Bionic leech adsorption type venipuncture robot

Abstract

The bionic leech adsorption type venipuncture robot comprises a puncture robot supporting frame, a puncture robot body, a skin adsorption device, a hoop hemostat, an arm support and a platform. A puncture robot supporting frame is arranged on one side of the platform, the puncture robot is composed of a continuum mechanical arm and a puncture tail end and arranged above the puncture robot supporting frame, the skin adsorption device is fixed to the top of the far end of the continuum mechanical arm, and a hoop hemostat is arranged on the other side of the platform. And the arm support is arranged behind the hoop hemostat in parallel. According to the invention, a novel adsorption puncture blood sampling mode is adopted to realize precise puncture. The device can slightly shake along with the arm of the patient to reduce the fear of the patient and improve the comfort of the patient. Compared with an existing vein blood sampling robot, the vein blood sampling robot has better follow-up performance and safety, and the harm caused by slight shaking of a patient and the risk that medical workers are infected with viruses can be reduced to a certain degree.

Description

Technical Field

[0001] The invention relates to the technical field of medical robots, and in particular to a bionic leech adsorption type venous puncture robot. Background Art

[0002] According to statistics, the number of venipunctures performed worldwide every day is as high as 3.59 million times, which is one of the most commonly used methods in medical examinations. At present, this work is mainly completed manually by medical staff, which shows that a large number of medical personnel and time resources are consumed in this link. Manual puncture is full of uncertainty, and whether it can be carried out smoothly depends on a series of factors such as the patient's physical condition and the experience of medical staff. On the one hand, the patient's physical condition increases the uncertainty of puncture. According to statistics, the failure rate of ordinary adults for the first time for venipuncture is between 20% and 33%, while the vascular puncture location is more difficult to determine for the elderly, obese people, infants, etc., and the first failure rate is increased to 47%-70%. On the other hand, medical staff often have a fear of venipuncture blood collection for patients with infectious diseases, which may lead to a further decrease in the accuracy of puncture. At the same time, the life safety of medical staff during the puncture process is not fully guaranteed. Therefore, mechanized blood collection has become an inevitable trend instead of manual blood collection.

[0003] Currently, existing intravenous puncture robots all use a rigid mechanism to achieve puncture after visual recognition of the puncture point. Although the puncture accuracy is improved, the use of rigid robots for puncture will cause patients to feel fear and oppression and be in a tense state, which reduces the comfort of patients during blood collection compared to manual blood collection. On the other hand, if the patient shakes slightly during the puncture process, if the rigid mechanism cannot be adjusted in time, it will cause scratches and other injuries to the patient. This will not only bring certain physical and psychological pressure to the patient, but may also cause a series of complications and increase the patient's pain. Therefore, it is of great significance to develop a intravenous puncture robot that can reduce the patient's fear to a certain extent, increase the patient's comfort, and meet the errors caused by the patient's slight shaking. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic leech adsorption type venipuncture robot in view of the problems existing in the existing venipuncture robot technology.

[0005] The technical solution adopted to achieve the purpose of the present invention is:

[0006] A bionic leech adsorption type intravenous puncture robot comprises a puncture robot support frame, a puncture robot, a skin adsorption device, a clamp hemostat, an arm support, and a platform. A puncture robot support frame is arranged on one side of the platform, the puncture robot is composed of a continuum mechanical arm and a puncture end and is arranged above the puncture robot support frame, the skin adsorption device is fixed to the top of the distal end of the continuum mechanical arm, a clamp hemostat is arranged on the other side of the platform, and the arm support is arranged in parallel behind the clamp hemostat. The present invention adopts a new adsorption puncture blood collection mode to achieve precise puncture. It can follow the slight shaking of the patient's arm to reduce the patient's fear and increase his comfort. Compared with the current intravenous blood collection robot, it has better follow-up and safety, and can reduce the damage caused by slight shaking of the patient and the risk of medical staff being infected with the virus to a certain extent.

