A machine arm device for traditional Chinese bloodletting assistance

Abstract

The present application relates to the technical field of medical apparatus and instruments, in particular to a machine arm device for assisting traditional Chinese bloodletting, comprising a stand, the top end of the stand is connected with a cross frame, an adjustable puncture mechanism is installed on the cross frame, and a negative pressure device is arranged on the side wall of the stand. The device provides a mechanized and accurate assistance scheme for traditional Chinese bloodletting, and realizes accurate adjustment of the puncture position, angle and depth through multi-motor cooperative control, effectively avoids the deviation of manual operation, reduces the risk of tissue damage, and improves the standardization degree of bloodletting operation. The negative pressure device on the side wall of the stand is matched with a transparent cover, which can realize soft negative pressure assisted blood stasis guiding, adapt to the clinical scene of viscous blood stasis discharge, and does not need to be held and operated, and is matched with the puncture action. The overall device structure is compact and simple to operate, reduces the labor intensity of the operator, can adapt to the bloodletting needs of different parts, conforms to the diagnosis and treatment specification of traditional Chinese bloodletting, and significantly improves the efficiency and safety of clinical bloodletting.

Description

Technical Field

[0001] This invention relates to the technical field of medical devices, specifically to a robotic arm device for assisting bloodletting in traditional Chinese medicine. Background Technology

[0002] Bloodletting in Traditional Chinese Medicine (TCM) is an important treatment for post-stroke sequelae and meridian blockages. However, traditional bloodletting procedures rely on manual manipulation, which has several drawbacks: manual control of the needle's insertion position, angle, and depth can easily lead to errors, causing local tissue damage or poor bloodletting results; the needles are often manually inserted and removed, making replacement cumbersome and resulting in poor stability; and when the blood is thick and difficult to drain, the bloodletting effect is poor, increasing the difficulty of the procedure. Furthermore, the long-term manual operation is physically demanding, and the lack of standardization means that differences in technique among practitioners can affect treatment outcomes. Existing bloodletting auxiliary devices are limited in function, lacking precise multi-dimensional adjustment structures and convenient needle fixation mechanisms, and cannot meet the diverse needs of bloodletting in TCM clinical practice. Therefore, there is an urgent need for an intelligent, precisely adjustable bloodletting auxiliary robotic arm device to solve these problems. Summary of the Invention

[0003] The purpose of this invention is to provide a robotic arm device for assisting bloodletting in traditional Chinese medicine, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm device for assisting bloodletting in traditional Chinese medicine, comprising a vertical frame, a horizontal frame connected to the top of the vertical frame, an adjustable puncture mechanism mounted on the horizontal frame, and a negative pressure device provided on the side wall of the vertical frame.

[0005] Preferably, the puncture mechanism includes an arc-shaped frame, a top block at the top of the arc-shaped frame, a set of guide rails at the bottom of the cross frame, the top block being able to slide on the guide rails, a first motor installed at one end of the cross frame, the output end of the first motor connected to a first lead screw, the first lead screw passing through the top block and engaging with a screw hole in the top block, a needle housing provided below the arc-shaped frame, a bloodletting needle installed at the bottom of the needle housing, the needle housing being positioned in the middle of the clamping frame, a second motor installed at the top of the needle housing, the output end of the second motor connected to a second lead screw, the second lead screw passing through the top of the clamping frame and engaging with a threaded hole at the top of the clamping frame, and a direction control component provided at the top of the clamping frame.

[0006] Preferably, the needle shell is provided with limit blocks on both sides, and the two side walls of the clamping frame are slidably embedded in the limit blocks.

[0007] Preferably, the direction control component includes a top frame welded to the top of the clamping frame. A slider is provided on each side of the top of the top frame. Sliding grooves are formed on both side walls at the bottom of the arc-shaped frame. The slider can slide in the sliding groove. A third motor is provided in the middle of the top frame. The output end of the third motor is connected to a gear. An arc-shaped rack is provided at the middle position of the bottom surface of the arc-shaped frame. The gear and the rack are meshed and connected.

[0008] Preferably, an installation hole is provided at the bottom of the needle housing. The bloodletting needle is fixedly inserted into the installation hole. An installation cavity is provided inside the needle housing. Two clamping blocks are movably arranged in the installation cavity. Side plates are welded on the side walls of the clamping blocks. A spring is provided between the two side plates. A pressing frame is provided above the clamping blocks. The pressing frame is of a "U" - shaped structure. The top end of the pressing frame is connected to a push rod. The push rod is fixedly installed on the inner top surface of the installation cavity.

[0009] Preferably, a group of sliding rods are provided in the installation cavity. Guide holes are formed on the side plates. The sliding rods correspondingly pass through the guide holes.

