Automatic blood sampling device based on preset blood sampling amount

Abstract

The invention relates to the technical field of blood sampling equipment, and discloses an automatic blood sampling device based on a preset blood sampling quantity. The image acquisition module is configured to acquire image information of a to-be-sampled area; the information acquisition module is configured to acquire a to-be-sampled item; the central control module is electrically connected with the image acquisition module and the information acquisition module, and the central control module is configured to determine a blood sampling point based on the image information; the central control module is further configured to determine the blood sampling amount based on the to-be-sampled item; the blood sampling module is electrically connected with the central control module, and the blood sampling module is configured to perform blood sampling on the to-be-sampled area based on the blood sampling point and the blood sampling amount. Through linkage of image recognition and blood collection item information, blood collection points can be intelligently positioned, the blood collection amount can be accurately controlled, personalized and automatic accurate blood collection operation is achieved, and the blood collection efficiency, safety and comfort are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of blood sampling equipment, and in particular to an automatic blood sampling device based on a preset blood sampling volume. Background Art

[0002] In the process of medical testing, blood collection is the most common basic operation and is widely used in the pre-testing process of various blood projects.

[0003] Traditional blood collection methods are usually done manually, with medical staff determining the blood collection point based on experience and manually controlling the amount of blood collected. Although this method is widely used, its operation relies heavily on the operator's skills, and it is difficult to ensure the consistency and accuracy of each blood collection process. Although some automatic blood collection devices have appeared in the prior art, most of them lack the intelligent recognition of blood collection points and the dynamic adjustment of blood collection volume, making it difficult to flexibly adjust according to the specific needs of different test items. In addition, existing automatic blood collection devices are unable to perform image analysis of the blood collection area before blood collection, resulting in deviations in the positioning of the blood collection point, increasing the risk of user discomfort and operation failure.

[0004] Therefore, there is an urgent need to invent an automatic blood collection device to solve the problems that the existing blood collection method lacks intelligent identification of blood collection points and dynamic adjustment of blood collection volume, making it difficult to achieve high-precision, personalized and automated blood collection operations. Summary of the Invention

[0005] In view of this, the present invention proposes an automatic blood collection device based on a preset blood collection volume, aiming to solve the problem that the existing blood collection methods in current technology lack intelligent identification of blood collection points and dynamic adjustment of blood collection volume, making it difficult to achieve high-precision, personalized and automated blood collection operations.

[0006] The present invention proposes an automatic blood sampling device based on a preset blood sampling volume, comprising:

[0007] case;

[0008] An image acquisition module is configured to acquire image information of the area to be blood drawn;

[0009] An information acquisition module is configured to obtain items to be blood drawn;

[0010] The central control module is electrically connected to the image acquisition module and the information acquisition module respectively. The central control module is configured to determine the blood sampling point based on the image information; the central control module is also configured to determine the blood sampling volume based on the blood sampling item;

[0011] The blood sampling module is electrically connected to the central control module. The blood sampling module is configured to collect blood from the area to be blood sampled based on the blood sampling point and blood sampling volume.

[0012] Furthermore, the housing includes:

[0013] A blood sampling hole is provided at the lower middle portion of one end of the shell;

[0014] The collecting tank is provided at an end of the shell away from the blood collection hole;

[0015] The clamping module is arranged inside the shell, the clamping modules are respectively connected to the inner side walls of the shell, and the clamping module is electrically connected to the image acquisition module. The clamping module is configured to clamp the blood sampling area based on the image information.

[0016] Furthermore, the clamping module clamps the blood sampling area based on the image information, including:

[0017] The clamping module is further configured to determine the vascular imaging value of the area to be blood sampled based on the image information, and determine the clamping force according to the relationship between the vascular imaging value and the preset vascular imaging value:

[0018] When the blood vessel visualization value is greater than or equal to the preset blood vessel visualization value, the clamping module clamps the blood sampling area based on the preset clamping force;

[0019] When the vascular development value is less than the preset vascular development value, the clamping module determines the adjustment coefficient based on the development difference between the vascular development value and the preset vascular development value, and determines the preset clamping force adjusted according to the adjustment coefficient as the clamping force to clamp the blood sampling area.

[0020] Furthermore, the clamping module determines the adjustment coefficient based on the difference between the vascular imaging value and the preset vascular imaging value, including:

[0021] The clamping module is further configured to determine an adjustment coefficient based on a relationship between the development difference value and a first preset development difference value and a second preset development difference value configured by the clamping module:

[0022] When the development difference is lower than the first preset development difference, the clamping module determines the adjustment coefficient to be L3;

[0023] When the development difference is higher than or equal to the first preset development difference and lower than the second preset development difference, the clamping module determines the adjustment coefficient to be L2;

[0024] When the development difference is greater than or equal to the second preset development difference, the clamping module determines the adjustment coefficient to be L1;

[0025] The first preset development difference is lower than the second preset development difference, and 1<L1<L2<L3.

[0026] Furthermore, the blood collection module includes:

[0027] The slide rail is arranged inside the shell and is fixedly connected to the inner top surface of the shell;

[0028] a telescopic connecting frame, slidably connected to the slide rail, wherein one end of the telescopic connecting frame slidably connected to the slide rail is provided with a first servo motor, and an end of the telescopic connecting frame away from the slide rail is provided with a driving ball joint;

[0029] The blood collection unit is arranged at one end of the telescopic connecting frame away from the slide rail. The blood collection unit is connected to the driving ball joint. The blood collection unit is configured to collect blood from the blood collection area.

[0030] Furthermore, the blood collection unit includes:

[0031] A first housing is connected to the driving ball joint, wherein a drain hole is formed on a side of the first housing adjacent to the collecting tank;

[0032] The second shell is disposed inside the first shell and connected to the first shell, wherein a placement groove is formed on the top of the second shell;

[0033] The blood collection tube placement compartment is configured on the top of the second housing. The blood collection tube is arranged corresponding to the placement groove. The blood collection tube placement compartment is configured to place the blood collection tube so that the blood collection tube falls into the interior of the placement groove under gravity.

[0034] A telescopic grabbing claw is disposed on one side of the second shell, and the telescopic grabbing claw is connected to the inner top surface of the second shell;

[0035] A blood collection needle placement rack, wherein a grabbing groove is provided at the bottom of the first housing, and the grabbing groove is arranged corresponding to the telescopic grabbing claw, the blood collection needle placement rack is arranged at the bottom of the grabbing groove, the blood collection needle placement rack is connected to the first housing, and the blood collection needle placement rack is configured to place the blood collection needle;

[0036] The blood collection end clamping frame is arranged on a side of the telescopic grasping claw away from the second shell. The blood collection end clamping frame is configured to clamp the blood collection end of the blood collection needle after the telescopic grasping claw grasps the blood collection needle.

