Precise portable robot blood sampling instrument

Abstract

The invention discloses a precise and portable robot blood sampling instrument, and relates to the technical field of medical equipment, the precise and portable robot blood sampling instrument comprises a box body, a plurality of detection structures, a blood drawing structure and a driving structure, the box body forms a working cavity, each detection structure comprises a mounting seat and a plurality of detection devices, and the detection devices are arranged on the mounting seat. The multiple detection devices are mounted on the mounting base, the blood drawing structure comprises a puncture needle and a mounting part, the mounting part is arranged in the working cavity, the puncture needle is detachably mounted in the mounting part, and the driving structure comprises a manipulator, a plurality of first adjusting assemblies and a second adjusting assembly. The mechanical arm is installed in the working cavity, and the first adjusting assembly and the second adjusting assembly are both arranged at the movable end of the mechanical arm. The position of the detection structure is adjusted through the driving structure to detect the limbs of the patient to determine a proper blood drawing position, and the position of the blood drawing structure is adjusted according to the blood drawing position.

Description

Technical Field

[0001] The present invention relates to the technical field of blood drawing, and in particular to a precise portable robot blood drawing instrument. Background Art

[0002] The precise portable robotic blood collection device is a medical automation device designed to replace traditional manual venous blood collection operations. This type of robot has been put into use in some tertiary hospitals and physical examination centers. A single operation takes about 1 minute and has the advantages of reducing the risk of infection, reducing patient pain and alleviating the workload of medical staff.

[0003] Before drawing blood, a precise portable robotic blood collection instrument requires detection equipment to detect the position, depth and other conditions of the blood vessels, and assists medical staff to confirm the blood drawing location before starting blood drawing. The blood drawing location determined by medical staff through the image displayed on the display device is not accurate enough, resulting in a higher possibility of blood drawing failure with the precise portable robotic blood collection instrument. Summary of the Invention

[0004] The main purpose of the present invention is to propose a precise portable robotic blood collection instrument, which aims to improve the accuracy of blood drawing position detection and increase the number of successful blood draws.

[0005] To achieve the above objectives, the present invention proposes a precise portable robotic blood collection instrument, comprising:

[0006] A box body is formed with a working chamber;

[0007] a plurality of detection structures, each comprising a mounting seat and a plurality of detection devices, wherein the mounting seat is disposed in the working chamber, and the plurality of detection devices are mounted on the mounting seat to identify the state of the blood vessel;

[0008] A blood drawing structure, comprising a puncture needle and a mounting portion, wherein the mounting portion is disposed in the working chamber, and the puncture needle is detachably mounted in the mounting portion for puncturing a blood vessel; and

[0009] The driving structure includes a manipulator, multiple first adjustment components and a second adjustment component. The manipulator is installed in the working chamber. The first adjustment component and the second adjustment component are both arranged at the movable end of the manipulator. The movable end of the first adjustment component is provided with the detection structure to drive the sensing structure to move toward the patient's skin. The movable end of the second adjustment component is provided with the blood drawing structure to drive the blood drawing structure toward the patient's skin.

[0010] Preferably, the first adjustment component comprises:

[0011] A rotating assembly is installed at the movable end of the manipulator and is used to adjust the tilt angle of the detection structure.

[0012] The first electric push rod is mounted on the movable end of the rotating part, and the output shaft end of the first electric push rod is provided with the mounting seat to drive the detection structure to move toward or away from the patient's skin.

[0013] Preferably, the second adjustment component comprises:

[0014] A first motor is installed at the movable end of the manipulator to drive the blood drawing structure to adjust its position;

[0015] a turntable, arranged on the output shaft of the first motor;

[0016] A second motor is installed on the edge of the turntable to drive the blood drawing structure to adjust the tilt angle;

[0017] The second electric push rod is installed on the output shaft end of the second motor, and the output shaft end of the second electric push rod is installed with the mounting portion to drive the puncture needle to pierce the blood vessel.

[0018] Preferably, the puncture needle extends from the edge of the turntable toward the middle of the turntable, the blade portion of the needle tip of the puncture needle is an inwardly concave arc surface, and the blade portion is inclined.

