Vein blood sampling device and system based on humanoid robot

Abstract

The invention provides a vein blood sampling device and system based on a humanoid robot, and relates to the technical field of medical instruments, the vein blood sampling device comprises an intelligent blood sampling table module, a blood sampling consumable supply module, a humanoid blood sampling puncture robot module, an arm fixing module, a consumable recovery module and a visual detection module; through the humanoid blood sampling puncture robot module, a target point conforming to blood vessel puncture in a space can be accurately found and positioned, the blood sampling consumable supply module can be conveniently integrated with an existing automatic blood sampling processing system, and the blood sampling consumable supply module can be conveniently integrated with the existing automatic blood sampling processing system under the cooperation of other modules. The human-shaped blood sampling puncture robot carries out operations such as pulse pressing, disinfection, puncture blood sampling, pressing hemostasis, blood sampling tube shaking and blood sampling consumable recycling.

Description

Technical Field

[0001] The present invention relates to the technical field of medical mechanical equipment and humanoid robots, and more specifically, to a venous blood sampling device and system based on a humanoid robot. Background Art

[0002] Vascular puncture is a clinical procedure for the purpose of drawing blood, testing, transfusion, infusion, and catheterization for angiography. It can also be used for interventional treatment. Common vascular punctures include femoral artery puncture, femoral vein puncture, subclavian artery and vein puncture, and radial artery puncture.

[0003] In modern biological and medical research, it has become a normal practice to understand human diseases through blood and treat diseases based on test results. Blood drawing is the process in which medical personnel collect blood samples through veins or arteries for testing or related needs.

[0004] Existing vascular puncture is usually performed manually, which completely relies on experience. In hospitals, blood collection stations and other places, the number of subjects to be punctured is large, and medical staff need to work for a long time. This long-term repetitive vascular puncture operation makes medical staff in a state of high concentration for a long time, which is easy to cause fatigue and lead to unexpected medical errors. Even if some equipment in the prior art, such as using an arm vein detector to distinguish the vein from the surrounding skin tissue to locate the puncture point, it still requires manual adjustment of the needle position and the needle inclination angle, and the use of a pulse pressure device and a vein imaging device to make it easier for medical staff to locate the blood vessel, but these are only to assist in finding the blood vessel and locating the blood vessel puncture point, and cannot actively perform the blood vessel puncture action.

[0005] Some existing intelligent blood collection management systems can integrate blood collection tube labeling and distribution systems, queuing systems, blood collection tube transportation systems, and blood collection tube sorting systems, which can partially improve the intelligence and standardization of the blood collection process, prevent errors and improve patient satisfaction. However, in the process of vascular puncture, that is, pulse pressure, disinfection, puncture and blood collection, pressing to stop bleeding, shaking the blood collection tube, and recycling of blood collection consumables, etc., they are still performed by nurses. There are pain points such as unclear vision, inaccurate puncture, high workload and easy fatigue of nurses, low efficiency and long queues, and easy occurrence of doctor-patient conflicts.

[0006] In some automatic puncture machines, binocular infrared imaging principles are used to use industrial cameras to photograph the skin surface, locate the puncture site, and perform puncture. However, only the skin surface can be photographed, and subcutaneous tissue imaging cannot be performed, which reduces the adaptability of the automatic puncture machine to the population.

[0007] In other automatic puncture machines, although the machine itself can perform full-process automated blood collection operations, the equipment itself is large in size, and its layout in hospitals is limited, making it difficult to integrate with existing intelligent blood collection systems; various actions in the full-process blood collection process (pulse pressure, disinfection, puncture blood collection, compression to stop bleeding, shaking the blood collection tube, recycling of blood collection consumables, etc.) require the design of special mechanisms to implement, the overall structure is complex, the cost is high, the integrated layout is limited by the size of the mechanism structure, and the overall coordinated control is difficult; and blood collection consumables (blood collection needles, blood collection tubes, disinfectants, etc.) need to be replaced frequently, which brings extra workload to nurses and a poor experience. Summary of the invention

[0008] The present invention provides a venous blood sampling device and system based on a humanoid robot, which are used to solve the problems raised in the above background technology.

[0009] To solve the above technical problems, the present invention discloses a venous blood collection device and system based on a humanoid robot, including an intelligent blood collection table module, a blood collection consumables supply module, a humanoid blood collection and puncture robot module, an arm fixing module, a consumables recovery module, and a visual detection module.

