Hemodialysis arteriovenous fistula automatic puncture robot and control method thereof

Abstract

The present application relates to the technical field of fistula puncture equipment, and specifically discloses an automatic puncture robot for hemodialysis arteriovenous fistula and a control method thereof, including a position adjustment mechanism, a posture adjustment mechanism and a puncture mechanism. The puncture mechanism includes a support plate, a puncture propulsion assembly with a slide, a mounting frame, an angle compensation adjustment assembly, a clamping claw assembly and a puncture protection assembly. The puncture propulsion assembly is constructed to drive the needle advancement and withdrawal operations of the puncture needle. The mounting frame includes an end plate and a limiting ring spaced apart from the end plate. The clamping claw assembly is arranged in the limiting ring. The clamping claw assembly is coaxially connected to the angle compensation adjustment assembly. The clamping claw assembly is constructed to clamp the puncture needle and obtain feedback force during the puncture process. The puncture protection assembly is constructed to selectively limit and fix the clamping claw assembly according to the feedback force. The control method is applied to the puncture robot to realize automatic clamping and posture fine-tuning of the puncture needle, thereby improving puncture efficiency and safety.

Description

Technical Field

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

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

[0003] The puncture robots in the related technology combine images and ultrasound to perform path planning and complete automatic puncture. However, in the scenario of arteriovenous fistula puncture, they are performed on the arm blood vessels. Since the blood vessels are relatively thin and the shape of each person's arm is different, when puncturing different patients, in order to ensure the puncture safety and puncture effect, the blade surface of the fistula puncture needle also needs to be adjusted. The existing puncture device cannot perform targeted fine-tuning of the puncture needle's posture. At the same time, it does not have a protective mechanism, and there is a risk of vascular damage during the puncture process. In addition, since it needs 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 hemodialysis arteriovenous fistula and its control method, so as to at least solve the problems in the prior art that the puncture device in the hemodialysis arteriovenous fistula scenario is unable to automatically clamp and fine-tune the puncture needle in a targeted manner, and the risk of vascular damage during the puncture process.

[0005] To achieve the above objectives, in a first aspect, an embodiment of the present application provides an automatic hemodialysis arteriovenous fistula puncture robot, comprising a position adjustment mechanism, a posture adjustment mechanism connected to the position adjustment mechanism, and a puncture mechanism connected to the posture adjustment mechanism, wherein the puncture mechanism comprises:

[0006] A support plate and a puncture propulsion assembly having a slide, wherein the support plate is connected to the posture adjustment mechanism, and the puncture propulsion assembly is arranged on a surface of the support plate facing away from the posture adjustment mechanism, wherein the puncture propulsion assembly is configured to drive the puncture needle to advance and withdraw the needle;

[0007] A mounting frame is provided on the slide, the mounting frame comprising an end plate and a limiting ring spaced apart from the end plate;

[0008] An angle compensation adjustment component is provided on the end plate, and

[0009] a clamping jaw assembly disposed within 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 being used to drive the clamping jaw assembly to rotate along the central axis of the limiting ring, and the clamping jaw assembly being configured to selectively clamp the puncture needle and obtain feedback force during the puncture process of the puncture needle;

[0010] 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 assembly. The puncture protection component is constructed to selectively limit and fix the clamping jaw assembly according to the feedback force.

[0011] In some embodiments, 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 slidingly connected in the slide groove, the first transmission block partially extends to the outside of the slide groove to connect the first contour clamping jaw, the second transmission block partially extends to the outside of the slide groove to connect 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.

[0012] In some embodiments, toothed belts are respectively provided on the opposing surfaces of the first transmission block and the second transmission block, 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 sliding groove.

[0013] In some embodiments, the first contoured clamping jaw and the second contoured clamping jaw have respective opposing surfaces provided with clamping grooves, and the surfaces of the clamping grooves are slidably connected to balls, and the balls at least partially protrude from the surfaces of the clamping grooves.

[0014] In some embodiments, a pressure sensor is provided on the first contoured clamping jaw or the second contoured clamping jaw away from the surface of the limit block, and the pressure sensor is configured to monitor the feedback force of the puncture needle during insertion.