[0037] Furthermore, the second housing is further provided with a blood transfusion end clamping frame, a movable arm and a second servo motor;

[0038] The second housing is provided with a movable groove on two opposite sides, and the movable groove is connected to the placement groove;

[0039] The second servo motor is arranged outside the second housing, and the second servo motor is connected to the second housing;

[0040] The blood transfusion end clamping frame is arranged inside the placement slot and connected to the inner side wall of the placement slot. The blood transfusion end clamping frame is configured to clamp the blood transfusion end of the blood collection needle;

[0041] The movable arm is arranged inside the placement slot, one end of the movable arm passes through the movable slot and is connected to the moving end of the servo motor, and the movable arm is configured to drive the blood collection tube to move along the setting direction of the placement slot;

[0042] The image acquisition unit is arranged at one end of the second shell away from the telescopic grasping claw, and is configured to acquire the amount of blood in the blood collection tube.

[0043] Furthermore, the blood collection end clamping frame and the blood transfusion end clamping frame are both equipped with:

[0044] a first clamping jaw and a second clamping jaw;

[0045] an infrared sensing unit, disposed at the bottom of the first clamping claw and the second clamping claw on the opposite side;

[0046] The second control unit is connected to the first clamping claw, the second clamping claw and the infrared sensing unit respectively. The second control unit is configured to obtain infrared sensing data and control the first clamping claw and the second clamping claw to clamp according to the sensing data.

[0047] Furthermore, the central control module is configured to determine the blood sampling point based on the image information, including:

[0048] The central control module is further configured to pre-process the image information, wherein the pre-processing includes denoising, sharpening, enhancing image contrast, and correcting image white balance.

[0049] The central control module is further configured to pre-process texture data, color data, and edge data in the image information, and determine the structure of each blood vessel, the density between each blood vessel, and the skin thickness at each blood vessel based on the texture data, color data, and edge data;

[0050] Based on the structure of each blood vessel, the density between each blood vessel and the skin thickness at each blood vessel, the priority blood vessel is determined, and the preferred blood vessel is determined as the blood collection point.

[0051] Furthermore, when the blood sampling module collects blood from the blood sampling area based on the blood sampling volume, it includes:

[0052] Obtain the total amount of blood to be collected and the blood collection volume of each blood collection item according to the blood collection items to be collected;

[0053] According to the current blood collection volume in the blood collection tube and the current total blood collection volume, the control between the telescopic grasping claw, the blood collection end clamping frame, the blood transfusion end clamping frame and the mobile arm is determined:

[0054] If the blood collection volume in the current blood collection tube meets the preset blood collection volume for the current project, and the current total blood collection volume is lower than the total blood collection volume to be collected, the retractable gripping claw is controlled to clamp the connecting tube of the blood collection needle, and the second servo motor is controlled to drive the moving arm to move the blood collection tube along the setting direction of the placement slot;

[0055] If the current blood collection volume in the blood collection tube meets the preset blood collection volume of the current project, and the current total blood collection volume is equal to the total blood collection volume to be collected, the telescopic grasping claw, the blood collection end clamping frame and the blood transfusion end clamping frame are controlled not to clamp the blood collection needle, and the second servo motor is controlled to drive the moving arm to move the blood collection tube along the setting direction of the placement slot.

[0056] Compared with the prior art, the beneficial effect of the present invention is that: by setting up an image acquisition module, it is possible to obtain image information of the area to be blood drawn in real time, and transmit it to the central control module for image processing and analysis, thereby accurately identifying the position, direction and suitable blood vessel of the blood vessel. Compared with the traditional manual reliance on experience-based judgment, this solution has higher positioning accuracy and stability, and can significantly reduce puncture failures, repeated operations or user discomfort caused by improper selection of blood collection points, thereby improving the success rate of the blood collection process and user experience. In addition, the information acquisition module provided by the present invention can obtain parameter information of the required blood collection volume for different blood collection items (such as blood routine, biochemical tests, etc.). The central control module automatically determines the required blood collection volume based on this information, and sends it to the blood collection module in combination with the blood collection point information, avoiding problems such as "over-collection" or "insufficient blood collection" in traditional blood collection, ensuring that the amount of blood collected meets the detection requirements and reduces unnecessary blood waste, and is particularly suitable for personalized medical care and precision diagnosis scenarios. Overall, this invention achieves dual intelligent control of blood sampling points and blood volume by integrating image recognition technology with test item information. This addresses technical challenges faced by existing automatic blood sampling devices, such as the lack of image-assisted recognition and the inability to dynamically match blood sampling volumes. The device boasts a high degree of structural integration and is suitable for use in hospitals, medical examination institutions, and home healthcare settings. It is poised for widespread adoption in the field of intelligent medical equipment, demonstrating promising social benefits and industrialization prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0058] Figure 1 A functional block diagram of an automatic blood sampling device based on a preset blood sampling volume provided by an embodiment of the present invention;

[0059] Figure 2 A structural block diagram of a housing provided in an embodiment of the present invention;

[0060] Figure 3 A schematic diagram of the dissected structure of a housing provided in an embodiment of the present invention;

[0061] Figure 4 A schematic diagram of the dissected structure of a blood sampling module provided in an embodiment of the present invention;

[0062] Among them, 100, shell; 110, blood collection hole; 120, collecting trough; 130, clamping module; 200, image acquisition module; 510, slide rail; 520, telescopic connecting frame; 521, driving ball joint; 530, blood collection unit; 531, first shell; 532, second shell; 533, blood collection tube placement bin; 534, telescopic grabbing claw; 535, blood collection needle placement rack; 536, blood collection end clamping rack; 5362, second clamping claw; 537, moving trough; 538, blood transfusion end clamping rack; 539, moving arm; 5321, placement trough; 600, blood collection needle; 700, blood collection tube. DETAILED DESCRIPTION

[0063] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0064] like Figure 1-Figure 4 As shown in some embodiments of the present application, this embodiment provides an automatic blood sampling device based on a preset blood sampling volume, including: a shell 100, an image acquisition module 200, an information acquisition module, a central control module and a blood sampling module.

[0065] Specifically, the image acquisition module 200 is configured to acquire image information of the area to be blood drawn; the information acquisition module is configured to acquire the items to be blood drawn; the central control module is electrically connected to the image acquisition module 200 and the information acquisition module respectively, and the central control module is configured to determine the blood collection point based on the image information; the central control module is also configured to determine the blood collection volume based on the items to be blood drawn; the blood collection module is electrically connected to the central control module, and the blood collection module is configured to collect blood from the area to be blood drawn based on the blood collection point and blood collection volume.

[0066] It can be understood that the image acquisition module 200 performs real-time image acquisition on the area to be blood drawn, obtains image data containing key information such as blood vessel distribution, and the information acquisition module collects the type of blood drawing project to be executed, and both are transmitted to the central control module; the central control module analyzes the image information, identifies the blood vessel position and determines the optimal blood drawing point, and matches the corresponding blood drawing volume parameters according to the blood drawing project; then the central control module sends the blood drawing point position information and blood drawing volume instruction to the blood drawing module, and the blood drawing module automatically completes the blood drawing operation of the corresponding part and the preset blood volume, thereby realizing the linkage process of intelligent identification of blood drawing points and dynamic control of blood drawing volume.

