Intravenous infusion device

Abstract

The invention relates to an intravenous infusion device which comprises a shell, an image acquisition assembly, an intravenous infusion assembly and a controller, and the shell is provided with a hand placing area; the collecting end of the image collecting assembly is arranged right facing the hand placing area; the intravenous infusion assembly comprises a moving part and a clamping tool, the moving part is installed on the shell, the output end of the moving part is connected with the clamping tool, and the clamping tool is provided with a clamping end; the controller is electrically connected with the image acquisition assembly, and the controller is electrically connected with the moving part; the needle head is fixed to the clamping end of the clamping tool, meanwhile, the hand of a patient is placed in the hand containing area, at the moment, the image collecting assembly collects image information, the controller receives and processes the image information, three-dimensional coordinate information of the vascular structure of the hand of the patient can be obtained, and the controller controls the moving part to act. And the clamped needle head moves along the region close to the vascular structure until the puncture function is completed, and manual venous transfusion work is replaced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an intravenous infusion device. Background Art

[0002] The existing medical intravenous infusion process is usually completed by professionally trained medical staff. For general patients, manual intravenous infusion is indeed the fastest, most convenient and most humane method, but in special circumstances, it also brings certain risks.

[0003] For example, when treating patients with infectious diseases (including those transmitted through the air and blood), there is a risk of transmission to medical staff, threatening their own health and safety. Furthermore, in the face of major public health incidents or in remote areas, medical resources are in short supply, and simpler tasks like intravenous infusions, which require significant manpower, can take up significant medical resources.

[0004] To this end, machines can be used to replace manual labor to complete this type of relatively simple processing operations, thereby improving the work efficiency of medical staff, allowing more manpower to be used for first aid and other aspects, while avoiding the possibility of infectious diseases infecting medical staff. Summary of the Invention

[0005] In view of this, it is necessary to provide an intravenous infusion device to replace manual intravenous infusion work.

[0006] The present invention provides an intravenous infusion device, comprising a housing, an image acquisition component, an intravenous infusion component and a controller, wherein the housing has a hand placement area; the acquisition end of the image acquisition component is arranged opposite to the hand placement area; the intravenous infusion component comprises a moving part and a clamping tool, the moving part is mounted on the housing, the output end of the moving part is connected to the clamping tool, and the clamping tool has a clamping end; the controller is electrically connected to the image acquisition component for receiving and processing image information, and the controller is electrically connected to the moving part for controlling the movement of the moving part according to the image information.

[0007] Furthermore, the moving part includes a driving truss, a first driving part and a robotic arm, the driving truss is slidably connected to the shell along the length direction of the hand placement area, the first driving part is installed on the shell and its output end is connected to the driving truss to drive the driving truss to slide, the robotic arm is installed on the driving truss, and the execution end of the robotic arm is connected to the clamping tooling.

[0008] Furthermore, the clamping tooling includes a fixed splint and a rotating splint, the fixed splint is fixedly connected to the output end of the movable part, the rotating splint is rotatably connected to the fixed splint, an adjustable clamping gap is formed between the rotating splint and the fixed splint, and a groove for fixing the needle is provided on the side of the rotating splint close to the fixed splint.

[0009] Furthermore, the clamping tool also includes a rotating shaft, a torsion spring and a reset motor. The rotating shaft is rotatably connected to the fixed splint, and both ends of the rotating shaft are fixedly connected to the rotating splint. The torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected to the fixed splint, and the other end of the torsion spring is connected to the movable splint, which is used to drive the rotating splint to rotate in a direction close to the fixed splint. The reset motor is installed on the fixed splint, and the output shaft of the reset motor is connected to the rotating shaft through a gear pair.

[0010] Furthermore, it also includes a fixing component, which is installed in the hand placement area of the shell, and the fixing component has a fixing cavity for fixing the hand.

[0011] Furthermore, the fixing assembly includes a fixing belt, both ends of which are fixedly connected to the shell, and a fixing cavity located in the hand placement area is formed between the fixing belt and the shell.

[0012] Furthermore, the fixing assembly also includes two sliders and a second driving member, the two ends of the fixing belt are respectively connected to the two sliders, the two sliders are slidably connected to the shell along the length direction of the hand placement area, the second driving member is fixedly connected to the shell, and the output end of the second driving member is connected to the two sliders for driving the two sliders to slide synchronously.