[0019] Preferably, the detection structure includes at least one of an infrared vascular imager, a temperature sensor, and a humidity sensor;

[0020] an infrared vascular imager, mounted on the mounting base, to identify information such as the location and depth of the blood vessels;

[0021] a temperature sensor mounted on an end of the mounting base away from the second electric push rod to identify the patient's skin temperature;

[0022] The humidity sensor is mounted on the mounting base to identify the humidity of the patient's skin.

[0023] Preferably, the detection structure further comprises a pressure sensor, which is mounted on the end of the mounting seat and is used to contact the skin to identify whether the mounting seat is in contact with the patient's skin.

[0024] Preferably, a fixing seat is installed in the working cavity, and an arc-shaped groove is opened on the top of the fixing seat for placing the patient's limb.

[0025] Preferably, an adjustment component is provided in the fixing seat, and the adjustment component includes:

[0026] a threaded rod, one end of which is rotatably connected to the fixing seat;

[0027] A movable seat is threadedly connected to the other end of the threaded rod and can move closer to or away from the fixed seat;

[0028] The third motor is mounted on the fixing seat, and the output shaft is connected to the threaded rod to drive the threaded rod to rotate.

[0029] Preferably, a support structure is provided between the fixed seat and the movable seat, and the support structure can move toward or away from the fixed seat or the movable seat.

[0030] Preferably, the support structure comprises:

[0031] A support seat is located between the fixed seat and the movable seat and is provided with a movable hole for the threaded rod to pass through;

[0032] A plurality of rollers are provided on the top of the support base to support the patient's blood drawing position;

[0033] The driving component is arranged at the bottom of the supporting base and is used for driving the supporting base to move toward or away from the fixing base.

[0034] In the technical solution provided by the present invention, the blood drawing structure includes a puncture needle and a mounting portion, the mounting portion is arranged in the working chamber, the puncture needle is detachably mounted in the mounting portion for puncturing a blood vessel, the driving structure includes a manipulator, multiple first adjustment components and a second adjustment component, the manipulator is installed in the working chamber, the first adjustment component and the second adjustment component are both arranged at the movable end of the manipulator, the movable end of the first adjustment component is provided with the detection structure for driving the sensing structure to move toward the patient's skin, the movable end of the second adjustment component is provided with the blood drawing structure for driving the blood drawing structure to move toward the patient's skin, the position of the detection structure is adjusted by the driving structure to detect the patient's limb to determine a suitable blood drawing position, and the position of the blood drawing structure is adjusted according to the blood drawing position to ensure that the puncture needle accurately punctures the blood vessel for blood drawing. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0036] Figure 1 A three-dimensional schematic diagram of an embodiment of the precise portable robotic blood collection instrument provided by the present invention;

[0037] Figure 2 for Figure 1 A schematic structural diagram of the first regulating component and the detection structure;

[0038] Figure 3 for Figure 1 Schematic diagram of the structure of the second regulating component and the blood pumping structure;

[0039] Figure 4 for Figure 3 Schematic diagram of the connection structure between the puncture needle and the mounting part;

[0040] Figure 5 for Figure 1 Schematic diagram of the structure of the fixed seat and support structure.

[0041] Description of Figure Numbers:

[0042] 1. Box body; 2. Detection structure; 201. Mounting seat; 202. Infrared vascular imager; 203. Humidity sensor; 204. Temperature sensor; 3. Blood drawing structure; 301. Puncture needle; 302. Mounting part; 4. Fixed seat; 5. Support structure; 501. Support seat; 502. Roller; 503. Drive assembly; 6. Drive structure; 601. First adjustment assembly; 6011. Rotating assembly; 6012. First electric push rod; 602. Second adjustment assembly; 6021. First motor; 6022. Turntable; 6023. Second motor; 604. Second electric push rod; 603. Manipulator; 7. Support structure; 701. Movable seat; 702. Threaded rod; 703. Third motor.

[0043] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0046] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] The present invention provides a precise portable robot blood collection instrument. Figures 1 to 4 This is an embodiment of the precise portable robotic blood collection instrument provided by the present invention.

