Radial artery puncture device, method of use, and system

Abstract

The present invention provides a radial artery puncture device, a method of use, and a system, which belong to the field of medical device technology. It includes a puncture needle body, an arm support device, and the arm support device includes an arm fixing part and a first movable structure, wherein 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; the puncture needle is provided with a control structure, and the control structure is connected to the first movable structure signal to control the first movable structure. While fixing the arm, the present invention can conveniently adjust the position of the arm, reduce the difficulty of radial artery puncture under real-time ultrasound guidance, and help improve the success rate of the puncture operation.

Description

Technical Field

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

[0002] Radial artery puncture is a widely used procedure in medical practice, primarily for blood sampling, arterial blood gas analysis, monitoring, and drug infusion. The radial artery is located on the radial side of the forearm, typically at the base of the wrist. It is easily accessible and relatively superficial, making it the primary site of choice for puncture.

[0003] The reference for radial artery puncture operation is as follows: the patient lies supine 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 pulse point with the non-dominant fingertip to determine the puncture point. After disinfecting the puncture area, if local anesthesia is required: use the dominant hand to hold the anesthetic needle and inject lidocaine subcutaneously at the puncture point; use the non-dominant hand to continuously press and fix the skin. Then, puncture the needle, insert it obliquely into the skin, and slowly advance it until the arterial pulse is felt; after seeing the return of arterial blood, lower the puncture needle angle and continue to advance to ensure that the needle tip completely enters the blood vessel lumen; when inserting the guide wire or collecting blood samples, the non-dominant hand needs to help fix the needle seat to prevent displacement.

[0004] Using real-time ultrasound guidance, the system provides real-time visual feedback during the puncture process, helping the operator accurately locate the blood vessel. The physician uses their non-dominant hand to manipulate the probe and adjust the ultrasound plane to display the long-axis or short-axis view of the artery; their dominant hand adjusts the needle insertion angle and depth based on the ultrasound image.

[0005] However, these procedures require the coordination of both hands, making them more complex and demanding of technical expertise. Inexperience can lead to lower puncture success rates. Even for doctors who can perform these procedures, the workload remains significant, leading to fatigue and hand tremors, which can cause deviations from the puncture path and compromise patient safety.

[0006] In summary, how to provide a radial artery puncture device suitable for 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. 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, method of use and system, which can easily adjust the position of the arm while fixing the arm, thereby reducing the complexity of the puncture operation and the operating burden of the doctor.

[0008] The present invention provides a radial artery puncture device, comprising a puncture needle body and an arm support device, wherein the arm support device comprises an arm fixing portion and a first movable structure, wherein the arm fixing portion is used to support and fix the arm;

[0009] The first movable structure is connected to the arm fixing portion and can drive the arm fixing portion to change position relative to the puncture needle;

[0010] 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.

[0011] 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 synchronously release local anesthetic or vasodilator when puncturing the main channel.

[0012] Furthermore, the first activity structure includes at least one of the following:

[0013] A first longitudinal moving component is used to drive the arm fixing portion to move in the longitudinal direction;

[0014] A first lateral movement component, used for driving the arm fixing portion to move in a lateral direction;

[0015] The swing assembly is used to drive the support plate to swing left and right in the horizontal plane with the direction of arm extension as the central axis.

[0016] Furthermore, it also includes an ultrasonic camera support device, including a clamping portion for clamping the ultrasonic camera;

[0017] A second movable structure connected to the clamping portion, used to drive the clamping portion to change position;

[0018] The control structure is connected to the second movable structure by signal, so as to control the second movable structure; the second movable structure includes a second longitudinal movable component and / or a second transverse movable component angle adjustment structure, and the second longitudinal movable component is used to drive the clamping portion to move in the longitudinal direction;

[0019] The second lateral movement component is used to drive the clamping portion to move in the lateral direction;

[0020] The angle adjustment structure is used to adjust the angle between the clamping portion and the second movable structure.

[0021] Furthermore, a signal transmitting module is provided on the needle tip portion of the puncture needle body;

[0022] The signal receiving module provided 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.

[0023] Furthermore, it also includes a wrist model portion disposed on the control structure, and an indicated puncture point movably disposed on the wrist model portion;

[0024] 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.

