Blood sampling device

Abstract

The present invention provides a blood sampling device capable of effectively and inexpensively puncturing a finger at an appropriate depth regardless of the character of the finger of a person to be sampled. This blood sampling device is provided with: a puncture part (120) having a puncture needle (121); a puncturing mechanism that moves the puncturing part (120) and punctures a finger (134) of the person to be sampled with a puncturing needle (121); and a control unit for controlling the operation of the puncturing mechanism, the puncturing mechanism being a mechanism for puncturing the finger (134) with the puncturing needle (121) by raising the puncturing part (120) from below the finger (134), the control unit controlling the operation of the puncturing mechanism to drive the raising and lowering of the puncturing part, and stopping the raising of the puncturing part (120) by the puncturing mechanism by detecting the contact between the puncturing part (120) and the finger (134).

Description

TECHNICAL FIELD

[0001] The present application relates to a blood sampling device that automatically samples blood from a finger of a blood donor. BACKGROUND

[0002] In the past, a blood sampling device that automatically samples blood from a finger of a blood donor has been developed. As a blood sampling device that automatically samples blood, there is one that places a finger of a blood donor at a prescribed finger placement, automatically punctures the finger with a puncture needle, and collects blood that flows from a puncture site into a blood collection tube.

[0003] Patent Document 1 describes a blood sampling device that automatically samples blood from a finger of a blood donor. The blood sampling device is configured to puncture a finger with a puncture needle by raising a puncher carriage in which the puncture needle is built from below the finger. When the puncher carriage is pushed by a push rod member, the finger comes into contact with the puncher, and the finger is punctured by the puncher by receiving a load of a certain amount or more.

[0004] Patent Document 2 describes a blood testing device that punctures a finger with a laser to thereby supply blood to a blood sensor. The blood testing device includes a finger restricting member for restricting the position of the finger. By restricting the position of the finger with the finger restricting member, blood that flows from the finger is easily stored in a storage portion.

[0005] Patent Document 3 describes a body fluid collection assisting tool used when collecting a body fluid from a puncture site on a living body surface. The body fluid collection assisting tool is configured to adjust the puncture depth of a puncture needle against a fingertip by a knob type adjustment portion. The puncture depth of the puncture needle against the fingertip is set to a depth corresponding to individual differences of the blood donor or the puncture site. PRIOR ART DOCUMENTS PATENT DOCUMENTS

[0006] Patent Document 1: Japanese Patent Laid-Open No. 2017-225519 Patent Document 2: Japanese Patent Laid-Open No. 2009-089818 Patent Document 3: Japanese Patent Laid-Open No. 2006-223320 SUMMARY PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] In a blood sampling device that automatically samples blood, when blood is sampled from a finger of a blood donor, it is necessary to puncture the finger with a puncture needle not too much and not too little. If the puncture is insufficient, it can not reach a blood vessel, or it can not ensure the required amount of blood sampling, so it is necessary to ensure sufficient puncture depth. On the other hand, if the puncture is excessive, strong puncture pain sometimes occurs, so it should be avoided to exceed the necessary puncture depth.

[0008] In an automatic blood sampling device, the automatic movement of a puncture portion in which a puncture needle is installed from an initial position to a position at which a finger of a subject is punctured is controlled. In the blood sampling device, a function of ensuring an appropriate puncture depth is required in order to perform puncture of an appropriate amount. It is required to press the finger after accurately moving the puncture portion in which the puncture needle is installed from the initial position to a position close to the surface of the finger placed at a finger placement so that the tip of the puncture needle is within a prescribed puncture depth range.

[0009] As an automatic blood sampling device, there is a device in which a finger of a subject is punctured with a puncture needle and blood flowing from a puncture site is automatically collected into a blood collection tube. In this case, a window-like opening that penetrates in the up-down direction is sometimes provided at a finger placement. A finger of a subject is placed at the finger placement so that the side of the finger pulp is exposed downward from the opening. In this case, a puncture portion in which a puncture needle is installed is caused to rise from below the finger placed at the finger placement, and the puncture needle is caused to perform puncture. Therefore, the rise of the puncture portion is driven so that the tip of the puncture needle is within a prescribed puncture depth range.

[0010] However, there are individual differences in the thickness, the thickness, the distance from the surface to the blood vessel, the degree of swelling at the time of congestion, and the like of a finger of a subject. When a finger of a subject is placed at a finger placement provided with an opening, the width in the up-down direction and the like of the finger protruding downward from the opening also have various individual differences. In this case, there is a problem in that it is difficult to cause the tip of a puncture needle installed to a puncture portion to be within a prescribed puncture depth range.

[0011] In the technology described in Patent Literature 1, the puncture device holder is simply pushed upward by the push lever member, and thus there is room for improvement in this individual difference problem. In addition, the technology described in Patent Literature 2 is to perform puncture using a laser, and does not take countermeasures against this individual difference problem. In addition, the technology described in Patent Literature 3 performs knob adjustment, and there is an obstacle in applying it to a blood sampling device that automatically performs blood sampling.

[0012] As a method of adjusting the puncture depth, there is a method of sensing the distance to the finger blood vessel for each person, a method of measuring the finger of a subject in advance for each person, and the like. A method of controlling the puncture portion in which a puncture needle is installed to a target movement amount corresponding to the measurement result based on these measurement results is considered. However, this method has a problem in that the blood sampling work is troublesome or the equipment cost increases.

[0013] Therefore, an object of the present application is to provide a blood sampling device capable of effectively and at low cost performing puncture of an appropriate depth on a finger regardless of the properties of a finger of a subject. Technical Solution to Solve the Technical Problem

[0014] To solve the above problems, the blood collection device according to the present disclosure includes a puncture portion having a puncture needle, a puncture mechanism that moves the puncture portion and punctures a finger of a blood collector with the puncture needle, and a control portion that controls an operation of the puncture mechanism, the puncture mechanism is a mechanism that raises the puncture portion from below the finger and punctures the finger with the puncture needle, and the control portion controls the operation of the puncture mechanism to drive raising and lowering of the puncture portion, and stops the puncture mechanism from raising the puncture portion by detecting contact of the puncture portion with the finger. Effects of Invention