[0048] Please also refer to Figures 1 to 4 The precise portable robot blood collection instrument includes a housing 1, a plurality of detection structures 2, a blood drawing structure 3 and a driving structure 6, wherein the housing 1 is formed with a working chamber, the detection structure 2 includes a mounting seat 201 and a plurality of detection devices, the plurality of detection devices are mounted on the mounting seat 201 to identify the state of the blood vessel, the blood drawing structure 3 includes a puncture needle 301 and a mounting portion 302, the mounting portion 302 is arranged in the working chamber, the puncture needle 301 is detachably mounted in the mounting portion 302 to puncture the blood vessel, the driving structure 6 is provided with ... plurality of detection devices are mounted on the mounting seat 201 to identify the state of the blood vessel, the blood drawing structure 3 includes a puncture needle 301 and a mounting portion 302, the mounting portion 302 is arranged in the working chamber, the puncture needle 301 is detachably mounted in the mounting portion 302 to puncture the blood vessel, the driving structure 6 is provided with a plurality of detection structures 2, a plurality of detection devices are mounted on the mounting seat 201 to identify the state of the blood vessel, the blood drawing structure 3 includes a puncture needle 301 and a mounting portion 302, the mounting portion 302 is arranged in the working chamber, the puncture needle 301 is The dynamic structure 6 includes a manipulator 603, multiple first adjustment components 601 and a second adjustment component 602. The manipulator 603 is installed in the working chamber. The first adjustment component 601 and the second adjustment component 602 are both arranged at the movable end of the manipulator 603. The movable end of the first adjustment component 601 is provided with the detection structure 2 for driving the sensing structure to move toward the patient's skin. The movable end of the second adjustment component 602 is provided with the blood drawing structure 3 for driving the blood drawing structure 3 toward the patient's skin.

[0049] When the precise portable robotic blood collection instrument is used, the patient extends his arm into the working chamber of the box 1, and the system starts immediately. First, the manipulator 603 drives the detection structure 2 close to the patient's skin through the first adjustment component 601. The infrared, ultrasonic and other detection devices it carries scan and analyze the position, depth and status of the blood vessels to generate three-dimensional positioning data; then the second adjustment component 602 is activated to accurately adjust the spatial coordinates of the blood drawing structure 3 according to the positioning information, and adjust the puncture angle of the puncture needle 301 so that the puncture needle 301 penetrates the target blood vessel at the optimal angle. After the blood is collected, the needle is automatically recovered and the sample is sealed and stored. The entire process is realized by the manipulator in coordination with the multi-level adjustment components to realize the integrated operation of detection, positioning and puncture, combined with the real-time feedback of the sensor to ensure safety and accuracy. It is suitable for the automated blood collection needs in hospitals, laboratories and other scenarios.

[0050] In addition, disinfection is required before blood drawing, so a disinfection module is also provided in the box 1, such as an ultraviolet lamp or an alcohol spray device carried by the robotic arm, which automatically disinfects the skin area before puncture. After the blood drawing work is completed by the blood drawing structure 3, the wound needs to be stopped, so a hemostatic device such as an airbag compression or a coagulation patch mechanism is also required to apply pressure to the wound to stop bleeding after blood collection; visual guidance and dynamic calibration modules such as high-precision cameras combined with AI algorithms can also be used to assist the robotic arm 603 in real-time path correction; and safety emergency stop devices such as emergency buttons or infrared human body sensors are also provided to assist medical staff in immediately terminating the operation in the event of an accident.

[0051] The manipulator 603 is combined with the multi-degree-of-freedom first adjustment component 601 to fine-tune the scanning angle and pressure of the detection structure 2 to ensure accurate acquisition of multi-dimensional data for blood vessel identification. The second adjustment component 602 is driven by a high-sensitivity stepping motor or piezoelectric ceramic to achieve millimeter-level displacement and angular deflection of the puncture needle 301, avoiding puncture deviation caused by blood vessel sliding or skin deformation; the first and second adjustment components 602 operate independently and share the motion base of the manipulator 603, seamlessly connecting the detection and puncture processes, greatly shortening the operation time, and is particularly suitable for emergency or high-frequency blood collection scenarios.

[0052] During the entire blood drawing process, the detection structure is used to first locate the blood vessel, and the puncture direction and angle of the puncture needle are adjusted according to the detection structure during the process of locating the blood vessel. The position and inclination angle of the puncture needle can be changed at any time according to the detected information until the position of the blood vessel to be drawn is determined, and the blood drawing point is determined according to the relevant information of the detected blood vessel. The position and inclination angle of the puncture needle are adjusted according to the blood drawing point, and then the blood drawing structure is started to drive the puncture needle to pierce the skin and enter the blood vessel to start blood drawing. After the blood drawing is completed, the puncture needle is driven to detach. After the patient's arm is separated from the device, the blood drawing structure is started to automatically replace the used puncture needle.

