Body insertion device

Abstract

The present invention relates to an automatic body puncture device, and more particularly, to an automatic body puncture device including a body pressing unit capable of pressing a body part to detect a puncture position. The present invention also relates to an automatic body puncture device comprising at least one of a rotatable probe unit, a vacuum tube drive unit, and a body contact material supply unit. The automatic body puncture device according to the present invention comprises: a needle unit support portion that supports a needle that enters the body; and a pressing unit (500) that presses the body including the part to be punctured.

Description

Technical Field

[0001] The present invention relates to a body insertion device, and more particularly, to a body insertion device comprising a body pressing unit for assisting in detecting a body insertion position.

[0002] The present invention also relates to a body insertion device comprising at least one of a rotatable probe unit, a vacuum blood collection tube drive unit, and a body contact material supply unit. Background Art

[0003] In hospitals and clinics, a venipuncture needle is often inserted into a superficial vein for blood collection or intravenous injection. Medical specialists such as doctors, nurses, and pathologists perform the needle insertion. Current systems require significant training for medical personnel, incurring labor costs. Furthermore, if the needle is not inserted in the proper location, the medical staff may attempt to insert the needle into the body, and the person inserting the needle may experience unnecessary pain from the additional needle insertion. Even specialists present difficulties when inserting the needle into individuals with poor vascular conditions, such as infants, the elderly, patients undergoing chemotherapy, or individuals with dark skin.

[0004] The repetitive work of collecting blood can cause high levels of fatigue and discomfort, even for experienced medical personnel. In addition, during the blood collection process, medical personnel performing the blood collection are at risk of infection when blood splashes onto them or enters their bodies.

[0005] The applicant of the present application filed Korean Patent Application No. 10-2020-0010302 on January 29, 2020, relating to a method for detecting a location of a superficial vein to be inserted with a needle, and Korean Patent Application No. 10-2020-0040097 on April 2, 2020, relating to an automatic body insertion device. Both applications are hereby incorporated by reference in their entirety.

[0006] [Prior Art Reference]

[0007] Korean Patent No. 10-1601421, titled “Method for Automatic Blood Gathering.” (Published on March 10, 2016) Summary of the Invention

[0008] Technical goals

[0009] An object of the present invention is to provide a body insertion device comprising a body pressing unit for helping to detect a body insertion position when body insertion is required.

[0010] Another object of the present invention is to provide a body insertion device including a probe unit that rotates in a width direction of a body to more accurately detect a body insertion position.

[0011] Another object of the present invention is to provide a body insertion device including a drive unit that automatically inserts a vacuum blood collection tube into a syringe of a needle unit.

[0012] Another object of the present invention is to provide a body insertion device including a body contact material supply unit that supplies, for example, a tourniquet attached to a site where blood is collected or a gel used in ultrasound examination for detecting a site where blood is collected.

[0013] Technical Solution

[0014] To achieve the object, the present invention provides a body insertion device including: a needle unit holder configured to support a needle to be inserted into a body; and a pressing unit configured to press a body for insertion of the needle.

[0015] The pressing unit may include: a pressing belt configured to contact the body and press the body; at least one pair of moving units supporting the pressing belt; and a driving module driving the moving unit in a pressing direction and a releasing direction.

[0016] The compression belt may be arranged such that the compression belt does not come into contact with the body before compression is performed.

[0017] The pressing unit may include: a guide rod; a first nut that is moved in a first direction along the guide rod by the driving module; and a second nut that is moved in a second direction opposite to the first direction along the guide rod. The first nut and the second nut may be connected to the at least one pair of moving units so as to move the moving units along the guide rod.

[0018] The body insertion device of the present invention may further include: a coupler connecting the guide rod and the output shaft of the driving module.

[0019] The body insertion device of the present invention may further include: an ultrasonic probe that detects a body insertion position; and a probe unit that supports the ultrasonic probe and moves the ultrasonic probe in a predetermined direction.

[0020] A method for measuring blood pressure and pulse rate using the body insertion device of the present invention includes: a first step of pressing the upper arm by the pressing unit; and a second step of moving the ultrasound probe in a predetermined direction in the lower arm by the probe unit and measuring blood flow, thereby measuring the blood pressure and the pulse rate.

[0021] The method of the present invention may further include: step 1-1, changing the pressure at the location where the upper arm is pressed.

[0022] The body insertion device of the present invention may further include: a probe unit including a probe for detecting a body insertion position, a probe holder, and a drive module; wherein the drive module is configured to rotate the probe unit in a width direction of the body into which the needle is to be inserted.

[0023] The body insertion device of the present invention may further include a direction changing module that converts the driving force of the driving module into a force that rotates the probe unit in the width direction.

[0024] The probe unit may further include a pressing unit configured to press the target object.

[0025] The probe unit may further include an elastic member connecting the pressing module and the probe holder.

[0026] The body insertion device of the present invention may further include: a linear driving module that moves the probe unit in an up-down direction.

[0027] The body insertion device of the present invention may further include: a driving unit for an insertion member to be inserted into the needle unit. The driving unit may include a tube support supporting the insertion member and a driving module driving the support.

[0028] The support may include a toothed holding portion that contacts the insertion member and holds the insertion member.

[0029] The toothed holding portion may include a tooth portion extending in a longitudinal direction of the support of the insertion member.

[0030] The driving unit of the insertion member may include: a screw that receives the driving force from the driving module; a nut that rotates by the rotation of the screw and moves along the screw; and a connecting part that is connected to the nut, moves together with the nut, and is connected to the support member of the insertion member.

[0031] The driving unit of the insertion member may further include a guide that guides the connection portion.

[0032] The toothed retaining portion may be configured to be rotatable about a longitudinal axis of the support of the insertion member.

[0033] The body insertion device of the present invention may further include a body contact material supply unit. The body contact material supply unit may include: a roller unit that supplies the body contact material in a roll-like manner; and a pressing unit that presses the body contact material to contact the body.

[0034] The roller unit may include a first roller around which the body contact material is wound before use, a second roller around which the body contact material is wound after use, and a driving module that rotates at least one of the first roller and the second roller.

[0035] The roller unit may further include at least one conversion roller that is disposed between the first roller and the second roller and converts a supply direction of the body contact material into a predetermined direction.

[0036] The conversion roller may include: a first conversion roller, which is arranged on the downstream side of the first roller and converts the direction of the body contact material tape supplied from the first roller; a second conversion roller, which is arranged on the downstream side of the first conversion roller and converts the direction of the body contact material tape supplied from the first conversion roller; a third conversion roller, which is arranged on the downstream side of the second conversion roller and converts the direction of the body contact material tape supplied from the second conversion roller; a fourth conversion roller, which is arranged on the downstream side of the third conversion roller and converts the direction of the body contact material tape supplied from the third conversion roller; and a conversion roller driving module, which drives the first conversion roller to at least one of the fourth conversion rollers.

