A bionic leech-adsorption venipuncture robot

Abstract

The present invention discloses a bionic leech adsorption type intravenous puncture robot, comprising 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 provided on one side of the platform, the puncture robot is composed 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 provided on the other side of the platform, and the arm support is arranged parallel to the rear of 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.

Description

Technical Field

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

[0002] According to statistics, 3.59 million venipunctures are performed worldwide every day, making it one of the most commonly used medical examination methods. Currently, this procedure is primarily performed manually by medical staff, which consumes a significant amount of medical personnel and time. Manual puncture is fraught with uncertainty, and its success depends on a range of factors, including the patient's physical condition and the medical staff's experience. On the one hand, the patient's physical condition increases the uncertainty of puncture. According to statistics, the failure rate for first-time venipunctures in adults ranges from 20% to 33%. For the elderly, obese individuals, and infants, where puncture sites are more difficult to determine, the failure rate rises to 47% to 70%. On the other hand, medical staff often harbor fear when performing venipuncture on patients with infectious diseases, which can further reduce puncture accuracy. Furthermore, the safety of medical staff during the puncture process is not fully guaranteed. Therefore, the trend towards mechanized blood collection, replacing manual blood collection, is inevitable.

[0003] Currently available venipuncture robots all use a rigid mechanism to perform punctures after visually identifying the puncture point. Although puncture accuracy is improved, using a rigid robot for puncture can cause fear and stress in patients, putting them in a tense state and reducing their comfort compared to manual blood collection. Furthermore, if the patient experiences even slight movement during the puncture, the rigid mechanism can cause scratches and other injuries if it fails to adjust in time. This not only puts a certain amount of physical and psychological stress on the patient, but can also lead to a series of complications and increased pain. Therefore, it is crucial to develop a venipuncture robot that can, to a certain extent, alleviate patients' fear, increase their comfort, and accommodate the errors caused by slight movement. Summary of the Invention

[0004] The purpose of the present invention is to provide a bionic leech-absorbing venipuncture robot to address 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 provided on one side of the platform. The puncture robot is composed 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 provided on the other side of the platform. The arm support is arranged parallel to the rear of 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 robotic arm and a puncture terminal. The interior of the continuum robotic arm is an annular hollow structure that can accommodate pipelines, equipment, sensors, etc. The continuum robotic arm includes a proximal base, base 1, base 2, base 3, base 4, base 5, a distal base, a drive wire, and an aluminum sleeve. The distal base has a larger axial dimension than the other bases to facilitate the placement of the puncture terminal within its annular hollow interior. The proximal base and base 1, base 1 and base 2, base 2 and base 3, base 3 and base 4, base 4 and base 5, and base 5 and the distal base are connected in series via four drive wires, and the drive wires and the distal base are locked with aluminum sleeves. Behind the four drive wires, a pulley and a motor are placed in a drive mounting frame, wherein the movable end of the motor is connected to the pulley. When the motor rotates, the drive wire will achieve a circular motion around the pulley. Under the tensile action of the drive wire, the continuum robotic arm can rotate around the z-axis and y-axis, thereby achieving a change in posture and driving the puncture terminal to the vicinity of the puncture point to achieve macro positioning. The puncture terminal is composed of a slide rail, a slider, a rotary motor, a pitch axis, an arc-shaped guide rail support seat, an arc-shaped guide rail, an arc-shaped guide rail 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 terminal is macro-positioned based on the continuum robotic arm, it has its own pitch and deflection degrees of freedom, which can adjust the needle insertion posture to achieve precise positioning. The slide rail is fixed to the annular hollow structure surface inside 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 rotary motor by bolts. A curved guide rail support seat is provided above the pitch axis. A curved guide rail is fixed in a groove above the curved guide rail support seat. A curved guide rail slider is provided on the curved guide rail. The curved 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.

[0008] The skin adsorption device comprises a silicone sheet, an air pump, an outer lip ring with an internal annular hollow structure, and an air pump mounting bracket. The hollow internal structure of the outer lip ring and the air pump mounting bracket facilitates placement of the puncture tip when not in use, avoiding scratching the skin. The air pump is mounted within a groove within the air pump mounting bracket and connected to the outer lip ring. When adsorbing the skin around the puncture point, the air pump draws air, creating negative pressure and achieving the adsorption effect. The silicone sheet is regularly arranged within the outer lip ring to increase friction with the skin.