[0053] Therefore, in the technical solution provided by the present invention, the blood drawing structure 3 includes a puncture needle 301 and a mounting portion 302, and the mounting portion 302 is arranged in the working chamber. The puncture needle 301 can be detachably installed in the mounting portion 302 for puncturing a blood vessel, and the driving structure 6 includes a manipulator 603, multiple first adjustment components 601 and a second adjustment component 602. The manipulator 603 is installed in the working chamber, and the first adjustment component 601 and the second adjustment component 602 are both arranged at the movable end of the manipulator 603. The movable end of the first adjustment component 601 is provided with the detection structure 2 for driving the sensing structure to move toward the patient's skin, and the movable end of the second adjustment component 602 is provided with the blood drawing structure 3 for driving the blood drawing structure 3 to move toward the patient's skin. The position of the detection structure 2 is adjusted by the driving structure 6 to detect the patient's limb and determine the appropriate blood drawing position, and the position of the blood drawing structure 3 is adjusted according to the blood drawing position to ensure that the puncture needle 301 accurately punctures the blood vessel for blood drawing.

[0054] The function of the first adjustment component 601 is to change the position of the detection structure 2, and cooperate with the manipulator 603 to enable the detection structure 2 to detect different positions of the patient's limbs, so as to find a suitable blood drawing position. Specifically, in an embodiment of the present invention, the first adjustment component 601 includes a rotating component 6011 and a first electric push rod 6012. The rotating component 6011 is installed at the movable end of the manipulator 603 to adjust the inclination angle of the detection structure 2. The first electric push rod 6012 is installed at the movable end of the rotating part, and the output shaft end of the first electric push rod 6012 is provided with the mounting seat 201 to drive the detection structure 2 to move closer to or away from the patient's skin.

[0055] After the detection structure 2 is moved to the preset area of the patient's arm by the manipulator 603, the rotating component 6011 of the first adjustment component 601 first drives the mounting seat 201 to rotate around the axis, adjusts the inclination angle of the detection device, and makes it vertically aligned with the skin surface; then, the first electric push rod 6012 accurately extends and retracts, driving the mounting seat 201 and the detection device to approach or move away from the skin in a straight line, dynamically adjusting the detection distance and applying appropriate contact pressure to ensure that the multimodal detection device efficiently collects the depth, direction and elastic parameters of the blood vessels; through the combined adjustment of the coordinated rotation and linear motion of the manipulator 603, the detection structure 2 can scan at multiple angles and analyze the three-dimensional information of the blood vessels in real time, and finally locate the center position of the blood vessels and the optimal puncture point, and synchronize the data to the blood drawing structure 3 to perform subsequent operations.

[0056] In order to ensure the accuracy of the detection structure and improve the detection efficiency, multiple groups of detection structures 2 are set up. Each group of detection structures is used in conjunction with a first adjustment component, so that the equipment can simultaneously detect multiple areas of the patient's limbs, thereby improving the detection efficiency. At the same time, multiple detection structures 2 can detect the same area under the drive of their respective first adjustment components, thereby improving the accuracy of the detection structure 2 in locating blood vessels and reducing the possibility of the puncture needle being distorted. For example, when the number of detection structures is six, the six detection structures are arranged in a ring. When detecting blood vessel information, the six first adjustment components respectively drive one detection structure so that its end contacts the patient's limb, thereby enclosing an area for detection, so that the side of the limb can also be detected by the detection structure.

[0057] Furthermore, the second adjustment component 602 includes a first motor 6021, a turntable 6022, a second motor 6023 and a second electric push rod 604. The first motor 6021 is installed at the movable end of the manipulator 603 to drive the blood drawing structure 3 to adjust its position. The turntable 6022 is set on the output shaft of the first motor 6021. The second motor 6023 is installed on the edge of the turntable 6022 to drive the blood drawing structure 3 to adjust the inclination angle. The second electric push rod 604 is installed at the output shaft end of the second motor 6023, and the output shaft end of the second electric push rod 604 is installed with the mounting portion 302 to drive the puncture needle 301 to penetrate into the blood vessel.

