Hemodialysis internal arteriovenous fistula automatic puncture robot and control method thereof

Abstract

The invention relates to the technical field of internal fistula puncture equipment, and particularly discloses a hemodialysis internal arteriovenous fistula automatic puncture robot and a control method thereof.The hemodialysis internal arteriovenous fistula automatic puncture robot comprises a position adjusting mechanism, a posture adjusting mechanism and a puncture mechanism; the puncture mechanism comprises a supporting plate, a puncture pushing assembly with a sliding table, a mounting frame, an angle compensation adjusting assembly, a clamping jaw assembly and a puncture protection assembly, the puncture pushing assembly is constructed to drive needle inserting and needle withdrawing operation of a puncture needle, the mounting frame comprises an end plate and a limiting ring spaced from the end plate, the clamping jaw assembly is arranged in the limiting ring, and the angle compensation adjusting assembly is arranged on the supporting plate. The clamping jaw assembly and the angle compensation adjusting assembly are in coaxial transmission connection, the clamping jaw assembly is constructed to clamp a puncture needle and obtain feedback force in the puncture process, and the puncture protection assembly is constructed to selectively limit and fix the clamping jaw assembly according to the feedback force. Automatic clamping and posture fine adjustment of the puncture needle are achieved, and the puncture efficiency and safety are improved.

Description

Technical Field

[0001] The present application relates to the technical field of internal fistula puncture devices, and in particular, to an automatic puncture robot for arteriovenous fistulas in hemodialysis and a control method thereof. Background Art

[0002] Hemodialysis is an important means for treating end-stage renal disease. An arteriovenous fistula (AVF) is a common way to establish a vascular access for hemodialysis patients, and AVF puncture is a key step in hemodialysis. Its accuracy and safety directly affect the dialysis effect and patient comfort.

[0003] In the related art, for a puncture robot, image and ultrasound are combined for path planning to complete automatic puncture. However, in the scenario of arteriovenous fistula puncture, it is carried out for arm blood vessels. Since the blood vessels are relatively thin and the shapes of each person's arms are different, when puncturing different patients, in order to ensure puncture safety and puncture effect, the blade surface of the internal fistula puncture needle also needs to be adjusted. However, the existing puncture device cannot perform targeted fine adjustment of the pose of the puncture needle. At the same time, it does not have a protection mechanism, and there is a risk of blood vessel injury during puncture. In addition, due to the need to cooperate with the puncture needle for operation, the puncture device cannot automatically clamp the puncture needle. Summary of the Invention

[0004] The present application aims to propose an automatic puncture robot for arteriovenous fistulas in hemodialysis and a control method thereof, so as to at least solve the problems in the prior art that the puncture device cannot automatically clamp and perform pose fine adjustment on the puncture needle in the scenario of arteriovenous fistula puncture in hemodialysis, and there is a risk of blood vessel injury during puncture.

[0005] To achieve the above object, in a first aspect, an embodiment of the present application provides an automatic puncture robot for arteriovenous fistulas in hemodialysis, including a position adjustment mechanism, a posture adjustment mechanism connected to the position adjustment mechanism, and a puncture mechanism connected to the posture adjustment mechanism. The puncture mechanism includes: A support plate and a puncture propulsion assembly having a sliding table. The support plate is connected to the posture adjustment mechanism, and the puncture propulsion assembly is disposed on the surface of the support plate facing away from the posture adjustment mechanism. Among them, the puncture propulsion assembly is configured to drive the puncture needle for needle insertion and needle withdrawal operations; An installation frame is disposed on the sliding table. The installation frame includes an end plate and a limiting ring spaced apart from the end plate; An angle compensation adjustment assembly is disposed on the end plate, and, The jaw assembly is disposed within the limiting ring. One end of the jaw assembly is coaxially and drivingly connected to the angle compensation adjustment assembly. The angle compensation adjustment assembly is configured to drive the jaw assembly to rotate around the central axis of the limiting ring. The jaw assembly is configured to selectively clamp the puncture needle and obtain the feedback force during the puncture process of the puncture needle. The puncture protection assembly is disposed on the end face of the support plate and extends downward to be close to the outer contour surface of the jaw assembly. The puncture protection assembly is configured to selectively limit and fix the jaw assembly according to the feedback force.

[0006] In some embodiments, the jaw assembly includes a sleeve, a sixth motor, a limiting block with a chute, a first transmission block, a second transmission block, a first profiling jaw, and a second profiling jaw. The sleeve is rotatably connected to the limiting ring. The limiting block is disposed on the end face of the sleeve. The first transmission block and the second transmission block are slidably connected within the chute. A part of the first transmission block extends outside the chute to connect to the first profiling jaw, and a part of the second transmission block extends outside the chute to connect to the second profiling jaw. The sixth motor is disposed within the sleeve and the output shaft thereof extends to be drivingly connected to the first transmission block and the second transmission block.

[0007] In some embodiments, tooth belts are respectively disposed on the opposite surfaces of the first transmission block and the second transmission block. A transmission gear meshing with the two tooth belts is disposed on the output shaft of the sixth motor. When the transmission gear rotates, the first transmission block and the second transmission block slide in opposite or opposite directions along the chute.

[0008] In some embodiments, clamping grooves are respectively disposed on the opposite surfaces of the first profiling jaw and the second profiling jaw. A ball is slidably connected to the surface of the clamping groove, and at least a part of the ball protrudes from the surface of the clamping groove.

