling robot based on three-dimensional collaboration, comprising the following steps: S1, using an infrared camera to take an imaging picture to obtain an infrared imaging picture; S2, processing and analyzing the infrared imaging picture to obtain the coordinates of the blood sampling point; S3, issuing a needle insertion prompt message and receiving a needle insertion instruction; S4, performing blood sampling after receiving the needle insertion instruction. Compared with the prior art, the present invention can reduce the psychological burden of patients.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic blood sampling, and in particular to a collaborative control method of an intelligent blood sampling robot based on three-dimensional collaboration. Background Art

[0002] Usually, when it is necessary to collect blood samples from patients or donate blood, medical staff are required to draw blood manually. For example, in hospitals, blood collection stations and other places, there are a large number of people whose blood is drawn, and medical staff are required to work for a long time. This long-term repetitive blood collection operation makes medical staff in a state of high concentration for a long time, which is easy to cause fatigue and lead to unexpected medical errors. In order to save manpower and reduce medical errors, a blood collection robot specially used to replace medical staff to draw blood for patients has emerged. As long as the arm of the person whose blood is drawn is in place, the blood collection robot can automatically complete the blood collection action, and the medical staff only needs to replace the test tube for collecting blood. However, the psychological pressure caused by machine blood collection on patients is relatively large, and how to relieve the psychological pressure of patients has become a problem that needs to be solved urgently. In view of this, the inventor of the present application has obtained a collaborative control method of an intelligent blood collection robot based on three-dimensional collaboration after in-depth research. Summary of the invention

[0003] The purpose of the present invention is to provide a collaborative control method of an intelligent blood sampling robot based on three-dimensional collaboration, which can effectively reduce the psychological burden of patients.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] A collaborative control method of an intelligent blood sampling robot based on three-dimensional collaboration includes the following steps: S1, using an infrared camera to take an imaging picture to obtain an infrared imaging picture; S2, processing and analyzing the infrared imaging picture to obtain the coordinates of the blood sampling point; S3, issuing a needle insertion prompt message and receiving a needle insertion instruction; S4, performing blood sampling after receiving the needle insertion instruction.

[0006] In a preferred embodiment, the needle insertion prompt information includes a voice announcement or a display screen display: "Are you sure to insert the needle?"

[0007] In a preferred embodiment, the needle insertion instruction includes touch information sent by a forehead touch sensing device.

[0008] In a preferred embodiment, the needle insertion instruction includes sensing information sent by a distance sensor.

[0009] In a preferred embodiment, the needle insertion instruction includes a handheld confirmer sending a confirmation instruction.

[0010] In a preferred embodiment, S2 further includes: after obtaining the coordinates of the blood sampling point, analyzing the movement path of the robotic arm to obtain the movement path result of the robotic arm.

[0011] In a preferred embodiment, S4 specifically includes: T1, receiving a needle insertion instruction; T2, controlling the movement of the robotic arm according to the motion path structure, and during the movement of the robotic arm, the first segment, the second segment and the needle transport mechanism move in sequence, and the average movement speed decreases successively, and the movement process ends when the needle of the needle transport mechanism reaches the blood collection point; T3, using the needle to draw blood.

[0012] In a preferred embodiment, T3 includes: using the smearing head of the smearing device to smear the position where the needle of the needle transport mechanism is aligned to form a smearing point. After the smearing point is formed, taking a picture with an infrared camera, and identifying the coordinates of the smearing point, and then comparing the coordinate positions of the blood collection point and the smearing point. If the coordinate positions of the blood collection point and the smearing point correspond, inserting the needle to perform blood collection. When blood collection starts, music is played, and after blood collection is completed, the music stops. If the coordinate positions of the blood collection point and the smearing point do not correspond, the program ends.

[0013] In a preferred embodiment, the coating is applied by pressing 3-5 times, each pressing time is 0.3-0.5s, each pressing interval is 0.1-0.3s, the number of pressing times is 3-5 times, and the pressing force is 5-10N.

[0014] In a preferred embodiment, S2 specifically includes processing and analyzing the infrared imaging image, obtaining the coordinates of the blood sampling point, outputting an enlarged image of the point, and receiving pinhole identification and judgment information instructions, the pinhole identification and judgment information instructions include "there is a pinhole" and "there is no pinhole". If "there is a pinhole" is received, the coordinates are excluded and the blood sampling point coordinates are reselected. If "there is no pinhole" is received, the point is determined to be the blood sampling point coordinates.