[0009] The bionic leech-like venous puncture robot provides a novel blood collection method that involves suction first, followed by puncture. Prior to blood collection, the puncture tip remains unextended within the annular hollow structure within the continuum robotic arm and skin suction device. After the puncture point is located, the continuum robotic arm performs macroscopic positioning, moving the skin suction device and puncture tip to the vicinity of the puncture point. The skin suction device secures the skin around the puncture point by suction, and the puncture tip, located within the annular hollow structure within the continuum robotic arm and skin suction device, undergoes fine-tuning of its puncture posture before extending and performing the puncture.

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

[0011] First, the present invention creates a new venous puncture mode, which absorbs the skin around the puncture point before puncturing and drawing blood, thereby improving the accuracy of puncture to a certain extent. Secondly, the puncture robot of the present invention uses a continuum robotic arm, which has high flexibility compared to traditional rigid robotic arms. The continuum robotic arm of the present invention, used in conjunction with the skin adsorption device, can achieve a certain follow-up effect to meet the patient's slight shaking during the blood collection process. The puncture mode of the traditional venous blood collection robot, which directly punctures 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. 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 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, curved guide rail; 227, curved 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 mounting bracket; 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 with reference to 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 intended to limit the present invention.

[0019] like Figure 1As shown, the present invention is a bionic leech-absorbing venous puncture robot, characterized by comprising a puncture robot support frame 1, a puncture robot 2, a skin absorption device 3, a clamp hemostat 4, an arm support 5, and a platform 6. The puncture robot support frame 1 is provided on one side of the platform 6. The puncture robot 2 is composed of a continuum robotic arm 21 and a puncture end 22 and is arranged above the puncture robot support frame 1. The skin absorption device 3 is fixed to the top of the distal end of the continuum robotic arm 21. The clamp hemostat 4 is provided on the other side of the platform 6. The arm support 5 is arranged parallel to the rear of the clamp hemostat 4. The present invention adopts a new absorption 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 to complete the fixation of the patient's upper arm and expose the vein. Subsequently, through the cooperation of infrared light detection and ultrasonic probe, the position, depth and other information of the vein are detected, and the optimal puncture point is selected. Based on the collected information, the puncture robot 2 moves the skin suction device 3 and puncture tip 22 to the vicinity of the puncture site. The skin suction device 3 applies suction to the skin around the puncture point. Once suction is complete, the puncture tip 22 adjusts its puncture posture and extends to the puncture site for blood collection. Because the device utilizes a highly flexible continuum robotic arm 21, after positioning itself around the puncture point, the continuum robotic arm 21 follows the patient's arm's movement even when the patient's arm is slightly shaken, thereby reducing errors caused by such movement during the puncture. Therefore, the present invention offers enhanced comfort and safety, making it suitable for clinical use in hospitals, aiming to reduce the workload of medical staff and enhance protection for both medical staff and patients.

[0020] Furthermore, if Figure 2 、 Figure 3As shown, the puncture robot 2 of the present invention comprises a continuum robotic arm 21 and a puncture tip 22. The continuum robotic arm has a hollow, annular structure within it, which accommodates piping, equipment, and sensors. Furthermore, the puncture tip 22, under the tension of the drive wire, enables macroscopic positioning of the puncture point. Designed for performing blood puncture tasks, the puncture tip 22 has pitch and yaw degrees of freedom, enabling fine-tuning of the needle insertion posture for precise puncture. The continuum robotic arm 21 includes a proximal base 211, a base 1 212, a base 2 213, a base 3 214, a base 4 215, a base 5 216, and a distal base 217 having a larger axial dimension. The proximal base 211 and base 1 212, base 1 212 and base 2 213, base 2 213 and base 3 214, base 3 214 and base 4 215, base 4 215 and base 5 216, and base 5 216 and distal base 217 are sequentially connected in series via four steel wires 219. Aluminum sleeves 218 are used to lock the drive wires 219 and distal base 217. Behind the four drive wires 219 are a pulley 2111 and a motor 2112 placed in a drive mounting frame 2110. The movable end of the motor 2112 is connected to the pulley 2111. When the motor 2112 rotates, the drive wire 219 will be looped 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. It can quickly drive the continuum robot arm 21 to the vicinity of the identified puncture point. The puncture terminal 22 is fixedly provided in the hollow annular interior of the distal base 217. The puncture terminal 22 is composed of a slide rail 221, a slider 222, a rotating motor 223, a pitch axis 224, an arc guide rail support seat 225, an arc guide rail 226, an arc guide rail 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. One end of the slider 222 is fixed with a pitch axis 224 driven by a rotary motor 223 by bolts. Above the pitch axis 224 is an arc guide rail support seat 225. An arc guide rail 226 is fixed in a groove above the arc guide rail support seat. An arc guide rail slider 227 is provided 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 tip 22 can be adjusted to 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 be generated 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 it 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 bracket 34. The annular hollow structure inside the external lip ring 33 and the air pump mounting bracket 34 facilitates the placement of the puncture tip 22 when not puncturing to avoid scratching the skin. The internal structure of the external lip ring 33 is arranged with silicone sheets 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 bracket 34. The air pump 32 generates negative pressure to achieve an adsorption effect on 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 43 is inflated by the airbag air pump 44 to fix the upper arm and stop the blood flow to make the punctured vein prominent. After the blood collection is completed, the air pump 44 inhales air, the airbag 43 relaxes, and the arm is taken out to complete the blood collection.

