Radial artery puncture device and using method and system

Abstract

The invention provides a radial artery puncture device and a using method and system, and belongs to the technical field of medical instruments. Comprising a puncture needle body and an arm supporting device, the arm supporting device comprises an arm fixing part and a first movable structure, and the arm fixing part is used for supporting and fixing an arm; the first movable structure is connected with the arm fixing part and can drive the arm fixing part to change the position relative to the puncture needle; a control structure is arranged on the puncture needle, and the control structure is in signal connection with the first movable structure and used for controlling the first movable structure. While the arm is fixed, the position of the arm can be conveniently adjusted, the operation difficulty of radial artery puncture under ultrasonic real-time guidance is reduced, and the success rate of puncture operation can be increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a radial artery puncture device, a usage method and a system. Background Art

[0002] Radial artery puncture is an operation widely used in medical practice, mainly for blood sampling, arterial blood gas analysis, monitoring and drug infusion, etc. The radial artery is located on the radial side of the forearm, usually at the base of the wrist, which is easy to touch and relatively superficial, so it is selected as the main puncture site.

[0003] The reference for the radial artery puncture operation is as follows: The patient takes a supine position, with the arm abducted, the wrist dorsiflexed, and the palm facing up to fully expose the radial artery area. The doctor palpates the radial artery pulsation point with the fingertips of the non-dominant hand to determine the puncture point. After disinfecting the puncture area, if local anesthesia is required: hold the anesthetic needle with the dominant hand and inject lidocaine subcutaneously at the puncture point; continuously press and fix the skin with the non-dominant hand. Then, perform the puncture and insert the needle obliquely into the skin, slowly advancing until the arterial pulsation is felt; after seeing the backflow of arterial blood, lower the angle of the puncture needle and continue to advance to ensure that the tip of the needle completely enters the blood vessel lumen; when inserting a guide wire or collecting a blood sample, the non-dominant hand needs to assist in fixing the needle hub to prevent displacement.

[0004] Using real-time ultrasound guidance provides real-time visual feedback during the puncture process to help the operator accurately locate the blood vessel. The doctor needs to use the non-dominant hand to manipulate the probe and adjust the ultrasound plane to display the long-axis or short-axis view of the artery; the dominant hand adjusts the needle insertion angle and depth according to the ultrasound image.

[0005] However, the above operations require the doctor to cooperate with both hands, the operation is more complex, the technical requirements for the doctor are relatively high, and insufficient experience is likely to lead to a low puncture success rate. For doctors who can perform this operation, the operation burden is still relatively large, and it is easy to get fatigued and have hand tremors during the process, resulting in the deviation of the puncture path, which is not conducive to the safety of the patient.

[0006] In summary, how to provide a radial artery puncture device applicable to real-time ultrasound guidance and capable of reducing the difficulty of radial artery puncture operation is a technical problem that urgently needs to be solved at present. Summary of the Invention

[0007] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a radial artery puncture device, a usage method and a system, which can fix the arm while conveniently adjusting the position of the arm, reducing the complexity of the puncture operation and the operation burden of the doctor.

[0008] The present invention provides a radial artery puncture device, which includes a puncture needle body and an arm support device. The arm support device includes an arm fixing part and a first movable structure. Among them, the arm fixing part is used to support and fix the arm; The first movable structure is connected to the arm fixing part and can drive the arm fixing part to change its position relative to the puncture needle. A control structure is provided on the puncture needle. The control structure is signal-connected to the first movable structure to control the first movable structure.

[0009] Furthermore, the puncture needle body includes a main channel and a secondary channel. The main channel is used for puncture, and the secondary channel is used to simultaneously release a local anesthetic or a vasodilator when the main channel performs puncture.

[0010] Furthermore, the first movable structure at least includes one of the following: A first longitudinal movement component for driving the arm fixing part to move in the longitudinal direction; A first transverse movement component for driving the arm fixing part to move in the transverse direction; A swinging component for driving the support plate to swing left and right in the horizontal plane with the direction of arm extension as the central axis.

[0011] Furthermore, it further includes an ultrasonic camera support device, which includes a clamping part for clamping the ultrasonic camera; A second movable structure connected to the clamping part for driving the clamping part to change its position; The control structure is signal-connected to the second movable structure to control the second movable structure; the second movable structure includes a second longitudinal movement component and / or an angle adjustment structure of the second transverse movement component. The second longitudinal movement component is used to drive the clamping part to move in the longitudinal direction; The second transverse movement component is used to drive the clamping part to move in the transverse direction; The angle adjustment structure is used to adjust the angle between the clamping part and the second movable structure.