[0025] The present invention provides a method for using the radial artery puncture device as described above, comprising the following steps:

[0026] S1 supports and fixes the arm through the arm support device;

[0027] 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.

[0028] Furthermore, S2 also includes, during the puncture operation, triggering a second mode through the control structure, and in the second mode, the second movable structure drives the ultrasonic camera to change its position.

[0029] Furthermore, S2 includes obtaining a patient's subjective pain score based on the patient's subjective feeling.

[0030] Obtaining the patient's objective pain score based on the patient's image data;

[0031] The subjective pain score and the objective pain score are superimposed according to the preset weight coefficient to calculate the patient's comprehensive pain score.

[0032] Furthermore, 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.

[0033] The present invention provides a system using the method described above, characterized in that the system includes the radial artery puncture device described above.

[0034] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art, as an example:

[0035] By combining the arm fixing support device with the ultrasound camera support device, the operation complexity and the doctor's operating burden are significantly reduced, making it easier for the doctor to hold the puncture needle body with both hands for puncture operations, effectively reducing the fatigue and hand shaking caused by one-handed operation, and reducing the difficulty of radial artery puncture operations under real-time ultrasound guidance.

[0036] Furthermore, the linkage between the first and second movable structures enables automatic adjustment of the arm's position and angle, as well as the ultrasound probe's position and angle. This supports the coordinated movement of the arm and ultrasound probe in three-dimensional space, improving the success rate of puncture operations. Adjustments are triggered by a control structure located on the needle holder, avoiding frequent switching operations and significantly reducing operational complexity.

[0037] The puncture needle utilizes dual independent channels. During puncture, the secondary channel simultaneously delivers a local anesthetic or vasodilator in conjunction with the primary channel, reducing preoperative anesthesia preparation steps and the risk of vasospasm. A recommended initial insertion point avoids areas of high pressure on the arm, increasing the probability of successful puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flowchart of the steps of the method of use provided by the present invention.

[0039] Figure 2 This is a schematic structural diagram of the arm support device provided by the present invention.

[0040] Figure 3 This is a schematic structural diagram of the arm support device and ultrasonic camera support device provided by the present invention.

[0041] Figure 4 The schematic diagram of the connection between the control structure and the puncture needle body provided by the present invention is another embodiment.

[0042] Description of Reference Numerals

[0043] Radial artery puncture device 100, puncture needle body 110, needle tube 111, needle seat 112;

[0044] First movable structure 200, first longitudinal moving assembly 210, telescopic rod 211, first transverse moving assembly 220, slider 221, pulley 222, swing assembly 230;

[0045] Arm fixing portion 300;

[0046] Control structure 400;

[0047] Ultrasonic camera support device 500, clamping portion 510, angle adjustment structure 520, second longitudinal moving assembly 530, second lateral moving assembly 540;

[0048] The object surface 10 and the ultrasonic probe 20 are provided. DETAILED DESCRIPTION

[0049] The technical solutions disclosed in the present invention are further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be considered in isolation, 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.

[0050] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not intended to limit the conditions under which the invention can be implemented. Any structural modification, change in proportional relationship, or adjustment of size should fall within the scope of the technical content disclosed in the invention without affecting the efficacy and purpose of the invention. The scope of the preferred embodiments of the present invention includes alternative implementations, in which the functions can be performed in a non-described or discussed order, including performing the functions in a substantially simultaneous manner or in a reverse order according to the functions involved, which should be understood by those skilled in the art of the art to which the embodiments of the present invention belong.

[0051] Techniques, methods, and apparatus known to persons of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0052] The present invention provides a radial artery puncture device 100 .

[0053] like Figure 4 As shown, a puncture needle is included, which generally includes a needle tube 111 and a needle seat 112 for fixing the needle tube 111 and providing an operation hand-held site and a pipeline interface.

[0054] Optionally, the needle body is integrated with an independent working channel (not shown in the figure), for example: the main channel is used for puncture, and the secondary channel synchronously releases local anesthetics or vasodilators, avoiding repeated punctures caused by first performing puncture anesthesia and then puncturing, reducing the patient's discomfort and damage to the patient's arm skin.

[0055] In particular, if Figure 2 and 3 As shown, it also includes an arm supporting device, and the arm supporting device includes an arm fixing part 300.