[0010] The humanoid blood collection and puncture robot module can accurately find and locate the target point in the space that meets the requirements for blood vessel puncture. The intelligent blood collection table module combines the storage and transportation system, power and control system, and loading and positioning system of the blood collection consumables supply module, and can be easily integrated with the existing intelligent blood collection system; the blood collection consumables supply module provides automatic supply of blood collection consumables such as blood collection needles, blood collection tubes, hemostatic patches, coupling ferrules, and disinfectants; the humanoid blood collection and puncture robot module has a double-arm structure with coordinated control. The end of the arm is equipped with a dexterous hand and a puncture mechanism actuator module, which can perform operations such as disinfection, puncture and blood collection, pressing to stop bleeding, shaking blood collection tubes, and recycling blood collection consumables. The arm fixation module can fix the arm of the person being blood drawn and perform pulse compression; the consumables recycling module can recycle used or discarded blood collection needles, blood collection tubes, coupling card sleeves and other blood collection consumables; The visual inspection module can perform various inspections and monitoring during the entire automated blood collection and puncture process to ensure the standardization and safety of the entire process, and provide feedback to the blood collection and puncture robot control system to give corresponding reasonable prompts and instructions so that the person being blooded can complete the entire blood collection process in a standardized and safe manner.

[0011] Compared with the prior art, the present invention provides a venous blood sampling device and system based on a humanoid robot, which has the following beneficial effects: The present invention provides a venous blood sampling device and system based on a humanoid robot, which adopts a modular design and can be easily integrated with the existing intelligent blood collection system, so as to facilitate the integration of hospitals that have deployed the existing intelligent blood collection system and reduce costs; on the other hand, it solves a series of pain points caused by the existing intelligent blood collection system that still requires nurses to perform puncture operations, and completely realizes unmanned blood collection and puncture operations, thereby further improving the intelligence level of the hospital.

[0012] The present invention provides a venous blood collection device and system based on a humanoid robot. Various actions in the whole blood collection process (pulse pressure, disinfection, puncture blood collection, pressing to stop bleeding, shaking the blood collection tube, recycling blood collection consumables, etc.) do not need to be designed with a special mechanism module to achieve. The humanoid robot can be equipped with a powerful and dexterous hand, combined with a force-position hybrid control algorithm, which can simulate human hands to achieve precise grasping operations. Equipped with multiple tactile sensors and multi-dimensional tactile perception capabilities, it can perform complex actions such as grasping, holding, pinching, pressing, and opening and closing fingers. It has strong adaptability to various tools and can greatly reduce the difficulty of mechanism development in the blood collection and puncture process.

[0013] The present invention provides a venous blood sampling device and system based on a humanoid robot. The intelligent blood sampling table module combines the storage and transportation system, power and control system, and loading and positioning system of the blood sampling consumables supply module, and can be easily integrated with the existing intelligent blood sampling system; the blood sampling consumables supply module provides automatic supply of blood sampling consumables such as blood sampling needles, blood sampling tubes, hemostatic patches, coupling ferrules, disinfectants, etc., and does not require nurses to frequently replace blood sampling consumables (blood sampling needles, blood sampling tubes, disinfectants, etc.), which will not bring additional workload to nurses.

[0014] The present invention provides a venous blood collection device and system based on a humanoid robot. The humanoid robot has a multi-dimensional tactile + AI visual system, which can accurately identify the position, shape and other information of objects, can judge abnormal situations in the blood collection and puncture process, and make automatic decisions to achieve truly intelligent blood collection. It is an innovative paradigm for the application of humanoid robots and embodied intelligence in the field of blood collection and puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a front view of the present invention; Figure 2 A top view of the present invention; Figure 3 is a side view of the present invention; Figure 4 For the top view of the present invention Figure Ⅰ A local magnified view of the location; Figure 5 The axonometric Figure 1 ; Figure 6 The axonometric Figure 2 ; In the figure: 1. Intelligent blood collection table module; 2. Blood collection consumables supply module; 201. Hemostatic patch supply module; 202. Blood collection needle supply module; 203. Ultrasonic coupling ferrule supply module; 204. Blood collection tube supply module; 205. Disinfectant supply module; 3. Humanoid blood sampling and puncture robot module; 301. Humanoid blood sampling and puncture robot right arm; 302. Humanoid blood sampling and puncture robot dexterous hand; 303. Humanoid blood sampling and puncture robot body; 304. Humanoid blood sampling and puncture robot left arm; 305. Blood sampling and puncture mechanism actuator module; 4. Arm fixing module; 5. Consumables recycling module; 6. Visual inspection module; DETAILED DESCRIPTION

[0016] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0017] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0018] Example 1

[0019] The embodiments of the present invention provide a venous blood sampling device and system based on a humanoid robot, such as Figure 1-6 As shown, it includes an intelligent blood collection table module 1, a blood collection consumables supply module 2, a humanoid blood collection and puncture robot module 3, an arm fixing module 4, a consumables recovery module 5, and a visual detection module 6.