[0012] Furthermore, a signal transmission module is provided on the tip part of the puncture needle body; A signal receiving module provided on the arm fixing part is used to capture the signal emitted by the signal transmission module; the control structure is used to obtain the relative position relationship between the tip part and the arm fixing part based on this signal.

[0013] Furthermore, it further includes a wrist model part provided on the control structure, and a puncture point indicator movably arranged on the wrist model part; It further includes an image acquisition component. The image acquisition component is used to acquire image data of the arm inside the arm fixing part and image data of the wrist model part; the control structure is used to match the corresponding target puncture point on the previously acquired arm image based on the position information of the set puncture point in the image of the wrist model part, and obtain the position information of the target puncture point.

[0014] The present invention provides a usage method implemented by a radial artery puncture device as described in any one of the above, including the following steps: S1 Support and fix the arm through an arm support device; S2 During the puncture operation, trigger the first mode through a control structure. In the first mode, the first movable structure drives the arm to change its position.

[0015] Further, S2 also includes that during the puncture operation, trigger the second mode through a control structure. In the second mode, the second movable structure drives the ultrasonic camera to change its position.

[0016] Further, S2 includes obtaining the subjective pain score value of the patient based on the subjective feelings of the patient.

[0017] Obtain the objective pain score value of the patient based on the image data of the patient; Superimpose the subjective pain score value and the objective pain score value according to a preset weight coefficient, and calculate to obtain the comprehensive pain score value of the patient.

[0018] Further, S2 also includes that during the puncture operation, trigger the third mode through a control structure. In the third mode, move to indicate the puncture point, and trigger the first movable structure to drive the arm to change its position correspondingly.

[0019] The present invention provides a system adopting the usage method as described in any one of the above, characterized in that: the system includes a radial artery puncture device as described in any one of the above.

[0020] Due to the adoption of the above technical solutions, compared with the prior art, the present invention has the following advantages and positive effects by way of example: Through the cooperation of the arm fixing and supporting device and the ultrasonic camera supporting device, the operation complexity and the operation burden of the doctor are significantly reduced, which is convenient for the doctor to hold the puncture needle body with both hands for puncture operation, effectively reducing the problems of fatigue and hand shaking caused by single-handed operation, and being able to reduce the difficulty of radial artery puncture operation under real-time ultrasonic guidance.

[0021] In addition, through the linkage of the first movable structure and the second movable structure, the automatic adjustment of the position and angle of the arm, as well as the position and angle of the ultrasonic probe, is realized, supporting the coordinated movement of the arm and the ultrasonic probe in three-dimensional space, which is beneficial to improving the success rate of the puncture operation. The adjustment can be triggered by the control structure arranged on the needle seat of the puncture needle body, avoiding high-frequency switching operations and significantly reducing the operation complexity.

[0022] The puncture needle body is provided with a double independent channel. During puncture, local anesthetic or vasodilator is released through the secondary channel in synchronization with the primary channel, reducing the preoperative anesthesia preparation steps and the risk of vasospasm. Recommendations for the initial puncture point are provided to avoid areas with excessive pressure on the arm, increasing the success probability of the puncture operation. Description of the Drawings

[0023] Figure 1 It is a flowchart of the steps of the usage method provided by the present invention.

[0024] Figure 2 It is a schematic structural diagram of the arm support device provided by the present invention.

[0025] Figure 3 It is a schematic structural diagram of the arm support device and the ultrasonic camera support device provided by the present invention.

[0026] Figure 4 It is a schematic connection diagram of the control structure and the puncture needle body provided by the present invention, which is another embodiment.