[0037] The body contact material strip may be disposed on the body between the second transfer roller and the third transfer roller.

[0038] Effects of the present invention

[0039] According to the present invention, a body insertion device including a body pressing unit is provided to accurately detect the body insertion position. Furthermore, according to the present invention, blood pressure and pulse rate can be measured along with the body insertion, thereby identifying the possibility of vasovagal syncope and enabling medical measurement before vasovagal syncope occurs.

[0040] According to the present invention, there is provided a body insertion device including a probe unit that rotates in a width direction of a body and has a probe for detecting a body insertion position to advantageously detect the body insertion position.

[0041] According to the present invention, there is provided a body insertion device including a drive unit that automatically inserts a vacuum blood collection tube into a syringe of a needle unit to increase the convenience of blood collection.

[0042] According to the present invention, there is provided a body insertion device including a body contact material supply unit that supplies, for example, a tourniquet attached to a location where blood is collected or a gel used in ultrasound examination for detecting a location where blood is collected, to increase the convenience of blood collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a block diagram of a body insertion device of the present invention.

[0044] Figure 2 It is a front view of the bevel orientation adjustment unit of the body insertion device of the present invention.

[0045] Figure 3 1 is a side view of the bevel orientation adjustment unit of the body insertion device of the present invention.

[0046] Figure 4 is a side view of a transfer unit of a body insertion device according to the present invention.

[0047] Figure 5 is a plan view of a transfer unit of a body insertion device according to the present invention.

[0048] Figure 6 FIG. 4 is a plan view of a slope orientation adjusting unit according to another embodiment of the present invention.

[0049] Figure 7 is a front view of a needle moving unit of a body insertion device according to the present invention.

[0050] Figure 8 is a left side view of the needle moving unit of the body insertion device according to the present invention.

[0051] Figure 9 It is an enlarged front view of the vacuum blood collection tube driving unit according to the present invention.

[0052] Figure 10 It is an enlarged right side view of the vacuum blood collection tube driving unit according to the present invention.

[0053] Figure 11 is a side view of a probe unit, a body pressing module, and a body contact material supply unit according to the present invention.

[0054] Figure 12 is a side view of a probe unit of a body insertion device according to the present invention.

[0055] Figure 13 is a front view of a probe unit, a body pressing module, and a body contact material supply unit according to the present invention.

[0056] Figure 14 is an enlarged front view of a body compression module and a body contact material supply unit according to the present invention.

[0057] Figure 15 is an enlarged side view of a body compression module and a body contact material supply unit according to the present invention.

[0058] Figure 16 is a view of an example of a body contact material strip according to the present invention.

[0059] Figure 17 is a flow chart of a method of inserting into a body according to the present invention.

[0060] Figure 18 is used in Figure 17 A flow chart of a method for determining a body target during the process is shown.

[0061] Figures 19 to 22 is a diagram for describing in detail a method of determining a body target. DETAILED DESCRIPTION

[0062] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

[0063] In this specification, the essential elements of the present invention will be described, while the non-essential elements will not be described. However, the scope of the present invention should not be limited to inventions that only include the described components. In addition, it should be understood that inventions that include additional elements or do not have non-essential elements may be within the scope of the present invention.

[0064] Certain exemplary embodiments will now be described to provide a comprehensive understanding of the principles of structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those skilled in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments, and that the scope of the present invention is limited solely by the claims. Features shown or described in conjunction with one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.

[0065] In this specification, the order of each step should be understood in a non-restrictive manner, unless the previous step must be performed before the next step logically and temporally. That is, except for the exceptions described above, although the process described as the next step is preceded by the process described as the previous step, it does not affect the nature of the present invention, and the scope of the rights should be defined as being independent of the order of the steps. In addition, in this specification, "A or B" is defined not only as selectively referring to A or B, but also as including both A and B. In addition, in this specification, the term "comprising" has the meaning of including other components in addition to the listed components.

[0066] The methods of the present invention can be performed by an electronic computing device, such as a computer, tablet computer, mobile phone, portable computing device, stationary computing device, server computer, etc. In addition, it should be understood that one or more different methods or aspects thereof can be performed by at least one processor. The processor can be implemented on a computer, tablet computer, mobile device, portable computing device, etc. A memory configured to store program instructions can also be implemented in the device, in which case the processor is specifically programmed to execute the stored program instructions to perform one or more processes, which will be further described below. In addition, it should be understood that the following information, methods, etc. can be performed by a computer, tablet computer, mobile device, portable computing device, etc. that includes a processor in combination with one or more additional components, as described in detail below. In addition, the control logic can be implemented as a non-transitory computer-readable medium on a computer-readable medium, which contains executable program instructions executed by a processor, controller / control unit, etc. Examples of computer-readable media include, but are not limited to, ROM, RAM, compact disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable recording medium can also be distributed in a network-connected computer system, so that the computer-readable medium is stored and executed in a distributed manner, for example, by a telematics server or a controller area network (CAN).

[0067] Figure 1 FIG is a block diagram of the body insertion device of the present invention. Figure 1 As shown, the body insertion device includes a controller 100, a bevel orientation adjustment unit 22, a transfer unit 20, a needle moving unit 30 and a probe unit 40, a vacuum blood collection tube driving unit 50, a body pressing unit 500 and a body contact material supply unit 600.

[0068] The controller 100 controls the bevel orientation adjustment unit 22, the transfer unit 20, the needle movement unit 30, the probe unit 40, the vacuum blood collection tube drive unit 50, the body pressing unit 500, and the body contact material supply unit 600. The controller 100 may be part of an electronic computing device and may be a logical combination of general-purpose hardware and software designed to perform specific functions. The control commands of the controller 100 may be generated by a computer program stored in a computer-readable recording medium.

[0069] Figure 2 is a front view of the bevel orientation adjustment unit 22, Figure 3 It is its side view.

[0070] The inclined plane orientation adjustment unit 22 includes a first driving module 16, a first direction-changing module 18, a first rotating shaft 17, a body 19, a second hydraulic module 145, a support arm 14, a support column 15, and a detector 222 (eg, a visual sensor). Figure 3 As shown, the support arms 14 may be at least a pair of arms arranged parallel to each other and may be driven by the second hydraulic module 145 so as to move toward or away from each other. The support arms 14 may be driven to move away from each other so that radial force is applied outward to the inner wall of the needle unit 200, thereby supporting the needle unit 200. The bevel orientation of the needle provided at the needle unit 200 may be detected by the detector 222.