[0007] The puncture robot includes a continuum mechanical arm and a puncture end. The interior of the continuum mechanical arm is an annular hollow structure for pipelines, placement of equipment and sensors, etc. The continuum mechanical arm includes a proximal substrate, substrate 1, substrate 2, substrate 3, substrate 4, substrate 5, distal substrate, drive wire, and aluminum sleeve. The distal substrate has a larger axial size than other substrates so that the puncture end can be placed in its annular hollow interior. The proximal substrate and substrate 1, substrate 1 and substrate 2, substrate 2 and substrate 3, substrate 3 and substrate 4, substrate 4 and substrate 5, substrate 5 and distal substrate are connected in series in sequence through 4 drive wires, and the drive wire and the distal substrate are locked with an aluminum sleeve. Behind the 4 drive wires, a pulley and a motor placed in a drive placement frame are provided, wherein the movable end of the motor is connected to the pulley. When the motor rotates, the drive wire will realize a circular motion around the pulley. Under the tensile action of the driving wire, the continuum mechanical arm can rotate around the z-axis and y-axis, thereby realizing the change of posture and driving the puncture end to the vicinity of the puncture point to achieve macro positioning. The puncture end is composed of a slide rail, a slider, a rotating motor, a pitch axis, an arc guide support seat, an arc guide, an arc guide slider, a clamp support frame, an electric clamp, a needle push plate, a one-dimensional force sensor, and an electric push rod. After the macro positioning of the continuum mechanical arm, the puncture end has its own pitch and deflection degrees of freedom to adjust the needle insertion posture to achieve precise positioning. The slide rail is fixed to the inner annular hollow structure surface of the distal substrate by bolts and forms a sliding connection with the slider. One end of the slider is fixed with a pitch axis driven by a rotating motor by bolts, and an arc guide support seat is arranged above the pitch axis. The arc guide support seat is fixed with an arc guide in the groove above the arc guide support seat. The arc guide slider is arranged on the arc guide. The arc guide slider is fixed to the clamp support frame by bolts and an electric clamp is fixed on the clamp support frame. A push pin plate is fixedly arranged on the other side of the sliding block by bolts, the one-dimensional force sensor is arranged in parallel in front of the push pin plate and is connected by threads, and the other end of the one-dimensional force sensor is connected to the movable end of the electric push rod by threads.

[0008] The skin adsorption device comprises a silicone sheet, an air pump, an external lip ring with an internal annular hollow structure, and an air pump mounting frame. The external lip ring and the air pump mounting frame have an annular hollow structure inside, which can be used to place the puncture end when no puncture is performed to avoid scratching the skin. The air pump is arranged in the internal groove of the air pump mounting frame, and the air pump is connected to the external lip ring. When the air pump adsorbs the skin around the puncture point, it draws air to form a negative pressure to achieve the adsorption effect. The silicone sheet is regularly arranged inside the external lip ring to increase the friction between the contact and the skin.

[0009] The bionic leech suction type intravenous puncture robot provides a new blood collection mode of suction first and then puncture. Before blood collection, the puncture end is always in an unextended state and located in the inner annular hollow structure of the continuum mechanical arm and the skin suction device. After the puncture point is located, the skin suction device and the puncture end are driven to the vicinity of the puncture point through the macro positioning of the continuum mechanical arm. After the skin suction device suctions and fixes the skin around the puncture point, the puncture end located in the inner annular hollow structure of the continuum mechanical arm and the skin suction device is fine-tuned for puncture posture and then extended for puncture.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] First, the present invention creates a new type of venous puncture mode, which punctures and draws blood from the puncture point after adsorbing the skin around the puncture point, thereby improving the accuracy of puncture to a certain extent. Secondly, the puncture robot of the present invention adopts a continuum mechanical arm, which has high flexibility compared with the traditional rigid mechanical arm. The continuum mechanical arm of the present invention is used in conjunction with the skin adsorption device to achieve a certain follow-up effect to meet the patient's slight shaking during the blood collection process. However, the puncture mode of the traditional venous blood collection robot, which directly punctures and draws blood from the puncture point through a rigid mechanism after visual positioning, cannot meet the patient's slight arm shaking caused by fear during the blood collection process, and the error caused by the patient's slight shaking will further lead to the wrong puncture position or even scratch the patient. Therefore, this innovation can improve the puncture effect and reduce the possibility of puncture failure. Finally, compared with the traditional blood collection robot, the follow-up effect of the present invention can alleviate the patient's fear during the blood collection process to a certain extent, increase the patient's comfort during the blood collection process, and reduce the pain during the blood collection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 Shown is the overall schematic diagram of the bionic leech-adsorption venipuncture robot.