[0010] Preferably, anti - slip rubber pads are provided on the opposite surfaces of the two clamping blocks.

[0011] Preferably, the upper section of the outer side wall of the clamping block is of an inclined surface structure. The bottom end of the pressing frame is aligned with the inclined surface.

[0012] Preferably, the upper end of the bloodletting needle is of a hexagonal prism structure. The installation hole is a hexagonal hole.

[0013] Preferably, the suction end of the negative pressure device is connected to a hose. A transparent cover is provided at the end of the hose.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This device provides a mechanized and precise auxiliary solution for bloodletting in traditional Chinese medicine. Through the coordinated control of multiple motors, precise adjustment of the puncture position, angle, and depth can be achieved, effectively avoiding the deviation of manual operation, reducing the risk of tissue damage, and improving the standardization degree of bloodletting operation. The bloodletting needle adopts a fixed structure with a hexagonal prism and clamping blocks, which is convenient for disassembly and assembly and has firm clamping. The anti - slip rubber pads further improve the stability and reduce the operation difficulty of needle replacement. The negative pressure device on the side wall of the vertical frame is paired with a transparent cover, which can achieve gentle negative pressure assisted stasis removal, adapt to the clinical scenario where blood stasis is viscous and difficult to discharge, and does not require manual holding operation, which is adapted to the puncture action. The overall device has a compact structure and simple operation, reduces the labor intensity of the operator, can adapt to the bloodletting needs of different parts, conforms to the diagnosis and treatment norms of traditional Chinese medicine bloodletting, and significantly improves the efficiency and safety of clinical bloodletting. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of the device of the present invention.

[0016] Figure 2 This is a schematic diagram of the bottom of the puncture mechanism of the present invention.

[0017] Figure 3 This is a schematic diagram of the bottom structure of the arc-shaped frame 4 of the present invention.

[0018] Figure 4 This is a schematic diagram of the mounting structure of the needle shell 8 of the present invention.

[0019] Figure 5 This is a schematic diagram of the installation structure of the bloodletting needle 16 of the present invention.

[0020] In the diagram: 1. Upright frame; 2. Horizontal frame; 3. First motor; 4. Arc-shaped frame; 5. Top block; 6. First lead screw; 7. Rack; 8. Needle housing; 9. Limiting block; 10. Clamping frame; 11. Second motor; 12. Second lead screw; 13. Top frame; 14. Third motor; 15. Gear; 16. Bloodletting needle; 17. Clamping block; 18. Side plate; 19. Spring; 20. Lower pressure frame; 21. Push rod; 22. Negative pressure device. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figures 1 to 5 This invention provides a technical solution: a robotic arm device for assisting bloodletting in traditional Chinese medicine, including a stand 1. This device can be installed in the required position through the screw-hole support plate at the bottom of the stand 1 to facilitate puncture and bloodletting. This device needs to be used in conjunction with a control panel. The control panel of this device is touch-sensitive and is installed in an easily accessible position on the side wall of the stand 1. It is electrically connected to each motor and negative pressure device 22, and can accurately adjust the puncture position, angle, and depth, start and stop the equipment, visualize parameters, and operate simply. The top of the upright frame 1 is connected to the horizontal frame 2, and an adjustable puncture mechanism is installed on the horizontal frame 2. The puncture mechanism includes an arc-shaped frame 4, with a top block 5 at the top of the arc-shaped frame 4 and a set of guide slide rods at the bottom of the horizontal frame 2. The top block 5 can slide on the guide slide rods. A first motor 3 is installed at one end of the horizontal frame 2, and a first lead screw 6 is connected to the output end of the first motor 3. The first lead screw 6 passes through the top block 5 and is connected to the screw hole in the top block 5. A needle shell 8 is set below the arc-shaped frame 4, and a bloodletting needle 16 is installed at the bottom of the needle shell 8. The bloodletting needle 16 is used to puncture the patient. By controlling the start of the first motor 3 to drive the first lead screw 6 to rotate, the arc-shaped frame 4 can be moved horizontally below the horizontal frame 2, thereby adjusting the puncture position.

[0023] The needle housing 8 is located in the middle of the clamping frame 10. Limiting blocks 9 are provided on both sides of the needle housing 8. The two side walls of the clamping frame 10 are slidably embedded in the limiting blocks 9. A second motor 11 is installed at the top of the needle housing 8. The output end of the second motor 11 is connected to a second lead screw 12. The second lead screw 12 passes through the top of the clamping frame 10 and is connected to the threaded hole at the top of the clamping frame 10. By controlling the start of the second motor 11, the second lead screw 12 is driven to rotate, thereby controlling the distance between the needle housing 8 and the top of the clamping frame 10. When puncture is required, the needle housing 8 is controlled to descend so that the bloodletting needle 16 can be punctured.