[0058] After the blood drawing structure 3 is moved to the puncture point located by the detection structure 2 by the manipulator 603, the second adjustment component 602 is started: the first motor 6021 drives the turntable 6022 to rotate horizontally to adjust the horizontal coordinate of the puncture needle 301; the second motor 6023 controls the axial inclination angle of the edge of the turntable 6022, so that the puncture needle 301 forms the optimal needle insertion angle with the skin surface; then, the second electric push rod 604 is precisely advanced along the axial direction set by the second motor 6023, driving the mounting part 302 and the puncture needle 301 to penetrate the blood vessel with millimeter-level linear feed, and dynamically adjusts the penetration depth according to real-time pressure feedback to ensure that the needle tip is stably located in the blood vessel cavity; after completing the blood collection, the push rod automatically retracts and cooperates with the manipulator 603 to reset. The coordinated movement of the multi-stage motor and the electric push rod realizes the fine control of the puncture angle, position and depth throughout the process, greatly reducing human operation errors.

[0059] In order to prevent the puncture needle 301 from puncturing the blood vessel when inserting into the blood vessel, it is necessary to impose certain restrictions on the puncture needle 301, such as changing the insertion method of the puncture needle 301. Specifically, in the technical solution of the present invention, the puncture needle 301 extends from the edge of the turntable 6022 toward the middle of the turntable 6022, and the blade portion of the needle tip of the puncture needle 301 is an inwardly concave arc surface, and the blade portion is arranged at an angle. The needle surface of the puncture needle is divided into two parts. One part is a flat surface without blades, which is perpendicular to the side of the puncture needle, so that the puncture needle will not scratch the skin when it is vertically placed on the skin. The other part is a blade surface with an inward-concave arc setting, and the blade surface is inclined. The slope of this inclined surface is approximately between one and five degrees, so that the puncture needle can be tilted slightly to make the flat surface separate from the skin and make the blade surface contact the skin. Then, the blade surface cuts the skin and penetrates the limb until it contacts the blood vessel. The blade surface will cut the blood vessel, so that the puncture needle penetrates the blood vessel, and then the inclination angle of the puncture needle is changed again so that the puncture needle and the blood vessel are perpendicular. Even if the flat surface of the puncture needle can contact the inner wall of the blood vessel, the blade surface cannot contact the inner wall of the blood vessel, thereby preventing the puncture needle from piercing the inner wall of the blood vessel and penetrating the blood vessel, so as to ensure the smooth progress of the blood drawing process.

[0060] The tip of the aforementioned puncture needle features a unique design, ingeniously combining an inwardly curved surface with an inclined surface. This unique structural design offers two major advantages: first, its special structure allows for easy puncture into blood vessels; second, once inside, it effectively avoids puncturing the vessel's lining, significantly reducing the risk of puncture failure and providing a strong guarantee for the accuracy and safety of medical procedures.

[0061] The main function of the mounting part is to fix the puncture needle and at the same time enable the puncture needle to be connected to the driving device with the help of the mounting part. When the puncture needle is in use, the mounting part is pushed by the second electric push rod to move, so that the mounting part drives the puncture needle to move toward the patient's limb until it penetrates the blood vessel and closes the second electric push rod. The start and stop of the second electric push rod and the distance the puncture needle is driven to move are all controlled by a pre-set program. Once the program fails, the start and stop time of the second electric push rod will deviate, and the distance the puncture needle moves will also change. For example, the distance the puncture needle moves may increase. The increase in the distance the puncture needle moves increases the depth of its penetration, causing the depth of the puncture needle to penetrate the blood vessel to exceed the depth of the blood vessel, and then the puncture needle penetrates the entire blood vessel under a strong thrust, causing injury to the patient. Therefore, the puncture needle needs to be repaired. The maximum penetration depth is limited, for example, a limiting structure is provided on the mounting portion, the limiting structure includes a mounting plate arranged on the side of the mounting portion, an elastic member is provided on the side of the mounting plate facing the puncture needle, a limiting member is provided on the side of the elastic member away from the mounting plate, and a limiting block is provided on the limiting member which is slidably connected to the inner cavity of the mounting portion to limit the limiting member from sliding in the direction of extension of the puncture needle length, the side of the limiting member in contact with the skin is arc-shaped, and a through hole for the puncture needle to pass through is provided on the limiting member, so that the elastic member is compressed after the limiting member contacts the skin, and the puncture needle passes through the through hole and contacts the skin. When the limiting block cannot continue to slide, the remaining part of the puncture needle cannot continue to pass through, thereby limiting the penetration depth of the puncture needle, and at the same time the arc shape of the limiting member forms a certain supporting effect, supporting the puncture needle to stably perform puncture and blood drawing work.

