Venipuncture execution device and method for adjusting puncture angle and position

Abstract

The application provides a venipuncture execution device, which comprises a first linear driving mechanism, a first rotary driver, a swing arm, a second rotary driver, a second linear driving mechanism and a third rotary driver, the output end of the first linear driving mechanism is connected with the first rotary driver, the output end of the first rotary driver is connected with one end of the swing arm, the other end of the swing arm is fixedly connected with the second rotary driver, the output end of the second rotary driver is connected with the second linear driving mechanism, and the output end of the third rotary driver is connected with the first linear driving mechanism. The device has multiple degrees of freedom, can provide multiple puncture angle, distance and posture selection, is convenient to operate and can adapt to individual needs of different patients. The application also provides a method for adjusting a puncture angle and position, when the puncture posture is adjusted, the position of the needle tip of the puncture needle remains unchanged, the stability and the puncture precision are improved, and the puncture needs of different angles and different directions of special blood vessels are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a venipuncture execution device and a puncture angle and position adjustment method. BACKGROUND

[0002] As an advanced medical puncture device, the venipuncture robot is used to realize automatic venipuncture operation and replace the traditional manual puncture method. However, the existing venipuncture device has insufficient degrees of freedom and is difficult to cover various blood vessel directions and angles. Especially when facing special patient groups (such as infants, the elderly, obese patients or patients with deep veins), the puncture precision and success rate are low. When adjusting the puncture angle, the existing device often needs compensation of the overall mechanism, which causes the needle tip position to deviate and cannot always remain at a puncture point, affecting the precision and stability of puncture.

[0003] Patent No. CN111839534A proposes a puncture execution mechanism suitable for standardized blood vessel puncture, but its design is only suitable for standardized blood vessel puncture and is difficult to adapt to the individual needs of different patients. The puncture execution module of the mechanism has a complex structure, a high failure rate, and is not convenient to clean and disinfect. Its volume is large and its weight is heavy, which is not conducive to the operation and carrying of nurses, limiting its wide application in the clinic. SUMMARY

[0004] To this end, the present application proposes a venipuncture execution device and a puncture angle and position adjustment method to solve the problems mentioned in the background art and overcome the deficiencies in the prior art.

[0005] The device includes a first linear drive mechanism, a first rotary drive, a swing arm, a second rotary drive, a second linear drive mechanism and a third rotary drive. The output end of the first linear drive mechanism is connected with the first rotary drive, the output end of the first rotary drive is connected with one end of the swing arm, the other end of the swing arm is fixedly connected with the second rotary drive, the output end of the second rotary drive is connected with the second linear drive mechanism, and the output end of the third rotary drive is connected with the first linear drive mechanism.

[0006] Preferably, it further includes a fourth rotary drive and a puncture needle clamp device. The fourth rotary drive is fixedly connected with the output end of the second linear drive mechanism, and the output end of the fourth rotary drive is connected with the puncture clamp device.

[0007] In any of the above schemes, preferably, the puncture clamp device includes a clamping jaw and a clamping plate. The output end of the fourth rotary drive is connected with the clamping jaw, and the clamping jaw cooperates with the clamping plate to clamp the puncture needle.

[0008] Preferably in any of the above solutions, the shaft center of the first linear driving mechanism is arranged along a vertical direction, the shaft center of the third rotary driver is arranged along a vertical direction, the shaft center of the first rotary driver is arranged along a horizontal direction, and the shaft center of the second rotary driver is arranged along a horizontal direction.

[0009] Preferably in any of the above solutions, a fixing plate and a first pressure sensor are further included, the output end of the second linear driving mechanism is connected to the fixing plate through the first pressure sensor, the fixing plate is fixedly connected to the fourth rotary driver and the clamping plate respectively, and the shaft center of the fourth rotary driver and the clamping plate are perpendicular to the fixing plate respectively.

[0010] Preferably in any of the above solutions, a support frame and a rotary plate are further included, the third rotary driver is fixed on the support frame, the output end of the third rotary driver is connected to the rotary plate, and the rotary plate is fixedly connected to the first linear driving mechanism.