[0015] Compared with the prior art, the present invention provides a collaborative control method for an intelligent blood sampling robot based on three-dimensional collaboration. The control method can be used to accurately control the intelligent blood sampling robot, thereby achieving accurate blood sampling. During the blood sampling process, the patient is required to actively give the needle insertion and insertion instructions before the blood sampling work begins, thereby providing the patient with an active operation process, making the blood sampling work more controllable, that is, allowing the patient to perform blood sampling with psychological preparation, avoiding the uncertainty and tension caused to the patient in the state of pure machine blood sampling, effectively alleviating their psychological burden, and contributing to the smooth progress of the blood sampling work. It is also beneficial to improve the market acceptance of the blood sampling robot and help its market promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention relates to a flow chart of a collaborative control method of an intelligent blood sampling robot based on three-dimensional collaboration.

[0017] Figure 2 It is a structural schematic diagram of a first perspective of a blood sampling robot applied by a collaborative control method of an intelligent blood sampling robot based on three-dimensional collaboration according to the present invention.

[0018] Figure 3 It is a structural schematic diagram of the second perspective of a blood sampling robot applied by a collaborative control method of an intelligent blood sampling robot based on three-dimensional collaboration according to the present invention.

[0019] Figure 4 yes Figure 3 Schematic diagram of the enlarged structure of part A.

[0020] In the figure

[0021] Main unit 1; infrared camera 2; first section 3; second section 4; needle transport mechanism 5; touch sensing device 6; distance sensor 7; handheld confirmer 8; driving cylinder 9; applicator head 10; needle 11. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0023] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0024] like Figures 2 to 4 As shown, the blood sampling robot used in the control method of this embodiment includes a host 1, an infrared camera 2 and a mechanical arm, and the mechanical arm includes a first segment 3, a second segment 4 and a needle transport mechanism 5. The first segment 3 is connected to the host 1 to form a first degree of freedom with the host 1, the first segment 3 is connected to the second segment 4 to form a second degree of freedom, and the second segment 4 is connected to the needle transport mechanism 5 to form a third degree of freedom. The needle transport mechanism 5 is used for the execution of the blood sampling process. The above structures are all settings in the prior art. Those skilled in the art can clearly understand the settings of the structure. On this basis, in order to realize the control method of this embodiment, a forehead touch sensing device 6 is set on the host 1, and a sensor plate is set on the forehead touch sensing device 6. When the forehead touches the sensor plate, electrical information is generated. Such a sensor plate is a mature technology in the prior art.

[0025] Meanwhile, a distance sensor 7 may also be provided on the host 1 .

[0026] Furthermore, a handheld confirmer 8 may be provided on the host 1. The handheld confirmer 8 includes a shell and an electrical signal generating device built into the shell. The electrical signal generating device is provided with a button. When the button is pressed, an electrical signal is generated and sent to the host 1.

[0027] The blood sampling robot can also include a smearing component, which includes a driving cylinder 9 and a smearing head 10. A smearing liquid, such as iodine, is adhered to the smearing head 10. The smearing head 10 is connected to the driving cylinder 9 and is driven to move by the driving cylinder 9. The movement path of the smearing head 10 is located at the needle entry point of the needle 11 of the needle transporting mechanism 5. The driving cylinder is installed on the needle transporting mechanism 5.

[0028] like Figure 1 As shown, a collaborative control method of an intelligent blood sampling robot based on three-dimensional collaboration includes the following steps: S1, using an infrared camera to take an imaging picture to obtain an infrared imaging picture; S2, processing and analyzing the infrared imaging picture to obtain the coordinates of the blood sampling point; S3, issuing a needle insertion prompt message and receiving a needle insertion instruction; S4, performing blood sampling after receiving the needle insertion instruction.

[0029] The above-mentioned control method can be used to accurately control the intelligent blood collection robot, thereby achieving accurate blood collection. During the blood collection process, the patient is required to actively give the needle insertion instruction before the blood collection work begins, thereby providing the patient with an active operation process, making the blood collection work more controllable, that is, allowing the patient to have blood drawn with psychological preparation, avoiding the uncertainty and tension caused to the patient in the state of pure machine blood collection, effectively alleviating their psychological burden, and contributing to the smooth progress of the blood collection work. It is also conducive to improving the market acceptance of the blood collection robot and helping its market promotion.

[0030] Specifically, the needle insertion prompt information includes voice broadcast or display on the display screen: "Are you sure you want to insert the needle?" That is, after determining the coordinates of the blood collection point and before performing the blood collection work, the blood collection robot issues a needle insertion prompt information, such as using voice broadcast to ask the patient whether to confirm the needle insertion, or displaying the inquiry information on the display screen of the blood collection robot.

