Artery indwelling catheter pulling-out device

Abstract

The arterial indwelling catheter pulling-out device comprises an operation table, a baffle, a mechanical arm, a mounting base, an electric clamping jaw, a first vision module, a first distance measuring sensor and a controller. The two ends of the baffle are connected with the operation table, and a channel for limbs to stretch into is arranged between the baffle and the operation table. One end of the mechanical arm is fixedly connected with the baffle plate; the mounting seat is fixedly connected with the other end of the mechanical arm; a first clamping finger and a second clamping finger are arranged on the electric clamping jaw, and the electric clamping jaw can drive the first clamping finger and the second clamping finger to get close to each other or get away from each other; the first visual module and the electric clamping jaw have the same orientation; the first distance measuring sensor and the electric clamping jaw have the same orientation; the electric clamping jaw, the first visual module and the first distance measuring sensor are all electrically connected with the controller and fixedly connected with the mounting base. The arterial indwelling catheter is beneficial to saving time of medical staff, meanwhile, after the arterial indwelling catheter is pulled out, a puncture point is not prone to bleeding, and the risk of cross infection is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an arterial catheter removal device. Background Art

[0002] Arterial puncture and catheterization is a very common clinical technique. It can be used for continuous monitoring of arterial blood pressure during anesthesia or surgery and for critically ill patients. It can also be used for special examinations or treatments, such as blood gas analysis, selective angiography and treatment, cardiac catheterization, hemodialysis treatment, etc. After the use of the arterial catheter, it will be removed depending on the specific situation. The puncture point needs to be compressed for no less than 5 minutes after the arterial catheter is removed. At present, the removal of arterial catheters and compression of puncture points are mainly manual operations. In clinical work, manual removal of arterial catheters is a waste of time. Due to the differences in strength and force points of different operators, the puncture point of the arterial catheter is prone to bleeding when it is manually removed. The puncture point is prone to congestion after manual compression, and the risk of cross-infection during manual operation is also relatively high. Summary of the invention

[0003] In order to solve the deficiencies of the prior art, the present invention provides an arterial catheter removal device, and the present invention aims to solve one of the technical problems in the prior art at least to a certain extent.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An arterial catheter removal device comprises an operating table, a baffle, a mechanical arm, a mounting seat, an electric clamp, a first visual module, a first distance measuring sensor and a controller; the two ends of the baffle are connected to the operating table, and a channel for limbs to be inserted is provided between the baffle and the operating table; the mechanical arm is located in the channel and one end is fixedly connected to the baffle; the mounting seat is fixedly connected to the other end of the mechanical arm; the electric clamp is provided with a first clamping finger and a second clamping finger, and the electric clamp can drive the first clamping finger and the second clamping finger to approach or move away from each other; the first clamping finger is provided with a V-shaped groove, and the structure of the second clamping finger is mirror-symmetrical with the first clamping finger; the first visual module and the electric clamp have the same orientation; the first distance measuring sensor and the electric clamp have the same orientation; the electric clamp, the first visual module, and the first distance measuring sensor are all electrically connected to the controller and fixedly connected to the mounting seat.

[0006] In some embodiments, the arterial catheter removal device also includes a first fixing strap and a second fixing strap, one end of the first fixing strap and the second fixing strap are fixedly connected to the operating table, the other ends of the first fixing strap and the second fixing strap are connected to the operating table via Velcro, and the baffle is located between the first fixing strap and the second fixing strap.

[0007] In some embodiments, the mounting base includes a bottom shell and an upper cover that are interlocked, the electric clamp is fixed on the bottom shell, and the first vision module and the first ranging sensor are both arranged on the upper cover.

[0008] In some embodiments, the arterial catheter removal device also includes a hemostasis component, a second visual module and a second ranging sensor; the hemostasis component and the electric clamp are respectively located at both ends of the mounting seat, and the end of the hemostasis component away from the electric clamp has a cotton ball; the hemostasis component is connected to the bottom shell, the second visual module and the second ranging sensor are both arranged on the upper cover, the direction of the second visual module and the second ranging sensor are opposite to that of the first visual module and are both electrically connected to the controller.