[0015] In some embodiments, the puncture protection assembly includes a connector, a magnetically controlled valve, and a clamping block. The connector is connected to the support plate and one end extends to the outer contour surface of the sleeve, and the connector has a limiting cavity near the end surface of the sleeve. The magnetically controlled valve is arranged in the limiting cavity and one end is slidably connected to the clamping block, wherein the magnetically controlled valve is constructed to control the clamping block to selectively clamp and fix the sleeve according to the feedback force.

[0016] 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 an end of the coupling facing away from the fifth motor is connected to the end face of the sleeve.

[0017] In some embodiments, the posture adjustment mechanism includes:

[0018] a mounting plate connected to the position adjustment mechanism;

[0019] a first angle adjustment assembly, disposed on the mounting plate, wherein the first angle adjustment assembly is configured to adjust the azimuth angle of the puncture mechanism in a horizontal plane;

[0020] The second angle adjustment component is 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 a vertical plane.

[0021] In some embodiments, the second angle adjustment assembly includes:

[0022] A rotating connecting block connected to the first angle adjustment assembly, wherein the rotating connecting block is provided with an arc-shaped sliding cavity along a thickness direction;

[0023] a third motor, a rocker and a swing arm, wherein the third motor is mounted on the rotating connection block, and an output shaft of the third motor passes through the rotating connection block and is sequentially connected to the rocker and the swing arm;

[0024] A connecting shaft is arranged at one end of the swing arm away from the rocker, the connecting shaft is coaxially provided with a guide wheel adapted to the arc-shaped sliding cavity, and one end of the connecting shaft passes through the arc-shaped sliding cavity to connect with the puncture mechanism.

[0025] Compared with the prior art, the technical solutions provided by the above embodiments of the present application include at least the following beneficial effects or advantages:

[0026] Through the setting of the position adjustment mechanism and the posture adjustment mechanism, the position of the internal fistula puncture mechanism can be adjusted in the direction of translation, rise, fall and angle, so as to realize the approximate determination of the puncture plane position and the replacement of the arteriovenous internal fistula puncture needle. The puncture mechanism is integrated with the puncture propulsion assembly, angle compensation adjustment assembly, clamping claw assembly and puncture protection assembly. Among them, the puncture propulsion assembly realizes the needle insertion and withdrawal operation of the puncture needle, and the angle compensation adjustment assembly can control the clamping claw assembly to rotate in the installation frame, so as to realize the fine adjustment of the posture and blade surface of the puncture needle, and ensure the positioning and blade surface of the puncture needle. In line with the medical staff's expected puncture needle insertion direction, the setting of the clamping jaw assembly realizes automatic and accurate clamping of the puncture needle. At the same time, by setting a ball along the needle advancement and retreat direction in the clamping groove of the contoured clamping jaw of the clamping jaw assembly, and cooperating with the pressure sensor set on the front end surface of the contoured clamping jaw, the feedback force of the puncture needle insertion process is collected, the feed speed and amount of the puncture needle are adaptively adjusted according to the collected feedback force, and the puncture protection component is combined to realize the termination of the puncture needle advancement process, thereby reducing the puncture damage to the arteriovenous fistula blood vessels, improving the safety of the puncture operation and ensuring the continuity of the automatic hemodialysis machine operation.

[0027] In a second aspect, the present application provides a control method for the hemodialysis arteriovenous fistula automatic puncture robot according to any one of the embodiments of the first aspect, the method comprising:

[0028] collecting image data of the arteriovenous fistula region, and preprocessing the image data to generate a three-dimensional model of the arteriovenous fistula blood vessel;

[0029] Determining an optimal puncture path of the puncture mechanism based on the three-dimensional model and clinical demand information;

[0030] Mapping the optimal puncture path to the robot's operating space, moving the robot according to 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;

[0031] Determining whether the puncture needle has reached a predetermined position, and if so, controlling the puncture needle to perform puncture and collecting feedback force information during the puncture process;

[0032] According to the feedback force information and the preset segmented force feedback strategy, the insertion speed and depth of the puncture needle are controlled to complete the automatic puncture operation.

[0033] It should be noted that the technical effects that can be achieved by the technical solution provided in the second aspect of this application can refer to the relevant description of the technical effects that can be achieved by the technical solution provided in the first aspect above, and no further details will be given here.