[0056] As a typical embodiment, the arm fixing portion 300 includes a support plate having an arc-shaped groove structure adapted to the curvature of the outer side of the arm, which can fit the outer side of the arm to support the arm.

[0057] In another embodiment, an adjustable fixing strap is provided on the inner side of the support plate, which can be used to quickly fix the arm through Velcro or elastic straps to prevent displacement caused by patient movement.

[0058] Optionally, a quick release device is provided at the connection between the fixing belt and the supporting plate to facilitate quick release of the fixation in an emergency, thereby improving the safety and flexibility of the operation.

[0059] In another embodiment, the arc-shaped groove structure of the support plate is provided with a retractable telescopic portion (not shown in the figure). The telescopic portion can be retracted below the surface of the groove structure and hidden in the groove, avoiding occupying the operating space and facilitating routine disinfection and other preparatory work before puncture; or it can be extended to the surface of the protruding groove structure to contact the arm. The groove width can be flexibly adjusted to adapt to different patient arm sizes, such as obese patients with thicker arms and children with thinner arms, avoiding the unstable fixation caused by the insufficient tension adjustment of traditional straps. It is more effective to suppress the patient's arm micro-movement caused by pain or tension, reducing the risk of puncture deviation.

[0060] When the arm is retracted, the telescopic portion contacts the two sides of the arm located on the groove structure of the support plate, thereby fixing the arm between the telescopic portions and limiting the movement of the arm in the support plate.

[0061] Of course, the above-mentioned adjustable fixing belt and the telescopic part can also be combined to strengthen the fixation.

[0062] The first movable structure 200 is connected to the arm fixing part 300 and can drive the arm fixing part 300 to change position.

[0063] 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., along the X-axis.

[0064] As a typical implementation, Figure 3 As shown, the first transverse moving assembly 220 includes a pulley 222 provided at the bottom of the pallet, and moves on the loading surface 10 via the pulley 222. The loading surface 10 herein refers to a table, a bed or the ground where the operation is performed.

[0065] Specifically, the pulley 222 is designed as a double-wheel structure, and the pulleys 222 on both sides are synchronized by a timing belt or gear transmission to ensure the stability and linearity of the pallet during lateral movement. The surface of the pulley 222 is coated with anti-skid material to increase the friction with the loading surface 10 and prevent slipping.

[0066] Or, as Figure 2 As shown, sliders 221 are provided on both sides of the bottom of the support plate, which cooperate with the linear guide rails provided on the loading surface 10.

[0067] The first movable structure 200 includes a first longitudinal moving component 210 ; the first longitudinal moving component 210 is used to drive the movable structure to move in the longitudinal direction of the arm.

[0068] The first longitudinally movable structure may be as follows Figure 2 As shown, the corresponding holes on the loading surface 10 are set on the loading surface 10, and the loading surface 10 here usually corresponds to a table or a bed. Figure 3 As shown, the loading surface 10 is bypassed and connected by setting a structure similar to a base and a support rod, and the other end is connected to the arm fixing support device on the table or bed. The loading surface 10 here usually corresponds to the ground.

[0069] By way of example and not limitation, the first longitudinal moving assembly 210 may be any of the following:

[0070] It adopts a precision ball screw structure, the screw is driven by a stepper motor, and the screw nut is connected to the bottom of the support plate to achieve the lifting and lowering of the support plate along the Y axis.

[0071] The first longitudinal movement assembly 210 includes a telescopic rod 211 connected vertically or obliquely to the loading surface 10. The extension and retraction of the telescopic rod 211 enables movement of the pallet along the arm's Y-axis. The telescopic rod 211 features a multi-section nested design with locking mechanisms between each section, ensuring stable support for the pallet at any height. Scale markings are provided on the surface of the telescopic rod 211 to facilitate intuitive control of the lifting height.

[0072] The pallet is raised and lowered using a pneumatic cylinder and air pressure control system. By adjusting the air pressure to control the extension and retraction of the cylinder, the pallet height can be adjusted quickly and smoothly.

[0073] The pallet is raised and lowered using a hydraulic pump and cylinder. The height of the pallet can be precisely adjusted by manually or electrically controlling the hydraulic pump.

[0074] Using a rack and pinion transmission scheme, the longitudinal movement assembly consists of a vertical rack fixed to the base and a gear box connected to the bottom of the pallet.