[0027] Explanation of the Reference Numerals Radial artery puncture device 100, puncture needle body 110, needle tube 111, needle holder 112; First movable structure 200, first longitudinal movement component 210, telescopic rod 211, first transverse movement component 220, slider 221, pulley 222, swing component 230; Arm fixing part 300; Control structure 400; Ultrasonic camera support device 500, clamping part 510, angle adjustment structure 520, second longitudinal movement component 530, second transverse movement component 540; Carrying surface 10, ultrasonic probe 20. Detailed Description of the Invention

[0028] The technical solutions disclosed by the present invention will be further described in detail below in conjunction with the drawings and specific embodiments. It should be noted that the technical features described in the following embodiments or the combination of technical features should not be considered isolated, and they can be combined with each other to achieve better technical effects. In the drawings of the following embodiments, the same reference numerals appearing in each drawing represent the same features or components, which can be applied to different embodiments. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0029] It should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the invention. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the efficacy that the invention can produce and the purpose that can be achieved, should fall within the scope covered by the technical content disclosed by the invention. The scope of the preferred implementation of the present invention includes additional implementations, in which the functions can be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order described or discussed. This should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0030] Technologies, methods, and devices known to those of ordinary skill in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the specification. In all examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

[0031] The present invention provides a radial artery puncture device 100.

[0032] As Figure 4 shown, it includes a puncture needle, which generally includes a needle tube 111 and a needle holder 112 for fixing the needle tube 111, providing an operation hand-held site and a pipeline interface.

[0033] Optionally, the needle body integrates an independent working channel (not shown in the figure). For example, the main channel is used for puncture, and the auxiliary channel simultaneously releases a local anesthetic or a vasodilator, avoiding repeated punctures caused by first performing puncture anesthesia and then puncturing, reducing the discomfort of the patient, and the damage caused to the patient's arm skin.

[0034] Particularly, as Figure 2 and 3 shown, it further includes an arm support device, and the arm support device includes an arm fixing part 300.

[0035] As a typical implementation, the arm fixing part 300 includes a support plate, and the support plate has an arc-shaped groove structure adapted to the outer arc of the arm, which can fit the outer side of the arm to support the arm.

[0036] In another implementation, an adjustable fixing band is provided on the inner side of the support plate, and the arm can be quickly fixed through Velcro or an elastic binding band to prevent deviation caused by patient movement.

[0037] Optionally, a quick release device is provided at the connection between the fixing band and the support plate, which is convenient for quickly releasing the fixation in case of an emergency, improving the safety and flexibility of the operation.

[0038] In another embodiment, a stretchable telescopic part (not shown in the figure) is provided on the arc-shaped groove structure of the pallet. The telescopic part can contract below the surface of the groove structure and be hidden in the groove, avoiding occupying the operating space and facilitating routine disinfection and other preparatory work before puncture; or it can extend to protrude from the surface of the groove structure to contact the arm, and can flexibly adjust the width of the groove to adapt to the arm sizes of different patients. For example, the arms of obese patients are thicker and those of child patients are thinner, avoiding the problem of unstable fixation caused by insufficient adjustment of the traditional strap. It can more effectively inhibit the slight movement of the arm caused by pain or tension in the patient and reduce the risk of puncture deviation.

[0039] When contracting, the telescopic part contacts both sides of the arm located on the groove structure of the pallet, fixing the arm between the telescopic parts and restricting the movement of the arm within the pallet.

[0040] Of course, the above-mentioned adjustable fixing strap and the telescopic part can also be combined to strengthen the fixation.

[0041] The first movable structure 200 is connected to the arm fixing part 300 and can drive the arm fixing part 300 to change its position.

[0042] The first movable structure 200 includes a first lateral movement component 220 for driving the movable structure to move in the lateral direction of the arm, i.e., on the X-axis.

[0043] As a typical embodiment, as Figure 3 shown, the first lateral movement component 220 includes pulleys 222 provided at the bottom of the pallet, and the pallet moves on the load surface 10 through the pulleys 222. Here, the load surface 10 refers to the tabletop, bed surface or ground where the operation is performed.

[0044] Specifically, the pulleys 222 are designed as a double-wheel structure, and the synchronous movement of the two-side pulleys 222 is realized through a synchronous belt or gear transmission to ensure the smoothness and linearity of the pallet during lateral movement. The surface of the pulleys 222 is coated with anti-slip material to increase the friction with the load surface 10 and prevent slipping.

[0045] Or, as Figure 2 shown, sliders 221 are provided on both sides of the bottom of the pallet and cooperate with the linear guide rails provided on the load surface 10.

[0046] The first movable structure 200 includes a first longitudinal movement component 210; the first longitudinal movement component 210 is used to drive the movable structure to move in the longitudinal direction of the arm.