[0034] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 is a schematic structural diagram of a puncture robot according to an embodiment of the present application;

[0037] Figure 2 is a schematic diagram of a portion of the structure of a puncture robot according to an embodiment of the present application;

[0038] Figure 3 This is a schematic structural diagram of the posture adjustment mechanism and the puncture mechanism according to an embodiment of the present application from a first perspective;

[0039] Figure 4 2. It is a schematic structural diagram of the posture adjustment mechanism and the puncture mechanism according to an embodiment of the present application from a second perspective;

[0040] Figure 5 is a structural schematic diagram of a puncture mechanism according to an embodiment of the present application;

[0041] Figure 6 is a partial structural diagram of a puncture mechanism according to an embodiment of the present application;

[0042] Figure 7 is a partial structural schematic diagram of a clamping jaw assembly according to an embodiment of the present application;

[0043] Figure 8 is another partial structural schematic diagram of a clamping jaw assembly according to an embodiment of the present application;

[0044] Figure 9 is a schematic structural diagram of a limit block according to an embodiment of the present application;

[0045] Figure 10 is a structural schematic diagram of a first transmission block and a second transmission block according to an embodiment of the present application;

[0046] Figure 11 is a schematic structural diagram of a puncture protection assembly according to an embodiment of the present application;

[0047] Figure 12 This is a flow chart of the puncture robot control method according to an embodiment of the present application.

[0048] Reference numerals:

[0049] 10. Puncture robot;

[0050] 100. Operating table; 110. Cabinet; 120. Countertop; 130. Puncture needle box;

[0051] 200, position adjustment mechanism; 210, Y-axis adjustment assembly; 211, base; 212, first motor; 213, first lead screw; 214, slider; 220, Z-axis adjustment assembly; 230, X-axis adjustment assembly;

[0052] 300, attitude adjustment mechanism; 310, mounting plate; 320, first angle adjustment assembly; 321, second motor; 322, driving gear; 323, driven gear; 324, angle limit chuck; 330, second angle adjustment assembly; 331, rotating connecting block; 3311, arc-shaped sliding cavity; 332, third motor; 333, rocker; 334, swing arm; 335, connecting shaft; 3351, guide wheel;

[0053] 400, puncture mechanism; 410, support plate; 411, limit shaft; 420, puncture propulsion assembly; 421, fourth motor; 422, second lead screw; 423, slide; 430, mounting frame; 431, end plate; 432, limit ring; 440, angle compensation adjustment assembly; 441, fifth motor; 442, coupling;

[0054] 450, clamping jaw assembly; 451, sleeve; 452, sixth motor; 4521, transmission gear; 453, limit block; 4531, slideway; 4532, shaft hole; 454, first transmission block; 4541, first toothed belt; 455, second transmission block; 4551, second toothed belt; 456, first contoured clamping jaw; 457, second contoured clamping jaw; 458, pressure sensor; 459, clamping groove; 4591, ball bearing;

[0055] 460, puncture protection assembly; 461, connector; 4611, limit cavity; 462, magnetic control valve; 4621, guide shaft; 463, clamping block; 4631, through hole;

[0056] 500. Puncture needle; 600. Ultrasonic mechanism; 610. Ultrasonic probe; 700. Visual acquisition module. DETAILED DESCRIPTION

[0057] The embodiments of the present application are 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.

[0058] It should be noted that when an element is referred to as being “fixed to” another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0060] See also Figure 1 The present embodiment provides a hemodialysis arteriovenous fistula automatic puncture robot 10, which may include an operating table 100, a position adjustment mechanism 200, a posture adjustment mechanism 300, a puncture mechanism 400, an ultrasonic mechanism 600, and a visual acquisition module 700. The position adjustment mechanism 200 is arranged on the surface of the operating table 100, wherein the position adjustment mechanism 200 can move in multiple degrees of freedom, front and back, left and right, up and down, to achieve the translation, rise and fall of the puncture mechanism 400, the approximate determination of the puncture plane position, and the replacement of the arteriovenous fistula puncture needle 500. The posture adjustment mechanism 300 is connected to the position adjustment mechanism 200 to move left and right. The movable position adjustment component and the posture adjustment mechanism 300 are set to adjust 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 posture adjustment mechanism 300 to realize the clamping of the puncture needle 500 and the collection of feedback force during the needle insertion process, as well as the speed and depth of the needle insertion process. The ultrasonic mechanism 600 and the visual acquisition module 700 are set on the posture adjustment mechanism 300 above the puncture area to realize image acquisition, processing and path planning, thereby controlling the mechanical structure and the puncture mechanism 400 to move according to the planned path.