[0023] In summary, the bionic leech-based venipuncture robot of the present invention can further improve the comfort and safety of blood collection and presents a novel suction puncture method compared to existing direct puncture methods. The basic working steps are as follows: First, the patient places their cotton-swab-disinfected arm into the hemostatic clamp, with the forearm resting on the armrest and remaining relaxed. The hemostatic clamp's airbag then inflates under the action of an air pump, securing the arm and blocking blood flow, allowing the antecubital vein to fully swell for further testing. Infrared light and an ultrasonic probe are then used to detect the location and depth of the vein and select the optimal puncture point. Based on the acquired puncture point, the puncture robot uses a motor to wind and unwind the drive rope around the pulley, controlling the continuum robotic arm to drive the skin suction device to the vicinity of the puncture point. Upon reaching the puncture point, the outer lip first contacts the skin, creating negative pressure under the action of the air pump. The silicone sheet also increases friction, achieving suction and acting as a bridge connecting the patient's arm and the continuum robotic arm. After securing the skin near the puncture site, the patient's arm experiences slight movement. The highly compliant continuum robotic arm achieves a tracking effect to reduce errors. The needle's deflection and pitch angles are adjusted based on the patient's age and the detected vascular orientation. Driven by an electric push rod, the slider continuously advances along the guide rail, performing the needle insertion and puncture. During the puncture process, feedback from a one-dimensional force sensor determines the puncture stage. After penetrating the proximal vein wall, a needle lift is performed, reducing the needle angle and advancing it for another 3-5 mm. Finally, feedback from the one-dimensional force sensor determines whether the needle tip has reached the correct position. After the puncture is complete, the needle is withdrawn. The air pump activates the skin suction device, which then returns to its initial position, driven by the continuum robotic arm. After the puncture, the puncture site is disinfected, and the airbag in the hemostat remains relaxed. The arm is withdrawn to complete blood collection. This novel suction puncture mode of the present invention offers a certain degree of tracking, improving patient comfort. Furthermore, during the puncture process, it reduces errors caused by slight arm movement and avoids the pain associated with multiple punctures due to errors. 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 considered within the scope of protection of the present invention.

Claims

1. A bionic leech-adsorption venipuncture robot, characterized by: 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 provided on one side of the platform; the puncture robot is composed 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 provided on the other side of the platform, and the arm support is arranged parallel to the rear of the clamp hemostat; The puncture robot comprises a continuum robotic arm and a puncture end; the interior of the continuum robotic arm is a ring-shaped hollow structure for piping, equipment and sensors; The continuum robotic arm includes a proximal base, a base 1, a base 2, a base 3, a base 4, a base 5, a distal base, a driving wire, and an aluminum sleeve; The proximal base and base 1, base 1 and base 2, base 2 and base 3, base 3 and base 4, base 4 and base 5, and base 5 and the distal base are sequentially connected in series through four driving wires, and the driving wires and the distal base are locked with aluminum sleeves; Behind the four drive wires, there are pulleys and motors placed in a drive mounting frame, wherein the movable end of the motor is connected to the pulleys; when the motor rotates, the drive wires will achieve a circular motion around the pulleys; under the tension of the drive wires, the continuum robot arm can rotate around the z-axis and y-axis, thereby achieving a change in posture and driving the puncture tip to the vicinity of the puncture point to achieve macro positioning; The puncture end is composed of a slide rail, a slider, a rotary motor, a pitch axis, an arc guide rail support seat, an arc guide rail, an arc guide rail slider, a clamping claw support frame, an electric clamping claw, 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, and the slide rail is fixed to the internal 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 provided above the pitch axis; an arc-shaped guide rail is fixed in the groove above the arc-shaped guide rail support seat; an arc-shaped guide rail slider is provided 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, and the one-dimensional force sensor is arranged parallel to the front of the push pin plate and 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.

2. The bionic leech-absorbing venipuncture robot according to claim 1, characterized in that: The skin adsorption device includes 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; 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 adsorbing the skin around the puncture point, the air pump 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.

3. The bionic leech-absorbing 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 the macro-positioning of 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 fine-tuned for the puncture posture and then extended for puncture.

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