[0075] The gearbox has a built-in reduction motor that drives the pinion to engage with the rack, driving the pallet to move up and down along the Y-axis. Anti-derailment rollers are set on the side of the rack.

[0076] During specific implementation, the position in the transverse direction may be adjusted first, and then the movement in the longitudinal direction may be adjusted. Taking the pulley 222 as an example, when the position in the Y-axis direction is adjusted, the pulley 222 may leave the loading surface 10 .

[0077] 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 be detached from the slide rail and displaced in the longitudinal direction with the arm fixing part 300.

[0078] like Figure 2 and 3 As shown, the first movable structure 200 includes a swing assembly 230; the swing assembly 230 is used to drive the support plate to swing left and right in the horizontal plane in the direction of arm extension, which is defined as the Z axis and the central axis.

[0079] This design enables the operator to precisely match the anatomical direction of the radial artery by fine-tuning the angle of the support plate during the puncture process. It is particularly suitable for scenarios where the artery is tortuous or deep blood vessels are difficult to locate.

[0080] As a typical embodiment, the swing assembly 230 includes a support base, which is connected to the bottom of the support plate via a rotation axis, and the axis of the rotation axis coincides with the long axis (Z axis) of the patient's arm.

[0081] The drive provides power, usually using an electric motor, pneumatic or hydraulic system.

[0082] An angle locking structure is also included to limit the swing angle of the swing assembly 230 .

[0083] As a typical implementation, the angle locking structure includes: positioning plates with locking holes are provided at both ends of the rotating shaft, and the locking holes are distributed at intervals according to a preset swing angle, for example, a hole is provided for every 5° angle.

[0084] Under normal conditions, the electromagnetic latch is ejected by a spring and inserted into the lock hole to fix the angle; when powered on, the latch retracts and unlocks, allowing swing adjustment.

[0085] Alternatively, the rotating shaft of the swing assembly 230 is linked to the hydraulic damper. During normal adjustment, 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.

[0086] Alternatively, the angle locking structure includes: a rotating shaft connected to a friction disc, and an electromagnetic device controlling the clamping / relaxation of the brake pad.

[0087] By way of example and not limitation, the swing assembly 230 may be as follows: Figure 3 As shown, it is arranged between the arm fixing part 300 and the first longitudinal moving component 210 connected to the ground.

[0088] Alternatively, set the Figure 2 Between the arm fixing portion 300 and the first lateral moving component 220 (not shown in the figure).

[0089] Optionally, a pressure sensor is provided on the contact surface of the arm fixture 300 corresponding to the arm to collect pressure distribution data between the arm and the contact surface. The pressure sensor monitors the arm's fixation pressure in real time. The pressure sensor is relatively fixed on the arm fixture 300. Therefore, once the coordinate system reference point is determined, each pressure sensor is assigned a fixed position coordinate (Sx, Sy). Simultaneously, a visual coordinate system (Cx, Cy) is established in conjunction with the image acquisition module. The sensor's physical coordinates are dynamically bound to the visual coordinates acquired through image acquisition in real time.

[0090]

[0091] Where M is a 3×3 calibration matrix, which is solved by the least squares method.

[0092] By comparing the collected pressure data with a preset threshold, the system selects pressure sensors with pressure data greater than the preset threshold and obtains the position coordinates (Sx, Sy) of the pressure sensors. Using the previously established mapping relationship, the coordinates are converted to the corresponding coordinate position (Cx, Cy) within the vision system.

[0093] Before puncture, the user is prompted to avoid the high-pressure area corresponding to the pressure sensor whose pressure data is greater than the preset threshold when inserting the needle. The high-pressure area can be output to the user through an interactive interface set on the control structure 400, or through a separately set display structure.

[0094] The interface displays a sample image of the patient's arm, or an actual photo captured by an image acquisition component, including a camera. Based on the obtained (Cx, Cy), the high-voltage warning area is superimposed on the arm image as a color block marker, along with avoidance text (e.g., "Avoid needle insertion in this area").

[0095] During the puncture operation, users can refer to the above marks to avoid high-voltage areas, optimize the initial needle insertion point recommendation, and improve the success rate of one-time puncture.