[0061] Optionally, the operating table 100 may include a cabinet 110 and a table top 120 arranged above the cabinet 110. The table top 120 can be divided into areas, for example, it can be divided into a puncture needle placement area and an operation area for performing the puncture process. A puncture needle placement box 130 can be set in the puncture needle placement area for directional placement of the puncture needle 500. The inner cavity of the cabinet 110 can be used to place electronic components, thereby making the puncture robot 10 more integrated, and universal wheels (not marked in the figure) can be set on the cabinet 110 to facilitate the transfer of the puncture robot 10.

[0062] 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 so that it can be used in robot puncture and connected with a disposable dialysis circulation pipeline and a hollow fiber dialyzer in hemodialysis to form a dialysis extracorporeal circulation.

[0063] The following will further describe the structural positional relationship and functional implementation principles of the position adjustment mechanism 200, posture adjustment mechanism 300, puncture mechanism 400, ultrasound mechanism 600 and visual acquisition module 700 in combination with multiple embodiments.

[0064] See also Figure 2 For the convenience of description, an XYZ spatial rectangular coordinate system is established for the position adjustment mechanism 200, wherein the width direction along the table 120 is defined as the X axis, the length direction along the table 120 is defined as the Y axis, and the vertical direction perpendicular to the table 120 is defined as the Z axis. It should be understood that the length direction along the table 120 can also be defined as the X axis, and the width direction along the table 120 can be defined as the Y axis. That is, the spatial rectangular coordinate system does not limit the device structure. The position adjustment mechanism 200 includes a Y-axis adjustment component 210, a Z-axis adjustment component 220, and an X-axis adjustment component 2 30; The Y-axis adjustment component 210 is arranged on the table 120 along the Y-axis direction, the Z-axis adjustment component 220 is connected to the slider of the Y-axis adjustment component 210 at one end along the Z-axis direction, and the X-axis adjustment component 230 is connected to the slider of the Z-axis adjustment component 220 along the X-axis direction. It should be noted that the transmission principles of the Y-axis adjustment component 210, the Z-axis adjustment component 220 and the X-axis adjustment component 230 can be the same, and the structures of their transmission parts can also be the same, and the Y-axis adjustment component 210, the Z-axis adjustment component 220 and the X-axis adjustment component 230 can be obtained from the existing technology.

[0065] Exemplarily, the Y-axis adjustment component 210, the Z-axis adjustment component 220 and the X-axis adjustment component 230 are driven by a screw. The Y-axis adjustment component 210 may include a base 211 arranged on the table 120, and 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 screw 213 arranged along the transmission direction of the base 211. The first screw 213 is slidably connected to a slider 214, and a ball nut may be arranged in the slider 214. The first motor 212 may be a stepping motor. In this way, the slider 214 can be moved along the length direction of the first screw 213 by controlling the rotation of the first motor 212.

[0066] The specific structures of the Z-axis adjustment assembly 220 and the X-axis adjustment assembly 230 can refer to the above description of the Y-axis adjustment assembly 210. However, it should be noted that the slider of the Z-axis adjustment assembly 220 is toward the Y-axis adjustment assembly 210, and the slider of the X-axis adjustment assembly 230 is downward along the Z-axis direction toward the Y-axis adjustment assembly 210, that is, the posture adjustment mechanism 300 and the puncture mechanism 400 are upside down on the slider of the X-axis adjustment assembly 230.

[0067] See also Figure 3 and Figure 4 The posture adjustment mechanism 300 may include a mounting plate 310 connected to the position adjustment mechanism 200, a first angle adjustment component 320 arranged on the mounting plate 310, and a second angle adjustment component 330 connected to the first angle adjustment component 320. 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.