[0009] In some embodiments, the hemostasis assembly also includes a bracket, a guide rod, a slider, a compression spring and an arc plate; the bracket is fixedly connected to the bottom shell, and one end of the guide rod is fixedly connected to the bracket; the slider is connected to the guide rod, and the slider can slide along the length direction of the guide rod; the compression spring is located between the bracket and the slider, and the compression spring is used to drive the slider to move in a direction away from the electric clamp; a connecting portion is provided on the convex surface of the arc plate, and the connecting portion is connected to the slider, and the cotton ball is provided on the concave surface of the arc plate.

[0010] In some embodiments, the hemostasis assembly further includes a pressure sensor located between the support and the compression spring, one end of the compression spring adjacent to the support contacts the pressure sensor, and the pressure sensor is electrically connected to the controller.

[0011] In some embodiments, the hemostasis assembly further includes a magnetic member disposed on the slider and an iron sheet embedded in the connecting portion, and the magnetic force between the magnetic member and the iron sheet can cause the arc plate to be adsorbed on the slider.

[0012] In some embodiments, a cylindrical countersunk hole is provided at one end of the slider adjacent to the slider, and one end of the compression spring is inserted into the countersunk hole.

[0013] In some embodiments, there are two guide rods, the compression spring is located between the two guide rods, the slider has a first ear plate and a second ear plate, the first ear plate and the second ear plate are respectively provided with a first through hole and a second through hole, one guide rod is inserted into the first through hole, and the other guide rod is inserted into the second through hole, and a stop block is provided at one end of the guide rod away from the bracket.

[0014] In some embodiments, two insert blocks are disposed at intervals at one end of the sliding block away from the bracket, and two slots are disposed on the connecting portion, and the insert blocks can be inserted into the corresponding slots.

[0015] Compared with the prior art, the arterial catheter removal device provided by the present invention realizes the automation and standardization of arterial catheter removal, and does not need to manually remove the arterial catheter, which is beneficial to saving time of medical staff. At the same time, the puncture point is not easy to bleed after the arterial catheter is removed, and the risk of cross infection is also reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 2 is a perspective view of an embodiment of the present invention.

[0018] Figure 2 It is a left side view of an embodiment of the present invention.

[0019] Figure 3a Figure 3b It is a structural diagram of a mounting base and accessories mounted thereon in an embodiment of the present invention.

[0020] Figure 4 yes Figure 3a Structural diagram after the upper middle cover, vision module, and ranging sensor are hidden.

[0021] Figure 5 4 is a three-dimensional diagram of a hemostasis assembly in an embodiment of the present invention.

[0022] Figure 6 4 is a top view of the hemostasis assembly in the embodiment of the present invention.

[0023] Figure 7 yes Figure 6 Cross-sectional view of the middle eye along line AA.

[0024] Figure 8 2 is a structural diagram of a slider in an embodiment of the present invention.

[0025] Fig. 9 It is a structural diagram of the arc plate, iron sheet and cotton ball after being assembled in the embodiment of the present invention.

[0026] Fig.10 4 is a structural diagram of the first clamping finger in an embodiment of the present invention.

[0027] The following are the descriptions of the reference numerals:

[0028] In the figure: 1, operating table; 2, baffle; 3, mechanical arm; 4, channel; 5, electric gripper; 6, first visual module; 7, first distance sensor; 8, controller; 9, first gripper finger; 901, flat plate; 902, finger body; 10, second gripper finger; 11, first fixing belt; 12, second fixing belt; 13, second visual module; 14, second distance sensor; 15, cotton ball; 16, bracket; 17, guide rod; 1701, block ; 18. Slider; 1801. Countersunk hole; 1802. First ear plate; 18021. First through hole; 1803. Second ear plate; 18031. Second through hole; 1804. Insert block; 19. Compression spring; 20. Arc plate; 2001. Connecting part; 2002. Slot; 21. Pressure sensor; 22. Magnetic part; 23. Iron sheet; 24. Bottom shell; 25. Upper cover; 26. V-shaped groove; 100. Mounting seat; 200. Hemostasis assembly. DETAILED DESCRIPTION

[0029] The following is a further detailed description of the implementation methods of the present application in conjunction with the accompanying drawings and examples. The detailed descriptions of the following examples and the accompanying drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application. The present application can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

[0030] The present application provides these embodiments to make the present application thorough and complete, and to fully express the scope of the present application to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary, and not as limiting.