[0031] After receiving the needle insertion prompt information, the patient reacts when he is ready. His reaction can be realized by using the forehead touch sensing device set on the blood collection robot. When the patient's head is against the forehead touch sensing device, touch information is generated. When the blood collection robot receives the touch information, it starts to collect blood. The advantage of this is that the forehead touch sensing device provides a position for the patient to lean against, which is in line with the posture of ordinary people leaning their foreheads away from the blood collection position during blood collection. That is, when the patient forms this posture, it indicates that he is ready for blood collection. As long as the patient assumes this posture, the needle insertion instruction can be issued, which has very good operability.

[0032] The generation of the needle insertion command can also be achieved through a distance sensor set on the blood collection robot. When the patient is ready for blood collection, he or she turns his or her head away from the blood collection position and blocks the distance sensor, indicating that he or she is ready for blood collection. After receiving the blocking information, the distance sensor generates a needle insertion command, and the blood collection robot performs blood collection according to the needle insertion command.

[0033] The generation of the needle insertion instruction can also be achieved through a handheld confirmer set on the blood collection robot. When the patient is ready for blood collection, he presses the button on the handheld confirmer, and the handheld confirmer generates a confirmation signal to generate a needle insertion instruction. The blood collection robot performs blood collection according to the needle insertion instruction.

[0034] Furthermore, S2 also includes: after obtaining the coordinates of the blood sampling point, analyzing the movement path of the robot arm to obtain the movement path result of the robot arm.

[0035] Furthermore, the S4 specifically includes: T1, receiving the needle insertion instruction; T2, controlling the movement of the robot arm according to the motion path structure, and during the movement of the robot arm, the first segment, the second segment and the needle transport mechanism move in sequence, and the average speed of the movement decreases successively, and the movement process ends when the needle of the needle transport mechanism reaches the blood collection point; T3, using the needle to draw blood. During the movement of the robot arm, the first segment, the second segment and the needle transport mechanism move in sequence, after the first segment moves, the second segment moves, and when the second segment moves, the needle transport mechanism moves. Compared with the simultaneous movement of all parts, such a movement process is more specific, and the patient can observe the specific process position of the action execution, which can generate more certain blood collection process time progress information in his mind, so that he has better psychological control over the blood collection process, which helps him to be mentally prepared and avoid psychological tension.

[0036] Further, the T3 includes: using the coating head of the coating device to coat the position where the needle of the needle transport mechanism is aligned to form a coating point, taking a picture with an infrared camera after the coating point is formed, and identifying the coordinates of the coating point, and then comparing the coordinate positions of the blood collection point and the coating point. If the coordinate positions of the blood collection point and the coating point correspond, insert the needle to collect blood, play music when blood collection starts, and stop the music after blood collection ends. If the coordinate positions of the blood collection point and the coating point do not correspond, the program ends. Through the above process, the blood collection point can be calibrated to determine whether the needle insertion position of the needle is consistent with the preset blood collection point coordinate position. When the coating point is inconsistent with the preset blood collection point position, the confirmation of the blood collection point is restarted, so as to ensure that the position of the needle is accurate when it is inserted, which helps to further improve the accuracy of the operation of the blood collection robot and add a layer of safety net for the safety of blood collection.

[0037] Furthermore, when applying, the liquid is applied by pressing, the pressing times are 3-5 times, the pressing time is 0.3-0.5s, the interval between each pressing is 0.1-0.3s, the pressing times are 3-5 times, and the pressing force is 5-10N. Through multiple applications, on the one hand, the liquid can be applied more clearly to the application position, and on the other hand, through multiple pressing, the veins at the application position are further raised, which is conducive to the smooth progress of blood collection and further improves the success rate of the blood collection robot.

[0038] The S2 specifically includes processing and analyzing the infrared imaging image, obtaining the coordinates of the blood sampling point, outputting the enlarged image of the point, and receiving the pinhole identification and judgment information instruction. The pinhole identification and judgment information instruction includes "there is a pinhole" and "there is no pinhole". If "there is a pinhole" is received, the coordinates are excluded and the blood sampling point coordinates are re-selected. If "there is no pinhole" is received, the point is determined to be the blood sampling point coordinate. The issuance of the pinhole identification and judgment instruction is realized through the doctor's operation. After the doctor sees the enlarged image through the display screen set on the blood sampling robot, he determines whether there is a pinhole in the image. If there is a pinhole, an instruction with a pinhole is issued to avoid the blood sampling work from continuing. If there is no pinhole, an instruction without a pinhole is issued to allow the blood sampling work to continue. Through such a program setting, it is possible to effectively eliminate the phenomenon of repeated blood sampling from the same pinhole during blood sampling, and effectively avoid the pain burden of patients.