[0068] 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 limit 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 the 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 limit chuck 324.

[0069] It should be noted that the setting of the angle limiting chuck 324 realizes the limitation of 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.

[0070] 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 connecting block 331, a third motor 332, a rocker 333, a swing arm 334 and a connecting shaft 335. The rotating connecting block 331 is fixedly connected to the bottom surface of the driven gear 323, and the rotating connecting block 331 is provided with an arc-shaped sliding cavity 3311 along the thickness direction; the third motor 332 is mounted on the rotating connecting block 331, and the output shaft of the third motor 332 passes through the rotating connecting block 331 and is connected to the rocker 333 and the swing arm 334 in sequence; the connecting shaft 335 is provided 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 to the puncture mechanism 400.

[0071] 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. 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 is set to pass 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.

[0072] 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.

[0073] 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 achieve three-dimensional reconstruction and precise positioning of the AVF blood vessels, plan the optimal puncture path, and improve puncture accuracy.

[0074] 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 structure and functional principles are not described in detail 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.

[0075] 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 claw 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 provided near the side end surface of the rotating connecting block 331. The limiting shaft 411 is spaced apart from 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 provided 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 assembly 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 assembly 440, and 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, and the puncture protection assembly 460 is arranged on the end face of the support plate 410 and extends downward to near the outer contour surface of the clamping jaw assembly 450, and the puncture protection assembly 460 is constructed to selectively limit and fix the clamping jaw assembly 450 according to the feedback force.

[0076] 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 can be provided in the slide 423, so that when the fourth motor 421 drives the second screw 422 to rotate, the slide 423 can slide along the length direction of the second screw 422.

[0077] Optionally, for the mounting frame 430, the central axis of its limiting ring 432 should be able to pass through the end plate 431, and a bearing can be set on the inner ring of the limiting ring 432, so that the angle compensation adjustment component 440 and the clamping jaw assembly 450 can be set colinearly, 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 arranged 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.

[0078] See also Figures 6 to 10The clamping jaw assembly 450 includes a sleeve 451, a sixth motor 452, a limit block 453 with a slide groove 4531, a first transmission block 454, a second transmission block 455, a first contour clamping jaw 456 and a second contour clamping jaw 457. The sleeve 451 is rotatably connected to the limit ring 432, the limit block 453 is arranged on the end face of the sleeve 451, the first transmission block 454 and the second transmission block 455 are slidingly connected in the slide groove 4531, the first transmission block 454 partially extends to the outside of the slide groove 4531 to connect the first contour clamping jaw 456, the second transmission block 455 partially extends to the outside of the slide groove 4531 to connect the second contour clamping jaw 457, the sixth motor 452 is arranged in the sleeve 451 and the output shaft extends to be transmission-connected with the first transmission block 454 and the second transmission block 455.

[0079] Combine Figures 7 to 10 The sixth motor 452 is encapsulated in the sleeve 451, and its output shaft passes through one end of the sleeve 451 along the Y-axis direction and extends to the limit block 453 and is connected to the first transmission block 454 and the second transmission block 455. The limit block 453 is penetrated along the X-axis direction to form a slide groove 4531, and the limit block 453 is penetrated along the Y-axis direction to form an axial hole 4532 connected to the slide groove 4531, wherein the upper and lower surfaces of the slide groove 4531 are provided with guide rails (not shown in the figure), and the guide rails on the upper and lower surfaces 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 engaged with each other, and the output shaft of the sixth motor 452 passes through the shaft hole 4532 and extends between the first transmission block 454 and the second transmission block 455. The first toothed belt 4541 and the second toothed belt 4551 are respectively provided on the opposite surfaces of the first transmission block 454 and the second transmission block 455. The output shaft of the sixth motor 452 is provided with a transmission gear 4521, which is respectively engaged with the first toothed belt 4541 and the second toothed belt 4551.

[0080] In some embodiments, the first transmission block 454 and the second transmission block 455 are provided with a connecting portion that partially protrudes from the slide groove 4531, and the first transmission block 454 and the second transmission block 455 are respectively connected to the first contoured clamping jaw 456 and the second contoured clamping 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, thereby realizing the function of clamping or releasing the puncture needle 500 by the first contoured clamping jaw 456 and the second contoured clamping jaw 457.