[0031] It should be noted that, in the description of this application, unless otherwise specified, the meaning of "multiple" is greater than or equal to two; the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0032] In addition, the words "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" does not mean vertical in the strict sense, but is within the tolerance range. "Parallel" does not mean parallel in the strict sense, but is within the tolerance range. "Include" or "comprising" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements.

[0033] It should also be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0034] All terms used in this application have the same meaning as those understood by those of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0035] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0036] See also Figure 1-Figure 10 As shown, the present invention provides an arterial catheter removal device, which includes an operating table 1, a baffle 2, a mechanical arm 3, a mounting seat 100, an electric clamp 5, a first visual module 6, a first distance measuring sensor 7 and a controller 8.

[0037] See also Figure 1 and Figure 2As shown, the baffle 2 is semi-circular, and both ends of the baffle 2 are fixedly connected to the operating table 1, and a channel 4 for limbs to be inserted is provided between the baffle 2 and the operating table 1. The mechanical arm 3 is located in the channel 4, and one end of the mechanical arm 3 is fixedly connected to the baffle 2. The mechanical arm 3 can be a six-axis mechanical arm 3, which has six joints, and each joint has a servo motor electrically connected to the controller 8. The controller 8 sends control instructions to these servo motors to realize the movement of the free end of the mechanical arm 3. The mounting seat 100 is fixedly connected to the other end of the mechanical arm 3 by a fastener. The electric gripper 5 is provided with a first gripper finger 9 and a second gripper finger 10, and the electric gripper 5 can drive the first gripper finger 9 and the second gripper finger 10 to move closer or farther from each other. The first visual module 6 and the first distance measuring sensor 7 have the same orientation as the electric gripper 5, and the electric gripper 5, the first visual module 6, and the first distance measuring sensor 7 are all electrically connected to the controller 8 and fixedly connected to the mounting seat 100. The first visual module 6 is used to collect the image in front of the electric gripper 5 in real time, and transmit the collected image information to the controller 8 in the form of electrical signals. The controller 8 controls the movement of the robot arm 3 according to the image information.

[0038] The first visual module 6 in the present invention can be a camera, the first distance sensor 7 can be a laser distance sensor or an infrared distance sensor, and the controller 8 can be a Siemens S7-300PLC. The direction of the electric gripper 5 refers to the direction in which the gripping fingers on the electric gripper 5 extend forward, the direction of the visual module refers to the field of view of the camera, and the direction of the distance sensor refers to the light emission direction of the laser distance sensor or the infrared distance sensor. In some embodiments, the aforementioned electric gripper 5 can also be replaced by a pneumatic gripper.

[0039] Before the arterial catheter removal device is used, the mechanical arm 3 is curled up in the upper half of the channel 4, so that a large enough space is left below it for the patient's limbs to be inserted. When the arterial catheter removal device is used, the patient's limbs are first placed on the operating table 1 and the patient's limbs are kept still. Then the first visual module 6 collects the image information on the operating table 1. The controller 8 determines the position of the arterial catheter and the puncture direction according to the image information, and sends a corresponding control instruction to the mechanical arm 3, so that the free end of the mechanical arm 3 moves to the top of the arterial catheter. During this process, the first distance sensor 7 detects the distance between the clamping finger and the patient's limb, and the first distance sensor 7 transmits the detected data to the controller 8. When the distance between the clamping finger and the patient's limb reaches the set value, the controller 8 controls the electric clamp 5 to perform the clamping action, so that the first clamping finger 9 and the second clamping finger 10 clamp the arterial catheter, and then the controller 8 controls the mechanical arm 3 to move to remove the arterial catheter.

[0040] In order to prevent the patient's limbs from unconsciously moving, the arterial catheter removal device also includes a first fixing belt 11 and a second fixing belt 12 arranged at intervals. One end of the first fixing belt 11 and the second fixing belt 12 are both fixedly connected to the operating table 1, and the other ends of the first fixing belt 11 and the second fixing belt 12 are both detachably connected to the operating table 1, and the baffle 2 is located between the first fixing belt 11 and the second fixing belt 12. The other ends of the first fixing belt 11 and the second fixing belt 12 can be connected to the operating table 1 using Velcro, and the Velcro fur surface is provided on the first fixing belt 11 and the second fixing belt 12, and the Velcro hook surface is provided on the operating table 1, so that the patient's limbs can be easily fixed.