[0096] In addition to marking high-pressure areas, the pressure data from all pressure sensors can also be overlaid on the arm screen using a gradient color temperature graph (blue → yellow → red) to represent the pressure gradient. Users can select interactive operations, such as touching and clicking, to view the specific local pressure value.

[0097] Optionally, an encoder is provided at the connection between the arm fixing part 300 and the first movable structure 200, and 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 correspond to the interactive interface on the control structure 400, or be output by a separately provided display structure for the user to understand intuitively.

[0098] Alternatively, as Figure 3 As shown, an ultrasound camera support device 500 is also included.

[0099] It includes a clamping portion 510 for clamping the ultrasound camera.

[0100] In specific implementation, the first movable structure 200 includes at least one or more of the first longitudinal moving component 210, the first lateral moving component 220, and the swinging component 230, which drives the arm fixing part 300, that is, the arm changes its position relative to the puncture needle in the X-axis and Y-axis directions, as well as the contact angle of the arm relative to the puncture needle.

[0101] Connect the base of the clamping portion 510 .

[0102] A second movable structure is provided on the base to drive the clamping portion 510 to change position.

[0103] The control structure 400 is connected to the second movable component by signal to trigger the second movable component to move.

[0104] The second movable structure includes a second longitudinal moving component 530 and / or a second transverse moving component 540, which can drive the ultrasound camera to move in the transverse and longitudinal directions above the arm to change its relative position with the arm.

[0105] 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 the angle adjustment 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.

[0106] The specific implementation of the second longitudinal moving assembly 530 and the second lateral moving assembly 540 may be similar to the implementation of the first longitudinal moving assembly 210 and / or the first lateral moving assembly 220 in the first movable structure 200 described above.

[0107] For example, the second lateral movement assembly 540 includes a pulley 222 disposed at the bottom of the base.

[0108] The second longitudinal movement assembly 530 includes a telescoping portion as part of a base.

[0109] The angle adjustment structure 520 includes a rotation axis.

[0110] Preferably, a control structure 400 is provided on the puncture needle.

[0111] As a typical implementation, Figure 4As shown, the control structure 400 is arranged on the puncture needle seat 112 near the needle body. When the user holds the needle seat 112 for operation, the control structure 400 is located between the operating hand-held position and the needle body.

[0112] The control structure 400 is signal-connected to the first movable component to control the first movable structure 200 .

[0113] In the case where a second movable component is provided, the control structure 400 is signal-connected to the second movable component to control the second movable component.

[0114] Optionally, a signal transmitting module is provided on the needle tip portion of the puncture needle body 110 to continuously transmit a specific signal, such as a magnetic field, optical or acoustic wave signal, for marking the needle tip position in real time.

[0115] The signal receiving module provided on the arm fixing portion 300 is used to capture the signal transmitted by the signal transmitting module. The signal receiving module can be a sensor array or a signal receiver array. The received signal and information such as signal strength, frequency, and arrival time are transmitted to the control structure 400. By analyzing the received signal, the position and direction of the puncture needle relative to the arm fixing portion 300 can be calculated.

[0116] One way is to indirectly calculate the distance between the signal transmitter and the signal receiver by measuring the signal strength (RSSI) between the two modules. The specific steps are as follows:

[0117] After receiving the signal, the signal receiving module calculates the signal strength. According to the signal attenuation model, there is a certain relationship between strength and distance. The distance between the needle tip and the arm fixing part 300 can be estimated through the algorithm.

[0118] The estimated distance is compared with the known position of the arm fixing part 300, and the relative position of the needle tip portion can be obtained in combination with the coordinates of the arm fixing part 300.

[0119] Another method is to use the time difference of signal propagation for positioning, that is:

[0120] After receiving the signal, the signal receiving module calculates the signal strength. According to the signal attenuation model, there is a certain relationship between strength and distance. The distance between the needle tip and the arm fixing part 300 can be estimated through the algorithm.

[0121] By calculating the time (Δt) required for the signal to be transmitted and received, the propagation distance can be calculated. Knowing the propagation speed of the signal in tissue (usually close to the speed of light), the distance between the transmitting module and the receiving module can be calculated.

[0122] By continuously monitoring the time difference change and combining it with the static coordinates of the arm fixing part 300, the relative position of the needle tip part can be updated in real time.