[0015] According to the present disclosure, a blood collection device can be provided that can effectively and inexpensively puncture a finger to an appropriate depth regardless of the characteristics of the finger of a blood collector. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is an appearance view of a blood collection device according to an embodiment of the present disclosure. Figure 2 is a cross-sectional view schematically showing one example of a puncture mechanism of a blood collection device according to an embodiment of the present disclosure. Figure 3 is a cross-sectional view illustrating a difference in distance between a finger of a blood collector and a puncture needle due to individual differences. Figure 4A is a cross-sectional view illustrating an operation of a detection mechanism. Figure 4B is a cross-sectional view illustrating an operation of a detection mechanism. Figure 5A is a view showing an application example of a puncture mechanism and a detection mechanism. Figure 5B is a view showing an application example of a puncture mechanism and a detection mechanism. Figure 6A is a view showing an application example of a puncture mechanism and a detection mechanism. Figure 6B is a view showing an application example of a puncture mechanism and a detection mechanism. DETAILED DESCRIPTION

[0017] Hereinafter, a blood collection device according to one embodiment of the present disclosure will be described. In addition, the same reference numerals are assigned to common structures in the following drawings, and repetitive descriptions will be omitted.

[0018] Figure 1 is an appearance view of a blood collection device according to an embodiment of the present disclosure. Figure 1 In the present embodiment, a finger blood collection device for automatically collecting blood from a finger of a blood collector is shown as one example of a blood collection device. Figure 1The reference numeral P in the figure is an enlarged partial view showing the surrounding area of ​​the finger placement portion of the blood collection device as viewed from below.

[0019] like Figure 1 As shown, the blood collection device 1 involved in this embodiment includes: a shell 10, a turntable 11, a plurality of brackets 110 as a setting place for blood collection tubes, a plurality of modules 120 equipped with puncture devices or hemostatic materials, a cuff mechanism 130, a rotation drive mechanism (not shown) for rotating the turntable 11, a lifting drive mechanism (not shown) for raising and lowering the bracket 110 or the module 120, a pressure adjustment mechanism (not shown) for driving the cuff mechanism 130, etc.

[0020] The housing 10 is formed from multiple structural materials, decorative panels, and other components. The turntable 11, the rotation drive mechanism, the lift drive mechanism, the pressure adjustment mechanism, and other components are integrated within the housing 10. The upper surface of the housing 10 includes a hand rest for the patient's hand and a circular opening adjacent to the hand rest. The turntable 11 is positioned below the opening.

[0021] A cuff mechanism 130 and a finger rest 131 are positioned on the opening side of the hand rest. The cuff mechanism 130 is mounted above the finger rest 131 to enclose the subject's finger 134, which is placed on the finger rest 131. As shown in detail in FIG. P, a disposable finger rest 132 is attached to the finger rest 131. A window-like opening 133, serving as a through hole, is formed in the center of the finger rest 132. The subject's finger 134 is placed on the blood collection window 133 of the finger rest 132.

[0022] The cuff mechanism 130 is a mechanism that tightens the circumference of the patient's finger (the patient's finger) 134. The cuff is placed at the finger placement area 131 to surround the patient's finger 134. The cuff is, for example, in the form of a flexible bag and is connected to a valve or pump via a tube. The valve or pump constitutes a pressure adjustment mechanism for driving the cuff mechanism 130. The pressure adjustment mechanism controls the internal pressure of the cuff to adjust the tightening pressure on the patient's finger 134.

[0023] The turntable 11 is generally disk-shaped and supported within the housing 10 with its main surface facing vertically. The turntable 11 is provided with multiple locations for holding the bracket 110 or various modules 120. For example, multiple retaining holes are provided that extend vertically through the turntable 11. The bracket 110 or modules 120 are retained in the retaining holes by being inserted vertically therethrough. The locations for holding the bracket 110 or modules 120 are spaced apart and regularly arranged along the circumference of the turntable 11.

[0024] The tray 110 is a setting place of blood collection tubes, and various blood collection tubes such as blood collection tubes for routine blood tests, blood collection tubes for biochemical / immunological tests, and the like are provided. A blood collection tube having a prescribed size or an outer tube that accommodates a blood collection tube can be provided on the tray 110. The outer tube is used to adjust the size or the like of the setting object with respect to the setting place of the blood collection tube.

[0025] The tray 110 or the module 120 is freely detachably provided on the turntable 11. A flange-like portion having a diameter larger than the inner diameter of the holding hole of the turntable 11 is formed on the tray 110 or the module 120. The tray 110 or the module 120 is inserted into the holding hole, and the flange-like portion is supported from below, so that the tray 110 or the module 120 is held in a state capable of being raised and lowered in the up-and-down direction within the holding hole.

[0026] As the module 120, modules of different kinds such as a module for puncture, a module for hemostasis, and the like can be installed. A puncture device is installed on the module for puncture. The puncture device has a puncture needle (lancet) built in. A gauze or the like hemostatic material, a protective material such as a band-aid, and the like are installed on the module for hemostasis.

[0027] When the puncture device is pressed against the finger or the like of the blood donor, the puncture needle is caused to protrude and puncture the finger of the blood donor. The gauze or the like hemostatic material is pressed against the puncture site of the blood donor, absorbs blood flowing from the puncture site, and performs hemostasis. The protective material such as the band-aid is pressed and attached to the puncture site of the blood donor to cover the puncture site, and seals, hemostasis, and protects the puncture site. The band-aid is installed on the module 120 with the adhesive surface facing upward.

[0028] Figure 2 is a cross-sectional view schematically showing one example of a puncture mechanism of a blood collection device according to an embodiment of the present application. Figure 2 is a cross-sectional view schematically showing one example of a cross-sectional structure of the periphery of the turntable 11 provided inside the blood collection device 1. As shown in Figure 2 In the blood collection device 1, the turntable 11, the lifting member 12, the base member 20, the movable support member 30, and the like are built in below the opening of the housing 10.

[0029] The compression coil spring 21 and the detection sensor 22 are installed to the base member 20. The movable support member 30 is supported on the upper end side of the compression coil spring 21. A detection target portion 31 detected by the detection sensor 22 is formed on the movable support member 30. The upper end side of the movable support member 30 is a portion that pushes upward a module 120 for puncture or the like provided on the turntable 11.

[0030] The shaft 12, not shown, is connected to the center of the turntable 11. The other end of the shaft is connected to the output shaft of the motor via a power transmission mechanism. The power transmission mechanism transmits the rotational motion of the motor to the shaft through a prescribed mechanical mechanism. The shaft is rotated by the motor, and the turntable 11 can be rotated in both clockwise and counterclockwise directions with the shaft as the axis of rotation.