[0062] Locating the appropriate blood drawing position requires the cooperation of multiple detection devices. In an embodiment of the present invention, the detection structure 2 includes at least one of an infrared vascular imager 202, a temperature sensor 204, and a humidity sensor 203; the infrared vascular imager 202 is installed on the mounting base 201 to identify information such as the position and depth of the blood vessels; the temperature sensor 204 is installed on the end of the mounting base 201 away from the second electric push rod 604 to identify the patient's skin temperature; the humidity sensor 203 is installed on the mounting base 201 to identify the humidity of the patient's skin.

[0063] As the core device, infrared vascular imager 202 is installed on mounting base 201. It scans the distribution, direction, and depth of subcutaneous blood vessels in real time, generating a visual vascular map. Temperature sensor 204, integrated into the end of mounting base 201 away from second electric actuator 604, detects local temperature data upon contact with the skin, assisting in determining vascular activity and blood flow status, such as low temperatures that may affect puncture success rates. Humidity sensor 203, embedded in the surface of mounting base 201, monitors skin surface humidity to prevent sweat interference that could cause unstable probe fit or blurred imaging. After systematic fusion and analysis of these three data, the system dynamically optimizes the insertion angle, depth, and force parameters of puncture needle 301, while also providing warnings of abnormal skin conditions such as low temperature or high humidity, comprehensively improving the accuracy of vascular positioning and operational safety.

[0064] The infrared vascular imager is arranged on the side of the mounting base, which makes it convenient for the infrared vascular imager to scan the position information of the blood vessels toward the patient's limbs. By setting up multiple mounting bases and arranging an infrared vascular imager on each mounting base, the blood vessels in an area are detected by multiple infrared vascular imagers, so that the information of multiple blood vessels can be detected at the same time for comparison, and the positioning and point selection of the blood vessels can be completed quickly. The infrared vascular imager can also be set on the mounting part, move with the puncture needle, and detect the state of the blood vessel when the puncture needle is drawing blood in real time during the process of blood drawing by the puncture needle, and display the blood vessel state at this time on the display screen in real time for medical staff to observe, to ensure that medical staff can shut down the equipment in time when abnormalities are found, so as to reduce the harm to the patient.

[0065] Furthermore, the detection structure 2 further includes a pressure sensor, which is installed at the end of the mounting seat 201 to contact the skin to identify whether the mounting seat 201 is in contact with the patient's skin.

[0066] During the detection process, the pressure sensor is integrated into the end of the mounting base 201, and forms a multimodal sensing network with the infrared, temperature and humidity sensor 203: when the detection structure 2 is close to the skin through the first adjustment component 601, the pressure sensor monitors the contact pressure between the mounting base 201 and the skin in real time, ensuring that the probe is stably attached to the skin surface with constant pressure, avoiding attenuation of the detection signal due to insufficient pressure, such as blurred infrared imaging or excessive pressure causing patient discomfort; at the same time, after the pressure data is integrated with the temperature and humidity information, the sensitivity of the detection device is dynamically calibrated, such as lowering the pressure threshold in a high humidity environment to offset friction interference, and triggering the manipulator 603 to fine-tune the advancement distance of the first electric push rod 6012, so that the detection structure 2 always maintains the best contact state, providing a highly reliable blood vessel positioning reference for subsequent puncture, further improving detection stability and patient comfort.

[0067] The pressure sensor is installed at the end of the mounting part that contacts the skin, so that after the mounting part contacts the skin, the pressure sensor can be used to judge the force applied by the mounting part to the patient's limb and whether the mounting part contacts the skin, thereby facilitating the adjustment of the force applied by the mounting part to the skin, avoiding excessive force that causes pain to the patient, and reducing the patient's comfort during medical treatment.