[0013] Figure 2 Shown is a schematic diagram of a continuum robotic arm.

[0014] Figure 3 Schematic diagram of the puncture tip.

[0015] Figure 4 Shown is a schematic diagram of the skin adsorption device.

[0016] Figure 5 Shown is a schematic diagram of a clamp hemostat.

[0017] Figure numerals: 1, puncture robot support frame; 2, puncture robot; 21, continuum robot arm; 211, proximal base; 212, base one; 213, base two; 214, base three; 215, base four; 216, base five; 217, distal base; 218, aluminum sleeve; 219, drive wire; 2110, drive placement frame; 2111, pulley; 2112, motor; 22, puncture end; 221, slide rail; 222, slider; 223, rotary motor; 224, pitch axis; 225, arc guide Rail support seat; 226, arc guide rail; 227, arc guide rail slider; 228, clamp support frame; 229, electric clamp; 2210, push pin plate; 2211, one-dimensional force sensor; 2212, electric push rod; 3, skin adsorption device; 31, silicone sheet; 32, air pump; 33, external lip ring; 34, air pump placement frame; 4, clamp hemostat; 41, upper top sleeve; 411, annular groove; 42, lower top sleeve; 421, air inlet; 422, air outlet; 43, air bag; 44 air bag air pump; 5, arm support; 6, platform DETAILED DESCRIPTION

[0018] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] like Figure 1As shown, a bionic leech adsorption type venous puncture robot of the present invention is characterized in that it includes a puncture robot support frame 1, a puncture robot 2, a skin adsorption device 3, a clamp hemostat 4, an arm support 5, and a platform 6. The puncture robot support frame 1 is arranged on one side of the platform 6, the puncture robot 2 is composed of a continuum mechanical arm 21 and a puncture end 22 and is arranged above the puncture robot support frame 1, the skin adsorption device 3 is fixed to the top of the distal end of the continuum mechanical arm 21, and the clamp hemostat 4 is arranged on the other side of the platform 6, and the arm support 5 is arranged in parallel behind the clamp hemostat 4. The present invention adopts a new adsorption puncture blood collection mode to achieve precise puncture. The patient extends his arm into the clamp hemostat 4. Under the action of the air pump 44, the airbag 43 is inflated and bulged to fix the patient's upper arm and expose the venous blood vessels. Subsequently, through the cooperation of infrared light detection and ultrasonic probe, the position, depth and other information of the venous blood vessels are detected, and the best puncture point is selected. The puncture robot 2 moves the skin adsorption device 3 and the puncture end 22 to the vicinity of the puncture position according to the collected information. The skin adsorption device 3 adsorbs the skin around the puncture point. After the adsorption is completed, the puncture end 22 adjusts the puncture posture and then extends to the puncture point to perform blood sampling. Since the device uses a continuum robot arm 21 with high flexibility, after adsorption and positioning around the puncture point, when the patient's arm shakes slightly, the continuum robot arm 21 will follow the arm movement to reduce the error caused by shaking during puncture. Therefore, the present invention has higher comfort and safety, is suitable for clinical application in hospitals, and aims to reduce the workload of medical staff and strengthen the protection of medical staff and patients.