[0031] The rotation of the turntable 11 by a prescribed step angle with the shaft as the axis of rotation is controlled in accordance with the blood collection operation or the treatment operation. By the rotation of the turntable 11, the carriers 110 and the modules 120 are sequentially conveyed to the blood collection positions where the finger placement portions 131 are formed.

[0032] At the blood collection position, the module 120 for puncture uses a puncture needle to puncture, the module 120 for hemostasis uses a gauze to apply hemostasis, and the module 120 for hemostasis uses a band-aid to attach. After the finger 134 of the person to be bled is pressed by the cuff 136, the puncture needle is punctured by the module 120 for puncture. The blood flowing from the puncture site is collected into the blood collection tube that has been moved to the blood collection position on the turntable 11.

[0033] Figure 2 FIG. 13 illustrates a state in which the module 120 for puncture is conveyed to the blood collection position. The puncture device 122 in which the puncture needle 121 is built-in is installed on the module 120 for puncture. The module 120 for puncture constitutes a detachable puncture portion with the puncture needle 121. The puncture of the puncture needle 121 against the finger 134 of the person to be bled is performed by pushing the module 120 for puncture as the puncture portion upward.

[0034] The operation of the module 120 for puncture as the puncture portion is driven by a puncture mechanism. The puncture mechanism is a mechanism that moves the module 120 for puncture as the puncture portion and punctures the finger 134 of the person to be bled with the puncture needle 121. The puncture mechanism raises the module 120 for puncture as the puncture portion from below the finger 134 of the person to be bled and punctures the finger 134 of the person to be bled with the puncture needle 121. The puncture mechanism is constituted by the lifting member 12, the base member 20, the movable support member 30, a lifting drive mechanism that lifts them in the up-and-down direction, and the like.

[0035] The lifting member 12 is disposed below the blood collection position. The lifting member 12 is supported by a lifting drive mechanism, not shown, and can be freely lifted in the up-and-down direction. The lifting drive mechanism is constituted by a motor or a power transmission mechanism. The power transmission mechanism connects the output shaft of the motor and the lifting member 12 via a prescribed mechanical mechanism. The rotational motion of the motor is converted into the straight motion in the up-and-down direction by the power transmission mechanism. The lifting member 12 is driven to perform the lifting motion in the up-and-down direction by such a mechanism.

[0036] The base member 20 is supported by the lifting member 12. The base member 20 connects the lifting member 12 and the movable support member 30, and supports the compression coil spring 21 and the detection sensor 22. The base member 20 supports the compression coil spring 21 and the detection sensor 22 at a prescribed relative position with respect to the lifting member 12. The base member 20, the compression coil spring 21, the detection sensor 22, and the movable support member 30 can perform a lifting motion integrally with the lifting member 12.

[0037] The movable support member 30 is lifted integrally with the lifting member 12, and pushes up the cradle 110 and the module 120 conveyed to the blood collection position from below. By the movable support member 30 being lifted, the module 120 for puncture as a puncture portion comes into contact with the finger 134 of the blood donor, and the puncture needle punctures the finger 134 of the blood donor. Further, the blood collection tube held by the cradle 110, and the module 120 on which a hemostatic material or a protective material is mounted are pressed against the finger 134 of the blood donor, and a blood collection or hemostasis process or the like is performed.

[0038] The blood collection device 1 includes a control portion not shown which controls the operation of the puncture mechanism. The control portion controls the operation of the puncture mechanism composed of a lifting drive mechanism or the like, and drives the lifting and lowering of the module 120 for puncture as a puncture portion with respect to the finger placement 131. The control portion is composed of a controller such as a PLC (Programmable Logic Controller). The lifting of the module 120 for puncture as a puncture portion with respect to the finger 134 of the blood donor is driven by a control input from the control portion.

[0039] The compression coil spring 21 and the detection sensor 22 form, together with a detection target portion 31 formed on the movable support member 30, a detection mechanism which detects the puncture of the puncture needle 121 into the finger 134 of the blood donor. The detection mechanism has a structure which utilizes the elastic contraction of the compression coil spring 21, and is configured to detect the puncture by a mechanical mechanism. In the present embodiment, the detection target portion 31 is formed at an intermediate portion in the up-and-down direction of the movable support member 30. Figure 2

[0040] In the blood collection device 1 according to the present embodiment, the contact of the module 120 for puncture as a puncture portion with the finger 134 of the blood donor is detected by the detection mechanism, and the puncture depth into the finger 134 of the blood donor is adjusted to be within an appropriate range. If the puncture depth is adjusted to be within the appropriate range, the puncture is performed to be neither too much nor too little even in the case where there are individual differences in the finger 134 of the blood donor. Thus, the puncture pain or the like caused by the puncture of the puncture needle 121 can be avoided while the required amount of blood collection is stably ensured.

[0041] Figure 3 is a sectional view which illustrates the difference in the distance between the finger of the blood donor and the puncture needle due to individual differences.​Figure 3 In FIG. 10, a part of the constituent elements is omitted and one example of a cross-sectional structure around the turntable 11 provided inside the blood collection device 1 is schematically shown. Figure 3 In FIG. 10, the solid line showing the finger 134 of the person to be bled shows an example of the position of the finger when the thickness of the finger is standard. The dotted line shows an example of the position of the finger when the thickness of the finger is thicker than the standard. The dashed-dotted line shows an example of the position of the finger when the thickness of the finger is thinner than the standard.

[0042] The reference symbol D shows the distance between the finger placement 131 and the reference position on the module 120 for puncture stopped at the initial position. As the reference position, the position that becomes the reference of the control amount of movement, the position of the upper end height of the module 120 or the like can be cited.

[0043] The reference symbol D A shows the distance between the finger and the reference position on the module 120 for puncture at the initial position when the thickness of the finger is standard, the reference symbol D S shows the distance between the finger and the reference position on the module 120 for puncture at the initial position when the thickness of the finger is thicker than the standard, the reference symbol D L shows the distance between the finger and the reference position on the module 120 for puncture at the initial position when the thickness of the finger is thinner than the standard.