[0013] Furthermore, the fixing assembly further includes two winding members, which are respectively mounted on the two sliding blocks, and the winding ends of the two winding members are respectively connected to the two ends of the fixing belt.

[0014] Furthermore, the shell includes a supporting base and an upper cover, one side of the upper cover is rotatably connected to the supporting base, and the upper cover can be rotated to a position where the other side thereof abuts the supporting base, forming the hand placement area between the upper cover and the supporting base.

[0015] The present invention also provides an intravenous infusion control method, comprising the intravenous infusion device as described above, and further comprising the following steps: The image acquisition component obtains the three-dimensional coordinate information of the vascular structure of the back of the hand; The controller controls the movement of the moving part according to the three-dimensional coordinate information of the vascular structure.

[0016] Compared with the existing technology, the needle is fixed on the clamping end of the clamping tool, and at the same time, the patient's hand is placed in the hand placement area. At this time, the image acquisition component collects image information, and the controller receives and processes the image information to obtain the three-dimensional coordinate information of the vascular structure of the patient's hand. The controller controls the movement of the moving part to move the clamped needle along the area close to the vascular structure until the puncture function is completed, replacing the manual intravenous infusion work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the overall structure of an intravenous infusion device provided in one embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the structure of the moving parts; Figure 3 for Figure 1 Schematic diagram of the structure of the middle clamping tooling; Figure 4 for Figure 1 Schematic diagram of the structure of the fixed component; Figure 5 for Figure 1 Schematic diagram of the structure in which the middle fixing belt is moved away from the handrail; Figure 6 for Figure 1 Schematic diagram of the overall structure when the middle upper cover is closed; Figure 7 This is a schematic diagram of a method for controlling intravenous infusion according to another embodiment of the present invention. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0019] like Figure 1 As shown, an embodiment of the present invention provides an intravenous infusion device, including a housing 100, an image acquisition component 200, an intravenous infusion component 300 and a controller, wherein the housing 100 has a hand placement area 111; the acquisition end of the image acquisition component 200 is arranged opposite to the hand placement area 111; the intravenous infusion component 300 includes a moving part 310 and a clamping tool 320, the moving part 310 is installed on the housing 100, and the output end of the moving part 310 is connected to the clamping tool 320, and the clamping tool 320 has a clamping end; the controller is electrically connected to the image acquisition component 200 for receiving and processing image information, and the controller is electrically connected to the moving part 310 for controlling the movement of the moving part 310 according to the image information.

[0020] During implementation, the needle is fixed on the clamping end of the clamping tool 320, and at the same time, the patient's hand is placed in the hand placement area 111. At this time, the image acquisition component 200 collects image information, and the controller receives and processes the image information to obtain the three-dimensional coordinate information of the vascular structure of the patient's hand. The controller controls the movement of the moving part 310 to move the clamped needle along the area close to the vascular structure until the puncture function is completed, replacing the manual intravenous infusion work.

[0021] The housing 100 in this embodiment has a hand placement area 111 for convenient placement of the patient's hand.

[0022] like Figure 1 and Figure 6 As shown, in one embodiment, the housing 100 includes a supporting base plate 110 and an upper cover 120. One side of the upper cover 120 is rotatably connected to the supporting base plate 110. The upper cover 120 can be rotated to a position where the other side thereof abuts the supporting base plate 110, and a hand placement area 111 is formed between the upper cover 120 and the supporting base plate 110.

[0023] By rotating the support base plate 110, the needle can be easily disassembled and assembled. At the same time, the other side of the upper cover 120 can be adsorbed onto the support base plate 110 by a magnet, etc., to prevent the upper cover 120 from moving relative to the support base plate 110 and affecting the operation of the image acquisition component 200.

[0024] After the hand is placed, image information of the patient's hand needs to be collected. It is understandable that the image information of the patient's hand includes three-dimensional coordinate information of the vascular structure. To this end, in this embodiment, the image collection component 200 is used to collect the above three-dimensional coordinate information.

[0025] In one embodiment, the image acquisition component 200 includes a first camera 210, a developer, a second camera 220 and a third camera 230, all of which are installed on the housing 100. The first camera 210 and the developer are both arranged at the top of the hand placement area 111, and the second camera 220 and the third camera 230 are respectively arranged on both sides of the hand placement area 111.