[0009] In some embodiments, a pressure sensor is disposed on the surface of the first profiling jaw or the second profiling jaw facing away from the limiting block. The pressure sensor is configured to monitor the feedback force when the puncture needle enters the needle.

[0010] In some embodiments, the puncture protection assembly includes a connecting member, a magnetic control valve, and a clamping block. The connecting member is connected to the support plate and one end thereof extends to the outer contour surface of the sleeve. A limiting cavity is formed near the end face of the sleeve of the connecting member. The magnetic control valve is disposed in the limiting cavity and one end thereof is slidably connected to the clamping block. The magnetic control valve is configured to control the clamping block to selectively clamp and fix the sleeve according to the feedback force.

[0011] In some embodiments, the angle compensation adjustment assembly includes a fifth motor disposed on the end plate and a coupling connected to the fifth motor, and one end of the coupling away from the fifth motor is connected to the end face of the sleeve.

[0012] In some embodiments, the attitude adjustment mechanism includes: A mounting plate, connected to the position adjustment mechanism; A first angle adjustment component, disposed on the mounting plate, and the first angle adjustment component is configured to adjust the azimuth angle of the puncture mechanism in the horizontal plane; A second angle adjustment component, connected to the first angle adjustment component, and the second angle adjustment component is configured to adjust the azimuth angle of the puncture mechanism in the vertical plane.

[0013] In some embodiments, the second angle adjustment component includes: A rotation connection block, connected to the first angle adjustment component, and the rotation connection block is provided with an arc-shaped sliding cavity in the thickness direction; A third motor, a rocker, and a swing arm, the third motor is installed on the rotation connection block, and the output shaft of the third motor penetrates through the rotation connection block and is sequentially connected to the rocker and the swing arm; A connecting shaft, disposed at one end of the swing arm away from the rocker, a guide wheel adapted to the arc-shaped sliding cavity is coaxially provided on the connecting shaft, and one end of the connecting shaft penetrates through the arc-shaped sliding cavity to connect the puncture mechanism.

[0014] Compared with the prior art, the technical solutions provided in the above embodiments of the present application at least include the following beneficial effects or advantages: Through the settings of the position adjustment mechanism and the attitude adjustment mechanism, the position of the arteriovenous fistula puncture mechanism can be translated, raised, lowered, and adjusted in the angular direction, so as to roughly determine the position of the puncture plane and replace the arteriovenous fistula puncture needle. Through the integrated puncture propulsion component, angle compensation adjustment component, jaw component, and puncture protection component set in the puncture mechanism. Among them, the puncture propulsion component realizes the driving of the puncture needle for needle insertion and needle withdrawal operations. The angle compensation adjustment component can control the jaw component to rotate automatically within the installation frame, so as to finely adjust the position and pose of the puncture needle and the cutting edge surface, ensuring that the positioning of the puncture needle and the cutting edge surface are consistent with the expected puncture needle insertion direction of medical staff. The setting of the jaw component realizes the automatic and accurate clamping of the puncture needle. At the same time, by setting balls along the needle insertion and withdrawal direction in the clamping groove of the profiling jaw of the jaw component and cooperating with the pressure sensor set on the front end surface of the profiling jaw, the feedback force during the needle insertion process of the puncture needle is collected, and the feeding speed and amount of the puncture needle are adaptively adjusted according to the collected feedback force. And combined with the puncture protection component to terminate the process of pushing the puncture needle, reducing the puncture injury of arteriovenous fistula blood vessels, improving the safety of the puncture operation, and ensuring the continuity of the automatic blood dialysis machine operation.

[0015] In a second aspect, the present application provides a control method for a blood dialysis arteriovenous fistula automatic puncture robot applied to any one of the embodiments in the first aspect above. The method includes: Collect image data of the arteriovenous fistula area, and preprocess the image data to generate a three-dimensional model of the arteriovenous fistula blood vessel; Based on the three-dimensional model and clinical requirement information, determine the optimal puncture path of the puncture mechanism; Map the optimal puncture path to the robot operation space, and move along the planned path based on the position adjustment mechanism and adjust the angle and direction of the puncture needle based on the attitude adjustment mechanism; Judge whether the puncture needle reaches a predetermined position. If so, control the puncture needle to perform puncture needle insertion and collect feedback force information during the puncture process; According to the feedback force information and the preset segmented force feedback strategy, control the needle insertion speed and depth of the puncture needle to complete the automatic puncture operation.

[0016] It should be noted that the technical effects that can be achieved by the technical solution provided in the second aspect of the present application can refer to the relevant descriptions of the technical effects that can be achieved by the technical solution provided in the first aspect above, and will not be elaborated here.

[0017] The additional aspects and advantages of the present application will be partly given in the following description, partly become obvious from the following description, or be understood through the practice of the present application. Description of the Drawings

[0018] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 is a schematic structural diagram of a puncture robot according to an embodiment of the present application; Figure 2 is a partial schematic structural diagram of a puncture robot according to an embodiment of the present application; Figure 3 is a schematic structural diagram of a posture adjustment mechanism and a puncture mechanism from a first perspective according to an embodiment of the present application; Figure 4 is a schematic structural diagram of a posture adjustment mechanism and a puncture mechanism from a second perspective according to an embodiment of the present application; Figure 5 is a schematic structural diagram of a puncture mechanism according to an embodiment of the present application; Figure 6 is a partial schematic structural diagram of a puncture mechanism according to an embodiment of the present application; Figure 7 is a partial schematic structural diagram of a jaw assembly according to an embodiment of the present application; Figure 8 is another partial schematic structural diagram of a jaw assembly according to an embodiment of the present application; Figure 9 is a schematic structural diagram of a limit block according to an embodiment of the present application; Figure 10 is a schematic structural diagram of a first transmission block and a second transmission block according to an embodiment of the present application; Figure 11 is a schematic structural diagram of a puncture protection assembly according to an embodiment of the present application; Figure 12 is a flowchart of a control method for a puncture robot according to an embodiment of the present application.