[0044] As shown in Figure 3 , the distance between the finger 134 of the person to be bled placed in the finger placement 131 of the blood collection device 1 and the puncture needle 121 of the module 120 for puncture at the initial position is sometimes different for each person to be bled due to individual differences in the finger 134 of the person to be bled. Therefore, in order to adjust the puncture depth for the finger 134 of the person to be bled to an appropriate range, it is necessary to appropriately control the amount of upward movement of the module 120 for puncture, which is the puncture portion having the puncture needle 121, with respect to the finger 134 of the person to be bled.

[0045] As the puncture device 122, there is a way in which the puncture needle 121 is protruded by a spring. The puncture needle 121 is fixed to a holding sleeve capsule built in the puncture device 122. A drive spring is built in the lower side of the puncture needle 121 or the holding sleeve capsule. A return spring is built in the upper side of the puncture needle 121. The holding sleeve capsule is provided with a structure that starts to deform when the puncture device 122 comes into contact with the finger 134 of the person to be bled, and opens the puncture needle 121 when a prescribed deformation occurs.

[0046] In this manner, when puncture device 122 contacts the patient's finger 134, puncture needle 121 and the retaining cuff are pushed downward, and the drive spring elastically contracts. As puncture needle 121 and the retaining cuff are pushed further downward, the retaining cuff deforms, releasing puncture needle 121. The puncture needle is then pushed out by the drive spring, puncturing the patient's finger 134. The pushed-out puncture needle contracts the return spring, and the return spring's restoring force pulls the needle downward.

[0047] In this method, since the protrusion amount of the puncture needle 121 is approximately constant, the puncture depth needs to be adjusted primarily based on the amount of upward movement of the puncture module 120, which serves as the puncture unit. When the puncture module 120 is raised, at least an external force is required to activate the retaining cuff or the drive spring, and a minimum external force is required to cause contact between the puncture tool 122 mounted on the puncture module 120 and the patient's finger 134.

[0048] Individual differences exist in the size and thickness of the blood collection subject's finger 134. Furthermore, the placement of the blood collection subject's finger 134 on the finger rest 131 of the blood collection device 1 and its response to the pressure of the cuff 136 may vary from person to person. When the blood collection subject's finger 134 is placed in the finger rest 131 or is compressed by the cuff 136, individual differences may occur in the distance from the surface of the fingertip to the blood vessels, the degree of swelling caused by blood congestion, and other factors.

[0049] like Figure 3 As shown by the middle dashed line, when the finger 134 of the person being blooded is thicker, the distance D between the finger 134 of the person being blooded and the reference position on the puncture module 120 at the initial position is S Less than the standard distance D A In this case, if the puncture depth is not properly adjusted, the finger 134 of the person being blooded may not be punctured enough. The puncture needle 121 may not reach the blood vessel, or the puncture needle 121 may not damage the blood vessel wall enough, and the required blood collection volume may not be ensured.

[0050] In addition, if Figure 3 As shown by the midpoint line, when the finger 134 of the blood collection subject is thin, the distance D between the finger 134 of the blood collection subject and the reference position on the puncture module 120 at the initial position is L Greater than the standard distance D A In this case, if the puncture depth is not properly adjusted, the finger 134 of the person being blood drawn may be punctured excessively. This may cause severe puncture pain due to the puncture of the puncture needle 121, or the puncture site may be difficult to heal.

[0051] In the blood sampling device 1 according to the present embodiment, the amount of movement of the module 120 for puncture from the initial position toward the side of the finger 134 of the person to be sampled is controlled to a prescribed amount of movement that is set in advance for a plurality of persons to be sampled who have individual differences in the thickness, thickness, and the like of the finger. By controlling the amount of movement to a common amount of movement for each person, a setting is achieved in which the puncture will not be insufficient, and excessive puncture is prevented by the mechanical mechanism, effectively adjusting the depth of puncture to an appropriate range.

[0052] In the blood sampling device 1 according to the present embodiment, the amount of movement of the module 120 for puncture from the initial position toward the side of the finger 134 of the person to be sampled is controlled to a prescribed amount of movement that is set in advance for a plurality of persons to be sampled who have individual differences in the thickness, thickness, and the like of the finger. By controlling the amount of movement to a common amount of movement for each person, a setting is achieved in which the puncture will not be insufficient, and excessive puncture is prevented by the mechanical mechanism, effectively adjusting the depth of puncture to an appropriate range.

[0053] Further, in the blood sampling device 1 according to the present embodiment, the upward movement of the module 120 for puncture with respect to the finger 134 of the person to be sampled is stopped by detecting contact of the module 120 for puncture with the finger 134 of the person to be sampled. The lift drive mechanism that lifts the module 120 for puncture that is the puncture portion is controlled by the control portion to reach the target amount of movement (D + a) that is set in advance, and the upward movement of the module 120 for puncture is stopped by detecting contact of the module 120 for puncture with the finger 134 of the person to be sampled.

[0054] Figure 4A and Figure 4B is a sectional view that illustrates the operation of the detection mechanism. Figure 4A and Figure 4B In FIG. 8, a portion of the components around the turntable 11 is omitted, and the operation of the detection mechanism that detects contact of the module 120 for puncture with the finger 134 of the person to be sampled is schematically illustrated. Figure 4A A state before the module 120 for puncture comes into contact with the finger 134 of the person to be sampled is illustrated. Figure 4B A state after the module 120 for puncture comes into contact with the finger 134 of the person to be sampled is illustrated.

[0055] As illustrated in FIGS. 9 and 10, contact of the module 120 for puncture with the finger 134 of the person to be sampled is detected by the elastic member that constitutes the detection mechanism, the compression coil spring 21, the detection sensor 22, and the detection target portion 31. Figure 4A and Figure 4B As illustrated in FIGS. 9 and 10, contact of the module 120 for puncture with the finger 134 of the person to be sampled is detected by the elastic member that constitutes the detection mechanism, the compression coil spring 21, the detection sensor 22, and the detection target portion 31.

[0056] The compression coil spring 21 freely and elastically supports the movable support member 30 with respect to the base member 20. The compression coil spring 21 is arranged so that the direction of extension and contraction is parallel to the vertical direction. The relative position of the lower end side of the compression coil spring 21 with respect to the lift member 21 side is fixed. The upper end side of the compression coil spring 21 is fixed to the lower end side of the movable support member 30. The compression coil spring 21 exerts an upward force on the movable support member 30, and elastically contracts in the vertical direction when the movable support member 30 receives a downward force.