[0011] Preferably in any of the above solutions, an adapter fixing plate is further included, the adapter fixing plate is connected to the end of the support frame away from the third rotary driver.

[0012] The application further discloses a method for adjusting a puncture angle and position, and the venipuncture execution device.

[0013] Step S1: according to a forward kinematics model, coordinates of the puncture needle in a puncture coordinate system are calculated, and a three-dimensional puncture coordinate system is established, wherein a z v axis direction is coincident with a central axis of the first linear driving mechanism, a z v axis direction is perpendicular to a horizontal plane, an x v axis is a line connecting an axis center of the first linear driving mechanism and an axis center of the first rotary driver, a y v axis is perpendicular to the x v axis and the z v axis, and the x v axis, the y v axis and the z v axis are orthogonal; coordinates of a slider zero point position of the slider on the first linear driving mechanism are set as coordinates of a first rotary driver axis center point of the first rotary driver are set as then:

[0014]

[0015] wherein L4 is a distance from the first rotary driver axis center to the central axis of the first linear driving mechanism, L 12 is a linear distance of the first rotary driver axis center to the p1 point in the y v direction; d1 is a distance of the slider from the slider zero point position to the movement in the z v direction; coordinates of a second rotary driver axis center point of the second rotary driver are set as Then:

[0016]

[0017] wherein L3 is the distance from the axis of the first rotary driver to the axis of the second rotary driver, L 13 is the distance from the axis of the second rotary driver to the point D1 in the y v direction; θ d is the angle of rotation of the output end of the first rotary driver from the zero position of the first rotary driver about the y v axis, and the position coordinates of the puncture needle are set as Then:

[0018]

[0019]

[0020] θ needle = θ d + θ c

[0021] wherein L1 is the horizontal distance between the axis of the second rotary driver and the tip of the puncture needle, L2 is the vertical distance between the axis of the second rotary driver and the extension line of the puncture needle, d2 is the distance of the output end of the second linear driving mechanism from the zero position of the second linear driving mechanism, θ c is the angle of rotation of the output end of the second rotary driver from the zero position of the second rotary driver about the y v axis, and L 11 is the distance from the axis of the second linear driving mechanism to the point C1 in the y v direction, θ needle is the angle between the puncture needle and the x v axis;

[0022] Step S2: transform the puncture coordinate system into global coordinate system coordinates;

[0023] Step S3: adjust the angle and position of the puncture needle according to the inverse kinematics model.

[0024] Preferably, the step S2 of transforming the puncture coordinate system into global coordinate system coordinates comprises: establishing an x U y U z U three-dimensional global coordinate system, when the intravenous puncture execution device is in the zero position, the axis of x U coincides with the axis of x v , the axis of y U coincides with the axis of y v , and the axis of z U coincides with the axis of z vThe axes coincide, and let the coordinates of the puncture coordinate system in the global coordinate system be (x0, y0, z0);

[0025] The coordinates of the puncture needle position in the global coordinate system are: When the third rotary drive does not rotate around z v When the axis rotates, then:

[0026]

[0027] When the third rotary actuator rotates: assuming the third rotary actuator revolves around z... v The axis rotated by θ f Degree, then:

[0028]

[0029] In any of the above schemes, step S3, adjusting the angle and position of the puncture needle according to the inverse kinematics model, includes:

[0030] Given the position of the puncture needle in the puncture coordinate system and puncture needle and X v The included angle θ of the axis needle d2 is the distance the output end of the second linear drive mechanism extends from its zero position, and the coordinates of the slider on the first linear drive mechanism at its zero position are...

[0031] Based on the forward kinematics model, the inverse kinematics model is obtained:

[0032]

[0033] θ is obtained from the inverse kinematics model. c θ d And d1, where f1, f2, and f3 are the functional relationships of the inverse kinematic model obtained from the forward kinematic model. If there is no analytical expression, it can be solved by numerical methods.

[0034] Based on the above θ c Controlling the rotation angle θ of the first rotary actuator d The rotation angle of the second rotary driver and the movement distance of the slider in the first linear drive mechanism are controlled by d1 to adjust the angle and position of the puncture needle.