[0071] If the bevel orientation of the needle set at the needle unit 200 is not desired, the first drive module 16 rotates the body 19 around the first rotation axis 17 according to the command from the controller 100, thereby adjusting the bevel orientation of the needle of the needle unit 200 supported by the support arm 14 to the desired orientation. The first change module 18 changes the driving force of the first drive module 16 into a force that can rotate the body 19 around the first rotation axis 17. The first change module 18 may include a speed reducer and can be implemented by using various known motion mechanisms. The change module to be described below may also include a speed reducer. The first drive module 16 can be a rotational drive device such as a conventional motor, or a linear drive device such as a linear motor. In the case of using a linear motor, the first change module 18 converts the linear motion into a direction that can rotate the support arm 14.

[0072] However, the direction-changing module and the slope orientation adjustment unit 22 are not essential to the present invention and may be removed depending on the design of the driving module.

[0073] Figure 4 and Figure 5 1 and 2 are a side view and a plan view of the transfer unit 20, respectively. According to another embodiment of the present invention, Figure 4 and Figure 5The transfer unit 20 shown may be provided with a slope orientation adjustment unit. Figure 6 A plan view of the bevel orientation adjustment unit is shown in FIG.

[0074] The transfer unit 20 includes a second driving module 23, a movable arm 24, a second rotating shaft 25, a first body 26, and a second direction-changing module 27. The movable arm 24 may be provided with a bevel orientation adjustment unit according to another embodiment of the present invention. The bevel orientation adjustment unit may include at least one roller 214 in contact with the needle unit 200, a seventh driving module 223 for rotating the roller 214 to rotate the needle unit 200, and a detector 222 ( Figures 4 to 6 (not shown) The periphery of needle unit 200 is supported by first retainer 211 to maintain it in a predetermined position. First retainer 211 may include at least one pair of arms spaced parallel to each other and driven by third hydraulic module 215 to move toward or away from each other. The arms move toward each other to contact the outer periphery of the needle unit, thereby applying a force toward needle unit 200 and thereby retaining the needle unit. First retainer 211 can support needle unit 200 on its inner side, similar to support arm 14.

[0075] The outer periphery of the roller 214 may be provided with teeth to contact the outer periphery of the needle unit 200. The needle unit 200 may be provided with complementary teeth on its outer periphery, which can mesh with the teeth of the roller. The roller 214 may be made of silicon, synthetic resin, metal, etc.

[0076] Figure 6 The illustrated bevel orientation adjustment unit may further include movement inhibitors 212, 213 that prevent the needle unit 200 from moving in a direction different from the direction in which the needle unit 200 is movable by the roller 214. A plurality of movement inhibitors 212, 213 may be provided around the circumference of the needle unit 200.

[0077] The movable arm 24 can be driven by the second drive module 23 to move between a first position and a second position. In this specification, the "first position" refers to the position where the needle unit 200 is supplied to the transfer unit 20, and the "second position" refers to the position where the needle unit 200 is transferred from the transfer unit 20 to the needle moving unit 30. The bevel orientation adjustment unit 22 can be set at the first position or the second position, or at a position close thereto. Alternatively, the bevel orientation adjustment unit 22 can be set at a third position. In this case, the movable arm 24 moves the needle unit 200 from the first position to the third position; adjusts the bevel orientation at the third position; and then moves the needle unit 200 from the third position to the second position. In these embodiments, the movable arm that moves the needle unit 200 from the first position to the third position can be separate from the movable arm that moves the needle unit 200 from the third position to the second position.

[0078] The position where the inclined plane orientation adjustment unit 22 is provided may be determined differently and is not essential to the present invention. A plurality of inclined plane orientation adjustment units may be provided. If the inclined plane orientation adjustment unit is provided at the second position, the movable arm 24 may be unnecessary.

[0079] Figure 7 is a front view of the needle moving unit 30 of the body insertion device according to the present invention, Figure 8 It is its side view.

[0080] The needle moving unit 30 includes a second body 31 , a first hydraulic module 32 , a third driving module 33 , a fourth driving module 34 , a connecting member 35 , a third rotating shaft 36 and a third direction changing module 37 .

[0081] The connecting member 35 supports the needle unit 200 via at least a pair of second retainers 321 driven by the first hydraulic module 32. The connecting member 35 can also support the vacuum blood collection tube drive unit 50. A vacuum blood collection tube (not shown) is positioned within the needle unit 200 to draw blood during the blood collection process. Any component other than the vacuum blood collection tube can also be used for blood collection.

[0082] Figure 9 is an enlarged front view of the vacuum blood collection tube drive unit 50, Figure 10 It is an enlarged right side view of the vacuum blood collection tube driving unit 50 .

[0083] The vacuum blood collection tube drive unit 50 includes a bracket 383 connected to the connecting member 35, a vacuum blood collection tube support 38, a lead screw 385, a nut 384, a connecting portion 387, and an eighth driving module 39. A guide 386 is provided along the longitudinal direction of the bracket 383. The connecting portion 387 is coupled to the nut 384 to move according to the movement of the nut 384.

[0084] The connecting portion 387 connects the vacuum blood collection tube support 38 and the guide 386 .

[0085] The vacuum blood collection tube support 38 is provided with a recess 382 ( Figure 9 ), in which a vacuum blood collection tube (not shown) is engaged. Recess 382 may be provided with a toothed retainer 381 that contacts the side of the vacuum blood collection tube that engages with recess 382. Toothed retainer 381 may be provided with teeth extending along the longitudinal direction of vacuum blood collection tube support 38, so that the vacuum blood collection tube can be easily inserted into the recess and the inserted vacuum blood collection tube will not be accidentally disengaged from the recess. In addition, when the vacuum blood collection tube is inserted into needle unit 200, the straightness and center of the vacuum blood collection tube can be maintained by the teeth. Toothed retainer 381 is rotatable around the longitudinal direction of vacuum blood collection tube support 38.

[0086] The movable arm 24 moves the needle unit from the first position to the second position, and then the second retainer 321 is driven by the first hydraulic module 32 to support the needle unit 200 in the second position. Subsequently, the retaining state between the first retainer 211 and the needle unit 200 is released by the third hydraulic module 215, allowing the needle unit 200 to be transferred. After the needle unit 200 is transferred, the movable arm 24 returns to the first position.