[0057] The spring constant of the compression coil spring 21 is set so as to be balanced with the load due to the weight of the movable support member 30 in the elastic displacement in the initial state, and to contract when the module 120 for puncturing receives an external force from the finger 134 of the blood donor. In the case where the puncturer 122 protrudes by the driving spring, the spring constant of the compression coil spring 21 needs to be set so as to contract under an external force that is greater than the external force that acts on the holding cuff or the driving spring to act.

[0058] The detection sensor 22 detects that the detection target portion 31 has moved to a prescribed position. The relative position of the detection sensor 22 with respect to the base member 20 and the lift member 12 is fixed. The detection sensor 22 is arranged in the vicinity of the movable support member 30 and below the detection target portion 31 that is lifted in the vertical direction. The detection sensor 22 can be supported on the upper portion of the base member 20 or the like.

[0059] In Figure 4A and Figure 4B and the like, a light breaker is provided as the detection sensor 22. The light breaker includes a light emitting element and a light receiving element as the detection portion 23 that detects the detection target portion 31. The light emitting element and the light receiving element are arranged on the lower portion side of the detection target portion 31 so as to face each other at a prescribed height. A gap is formed between the light emitting element and the light receiving element, in which gap the detection target portion 31 formed on the movable support member 30 can advance and retreat.

[0060] The light emitting element of the light breaker is formed by a light emitting diode or the like that emits infrared light or the like. The light receiving element is formed by a photodiode, a phototransistor, or the like that detects the light emission of the light emitting element. When the detection target portion 31 enters between the light emitting element and the light receiving element, the light from the light emitting element to the light receiving element is blocked, and the photocurrent generated by the light reception decreases, so that the detection target that does not have light transmission is detected.

[0061] According to the detection sensor 22, when the movable support member 30 is subjected to a downward force and compresses the compression coil spring 21, it is possible to detect that the detection target portion 31 has descended to a prescribed height. Therefore, by the detection of the detection target portion 31, it is possible to indirectly detect that the module for puncture 120 is in contact with the finger 134 of the person to be blood sampled. Since it is possible to limit the amount of movement of the module for puncture 120 without sensing the distance by an optical sensor or the like, it is possible to reduce the cost of the apparatus compared to a method of sensing the distance to the blood vessel of the finger.

[0062] As shown in FIG. 1, the module for puncture 120 is in a state of being pressed against the finger 134 of the person to be blood sampled by the compression coil spring 21. The movable support member 30 is pressed against the base member 20 by the compression coil spring 21, and the detection target portion 31 formed on the movable support member 30 is in a state of being detected by the detection sensor 22. Figure 4A As shown in FIG. 2, when the puncture needle 121 punctures the finger 134 of the person to be blood sampled, the drive base member 20 and the lifting member 12 are raised. Along with the raising of the base member 20, the movable support member 30 supported by the base member 20 is also raised, and the module for puncture 120 as the puncture portion is pushed upward to a height of being in contact with the finger 134 of the person to be blood sampled placed at the finger placement 131.

[0063] As shown in FIG. 3, before the module for puncture 120 comes into contact with the finger 134 of the person to be blood sampled, the compression coil spring 21 is in an elongated state, and the relative position of the movable support member 30 with respect to the base member 20 is on the upper side. The detection target portion 31 formed on the movable support member 30 is located above the detection portion 23, and is in a state of not being detected by the detection sensor 22. Figure 4A On the other hand, as shown in FIG. 4, when the module for puncture 120 comes into contact with the finger 134 of the person to be blood sampled, the puncture needle 121 protrudes from the puncture device 122 and punctures the finger 134 of the person to be blood sampled. In a state where the movable support member 30 is pressed by the compression coil spring 21 in the raising direction, the puncture needle 121 punctures the finger 134 of the person to be blood sampled. Therefore, in the case where the puncture device 122 protrudes by the drive spring, it is possible to easily secure an external force to keep the cuff or the drive spring in operation.

[0064] Figure 4B As shown in FIG. 5, when the module for puncture 120 comes into contact with the finger 134 of the person to be blood sampled, the module for puncture 120 receives a downward external force from the finger 134 of the person to be blood sampled. By such an external force, the module for puncture 120 and the movable support member 30 no longer rise, and the compression coil spring 21 is compressed. After the puncture portion comes into contact with the finger 134 of the person to be blood sampled, the compression coil spring 21 is in a compressed state, and the relative position of the movable support member 30 with respect to the base member 20 moves to the lower side. The detection target portion 31 formed on the movable support member 30 descends to the height of the detection portion 23 and is detected by the detection sensor 22.

[0065] As shown in FIG. 6, the module for puncture 120 is in a state of being pressed against the finger 134 of the person to be blood sampled by the compression coil spring 21. The movable support member 30 is pressed against the base member 20 by the compression coil spring 21, and the detection target portion 31 formed on the movable support member 30 is in a state of being detected by the detection sensor 22. Figure 4B As shown in FIG. 7, the module for puncture 120 is in a state of being pressed against the finger 134 of the person to be blood sampled by the compression coil spring 21. The movable support member 30 is pressed against the base member 20 by the compression coil spring 21, and the detection target portion 31 formed on the movable support member 30 is in a state of being detected by the detection sensor 22.

[0066] ​With such a detection mechanism, during the lifting of the driving base member 20 and the lifting member 12, the contact of the module for puncture 120 as a puncture portion with the finger 134 of the blood donor is detected. If the module for puncture 120 as a puncture portion is detected to be in contact with the finger 134 of the blood donor, a detection signal is transmitted from the detection sensor 22 to the control portion, and the lifting of the lifting member 12 is stopped by the control portion. By stopping the lifting of the lifting member 12, excessive puncture of the finger 134 of the blood donor can be prevented.

[0067] The moving amount of the module for puncture 120 from the initial position to the side of the finger 134 of the blood donor can be controlled to a fixed moving amount (D + a) that is set in advance for a plurality of blood donors who have individual differences in the thickness, thickness, and the like of the finger. As the prescribed amount a, the moving amount (D + a) is set to be longer than the standard distance D A so that even in the case where the finger 134 of the blood donor is thin or the like, insufficient puncture does not occur due to individual differences. For example, a margin that is longer than the difference between the distance D L corresponding to the prescribed standard deviation and the standard distance D A may be set.

[0068] Generally, a method of adjusting the puncture depth when blood is taken from a finger having individual differences is a method of controlling the moving amount of the puncture needle with respect to the finger of the blood donor to a target moving amount that coincides with the actually measured measurement result. As a measurement for setting the target moving amount, there are a method of measuring the distance between the puncture needle and the blood vessel of the finger of the blood donor for each person by a distance measuring sensor or the like, and a method of measuring the size or the like of the finger of the blood donor for each person in advance by a manual method.