[0041] In the present invention, the arterial catheter removal device further includes a hemostatic component 200, a second visual module 13, and a second distance measuring sensor 14. The hemostatic component 200 and the electric clamp 5 are respectively located at both ends of the mounting seat 100, and the end of the hemostatic component 200 away from the electric clamp 5 has a cotton ball 15; the hemostatic component 200, the second visual module 13, and the second distance measuring sensor 14 are all connected to the mounting seat 100, and the orientation of the second visual module 13 and the second distance measuring sensor 14 is opposite to that of the first visual module 6 and are both electrically connected to the controller 8.

[0042] After the arterial catheter removal device removes the arterial catheter, the controller 8 controls the sixth axis of the robotic arm 3 to rotate so that the hemostasis component 200, the second visual module 13 and the second ranging sensor 14 face downward, and then the second visual module 13 and the second ranging sensor 14 are started, the second visual module 13 collects image information of the patient's limb and transmits this information to the controller 8, the controller 8 determines the position of the puncture port through analysis, and then the controller 8 controls the robotic arm 3 to move the cotton ball 15 on the hemostasis component 200 to above the puncture port, and then the controller 8 controls the robotic arm 3 to move the cotton ball 15 on the hemostasis component 200 to descend and press on the puncture port. During the descent of the cotton ball 15 on the hemostasis component 200, the second ranging sensor 14 measures the distance between the hemostasis component 200 and the patient's limb, thereby ensuring that the cotton ball 15 is pressed on the puncture port with appropriate force.

[0043] See also Figures 5 to 7As shown, the hemostatic assembly 200 of the present invention also includes a bracket 16, a guide rod 17, a slider 18, a compression spring 19 and an arc plate 20. The bracket 16 can be bent into an L-shape by a metal plate, and then fixed to the mounting seat 100 by a fastener, and one end of the guide rod 17 is fixedly connected to the bracket 16. The slider 18 is connected to the guide rod 17, and the slider 18 can slide along the length direction of the guide rod 17. The compression spring 19 is located between the bracket 16 and the slider 18, and the compression spring 19 is used to drive the slider 18 to move in a direction away from the electric clamp 5. The shape of the arc plate 20 is an arc, one side of the arc plate 20 is a concave surface, and the other side is a convex surface. A connecting portion 2001 is provided on the convex surface of the arc plate 20, and the connecting portion 2001 is connected to the slider 18. The cotton ball 15 is arranged on the concave surface of the arc plate 20, wherein the arc plate 20 and the cotton ball 15 are both disposable items.

[0044] The arc plate 20 can be made of a material with elastic deformation ability, such as rubber. When the cotton ball 15 is pressed on the puncture hole, the arc plate 20 can be deformed according to the thickness of the patient's limbs to adapt to different patients. The aforementioned compression spring 19 can be a compression spring with a smaller stiffness coefficient. During the design and assembly, the slider 18 and the guide rod 17 should have as little friction as possible; during the hemostasis period of the hemostasis component 200, the cotton ball 15 is first deformed to completely cover the puncture hole, and then the arc plate 20 is pressed around the puncture hole with a certain force. In this process, the compression spring 19 will be compressed by force. The hemostasis component 200 itself has a certain elastic adjustment ability, which can reduce the measurement accuracy requirements for the second distance sensor 14, and can effectively avoid human limbs from being crushed, thereby improving the user experience.

[0045] In a further improvement, the hemostasis assembly 200 further includes a pressure sensor 21 located between the bracket 16 and the compression spring 19. One end of the compression spring 19 near the bracket 16 contacts the pressure sensor 21, and the pressure sensor 21 is electrically connected to the controller 8. Since the friction between the slider 18 and the guide rod 17 is relatively small, it can be known from the force analysis that the pressure applied by the compression spring 19 on the pressure sensor 21 is close to the pressing force of the arc plate 20 and the cotton ball 15 on the patient's limbs. Therefore, the pressure sensor 21 can be set to more accurately measure the pressing force of the arc plate 20 and the cotton ball 15 on the patient's limbs. The controller 8 can control the mechanical arm 3 more accurately based on the data measured by the pressure sensor 21 to ensure that the arc plate 20 and the cotton ball 15 are pressed on the patient's limbs with appropriate force.