[0020] Reference numerals: 10, puncture robot; 100, operation table; 110, cabinet body; 120, table top; 130, puncture needle placement box; 200, position adjustment mechanism; 210, Y-direction adjustment component; 211, base; 212, first motor; 213, first lead screw; 214, slider; 220, Z-direction adjustment component; 230, X-direction adjustment component; 300. Attitude adjustment mechanism; 310. Mounting plate; 320. First angle adjustment component; 321. Second motor; 322. Driving gear; 323. Driven gear; 324. Angle limit chuck; 330. Second angle adjustment component; 331. Rotating connection block; 3311. Arc-shaped sliding cavity; 332. Third motor; 333. Rocker; 334. Swing arm; 335. Connecting shaft; 3351. Guide wheel; 400. Puncturing mechanism; 410. Support plate; 411. Limit shaft; 420. Puncturing propulsion component; 421. Fourth motor; 422. Second lead screw; 423. Slide table; 430. Mounting frame; 431. End plate; 432. Limit ring; 440. Angle compensation adjustment component; 441. Fifth motor; 442. Coupling; 450. Jaw component; 451. Sleeve; 452. Sixth motor; 4521. Driving gear; 453. Limit block; 4531. Chute; 4532. Shaft hole; 454. First driving block; 4541. First toothed belt; 455. Second driving block; 4551. Second toothed belt; 456. First profiling jaw; 457. Second profiling jaw; 458. Pressure sensor; 459. Clamping groove; 4591. Ball; 460. Puncturing protection component; 461. Connecting piece; 4611. Limit cavity; 462. Magnetically controlled valve; 4621. Guide shaft; 463. Clamping block; 4631. Through hole; 500. Puncturing needle; 600. Ultrasonic mechanism; 610. Ultrasonic probe; 700. Visual acquisition module. Detailed implementation manners

[0021] The embodiments of the present application will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the description of this application in this specification are only for the purpose of describing specific implementation manners and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0024] Please refer to Figure 1, this embodiment provides a blood dialysis arteriovenous fistula automatic puncture robot 10, which may include an operation console 100, a position adjustment mechanism 200, an attitude adjustment mechanism 300, a puncture mechanism 400, an ultrasonic mechanism 600, and a visual acquisition module 700. The position adjustment mechanism 200 is disposed on the surface of the operation console 100. Among them, the position adjustment mechanism 200 can move in multiple degrees of freedom in the front-back, left-right, up-down directions, realizing the translation, rising, falling of the puncture mechanism 400, roughly determining the position of the puncture plane, and replacing the arteriovenous fistula puncture needle 500. The attitude adjustment mechanism 300 is connected to the position adjustment component that moves left and right of the position adjustment mechanism 200. The setting of the attitude adjustment mechanism 300 realizes the adjustment of the angle and direction of the puncture needle 500, ensuring that the positioning and puncture direction of the puncture needle 500 are consistent with the needle insertion direction in the puncture plan of the medical staff. The puncture mechanism 400 is connected to the attitude adjustment mechanism 300, realizing the clamping of the puncture needle 500, collecting the feedback force during the needle insertion process, and giving the speed and depth during the needle insertion process. The ultrasonic mechanism 600 and the visual acquisition module 700 are disposed on the attitude adjustment mechanism 300 above the puncture area, realizing image acquisition, processing, and path planning, so as to control the mechanical structure and the puncture mechanism 400 to move along the planned path.

[0025] Optionally, the operation console 100 may include a cabinet 110 and a tabletop 120 disposed above the cabinet 110. The tabletop 120 can be divided into areas. For example, it can be divided into a puncture needle placement area and an operation area for the puncture process. A puncture needle placement box 130 can be provided in the puncture needle placement area for the directional placement of the puncture needle 500. The inner cavity of the cabinet 110 can be used to place electronic components, making the puncture robot 10 more integrated. And universal wheels (not marked in the figure) can be provided on the cabinet 110 to facilitate the transfer of the puncture robot 10.

[0026] It should be noted that for the puncture needle 500 in this embodiment, combined with the characteristics of the puncture robot 10, an improved disposable internal fistula puncture needle is designed, enabling it to be applied to robot puncture and connected to a disposable dialysis circulation pipeline and a hollow fiber dialyzer in hemodialysis to form an extracorporeal dialysis circulation.