[0081] In some embodiments, clamping grooves 459 are respectively provided on the relative surfaces of the first contoured clamping jaw 456 and the second contoured clamping jaw 457, and the surface of the clamping groove 459 is slidably connected to a ball 4591, and the ball 4591 at least partially protrudes from the surface of the clamping groove 459. A pressure sensor 458 is provided on the surface of the first contoured clamping jaw 456 or the second contoured clamping jaw 457 away from the limit block 453, and the pressure sensor 458 is configured to monitor the force applied by the puncture needle 500 during advancement.

[0082] 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 the specific selection can be made according to actual needs. When the two clamping grooves 459 are closed toward each other, a limiting hole along the Y-axis is formed, and a line groove distributed along the Y-axis can be set in the clamping groove 459, and a plurality of balls 4591 can be set in the line groove. The contact of the pressure sensor 458 needs to protrude from the end faces of the first contoured clamping jaw 456 and the second contoured clamping jaw 457. At the same time, after clamping, the wing of the puncture needle 500 can contact the contact of the pressure sensor 458.

[0083] See also Figure 11 The puncture protection assembly 460 includes a connector 461, a magnetic control valve 462 and a clamping block 463. The connector 461 is connected to the support plate 410 and one end extends outside the outline of the sleeve 451. The connector 461 is provided with a limiting cavity 4611 near the end face of the sleeve 451. The magnetic control valve 462 is arranged in the limiting cavity 4611 and one end is slidably connected to the clamping block 463. A guide shaft 4621 can be provided at one end of the magnetic control valve 462, and the clamping block 463 can be provided with a through hole 4631 that cooperates with the guide shaft 4621. The magnetic control valve 462 is constructed to control the clamping block 463 to selectively clamp the sleeve 451 according to the feedback force.

[0084] It should be noted that an arc-shaped surface is provided relative to the bottom of the connecting piece 461 and the clamping block 463, so that when the magnetic control valve 462 controls the clamping block 463 and the connecting piece 461 to move toward each other, the clamping block 463 and the connecting piece 461 can clamp and fix the sleeve 451. When a dangerous operation is identified as possible during the puncture process, the puncture protection component 460 intervenes and prevents it in time, thereby reducing the puncture damage to the AVF blood vessel, improving the safety of the puncture operation and ensuring the continuity of the automatic hemodialysis machine operation.

[0085] The puncture robot 10 in each of the above embodiments can adjust the position of the fistula puncture mechanism 400 by translation, elevation, descent and angular direction through the setting of the position adjustment mechanism 200 and the posture adjustment mechanism 300, so as to achieve the approximate determination of the puncture plane position and the replacement of the puncture needle 500 of the arteriovenous fistula. The puncture mechanism 400 is integrated with the puncture propulsion assembly 420, the angle compensation adjustment assembly 440, the clamping jaw assembly 450 and the puncture protection assembly 460. Among them, the puncture propulsion assembly 420 drives the puncture needle 500 to advance and withdraw the needle, and the angle compensation adjustment assembly 440 can control the clamping jaw assembly 450 to rotate in the mounting frame 430, thereby achieving the position and blade surface adjustment of the puncture needle 500. Fine-tuning is performed to ensure that the positioning and blade surface of the puncture needle 500 are consistent with the expected puncture direction of the medical staff. The setting of the clamping jaw assembly 450 realizes automatic and accurate clamping of the puncture needle 500. At the same time, a ball is set in the clamping groove 459 of the contoured clamping jaw of the clamping jaw assembly 450 along the needle advance and retreat direction, and the pressure sensor 458 set on the front end surface of the contoured clamping jaw is used to realize the feedback force collection of the puncture needle 500 insertion process. The feed speed and amount of the puncture needle 500 are adaptively adjusted according to the collected feedback force, and the puncture protection assembly 460 is combined to realize the termination of the puncture needle 500 advancement process, thereby reducing the puncture damage to the arteriovenous fistula blood vessels, improving the safety of the puncture operation and ensuring the continuity of the automatic hemodialysis machine operation.