[0067] Specifically, the shell 100 includes: a blood collection hole 110, which is arranged in the lower middle part of one end of the shell 100; a collecting tank 120, which is opened at the end of the shell 100 away from the blood collection hole 110; a clamping module 130, which is arranged inside the shell 100, and the clamping modules 130 are respectively connected to the inner side walls of the shell 100, and the clamping module 130 is electrically connected to the image acquisition module 200. The clamping module 130 is configured to clamp the blood collection area based on image information.

[0068] Specifically, when the clamping module 130 clamps the area to be blood sampled based on the image information, it includes: the clamping module 130 is also configured to determine the vascular development value of the area to be blood sampled based on the image information, and determine the clamping force according to the relationship between the vascular development value and the preset vascular development value: when the vascular development value is greater than or equal to the preset vascular development value, the clamping module 130 clamps the area to be blood sampled based on the preset clamping force; when the vascular development value is less than the preset vascular development value, the clamping module 130 determines the adjustment coefficient based on the development difference between the vascular development value and the preset vascular development value, and determines the preset clamping force adjusted according to the adjustment coefficient as the clamping force to clamp the area to be blood sampled.

[0069] Specifically, when the clamping module 130 determines the adjustment coefficient based on the development difference between the vascular development value and the preset vascular development value, it includes: the clamping module 130 is also configured to determine the adjustment coefficient based on the relationship between the development difference and the first preset development difference and the second preset development difference configured by the clamping module 130: when the development difference is lower than the first preset development difference, the clamping module 130 determines the adjustment coefficient to be L3; when the development difference is higher than or equal to the first preset development difference, and the development difference is lower than the second preset development difference, the clamping module 130 determines the adjustment coefficient to be L2; when the development difference is higher than or equal to the second preset development difference, the clamping module 130 determines the adjustment coefficient to be L1; wherein, the first preset development difference is lower than the second preset development difference, and 1<L1<L2<L3.

[0070] As can be appreciated, the image-guided intelligent clamping mechanism improves vascular visualization in the blood sampling area, thereby providing a clearer and more stable vascular image foundation for subsequent blood sampling operations. First, the clamping module 130 is electrically connected to the image acquisition module 200 to acquire and analyze image information of the area to be sampled, thereby determining the degree of vascular visualization in that area. The vascular visualization value is a key parameter for assessing vascular clarity and can be obtained through image processing methods such as image contrast, texture features, or grayscale changes. After obtaining the vascular visualization value, the system compares it with a preset vascular visualization standard value to determine whether the current vascular visualization is ideal. If the visualization value reaches or exceeds the preset value, indicating that the blood vessels are clearly visible, the clamping module 130 will clamp the area to be sampled with the preset standard force, without further adjustment, to ensure operational efficiency. If the current visualization value is lower than the preset value, indicating that the blood vessels are not fully visualized, the clamping module 130 will dynamically adjust the clamping force to enhance visualization. Specifically, an "adjustment coefficient" is introduced as a force adjustment factor based on the difference between the actual visualization value and the preset visualization value (i.e., the visualization difference). Based on the segmented setting of the image difference size, the clamping module 130 will select the appropriate adjustment coefficient L1, L2 or L3 from three levels, corresponding to mild, moderate and severe clamping enhancement, respectively. This hierarchical control mechanism can accurately adjust the blood flow filling state, improve image development clarity, and prevent vascular compression or blood collection failure due to insufficient or excessive clamping. Through the above-mentioned dynamic adjustment principle, the clamping module 130 can not only perform fine control based on the actual image state, but also has adaptive capabilities. It can implement personalized clamping strategies based on the skin thickness, blood vessel depth or local temperature differences of different users, thereby improving the intelligence level and success rate of the blood collection preparation stage.

[0071] It can be seen that the image information of the area to be blood drawn is obtained by the image acquisition module 200, and the clamping module 130 judges the development value of the blood vessel based on this, and then adaptively adjusts the clamping force based on the development state to make the blood vessel clearer and more visible. This mechanism effectively improves the quality of blood vessel development, enhances the accuracy of subsequent blood collection point identification, and helps to improve the success rate and accuracy of blood collection. It is especially suitable for children, the elderly or individuals with unclear blood vessels. Secondly, by setting a preset blood vessel development value and its difference threshold, and introducing a multi-level adjustment coefficient (L1, L2, L3), the present invention can achieve dynamic adjustment of the clamping force according to individual characteristics such as skin thickness and blood vessel depth of different users. This hierarchical control method not only avoids tissue damage caused by excessive clamping, but also prevents development failure caused by insufficient clamping, reflecting the design concept of personalized and flexible control. In addition, in traditional automatic blood collection devices, the clamping device usually adopts a fixed pressure, which can easily lead to improper blood vessel compression or user discomfort. This technology uses an image-based feedback adjustment mechanism to enable the clamping module 130 to automatically adjust the pressure, ensuring the clamping effect while reducing user discomfort, effectively reducing the risk of operation failure, pain, or subcutaneous bleeding, thereby optimizing the user experience. Finally, a complete closed loop is constructed through the image-calculation-execution feedback control logic: from image recognition of vascular status, to parameter determination of clamping force, and then to action execution, forming a highly automated process. This closed-loop control not only improves the system's degree of automation, but also provides stable input for the precise control of subsequent blood collection modules, further ensuring the reliability and consistency of the overall blood collection operation.

[0072] Specifically, the blood collection module includes: a slide rail 510 is arranged inside the shell 100, and the slide rail 510 is fixedly connected to the inner top surface of the shell 100; the telescopic connecting frame 520 is slidably connected to the slide rail 510, wherein the end of the telescopic connecting frame 520 that is slidably connected to the slide rail 510 is provided with a first servo motor, and the end of the telescopic connecting frame 520 away from the slide rail 510 is provided with a driving ball joint 521; the blood collection unit 530 is arranged at the end of the telescopic connecting frame 520 away from the slide rail 510, and the blood collection unit 530 is connected to the driving ball joint 521, and the blood collection unit 530 is configured to collect blood from the blood collection area.

[0073] Specifically, the blood collection unit 530 includes: a first shell 531 connected to the driving ball joint 521, wherein the first shell 531 is provided with an exhaust hole on one side adjacent to the collecting tank 120; a second shell 532 is arranged inside the first shell 531, and the second shell 532 is connected to the first shell 531, wherein a placement groove 5321 is provided on the top of the second shell 532; a blood collection tube placement bin 533 is arranged on the top of the second shell 532, and the blood collection tube 700 is arranged corresponding to the placement groove 5321, and the blood collection tube placement bin 533 is configured to place the blood collection tube 700; a telescopic grasping claw 534 is arranged on one side of the second shell 532, and the telescopic grasping claw 534 is provided to grasp the blood collection tube 700. The claw 534 is connected to the inner top surface of the second shell 532; a grabbing groove is provided at the bottom of the first shell 531 of the blood collection needle placement rack 535, and the grabbing groove is arranged corresponding to the telescopic grabbing claw 534, and the blood collection needle placement rack 535 is arranged at the bottom of the grabbing groove, and the blood collection needle placement rack 535 is connected to the first shell 531, and the blood collection needle placement rack 535 is configured to place the blood collection needle 600; the blood collection end clamping rack 536 is arranged on the side of the telescopic grabbing claw 534 away from the second shell 532, and the blood collection end clamping rack 536 is configured to clamp the blood collection end of the blood collection needle 600 after the telescopic grabbing claw 534 grabs the blood collection needle 600.