[0027] Next, the structural position relationship and function implementation principle of the above-mentioned position adjustment mechanism 200, attitude adjustment mechanism 300, puncture mechanism 400, ultrasonic mechanism 600, and visual acquisition module 700 will be further described in combination with multiple embodiments; Please refer to Figure 2, For the position adjustment mechanism 200, for the convenience of description, a Cartesian coordinate system of X - Y - Z space is established. Among them, the width direction of the tabletop 120 is defined as the X - axis, the length direction of the tabletop 120 is defined as the Y - axis, and the vertical direction perpendicular to the tabletop 120 is defined as the Z - axis. It should be understood that the length direction of the tabletop 120 can also be defined as the X - axis, and the width direction of the tabletop 120 can be defined as the Y - axis, that is, this Cartesian coordinate system does not limit the device structure. The position adjustment mechanism 200 includes a Y - direction adjustment component 210, a Z - direction adjustment component 220, and an X - direction adjustment component 230; the Y - direction adjustment component 210 is arranged on the tabletop 120 along the Y - axis direction, one end of the Z - direction adjustment component 220 is connected to the slider of the Y - direction adjustment component 210 along the Z - axis direction, and the X - direction adjustment component 230 is connected to the slider of the Z - direction adjustment component 220 along the X - axis direction. It should be noted that the transmission principles of the Y - direction adjustment component 210, the Z - direction adjustment component 220, and the X - direction adjustment component 230 can be the same, and the structures of their transmission parts can also be the same. Moreover, the Y - direction adjustment component 210, the Z - direction adjustment component 220, and the X - direction adjustment component 230 can be obtained from the prior art.

[0028] Exemplarily, the Y - direction adjustment component 210, the Z - direction adjustment component 220, and the X - direction adjustment component 230 are driven by lead screws. The Y - direction adjustment component 210 may include a base 211 arranged on the tabletop 120, a first motor 212 arranged at one end of the base 211. The output shaft of the first motor 212 is connected to a first lead screw 213 arranged along the transmission direction of the base 211. A slider 214 is slidably connected to the first lead screw 213. A ball nut may be arranged inside the slider 214. The first motor 212 may be a stepper motor. In this way, by controlling the rotation of the first motor 212, the slider 214 can be moved along the length direction of the first lead screw 213.

[0029] For the specific structures of the Z - direction adjustment component 220 and the X - direction adjustment component 230, reference can be made to the above description of the Y - direction adjustment component 210. However, it should be noted that the slider of the Z - direction adjustment component 220 faces the Y - direction adjustment component 210, and the slider of the X - direction adjustment component 230 faces downward along the Z - axis direction towards the Y - direction adjustment component 210, that is, the attitude adjustment mechanism 300 and the puncture mechanism 400 are hung upside down on the slider of the X - direction adjustment component 230.

[0030] Please refer to Figure 3 and Figure 4The posture adjustment mechanism 300 may include a mounting plate 310 connected to the position adjustment mechanism 200, a first angle adjustment component 320 disposed on the mounting plate 310, and a second angle adjustment component 330 connected to the first angle adjustment component 320, wherein the first angle adjustment component 320 is configured to adjust the azimuth angle of the puncture mechanism 400 in the horizontal plane, and the second angle adjustment component 330 is configured to adjust the azimuth angle of the puncture mechanism 400 in the vertical plane.

[0031] In some embodiments, one end of the mounting plate 310 is fixedly connected to the slider of the X-axis adjustment assembly 230 and extends to the area above the Y-axis adjustment assembly 210. The first angle adjustment assembly 320 includes a second motor 321, a driving gear 322, a driven gear 323 and an angle limiting chuck 324. The first angle adjustment assembly 320 is arranged on the upper surface of the mounting plate 310 and the output shaft passes through the mounting plate 310 in a vertical direction and is connected to the driving gear 322. The driven gear 323 is rotatably connected to the lower surface of the mounting plate 310 through a rotating shaft, and the driven gear 323 is meshed with the driving gear 322. In addition, the rotating shaft of the driven gear 323 extends to one end of the upper surface of the mounting plate 310 and is connected to the angle limiting chuck 324.

[0032] It should be noted that the angle limiting chuck 324 is provided to limit the rotation process of the driven gear 323 . The diameter, module and tooth pitch of the driven gear 323 and the driving gear 322 can be selected according to actual needs and will not be elaborated here.

[0033] In some embodiments, the second angle adjustment assembly 330 is fixedly connected to the end of the driven gear 323 away from the mounting plate 310. The second angle adjustment assembly 330 may include a rotating connection block 331, a third motor 332, a rocker 333, a swing arm 334 and a connecting shaft 335. The rotating connection block 331 is fixedly connected to the bottom surface of the driven gear 323, and the rotating connection block 331 is provided with an arc-shaped sliding cavity 3311 along the thickness direction; the third motor 332 is installed on the rotating connection block 331, and the output shaft of the third motor 332 passes through the rotating connection block 331 and is connected to the rocker 333 and the swing arm 334 in sequence; the connecting shaft 335 is arranged at the end of the swing arm 334 away from the rocker 333, and the connecting shaft 335 is coaxially provided with a guide wheel 3351 adapted to the arc-shaped sliding cavity 3311, and one end of the connecting shaft 335 passes through the arc-shaped sliding cavity 3311 to connect the puncture mechanism 400.

[0034] Optionally, the third motor 332 is arranged on the surface of the rotating connecting block 331, and the output shaft passes through the thickness direction of the rotating connecting block 331 to the other side to connect to the rocker 333, and the rocker 333 is connected to the swing arm 334 at one end of the output shaft facing away from the third motor 332. The swing arm 334 can be arc-shaped, and the arc-shaped sliding cavity 3311 passes through the thickness of the rotating connecting block 331. The length of the arc-shaped sliding cavity 3311 can be set according to actual needs. Through the setting of the arc-shaped sliding cavity 3311 and the guide wheel 3351, the stability of the second angle adjustment component 330 during the angle adjustment process in the vertical direction of the Z axis is guaranteed.

[0035] Of course, it is understandable that the specific models and specifications of the second motor 321 and the third motor 332 can be selected according to needs.