[0035] Compared with the prior art, the advantages and beneficial effects of the present invention are as follows:

[0036] 1. The intravenous puncture device of the present invention has multiple degrees of freedom, providing a variety of puncture angles, distances, and postures for selection, facilitating operation, adapting to the individualized needs of different patients, and maintaining the stability of the needle tip position during puncture. It also features small size, light weight, and easy cleaning, thereby improving the convenience and safety of clinical operations.

[0037] 2. The method for adjusting the puncture angle and position in this invention ensures that the position of the puncture needle tip remains unchanged when adjusting the puncture posture, thereby improving the stability and accuracy of puncture and meeting the puncture needs of special blood vessels at different angles and in different directions.

[0038] Additional aspects and advantages of the invention will be set forth in the description which follows, will become apparent from the description, or may be learned by practice of the invention. Attached Figure Description

[0039] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0040] Figure 1 This is a schematic diagram of the structure of the venipuncture execution device provided in an embodiment of the present invention.

[0041] Figure 2 This is another structural schematic diagram of the venipuncture execution device provided in an embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of the connection structure between the first linear drive mechanism and the first rotary actuator of the venipuncture execution device provided in an embodiment of the present invention.

[0043] Figure 4 This is a schematic diagram of the connection structure between the first rotary driver and the second rotary driver of the venipuncture execution device provided in an embodiment of the present invention.

[0044] Figure 5 This is a schematic diagram of the second linear drive mechanism and the puncture clamp device of the intravenous puncture execution device provided in an embodiment of the present invention.

[0045] Figure 6 for Figure 5 A magnified view of part A in the middle.

[0046] Figure 7 This is a schematic diagram of the puncture clamp device in the intravenous puncture execution device provided in an embodiment of the present invention.

[0047] Wherein: 1-First linear drive mechanism; 2-First rotary driver; 3-Swing arm; 4-Second rotary driver; 5-Second linear drive mechanism; 6-Third rotary driver; 7-Fourth rotary driver; 8-Gripper; 9-Clamping plate; 10-Punch needle; 11-Fixing plate; 12-First pressure sensor; 13-Support frame; 14-Rotating plate; 15-Adapter fixing plate. Detailed Implementation

[0048] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0049] like Figures 1 to 7 As shown, a venipuncture execution device of the present invention includes a first linear drive mechanism 1, a first rotary driver 2, a swing arm 3, a second rotary driver 4, a second linear drive mechanism 5, and a third rotary driver 6. The output end of the first linear drive mechanism 1 is connected to the first rotary driver 2, the output end of the first rotary driver 2 is connected to one end of the swing arm 3, the other end of the swing arm 3 is fixedly connected to the second rotary driver 4, the output end of the second rotary driver 4 is connected to the second linear drive mechanism 5, and the output end of the third rotary driver 6 is connected to the first linear drive mechanism 1.

[0050] The first linear drive mechanism 1 is parallel to the vertical direction, and the first rotary driver 2 and the second rotary driver 4 are horizontally arranged. The central axis of the first rotary driver 2 is parallel to the central axis of the second rotary driver 4. The first linear drive mechanism 1 can drive the first rotary driver 2 to move in the vertical direction. The first rotary driver 2 drives the swing arm 3 to rotate around the central axis of the first rotary driver 2. The other end of the swing arm 3 is fixedly connected to the second rotary driver 4. The first rotary driver 2 can drive the second rotary driver 4 to rotate around the central axis of the first rotary driver 2. The central axis of the second rotary driver 4 is perpendicular to the central axis of the second linear drive mechanism. The second rotary driver 4 can drive the second linear drive mechanism to rotate around the central axis of the second rotary driver 4. The first linear drive mechanism 1, the first rotary driver 2, and the second rotary driver 4 realize the adjustment of the position of the puncture needle 10. When the position is adjusted to a suitable position, the puncture is just completed, driving the puncture needle 10 to insert into the blood vessel.