[0123] The above position data can also be obtained by setting a camera to collect image data and analyzing the image data.

[0124] Optionally, it also includes a wrist model part arranged on the control structure 400. The wrist model part can be made of bionic silicone material, and the radial artery projection area is marked on the surface. The wrist model part is movable and provided with an indicating puncture point. As a typical embodiment, the indicating puncture point adopts a sliding magnetic module. The operator can directly drag the indicating puncture point, or drag the virtual puncture point through the touch screen. The micro motor in the model part drives the magnetic module to move synchronously.

[0125] It also includes an image acquisition component, which is used to acquire image data of the arm in the arm fixing part 300 and image data of the wrist model part.

[0126] The present invention provides a method of using the radial artery puncture device 100 as described above, as follows: Figure 1 As shown, the following steps are included: S1 supports and fixes the arm through the arm support device.

[0127] When fixing the arm, first adjust the height of the support plate so that the arm lies naturally and flatly in the groove; then adjust the telescopic part to ensure that the arm contour fits tightly into the groove; finally, fix the strap and apply uniform pre-tightening force to avoid excessive local pressure.

[0128] When fixing the ultrasound camera, first adjust the position of the clamping portion 510 so that the probe is parallel to the surface of the arm; then fine-tune the angle of the probe to ensure that the ultrasound image clearly displays the target blood vessel.

[0129] S1 also includes supporting and fixing the ultrasonic camera through the ultrasonic camera supporting device 500.

[0130] Through the above steps, the user does not need to hold the puncture needle with one hand during subsequent operations, but can hold the needle holder 112 with both hands to perform subsequent operations, which can effectively avoid shaking, instability and other problems caused by one hand.

[0131] S2 During the puncture operation, the first mode is triggered by the control structure 400. In the first mode, the first movable structure 200 drives the arm to change position.

[0132] The triggering method may be to set an interactive interface or an operation button on the control structure 400 .

[0133] 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.

[0134] After receiving the user's instruction, the control structure 400 sends a signal to the first movable structure 200, and activates the first longitudinal moving component 210, the first lateral moving component 220 and / or the swinging component 230 in the first movable structure 200 according to the user's instruction.

[0135] S2 also includes, during the puncture operation, triggering a second mode through the control structure 400, in which the second movable structure drives the ultrasonic camera to change its position.

[0136] Specifically, two options are set on the interactive interface, one of which corresponds to triggering the first mode, and the other corresponds to triggering the second mode.

[0137] When the control structure 400 is set on the needle seat 112 and is positioned between the hand holding position and the needle body, the user can interact with the interactive interface or operation buttons on the control structure 400 while maintaining the posture of holding the puncture needle when performing the puncture operation.

[0138] S2 also includes triggering a third mode through the control structure 400 during the puncture operation. In the third mode, the user adjusts the position of the indicated puncture point on the wrist model based on the position of the actual puncture point of the radial artery of the patient determined by the patient.

[0139] Also included are image acquisition components, including cameras or ultrasound imaging devices.

[0140] The image acquisition component is used to acquire image data of the arm in the arm fixing part 300 and image data of the wrist model part.

[0141] Compare the image data of the arm and the image data of the wrist model.

[0142] Optionally, calibration can be performed first. For example, the image acquisition component captures the radial styloid process and transverse palmar crease features of the patient's wrist. Anatomical landmarks on the wrist model are then adjusted to align with the patient's body landmarks in the image. A mapping relationship is then established between the model coordinate system and the actual arm coordinate system.

[0143] The implementation process is as follows:

[0144] Model coordinate system (S M ): A two-dimensional / three-dimensional coordinate system is established based on the preset anatomical landmarks of the wrist model (such as the radial styloid process A and the palmar transverse crease model B mark).

[0145] Actual coordinate system (S R): The coordinate system corresponding to the actual anatomical structure (A', B') of the patient's arm obtained by the image acquisition component.

[0146] System global coordinate system (S G ): A reference coordinate system established to unify the operation of the control structure 400, which is bound to the mechanical structure of the arm fixing part 300.