[0020] Figure 1This is the front view of the present invention, showing the deployment method of deploying multiple humanoid robots for blood collection and puncture. Compared with some existing blood collection windows, the difference is that the humanoid blood collection and puncture robot module 3 replaces the nurse's work during the puncture and blood collection process.

[0021] When the blood collector receives the number plate and arrives at the corresponding blood collection window under the help of the intelligent queuing system, the humanoid blood collection and puncture robot module 3 scans the number plate. After the system recognizes the blood collector's information, it prompts the blood collector to place and fix his arm.

[0022] After the system identifies the blood collector's information, the intelligent blood collection table module 1 combines the storage and transportation system, power and control system, and loading and positioning system of the blood collection consumables supply module 2; the blood collection consumables supply module 2 provides the corresponding blood collection needles, blood collection tubes, hemostatic patches, coupling ferrules, disinfectants and other blood collection consumables according to the blood collector's information. Automatic supply.

[0023] The humanoid blood sampling and puncturing robot module 3 can accurately find and locate the target point in space that meets the requirements for blood vessel puncture under the action of the visual system.

[0024] At the same time, the humanoid blood sampling and puncture robot module 3 has a two-arm structure and performs two-arm coordinated control. The end of the arm is equipped with a humanoid blood sampling and puncture robot dexterous hand 302 and a blood sampling and puncture mechanism actuator module 305 to perform disinfection operations, grasping of blood collection needles and grasping accuracy detection, grasping of blood collection tubes, installation of ultrasonic coupling ferrules or application of liquid coupling agent. The blood sampling and puncture mechanism actuator module 305 performs puncture operations, and the two arms cooperate to replace and shake the blood collection tubes during multi-tube blood collection.

[0025] After the blood collection is completed, the humanoid blood collection puncture robot module 3 picks up the hemostatic patch, presses to stop bleeding, and the arm fixing module 4 loosens the blood collector's arm. The blood collector leaves to complete the blood collection, and the humanoid blood collection puncture robot module 3 collects the blood collection tubes.

[0026] The consumables recycling module 5 can recycle used or discarded blood collection needles, blood collection tubes, coupling card sleeves and other blood collection consumables, and has a detection prompt function, and prompts replacement when the volume of the recycling container reaches a certain level.

[0027] The visual detection module 6 is deployed with a variety of camera sensors, which can perform visual detection functions in multiple scenarios. It can detect in real time whether the picking accuracy of various consumables in the blood collection and puncture process meets the qualified standards, detect in real time whether the elbow of the arm moves during the blood collection and puncture process, detect in real time the facial expression of the person whose blood is being collected to determine whether there is any abnormal situation (such as fainting at the sight of blood), and detect the real-time position of the puncture needle in space during the puncture process to ensure the puncture accuracy.

[0028] The working principle and beneficial effects of the above technical solution are: The present invention provides a venous blood sampling device and system based on a humanoid robot, which adopts a modular design and can be easily integrated with the existing intelligent blood collection system, so as to facilitate the integration of hospitals that have deployed the existing intelligent blood collection system and reduce costs; on the other hand, it solves a series of pain points caused by the existing intelligent blood collection system that still requires nurses to perform puncture operations, and completely realizes unmanned blood collection and puncture operations, thereby further improving the intelligence level of the hospital.

[0029] The present invention provides a venous blood collection device and system based on a humanoid robot. Various actions in the whole blood collection process (pulse pressure, disinfection, puncture blood collection, pressing to stop bleeding, shaking the blood collection tube, recycling blood collection consumables, etc.) do not need to be designed with a special mechanism module to achieve. The humanoid robot is equipped with a powerful and dexterous hand, combined with a force-position hybrid control algorithm, which can simulate human hands to achieve precise grasping operations. Equipped with multiple tactile sensors and multi-dimensional tactile perception capabilities, it can perform complex actions such as grasping, holding, pinching, pressing, and opening and closing fingers. It has strong adaptability to various tools and can greatly reduce the difficulty of mechanism development in the blood collection and puncture process.

[0030] The present invention provides a venous blood sampling device and system based on a humanoid robot. The intelligent blood sampling table module combines the storage and transportation system, power and control system, and loading and positioning system of the blood sampling consumables supply module, and can be easily integrated with the existing intelligent blood sampling system; the blood sampling consumables supply module provides automatic supply of blood sampling consumables such as blood sampling needles, blood sampling tubes, hemostatic patches, coupling ferrules, disinfectants, etc., and does not require nurses to frequently replace blood sampling consumables (blood sampling needles, blood sampling tubes, disinfectants, etc.), which will not bring additional workload to nurses.