[0074] Specifically, the second housing 532 is further provided with a blood transfusion end clamping frame 538, a movable arm 539, and a second servo motor; movable grooves 537 are respectively provided on opposite sides of the second housing 532, and the movable grooves 537 are connected to the placement groove 5321; the second servo motor is arranged on the outside of the second housing 532, and the second servo motor is connected to the second housing 532; the blood transfusion end clamping frame 538 is arranged inside the placement groove 5321, and the blood transfusion end clamping frame 538 is connected to the inner wall of the placement groove 5321. The blood transfusion end clamping frame 538 is connected to each other, and is configured to clamp the blood transfusion end of the blood collection needle 600; the movable arm 539 is configured inside the placement groove 5321, and one end of the movable arm 539 passes through the movable groove 537 and is connected to the moving end of the servo motor, and the movable arm 539 is configured to drive the blood collection tube 700 to move along the setting direction of the placement groove 5321; the image acquisition unit is configured at one end of the second shell 532 away from the telescopic grasping claw 534, and the image acquisition unit is configured to obtain the amount of blood in the blood collection tube 700.

[0075] Specifically, the blood collection end clamping frame 536 and the blood transfusion end clamping frame 538 are both configured with: a first clamping claw and a second clamping claw 5362; an infrared sensing unit, configured at the bottom of the opposite side of the first clamping claw and the second clamping claw 5362; a second control unit, respectively connected to the first clamping claw, the second clamping claw 5362 and the infrared sensing unit, the second control unit is configured to obtain infrared sensing data, and control the first clamping claw and the second clamping claw 5362 to clamp according to the sensing data.

[0076] It is understood that the blood collection module is provided with a slide rail 510 structure, which is arranged along the length of the housing 100 and is fixedly connected to the inner top surface of the housing 100, providing a stable guide reference for the blood collection structure. The slide rail 510 and the telescopic connecting frame 520 form a sliding connection relationship, allowing the telescopic connecting frame 520 to slide smoothly along the direction of the slide rail 510, thereby giving the blood collection module as a whole an adjustable range of motion in the horizontal plane. A first servo motor is provided at one end of the telescopic connecting frame 520. The servo motor uses a screw rod, rack or linear drive mechanism to achieve precise advancement and retraction of the connecting frame on the slide rail 510. This design can achieve multi-point positioning of the blood collection unit 530, making the equipment flexible and adaptable when facing different users or blood collection sites, effectively improving the degree of automation and ergonomic compatibility of the blood collection operation. In addition, the servo motor control system can preset the motion path and end point coordinates to ensure that the entire blood collection process is carried out efficiently, orderly and safely. Secondly, a drive ball joint 521 is installed at the end of the telescopic connecting frame 520 away from the slide rail 510. This ball joint structure serves as a flexible mechanical joint, primarily providing multi-dimensional fine-tuning capabilities for the blood collection unit 530. The universal rotation of the drive ball joint 521 enables precise adjustment of the blood collection unit 530 across multiple angles, including tilt control around both the horizontal and vertical axes. This ensures that the blood collection needle 600 maintains perpendicular or other optimal contact angles with the skin surface, significantly reducing the risk of puncture deviation. The ball joint structure incorporates a limiter and damping mechanism to prevent structural interference caused by excessive rotation and ensure stable and smooth movement. By collaborating with the servo motor and image positioning module, the blood collection module provides high-precision feedback control during fine-tuning, improving overall positioning accuracy, enhancing user comfort, and reducing the rate of failed blood collections due to misalignment. The blood collection unit 530 primarily consists of a first housing 531 and a second housing 532, arranged in a nested configuration. The first housing 531 serves as the outer protective structure of the blood collection unit 530. A drainage hole is provided on one side of the housing, adjacent to the collection tank 120, to facilitate the discharge of waste liquid generated during the blood collection process and the rapid removal of accidental residues, enhancing the hygienic and self-cleaning capabilities of the device. The second housing 532, located within the first housing 531, serves as the core functional carrier for the blood collection operation. A placement slot 5321 is provided on its top to accommodate a blood collection tube storage compartment 533. The tube storage compartment 533 is designed with a multi-porous structure, allowing for the insertion and placement of multiple blood collection tubes 700 in pre-set positions. By aligning with the placement slot 5321, the tubes 700 and the lancet 600 are automatically docked. The housing 100 also integrates key mechanisms such as the retractable gripping claw 534, the blood collection end clamping frame 536, and the lancet placement rack 535. These three components are spatially staggered and functionally coordinated to automate the pickup, transport, alignment, and securing of the lancet 600.This structural design integrates the various functional units into a compact system, which helps save space, improve mechanical efficiency, and facilitates subsequent modular packaging and maintenance. In addition, the grasping process of the blood collection needle 600 is undertaken by the telescopic grasping claw 534. One end of the structure is connected to the top surface of the second shell 532, and the other end has a retractable clamping finger. It is driven by an electronically controlled actuator (such as a micro motor or a spiral drive assembly) and can complete the grasping and releasing of the needle body in the vertical direction. The blood collection needle 600 is usually stored in the blood collection needle placement rack 535 at the bottom of the first shell 531. The rack is provided with a grasping slot for the telescopic claw to extend into for needle body extraction. After the grasping claw clamps the needle body, it is sent to the position of the blood collection end clamping rack 536, which is arranged on the distal side of the grasping claw and has a limiting groove and clamping mechanism that matches the tail of the needle body. The blood collection end clamping rack 536 can be precisely closed by a micro-controlled motor to firmly lock the blood collection end and ensure the stability of the needle body during insertion into the skin. This process is fully automated, with an image recognition module and infrared sensor jointly monitoring the relative position and clamping state of the lancet 600, providing excellent fault tolerance and an intelligent feedback mechanism. Subsequently, to ensure the tightness and stability of the connection between the lancet 600 and the blood collection tube 700, a blood delivery end clamp 538 and a movable arm 539 are provided within the second housing 532. The blood delivery end clamp 538 is located between the inner walls of the placement slot 5321 and precisely aligns with the tail end of the lancet 600. Once the blood collection tube 700 is positioned, it automatically closes and clamps the lancet 600, preventing misalignment. The movable arm 539 spans the placement slot 5321, with one end connected to a second servo motor. Driven by the servo motor, it moves the blood collection tube 700 along the length of the placement slot 5321, aligning it with the lancet 600. The servo motor's operating parameters can be programmed to accommodate various blood collection tube 700 specifications. In this mechanism design, the motion path of the movable arm 539 aligns with the socket structure of the blood collection tube 700, ensuring smooth needle insertion into the center of the tube 700 rather than the edges. This effectively reduces the risks of leakage and back pressure, while ensuring smooth blood collection. This multi-point coordination provides a highly stable mechanical foundation for precise blood collection. Finally, the clamping state is crucial for the stable connection between the blood collection needle 600 and the blood collection tube 700. Therefore, both the blood collection clamp 536 and the blood transfusion clamp 538 are equipped with a first clamping claw and a second clamping claw 5362. These are motor-operated and open and close to precisely secure the needle and tube. Infrared sensors are located at the base of the two claws, providing real-time information on the presence of foreign objects (such as the needle) in the clamping position and whether the current clamping force meets the clamping standard. A second control unit analyzes the infrared signals to determine whether the clamping state needs to be adjusted. If clamping deviation or slippage risk is detected, a control command is issued to adjust the clamping claw position or re-enforce the clamping action.To monitor blood collection results, an image acquisition unit is located at the end of the second housing 532, away from the gripper. This unit uses image recognition to analyze the blood level within the blood collection tube 700, determining whether the current blood collection volume has reached the target. If insufficient blood has been collected, the system can extend the blood collection time or prompt a request for recollection, achieving closed-loop feedback control and improving blood collection efficiency and user experience.