[0069] However, when the distance between the puncture needle and the blood vessel of the finger of the blood donor is measured by a distance measuring sensor or the like, an optical sensor or the like is required, and there is a problem that the equipment cost increases. In addition, in the case of measuring in advance by a manual method, manual actual measurement, input work of inputting the measurement result, and the like are required for each blood donor, and there is a problem that the blood taking work becomes troublesome.

[0070] In this regard, in the blood sampling device 1 of the present embodiment, since the contact of the module for puncture 120 as the puncture portion with the finger 134 of the person to be sampled is detected by the detection mechanism using the mechanical mechanism, the puncture depth to the finger 134 of the person to be sampled can be adjusted effectively and at low cost within a range that is not too large or too small. Since the target movement amount (D + a) of the margin of the additional prescribed amount a is set in advance, and the movement of the puncture portion is stopped at the point in time when the contact of the module for puncture 120 as the puncture portion with the finger 134 of the person to be sampled is detected, even in the case where there are individual differences in the finger 134 of the person to be sampled, the pain and the like due to the puncture by the puncture needle 121 can be avoided, and the required amount of blood sampling can be stably ensured. Since appropriate blood sampling can be performed automatically, a blood sampling device 1 with high reliability in which blood sampling is performed automatically from the finger of the person to be sampled can be obtained.

[0071] Further, the contact of the module for puncture 120 as the puncture portion with the finger 134 of the person to be sampled is detected by detecting the descent of the movable support member 30 that occurs when the module for puncture 120 as the puncture portion comes into contact with the finger, that is, the descent against the force of the compression coil spring 21. Therefore, by adjusting the spring constant of the compression coil spring 21, the contact of the module for puncture 120 with the finger 134 of the person to be sampled can be detected using the mechanical mechanism.

[0072] Further, the descent of the movable support member 30 is detected by the detection object portion 31 that is raised and lowered with respect to the base member 20 together with the movable support member 30, and the detection sensor 22 that detects that the detection object portion 31 has moved to the prescribed position. Therefore, compared to an optical displacement sensor or the like, the operation of the mechanical mechanism using the compression coil spring 21 can be detected by a device that is lower in cost.

[0073] In addition, in Figure 4A and Figure 4B and the like, a light breaker is provided as the detection sensor 22, but as the detection sensor 22, a microswitch or the like mechanical switch, a non-contact proximity sensor or the like that uses eddy currents, magnetism, electromagnetic induction, and the like can also be used. These detection sensors 22 can be used to detect the detection object portion 31 that descends against the force of the compression coil spring 21.

[0074] Figure 5A and Figure 5B are diagrams that show application examples of the puncture mechanism and the detection mechanism. Figure 5A and Figure 5B application examples in which the puncture mechanism and the detection mechanism are applied to the turntable 11 are schematically shown, and part of the constituent elements around the turntable 11 are omitted. Figure 5A is a plan view that shows the surroundings of the turntable 11 as viewed from above. Figure 5Bis a partial sectional view of the surroundings of the turntable 11 as viewed from the side.

[0075] As shown in Figure 5A and Figure 5B , a plurality of holders 110 holding blood collection tubes and a plurality of modules 120 can be installed to the blood collection device 1. A piercing mechanism or a detection mechanism can also be used to adjust the amount of movement with respect to the finger 134 of the person being bled in a blood collection action using the holder 110 or a treatment action using a module 120 other than the module 120 for piercing on the turntable 11.

[0076] In Figure 5A and Figure 5B , as the holder 110 holding the blood collection tube, a first holder 110a holding a first blood collection tube and a second holder 110b holding a second blood collection tube are provided on the turntable 11. As these blood collection tubes, for example, a blood collection tube for routine blood tests coated with an anticoagulant, a blood collection tube for biochemical / immunoassay tests to which a separation agent has been added, and the like can be provided.

[0077] Further, in Figure 5A and Figure 5B , as the module 120, a module 120a for piercing as a piercing portion, a module 120b holding a protective material such as a band-aid for hemostasis, and a module 120c holding a hemostatic material such as gauze for hemostasis are provided on the turntable 11.

[0078] In the case where the amount of movement with respect to the finger 134 of the person being bled is adjusted in a blood collection action using the holder 110 or a treatment action using a module 120 other than the module 120 for piercing, the above-mentioned piercing mechanism functions as a movement mechanism that moves the holder 110 or the module 120 and presses the blood collection tube, the hemostatic material, or the protective material against the finger of the person being bled. The piercing mechanism is composed of the lifting member 12, the base member 20, the movable support member 30, a lifting drive mechanism that lifts them in the vertical direction, and the like. The operation of the movement mechanism composed of the lifting drive mechanism and the like is controlled by a control section composed of a controller.

[0079] As shown in Figure 5A , the holder 110, the module 120 are sequentially conveyed to a blood collection position provided with a finger placement 131 by the rotation of the turntable 11, and then the rising of the holder 110, the module 120 is driven by the upward push of the movable support member 30. By the rising of the holder 110, the blood collection tube is pressed against the finger 134 of the person being bled, and the blood flowing from the puncture site is collected. Further, by the rising of the module 120, the protective material or the hemostatic material is pressed against the finger 134 of the person being bled, and the blood flowing from the puncture site is hemostatic.

[0080] As shown in Figure 5BAs shown, the heights of the cradle 110 and the modules 120 are sometimes different from each other. In Figure 5B In the drawing, the reference sign d1 indicates a distance between the finger placement 131 and a reference position on the module 120a for puncture in the initial position, the reference sign d2 indicates a distance between the finger placement 131 and a reference position on the blood collection tube provided on the cradle 110a in the initial position, and the reference sign d3 indicates a distance between the finger placement 131 and a reference position on the module 120b for hemostasis in the initial position. As one example, these distances have a relationship of d1 < d2 < d3.

[0081] In the blood collection device 1, the amount of movement of the module 120 for puncture as the puncture section can be controlled to be a target movement amount (D + a) set in advance. On the other hand, the amount of movement of the cradle 110 or the module 120 other than the module 120 for puncture as the puncture section can be set to be consistent with a distance between the finger 134 of the person to be blood-collected and a reference position on the cradle 110 or the module 120 in the initial position, based on a measurement result of the amount of movement of the module 120 for puncture measured when the module 120 for puncture is raised.