[0026] The image of the vascular structure distribution displayed by the developer on the patient's epidermis is captured by the first camera 210. The captured image can be used to identify the position of the vascular structure through the controller, and at the same time, the first camera 210 and the second camera 220 on the left and right sides are combined to complete the recognition and positioning of the three-dimensional coordinates.

[0027] To replace manual puncture, the IV infusion assembly 300 in this embodiment includes a moving member 310 and a clamping fixture 320. The moving member 310 is mounted on the housing 100, and the output end of the moving member 310 is connected to the clamping fixture 320, which has a clamping end. The patient can install the needle on the clamping fixture 320 themselves. After the image acquisition assembly captures the image of the patient's hand, the moving member 310 drives the needle along the vascular structure near the patient's hand until the puncture is completed.

[0028] like Figure 2 As shown, in one embodiment, the moving part 310 includes a driving truss 311, a first driving part and a robotic arm 312. The driving truss 311 is slidably connected to the housing 100 along the length direction of the hand placement area 111. The first driving part is installed on the housing 100 and its output end is connected to the driving truss 311 to control the sliding of the driving truss 311. The robotic arm 312 is installed on the driving truss 311, and the execution end of the robotic arm 312 is connected to the clamping tooling 320.

[0029] It is understandable that the first driving member can be implemented by a linear motor or a cylinder and other structures to control the sliding of the driving truss 311 .

[0030] At the same time, in order to improve the sliding stability of the driving truss 311 , the moving member 310 further includes two first guide rails 313 installed on the housing 100 , and both sides of the driving truss 311 are slidably connected to the two first guide rails 313 respectively.

[0031] The robotic arm 312 includes a first movable arm and a second movable arm. One end of the first movable arm is rotatably connected to the drive truss 311 in a horizontal plane. The other end of the first movable arm is hingedly connected to the second movable arm, which is rotatable in a vertical plane. The movement of the first and second movable arms can be achieved using a motor, a cylinder, or other similar structure, without limitation, as long as they can drive the needle to any position within the hand placement area 111.

[0032] It should be noted that the adjustment speed of the robotic arm 312 (i.e., the movement speed of the execution end of the robotic arm 312) needs to be controlled in detail. Specifically, when the distance from the needle to the skin is greater than 1 cm, the adjustment speed can be controlled to 1 cm / s. When the distance from the needle to the skin is greater than 0.1 cm and less than 1 cm, the adjustment speed can be controlled to 0.1 cm / s. When the needle contacts the skin, the adjustment speed can be controlled to 0.6 cm / s.

[0033] like Figure 3As shown, in one embodiment, the clamping fixture 320 includes a fixed clamping plate 321 and a rotating clamping plate 322. The fixed clamping plate 321 is fixedly connected to the output end of the movable member 310, and the rotating clamping plate 322 is rotatably connected to the fixed clamping plate 321. An adjustable clamping gap is formed between the rotating clamping plate 322 and the fixed clamping plate 321. A groove 323 for securing the needle is defined on the side of the rotating clamping plate 322 near the fixed clamping plate 321. Furthermore, to facilitate the extension of the needle or infusion catheter beyond the clamping gap, a through groove 324 is defined on the edge of the rotating clamping plate 322, which communicates with the groove 323.

[0034] Among them, the clamping tool 320 also includes a rotating shaft, a torsion spring and a reset motor. The rotating shaft is rotatably connected to the fixed splint 321, and the two ends of the rotating shaft are fixedly connected to the rotating splint 322. The torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected to the fixed splint 321, and the other end of the torsion spring is connected to the movable splint, which is used to drive the rotating splint 322 to rotate in a direction close to the fixed splint 321. The reset motor is installed on the fixed splint 321, and the output shaft of the reset motor is connected to the rotating shaft through a gear pair.

[0035] The fixed splint 321 can be set to be thinner. Before installing the needle, the fixed splint 321 and the rotating splint 322 are in a closed state. When installing the infusion catheter, the fixed splint 321 and the rotating splint 322 are first separated, and the infusion catheter is placed in the groove 323. After being placed in the groove, the fixed splint 321 and the rotating splint 322 clamp the infusion catheter under the action of the torsion spring.