[0047] The first longitudinal movement structure can be as Figure 2 shown, penetrating the corresponding holes on the load surface 10 and provided on the load surface 10. Here, the load surface 10 usually corresponds to the tabletop or the bed surface. Or asFigure 3 As shown, additionally bypassing the loading surface 10, a structure similar to a base and a support rod is set up to connect the loading surface 10, and the other end is connected to the arm fixing and supporting device on the tabletop or the bed surface. Here, the loading surface 10 usually corresponds to the ground.

[0048] By way of example and not limitation, the first longitudinal movement component 210 can adopt any one of the following: Adopt a precision ball screw structure. The screw is driven by a stepper motor, and the screw nut is connected to the bottom of the pallet, realizing the lifting of the pallet along the Y-axis.

[0049] The first longitudinal movement component 210 includes a telescopic rod 211 that is vertically or obliquely connected to the loading surface 10. The telescopic movement of the telescopic rod 211 realizes the movement of the pallet in the Y-axis direction of the arm. The telescopic rod 211 adopts a multi-section nested design, and a locking mechanism is set between each section to ensure stable support of the pallet at any height position. Scale marks are set on the surface of the telescopic rod 211 to facilitate the operator to intuitively understand the lifting height.

[0050] Use a cylinder and a pneumatic control system to realize the lifting of the pallet. By adjusting the air pressure to control the telescopic movement of the cylinder, the height of the pallet can be adjusted quickly and smoothly.

[0051] Use a hydraulic pump and a hydraulic cylinder to realize the lifting of the pallet. By manually or electrically controlling the hydraulic pump, the height of the pallet can be accurately adjusted.

[0052] Use a rack and pinion transmission scheme. The longitudinal movement component consists of a vertical rack fixed on the base and a gearbox connected to the bottom of the pallet.

[0053] The gearbox is internally provided with a reduction motor, which drives the pinion to engage with the rack, driving the pallet to move up and down along the Y-axis. Anti-derailment rollers are arranged on the side of the rack.

[0054] During specific implementation, the position in the horizontal direction can be adjusted first, and then the movement in the longitudinal direction can be adjusted. Taking the pulley 222 as an example, when adjusting the position in the Y-axis direction, the pulley 222 can leave the loading surface 10.

[0055] Taking the slider 221 as an example, the slider 221 and the slide rail can be set to be selectively connected. When the arm support device needs to be displaced in the Y-axis direction, the control center cuts off the connection between the slider 221 and the slide rail, so that the slider 221 can disengage from the slide rail and move along with the arm fixing part 300 in the longitudinal direction.

[0056] As Figure 2 and 3 shown, the first movable structure 200 includes a swing component 230; the swing component 230 is used to drive the pallet to swing left and right in the horizontal plane with the direction of the arm extension, defined as the Z-axis, as the central axis.

[0057] This design enables the operator to precisely match the anatomical course of the radial artery by finely adjusting the angle of the support plate during the puncture process, especially suitable for scenarios where the artery is tortuous or it is difficult to locate deep blood vessels.

[0058] As a typical implementation, the swing assembly 230 includes a support base, which is connected to the bottom of the support plate through a rotating shaft, and the axis of the rotating shaft coincides with the long axis (Z-axis) of the patient's arm.

[0059] The driving device provides power, usually an electric motor, a pneumatic or a hydraulic system.

[0060] It also includes an angle locking structure for restricting the swing angle of the swing assembly 230.

[0061] As a typical implementation, the angle locking structure includes: positioning disks with locking holes are arranged at both ends of the rotating shaft, and the locking holes are distributed at intervals according to a preset swing angle, for example, one hole is correspondingly set for every 5° angle.

[0062] The electromagnetic bolt is normally ejected by a spring and inserted into the locking hole to fix the angle; after being electrified, the bolt retracts to unlock, allowing swing adjustment.

[0063] Or the rotating shaft of the swing assembly 230 is linked with a hydraulic damper. When adjusting normally, the damping valve is opened and the swing is smooth; when locking is required, the valve is closed and the hydraulic oil locks the damper.

[0064] Or the angle locking structure includes: the rotating shaft is connected to a friction disk, and the clamping / loosening of the brake pads is controlled by an electromagnetic device.

[0065] By way of example rather than limitation, the swing assembly 230 can be as Figure 3 shown, and is arranged between the arm fixing part 300 and the first longitudinal moving assembly 210 connected to the ground.

[0066] Or, it is arranged between the arm fixing part 300 and the first transverse moving assembly 220 as Figure 2 shown (not shown in the figure).