[0087] The connecting member 35 may be provided with Figures 4 to 6 The inclined plane orientation adjustment unit shown in FIG. Figure 7 In the illustrated embodiment in which the needle unit 200 is supplied to the needle moving unit 30 and the bevel orientation adjusting unit is provided in the needle moving unit 30 , the transfer unit 20 may be unnecessary.

[0088] With the needle unit 200 transferred to the needle moving unit 30 supported by the second holder 321, the vacuum blood collection tube engaged with the vacuum blood collection tube support 38 can be inserted into the needle unit 200. The vacuum blood collection tube may be pre-set in the vacuum blood collection tube support 38, or may be inserted into the vacuum blood collection tube support 38 with the needle unit 200 supported by the second holder 321.

[0089] With the vacuum blood collection tube set in the vacuum blood collection tube support 38, the eighth drive module 39 is operated to move the nut 384 downward along the lead screw 385. The connecting portion 387 moves along with the nut 384, and the vacuum blood collection tube support 38 connected to the connecting portion 387 also moves along the guide 386 toward the needle unit 200. The support is then inserted into the needle unit 200.

[0090] The orientation of the needle unit 200 into which the vacuum blood collection tube is inserted is adjusted to an orientation enabling insertion into the body by the third driving module 33 and the fourth driving module 34 , and then inserted into the target body.

[0091] First, the third drive module 33 rotates the second body 31 about the third rotation axis 36 to achieve an appropriate angle for needle insertion into the body. The third direction-changing module 37 converts the driving force of the third drive module 33 into a rotational force about the third rotation axis 36. With the second body 31 rotated to achieve the desired angle, the fourth drive module 34 moves the connecting member 35 in the longitudinal direction of the second body 31 to facilitate insertion. The connecting member 35 is movable via a ball screw disposed along the longitudinal direction of the second body 31.

[0092] Orientation adjustment of the needle unit 200 may be performed at the third position, and then the needle unit 200 may be transferred to a position for body insertion.

[0093] The second body 31 may be provided further along Figure 7and Figure 8 The device moves in at least one of the left and right directions or in any other direction, but is not shown in the figure.

[0094] The orientation of the second body 31 can be manually adjusted. For example, the user manually adjusts the second body 31 so that the body has a predetermined angle toward the body of the insertion needle.

[0095] Figure 11 A side view of the probe unit 40, the body pressing unit 500, and the body contact material supply unit 600 according to the present invention is shown.

[0096] Probe unit 40 of the present invention comprises probe 41, probe holder 42, the 5th driving module 43, the 6th driving module 44, track 45, mobile module 46, the 4th changing module 47, is configured to press the pressing module 48 of target body and the holder 485 for pressing module 48.Probe can be an ultrasonic probe.Pressing module 48 can be rotatably supported by the holder of pressing module 48.Pressing module 48 can be a roller.Pressing module 48 and probe holder 42 are connected to each other via elastic member 49 (for example, spring) so that pressing module 48 can press health with predetermined force. Figure 12 4 shows a side view of the probe unit 40, in which the pressing module 48 presses the body. In order to clearly illustrate this state, the body pressing unit 500 and the body contact material supply unit 600 are not shown.

[0097] The probe holder 42 can be rotated around the fourth rotation axis 475 by the fifth driving module 43. Figure 13 Left and right direction in .

[0098] The rotation of the probe holder 42 with respect to the fourth rotation axis 475 moves the probe 41 supported by the probe holder 42 in the width direction of the body (eg, the lower arm) to detect the body insertion position.

[0099] The fourth direction changing module 47 may convert the driving force of the fifth driving module 43 into a rotational force for rotating the probe holder 42 around the fourth rotation axis 475 .

[0100] The moving module 46 may be moved along the longitudinal direction of the rail 45 by the sixth driving module 44. The rail 45 may be provided with a ball screw.

[0101] Probe unit 40 can move in the longitudinal direction of body part 400. Below will be described in detail the example method for detecting the position of target body (for example, superficial vein). In the case where the target body is a blood vessel, the linearization of the target body can make it easy to detect the position. Linearization can be achieved by moving the probe unit in the longitudinal direction of body part 400 (for example, lower arm) while pressing module 48 is pressed to the body part placed in body support 300. Pressing module 48 can press body part 400 at a distance determined to be important for detection.

[0102] The body pressing unit 500 is provided at the front side of the probe unit 40. Figure 13 and Figure 14 Description of the body pressing unit 500. For convenience of explanation, an embodiment in which the body part pressed by the body pressing unit 500 is the upper arm is exemplarily described.

[0103] The body pressing unit 500 includes a pressing belt 510, a ninth driving module 520, at least one pair of moving units 530, a first supporting frame 540, a coupling 550, an encoder 560, a first nut 570, a second nut 580, and a guide rod 590 supporting the moving units 530. The moving units 530 move along the guide rod 590. The guide rod 590 may be a lead screw. The first nut 570 and the second nut 580 are respectively connected to the pair of moving units 530. Therefore, the pair of moving units 530 can move together with the first nut 570 and the second nut 580.

[0104] The lower arm 400 is placed on the body support 300, and the upper arm 410 is passed through the compression belt 510. In the initial state, the compression belt 510 can be set so as not to contact the upper arm 410. If the compression belt 510 is not in contact with the upper arm 410 in the initial state, wear caused by friction between the compression belt and the upper arm skin can be prevented.

[0105] The coupling 550 connects the output shaft of the ninth driving module 520 to the guide rod 590, thereby transmitting the driving force of the ninth driving module 520. The ninth driving module 520 moves the first nut 570 and the second nut 580 along the guide rod 590. The threads of the first nut 570 and the second nut 580 are formed so that they move toward or away from each other.

[0106] The first nut 570 moves together with the left moving unit 530 , and the second nut 580 moves together with the right moving unit 530 .

[0107] The encoder 560 detects the rotation speed and direction of the shaft of the ninth driving module 520 .

[0108] The upper arm pressing unit 500 may further include a pressure sensor (not shown) for measuring pressure applied to the upper arm.

[0109] The body contact material supply unit 600 will be described below.

[0110] The body contacting material may be a tourniquet, or a gel that is applied to the body part prior to examination by the ultrasound probe.

[0111] According to the present invention, the body contacting material can be continuously supplied from a roll of material wound thereon and can be provided precisely to a body insertion site or desired site.

[0112] The body contact material supply unit 600 includes a first roller 610, a first transfer roller 615, a second transfer roller 640, a third transfer roller 650, a fourth transfer roller 655, and a second roller 620. A first tape roll 611 is wound around the first roller 610, and a second tape roll 621 is wound around the second roller 620. If the first tape roll 611 has body contact material attached to it, the second tape roll 621 is a roll from which the body contact material is removed after being transferred to the body. If the second tape roll 621 has body contact material attached to it, the first tape roll 611 is a roll from which the body contact material is removed after being transferred to the body.