[0031] The present invention provides a venous blood collection device and system based on a humanoid robot. The humanoid robot has a multi-dimensional tactile + AI visual system, which can accurately identify the position, shape and other information of objects, can judge abnormal situations in the blood collection and puncture process, and make automatic decisions to achieve truly intelligent blood collection. It is an innovative paradigm for the application of humanoid robots and embodied intelligence in the field of blood collection and puncture.

[0032] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. If these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A venous blood sampling device and system based on a humanoid robot, characterized in that: It comprises an intelligent blood collection table module (1), a blood collection consumables supply module (2), a humanoid blood collection puncture robot module (3), an arm fixing module (4), a consumables recovery module (5), and a visual detection module (6).

2. A venous blood sampling device and system based on a humanoid robot according to claim 1, characterized in that: The intelligent blood collection table module (1) combines the storage and transportation system, power and control system, and loading and positioning system of the blood collection consumables supply module (2), and can be easily integrated with the existing intelligent blood collection system.

3. A venous blood sampling device and system based on a humanoid robot according to claim 1, characterized in that: The blood collection consumables supply module (2) comprises a hemostatic patch supply module (201), a blood collection needle supply module (202), an ultrasonic coupling ferrule supply module (203), a blood collection tube supply module (204), a disinfectant supply module (205), etc. The blood collection consumables supply module (2) can provide automatic supply of blood collection consumables such as blood collection needles, blood collection tubes, hemostatic patches, ultrasonic coupling ferrules, disinfectant, etc.

4. A venous blood sampling device and system based on a humanoid robot according to claim 1, characterized in that: The humanoid blood sampling and puncturing robot module (3) comprises a humanoid blood sampling and puncturing robot right arm (301), a humanoid blood sampling and puncturing robot dexterous hand (302), a humanoid blood sampling and puncturing robot body (303), a humanoid blood sampling and puncturing robot left arm (304), and a blood sampling and puncturing mechanism actuator module (305); the humanoid blood sampling and puncturing robot module (3) has a double-arm structure and performs double-arm coordinated control; the end of the arm is provided with a humanoid blood sampling and puncturing robot dexterous hand (302) and a blood sampling and puncturing mechanism actuator module (305), which can perform disinfection, blood sampling needle or blood sampling tube grasping, The robot can perform operations such as blood collection, puncture and blood collection, press to stop bleeding, shake blood collection tubes, and recycle blood collection consumables; the main control system, visual system, tactile system, power module, etc. are deployed in the body (303) of the humanoid blood collection and puncture robot. Combined with the force-position hybrid control algorithm, the dexterous hand (302) of the humanoid blood collection and puncture robot can simulate human hands to achieve precise grasping operations. It is equipped with multiple tactile sensors and has multi-dimensional tactile perception capabilities. It can perform complex actions such as grasping, holding, pinching, pressing, and opening and closing fingers. It has strong adaptability to various tools and can greatly reduce the difficulty of mechanism development in the blood collection and puncture process.

5. The venous blood sampling device and system based on a humanoid robot according to claim 1, characterized in that: The arm fixing module (4) can fix the arm to be punctured for blood sampling in the puncture area, so that the blood vessels are filled and protruded, and can adjust the grip distance in real time according to the length of the forearm, so that the elbow pit is always in the best blood sampling puncture area; and the strength of the arm fixing module (4) can be adjusted in real time according to the thickness of different people's arms and blood vessel images; and the arm can be manually opened and removed in abnormal situations.

6. The venous blood sampling device and system based on a humanoid robot according to claim 1, characterized in that: The consumables recycling module (5) can recycle used or discarded blood collection needles, blood collection tubes, coupling ferrules and other blood collection consumables, and has a detection prompt function, prompting replacement when the volume of the recycling container reaches a certain level.

7. The venous blood sampling device and system based on a humanoid robot according to claim 1, characterized in that: The visual detection module (6) is equipped with a variety of camera sensors and can perform visual detection functions in multiple scenarios. It can detect in real time whether the picking accuracy of various consumables in the blood collection and puncture process meets the qualified standards, detect in real time whether the elbow of the arm moves during the blood collection and puncture process, detect in real time the facial expression of the person whose blood is being collected to determine whether there is any abnormal situation (such as fainting at the sight of blood), and detect the real-time position of the puncture needle in space during the puncture process to ensure the puncture accuracy.

8. A venous blood sampling device and system based on a humanoid robot, characterized in that: A venous blood sampling device and system comprising any one of claims 1-7.

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