[0067] Optionally, pressure sensors are arranged on the contact surface of the arm fixing part 300 corresponding to the arm for collecting the pressure distribution data of the contact between the arm and the contact surface. The arm fixing pressure is monitored in real time through the pressure sensors. The positions of the pressure sensors on the arm fixing part 300 are relatively fixed. Therefore, in the case of determining the coordinate reference point, fixed position coordinates (Sx, Sy) are assigned to each pressure sensor, and at the same time, a visual coordinate system (Cx, Cy) is established in combination with the image acquisition module. The physical coordinates of the sensors and the visual coordinates of the image acquisition are dynamically bound in real time.

[0068]

[0069] Where M is a 3×3 calibration matrix, which is solved by the least squares method.

[0070] By comparing the collected pressure data with a preset threshold value, the pressure sensors with pressure data greater than the preset threshold value are screened out, and the position coordinates (Sx, Sy) of the pressure sensors are obtained. Through the previously established mapping relationship, the coordinates are converted to obtain the corresponding coordinate positions (Cx, Cy) within the vision system.

[0071] Before puncture, prompt the user to avoid the high-pressure area corresponding to the pressure sensor with pressure data greater than the preset threshold value when inserting the needle. The way to output the high-pressure area to the user can be through the interactive interface set on the control structure 400 or through an additionally set display structure.

[0072] Display a sample pattern of the patient's arm on the interface, or an actual photo collected by an image acquisition component including a camera. According to the obtained (Cx, Cy), the high-pressure warning area is marked and superimposed on the arm image with color blocks, and at the same time, evasion prompt text (such as "Avoid inserting the needle into this area") is marked.

[0073] When performing the puncture operation, the user can refer to the above marks to avoid the high-pressure area, optimize the recommendation of the initial needle insertion point, and improve the success rate of the first puncture.

[0074] Of course, in addition to marking the high-pressure area, the pressure data of all pressure sensors can also be represented by a gradient color temperature map (blue → yellow → red) to cover the arm image. The user can select an interactive operation, such as touch clicking, to view the specific local pressure value.

[0075] Optionally, an encoder is provided at the connection between the arm fixing part 300 and the first movable structure 200. The encoder is used to record the position information of the arm fixing part 300, including at least one of the lateral displacement, longitudinal displacement, and swing angle. The above information can be output corresponding to the interactive interface on the control structure 400 or an additionally set display structure for the user to intuitively understand.

[0076] Optionally, as Figure 3 shown, it further includes an ultrasonic camera support device 500.

[0077] It includes a clamping part 510 for clamping the ultrasonic camera.

[0078] During specific implementation, the first movable structure 200 includes at least one or more of a first longitudinal movement component 210, a first lateral movement component 220, and a swing component 230, driving the arm fixing part 300, that is, changing the position of the arm relative to the puncture needle in the X-axis and Y-axis directions, and the contact angle of the arm relative to the puncture needle.

[0079] The base connecting the clamping part 510.

[0080] A second moving structure is provided on the base to drive the clamping part 510 to change its position.

[0081] The control structure 400 is in signal connection with the second moving component to trigger the movement of the second moving component.

[0082] The second moving structure includes a second longitudinal moving component 530 and / or a second transverse moving component 540, which can drive the ultrasonic camera to move in the horizontal axis and the vertical axis directions above the arm, changing the relative position with the arm.

[0083] The second longitudinal moving component 530 is used to drive the clamping part 510 to move in the longitudinal direction, the second transverse moving component 540 is used to drive the clamping part 510 to move in the transverse direction, and / or an angle adjusting structure 520 is provided at the connection between the base and the clamping part 510 to adjust the angle of the clamping part 510 relative to the base.

[0084] The specific implementation manners of the second longitudinal moving component 530 and the second transverse moving component 540 can be similarly referred to the implementation manners of the first longitudinal moving component 210 and / or the first transverse moving component 220 in the above-mentioned first moving structure 200.

[0085] For example, the second transverse moving component 540 includes pulleys 222 provided at the bottom of the base.

[0086] The second longitudinal moving component 530 includes a telescopic part that is part of the base.

[0087] The angle adjusting structure 520 includes a rotating shaft.

[0088] Preferably, a control structure 400 is provided on the puncture needle.