[0113] In the case where the first roll of tape 611 has body contact material attached thereto, the first roll of tape 611 sequentially advances to the first roller 610, the first conversion roller 615, the second conversion roller 640, the third conversion roller 650, the fourth conversion roller 655 and the second roller 620, and is then wound around the second roller after the body contact material is transferred to the body.

[0114] The belt 630 is driven by the tenth driving module 660 ( Figure 15 ) is driven and can be supplied in the above direction, and the second roller 620 is driven by an eleventh driving module (not shown).

[0115] The first auxiliary roller 642 cooperates with the second transfer roller 640 to move the tape in the supply direction. The second auxiliary roller 652 cooperates with the third transfer roller 650 to move the tape in the supply direction.

[0116] The strap 630 may be provided over the upper portion of the lower arm 400, as shown in FIG. Figure 15 A presser 680 is provided on the belt 630 to press the belt 630 to apply the body contact material to the body. The presser 680 can be driven by a driving device such as a solenoid valve (not shown) to press the upper part of the belt 630 at a predetermined position.

[0117] According to another embodiment, the body contact material supply unit 600 is controlled to operate in multiple directions along a track system so as to be positioned for applying the body contact material to the body. The bracket supporting the body contact material supply unit 600 may be connected to the track system to enable the bracket to move in multiple directions. The position control technology of the bracket in the track system can be implemented using conventional techniques, and therefore a detailed description of these techniques will be omitted.

[0118] Figure 16 An exemplary band 630 is shown. Band 630 is provided with a body contacting material (e.g., a tourniquet or gel) for inspection by an ultrasound probe. A solid gel may be provided in band 630.

[0119] The tourniquet and the solid gel may be provided alternately in the first region A and the second region B. For example, a tourniquet may be provided in the first region A and a solid gel may be provided in the second region B. If desired, more than two body contacting materials may be provided, and the number of body contacting materials is not limited to any particular number.

[0120] refer to Figures 17 to 22 , the operation and control of the device according to the present invention are described below. Figures 17 to 22 The order of each step in the present invention should be understood in a non-limiting manner unless the previous step must be performed before the next step logically and temporally. That is, except for the exceptions described above, even if the process described as the next step is preceded by the process described as the previous step, it does not affect the nature of the present invention, and the scope of the rights should be defined regardless of the order of the steps.

[0121] In step 1100, the needle unit 200 is supplied to, for example, the bevel orientation adjustment unit 22. Figure 2 and Figure 3 As shown, the needle unit 200 may be arranged to be supported by the support column 15. Alternatively, as Figures 4 to 6 As shown, the needle unit 200 can be arranged to be supported by the first holder 211 and arranged between the rollers 214. As described above, the bevel orientation adjustment unit can be arranged at least one of the first position and the second position, or in the vicinity thereof. Alternatively, the bevel orientation adjustment unit can be arranged at or in the vicinity of the third position.

[0122] After the needle unit 200 is set, the detector 222 identifies the bevel orientation and end position of the needle in step 1110. If the bevel orientation differs from the predetermined orientation, the first drive module 16 or the seventh drive module 223 receives a command from the controller 100 to adjust the bevel orientation by rotating the needle unit 200 in step 1120. When the first drive module 16 is operated, the body 19 rotates about the first rotation axis 17, thereby rotating the needle unit 200 supported by the support arm 14.

[0123] exist Figures 4 to 6 In the illustrated embodiment, when the seventh driving module 223 operates, the roller 214 rotates, thereby rotating the needle unit 200 to adjust the bevel orientation to a predetermined orientation.

[0124] In step 1130 , after the slope orientation is adjusted to a predetermined orientation, the first driving module 16 or the seventh driving module 223 stops working, and then synchronizes the adjusted slope orientation information with the value recorded in the controller 100 .

[0125] In step 1132, the body pressing unit 500 begins pressing the upper arm. The ninth drive module 520 operates, the guide rod 590 connected to the output shaft of the ninth drive module 520 via the coupling 550 rotates, and the first nut 570 and the second nut 580 move toward each other due to the rotation of the guide rod 590. The pressing belt then presses the upper arm 410.

[0126] Then, in step 1140 , the position of the target body is determined. Figure 18 The determination process when the target body is a superficial vein is shown.

[0127] In step 1141, probe 41 is moved to a position close to the blood vessel. Subsequently, in step 1142, probe unit 40 is moved to linearize the blood vessel while pressing module 48 presses the blood vessel. Pressing module 48 can be configured to move over a predetermined distance on the target body. Ultrasonic scanning and blood collection can be easily performed on the blood vessel linearized by pressing module 48. The pressing force of pressing module 48 can be an optimized uniform force between 0 and 19.6N (including boundary values).

[0128] In step 1143, after the linearization of the blood vessel is completed, the probe 41 contacts the target body and obtains an ultrasound image thereof. In step 1144, the position of the target blood vessel is determined by performing image processing on the obtained ultrasound image.

[0129] Blood pressure and pulse rate can also be measured simultaneously by the ultrasound probe 41 while the target blood vessel is located. Alternatively, they can be measured before or after the target blood vessel is located. Blood pressure and pulse rate can be measured from the blood flow measured by the ultrasound probe in contact with the body to detect the target blood vessel location. Measurement of blood pressure and / or pulse rate can pre-detect the possibility of vasovagal syncope that may occur during blood collection, thereby allowing medical measures to be prepared in advance for vasovagal syncope.

[0130] To measure blood pressure and pulse rate, the ultrasound probe 41 can be moved as the pressure applied to the upper arm by the body compression unit 500 changes, and an image can be obtained from the body. Blood flow can be measured from the image. The ultrasound probe 41 can be moved toward or away from the upper arm to measure blood flow.

[0131] In step 1150, needle unit 200 moves to the second position. If the bevel orientation adjustment unit is located at or near the first position, the bevel orientation of needle unit 200 is adjusted while movable arm 24 supports needle unit 200. Needle unit 200 can be moved from the first position to the second position via movable arm 24, which is rotated by second drive module 23 in response to a command from the controller. The transfer from the first position to the second position can also be achieved using other known motion mechanisms or variations thereof.

[0132] If the bevel orientation adjustment unit is set at the second position or a position near it, step 1150 may be unnecessary. In an embodiment, in a state where the needle unit 200 is supported by the needle moving unit 30, by Figures 2 to 6 The bevel orientation adjustment unit shown is used to adjust the bevel orientation.