[0036] Optional, combined Figure 3 An ultrasonic mechanism 600 may be provided at one end of the mounting plate 310 close to the X-axis adjustment assembly 230, and a visual acquisition module 700 may be provided on the bottom surface of the mounting plate 310. The ultrasonic mechanism 600 may include an ultrasonic probe 610. The ultrasonic probe 610 and the visual acquisition module 700 face the puncture operation area. The visual acquisition module 700 may include a binocular vision camera and a near-infrared imaging system. The binocular vision camera, the near-infrared imaging system and the ultrasonic technology may be used to realize three-dimensional reconstruction and precise positioning of the AVF blood vessel, plan the optimal puncture path and improve the puncture accuracy.

[0037] It should be noted that the ultrasonic mechanism 600 and the visual acquisition module 700 can be obtained from the existing technology and can be selected according to actual needs. Their specific structures and functional principles are not described here. In order to facilitate the control of the downward exploration distance of the ultrasonic mechanism 600, multiple displacement sensors can be set for data collection.

[0038] See also Figures 4 to 6The puncture mechanism 400 may include a support plate 410, a puncture propulsion assembly 420, a mounting frame 430, an angle compensation adjustment assembly 440, a clamping jaw assembly 450 and a puncture protection assembly 460. The support plate 410 is fixedly connected to one end of the connecting shaft 335, and a limiting shaft 411 is arranged near the side end surface of the rotating connecting block 331. The limiting shaft 411 is arranged at intervals with the connection between the support plate 410 and the connecting shaft 335, and the limiting shaft 411 is rotatably connected to the corresponding position of the rotating connecting block 331. When the connecting shaft 335 drives the rotating connecting block 331 to move, it rotates around the limiting shaft 411, thereby realizing the direction adjustment of the puncture needle 500. The puncture propulsion assembly 420 is arranged on the surface of the support plate 410 away from the posture adjustment mechanism, wherein the puncture propulsion assembly 420 is Constructed for advancing or retracting the puncture needle 500; the mounting frame 430 is arranged on the slide 423, and the mounting frame 430 includes an end plate 431 and a limiting ring 432 spaced apart from the end plate 431; the angle compensation adjustment component 440 is arranged on the end plate 431, and the clamping jaw assembly 450 is arranged in the limiting ring 432, wherein one end of the clamping jaw assembly 450 is coaxially connected to the angle compensation adjustment component 440, the clamping jaw assembly 450 is constructed to selectively clamp the puncture needle 500 and obtain feedback force during the puncture process of the puncture needle 500, the puncture protection component 460 is arranged on the end face of the support plate 410 and extends downward to the outer contour surface close to the clamping jaw assembly 450, and the puncture protection component 460 is constructed to selectively limit and fix the clamping jaw assembly 450 according to the feedback force.

[0039] In some embodiments, the puncture propulsion assembly 420 may include a fourth motor 421, a second screw 422 connected to the output shaft of the fourth motor 421, and a slide 423 slidably connected to the second screw 422. It should be noted that a ball nut may be provided in the slide 423, so that when the fourth motor 421 drives the second screw 422 to rotate, the slide 423 slides along the length direction of the second screw 422.

[0040] Optionally, for the mounting frame 430, the center axis of its limit ring 432 should be able to pass through the end plate 431, and a bearing can be set on the inner ring of the limit ring 432, so that the angle compensation adjustment component 440 and the clamping jaw assembly 450 can be set in the same line, thereby facilitating the angle compensation adjustment component 440 to perform secondary adjustment on the angle of the clamping jaw assembly 450. The angle compensation adjustment component 440 includes a fifth motor 441 set on the end plate 431 and a coupling 442 connected to the fifth motor 441, and the coupling 442 is connected to the end face of the clamping jaw assembly 450 at one end facing away from the fifth motor 441.

[0041] See also Figures 6 to 10, the jaw assembly 450 includes a sleeve 451, a sixth motor 452, a limit block 453 with a chute 4531, a first transmission block 454, a second transmission block 455, a first profiling jaw 456, and a second profiling jaw 457. The sleeve 451 is rotatably connected to the limit ring 432. The limit block 453 is disposed on the end face of the sleeve 451. The first transmission block 454 and the second transmission block 455 are slidably connected within the chute 4531. A part of the first transmission block 454 extends outside the chute 4531 to connect to the first profiling jaw 456, and a part of the second transmission block 455 extends outside the chute 4531 to connect to the second profiling jaw 457. The sixth motor 452 is disposed within the sleeve 451 and its output shaft extends to be in transmission connection with the first transmission block 454 and the second transmission block 455.

[0042] Combined with Figures 7 to 10 , the sixth motor 452 is encapsulated within the sleeve 451. Its output shaft penetrates and extends from one end of the sleeve 451 along the Y-axis direction to be in transmission connection with the first transmission block 454 and the second transmission block 455 within the limit block 453. The limit block 453 is provided with a chute 4531 penetrating along the X-axis direction, and an axial hole 4532 communicating with the chute 4531 is provided along the Y-axis direction of the limit block 453. Among them, guide rails (not marked as shown in the figure) are provided on the upper and lower surfaces of the chute 4531. The upper and lower surface guide rails are respectively slidably connected to the first transmission block 454 and the second transmission block 455. The first transmission block 454 and the second transmission block 455 are arranged in a buckled manner. The output shaft of the sixth motor 452 passes through the axial hole 4532 and extends between the first transmission block 454 and the second transmission block 455. First tooth belts 4541 and second tooth belts 4551 are respectively provided on the opposite surfaces of the first transmission block 454 and the second transmission block 455. A transmission gear 4521 is provided on the output shaft of the sixth motor 452, and the transmission gear 4521 is respectively meshed with the first tooth belt 4541 and the second tooth belt 4551.