[0089] As a typical implementation manner, as Figure 4 shown, the control structure 400 is provided at a position on the puncture needle holder 112 close to the needle body. When the user holds the needle holder 112 for operation, the control structure 400 is located between the operation holding point and the needle body.

[0090] The control structure 400 is in signal connection with the first moving component to control the first moving structure 200.

[0091] In the case where a second moving component is provided, the control structure 400 is in signal connection with the second moving component to control the second moving component.

[0092] Optionally, a signal emission module is provided on the tip part of the puncture needle body 110, which continuously emits specific signals, such as magnetic field, optical or acoustic signals, for real-time marking of the tip position.

[0093] A signal receiving module provided on the arm fixing part 300 is used to capture the signals emitted by the signal emission module. The signal receiving module can be a sensor array or a signal receiver array, and it sends the received signals, as well as information such as signal strength, frequency, arrival time, etc. to the control structure 400. By analyzing the received signals, the position and orientation of the puncture needle relative to the arm fixing part 300 can be calculated.

[0094] One way is to indirectly infer the distance relationship between the two by measuring the signal strength (RSSI) between the signal emission module and the signal receiving module. The specific steps are as follows: After the signal receiving module receives the signal, it calculates the strength of the signal. According to the signal attenuation model, there is a certain relationship between the strength and the distance, and the distance between the tip of the needle and the arm fixing part 300 can be estimated through an algorithm.

[0095] Compare the estimated distance with the known position of the arm fixing part 300, and combine the coordinates of the arm fixing part 300 to obtain the relative position of the tip part.

[0096] Another method is to use the time difference of signal propagation for positioning, that is: After the signal receiving module receives the signal, it calculates the strength of the signal. According to the signal attenuation model, there is a certain relationship between the strength and the distance, and the distance between the tip of the needle and the arm fixing part 300 can be estimated through an algorithm.

[0097] By calculating the time (Δt) required for the signal to travel from emission to reception, the propagation distance can be obtained. Given the propagation speed of the signal in tissue (usually close to the speed of light), the distance between the emission module and the reception module can be calculated.

[0098] By continuously monitoring the change in the time difference and combining the static coordinates of the arm fixing part 300, the relative position of the tip part can be updated in real time.

[0099] The above position data can also be obtained by setting up a camera to collect image data and analyzing the image data.

[0100] Optionally, it further includes a wrist model part disposed on the control structure 400. The wrist model part can be made of bionic silica gel material, and the projection area of the radial artery is marked on the surface. An indicating puncture point is movably arranged on the wrist model part. As a typical implementation manner, the indicating puncture point adopts a slidable magnetic attraction module, and the operator can directly drag the indicating puncture point or drag the virtual puncture point through the touch screen, and the micro motor in the model part drives the magnetic attraction module to move synchronously.

[0101] It further includes an image acquisition component, and the image acquisition component is used to acquire the image data of the arm in the arm fixing part 300 and the image data of the wrist model part.

[0102] The present invention provides a usage method implemented by the radial artery puncture device 100 as described in any one of the above, as Figure 1 shown, including the following steps: S1 Support and fix the arm through the arm support device.

[0103] When fixing the arm, first adjust the height of the support plate to make the arm lie flat in the groove naturally; then adjust the telescopic part to ensure that the arm contour fits closely with the groove; finally fix the strap and apply a uniform pre-tightening force to avoid excessive local pressure.

[0104] When fixing the ultrasonic camera, first adjust the position of the clamping part 510 to make the probe parallel to the arm surface; then finely adjust the probe angle to ensure that the ultrasonic image clearly shows the target blood vessel.

[0105] S1 further includes supporting and fixing the ultrasonic camera through the ultrasonic camera support device 500.

[0106] Through the above steps, during the subsequent operation process, the user does not need to hold the puncture needle with one hand, but can hold the needle holder 112 with both hands for subsequent operations, which can effectively avoid problems such as shaking and instability caused by one hand.

[0107] S2 During the puncture operation process, trigger the first mode through the control structure 400. In the first mode, the first movable structure 200 drives the arm to change its position.

[0108] The triggering method can be to set an interaction interface or an operation button on the control structure 400.

[0109] Optionally, the control structure 400 is provided with a tactile feedback function. When the operator triggers a motion instruction, a slight vibration is used to prompt that the instruction has been received and executed. After receiving the user's instruction, the control structure 400 sends a signal to the first movable structure 200, and according to the user's instruction, correspondingly activates the first longitudinal movement component 210, the first transverse movement component 220 and / or the swing component 230 in the first movable structure 200.