[0086] See also Figure 12 In some embodiments, a control method for the hemodialysis arteriovenous fistula automatic puncture robot according to any of the above embodiments is provided, the method comprising:

[0087] Step S100: collecting image data of the arteriovenous fistula region and preprocessing the image data to generate a three-dimensional model of the arteriovenous fistula blood vessels;

[0088] Step S200: determining the optimal puncture path of the puncture mechanism based on the three-dimensional model and clinical demand information;

[0089] Step S300: mapping the optimal puncture path to the robot's operating space, and moving the robot according to 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;

[0090] Step S400: determining whether the puncture needle has reached the predetermined position; if so, controlling the puncture needle to perform puncture and collecting feedback force information during the puncture process;

[0091] Step S500: According to the feedback force information and the preset segmented force feedback strategy, the insertion speed and depth of the puncture needle are controlled to complete the automatic puncture operation.

[0092] It should be noted that during the dialysis puncture process, experienced medical staff will use the puncture needle to contact the AVF tissue in the arm, and sense the operating force by touching the needle handle to determine the location and depth of the puncture. The force feedback from this contact is crucial for obtaining needle insertion information. Therefore, when the puncture robot automatically assists in automatically collecting puncture point image information and performing the puncture, the prompt information provided by this feedback force is crucial to ensuring operational safety. In this embodiment, the robot searches for the puncture point, penetrates the AVF epidermal tissue, and enters the vascular layer. By proposing the concept of clinical segmented puncture operation, the puncture operation is divided into segments according to the magnitude of the feedback force during the clinical process.

[0093] 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 AVF puncture; 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 AVF vessel wall tissue in clinical practice. During the AVF puncture process, the feedback force changes with the changes in puncture depth, speed, and angle posture. According to the change value of the feedback force, it is divided into three operational feedback ranges:

[0094] 1) Danger range: This refers to the situation during the puncture process where, when the puncture feedback force exceeds the set danger threshold, the puncture needle may cause serious damage to the AVF vascular tissue. In this case, the clinical operation should be specifically marked as a dangerous operation to remind medical staff to take necessary precautions to ensure patient safety.

[0095] 2) Warning range: When the puncture feedback force reaches or exceeds the warning force but has not yet reached the dangerous force level, it is within a specific range where the puncture needle begins to cause slight damage to the AVF vascular tissue. Based on this situation, this clinical operation is defined as inappropriate.

[0096] 3) Safety range: When the puncture feedback force is less than the set warning force threshold, the puncture needle does not cause any damage to the AVF vascular tissue within this specific area. Based on this consideration, this clinical procedure can be defined as a safe procedure.

[0097] It is important to note that the hemodialysis AVF puncture safety strategy, based on a segmented procedure concept, integrates segmented force feedback to significantly improve procedural safety and accuracy. Force feedback is provided in different forms, including cutoff, amplified, and conventional, depending on the procedure phase and situation, to meet specific procedural needs. This provides intuitive and accurate physical feedback to healthcare professionals, enabling them to make appropriate decisions.

[0098] In step S500, during the fistula puncture process, the hemodialysis AVF puncture robot continuously collects the puncture needle recoil feedback force and compares it with the set threshold. When the puncture feedback force is lower than the warning force threshold, segmented force feedback is used as the standard force feedback. The system can output a force feedback value close to the actual puncture operation of the medical staff, which will not cause damage to the patient's fistula and vascular tissue. When the puncture force feedback value reaches or exceeds the warning force threshold but has not yet reached the danger 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 danger zone. When the puncture feedback force exceeds the dangerous force threshold, a cutoff force feedback is generated. At the same time, the puncture control protection mechanism begins to execute, terminating further punctures and eliminating the occurrence of puncture hazards. Medical staff do not need to press emergency stop or other operations to eliminate the dangerous puncture, ensuring the normal needs of puncture. To this end, this segmented operation safety strategy can reduce AVF puncture damage, improve the safety of puncture surgery, and ensure the consistency of hemodialysis automatic machine operation.

[0099] In some embodiments, an electronic device is also provided, comprising: at least one processor; and a storage device in communication with the at least one processor; wherein the storage device stores instructions that can be executed 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 embodiment.

[0100] In some embodiments, a computer-readable storage medium is further provided, on which computer program instructions are stored. 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 embodiment are implemented.