[0043] In some embodiments, the first transmission block 454 and the second transmission block 455 are provided with connecting portions partially protruding from the chute 4531, and the first transmission block 454 and the second transmission block 455 are respectively connected to the first profiling jaw 456 and the second profiling jaw 457. When the sixth motor 452 rotates clockwise or counterclockwise, the first transmission block 454 and the second transmission block 455 slide in opposite or opposite directions along the X-axis, so as to realize the function of clamping or releasing the puncture needle 500 by the first profiling jaw 456 and the second profiling jaw 457.

[0044] In some embodiments, clamping grooves 459 are respectively provided on the opposite surfaces of the first profiling jaw 456 and the second profiling jaw 457. A ball 4591 is slidably connected to the surface of the clamping groove 459, and at least a part of the ball 4591 protrudes from the surface of the clamping groove 459. A pressure sensor 458 is provided on the surface of the first profiling jaw 456 or the second profiling jaw 457 facing away from the limiting block 453. The pressure sensor 458 is configured to monitor the acting force when the puncture needle 500 is being advanced.

[0045] Optionally, the shape of the clamping groove 459 can be set according to the contour of the clamping position of the puncture needle 500, and is specifically selected according to actual requirements. When the two clamping grooves 459 are closed towards each other, a limiting hole along the Y-axis is formed. A strip-shaped wire groove distributed along the Y-axis can be provided in the clamping groove 459, and a plurality of balls 4591 can be provided in the strip-shaped wire groove. The contact point of the pressure sensor 458 needs to protrude from the end faces of the first profiling jaw 456 and the second profiling jaw 457. At the same time, after clamping, the wing of the puncture needle 500 can abut against the contact point of the pressure sensor 458.

[0046] Please refer to Figure 11 , the puncture protection assembly 460 includes a connecting member 461, a magnetic control valve 462 and a clamping block 463. The connecting member 461 is connected to the support plate 410 and one end extends outside the contour of the sleeve 451. A limiting cavity 4611 is provided near the end face of the connecting member 461 close to the sleeve 451. The magnetic control valve 462 is disposed in the limiting cavity 4611 and one end is slidably connected to the clamping block 463. Among them, a guiding shaft 4621 can be provided at one end of the magnetic control valve 462, and a through hole 4631 matching the guiding shaft 4621 can be provided on the clamping block 463. The magnetic control valve 462 is configured to selectively clamp the sleeve 451 by controlling the clamping block 463 according to the feedback force.

[0047] It should be noted that an arc surface is oppositely provided at the bottom of the connecting member 461 and the clamping block 463. Thus, when the magnetic control valve 462 controls the clamping block 463 and the connecting member 461 to move towards each other, the clamping block 463 and the connecting member 461 clamp and fix the sleeve 451. When a dangerous operation is likely to occur during the puncture process, timely intervention and prevention are carried out through the puncture protection assembly 460, so as to reduce the puncture injury of the AVF blood vessel, improve the safety of the puncture operation and ensure the continuity of the automatic blood dialysis operation.

[0048] In the puncture robot 10 in each of the above embodiments, through the settings of the position adjustment mechanism 200 and the attitude adjustment mechanism 300, the internal fistula puncture mechanism 400 can be translated, raised, lowered, and adjusted in the angular direction, so as to roughly determine the position of the puncture plane and replace the puncture needle 500 of the arteriovenous internal fistula. Through the integrated puncture propulsion assembly 420, angle compensation adjustment assembly 440, jaw assembly 450, and puncture protection assembly 460 provided in the puncture mechanism 400, among which, the puncture propulsion assembly 420 realizes the operations of driving the puncture needle 500 to penetrate and retract the needle. The angle compensation adjustment assembly 440 can control the jaw assembly 450 to rotate self - sufficiently within the mounting frame 430, so as to finely adjust the position and orientation of the puncture needle 500 and the cutting edge surface, ensuring that the positioning of the puncture needle 500 and the cutting edge surface are consistent with the expected puncture and needle - penetration direction of the medical staff. The setting of the jaw assembly 450 realizes the automatic and accurate clamping of the puncture needle 500. At the same time, by arranging balls along the needle - penetration and retraction direction in the clamping groove 459 of the profiling jaws of the jaw assembly 450 and cooperating with the pressure sensor 458 arranged on the front end surface of the profiling jaws, the acquisition of the feedback force during the needle - penetration process of the puncture needle 500 is realized. According to the collected feedback force, the feeding speed and amount of the puncture needle 500 are adaptively adjusted, and combined with the puncture protection assembly 460, the termination of the advancement process of the puncture needle 500 is realized, reducing the puncture injury to the arteriovenous internal fistula blood vessels, improving the safety of the puncture operation, and ensuring the coherence of the automatic on - machine operation of hemodialysis.