[0110] S2 also includes, during the puncture operation, triggering a second mode through the control structure 400. In the second mode, the second movable structure drives the ultrasonic camera to change its position.

[0111] Specifically, two options are set on the interaction interface, one corresponding to triggering the first mode and the other corresponding to triggering the second mode.

[0112] When the control structure 400 is set on the needle holder 112 and at the position between the hand-holding site and the needle body, during the puncture operation, the user can interact with the interaction interface or the operation buttons on the control structure 400 while maintaining the posture of holding the puncture needle.

[0113] S2 also includes, during the puncture operation, triggering a third mode through the control structure 400. In the third mode, the user adjusts the position of the indicated puncture point on the wrist model part according to the actual puncture point position of the radial artery corresponding to the patient determined by the patient.

[0114] It also includes an image acquisition component, including a camera or an ultrasonic imaging device.

[0115] The image acquisition component is used to acquire the image data of the arm within the arm fixing part 300 and the image data of the wrist model part.

[0116] Compare the image data of the arm and the image data of the wrist model part.

[0117] Optionally, calibration can be performed first. For example, the image acquisition component captures the features of the radial styloid process and the palmar crease of the patient's wrist; the anatomical landmark points are correspondingly adjusted on the wrist model part to make them coincide with the patient's body surface landmarks in the image. Correspondingly, a mapping relationship between the model coordinate system and the actual arm coordinate system is established.

[0118] An example of the implementation process is as follows: Model coordinate system (S M ): A two-dimensional / three-dimensional coordinate system established based on the preset anatomical landmarks (such as the radial styloid process A and the palmar crease model B mark) of the wrist model part.

[0119] Actual coordinate system (S R ): The coordinate system corresponding to the actual anatomical structure (A’, B’) of the patient's arm obtained through the image acquisition component.

[0120] System global coordinate system (S G ): A reference coordinate system established for unified operation of the control structure 400, which is bound to the mechanical structure of the arm fixing part 300.

[0121] Extract the pixel coordinates of registration feature points such as A and A', B and B' using an image recognition algorithm (such as Scale-Invariant Feature Transform, SIFT). Calculate the affine transformation matrix from the model coordinate system (S M ) to the actual coordinate system (S R ) based on the least squares method:

[0122] Make the actual landmark point coordinates P R and the model landmark point coordinates P M satisfy: P R = T * P M

[0123] When the user changes the indicated puncture point, the position of the indicated puncture point on the wrist model part is different, which will correspondingly affect the position of the target puncture point in the image data of the arm. That is, in the image data of the arm model part, the set position of the indicated puncture point on the wrist model part corresponds to the target position of the actual puncture point on the arm in the image data of the arm.

[0124] The control structure 400 is used to match the corresponding target puncture point on the previously acquired arm image based on the position information of the set puncture point in the wrist model part image, and obtain the position information of the target puncture point. An example of the actual process is as follows: After the user completes the operation on the indicated marker point, the control structure 400 acquires the position coordinates of PM in SM. Use the affine transformation matrix T to map the model part coordinates P M (x m , y m ) to the actual coordinate system to obtain the target point P R (x r , y r ):

[0125] Find the corresponding target puncture point on the arm image and obtain the position information of the target puncture point.

[0126] Multimodal data fusion can be introduced during image comparison. For example, cross-validation can be performed by combining ultrasonic images and optical images to improve the recognition accuracy.

[0127] The control structure 400 calculates the direction and distance that the arm fixing part 300 needs to move, and generates the movement path of the arm fixing part 300. This path is calculated based on the needle tip coordinates (through signal positioning), the target puncture point coordinates (through image matching), and the current position of the arm fixing part 300.

[0128] The control structure 400 can generate the movement path of the arm fixing part 300 through the following algorithm: Use path planning algorithms such as the A* algorithm or Dijkstra algorithm. The path should at least take into account: the movable range of the arm fixing part 300; the straight-line distance between the tip of the needle and the target puncture point.

[0129] For the specific execution process of the algorithm, refer to the relevant applications of existing algorithms, and it will not be elaborated in detail here.

[0130] Smooth the generated path, and decompose the generated path into a series of small motion instructions, which will be gradually executed to move the arm fixing part 300 to the target position.