[0036] In order to facilitate the separation of the infusion catheter and the clamping tool 320 after the precise puncture is completed, the above-mentioned reset motor can overcome the compressive force of the torsion spring, so that the fixed splint 321 and the rotating splint 322 are opened. At this time, since there is no groove 323 on the fixed splint 321, the clamping tool 320 does not need to move downward when exiting, and can be directly exited in the opposite direction of the precise puncture direction.

[0037] In order to prevent the patient's hand movement from affecting the normal progress of intravenous infusion, this embodiment also includes a fixing component 400. The fixing component 400 is installed in the hand placement area 111 of the housing 100. The fixing component 400 has a fixing cavity for fixing the hand.

[0038] In one embodiment, the fixing assembly 400 includes a fixing belt 410 , both ends of which are fixedly connected to the housing 100 , and a fixing cavity located in the hand placement area 111 is formed between the fixing belt 410 and the housing 100 .

[0039] like Figure 4 As shown, in order to adapt to the shape and size of the hands of different patients, Figure 1 and Figure 5As shown, in one embodiment, the fixing assembly 400 further includes two sliders 420 and a second driving member, the two ends of the fixing belt 410 are respectively connected to the two sliders 420, the two sliders 420 are slidably connected to the housing 100 along the length direction of the hand placement area 111, the second driving member is fixedly connected to the housing 100, and the output end of the second driving member is connected to the two sliders 420 for driving the two sliders 420 to slide synchronously.

[0040] To facilitate the synchronous sliding of the two sliders 420, the fixed assembly 400 further includes a connecting frame 421 connecting the two sliders 420. Furthermore, to enhance the sliding stability of the two sliders 420, the fixed assembly 400 further includes two second guide rails 422 mounted on the housing 100. The two sliders 420 are slidably connected to the two second guide rails 422, respectively. It should be noted that the second driving member can be implemented using a linear motor, a pneumatic cylinder, or other structure, which is connected to the connecting frame 421 to drive the two sliders to slide synchronously.

[0041] To facilitate wearing and fixing, in one embodiment, the fixing assembly 400 further includes two winding members 430 , which are respectively mounted on the two sliders 420 , and the winding ends of the two winding members 430 are respectively connected to the two ends of the fixing belt 410 .

[0042] The two winding members 430 can adopt a structure similar to a winding machine. When the winding member 430 is unwinding, the fixed cavity formed between the fixing belt 410 and the shell 100 gradually becomes larger. When the winding member 430 is rewinding, the fixed cavity formed between the fixing belt 410 and the shell 100 gradually becomes smaller. Therefore, before wearing, the winding member 430 is unwound, and after the patient's hand passes through the fixed cavity, the winding member 430 is rewound until the fixing belt 410 is close to the patient's hand.

[0043] In one embodiment, the fixing assembly 400 also includes a torque sensor installed on the winding member 430. When tightening, there will be a torque output. The value is set according to the experience. When it is detected that the torque of the winding members 430 on both sides reaches the set value, we believe that the tightening operation has been completed, stop tightening, and maintain the current state.

[0044] It is understandable that the fixing belt 410 may also be implemented by a clamping member or other structures, and this is not limited.

[0045] To prevent the patient's hands from hanging in the air, this embodiment further includes an armrest 500 fixedly arranged at the end of the housing 100 along the hand placement area 111, so that the fingers and palms can rest on the armrest 500.

[0046] like Figure 7 As shown, the present invention also provides an intravenous infusion control method, comprising the intravenous infusion device as described above, and further comprising the following steps: Step S100: The image acquisition component obtains the three-dimensional coordinate information of the vascular structure of the back of the hand; Step S200: The controller controls the movement of the moving element according to the three-dimensional coordinate information of the vascular structure.

[0047] In this embodiment, the image acquisition component is equipped with a computer vision algorithm model and the model is trained. The training process is as follows: Step S110: collecting an image of the back of the hand illuminated by the angiography device; Step S120: labeling the blood vessels in the image; Step S130: Divide the processed images into a training set, a test set, and a validation set; Step S140: using the training set to train the computer vision algorithm model; Step S150: using the test set to verify the computer vision algorithm model; Step S160 : instructing the device to conduct an experiment, providing an image recognition AP value, and taking a new experimental blood vessel development image.