[0020] Furthermore, if Figure 2 , Figure 3As shown, the puncture robot 2 of the present invention includes a continuum robot arm 21 and a puncture end 22. The continuum robot arm has an annular hollow structure inside which pipelines, equipment and sensors can be placed, and macro positioning of the puncture point can be achieved under the tension of the driving wire. The puncture end 22 is designed to perform puncture and blood collection tasks, and has pitch and yaw degrees of freedom, and can fine-tune the needle insertion posture to achieve precise puncture. The continuum robot arm 21 comprises a proximal substrate 211, a substrate 1 212, a substrate 2 213, a substrate 3 214, a substrate 4 215, a substrate 5 216, and a distal substrate 217 with a larger axial dimension. The proximal substrate 211 and substrate 1 212, substrate 1 212 and substrate 2 213, substrate 2 213 and substrate 3 214, substrate 3 214 and substrate 4 215, substrate 4 215 and substrate 5 216, and substrate 5 216 and distal substrate 217 are sequentially connected in series through four steel wires 219, and an aluminum sleeve 218 is used to lock the driving wire 219 and the distal substrate 217. Behind the four driving wires 219, a pulley 2111 and a motor 2112 placed in a driving mounting frame 2110 are provided, wherein the movable end of the motor 2112 is connected to the pulley 2111. When the motor 2112 rotates, the driving wire 219 will realize the looping around the pulley 2111. The driving part of the continuum robot arm 21 is placed at the distal end, which has the advantages of compact structure, strong adaptability, and easy adjustment, and can quickly drive the continuum robot arm 21 to the vicinity of the identified puncture point. The puncture end 22 is fixedly arranged in the annular hollow interior of the distal base 217. The puncture end 22 is composed of a slide rail 221, a slider 222, a rotating motor 223, a pitch axis 224, an arc guide support seat 225, an arc guide rail 226, an arc guide slider 227, a clamp support frame 228, an electric clamp 229, a push pin plate 2210, a one-dimensional force sensor 2211, and an electric push rod 2212. The slide rail 221 is fixed to the inner annular hollow structure surface of the distal base 217 by bolts and forms a sliding connection with the slider 222. A pitch axis 224 driven by a rotary motor 223 is fixed to one end of the slider 222 by bolts. An arc guide rail support seat 225 is arranged above the pitch axis 224. An arc guide rail 226 is fixed to the groove above the arc guide rail support seat. An arc guide rail slider 227 is arranged on the arc guide rail 226. The arc guide rail slider 227 is fixed to the clamping claw support frame 228 by bolts, and an electric clamping claw 229 is fixed to the clamping claw support frame 228. A push pin plate 2210 is fixed to the other side of the slider 222 by bolts. The one-dimensional force sensor 2211 is arranged parallel to the front of the push pin plate 2210 and is connected by threads. The other end of the one-dimensional force sensor 2211 is connected to the movable end of the electric push rod 2212 by threads. During the puncture process, the pitch of the puncture end 22 can adjust the puncture angle and puncture speed according to different patients.Elderly patients (puncture angle of about 45°, fast needle insertion speed); elderly patients with chronic diseases (puncture angle less than 40°, slow needle insertion speed); young and middle-aged patients (puncture angle 25°, moderate needle insertion speed). During the puncture process, large force changes will occur when penetrating and exiting the blood vessel wall. These changes are fed back by the one-dimensional force sensor 228 to determine the puncture stage. When the force feedback detects that the proximal vein wall has been penetrated, the needle picking action is performed, the puncture needle angle is reduced and the needle continues to move 3-5mm. Finally, the feedback value of the one-dimensional force sensor 228 is used to determine whether the needle tip has reached the correct position.

[0021] Furthermore, the present invention is provided with a skin adsorption device 3 which can move to the puncture point and adsorb the skin around the puncture point to ensure that the puncture robot 2 and the patient's arm are fixed, and can play a certain follow-up effect to reduce errors when the patient shakes slightly. Figure 4 As shown, the skin adsorption device 3 includes a silicone sheet 31, an air pump 32, an external lip ring 33 with an internal annular hollow structure, and an air pump mounting frame 34. The internal annular hollow structure of the external lip ring 33 and the air pump mounting frame 34 can facilitate the placement of the puncture end 22 when no puncture is performed to avoid scratching the skin. The internal arrangement of the external lip ring 33 is provided with a silicone sheet 31. The external lip ring 33 is connected to the air pump 32, and the air pump 32 is arranged in the internal groove of the air pump mounting frame 34. Through the action of the air pump 32, a negative pressure is formed to achieve an adsorption effect with the skin around the puncture point. The silicone sheet 31 increases friction to form an adsorption and fixing effect, providing a guarantee for the follow-up function.