[0068] When detecting the appropriate blood drawing position, the patient's limb needs to be placed stably, so a fixed placement position is required. Specifically, in an embodiment of the present invention, a fixing seat 4 is installed in the working chamber, and an arc-shaped groove is opened on the top of the fixing seat 4 for placing the patient's limb.

[0069] Furthermore, an adjustment component is provided in the fixed seat 4, and the adjustment component includes a threaded rod 702, a movable seat 701 and a third motor 703. One end of the threaded rod 702 is rotatably connected to the fixed seat 4, and the movable seat 701 is threadedly connected to the other end of the threaded rod 702 and can move closer to or away from the fixed seat 4. The third motor 703 is installed on the fixed seat 4, and the output shaft is connected to the threaded rod 702 to drive the threaded rod 702 to rotate.

[0070] The arc-shaped groove on the top of the fixed seat 4 fits the physiological curve of the arm or back of the hand to provide uniform support; the internal adjustment component is driven by the third motor 703 to rotate the threaded rod 702, driving the movable seat 701 to move axially along the threaded rod 702, thereby adjusting the distance between the fixed seat 4 and the movable seat 701 according to the length of the patient's limb, and realizing segmented clamping and fixation from the wrist to the elbow; during operation, after the patient puts the limb into the arc-shaped groove, the system automatically starts the third motor 703 to tighten the movable seat 701, ensuring that the limb is close to the groove body and there is no displacement, avoiding detection deviation or puncture risk caused by shaking, and at the same time reducing compression discomfort through the flexible buffer layer, taking into account stability and comfort, and providing reliable posture guarantee for high-precision blood drawing.

[0071] There is a large area of vacant position between the fixed seat 4 and the movable seat 701, and there is no corresponding support at the bottom of the patient's limb when blood is drawn. Therefore, the patient may retreat downward when pricked by a needle, causing the blood drawing position to shift. Therefore, the corresponding position needs to be supported. Specifically, in an embodiment of the present invention, a support structure 75 is provided between the fixed seat 4 and the movable seat 701, and the support structure 75 can move toward or away from the fixed seat 4 or the movable seat 701.

[0072] Furthermore, the support structure 75 includes a support seat 501, a roller 502 and a drive assembly 503. The support seat 501 is located between the fixed seat 4 and the movable seat 701, and is provided with a movable hole for the threaded rod 702 to pass through. The multiple rollers 502 are arranged at the top of the support seat 501 to support the patient's blood drawing position. The drive assembly 503 is arranged at the bottom of the support seat 501 to drive the support seat 501 to move closer to or away from the fixed seat 4.

[0073] When the patient's limb is placed in the arc groove of the fixed seat 4, the driving component 503, such as the built-in micro motor and gear rack, drives the support seat 501 to move axially along the threaded rod 702 to just below the blood drawing point, so that the top roller 502 array fits closely to the bottom contour of the limb to form a decentralized support; the roller 502 is made of low-friction silicone material, which can not only adaptively roll with slight deformation of the limb to relieve the sense of oppression, but also offset the downward shrinkage trend during puncture through pre-pressure; when the third motor 703 adjusts the distance between the fixed seat 4 and the movable seat 701, the support seat 501 is synchronously linked to always maintain precise alignment with the blood drawing area. This design constructs a multi-dimensional anti-displacement barrier through the synergistic effect of the bottom flexible support and the top clamping fixation, significantly improving the puncture stability and patient comfort.

[0074] When the detection structure 2 determines the blood drawing position, the support structure is started, and the driving component drives the roller to rotate, thereby driving the support seat to move until the support seat moves to the bottom of the patient's limb and corresponds to the blood drawing position, so as to support the blood drawing structure to draw blood. The blood drawing structure is moved to a suitable position through the second adjustment component and rotated to a suitable angle so that the arc surface of the puncture needle fits the skin at the blood drawing position. Then the detection structure is started so that the end of the mounting seat is against the patient's limb. The ends of multiple mounting seats are annularly against the patient's limb and cooperate with the support seat to form a restriction on the patient's limb. To prevent the patient's limbs from shifting before blood drawing, causing the puncture needle to penetrate the wrong position, the mounting base carries various sensors and is close to the skin again to continuously detect the blood vessel status at the blood drawing position and display the corresponding information on the monitor for medical staff to view. At the same time, it cooperates with the blood drawing structure to obtain the penetration depth of the puncture needle in real time to prevent the puncture needle from penetrating too deeply through the blood vessel. After the blood drawing is completed, the puncture needle first leaves the blood drawing position, then the detection structure returns to the initial position, and finally the hemostasis module is started to stop the bleeding of the wound. After the patient's limb leaves the device, the support structure returns to the initial position to end the operation.