[0077] As can be seen, the slide rail 510 is fixed to the top surface of the housing 100 and serves as a guide track for the telescopic connecting frame 520. This not only enhances the structural stability of the blood collection module but also provides a precisely constrained path for the horizontal movement of the blood collection unit 530. The telescopic connecting frame 520 is slidably connected to the slide rail 510, allowing the blood collection structure to be flexibly adjusted between different positions to accommodate a variety of body positions and usage environments. A first servo motor is located at the end of the telescopic connecting frame 520. Its drive displacement is controlled by a program to achieve automatic positioning and precise alignment of the blood collection unit 530, improving blood collection efficiency and automation, reducing manual intervention, and enhancing the system's intelligence and ease of operation. Secondly, the blood collection unit 530 is connected to the distal end of the telescopic connecting frame 520 via a drive ball joint 521. The multi-degree-of-freedom rotational characteristics of the ball joint structure enable the blood collection unit 530 to be flexibly adjusted. In different blood collection scenarios, the direction of the blood collection needle 600 can be finely adjusted to ensure perpendicular contact with the target blood collection site, thereby improving the accuracy and success rate of puncture and reducing discomfort to the user. This structure effectively improves the flexible adaptability of the system and provides a more accurate and personalized blood collection experience for different groups of people. Third, the blood collection unit 530 is connected to the drive ball joint 521 through the first shell 531 to form an external protective layer with good protection and structural support functions. The side is provided with a drainage hole to help discharge waste liquid and gas during the blood collection process, thereby improving the cleanliness of the module. The second shell 532 is located inside the first shell 531 and is fixedly connected. The placement groove 5321 and the blood collection tube placement bin 533 provided on the top can store and automatically arrange the blood collection tubes 700 in an orderly manner, providing a precise position basis for the subsequent automatic docking of the blood collection needle 600, realizing high integration, modularization and clean operation of the blood collection process, and improving the adaptability and reliability of the equipment. Fourth, the telescopic grabbing claw 534 is arranged on the top surface of the second shell 532. It can accurately grab the blood collection needle 600 from the blood collection needle placement rack 535 through vertical telescopic movement. The grabbing action is fast and stable, reducing human intervention; cooperate with the blood collection end clamping rack 536 located on the far side to accurately clamp and fix the front end of the needle body after the needle body is in place, so as to avoid the loosening or displacement of the needle body during the blood collection process, and improve the structural rigidity and accuracy during puncture. This two-stage clamping mechanism cooperates to ensure the continuous stability of the blood collection needle 600 in the entire process of installation, positioning and puncture, and improves operational safety and puncture success rate. Fifth, the blood transfusion end clamping rack 538 arranged on the inner side of the second shell 532 is used to fix the tail of the blood collection needle 600, which helps to keep the blood collection channel stable and closed during blood drainage, and avoid needle tube separation or liquid leakage. One end of the movable arm 539 is connected to the second servo motor through the movable slot 537. Under the control of the servo motor, the blood collection tube 700 is moved along the direction of the placement slot 5321, so that the blood collection tube 700 and the blood collection needle 600 can be accurately docked, adapting to tubes of different lengths and specifications, thereby improving docking accuracy and collection efficiency.This structure improves the automatic operation capability and adaptive range of the blood collection unit 530, and significantly reduces dependence on manual operation. Finally, the blood collection unit 530 is provided with an image acquisition unit at the far end of the second shell 532, which can collect real-time images of the internal part of the blood collection tube 700, analyze the blood level position, determine whether the target blood collection volume has been reached, and realize automatic feedback control of blood volume monitoring. Both the blood collection end clamping frame 536 and the blood transfusion end clamping frame 538 are equipped with first and second clamping claws 5362, and an infrared sensing unit is provided at the bottom thereof, which can detect in real time whether the clamping is in place. The second control unit receives infrared data and accurately controls the clamping action to effectively avoid clamping deviation or falling off. This closed-loop control system improves the reliability, accuracy and intelligent perception level of the blood collection action, ensuring that the entire blood collection process operates efficiently, safely and intelligently.

[0078] Specifically, when the central control module is configured to determine the blood collection point based on the image information, it includes: the central control module is also configured to preprocess the image information, wherein the preprocessing includes denoising, sharpening, enhancing image contrast, and image white balance correction; the central control module is also configured to preprocess the texture data, color data, and edge data in the image information, and determine the structure of each blood vessel, the density between each blood vessel, and the skin thickness at each blood vessel based on the texture data, color data, and edge data; determine the priority blood vessel based on the structure of each blood vessel, the density between each blood vessel, and the skin thickness at each blood vessel, and determine the preferred blood vessel as the blood collection point.

[0079] Specifically, the central control module is also configured to pre-process the texture data, color data and edge data in the image information, and determine the structure of each blood vessel, the density between each blood vessel and the skin thickness at each blood vessel based on the texture data, color data and edge data. After the central control module uses image pre-processing algorithms (such as Gaussian filtering, median filtering, etc.) to improve image clarity and reduce noise interference, it uses image processing technology to extract texture data (reflecting regional detail changes and tissue continuity), color data (used to identify blood vessel color difference and skin layers) and edge data (reflecting blood vessel contours and directions). These feature dimensions complement each other, effectively enhancing the ability to identify complex tissue regional structures and forming the basis for subsequent structural analysis.