[0022] Furthermore, the present invention is provided with a clamp hemostat 4 to achieve the blocking and release of blood. Figure 5 As shown, the clamp hemostat 4 includes an upper top sleeve 41, a lower top sleeve 42, an airbag 43, and an airbag air pump 44. The lower top sleeve 42 is fixed to the left side of the platform 6 and is fixed to the upper upper top sleeve 41 by bolts. Inside the upper and lower top sleeves, an annular groove 411 is provided, and the airbag 43 is fixed in the annular groove 411. At the same time, one side of the lower top sleeve 42 is equipped with an air inlet 421 and an air outlet 422, which are respectively connected to the airbag 43 and the airbag air pump 44. When the patient's arm enters the clamp hemostat 4, the airbag air pump 44 inflates the airbag 43 to fix the upper arm and stop the blood flow to make the punctured veins stand out. After the blood collection is completed, the air pump 44 inhales, and the airbag 43 relaxes and the arm is taken out to complete the blood collection.

[0023] In summary, the bionic leech adsorption type venous puncture robot of the present invention can further improve the comfort and safety of blood collection, and proposes a new adsorption puncture mode compared with the direct puncture of the existing blood collection robot. The basic working steps are as follows: first, the patient puts the cotton swab disinfected arm into the clamp hemostat, and the forearm is placed on the armrest to keep it relaxed. Then, the airbag of the clamp hemostat begins to inflate and swell under the action of the airbag air pump to fix the upper arm and block the blood so that the vein located in the cubital fossa is fully swollen for the next step of detection. Then, infrared light detection and ultrasonic probe are used to complete the detection of information such as the position and depth of the venous blood vessels to select the best puncture point. The puncture robot realizes the winding and loosening of the drive rope on the pulley through the rotation of the motor according to the collected puncture position to control the continuum robot arm to drive the skin adsorption device to reach the vicinity of the puncture point. After reaching the vicinity of the puncture point, the outer lip ring first contacts the skin, forms a negative pressure under the action of the air pump, and the silicone sheet plays a certain role in increasing friction, and the adsorption effect is equivalent to a bridge connecting the patient's arm and the continuum robot arm. After fixing the skin near the puncture point, the patient's arm shakes slightly. The high compliance of the continuum robot arm is used to achieve a following effect to reduce the error. The deflection angle and pitch angle of the needle are adjusted according to the patient's age and the direction of the detected blood vessels. Under the action of the electric push rod, the slider continues to move forward along the guide rail to perform needle puncture. During the puncture process, the puncture stage is determined according to the feedback information of the one-dimensional force sensor and the needle picking operation is performed after penetrating the proximal vein wall. The puncture needle angle is reduced and continues to move forward 3-5mm. Finally, the feedback value of the one-dimensional force sensor is used to determine whether the needle tip has reached the correct position. After the puncture is completed, the needle is withdrawn. After the needle is withdrawn, the skin adsorption device no longer has adsorption capacity under the action of the air pump and returns to the initial position driven by the continuum robot arm. After the puncture, the puncture position is disinfected, and the air bag in the clamp hemostat is kept in a relaxed state. The arm is withdrawn to complete the blood collection. The new adsorption puncture mode of the present invention can have a certain following effect, which will improve the comfort of the patient. In addition, during the puncture process, the error caused by slight shaking of the arm can be reduced, and the pain caused by multiple punctures due to errors can be avoided. The robot can also reduce the burden on staff and avoid the dangers of direct contact between medical staff and virus-carrying patients.