[0051] The central axis of the third rotary actuator 6 is parallel to the central axis of the first linear drive mechanism 1. The third rotary actuator 6 can drive the first linear drive mechanism 1 to rotate around the central axis of the third rotary actuator 6, thereby achieving position adjustment. In this invention, detection instruments such as ultrasound instruments and infrared cameras can also be connected to the output end of the third rotary actuator 6 to assist in the detection of blood vessel position. The third rotary actuator 6 can drive the detection instruments and the first linear drive mechanism 1 to rotate and adjust as a whole, assisting the execution device of this invention in completing the puncture task.

[0052] Optionally, the first linear drive mechanism 1 is specifically a linear module, including a drive motor, a guide rail, and a slider. The output end of the drive motor is connected to the slider via a lead screw to drive the slider to slide along the guide rail. The slider is fixedly connected to the first rotary driver 2, thereby driving the first rotary driver 2 to move along the guide rail. The first linear drive mechanism 1 can also directly use a linear motor to drive the first rotary driver 2 to move vertically. The specific implementation of the first linear drive mechanism 1 is not limited, and an appropriate drive method can be selected according to actual needs.

[0053] Optionally, the second linear drive mechanism can be a puncture electric cylinder, a servo electric cylinder, an electric cylinder, or any mechanism capable of achieving linear puncture motion.

[0054] Specifically, it also includes a fourth rotary driver 7 and a puncture needle 10 clamping device. The fourth rotary driver 7 is fixedly connected to the output end of the second linear drive mechanism 5, and the output end of the fourth rotary driver 7 is connected to the puncture clamping device.

[0055] Specifically, the puncture clamp device includes a jaw 8 and a clamping plate 9. The output end of the fourth rotary driver 7 is connected to the jaw 8, and the jaw 8 cooperates with the clamping plate 9 to clamp the puncture needle 10.

[0056] The output of the fourth rotary actuator 7 is connected to the gripper 8. The gripper 8 and the clamping plate 9 cooperate to form a controllable clamping of the puncture needle 10. The clamping plate 9 is provided with a groove that mates with the shank of the puncture needle 10. The shank of the puncture needle 10 is placed into the groove, and then the gripper 8 clamps the shank of the puncture needle 10 in place. The fourth rotary actuator 7 drives the gripper 8 to rotate around its central axis. When the puncture needle 10 needs to be replaced, the clamping or loosening action of the gripper 8 and the clamping plate 9 is controlled to achieve quick disassembly and installation of the puncture needle 10, thereby significantly improving the convenience and efficiency of puncture needle 10 replacement. After puncture, the puncture needle 10 can be automatically released, facilitating subsequent operations by the puncture robot and the nurse.

[0057] Specifically, the axis of the first linear drive mechanism 1 is set in the vertical direction, the axis of the third rotary drive 6 is set in the vertical direction, the axis of the first rotary drive 2 is set in the horizontal direction, and the axis of the second rotary drive 4 is set in the horizontal direction.

[0058] The axes of the first linear drive mechanism 1 and the third rotary actuator 6 are arranged vertically. The first linear drive mechanism 1 drives the second linear drive mechanism to move vertically, and the third rotary actuator 6 drives the entire device to rotate. In a specific embodiment, a standard three-dimensional coordinate system XYZ axis is defined, wherein the line connecting the first linear drive mechanism 1 and the first rotary actuator 2 coincides with the X-axis, the line connecting the first linear drive mechanism 1 and the third rotary actuator 6 coincides with the X-axis, and the axis of the first linear drive mechanism 1 coincides with the X-axis. Through the above description of the positional relationship, the relative positional relationship between the components can be more clearly understood, facilitating implementation and operation. The axes of the first rotary actuator 2 and the second rotary actuator 4 are arranged horizontally, used to drive the second linear drive mechanism for multi-angle adjustment and positioning. By setting the above structure in an orthogonal layout, precise motion control of the puncture needle 10 in multi-dimensional space is achieved, improving the flexibility and accuracy of the puncture operation.

[0059] Specifically, it also includes a fixed plate 11 and a first pressure sensor 12. The output end of the second linear drive mechanism 5 is connected to the fixed plate 11 through the first pressure sensor 12. The fixed plate 11 is fixedly connected to the fourth rotary driver 7 and the clamping plate 9 respectively. The axis of the fourth rotary driver 7 and the clamping plate 9 are perpendicular to the fixed plate 11 respectively.