[0133] If the bevel orientation adjusting unit is set at the third position, the movable arm 24 moves from the first position to the third position; the bevel orientation is adjusted at the third position; and then the movable arm 24 moves from the third position to the second position.

[0134] In step 1152 , after the needle unit 200 is moved to the second position or the bevel orientation is adjusted in a position adjacent to the second position, the vacuum blood collection tube is inserted into the needle unit 200 .

[0135] The eighth driving module 39 operates to rotate the lead screw 385, thereby moving the nut 384 along the lead screw 385 and moving the connecting portion 387 along the guide 368. Then, the vacuum blood collection tube support 38 connected to the connecting portion 387 moves toward the needle unit 200 to be inserted therein.

[0136] In step 1160, with the needle unit 200 inserted with the vacuum blood collection tube supported by the needle moving unit 30, the second body 31 is rotated to a predetermined angle for insertion into the body by the operation of the third driving module 33 according to a command from the controller 100; then, the connecting member 35 is moved along the length direction of the second body 31 by the operation of the fourth driving module 34 according to a command from the controller 100. If the target body is a superficial vein, blood collection can be performed after insertion into the body. Figure 7 and Figure 8 It is not shown in the figure, but the second body 31 may be arranged in Figure 7 and Figure 8Move in either direction, left or right, or in the other direction.

[0137] In step 1162, after blood collection is completed, the tourniquet can be attached to the insertion site where blood collection was performed. The presser 680 is moved downward by a driving module (e.g., a solenoid valve, not shown); the belt 630 is then pressed against the blood collection site to attach the tourniquet provided on the belt 630 to the site. After attachment is completed, the presser 680 is moved upward, and the second and third transfer rollers 640 and 650 are operated to move the next body-contacting material to the corresponding position.

[0138] If the body contacting material is a solid gel, step 1162 may be performed before step 1140.

[0139] In step 1164 , the upper arm 410 is released from its pressed state. The ninth driving module 520 drives the first nut 570 and the second nut 580 to move away from each other. Then, the pair of moving units 530 move away from each other to release the upper arm 410 from its pressed state.

[0140] The following describes a method for determining a needle insertion location based on image processing of an image obtained by an ultrasound probe 41. This description is based on an example of a superficial vein. This method is disclosed in Korean Patent Application No. 10-2020-0010302 and is provided solely for understanding the present invention. It should be understood that the method described below does not limit the scope of the present invention.

[0141] Figure 19 The process of a method for determining the location of a superficial vein using an ultrasound probe is shown.

[0142] In step 1200, the examinee places the upper arm into a unit (not shown) for pressing the upper arm, and the unit then presses the upper arm. The unit may include an annular belt with a width of 1 cm to 5 cm. The belt can press the upper arm 3 cm to 12 cm above the elbow, preferably 6 cm to 8 cm above the elbow. The pressure applied to the upper arm can be 10 mmHg to 60 mmHg, preferably 20 mmHg to 30 mmHg. Even without pressing the upper arm, the following treatment can be performed.

[0143] Although Figure 19 , the upper arm is shown to be pressed before the ultrasound probe 41 moves, but the upper arm may be pressed after the ultrasound probe 41 moves and starts acquiring image data. If the upper arm is pressed after the ultrasound probe starts acquiring the first image data, the first image data may include image data acquired before and after the upper arm is pressed.

[0144] return Figure 19, in step 1205, after pressing the upper arm, the ultrasound probe 41 is moved to a position spaced apart from the body part by a predetermined distance (eg, 1 mm).

[0145] The ultrasound probe 41 can be moved from the antecubital fossa toward the hand to the middle cubital vein, which is 0 to 8 cm, preferably 1 cm to 3 cm.

[0146] In step 1210, first image data is acquired while the ultrasound probe 41 is moved toward the body part. The first image data is acquired before the ultrasound probe 41 comes into contact with the body part. The first image data may include image data acquired before pressing the upper arm and image data acquired after pressing the upper arm.

[0147] The second image data is obtained while the ultrasound probe 41 is in contact with the body part and pressing the body.According to an alternative aspect of the present invention, the body may be pressed by an alternative means.

[0148] The first image data and the second image data may include image data analyzed by Doppler effect in an acoustic wave signal of a blood flow. According to another embodiment of the present invention, only one of the first image data and the second image data may be used.

[0149] In step 1220, the image data processing module converts the first image data and the second image data into data having a format and size that can be processed by the program code of the present invention. Alternatively, the image data can be processed without conversion.

[0150] In step 1225, the machine learning server analyzes the converted image data using, for example, a convolutional neural network; then, the pixels of the target and avoidance objects are identified.

[0151] In this specification, a target can be a blood vessel, such as a superficial vein or artery; an avoidance object can be an artery, nerve, bone tissue, etc. The definition of a target and avoidance object varies depending on the purpose of the target search. Arteries, nerves, or bone tissue considered avoidance objects when the goal is to find a superficial vein can be classified as targets for another purpose.

[0152] Target and avoidance objects can be displayed using pixels or bounding boxes. Bounding boxes can be generated using center values, boundaries, and distances. Information defining the shape of the target or avoidance object can also be stored. This information can include center values, information about the shape of the target or avoidance object, such as a circle / ellipse, rectangle, etc. This information can also include a radius, the distance between at least two points, the length of a side, etc.

[0153] The present invention using convolutional neural network learning (hereinafter referred to as "CNN learning") is described below.

[0154] To perform CNN learning, data training should be performed in advance. The image data used in CNN learning can be pre-processed by using data augmentation techniques such as random cropping, size conversion, and horizontal flipping of the first and second image data to increase its versatility.

[0155] The machine learning server obtains the feature information of the target and avoidance objects through CNN learning and stores the feature information.

[0156] The characteristic information may include at least one of the following: echo intensity of components identified in the ultrasound image data; distribution pattern of echo components; relative position information of component distribution; height, weight, gender, age, morbidity and information about past and / or present treatment of the person; information obtained by ultrasound probes and other devices during compressions; real-time blood flow information analyzed by the Doppler effect.

[0157] When the skin surface is pressed with an ultrasound probe or other device, unlike arteries, veins decrease in size or expand due to the proximal portion of the pressure, causing congestion. The information obtained by the ultrasound probe or other device during the pressing process can include information about changes in the state of veins, etc.

[0158] The Doppler signal from an artery is strong because the artery pulsates periodically and its blood flow is rapid. Therefore, real-time blood flow information is useful for detecting targets such as superficial veins or arteries.