[0147] Image recognition algorithms (such as scale-invariant feature transform SIFT) are used to extract the pixel coordinates of the registration feature points such as A and A', B and B'. The least squares method is used to calculate the pixel coordinates from the model coordinate system (S M ) to the actual coordinate system (S R )’s affine transformation matrix:

[0148]

[0149] So that the actual marker point coordinates P R With the model landmark point coordinates P M satisfy:

[0150] P R =T*P M

[0151] When the user changes the indicated puncture point, the position of the indicated puncture point on the wrist model changes, which in turn affects the position of the target puncture point in the arm image data. Specifically, the set position of the indicated puncture point on the wrist model in the arm image data corresponds to the target position of the actual puncture point on the arm in the arm image data.

[0152] 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 image, and obtain the position information of the target puncture point. The actual process is as follows: After the user completes the operation of the indicated mark point, the control structure 400 collects the position coordinates of PM in SM. The model coordinates P are transformed into M (x m ,y m ) is mapped to the actual coordinate system to obtain the target point P R (x r ,y r ):

[0153]

[0154] Find the corresponding target puncture point on the arm image and obtain the position information of the target puncture point.

[0155] Multimodal data fusion can be introduced during image comparison. For example, ultrasound images and optical images can be combined for cross-validation to improve recognition accuracy.

[0156] The control structure 400 calculates the direction and distance that the arm fixture 300 needs to move, generating a movement path for the arm fixture 300. This path is calculated based on the coordinates of the needle tip (based on signal positioning), the coordinates of the target puncture point (based on image matching), and the current position of the arm fixture 300.

[0157] The control structure 400 can generate the movement path of the arm fixing part 300 by the following algorithm:

[0158] A path planning algorithm, such as an A* algorithm or a Dijkstra algorithm, is used. The path should at least take into account: the movable range of the arm fixing portion 300; and the straight-line distance between the needle tip and the target puncture point.

[0159] The specific execution process of the algorithm can be referred to the relevant applications of existing algorithms and will not be elaborated here.

[0160] The generated path is smoothed and decomposed into a series of small motion instructions, which will be executed step by step to move the arm fixing part 300 to the target position.

[0161] 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 indicated by the movement path, so that the radial artery puncture area on the patient's wrist can be close to the needle tip part of the puncture needle body 110.

[0162] By collecting the distance between the arm fixing portion 300 and the puncture needle body 110 in real time and 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, thereby preventing the puncture needle body 110 from touching the patient's skin or below the skin.

[0163] The present invention further provides a system using any one of the methods described above, the system comprising the radial artery puncture device 100 described above.

[0164] Within the scope of protection intended by the present disclosure, terms such as "including" and "comprising" should be interpreted as inclusive or open-ended rather than exclusive or closed by default, unless expressly defined to the contrary. All technical, scientific, or other terms have the meanings understood by those skilled in the art unless expressly defined to the contrary. Common terms found in dictionaries should not be interpreted in an overly idealistic or unrealistic manner in the context of relevant technical documents, unless expressly defined to that extent by the present disclosure.

[0165] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0166] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods 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, 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 portion and can drive the arm fixing portion to change its position relative to the puncture needle; The puncture needle is provided with a control structure, which is connected to the first movable structure by signal and is used to control the first movable structure; the needle tip of the puncture needle body is provided with a signal transmitting module; The signal receiving module provided on the arm fixing portion 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 portion and the arm fixing portion based on the signal; It also includes a wrist model portion disposed on the control structure, and an indicated puncture point movably disposed on the wrist model portion; 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 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; the control structure is used to calculate the direction and distance that the arm fixing part needs to move, and generate a moving path of the arm fixing part; and, according to the moving path, correspondingly control the first movable structure to move the arm fixing part to the target position pointed to by the moving path.

2. The radial artery puncture device according to claim 1, characterized in that: 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 synchronously release local anesthetic or 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 is used to drive the arm fixing portion to move in the longitudinal direction; A first lateral movement component, used for driving the arm fixing portion 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 of arm extension 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 portion, used to drive the clamping portion 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 includes a second longitudinal movable component and / or a second transverse movable component angle adjustment structure, and the second longitudinal movable component is used to drive the clamping portion to move in the longitudinal direction; The second lateral movement component is used to drive the clamping portion to move in the lateral direction; The angle adjustment structure is used to adjust the angle between the clamping portion and the second movable structure.

5. A radial artery puncture system, characterized in that: The system includes the radial artery puncture device according to any one of claims 1 to 4.

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