[0060] Optionally, the first rotary driver 2, the second rotary driver 4, the third rotary driver 6 and the fourth rotary driver 7 are servo motors or rotary motors, respectively. The first rotary driver 2, the second rotary driver 4, the third rotary driver 6 and the fourth rotary driver 7 are configured to provide rotary driving force, or they can be other forms of rotary driving structures.

[0061] Specifically, it also includes a support frame 13 and a rotating plate 14. The third rotary driver 6 is fixed on the support frame 13, and the output end of the third rotary driver 6 is connected to the rotating plate 14. The rotating plate 14 is fixedly connected to the first linear drive mechanism 1.

[0062] The fourth rotary actuator 7 is located on one side of the fixed plate 11, and the clamping plate 9 is located on the other side of the fixed plate 11. The output end of the fourth rotary actuator 7 passes through the fixed plate 11 and is connected to the gripper 8. The axis of the fourth rotary actuator 7 and the clamping plate 9 are both perpendicular to the fixed plate 11. The first pressure sensor 12 measures the puncture pressure in real time. Through the above structure, a stable connection and coordinated movement between the second linear drive mechanism, the fourth rotary actuator 7, and the clamping plate 9 are achieved.

[0063] Specifically, it also includes an adapter fixing plate 15, which is connected to the end of the support frame 13 away from the third rotary driver 6.

[0064] Through the above structure, the third rotary driver 6 drives the rotating plate 14 and the components connected to it to rotate as a whole, thereby ensuring the flexible movement and coordinated operation of the device in the horizontal direction and improving the integration and operational accuracy of the device.

[0065] The device of this invention can cover a horizontal rotation of ±90° for puncture directions; a puncture angle of 0° to 40°; and an adjustable puncture distance of 0mm to 60mm. The working principle of this device is as follows: A first linear drive mechanism controls the first rotary driver, the second rotary driver, the second linear drive mechanism, and the puncture needle to move vertically. The first and second rotary drivers work together to adjust the angle and position of the puncture needle. A third rotary driver drives the first linear drive mechanism, the first rotary driver, the second rotary driver, and the second linear drive mechanism to adjust the horizontal rotation angle, thereby accurately determining the puncture direction of the venous puncture needle according to the direction of the blood vessel. The first linear drive mechanism, the first rotary driver, and the second rotary driver adjust the puncture needle to a suitable angle and position. The second linear drive mechanism pushes the puncture needle out for puncture. When it is necessary to replace the puncture needle, the fourth rotary driver drives the clamping device to clamp or release the puncture needle, thereby completing the replacement. The second linear drive mechanism drives the puncture needle to perform puncture and needle return operations through pushing and contracting movements.

[0066] The present invention also discloses a method for adjusting the puncture angle and position, applicable to any of the above-mentioned venous puncture execution devices, the method comprising:

[0067] Step S1: Based on the forward kinematics model, calculate the coordinates of the puncture needle in the puncture coordinate system and establish the x-axis. v y v z v A three-dimensional puncture coordinate system, where z v The axial direction coincides with the central axis of the first linear drive mechanism, x v Let y be the line connecting the axis of the first linear drive mechanism and the axis of the first rotary drive mechanism. v axis and x v axis and z v Orthogonal to the x-axis; the puncture needle is only inserted at the x-axis. v -z v Motion within a parallel plane. Let the coordinates of the slider at the zero point of the first linear drive mechanism be... Let the coordinates of the axis of the first rotary actuator be... but:

[0068]

[0069] Where L4 is the distance from the axis of the first rotary actuator to the central axis of the first linear drive mechanism, L 12 The first rotary drive axis to point p1 in y v The straight-line distance in the direction; that is, the shortest straight-line distance from the axis of the first rotary drive to the axis of the first linear drive mechanism. d1 is the distance along the z-axis from the slider's zero position. v The distance moved along the axial direction; let the coordinates of the axis center of the second rotary actuator be... but:

[0070]

[0071]

[0072] Where L3 is the distance from the axis of the first rotary actuator to the axis of the second rotary actuator, L 13 For the second rotary drive shaft center to point D1 in y v Distance in direction; θ d The output terminal of the first rotary driver rotates from the zero position of the first rotary driver around y v Let the angle of rotation of the axis be the position coordinates of the puncture needle. but:

[0073]

[0074] θ needle =θ d +θ c

[0075] Where L1 is the horizontal distance between the axis of the second rotary actuator and the tip of the puncture needle, L2 is the vertical distance between the axis of the second rotary actuator and the extension line of the puncture needle, d2 is the distance the output end of the second linear drive mechanism extends from the zero position of the second linear drive mechanism, and θ c The output terminal of the second rotary driver rotates from the zero position of the second rotary driver around y v The angle of rotation of the axis, L 11 The axis of the second linear drive mechanism to point C1 in y v Distance in direction, θ needle For puncture needle and x v The included angles of the axes; all the above angles are based on the right-hand coordinate system, with counterclockwise being positive.

[0076] Step S2: Transform the puncture coordinate system to the global coordinate system;

[0077] Step S3: Adjust the angle and position of the puncture needle according to the inverse kinematics model.

[0078] In step S2, the main purpose of transforming the puncture coordinate system to the global coordinate system is to optimize the calculation process and improve computational efficiency. By mapping the dynamically changing puncture coordinate system to the fixed global coordinate system, computational complexity can be effectively reduced, avoiding the additional computational burden caused by dynamic changes in the coordinate system, thereby significantly improving overall computational efficiency. The global coordinate system, as a fixed reference frame, maintains its position and orientation. In contrast, the puncture coordinate system is closely related to the intravenous puncture device, and its orientation changes accordingly with the horizontal rotation of the device. Therefore, the puncture coordinate system can be dynamically adjusted within the global coordinate system as the intravenous puncture device moves, while the global coordinate system itself remains static. Any point in the puncture coordinate system can be mapped to its corresponding point in the global coordinate system through coordinate transformation, thereby achieving data unification between coordinate systems and facilitating subsequent calculations and analysis.

[0079] Specifically, step S2, transforming the puncture coordinate system to the global coordinate system, includes: establishing x... U y U z U In a three-dimensional global coordinate system, when the intravenous puncture actuator is at the zero point position, x U The axis and x v The axes coincide, y U The axis and y v The axes coincide, z U The axis and z v The axes coincide, and let the coordinates of the puncture coordinate system in the global coordinate system be (x0, y0, z0);

[0080] The coordinates of the puncture needle position in the global coordinate system are: When the third rotary drive does not rotate around z v When the axis rotates, due to x v -y v -z v With x U -y U -z U If all coordinate systems are parallel, then:

[0081]

[0082] θ needle constant.

[0083] When the third rotary actuator rotates: assuming the third rotary actuator revolves around z... v The axis rotated by θ f Degree, then:

[0084]

[0085] The above transformation is equivalent to:

[0086] Specifically, step S3, based on the inverse kinematics model, adjusts the angle and position of the puncture needle, including:

[0087] The angle adjustment of the puncture needle is a separate process. During this part of the operation, only the first rotary driver, the second rotary driver, and the first linear drive mechanism are activated; other mechanisms or devices remain stationary. The puncture shaft electric cylinder also remains stationary.

[0088] Therefore, this inverse kinematics model is calculated in the puncture coordinate system and does not involve the global coordinate system, but it can also be converted to the coordinate system of the global coordinate system for calculation.

[0089] Given the position of the puncture needle in the puncture coordinate system and puncture needle and X v The included angle θ of the axis needle d2 is the distance the output end of the second linear drive mechanism extends from its zero position, and the coordinates of the slider on the first linear drive mechanism at its zero position are...