[0159] Training through CNN learning can be performed based on feature information to display pixels at the locations of target and avoidance objects.

[0160] Learning (training) can be supervised, unsupervised, or semi-supervised.

[0161] In supervised learning, training can be performed using images with the correct answer. If the target and avoidance objects identified in the image by CNN learning differ from the correct answer, learning can be performed, thereby reducing the loss function. The loss function can be BCE loss (binary cross entropy loss), cross entropy loss, etc. The optimizer can be Adam optimizer, RMSprop, stochastic gradient descent, etc. Evaluation can be performed using Dice coefficient loss, etc.

[0162] After identifying the target and / or avoidance objects through machine learning (e.g., CNN learning), step 1230 is performed to determine the final target based on the identified objects.

[0163] Figure 20 A flowchart of the detailed process included in step 1230 is shown.

[0164] In step 1300 , it is determined whether the target to be found has been identified in the previous step. If the target exists, the number of targets is counted in step 1305 .

[0165] If the number of identified targets is 1, then in step 1335, it is determined whether the target boundary intersects with the image boundary. If they do not intersect, step 1310 is executed. Otherwise, in step 1355, the ultrasound probe 41 is moved to another position, such as the center of the image, so that the coordinate value of the target boundary is inside the image. The process then returns to step 1210, and the steps after step 1210 are executed. The patient's body can be moved instead of moving the ultrasound probe 41.

[0166] In step 1310, the diameter of the largest inscribed circle is calculated as one of the size-based information of the target. The largest inscribed circle refers to the largest circle that only includes the target pixel. The size-based information of the object can include the maximum / minimum length of horizontal and vertical lines that can be drawn within the object, the maximum / minimum distance between the object's center of gravity and its boundary, the object's area, and the diameter of the largest inscribed circle.

[0167] In step 1315, the depth of the target is calculated as one of the depth-based information. In step 1320, it is determined whether the target satisfies the first determination criterion and the second determination criterion. The depth-based information includes various information related to the depth.

[0168] If the target is a superficial vein, the first determination criterion is whether the diameter of the largest inscribed circle is greater than or equal to a predetermined value (first value). For example, if the diameter of the largest inscribed circle of the identified target is less than 2 mm, the target may be classified as an avoidance object in step 1375. If the diameter of the largest inscribed circle is greater than or equal to the first value, the first determination criterion is determined to be satisfied. The first value may be determined with reference to a device operating error range.

[0169] If the size-based information relates to horizontal and vertical lines that can be drawn within the object, the first determination criterion may be whether the maximum and / or minimum lengths of the horizontal / vertical lines are greater than or equal to predetermined values. For example, if the minimum length of the horizontal and vertical lines of the identified object is less than 2 mm, the object is classified as an avoidance object. If the number of objects meeting the first determination criterion is not singular, then in step 1370, the object with the maximum value in the sum, product, average, etc. of lengths may be determined as a candidate for the final target.

[0170] If the size-based information is the maximum and minimum distances between the center of gravity and the boundary line, the first determination criterion is whether the distances are greater than or equal to a predetermined value. For example, if the minimum distance between the center of gravity of the target and the boundary line is less than 2 mm, the target may be classified as an avoidance target. If the number of targets meeting the first determination criterion is not singular, then in step 1370, the target with the maximum value in the sum, product, average, etc. of the distances may be determined as a candidate for the final target.

[0171] If the size-based information is the area of the object, the first determination criterion is whether the area is greater than or equal to a predetermined value. For example, if the area of the object is less than 10 mm 2 If the number of targets meeting the first determination criteria is not singular, then in step 1370 the object with the largest area may be determined as a candidate for the final target.

[0172] The second determination criterion is whether the depth of the target is less than or equal to a predetermined value (second value), such as 1 cm. If the depth of the target is greater than the second value, the target may be classified as an avoidance target in step 1375. This is to exclude deep veins, as hemostasis in deep veins is more difficult than that in superficial veins, and to exclude arteries as avoidance targets. Furthermore, if the depth of the target is greater than the second value, the needle may inflict a deep wound upon insertion, and important anatomical structures or nerves may be present in the insertion path. This is why the second determination criterion is necessary. If the depth of the target is less than or equal to the second value, the second determination criterion is determined to be satisfied.

[0173] If the first and second determination criteria are met, it is determined whether another object exists in the straight path between the candidate and the skin surface in step 1325. This is referred to as the third determination criterion. The other object existing in the path may be a nerve of the evasive object.

[0174] If the result of the determination in step 1325 is “No”, the candidate is determined as the final target in step 1330 .

[0175] Alternatively, a target that satisfies at least one of the first determination criterion, the second determination criterion, and the third determination criterion may be determined as the final target.

[0176] An embodiment of identifying multiple targets in step 1225 will be described below.

[0177] If multiple targets are identified, the size of the largest inscribed circle of each target is calculated in step 1360. In step 1365, the sizes of the largest inscribed circles of each target are compared with each other, and then the candidate for the final target is determined according to the fourth determination criterion in step 1370. Other size-based information may be calculated and compared with each other as described above in alternative embodiments of the present invention.

[0178] The fourth determination criterion is as follows. In principle, the target with the largest size of its largest inscribed circle is selected as a candidate for the final target. However, if the difference between the largest size and the second largest size is within a predetermined value (third value), such as 10%, then a target closer to the contact surface of the ultrasound probe, such as the target closest to the center of the contact surface, may be selected as a candidate for the final target.

[0179] Even in embodiments where the first information is other size-based information, the fourth determination criterion can be applied as described above. That is, if the difference in the compared sizes is within a predetermined value, the target closer to the contact surface of the ultrasound probe, such as the target closest to the center of the contact surface, can be selected as the candidate for the final target.

[0180] After a candidate for the final target is selected in step 1370 , step 1315 and subsequent steps are performed, and the candidate is then determined as the final target or the avoidance object.

[0181] If it is determined in step 1300 that the target does not exist, it is determined whether a target search has been performed a predetermined number of times or more. If it is determined that the target search has been performed a predetermined number of times or more, for example, two or three times, a target search is performed on the opposite arm in step 1380. If it is determined that the target search has been performed less than the predetermined number of times, the ultrasound probe 41 is moved to a position different from the previous search, and then first image data is acquired in step 1210.

[0182] After the final target is determined according to the above steps, the coordinate value of the center of the final target is calculated in step 1235. The needle unit 200 is inserted into the center of the final target.

[0183] The center of the final object is defined by the point x that has the maximum distance to any point xi within the largest inscribed circle that includes only the pixels of the final object.