[0131] The control structure 400 controls the first movable structure 200 according to the movement path, and moves the arm fixing part 300 to the target position pointed by the movement path, so that the radial artery puncture area on the patient's wrist part can be close to the tip part of the puncture needle body 110.

[0132] By real-time collecting the distance between the arm fixing part 300 and the puncture needle body 110, comparing the distance with a preset threshold, when the distance is not greater than the preset threshold, the safety measure is triggered, and the control structure 400 stops the movement of the first movable structure 200, so as to prevent the puncture needle body 110 from touching the patient's skin or below the skin.

[0133] The present invention also provides a system adopting the usage method described in any one of the above, and the system includes the radial artery puncture device 100 as described above.

[0134] Within the scope of the object of the present disclosure, terms such as "including" should be construed as inclusive or open by default, rather than exclusive or closed, unless it is explicitly defined to have the opposite meaning. All technical, scientific or other terms conform to the meanings understood by those skilled in the art, unless it is defined to have the opposite meaning. Common terms found in the dictionary should not be interpreted too idealistically or too unrealistically in the context of relevant technical documents, unless the present disclosure clearly defines it as such.

[0135] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0136] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment contains only an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A radial artery puncture device, comprising a puncture needle body, characterized in that include: An arm support device, the arm support device comprising an arm fixing portion and a first movable structure, wherein the arm fixing portion is used to support and fix the arm; The first movable structure is connected to the arm fixing part and can drive the arm fixing part to change position relative to the puncture needle; The puncture needle is provided with a control structure, and the control structure is connected to the first movable structure by signal so as to control the first movable structure.

2. The radial artery puncture device according to claim 1, characterized in that: The puncture needle body comprises a main channel and a secondary channel, wherein the main channel is used for puncturing, and the secondary channel is used for synchronously releasing a local anesthetic or a vasodilator when the main channel is punctured.

3. The radial artery puncture device according to claim 1, characterized in that: The first activity structure includes at least one of the following: A first longitudinal moving component, used for driving the arm fixing part to move in the longitudinal direction; A first lateral movement component, used to drive the arm fixing part to move in a lateral direction; The swing assembly is used to drive the support plate to swing left and right in the horizontal plane with the direction in which the arm extends as the central axis.

4. The radial artery puncture device according to claim 1, characterized in that: Also included is an ultrasonic camera support device, including a clamping portion for clamping the ultrasonic camera; A second movable structure connected to the clamping part, used to drive the clamping part to change position; The control structure is connected to the second movable structure by signal, so as to control the second movable structure; the second movable structure comprises a second longitudinal moving component and / or a second transverse moving component angle adjustment structure, and the second longitudinal moving component is used to drive the clamping part to move in the longitudinal direction; The second lateral movement assembly is used to drive the clamping portion to move in a lateral direction; The angle adjustment structure is used to adjust the angle between the clamping portion and the second movable structure.

5. The radial artery puncture device according to claim 1, characterized in that: A signal transmitting module is provided on the needle tip portion of the puncture needle body; The signal receiving module arranged on the arm fixing part is used to capture the signal transmitted by the signal transmitting module; the control structure is used to obtain the relative position relationship between the needle tip part and the arm fixing part based on the signal.

6. The radial artery puncture device according to claim 5, characterized in that: It also includes a wrist model part arranged on the control structure, and an indicated puncture point arranged on the wrist model part for movement; It also includes an image acquisition component, which is used to collect image data of the arm in the arm fixing part and image data of the wrist model part; the control structure is used to match the corresponding target puncture point on the aforementioned collected arm image based on the position information of the set puncture point in the wrist model part image, and obtain the position information of the target puncture point.

7. A method of using the radial artery puncture device according to any one of claims 1 to 6, characterized in that: The steps include: S1 supports and fixes the arm through the arm support device; S2 During the puncture operation, the first mode is triggered by the control structure. In the first mode, the first movable structure drives the arm to change position.

8. The method of use according to claim 7, characterized in that: S2 also includes, during the puncture operation, triggering the second mode through the control structure, in the second mode, the second movable structure drives the ultrasonic camera to change position.

9. The method of use according to claim 7, characterized in that: S2 also includes triggering a third mode through the control structure during the puncture operation. In the third mode, the first movable structure is triggered to drive the arm to change position by moving the indicated puncture point.

10. A system using the method of use as claimed in claims 7-9, characterized in that: The system includes the radial artery puncture device as described in claims 1-6.

Images