[0049] Please refer to Figure 12 , in some embodiments, a control method for an automatic puncture robot for arteriovenous internal fistula in hemodialysis applied to any one of the above - mentioned embodiments is provided. The method includes: Step S100: Collect image data of the arteriovenous internal fistula area, and pre - process the image data to generate a three - dimensional model of the arteriovenous internal fistula blood vessels; Step S200: Based on the three - dimensional model and clinical requirement information, determine the optimal puncture path of the puncture mechanism; Step S300: Map the optimal puncture path to the robot operation space, and move along the planned path based on the position adjustment mechanism and adjust the angle and direction of the puncture needle based on the attitude adjustment mechanism; Step S400: Determine whether the puncture needle reaches the predetermined position. If so, control the puncture needle to perform puncture and collect the feedback force information during the puncture process; Step S500: According to the feedback force information and the preset segmented force feedback strategy, control the penetration speed and depth of the puncture needle to complete the automatic puncture operation.

[0050] It should be noted that during the process of performing dialysis puncture, experienced medical staff will use the puncture needle to contact the AVF tissue of the arm and sense the operating force by touching the needle handle, so as to determine the puncture position and depth. The force feedback from this contact is crucial for obtaining needle insertion information. Therefore, when the puncture robot assists in automatically collecting puncture point image information and performing puncture, using the prompt information provided by this feedback force is crucial for ensuring operation safety. In this embodiment, the robot searches for the position point to be punctured, penetrates the AVF epidermal tissue layer, and enters the blood vessel layer. By proposing the concept of clinical puncture segmented operation, according to the magnitude of the feedback force during the clinical process, the puncture operation is divided into segments.

[0051] In some embodiments, the segmented force feedback strategy may include: the dangerous force threshold is the clinical operation threshold, that is, the minimum puncture force that causes the AVF blood vessel to be punctured; the warning force threshold is the warning value for clinical safe operation, that is, the minimum puncture force at which the puncture needle is about to start damaging the inner wall tissue of the AVF blood vessel. During the AVF puncture process, the feedback force changes with the changes in puncture depth, speed, and angular pose. According to the change value of the feedback force, it is divided into three operation feedback ranges: 1) Dangerous range: It refers to that during the puncture process, when the puncture feedback force exceeds the set dangerous force threshold, the puncture needle will cause relatively serious damage to the AVF blood vessel tissue. In this case, the clinical operation should be specially marked as a dangerous operation to remind medical staff to take necessary preventive measures to ensure the safety of patients.

[0052] 2) Warning range: When the puncture feedback force reaches or exceeds the warning force but has not reached the level of the dangerous force, it is in a specific area. In this area, the puncture needle begins to cause slight damage to the AVF blood vessel tissue. Based on this situation, this clinical operation is defined as an inappropriate operation.

[0053] 3) Safe range: When the puncture feedback force is less than the set warning force threshold, in this specific area, the puncture needle does not cause any damage to the AVF blood vessel tissue. Based on this consideration, this clinical operation can be defined as a safe operation.

[0054] It should be noted that the blood dialysis AVF puncture safety strategy based on the concept of segmented operation integrates the segmented operation force feedback method, significantly improving operation safety and accuracy. The force feedback provides different forms according to the operation stage and situation, including cut-off type, amplification type, and conventional type, meeting specific operation requirements. Medical staff thus obtain intuitive and accurate physical feedback and make appropriate decisions.

[0055] In step S500, during the internal fistula puncture process of the hemodialysis AVF puncture robot, by continuously collecting the feedback force of the puncture needle rear seat and comparing it with the set threshold, when the puncture feedback force is lower than the warning force threshold, segmented force feedback is adopted as the standard force feedback, and the system can output a force feedback value close to the actual puncture operation of medical staff, so as not to cause harm to the patient's internal fistula and vascular tissue; when the puncture force feedback value reaches or exceeds the warning force threshold but has not reached the dangerous force threshold, amplified force feedback is generated, and at the same time, the control of the puncture movement is reduced, and the feed speed and amount of the stepper drive are adjusted to prevent entering the dangerous area. When the puncture feedback force is greater than the dangerous force threshold, cut-off force feedback is generated. At the same time, the puncture control protection mechanism starts to execute, terminating further puncture and eliminating the occurrence of puncture hidden dangers. Medical staff do not need to press the emergency stop or other operations to eliminate this dangerous puncture, ensuring the normal requirements of the puncture; for this reason, the safety strategy of this segmented operation can reduce the puncture injury of AVF blood vessels, improve the safety of the puncture operation, and ensure the coherence of the automatic hemodialysis operation.

[0056] In some embodiments, an electronic device is further provided, including: at least one processor; and a storage device communicatively connected to the at least one processor; wherein, the storage device stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steps of the control method of the hemodialysis arteriovenous fistula automatic puncture robot provided in the above embodiments.

[0057] In some embodiments, a computer-readable storage medium is further provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the steps of the control method of the hemodialysis arteriovenous fistula automatic puncture robot provided in the above embodiments are implemented.

[0058] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0059] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0060] Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. The mention of "embodiment" in this context means that the specific features, structures, or characteristics described in connection with the embodiment can be included in at least one embodiment of this application. The occurrence of this phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts fall within the scope of protection of this application.

[0061] Although the embodiments of this application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of this application, and the scope of this application is defined by the claims and their equivalents.