[0075] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A precise portable robot blood collection instrument, characterized in that: include: A box body is formed with a working chamber; a plurality of detection structures, each comprising a mounting seat and a plurality of detection devices, wherein the mounting seat is disposed in the working chamber, and the plurality of detection devices are mounted on the mounting seat to identify the state of the blood vessel; The blood drawing structure includes a puncture needle and a mounting portion, wherein the mounting portion is disposed in the working chamber and the puncture needle is detachably mounted in the mounting portion for puncturing a blood vessel; as well as, The driving structure includes a manipulator, multiple first adjustment components and a second adjustment component. The manipulator is installed in the working chamber. The first adjustment component and the second adjustment component are both arranged at the movable end of the manipulator. The movable end of the first adjustment component is provided with the detection structure to drive the sensing structure to move toward the patient's skin. The movable end of the second adjustment component is provided with the blood drawing structure to drive the blood drawing structure toward the patient's skin.

2. The precise portable robotic blood collection instrument according to claim 1, characterized in that: The first adjustment component includes: a rotating assembly, mounted on the movable end of the manipulator, for adjusting the tilt angle of the detection structure; The first electric push rod is mounted on the movable end of the rotating part, and the output shaft end of the first electric push rod is provided with the mounting seat to drive the detection structure to move toward or away from the patient's skin.

3. The precise portable robotic blood collection instrument according to claim 1, characterized in that: The second adjustment component includes: A first motor is installed at the movable end of the manipulator to drive the blood drawing structure to adjust its position; a turntable, arranged on the output shaft of the first motor; A second motor is installed on the edge of the turntable to drive the blood drawing structure to adjust the tilt angle; The second electric push rod is installed on the output shaft end of the second motor, and the output shaft end of the second electric push rod is installed with the mounting portion to drive the puncture needle to pierce the blood vessel.

4. The precise portable robotic blood collection instrument according to claim 3, characterized in that: The puncture needle extends from the edge of the turntable toward the middle of the turntable. The blade portion of the needle tip of the puncture needle is an inwardly concave arc surface, and the blade portion is inclined.

5. The precise portable robotic blood collection instrument according to claim 3, characterized in that: The detection structure includes at least one of an infrared blood vessel imager, a temperature sensor, and a humidity sensor; an infrared vascular imager, mounted on the mounting base, to identify information such as the location and depth of the blood vessels; a temperature sensor mounted on an end of the mounting base away from the second electric push rod to identify the patient's skin temperature; The humidity sensor is mounted on the mounting base to identify the humidity of the patient's skin.

6. The precise portable robotic blood collection instrument according to claim 3, characterized in that: The detection structure further includes a pressure sensor, which is mounted on the end of the mounting seat and is used to contact the skin to identify whether the mounting seat is in contact with the patient's skin.

7. The precise portable robotic blood collection instrument according to claim 1, characterized in that: A fixing seat is installed in the working cavity, and an arc-shaped groove is opened on the top of the fixing seat for placing the patient's limbs.

8. The precise portable robotic blood collection instrument according to claim 7, characterized in that: An adjustment component is provided in the fixing seat, and the adjustment component includes: a threaded rod, one end of which is rotatably connected to the fixing seat; A movable seat is threadedly connected to the other end of the threaded rod and can move closer to or away from the fixed seat; The third motor is mounted on the fixing seat, and the output shaft is connected to the threaded rod to drive the threaded rod to rotate.

9. The precise portable robotic blood collection instrument according to claim 8, characterized in that: A supporting structure is provided between the fixed seat and the movable seat, and the supporting structure can move toward or away from the fixed seat or the movable seat.

10. The precise portable robotic blood collection instrument according to claim 9, characterized in that: The support structure comprises: A support seat is located between the fixed seat and the movable seat and is provided with a movable hole for the threaded rod to pass through; A plurality of rollers are provided on the top of the support base to support the patient's blood drawing position; The driving component is arranged at the bottom of the supporting base and is used for driving the supporting base to move toward or away from the fixing base.

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