[0046] In order to facilitate the connection between the arc plate 20 and the slider 18, the hemostasis assembly 200 further includes a magnetic member 22 disposed on the slider 18 and an iron sheet 23 embedded in the connecting portion 2001. The magnetic member 22 can be a permanent magnet or an electromagnet. The magnetic force between the magnetic member 22 and the iron sheet 23 can make the arc plate 20 adsorbed on the slider 18. It should be noted that the aforementioned iron sheet 23 can also be replaced by a magnetic metal sheet such as nickel or cobalt.

[0047] In a preferred embodiment, the magnetic member 22 can be an electromagnet, and the power on and off of the magnetic member 22 can be controlled by the controller 8. At this time, a box of unused arc plates 20 can be placed next to the operating table 1. Through the set program, the robotic arm 3 can automatically go to the placement position of the unused arc plates 20. After the magnetic member 22 is powered on, the arc plates 20 can be automatically taken out; and a medical waste bin can be placed next to the operating table 1. After the hemostasis pressing is completed, the controller 8 controls the movement of the robotic arm 3 and throws the used arterial catheter and arc plate 20 into the medical waste bin. In this way, the removal of the arterial catheter is highly automated, which is beneficial to saving manpower.

[0048] In the present invention, a cylindrical countersunk hole 1801 is provided at one end of the slider 18, and one end of the compression spring 19 is inserted into the countersunk hole 1801. The aforementioned magnetic member 22 can also be installed in the countersunk hole 1801, and the countersunk hole 1801 can be used to limit the compression spring 19 to prevent the position of the compression spring 19 from deviating.

[0049] See also Figure 5 As shown, there are two guide rods 17, the compression spring 19 is located between the two guide rods 17, the slider 18 has a first ear plate 1802 and a second ear plate 1803, the first ear plate 1802 and the second ear plate 1803 are respectively provided with a first through hole 18021 and a second through hole 18031, one guide rod 17 is inserted into the first through hole 18021, the other guide rod 17 is inserted into the second through hole 18031, and a stopper 1701 is provided at one end of the guide rod 17 away from the bracket 16. In specific implementation, grease can be applied to the guide rod 17 to reduce the friction between the slider 18 and the guide rod 17. In addition, linear bearings can be added in the first through hole 18021 and the second through hole 18031, and the friction between the slider 18 and the guide rod 17 can be reduced by assembling the guide rod 17 in the linear bearings.

[0050] In the present invention, two insert blocks 1804 are provided at one end of the slider 18 away from the bracket 16, and two slots 2002 are provided on the connecting portion 2001, and the insert blocks 1804 can be inserted into the corresponding slots 2002. The insert blocks 1804 and the slots 2002 can effectively prevent the arc plate 20 from rotating relative to the slider 18, ensuring that the arc plate 20 is pressed on the patient's limb at a correct angle.

[0051] See also Figure 3a and Figure 3b As shown, the mounting base 100 in the present invention can be composed of a bottom shell 24 and an upper cover 25, the electric clamp 5 and the hemostasis assembly 200 are installed on the bottom shell 24, and after the upper cover 25 is buckled with the bottom shell 24, the electric clamp 5, the bracket 16, the guide rod 17, the compression spring 19, and the pressure sensor 21 are all enclosed in the space formed by the upper cover 25 and the bottom shell 24, the first clamp finger 9 and the second clamp finger 10 extend to the outside of the upper cover 25 and the bottom shell 24, and the visual module and the ranging sensor can be connected to the upper cover 25.

[0052] The structure of the first clamping finger 9 is shown in Fig.10 As shown, the first clamping finger 9 is composed of a flat plate portion 901 and a finger body portion 902 connected to each other. The flat plate portion 901 is fixedly connected to the electric clamping claw 5 by bolts, and a V-shaped groove 26 is provided at one end of the finger body portion 902 away from the flat plate portion 901. Figure 4 As shown, the structures of the first clamping finger 9 and the second clamping finger 10 are mirror-symmetrical. After the first clamping finger 9 and the second clamping finger 10 are mounted on the electric clamping jaw 5, the V-shaped groove 26 on the first clamping finger 9 is opposite to the V-shaped groove 26 on the second clamping finger 10. When the first clamping finger 9 and the second clamping finger 10 are clamping the arterial catheter, the arterial catheter is clamped in the two V-shaped grooves 26.