[0090] Based on the above forward kinematics model, the inverse kinematics model is obtained:

[0091]

[0092] θ is obtained from the inverse kinematics model. c θ d And d1, where f1, f2, and f3 are functional relationships of the inverse kinematics model obtained from the forward kinematics model. If there is no analytical expression, it can be solved numerically. Those skilled in the art should understand that the above numerical solution method can refer to the relevant chapters on kinematics solutions in robotics books. In practical applications, an appropriate solution strategy can be selected according to the specific characteristics of the mechanism, and if necessary, a hybrid solution method can be adopted by combining the advantages of analytical solutions and numerical solutions.

[0093] Based on the above θ c Controlling the rotation angle θ of the first rotary actuator d The rotation angle of the second rotary driver and the movement distance of the slider in the first linear drive mechanism are controlled by d1 to adjust the angle and position of the puncture needle.

[0094] Explanation of the zero point position:

[0095] In the first linear drive mechanism, the slider's zero point is when it slides to the highest point in the mechanism.

[0096] When the line connecting the axes of the first rotary driver and the second rotary driver is in the horizontal direction, the position of the output shaft of the first rotary driver is the zero point position of the first rotary driver, and the rotation range of the output shaft of the first rotary driver is 0° to 120°. At this time, the second rotary driver is on the side of the first rotary driver that is away from the first linear drive mechanism.

[0097] The output end of the second rotary actuator is connected to the second linear drive mechanism. When the central axis of the second linear drive mechanism forms a 45-degree angle with the horizontal direction, it is the zero point position of the second rotary actuator. At this time, the posture of the second linear drive mechanism is: the puncture needle is away from the first linear drive mechanism, and the end of the second linear drive mechanism away from the puncture needle is close to the first linear drive mechanism.

[0098] When the axis of the puncture needle is located at x U -z U The zero position of the third rotary actuator is in the plane.

[0099] When the fourth rotary actuator opens the gripper to its limit position, the limit position of the gripper can be set according to the situation. Preferably, the angle between the gripper and the clamping plate is 90 degrees when the gripper is opened to its limit position. This is the zero point position of the fourth rotary actuator.

[0100] The zero point position of the second linear drive mechanism is defined when the output end of the second linear drive mechanism is close to the extreme position of the end of the second linear drive mechanism furthest from the puncture needle. The zero point position can be defined according to requirements.

[0101] The adjustment method in this invention keeps the position of the puncture needle tip unchanged when adjusting the puncture posture; it has high adjustment efficiency and high adjustment accuracy, making the puncture more stable and comprehensively covering the puncture needs of special blood vessels at different angles and directions.

[0102] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A venipuncture performing device, characterized by, The static vein puncture execution device comprises a first linear driving mechanism, a first rotary driver, a swing arm, a second rotary driver, a second linear driving mechanism and a third rotary driver, an output end of the first linear driving mechanism is connected with the first rotary driver, an output end of the first rotary driver is connected with one end of the swing arm, the other end of the swing arm is fixedly connected with the second rotary driver, an output end of the second rotary driver is connected with the second linear driving mechanism, and an output end of the third rotary driver is connected with the first linear driving mechanism. Step S1: according to the forward kinematics model, the coordinates of the puncture needle in the puncture coordinate system are calculated, and a three-dimensional puncture coordinate system is established wherein, the axis direction coincides with the central axis of the first linear driving mechanism, the axis direction coincides with the central axis of the first linear driving mechanism, the axis direction coincides with the central axis of the first linear driving mechanism, the axis direction coincides with the central axis of the first linear driving mechanism, the axis direction coincides with the central axis of the first linear driving mechanism; , and the coordinate of the axis center point of the first rotary driver is , then: ； ； ； wherein, is the distance of the axis of the first rotary drive to the center axis of the first linear drive mechanism, is the distance of the slider from the zero position of the slider along the axial direction of movement; is the straight-line distance of the axis of the first rotary drive to the point in the direction; and let the coordinate of the position of the axis point of the second rotary drive be then: ； ； ； wherein is the distance from the axis of the first rotary drive to the axis of the second rotary drive, is the distance from the axis of the second rotary drive to the point in the direction of the axis of rotation of the second rotary drive; is the angle of rotation of the output of the first rotary drive about the axis of rotation of the first rotary drive from the zero position of the first rotary drive, and if the position coordinates of the puncture needle are then: ； ； ； ； wherein, is the horizontal distance between the axis of the second rotational driver and the tip of the puncture needle, is the vertical distance between the axis of the second rotational driver and the extension of the puncture needle, is the distance that the output of the second linear drive mechanism extends from the zero position of the second linear drive mechanism, is the angle that the output of the second rotational driver rotates from the zero position of the second rotational driver about the axis, is the distance from the axis of the second linear drive mechanism to the point in the direction, is the angle that the output of the second linear drive mechanism rotates from the zero position of the second linear drive mechanism about the axis, is the distance from the axis of the second linear drive mechanism to the point in the direction, is the angle that the output of the second linear drive mechanism rotates from the zero position of the second linear drive mechanism about the axis, is the angle that the output of the second linear drive mechanism rotates from the zero position of the second linear drive mechanism about the axis, is the angle that the output of the second linear drive mechanism rotates from the zero position of the second linear drive mechanism about the axis, The method for adjusting the puncture angle and position of the static vein puncture execution device comprises the following steps: Step S2: transform the puncture coordinate system into a global coordinate system coordinate; 2. A venipuncture performance device as in claim 1, wherein Step S3: adjust the angle and position of the puncture needle according to an inverse kinematics model.