[0024] The above description is only a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A bionic leech-adsorption venipuncture robot, characterized in that: It includes a puncture robot support frame, a puncture robot, a skin adsorption device, a clamp hemostat, an arm support and a platform; A puncture robot support frame is arranged on one side of the platform; the puncture robot consists of a continuum robotic arm and a puncture end and is arranged above the puncture robot support frame; the skin adsorption device is fixed to the top of the distal end of the continuum robotic arm; a clamp hemostat is arranged on the other side of the platform, and the arm support is arranged parallel to the rear of the clamp hemostat.

2. The bionic leech-attached venipuncture robot according to claim 1, characterized in that: The puncture robot comprises a continuum mechanical arm and a puncture end; the interior of the continuum mechanical arm is a ring-shaped hollow structure for piping, placement of equipment and sensors; The continuum mechanical arm comprises a proximal substrate, a substrate 1, a substrate 2, a substrate 3, a substrate 4, a substrate 5, a distal substrate, a driving wire, and an aluminum sleeve; The proximal substrate and substrate 1, substrate 1 and substrate 2, substrate 2 and substrate 3, substrate 3 and substrate 4, substrate 4 and substrate 5, substrate 5 and distal substrate are sequentially connected in series through four driving wires, and the driving wires and the distal substrates are locked with aluminum sleeves; Behind the four driving wires, a pulley and a motor are placed in a driving mounting frame, wherein the movable end of the motor is connected to the pulley; when the motor rotates, the driving wire will realize a circular motion around the pulley; under the stretching action of the driving wire, the continuum robot arm realizes rotation around the z-axis and the y-axis, thereby realizing the change of posture and driving the puncture end to the vicinity of the puncture point to achieve macro positioning; The puncture end is composed of a slide rail, a slider, a rotating motor, a pitch axis, an arc guide support seat, an arc guide rail, an arc guide slider, a clamp support frame, an electric clamp, a needle push plate, a one-dimensional force sensor, and an electric push rod; After the puncture end is macro-positioned based on the continuum robotic arm, it has the pitch and deflection freedom to adjust the needle insertion posture to achieve precise positioning; the slide rail is fixed to the inner annular hollow structure surface of the distal base by bolts and forms a sliding connection with the slider; one end of the slider is fixed with a pitch axis driven by a rotating motor by bolts; an arc-shaped guide rail support seat is arranged above the pitch axis; an arc-shaped guide rail is fixed to the groove above the arc-shaped guide rail support seat; an arc-shaped guide rail slider is arranged on the arc-shaped guide rail; the arc-shaped guide rail slider is fixed to the clamp support frame by bolts and an electric clamp is fixed on the clamp support frame; a push pin plate is fixed on the other side of the slider by bolts, the one-dimensional force sensor is arranged parallel to the front of the push pin plate and is connected by threads, and the other end of the one-dimensional force sensor is connected to the movable end of the electric push rod by threads.

3. The bionic leech-attached venipuncture robot according to claim 1, characterized in that: The skin adsorption device comprises a silicone sheet, an air pump, an external lip ring with an internal annular hollow structure, and an air pump mounting frame; the external lip ring and the air pump mounting frame are internally annular hollow structures; the air pump is arranged in an internal groove of the air pump mounting frame, and the air pump is connected to the external lip ring. When adsorbing the skin around the puncture point, the air pump draws air to form negative pressure to achieve the adsorption effect, and the silicone sheet is regularly arranged inside the external lip ring to increase the friction between the contact and the skin.

4. The bionic leech-attached venipuncture robot according to claim 1, characterized in that: Before blood collection, the puncture end is always in an unextended state and is located in the internal annular hollow structure of the continuum robotic arm and the skin adsorption device. After the puncture point is positioned, the skin adsorption device and the puncture end are moved to the vicinity of the puncture point through macro-positioning by the continuum robotic arm. After the skin adsorption device adsorbs and fixes the skin around the puncture point, the puncture end located in the internal annular hollow structure of the continuum robotic arm and the skin adsorption device is extended for puncture after the puncture posture is fine-tuned.

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