[0184] If the number of times a straight line between the center and the skin surface passes through the blood vessel surface is greater than or equal to a predetermined number, for example, twice, the candidate for the final target may be excluded from the final target.

[0185] According to an optional embodiment of the present invention, a circle with a predetermined diameter (e.g., 1 mm) is drawn for all pixels within the final target. Then, if a predetermined proportion of the pixels within the circle, e.g., 30% to 95%, preferably 50% to 70%, are within the final target, the pixel is determined to be included in the final target. Otherwise, the pixel is excluded from the final target.

[0186] like Figure 22 As shown, pixel 1510 is determined to be a pixel of the final target because all pixels in circle 1520 drawn relative to pixel 1510 are within the final target. Since a predetermined portion of pixels in circle 1511 drawn relative to pixel 1530 are not within the final target, corresponding pixel 1530 is excluded from the final target.

[0187] These processes are used to soften the boundaries of the final object and eliminate the possibility of misclassified pixels existing in the final object. However, these processes are optional and are not required in the present invention.

[0188] Although the present invention has been described with reference to the accompanying drawings, the scope of the present invention is determined by the appended claims and should not be interpreted as being limited by the embodiments described above and / or the accompanying drawings. It should be clearly understood that improvements, changes, and modifications of the present invention disclosed in the claims and obvious to those skilled in the art also fall within the scope of the present invention. Therefore, this description is intended only as an example and is not intended to limit the scope of the embodiments herein in any other way.

Claims

1. A body insertion device, comprising: a needle unit holder configured to support a needle to be inserted into a body; a first pressing unit configured to press a body including a target for insertion of the needle; as well as Body contact material supply unit, Wherein, the body contact material supply unit includes: a roller unit that supplies the body contact material in a roll form; and a second pressing unit that presses the body contact material to come into contact with the body.

2. The body insertion device according to claim 1, wherein The first pressing unit includes: a pressing belt configured to contact the body and press the body; at least one pair of moving units supporting the pressing belt; and a driving module driving the moving unit in a pressing direction and a releasing direction.

3. The body insertion device according to claim 2, wherein The compression belt is arranged so that it does not come into contact with the body before compression is performed.

4. The body insertion device according to claim 2 or 3, wherein: The first pressing unit includes: a guide rod; a first nut, which is moved in a first direction along the guide rod by the driving module; and a second nut, which is moved in a second direction opposite to the first direction along the guide rod; and wherein the first nut and the second nut are connected to the at least one pair of moving units, thereby moving the moving units along the guide rod.

5. The body insertion device according to claim 4, further comprising: A coupler connects the guide rod to an output shaft of the drive module.

6. The body insertion device according to any one of claims 1 to 3, further comprising: an ultrasound probe that detects a body insertion location; and a probe unit that supports the ultrasonic probe and moves the ultrasonic probe in a predetermined direction.

7. The body insertion device according to claim 1, further comprising: A probe unit includes a probe for detecting a body insertion position, a probe holder, and a driving module; wherein the driving module is configured to rotate the probe unit in a left-right direction corresponding to a width direction of the body based on the body pressed by the first pressing unit.

8. The body insertion device according to claim 7, further comprising: A direction changing module converts the driving force of the driving module into a force for rotating the probe unit in the width direction.

9. The body insertion device according to claim 7 or 8, wherein: The probe unit further includes a third pressing unit configured to press the target object.

10. The body insertion device according to claim 9, wherein The probe unit further includes an elastic member connecting the pressing module and the probe holder.

11. The body insertion device according to claim 7 or 8, further comprising: A linear driving module moves the probe unit in an up-down direction.

12. The body insertion device according to claim 1, further comprising: A driving unit for an insertion member to be inserted into the needle unit; wherein the driving unit includes a tube support supporting the insertion member and a driving module driving the support.

13. The body insertion device according to claim 12, wherein: The support includes a toothed holding portion that contacts the insertion member and holds the insertion member.

14. The body insertion device according to claim 13, wherein The toothed retaining portion includes a tooth portion extending in a longitudinal direction of the support of the insertion member.

15. The body insertion device according to any one of claims 12 to 14, wherein The driving unit of the insertion member includes: a screw that receives the driving force from the driving module; a nut that rotates by the rotation of the screw and moves along the screw; and a connecting part that is connected to the nut, moves together with the nut, and is connected to the support member of the insertion member.

16. The body insertion device according to claim 15, wherein The driving unit of the insertion member further includes a guide that guides the connecting portion.

17. The body insertion device according to claim 13 or 14, wherein: The toothed retaining portion is configured to be rotatable about a longitudinal axis of the support of the insertion member.

18. The body insertion device according to claim 1, wherein The roller unit includes a first roller around which the body contact material is wound before use, a second roller around which the body contact material is wound after use, and a driving module that rotates at least one of the first roller and the second roller.

19. The body insertion device according to claim 18, wherein The roller unit further includes at least one conversion roller that is disposed between the first roller and the second roller and converts a supply direction of the body contact material into a predetermined direction.

20. The body insertion device according to claim 19, wherein The conversion roller includes: a first conversion roller, which is arranged on the downstream side of the first roller and converts the direction of the body contact material tape supplied from the first roller; a second conversion roller, which is arranged on the downstream side of the first conversion roller and converts the direction of the body contact material tape supplied from the first conversion roller; a third conversion roller, which is arranged on the downstream side of the second conversion roller and converts the direction of the body contact material tape supplied from the second conversion roller; a fourth conversion roller, which is arranged on the downstream side of the third conversion roller and converts the direction of the body contact material tape supplied from the third conversion roller; and a conversion roller driving module, which drives the first conversion roller to at least one of the fourth conversion rollers.

21. The body insertion device according to claim 20, wherein The body contact material strip is disposed on the body between the second transfer roller and the third transfer roller.

22. A method of measuring blood pressure and pulse rate using a body-insertable device, the method comprising: In the first step, the upper arm is pressed by a first pressing unit of the body insertion device; as well as In a second step, the ultrasound probe of the body insertion device is moved in a predetermined direction in the lower arm by the probe unit of the body insertion device and the blood flow is measured, thereby measuring the blood pressure and the pulse rate, and Wherein, the body insertion device comprises: a needle unit holder configured to support a needle to be inserted into a body; a first pressing unit configured to press a body including a target for insertion of the needle; and Body contact material supply unit, Wherein, the body contact material supply unit includes: a roller unit that supplies the body contact material in a roll form; and a second pressing unit that presses the body contact material to come into contact with the body.

23. The method according to claim 22, further comprising: In step 1-1, the pressure at which the upper arm is pressed is changed.

Images