3. The venipuncture performance apparatus of claim 1, wherein The puncture needle clamp device comprises a clamping jaw and a clamping plate, the output end of the fourth rotary driver is connected with the clamping jaw, and the clamping jaw cooperates with the clamping plate to clamp the puncture needle.

4. The venipuncture performance apparatus of claim 2, wherein The shaft center of the first linear driving mechanism is arranged in a vertical direction, the shaft center of the third rotary driver is arranged in a vertical direction, the shaft center of the first rotary driver is arranged in a horizontal direction, and the shaft center of the second rotary driver is arranged in a horizontal direction.

5. The venipuncture performance apparatus of claim 1, wherein Further comprising a fixed plate and a first pressure sensor, the output end of the second linear driving mechanism is connected with the fixed plate through the first pressure sensor, the fixed plate is fixedly connected with the fourth rotary driver and the clamping plate respectively, and the shaft center of the fourth rotary driver and the clamping plate are perpendicular to the fixed plate respectively.

6. A venipuncture performance device as defined in claim 5, wherein, Further comprising a support frame and a rotary plate, the third rotary driver is fixed on the support frame, the output end of the third rotary driver is connected with the rotary plate, and the rotary plate is fixedly connected with the first linear driving mechanism.

7. The venipuncture performance apparatus of claim 1, wherein Further comprising an adapter fixed plate, the adapter fixed plate is connected with one end of the support frame away from the third rotary driver. S2 transforms the puncture coordinate system into the global coordinate system coordinates, including: establishing a three-dimensional global coordinate system, when the venipuncture execution device is in a zero position, an axis of coincides with an axis of an axis of coincides with an axis of an axis of coincides with an axis of ; The position of the puncture needle in the global coordinate system is , when the third rotary driver does not rotate around the axis, then: ； ； ； When the third rotary driver rotates: provided that the third rotary driver rotates degrees about the axis, then: ； ； 。 8. A venipuncture performance device as defined in claim 7, wherein, The step Known is the position of the puncture needle in the puncture coordinate system and the angle of the puncture needle to the axis ; the distance of the output of the second linear drive mechanism from the zero position of the second linear drive mechanism , the slider on the first linear drive mechanism at the slider zero position coordinate ;​ The step S3 according to the inverse kinematics model comprises: According to the forward kinematics model, an inverse kinematics model is obtained: According to the forward kinematics model, an inverse kinematics model is obtained: ； ； ； According to the inverse kinematics model, the following is obtained , and , wherein , , is a function relationship of the inverse kinematics model obtained according to the forward kinematics model, and if there is no analytical expression, it can be solved by a numerical method. According to the above controlling a rotation angle of the first rotation driver, controlling a rotation angle of the second rotation driver and controlling a moving distance of the slider in the first linear driving mechanism to realize the adjustment of the angle and position of the puncture needle.

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