[0080] As you can understand, the central control module first preprocesses the original image, using image enhancement algorithms such as Gaussian filtering and median filtering to remove noise caused by skin reflections, motion blur, and interference from the image acquisition device. Filtering smoothes image brightness and color gradients, improving the signal-to-noise ratio (SNR), thereby ensuring the stability and accuracy of the input data during the subsequent feature extraction process. After preprocessing, the central control module uses image processing algorithms to extract texture, color, and edge features from the image in a layered manner. Texture data characterizes grayscale variations within localized areas of skin tissue, revealing detailed differences between vascular tissue and surrounding tissue. Color data identifies the color contrast between skin and blood vessels, facilitating the identification of low-contrast or shallow vessels. Edge data uses edge detection algorithms (such as Sobel and Canny) to identify areas of grayscale abrupt changes in the image, accurately determining the contours and orientation of blood vessels. Finally, the central control module integrates these three types of data using a feature fusion algorithm. These three complementary features effectively improve the spatial resolution and robustness of vessel identification. This feature fusion not only overcomes the recognition limitations of a single feature in complex skin backgrounds, but also provides highly reliable data support for subsequent vascular structure modeling, position positioning, blood collection path planning and other links, forming the basic data layer for the system's intelligent decision-making.

[0081] Specifically, based on image features, the central control module reconstructs the spatial structure of blood vessels in the image through image segmentation and pattern recognition algorithms (such as edge detection, texture classification, and clustering algorithms). By calculating the relative position and distance between blood vessels and the trend of texture continuity changes, the density of blood vessels can be assessed. For example, areas with higher density may indicate abundant microvessels, but blood collection becomes more difficult; while areas with lower density can be used as priority blood collection targets, thereby improving the puncture success rate and operational efficiency.

[0082] As can be understood, the central control module uses image segmentation and pattern recognition algorithms to accurately identify vascular regions based on texture and edge features in the captured image. Edge detection techniques (such as Canny or Sobel) are used to extract the outer contours of the vessels. Texture classification methods (such as Local Binary Patterns (LBP) or Gray-Level Co-occurrence Matrix (GLCM)) help distinguish detailed differences between vessels and background tissue. Clustering algorithms (such as K-means or DBSCAN) cluster regions with similar features to form complete vascular image partitions. Secondly, based on vascular region identification, the central control module further reconstructs the spatial distribution structure of the vessels in the image. By quantitatively analyzing the relative positional relationships, geometric distances, and texture orientations of the vessels, the system constructs a topological map of the vascular network. This reconstruction not only reflects the orientation and distribution pattern of the vessels but also dynamically assesses the changing trends in the continuity of the vascular texture, facilitating the determination of whether the vessels are superficial, tortuous, or obscured. Finally, after completing the structural reconstruction, the central control module calculates the regional vascular density based on the results of vessel spacing and texture continuity, and performs intelligent assessment based on this information. Areas with high vascular density may indicate dense microvascular distribution or anatomical blind spots, which can easily lead to puncture failure or increased pain. On the other hand, areas with low density and clearer paths are more suitable as priority blood collection sites. This strategy not only improves the success rate of puncture operations but also optimizes the adaptability and decision-making efficiency of smart blood collection devices in complex skin areas.

[0083] Specifically, the central control module uses color data and texture gradients, combined with model training or labeled samples, to estimate the relative distance between the skin surface and blood vessels, thereby indirectly determining skin thickness. This thickness assessment helps dynamically adjust the blood collection depth and control the force of the needle insertion, especially when dealing with different populations (such as children, the elderly, or obese people), providing precise operating parameters and improving the comfort and safety of blood collection.

[0084] It can be understood that the central control module performs a hierarchical analysis of the skin surface and vascular regions based on the color data and texture gradient information extracted from the image. The color data can reflect the color transition characteristics from the epidermis to the dermis, while the texture gradient reveals the changes in tissue density and structural continuity, thereby constructing the hierarchical contours between the skin and blood vessels. This feature recognition provides a structural basis for the subsequent estimation of skin thickness. Secondly, the central control module trains a large number of labeled samples using deep learning models or supervised learning methods (such as CNN or random forests) to form a mapping relationship from image features to skin thickness. In actual use, after the system inputs the current image features, it can use model reasoning to obtain an estimate of the relative depth from the skin to the target blood vessel, completing a personalized skin thickness assessment. Finally, based on the real-time skin thickness estimation results, the central control module further links the blood collection mechanism (such as the blood collection needle 600 propulsion unit) to dynamically adjust the needle insertion depth and force. For example, for children or the elderly with thinner skin, the system can control the needle insertion to reduce the depth to avoid pain or tissue damage caused by excessive puncture; while for people with thicker subcutaneous fat, the blood collection depth and force can be appropriately increased to ensure the success rate of blood collection. This thickness-sensing driven parameter adjustment mechanism significantly improves the comfort, safety, and individual adaptability of blood collection.

[0085] As can be seen, the central control module effectively suppresses noise interference such as skin reflections and motion blur by introducing image enhancement techniques such as Gaussian filtering and median filtering, thereby improving image clarity and signal-to-noise ratio. This preprocessing step ensures high-fidelity extraction of subsequent texture, color, and edge features, laying a solid foundation for the system's stable and reliable image analysis. Secondly, the central control module combines image segmentation and clustering algorithms to spatially reconstruct vascular structures and calculate metrics such as the relative position, density, and texture continuity between vessels to quantify regional density information. This strategy assists the system in determining priority blood collection areas, avoiding dense microvascular areas or anatomical blind spots, improving puncture success rates, and reducing patient discomfort. Furthermore, based on color gradient and texture layer information, combined with deep learning models or labeled sample training, the central control module accurately estimates the relative thickness between skin and blood vessels. This thickness estimation method does not rely on additional hardware, is universally applicable, and is easy to deploy, providing a core input for dynamic blood collection parameter adjustment. Finally, the skin thickness assessment results can directly drive the central control module to link the blood collection actuator, adjusting the needle insertion depth and force in real time, achieving flexible blood collection control based on individual differences. This mechanism effectively reduces the puncture failure rate and the risk of trauma, especially for people with fragile skin (such as children and the elderly) or those with thick fat layers, significantly improving the human-machine compatibility, operational safety, and clinical practical value of the intelligent blood collection device.

[0086] Specifically, when the blood sampling module collects blood from the blood sampling area based on the blood sampling volume, it includes: obtaining the total amount of blood to be collected and the blood sampling volume of each blood sampling project according to the blood sampling project to be collected; determining the control between the telescopic grasping claw 534, the blood sampling end clamping frame 536, the blood transfusion end clamping frame 538 and the movable arm 539 according to the blood sampling volume in the current blood sampling tube 700 and the current total blood sampling volume: if the blood sampling volume in the current blood sampling tube 700 meets the preset blood sampling volume of the current project, and the current total blood sampling volume is lower than the total amount of blood to be collected, then controlling the telescopic grasping claw 534 to grasp the blood collection needle 60 0 is clamped, and the second servo motor is controlled to drive the moving arm 539 to move the blood collection tube 700 along the setting direction of the placement slot 5321; if the blood collection volume in the current blood collection tube 700 meets the preset blood collection volume of the current project, and the current total blood collection volume is equal to the total blood collection volume to be collected, the telescopic grasping claw 534, the blood collection end clamping frame 536 and the blood transfusion end clamping frame 538 are controlled not to clamp the blood collection needle 600, and the second servo motor is controlled to drive the moving arm 539 to move the blood collection tube 700 along the setting direction of the placement slot 5321.