[0048] The computer vision algorithm model has a high accuracy after training. During the recognition process, the model marks the corresponding position in the development image in the current state captured by the camera with a marking box. After marking, the image is sheared, retaining the absolute coordinates of the pixel points on the original image, while removing the image outside the recognition box and retaining the local image. The local image is binarized, and in the image obtained after binarization, the area outside the vascular structure will be given two completely opposite contrasting colors of black and white, and the numerical values corresponding to the pixel points are completely opposite. At this time, since the binarization can be forward or reverse, this application assumes that the vascular structure appears white after binarization. After obtaining the binarized image, the coordinates of the white area are extracted, and the extracted pixel coordinates are plotted in another blank coordinate system. At this time, the target area for intravenous infusion operations on the XY plane is obtained. The specific process is as follows: Step S170: collecting blood vessel imaging images; Step S180: identifying local features of blood vessels; Step S190: Segment the image based on the blood vessel recognition frame, but do not merge it; Step S1100: Calculate the area and position of the recognition frame using the coordinates of the fixed points of the recognition frame. The pixel coordinates of the four vertices of the recognition frame are extracted to obtain the lengths of the sides of the recognition frame between the vertices and the distance between the recognition frame and the edge of the image. The area of the recognition frame is directly calculated using the side lengths, and the distances between the four borders and the nearest boundary are calculated. Step S1110: Select a larger recognition frame that is closer to the center of the image; Step S1120, performing binarization processing on the image; Step S1130: The blood vessel region and the surrounding region are assigned different black and white sides; Step S1140: extracting the pixel coordinates of the preset color and plotting them in a new coordinate system; Step S1150: Obtain the target area on the X and Y planes.

[0049] After positioning is completed, the coordinates of the target point on the image plane are obtained, which are two-dimensional coordinates without depth information. At this time, only the plane position can be determined. Regarding the position information in the Z direction, this application completes it by shooting images with the second camera and the third camera on the side.

[0050] Since the X and Y coordinates are obtained, when we stipulate that the X axis is parallel to the length direction, we can determine the corresponding Z coordinate based on the extracted X coordinate area, that is, obtain the three-dimensional coordinate information of the vascular structure of the back of the hand.

[0051] The three-dimensional coordinate information controls the movement of the moving element, specifically the needle's movement relative to the buried pipe structure. The initial position considered in the design is at its maximum Z value, farthest from the positioning point. Positioning in the X and Y planes is first performed at a distance, and then motion control in the Y direction is performed.

[0052] After reaching the end point of the preparation process, the precise puncture process begins. The speed of the end point is controlled. When the angle needs to be changed, the angle is adjusted by maintaining the end point position unchanged and only adjusting the angle (this is achieved by the robotic arm. This process refers to relevant medical operation specifications). It should be noted that during the puncture process, the movement speed of the needle needs to be precisely controlled. The control method is as follows: A pressure sensor, installed at the base of the infusion catheter, detects skin entry and pressure changes in real time. Upon contact with the skin, pressure gradually increases, then drops sharply to a lower value upon entering the vascular structure. By monitoring pressure, the system can determine whether the infusion catheter has entered. The following formula for pressure change is used, where P is pressure, F is force, and A is the area of the infusion catheter in contact with the skin.

[0053] ; When the pressure detected by the pressure sensor reaches the set value, the system will stop the moving part to ensure the appropriate depth. The puncture speed will be adjusted according to the real-time pressure data to maintain a stable puncture process.

[0054] During the precise puncture process, deviations may occur due to patient movement or equipment errors, affecting the accuracy of infusion catheter insertion. To correct such deviations, this patent adopts the following strategies: (1) The computer vision algorithm model is used to identify the location of the vascular structure in real time and obtain precise coordinates. The insertion direction of the infusion catheter can be determined based on these coordinates to ensure that the insertion direction of the infusion catheter is consistent with the direction of the vascular structure; (2) Through multiple cameras and image processing algorithms, the system can not only obtain the position in the X and Y directions, but also obtain the depth information of the Z axis through stereo cameras, thereby fully determining the three-dimensional position.

[0055] (3) When deviation occurs during the puncture process, the system will use the PID control algorithm to make corrections. The PID control algorithm adjusts the speed and angle of the robotic arm according to the real-time deviation to ensure that the infusion catheter can accurately enter the target vascular structure.