[0082] In the blood collection device 1, first, a puncture operation is performed by raising and lowering the module 120a for puncture as the puncture section among the plurality of cradles 110 and the plurality of modules 120. The module 120 for puncture is driven to be raised to reach a target movement amount (D + a) set in advance, and then stopped from being raised at a time point at which contact with the finger 134 of the person to be blood-collected is detected.

[0083] During the puncture operation, the actual amount of movement until the module 120 for puncture comes into contact with the finger 134 of the person to be blood-collected and stops can be measured by a displacement sensor or the like that measures the amount of displacement of the movable support member 30. Data of the actual amount of movement of the module 120 for puncture is stored in a memory or the like of the blood collection device 1.

[0084] Next, a blood collection operation is performed by raising and lowering the cradle 110 provided with the blood collection tube. The cradle 110 provided with the blood collection tube is conveyed to a blood collection position provided with the finger placement 131 by rotation of the turntable 11, and then the cradle 110 is driven to be raised by upward pushing of the movable support member 30.

[0085] Based on the measurement result of the movement of puncture module 120 measured when puncture module 120 is raised, the movement of holder 110 on which blood collection tubes are placed can be set to a target movement corresponding to the height of holder 110. The control unit can obtain data on the actual movement of puncture module 120 measured during the puncture operation, correct this data using predetermined height data of holder 110, and output a control target value for the movement of holder 110 to the moving mechanism.

[0086] For example, the difference (d2-d1) between the distance d2 between the finger placement 131 and the reference position on the blood collection tube set on the bracket 110a located in the initial position and the distance d1 between the finger placement 131 and the reference position on the module for puncture 120a located in the initial position can be added to the actual movement amount of the module for puncture 120, and the value obtained by the addition can be set as the target movement amount.

[0087] Next, the treatment process is performed by raising and lowering the hemostatic module 120, which is equipped with a hemostatic material. Furthermore, the treatment process is performed by raising and lowering the hemostatic module 120, which is equipped with a protective material. The hemostatic module 120 is transferred to the blood collection position, where the finger rest 131 is located, by the rotation of the turntable 11. The movable support member 30 then pushes upward, driving the hemostatic module 120 upward.

[0088] Based on the measurement result of the movement amount of the puncturing module 120 measured when the puncturing module 120 is raised, the movement amount of the hemostasis module 120 can be set to a target movement amount corresponding to the height of the hemostasis module 120. The control unit can obtain data on the actual movement amount of the puncturing module 120 measured during the puncturing operation, correct the data using predetermined height data of the hemostasis module 120, and output a control target value for the movement amount of the hemostasis module 120 to the moving mechanism.

[0089] For example, the difference (d3-d1) between the distance d3 between the finger placement 131 and the reference position on the module 120b for hemostasis located at the initial position and the distance d1 between the finger placement 131 and the reference position on the module 120a for puncture located at the initial position can be added to the actual movement amount of the module 120 for puncture, and the value obtained by the addition can be set as the target movement amount.

[0090] According to such a blood sampling device 1, since the movement amount of the cradle 110, the module 120 other than the module 120 for lancing as a lancing portion is set based on the measurement result of the movement amount of the module 120 for lancing, even if there are individual differences in the fingers 134 of the person to be sampled and the heights of the cradle 110 and the module 120 are different from each other, the post-lancing blood sampling or hemostasis or the like can be appropriately performed. Since the finger 134 of the person to be sampled can be appropriately pressed against the blood collection tube, the hemostatic material, and the protective material, excessive pressing or insufficient pressing against the finger 134 of the person to be sampled can be avoided.

[0091] Figure 6A and Figure 6B is a view showing an application example of the lancing mechanism and the detection mechanism. Figure 6A and Figure 6B In the above-described Figure 6A is a plan view of the surroundings of the stand 12 viewed from above. Figure 6B is a partial cross-sectional view of the surroundings of the stand 12 viewed from the side.

[0092] As shown in Figure 6A and Figure 6B , the blood sampling device 1 can include the stand 12 instead of the turntable 11 as a place where the cradle 110 and the module 120 are provided. The lancing mechanism or the detection mechanism can also be used to adjust the movement amount with respect to the finger 134 of the person to be sampled in the lancing action performed on the stand 12, the blood sampling action performed using the cradle 110, and the treatment action performed using the module 120 other than the module 120 for lancing.

[0093] The stand 12 is provided in a bar shape having a substantially rectangular parallelepiped shape. The stand 12 is provided with a plurality of sites that support the cradle 110 as a place where a blood collection tube is provided or the various modules 120. The sites that support the cradle 110 or the module 120 are regularly arranged at intervals from each other in the longitudinal direction of the stand 12.

[0094] The stand 12 can be moved in two directions parallel to the longitudinal direction by a drive mechanism not shown. According to the blood sampling action or the treatment action, the stepping action of the stand 12 with respect to the blood sampling position where the finger placement 131 is formed is controlled. By the movement of the stand 12, the cradle 110 and the module 120 are sequentially conveyed to the blood sampling position where the finger placement 131 is formed, respectively. The lancing mechanism and the detection mechanism can be provided below the stand 12 as in the case of the turntable 11.

[0095] In the above-described Figure 6A and Figure 6BIn the present embodiment, as the holder 110 that holds the blood collection tube, a first holder 110a that holds a first blood collection tube and a second holder 110b that holds a second blood collection tube are provided on the stand 12. As these blood collection tubes, for example, a blood collection tube for routine blood tests coated with an anticoagulant, a blood collection tube for biochemical / immunoassay tests to which a separation agent is added, or the like can be provided.

[0096] Further, in Figure 6A and Figure 6B , as the module 120, a module 120a for puncture as a puncture portion, a module 120b for hemostasis that holds a protective material such as a band-aid, and a module 120c for hemostasis that holds a hemostatic material such as gauze are provided on the stand 12.

[0097] In the case where the amount of movement with respect to the finger 134 of the person to be bled is adjusted in the blood collection operation using the holder 110 or the treatment operation using the module 120 other than the module 120 for puncture, the above-described puncture mechanism functions as a movement mechanism that moves the holder 110 or the module 120 and presses the blood collection tube, the hemostatic material, or the protective material against the finger of the person to be bled. The movement mechanism is constituted by the lifting member 12, the base member 20, the movable support member 30, a lifting drive mechanism that lifts them in the upward and downward directions, and the like.