[0053] The arterial catheter removal device provided by the present invention realizes the automation and standardization of arterial catheter removal and puncture point pressing to stop bleeding. There is no need to manually remove the arterial catheter and manually press the puncture point, which is beneficial to saving time of medical staff. At the same time, the puncture point is not easy to bleed after the arterial catheter is removed, and the puncture point is not easy to stagnate after pressing to stop bleeding, and the risk of cross infection is also reduced.

[0054] So far, various embodiments of the present application have been described in detail. In order to avoid obscuring the concept of the present application, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed herein.

[0055] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict.

Claims

1. An arterial catheter removal device, characterized in that: include: Operation table; A baffle, both ends of which are connected to the operating table, and a passage for limbs to extend into is provided between the baffle and the operating table; A mechanical arm, which is located in the channel and has one end fixedly connected to the baffle; A mounting base, which is fixedly connected to the other end of the mechanical arm; An electric gripper, on which a first gripper finger and a second gripper finger are provided, and the electric gripper finger can drive the first gripper finger and the second gripper finger to move closer to or farther from each other; the first gripper finger is provided with a V-shaped groove, and the second gripper finger and the first gripper finger have a mirror-image structure; A first visual module having the same orientation as the electric gripper; A first distance measuring sensor having the same orientation as the electric gripper; as well as The electric gripper, the first visual module, and the first distance measuring sensor are all electrically connected to the controller and fixedly connected to the mounting base.

2. The arterial catheter removal device according to claim 1, characterized in that: It also includes a first fixing strap and a second fixing strap, one end of the first fixing strap and the second fixing strap are both fixedly connected to the operating table, the other ends of the first fixing strap and the second fixing strap are both connected to the operating table via Velcro, and the baffle is located between the first fixing strap and the second fixing strap.

3. The arterial catheter removal device according to claim 1 or 2, characterized in that: The mounting base includes a bottom shell and an upper cover that are buckled together, the electric clamp is fixed on the bottom shell, and the first visual module and the first distance measuring sensor are both arranged on the upper cover.

4. The arterial catheter removal device according to claim 3, characterized in that: It also includes a hemostasis component, a second visual module and a second ranging sensor; the hemostasis component and the electric clamp are respectively located at the two ends of the mounting seat, and the end of the hemostasis component away from the electric clamp has a cotton ball; the hemostasis component is connected to the bottom shell, the second visual module and the second ranging sensor are both arranged on the upper cover, the orientation of the second visual module and the second ranging sensor is opposite to that of the first visual module and both are electrically connected to the controller.

5. The arterial catheter removal device according to claim 4, characterized in that: The hemostasis assembly further comprises: A bracket, which is fixedly connected to the bottom shell; A guide rod, one end of which is fixedly connected to the bracket; A slider connected to the guide rod, the slider being able to slide along the length direction of the guide rod; a compression spring, located between the bracket and the slider, the compression spring being used to drive the slider to move in a direction away from the electric clamp; and The arc plate has a connecting portion on its convex surface, the connecting portion is connected to the sliding block, and the cotton ball is arranged on the concave surface of the arc plate.

6. The arterial catheter removal device according to claim 5, characterized in that: The hemostasis component further includes a pressure sensor located between the bracket and the compression spring, one end of the compression spring adjacent to the bracket contacts the pressure sensor, and the pressure sensor is electrically connected to the controller.

7. The arterial catheter removal device according to claim 5, characterized in that: The hemostasis component also includes a magnetic member arranged on the slider and an iron sheet embedded in the connecting portion. The magnetic force between the magnetic member and the iron sheet can cause the arc plate to be adsorbed on the slider.

8. The arterial catheter removal device according to claim 5, characterized in that: A cylindrical countersunk hole is arranged at one end of the sliding block adjacent to the middle, and one end of the compression spring is inserted into the countersunk hole.

9. The arterial catheter removal device according to claim 5, characterized in that: There are two guide rods, the compression spring is located between the two guide rods, the slider is provided with a first ear plate and a second ear plate, the first ear plate and the second ear plate are respectively provided with a first through hole and a second through hole, one of the guide rods is inserted into the first through hole, and the other guide rod is inserted into the second through hole, and a stop block is provided at one end of the guide rod away from the bracket.

10. The arterial catheter removal device according to claim 5, characterized in that: The end of the sliding block away from the bracket is provided with two inserting blocks arranged at intervals, and the connecting part is provided with two slots, and the inserting blocks can be inserted into the corresponding slots.

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