[0087] As can be understood, by reading the set parameters for the blood collection project, the total blood collection requirement (total amount of blood to be collected) and the specific blood collection volume required for each blood collection project are determined. This stage provides refined data input for the subsequent blood collection process, ensuring that the blood collection task has clear objectives and meets the quantitative requirements of multi-project sampling. It is a prerequisite for the logical judgment of the blood collection process. Secondly, the central control system detects the blood volume in the current blood collection tube 700 in real time and compares it with the blood collection volume required for the current project. At the same time, the system also maintains a "current total blood collection volume" variable, which is continuously compared with the "total amount of blood to be collected." This dual quantitative judgment mechanism ensures that each portion of blood collected in a multi-project collection task meets the preset dosage, avoiding over- or under-collection and improving sampling accuracy. Furthermore, when the current blood collection volume in the blood collection tube 700 meets the current project's blood collection requirements but has not yet reached the total blood collection target, the system controls the retractable gripper 534 to clamp the connecting tube and, in conjunction with the second servo motor, drives the movable arm 539 to move the blood collection tube 700 along the placement slot 5321 to the next target position, preparing for the next blood collection project. This ensures continuity and automated switching between blood collection operations across multiple projects. However, if the blood collection volume for the current project has been met and the overall blood collection volume has reached the preset target, the system terminates the clamping action—the retractable gripper 534, the blood collection clamping frame 536, and the blood transfusion clamping frame 538 all cease clamping the connecting tube. Simultaneously, the movable arm 539 is driven to move the blood collection tube 700 to the predetermined completion or exit position. This dynamic control mechanism can be considered a "closed-loop signal" for task execution, ensuring that the system automatically exits the blood collection state after completing the blood collection target, enhancing the device's autonomous management capabilities. Finally, the entire control logic is implemented collaboratively by multiple mechanisms, including the retractable gripper 534 for clamping the connecting tube, the blood collection / transfusion clamping frames 538 for controlling the stability of the blood collection pathway, and a second servo motor for driving the movable arm 539 for position switching. These components operate synchronously under the control of the control system, creating a precise, efficient, and controllable fully automated blood collection process, particularly suitable for multiple blood collection, quantitative management, and hands-free operation scenarios.

[0088] It can be seen that through dynamic monitoring and judgment based on the amount of blood collected, the blood collection module has achieved refined control and full-process automated management in the multi-project blood collection process. The system first obtains the corresponding total blood collection volume and the blood collection quality of each project based on the blood collection project to be collected, ensuring that the blood collection behavior is strictly carried out around the detection needs, avoiding the phenomenon of excessive or insufficient blood collection, and ensuring the scientific nature of the test samples and user experience. Secondly, during the real-time collection process, the central control system continuously reads the blood collection volume in the current blood collection tube 700, and performs dynamic comparison and decision-making based on the cumulative total blood collection volume. When it is detected that the blood collection volume of the current project has reached the preset standard and the overall blood collection task has not been completed, the system will automatically control the retractable grasping claw 534 to clamp the blood collection needle 600 connecting tube, and drive the moving arm 539 through the second servo motor to move the blood collection tube 700 to the next blood collection position. This process does not require manual intervention, ensuring the continuity and operational stability during multi-tube blood collection. Furthermore, when the system determines that the current blood collection tube 700 has reached the set blood collection volume and the total blood collection volume has also met the overall blood collection requirements, the system no longer performs the clamping action and instead controls only the movable arm 539 to perform the final closing operation, achieving intelligent termination of the blood collection process. By rationally distinguishing between the clamped and unclamped states and implementing logical control, unnecessary operations or excessive blood drawing are avoided, improving the intelligent responsiveness and safety of the blood collection device. Furthermore, this automated control logic, based on the design of the servo motor-driven movable arm 539, enables precise positioning and smooth movement of the blood collection tube 700 within the placement slot 5321, preventing unexpected problems such as misalignment, collision, or sample spillage, significantly enhancing the device's practicality and reliability in medical or testing scenarios. Overall, this solution offers significant advantages, including intelligent judgment, automatic switching, dynamic control, and high-precision execution. It not only improves device operational efficiency and blood collection accuracy, but also reduces the technical threshold and labor intensity of operators, providing solid technical support and application prospects for intelligent and diverse blood collection systems.

[0089] In the above embodiment, by setting up the image acquisition module 200, the image information of the area to be blood drawn can be acquired in real time, and transmitted to the central control module for image processing and analysis, thereby accurately identifying the position, direction and suitable blood vessel collection point of the blood vessel. Compared with the traditional manual reliance on experience-based judgment, this solution has higher positioning accuracy and stability, and can significantly reduce puncture failures, repeated operations or user discomfort caused by improper selection of blood collection points, thereby improving the success rate of the blood collection process and user experience. In addition, the information acquisition module provided in the present invention can obtain parameter information of the required blood collection volume for different blood collection items (such as blood routine, biochemical examination, etc.). The central control module automatically determines the required blood collection volume based on this information, and sends it to the blood collection module in combination with the blood collection point information, thereby avoiding problems such as "over-collection" or "insufficient blood collection" in traditional blood collection, ensuring that the amount of blood collected meets the detection requirements and reduces unnecessary blood waste, and is particularly suitable for personalized medical care and precision diagnosis scenarios. Overall, this invention achieves dual intelligent control of blood sampling points and blood volume by integrating image recognition technology with test item information. This addresses technical challenges faced by existing automatic blood sampling devices, such as the lack of image-assisted recognition and the inability to dynamically match blood sampling volumes. The device boasts a high degree of structural integration and is suitable for use in hospitals, medical examination institutions, and home healthcare settings. It is poised for widespread adoption in the field of intelligent medical equipment, demonstrating promising social benefits and industrialization prospects.

[0090] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or a combination of software and hardware embodiments. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0092] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0093] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. An automatic blood sampling device based on a preset blood sampling volume, comprising a housing, characterized in that: include: An image acquisition module is configured to acquire image information of the area to be blood drawn; An information acquisition module is configured to obtain items to be blood drawn; The central control module is electrically connected to the image acquisition module and the information acquisition module respectively. The central control module is configured to determine the blood sampling point based on the image information; the central control module is also configured to determine the blood sampling volume based on the blood sampling item; The blood sampling module is electrically connected to the central control module. The blood sampling module is configured to collect blood from the area to be blood sampled based on the blood sampling point and blood sampling volume.