Claims

1. An automatic puncture robot for hemodialysis arteriovenous fistula, comprising a position adjustment mechanism, an attitude adjustment mechanism connected to the position adjustment mechanism, and a puncture mechanism connected to the attitude adjustment mechanism, characterized in that, The puncture mechanism comprises: A support plate and a puncture propulsion assembly with a slide, wherein the support plate is connected to the posture adjustment mechanism, and the puncture propulsion assembly is arranged on the surface of the support plate away from the posture adjustment mechanism, wherein the puncture propulsion assembly is configured to drive the puncture needle to advance and withdraw the needle; A mounting frame, arranged on the slide, the mounting frame comprising an end plate and a limiting ring spaced apart from the end plate; An angle compensation adjustment component is arranged on the end plate, and A clamping jaw assembly is arranged in the limiting ring, wherein one end of the clamping jaw assembly is coaxially connected to the angle compensation adjustment assembly, the angle compensation adjustment assembly is used to drive the clamping jaw assembly to rotate along the central axis of the limiting ring, and the clamping jaw assembly is constructed to selectively clamp the puncture needle and obtain feedback force during the puncture process of the puncture needle; The puncture protection component is arranged on the end surface of the support plate and extends downward to be close to the outer contour surface of the clamping jaw component. The puncture protection component is constructed to selectively limit and fix the clamping jaw component according to the feedback force.

2. The automated puncture robot for arteriovenous fistula in hemodialysis according to claim 1, wherein The clamping jaw assembly includes a sleeve, a sixth motor, a limit block with a slide groove, a first transmission block, a second transmission block, a first contour clamping jaw and a second contour clamping jaw. The sleeve is rotatably connected to the limit ring, the limit block is arranged on the end face of the sleeve, the first transmission block and the second transmission block are slidably connected in the slide groove, the first transmission block partially extends to the outside of the slide groove to connect with the first contour clamping jaw, the second transmission block partially extends to the outside of the slide groove to connect with the second contour clamping jaw, the sixth motor is arranged in the sleeve and the output shaft extends to be transmission-connected with the first transmission block and the second transmission block.

3. The automatic puncture robot for hemodialysis arteriovenous fistula according to claim 2, wherein The opposing surfaces of the first transmission block and the second transmission block are respectively provided with toothed belts, and the sixth motor output shaft is provided with a transmission gear meshing with the two toothed belts, wherein when the transmission gear rotates, the first transmission block and the second transmission block slide in opposite directions or toward each other along the slide groove.

4. The automatic puncture robot for hemodialysis arteriovenous fistula according to claim 3, wherein Clamping grooves are respectively arranged on the opposite surfaces of the first contoured clamping jaw and the second contoured clamping jaw. Balls are slidably connected to the surfaces of the clamping grooves. The balls at least partially protrude from the surfaces of the clamping grooves.

5. The automated puncture robot for hemodialysis arteriovenous fistula according to any one of claims 2-4, characterized in that, A pressure sensor is arranged on the surface of the first contoured clamping jaw or the second contoured clamping jaw away from the limit block, and the pressure sensor is configured to monitor the feedback force of the puncture needle during needle insertion.

6. The automatic puncture robot for hemodialysis arteriovenous fistula according to claim 5, characterized in that, The puncture protection assembly includes a connecting piece, a magnetic control valve and a clamping block, wherein the connecting piece is connected to the support plate and one end of the connecting piece extends to the outer contour surface of the sleeve, and the connecting piece is provided with a limiting cavity near the end surface of the sleeve, the magnetic control valve is arranged in the limiting cavity and one end of the magnetic control valve is slidably connected to the clamping block, wherein the magnetic control valve is constructed to control the clamping block to selectively clamp and fix the sleeve according to the feedback force.

7. A blood dialysis arteriovenous fistula automatic puncture robot according to claim 2, characterized in that, The angle compensation adjustment assembly includes a fifth motor disposed on the end plate and a coupling connected to the fifth motor, wherein one end of the coupling facing away from the fifth motor is connected to the end surface of the sleeve.

8. The automatic puncture robot for hemodialysis arteriovenous fistula according to claim 1, wherein The posture adjustment mechanism includes: A mounting plate, connected to the position adjustment mechanism; A first angle adjustment component, arranged on the mounting plate, and the first angle adjustment component is configured to adjust the azimuth angle of the puncture mechanism in the horizontal plane; A second angle adjustment component, connected to the first angle adjustment component, and the second angle adjustment component is configured to adjust the azimuth angle of the puncture mechanism in the vertical plane.

9. The automatic puncture robot for arteriovenous fistula in hemodialysis according to claim 8, wherein The second angle adjustment component includes: A rotation connection block, connected to the first angle adjustment component, and the rotation connection block is provided with an arc-shaped sliding cavity along the thickness direction; A third motor, a rocker and a swing arm, the third motor is installed on the rotation connection block, and the output shaft of the third motor penetrates through the rotation connection block and is sequentially connected to the rocker and the swing arm; A connection shaft, arranged at one end of the swing arm away from the rocker, the connection shaft is coaxially provided with a guide wheel adapted to the arc-shaped sliding cavity, and one end of the connection shaft penetrates through the arc-shaped sliding cavity to connect the puncture mechanism.

10. A control method for a hemodialysis arteriovenous fistula automatic puncture robot as described in any one of claims 1 to 9, characterized in that, The method includes: Obtaining image data of the arteriovenous fistula area, and preprocessing the image data to generate a three-dimensional model of the arteriovenous fistula blood vessel; Based on the three-dimensional model and clinical requirement information, determining the optimal puncture path of the puncture mechanism; Mapping the optimal puncture path to the robot operation space, and moving along the planned path based on the position adjustment mechanism and adjusting the angle and direction of the puncture needle based on the posture adjustment mechanism; Judging whether the puncture needle reaches a predetermined position, if so, controlling the puncture needle to perform puncture and collecting feedback force information during the puncture process; According to the feedback force information and a preset segmented force feedback strategy, controlling the penetration speed and depth of the puncture needle to complete the automatic puncture operation.

Images