[0101] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the invention.

[0102] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0103] Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Mentioning "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present embodiment application. The appearance of this phrase in various positions in the specification does not necessarily mean that they are all the same embodiments, nor are they independent or alternative embodiments that are mutually exclusive with other embodiments. It can be understood explicitly and implicitly by those skilled in the art that the embodiments described herein can be combined with other embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0104] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A hemodialysis arteriovenous fistula automatic puncture robot, comprising a position adjustment mechanism, a posture adjustment mechanism connected to the position adjustment mechanism, and a puncture mechanism connected to the posture adjustment mechanism, characterized in that: The puncture mechanism comprises: A support plate and a puncture propulsion assembly having a slide, wherein the support plate is connected to the posture adjustment mechanism, and the puncture propulsion assembly is arranged on a surface of the support plate facing 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 is provided 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 provided on the end plate, and A clamping jaw assembly is disposed within the limiting ring, the clamping jaw assembly comprising a sleeve rotatably connected to the limiting ring, one end of the sleeve being coaxially connected to the angle compensation adjustment assembly, the angle compensation adjustment assembly being used to drive the clamping jaw assembly to rotate along the central axis of the limiting ring, the clamping jaw assembly being configured to selectively clamp the puncture needle and obtain feedback force during the puncture process of the puncture needle; The angle compensation adjustment assembly includes a fifth motor provided on the end plate and a coupling connected to the fifth motor, wherein an end of the coupling facing away from the fifth motor is connected to the end surface of the sleeve; a puncture protection assembly, disposed on the end surface of the support plate and extending downward to a position close to the outer contour surface of the clamping jaw assembly, wherein the puncture protection assembly is configured to selectively limit and fix the clamping jaw assembly according to the feedback force; The puncture protection assembly includes a connecting piece, a magnetic control valve and a clamping block. The connecting piece is connected to the support plate and one end extends to the outer contour surface of the sleeve. 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 is slidably connected to the clamping block. The magnetic control valve is constructed to control the clamping block to selectively clamp and fix the sleeve according to the feedback force.

2. The hemodialysis arteriovenous fistula automatic puncture robot according to claim 1, characterized in that: The clamping jaw assembly also includes 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 slidingly connected in the slide groove, the first transmission block partially extends to the outside of the slide groove to connect the first contour clamping jaw, the second transmission block partially extends to the outside of the slide groove to connect 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 hemodialysis arteriovenous fistula automatic puncture robot according to claim 2, characterized in that: 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 sliding groove.

4. The hemodialysis arteriovenous fistula automatic puncture robot according to claim 3, characterized in that: Clamping grooves are respectively provided on the opposing surfaces of the first contoured clamping jaw and the second contoured clamping jaw. Balls are slidably connected to the surfaces of the clamping grooves, and at least a portion of the balls protrude from the surfaces of the clamping grooves.

5. The hemodialysis arteriovenous fistula automatic puncture robot according to any one of claims 2 to 4, characterized in that: A pressure sensor is provided 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 insertion.

6. The hemodialysis arteriovenous fistula automatic puncture robot according to claim 1, characterized in that: The posture adjustment mechanism comprises: a mounting plate connected to the position adjustment mechanism; a first angle adjustment assembly, disposed on the mounting plate, wherein the first angle adjustment assembly is configured to adjust the azimuth angle of the puncture mechanism in a horizontal plane; The second angle adjustment component is 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 a vertical plane.

7. The hemodialysis arteriovenous fistula automatic puncture robot according to claim 6, characterized in that: The second angle adjustment component includes: A rotating connecting block connected to the first angle adjustment assembly, wherein the rotating connecting block is provided with an arc-shaped sliding cavity along a thickness direction; a third motor, a rocker and a swing arm, wherein the third motor is mounted on the rotating connection block, and an output shaft of the third motor passes through the rotating connection block and is sequentially connected to the rocker and the swing arm; A connecting shaft is arranged at one end of the swing arm away from the rocker, the connecting shaft is coaxially provided with a guide wheel adapted to the arc-shaped sliding cavity, and one end of the connecting shaft passes through the arc-shaped sliding cavity to connect with the puncture mechanism.

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