[0098] As shown in Figure 6A , the holder 110 and the module 120 are sequentially conveyed to the blood collection position where the finger placement 131 is provided by the movement of the stand 12, and then the lifting of the holder 110 and the module 120 is driven by the upward push of the movable support member 30. By the lifting of the holder 110, the blood collection tube is pressed against the finger 134 of the person to be bled, and the blood that flows from the puncture site is collected. Further, by the lifting of the module 120, the protective material or the hemostatic material is pressed against the finger 134 of the person to be bled, and the blood that flows from the puncture site is hemostatic.

[0099] As shown in Figure 6B , the heights of the holder 110 and the module 120 are sometimes different from each other. In Figure 6B , the reference numeral d1 denotes the distance between the finger placement 131 and the reference position on the module 120a for puncture in the initial position, the reference numeral d2 denotes the distance between the finger placement 131 and the reference position on the blood collection tube provided on the holder 110a in the initial position, and the reference numeral d3 denotes the distance between the finger placement 131 and the reference position on the module 120b for hemostasis in the initial position. As one example, these distances have a relationship of d1

[0100] In the case where the support 12 is included, as in the case of the turntable 11, the amount of movement of the module 120 for puncture as the puncture portion can be controlled to the target amount of movement (D + a) set in advance. Further, the amount of movement of the cradle 110, or the module 120 other than the module 120 for puncture as the puncture portion can be set to coincide with the distance between the finger 134 of the person to be bled and the reference position on the cradle 110 or the module 120 located at the initial position, based on the measurement result of the amount of movement of the module 120 for puncture measured when the module 120 for puncture is raised.

[0101] According to such a blood collection device 1, since the cradle 110 and the module 120 can be conveyed in the single-axis direction by the support 12, the blood collection operation at the blood collection position, the blood measurement operation other than the blood collection position, and the like can be efficiently performed at each site. Since the peripheral equipment and wiring do not interfere with the shaft and the like, and are not affected by the rotation of the turntable 11, the degree of freedom of equipment installation and wiring can be improved at times.

[0102] The embodiments of the present application have been described above, but the present application is not limited to the above-described embodiments, and various modifications can be made within the scope of the present application. For example, the present application is not limited to necessarily including all the structures possessed by the above-described embodiments. A part of the structure of one embodiment can be replaced with another structure, a part of the structure of one embodiment can be added to another embodiment, or a part of the structure of one embodiment can be omitted. Explanation of Reference Numerals

[0103] 10 housing 11 turntable 12 support 12 lifting member 20 base member 21 compression coil spring 22 detection sensor 23 detection portion 30 movable support member 31 detection target portion 110 cradle 120 module 121 puncture needle 122 puncture device 130 cuff mechanism 131 finger placement portion 132 finger placement member 133 blood collection window 134 finger of person to be bled 136 cuff

Claims

1. A blood collection device comprising: a puncture portion having a puncture needle, a puncture mechanism for moving the puncture portion and puncturing a finger of a person to be blood collected with the puncture needle, and a control portion for controlling the movement of the puncture mechanism, characterized in that: The puncture mechanism is a mechanism that causes the puncture portion to rise from below the finger and puncture the finger with the puncture needle. The control unit controls the operation of the puncture mechanism to drive the puncture section to ascend and descend, and stops the puncture mechanism to ascend the puncture section by detecting contact between the puncture section and the finger.

2. The blood collection device according to claim 1, wherein The movement amount of the puncturing portion raised by the puncturing mechanism is controlled to a predetermined movement amount preset for the plurality of blood collection subjects.

3. The blood collection device according to claim 2, wherein: The amount of movement of the puncture portion raised by the puncture mechanism is controlled to match the distance between the finger placed on the finger placement area and the puncture portion at the initial position.

4. The blood collection device according to claim 1, wherein The puncture mechanism includes: a lifting member that is driven to move up and down; a base member that is supported by the lifting member; a movable supporting member that causes the puncture portion to move up from below; and an elastic member that allows the movable supporting member to move freely up and down relative to the base member and elastically supports the movable supporting member. The puncture needle punctures the finger in a state where the movable supporting member is urged in an upward direction by the elastic member.

5. The blood collection device according to claim 4, wherein: The contact between the puncture portion and the finger is detected by detecting the movement generated when the puncture portion contacts the finger, that is, the downward movement of the movable support member against the biasing force of the elastic member.

6. The blood collection device according to claim 5, wherein: The descent of the movable supporting member is detected by a detection target portion that moves up and down relative to the base member together with the movable supporting member, and a detection sensor that detects movement of the detection target portion to a predetermined position.

7. The blood collection device according to claim 1, wherein include: a moving mechanism for moving the bracket and pressing the blood collection tube against the finger of the person being blood drawn, and a control unit for controlling the movement of the moving mechanism. The moving mechanism is a mechanism that causes the bracket to rise from under the finger and press the blood collection tube onto the finger. The control unit drives the carriage to ascend and descend by controlling the operation of the moving mechanism, and sets a movement amount of the carriage to be ascended by the moving mechanism based on a movement amount of the puncture section measured when the puncture section ascends.

8. The blood collection device according to claim 1, wherein: include : A module that holds a hemostatic material for stopping bleeding at a puncture site of a person whose blood is being collected; a moving mechanism that moves the module and presses the hemostatic material onto the finger of the person whose blood is being drawn; and a control unit that controls the movement of the moving mechanism. The moving mechanism is a mechanism that causes the module to rise from under the finger and press the hemostatic material onto the finger. The control unit drives the module to ascend and descend by controlling the operation of the moving mechanism, and sets the movement amount of the module to be ascended by the moving mechanism based on the movement amount of the puncture section measured when the puncture section ascends.

9. The blood collection device according to claim 1, wherein: include : A module that holds a protective material for protecting the puncture site of the person whose blood is being drawn; a moving mechanism that moves the module and presses the protective material onto the finger of the person whose blood is being drawn; and a control unit that controls the movement of the moving mechanism. The moving mechanism is a mechanism that causes the module to rise from under the finger and press the protective material onto the finger. The control unit drives the module to ascend and descend by controlling the operation of the moving mechanism, and sets the movement amount of the module to be ascended by the moving mechanism based on the movement amount of the puncture section measured when the puncture section ascends.

Images