[0039] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the statement "include..." or "comprise..." do not exclude the existence of other elements in the process, method, article or terminal device including the elements. In addition, in this article, "greater than", "less than", "exceed" and the like are understood to exclude the number itself; "above", "below", "within" and the like are understood to include the number itself.

[0040] The above description of the embodiments is to facilitate the understanding and use of the present invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to the embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments. Improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the protection scope of the present invention.

Claims

1. An intelligent blood sampling robot based on three-dimensional collaboration, characterized in that: An infrared camera is used to take imaging pictures to obtain infrared imaging pictures; The host is used to process and analyze the infrared imaging image to obtain the coordinates of the blood collection point. After obtaining the coordinates of the blood collection point, the motion path of the robot arm is analyzed to obtain the motion path result of the robot arm; it is also used to issue a needle insertion prompt message; A robotic arm, the robotic arm comprises a first segment, a second segment and a needle transport mechanism, the first segment is connected to the host, forming a first degree of freedom with the host, the first segment is connected to the second segment, forming a second degree of freedom, the second segment is connected to the needle transport mechanism, forming a third degree of freedom, the needle transport mechanism is provided with a needle, the robotic arm is used to perform blood collection after receiving a needle insertion instruction, specifically comprising: T1, receiving a needle insertion instruction; T2, controlling the movement of the robotic arm according to a motion path structure, and during the movement of the robotic arm, the first segment, the second segment and the needle transport mechanism move in sequence, and the average speed of the movement decreases in sequence, and the movement process ends when the needle of the needle transport mechanism reaches the blood collection point; T3, using the needle to perform blood collection; A coating component, the coating component includes a driving cylinder and a coating head, a coating liquid is adhered to the coating head, the coating head is connected to the driving cylinder, and is driven to move by the driving cylinder, the movement path of the coating head is located at the needle entry point of the needle of the needle transport mechanism, and the driving cylinder is installed on the needle transport mechanism; the coating component is used to use the coating head to coat the position where the needle of the needle transport mechanism is aligned to form a coating point, after the coating point is formed, use the infrared camera to take a picture, and identify the coordinates of the coating point, and then compare the coordinate positions of the blood collection point and the coating point, if the coordinate positions of the blood collection point and the coating point correspond, insert the needle to collect blood, play music when blood collection starts, and stop music after blood collection ends, if the coordinate positions of the blood collection point and the coating point do not correspond, the program ends.

2. According to claim 1, an intelligent blood sampling robot based on three-dimensional coordination is characterized in that: The needle insertion prompt information includes a voice broadcast or a display screen display: "Are you sure to insert the needle?" 3. According to claim 1, the intelligent blood sampling robot based on three-dimensional coordination is characterized in that: The host is provided with a forehead touch sensing device, the forehead touch sensing device is provided with a sensing plate, and the needle insertion instruction includes touch information sent by the forehead touch sensing device.

4. According to claim 1, the intelligent blood sampling robot based on three-dimensional coordination is characterized in that: The host is provided with a distance sensor, and the needle insertion instruction includes sensing information sent by the distance sensor.

5. According to claim 1, the intelligent blood sampling robot based on three-dimensional coordination is characterized in that: A handheld confirmer is arranged on the host, and the handheld confirmer includes a shell and an electric signal generating device built into the shell. A button is arranged on the electric signal generating device. When the button is pressed, an electric signal is generated and sent to the host. The needle insertion instruction includes a confirmation instruction sent by the handheld confirmer.

6. The intelligent blood sampling robot based on three-dimensional coordination according to claim 1, characterized in that: When applying, use a pressing method, press 3-5 times, each pressing time is 0.3-0.5s, each pressing interval is 0.1-0.3s, the number of presses is 3-5 times, and the pressing force is 5-10N.

7. The intelligent blood sampling robot based on three-dimensional coordination according to claim 1, characterized in that: The specific process of processing and analyzing the infrared imaging picture to obtain the coordinates of the blood collection point includes: processing and analyzing the infrared imaging picture to obtain the coordinates of the blood collection point, outputting the enlarged picture of the point, and receiving the pinhole recognition and judgment information instruction, the pinhole recognition and judgment information instruction includes "there is a pinhole" and "there is no pinhole". If "there is a pinhole" is received, the coordinate is excluded and the blood collection point coordinate is reselected. If "there is no pinhole" is received, the point is determined to be the blood collection point coordinate.

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