2. The automatic blood sampling device based on a preset blood sampling volume according to claim 1, characterized in that: The housing includes: A blood sampling hole is provided at the lower middle portion of one end of the shell; The collecting tank is provided at an end of the shell away from the blood collection hole; The clamping module is arranged inside the shell, the clamping modules are respectively connected to the inner side walls of the shell, and the clamping module is electrically connected to the image acquisition module. The clamping module is configured to clamp the blood sampling area based on the image information.

3. The automatic blood sampling device based on a preset blood sampling volume according to claim 2, characterized in that: The clamping module clamps the blood collection area based on image information, including: The clamping module is further configured to determine the vascular imaging value of the area to be blood sampled based on the image information, and determine the clamping force according to the relationship between the vascular imaging value and the preset vascular imaging value: When the blood vessel visualization value is greater than or equal to the preset blood vessel visualization value, the clamping module clamps the blood sampling area based on the preset clamping force; When the vascular development value is less than the preset vascular development value, the clamping module determines the adjustment coefficient based on the development difference between the vascular development value and the preset vascular development value, and determines the preset clamping force adjusted according to the adjustment coefficient as the clamping force to clamp the blood sampling area.

4. The automatic blood sampling device based on a preset blood sampling volume according to claim 3, characterized in that: The clamping module determines the adjustment coefficient based on the difference between the vascular visualization value and the preset vascular visualization value, including: The clamping module is further configured to determine an adjustment coefficient based on a relationship between the development difference value and a first preset development difference value and a second preset development difference value configured by the clamping module: When the development difference is lower than the first preset development difference, the clamping module determines the adjustment coefficient to be L3; When the development difference is higher than or equal to the first preset development difference and lower than the second preset development difference, the clamping module determines the adjustment coefficient to be L2; When the development difference is greater than or equal to the second preset development difference, the clamping module determines the adjustment coefficient to be L1; The first preset development difference is lower than the second preset development difference, and 1<L1<L2<L3.

5. The automatic blood sampling device based on a preset blood sampling volume according to claim 4, characterized in that: The blood collection module includes: The slide rail is arranged inside the shell and is fixedly connected to the inner top surface of the shell; a telescopic connecting frame, slidably connected to the slide rail, wherein one end of the telescopic connecting frame slidably connected to the slide rail is provided with a first servo motor, and an end of the telescopic connecting frame away from the slide rail is provided with a driving ball joint; The blood collection unit is arranged at one end of the telescopic connecting frame away from the slide rail. The blood collection unit is connected to the driving ball joint. The blood collection unit is configured to collect blood from the blood collection area.

6. The automatic blood sampling device based on a preset blood sampling volume according to claim 5, characterized in that: The blood collection unit includes: A first housing is connected to the driving ball joint, wherein a drain hole is formed on a side of the first housing adjacent to the collecting tank; The second shell is disposed inside the first shell and connected to the first shell, wherein a placement groove is formed on the top of the second shell; The blood collection tube placement compartment is arranged on the top of the second shell, the blood collection tube is arranged corresponding to the placement groove, and the blood collection tube placement compartment is configured to place the blood collection tube; A telescopic grabbing claw is disposed on one side of the second shell, and the telescopic grabbing claw is connected to the inner top surface of the second shell; A blood collection needle placement rack, wherein a grabbing groove is provided at the bottom of the first housing, and the grabbing groove is arranged corresponding to the telescopic grabbing claw, the blood collection needle placement rack is arranged at the bottom of the grabbing groove, the blood collection needle placement rack is connected to the first housing, and the blood collection needle placement rack is configured to place the blood collection needle; The blood collection end clamping frame is arranged on a side of the telescopic grasping claw away from the second shell. The blood collection end clamping frame is configured to clamp the blood collection end of the blood collection needle after the telescopic grasping claw grasps the blood collection needle.

7. The automatic blood sampling device based on a preset blood sampling volume according to claim 6, characterized in that: The second housing is further provided with a blood transfusion end clamping frame, a moving arm, and a second servo motor; The second housing is provided with a movable groove on two opposite sides, and the movable groove is connected to the placement groove; The second servo motor is arranged outside the second housing, and the second servo motor is connected to the second housing; The blood transfusion end clamping frame is arranged inside the placement slot and connected to the inner side wall of the placement slot. The blood transfusion end clamping frame is configured to clamp the blood transfusion end of the blood collection needle; The movable arm is arranged inside the placement slot, one end of the movable arm passes through the movable slot and is connected to the moving end of the servo motor, and the movable arm is configured to drive the blood collection tube to move along the setting direction of the placement slot; The image acquisition unit is arranged at one end of the second shell away from the telescopic grasping claw, and is configured to acquire the amount of blood in the blood collection tube.

8. The automatic blood sampling device based on a preset blood sampling volume according to claim 7, characterized in that: Both the blood collection end clamping frame and the blood transfusion end clamping frame are equipped with: a first clamping jaw and a second clamping jaw; an infrared sensing unit, disposed at the bottom of the first clamping claw and the second clamping claw on the opposite side; The second control unit is connected to the first clamping claw, the second clamping claw and the infrared sensing unit respectively. The second control unit is configured to obtain infrared sensing data and control the first clamping claw and the second clamping claw to clamp according to the sensing data.

9. The automatic blood sampling device based on a preset blood sampling volume according to claim 8, characterized in that: When the central control module is configured to determine the blood collection point based on image information, it includes: The central control module is further configured to pre-process the image information, wherein the pre-processing includes denoising, sharpening, enhancing image contrast, and correcting image white balance. The central control module is further configured to pre-process texture data, color data, and edge data in the image information, and determine the structure of each blood vessel, the density between each blood vessel, and the skin thickness at each blood vessel based on the texture data, color data, and edge data; Based on the structure of each blood vessel, the density between each blood vessel and the skin thickness at each blood vessel, the priority blood vessel is determined, and the preferred blood vessel is determined as the blood collection point.

10. The automatic blood sampling device based on a preset blood sampling volume according to claim 9, characterized in that: The blood collection module collects blood from the blood collection area based on the blood collection volume, including: Obtain the total amount of blood to be collected and the blood collection volume of each blood collection item according to the blood collection items to be collected; According to the current blood collection volume in the blood collection tube and the current total blood collection volume, the control between the telescopic grasping claw, the blood collection end clamping frame, the blood transfusion end clamping frame and the mobile arm is determined: If the blood collection volume in the current blood collection tube meets the preset blood collection volume for the current project, and the current total blood collection volume is lower than the total blood collection volume to be collected, the retractable gripping claw is controlled to clamp the connecting tube of the blood collection needle, and the second servo motor is controlled to drive the moving arm to move the blood collection tube along the setting direction of the placement slot; If the current blood collection volume in the blood collection tube meets the preset blood collection volume of the current project, and the current total blood collection volume is equal to the total blood collection volume to be collected, the telescopic grasping claw, the blood collection end clamping frame and the blood transfusion end clamping frame are controlled not to clamp the blood collection needle, and the second servo motor is controlled to drive the moving arm to move the blood collection tube along the setting direction of the placement slot.

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