[0056] The speed of puncture is crucial for needle positioning. The system uses pressure sensors and computer vision to adjust the insertion speed of the infusion catheter. Initially, the speed is slow to prevent the catheter from penetrating the skin too quickly. As it approaches, the speed gradually increases, but does not exceed the set value. To prevent deviations due to vibration or equipment errors, the system has installed inertial sensors (such as accelerometers and gyroscopes) on the working arm to monitor its motion in real time. Feedback from these sensors allows the system to correct for motion deviations caused by vibration and other factors.

[0057] Compared with the existing technology: the needle is fixed on the clamping end of the clamping tool 320, and at the same time, the patient's hand is placed in the hand placement area 111. At this time, the image acquisition component 200 collects image information, and the controller receives and processes the image information to obtain the three-dimensional coordinate information of the vascular structure of the patient's hand. The controller controls the movement of the moving part 310 to move the clamped needle along the area close to the vascular structure until the puncture function is completed, replacing the manual intravenous infusion work.

[0058] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. An intravenous infusion device, characterized in that: include: a housing having a hand placement area; An image acquisition component, wherein the acquisition end of the image acquisition component is arranged facing the hand placement area; An intravenous infusion assembly, comprising a moving part and a clamping fixture, wherein the moving part is mounted on the housing, an output end of the moving part is connected to the clamping fixture, and the clamping fixture has a clamping end; A controller is electrically connected to the image acquisition component for receiving and processing image information. The controller is electrically connected to the moving part for controlling the movement of the moving part according to the image information.

2. The intravenous infusion device according to claim 1, characterized in that The moving part includes a driving truss, a first driving part and a robotic arm. The driving truss is slidably connected to the shell along the length direction of the hand placement area. The first driving part is installed on the shell and its output end is connected to the driving truss to drive the driving truss to slide. The robotic arm is installed on the driving truss, and the execution end of the robotic arm is connected to the clamping tooling.

3. The intravenous infusion device according to claim 1, characterized in that: The clamping tooling includes a fixed clamping plate and a rotating clamping plate, the fixed clamping plate is fixedly connected to the output end of the movable part, the rotating clamping plate is rotatably connected to the fixed clamping plate, an adjustable clamping gap is formed between the rotating clamping plate and the fixed clamping plate, and a groove for fixing the needle is provided on the side of the rotating clamping plate close to the fixed clamping plate.

4. The intravenous infusion device according to claim 3, characterized in that: The clamping tool also includes a rotating shaft, a torsion spring and a reset motor. The rotating shaft is rotatably connected to the fixed splint, and both ends of the rotating shaft are fixedly connected to the rotating splint. The torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected to the fixed splint, and the other end of the torsion spring is connected to the movable splint, which is used to drive the rotating splint to rotate in a direction close to the fixed splint. The reset motor is installed on the fixed splint, and the output shaft of the reset motor is connected to the rotating shaft through a gear pair.

5. The intravenous infusion device according to claim 1, characterized in that: It also includes a fixing component, which is installed in the hand placement area of the shell and has a fixing cavity for fixing the hand.

6. The intravenous infusion device according to claim 5, characterized in that: The fixing assembly includes a fixing belt, both ends of which are fixedly connected to the shell, and a fixing cavity located in the hand placement area is formed between the fixing belt and the shell.

7. The intravenous infusion device according to claim 6, characterized in that: The fixing assembly also includes two sliders and a second driving member. The two ends of the fixing belt are respectively connected to the two sliders. The two sliders are slidably connected to the shell along the length direction of the hand placement area. The second driving member is fixedly connected to the shell. The output end of the second driving member is connected to the two sliders for driving the two sliders to slide synchronously.

8. The intravenous infusion device according to claim 7, characterized in that: The fixing assembly further includes two winding members, which are respectively mounted on the two sliding blocks, and the winding ends of the two winding members are respectively connected to the two ends of the fixing belt.

9. The intravenous infusion device according to claim 1, characterized in that: The housing includes a supporting base and an upper cover, one side of the upper cover is rotatably connected to the supporting base, and the upper cover can be rotated to a position where the other side thereof abuts against the supporting base, forming the hand placement area between the upper cover and the supporting base.

10. A method for controlling intravenous infusion, characterized in that: The intravenous infusion device according to any one of claims 1 to 9 further comprises the following steps: The image acquisition component obtains the three-dimensional coordinate information of the vascular structure of the back of the hand; The controller controls the movement of the moving part according to the three-dimensional coordinate information of the vascular structure.

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