[0024] A direction control component is provided at the top of the clamping frame 10. The direction control component includes a top frame 13 welded to the top of the clamping frame 10. A slider is provided on each side of the top of the top of the top frame 13. Sliding grooves are provided on the bottom side walls of the arc frame 4, and the sliders can slide in the sliding grooves. A third motor 14 is provided in the middle of the top frame 13. The output end of the third motor 14 is connected to a gear 15. An arc-shaped rack 7 is provided in the middle of the bottom surface of the arc frame 4. The gear 15 and the rack 7 are meshed. By controlling the start of the third motor 14, the gear 15 is driven to rotate, which in turn causes the gear 15 to roll on the rack 7, thereby driving the top frame 13 to move along the sliding groove in the arc frame 4, which changes the orientation of the bloodletting needle 16 and adjusts the puncture angle.

[0025] The bottom of the needle housing 8 is provided with a mounting hole, and the bloodletting needle 16 is fixedly inserted into the mounting hole. The upper end of the bloodletting needle 16 is a hexagonal prism structure, and the mounting hole is a hexagonal hole. When installing the bloodletting needle 16, the upper end of the bloodletting needle 16 needs to be aligned with the mounting hole before it can be inserted. An installation cavity is provided inside the needle housing 8, and two clamping blocks 17 are movably installed in the installation cavity. Side plates 18 are welded to the side walls of the clamping blocks 17. A set of sliding rods is provided in the installation cavity, and guide holes are opened on the side plates 18. The sliding rods pass through the guide holes to allow the clamping blocks 17 to slide stably. A spring 19 is provided between the two side plates 18. A lower pressure frame 20 is provided above the clamping blocks 17. The lower pressure frame 20 has a "U"-shaped structure. A push rod 21 is connected to the top of the lower pressure frame 20. The push rod 21 is fixedly installed on the inner top surface of the installation cavity. The upper section of the outer side wall of the clamping blocks 17 has a sloping structure. The bottom end of the lower pressure frame 20 is aligned with the sloping surface. When the bloodletting needle 16 is inserted from the installation hole, the bloodletting needle 16... Observe the scale markings on the device and insert it into the appropriate position. By controlling the extension of the start push rod 21, the lower pressure frame 20 is pressed down. The bottom end of the lower pressure frame 20 presses against the inclined surface of the clamping block 17, which allows the clamping blocks 17 on both sides to move towards the middle, thereby clamping and fixing the bloodletting needle 16. Anti-slip rubber pads are provided on the opposite surfaces of the two clamping blocks 17. When the clamping blocks 17 clamp the bloodletting needle 16, it can be more secure and can also play a buffering role to avoid damage to the device. When it is necessary to replace the bloodletting needle 16, control the start push rod 21 to pull the lower pressure frame 20 up. The spring 19 pushes the side plates 18 on both sides back, which allows the clamping blocks 17 to release the bloodletting needle 16, and then pull out the bloodletting needle 16, making it more convenient to replace the bloodletting needle 16.

[0026] A negative pressure device 22 is installed on the side wall of the stand 1. The suction end of the negative pressure device 22 is connected to a flexible tube, and the end of the flexible tube is equipped with a transparent cover. If the medical staff observes that the blood clots are viscous and the drainage speed is too slow after puncture, such as in the case of deep limb obstruction due to stroke sequelae, the practitioner will cover the puncture site with the transparent cover and activate the negative pressure device. The blood clots will be slowly guided out through low negative pressure to help them drain and avoid stagnation in the local area. Forceful suction is prohibited to prevent damage to subcutaneous tissue or secondary bleeding.

[0027] This TCM bloodletting auxiliary robotic arm device is a mechanized auxiliary device adapted to TCM bloodletting diagnosis and treatment of blood stasis. The whole system is based on the support core of the upright frame 1, and is equipped with a horizontal frame 2, a puncture mechanism and a negative pressure device 22 to realize the bloodletting assistance throughout the process. The top of the upright frame 1 is connected to the horizontal frame 2, and the side wall is equipped with a negative pressure device 22. Its air inlet is connected to a hose and a transparent cover to provide gentle negative pressure assistance for poor blood stasis drainage. The puncture mechanism on the horizontal frame 2 is driven by the first motor 3 to drive the first lead screw 6, which drives the arc frame 4 to move laterally to achieve precise adjustment of the puncture position. The second motor 11 works with the second lead screw 12 to control the lifting and lowering of the needle shell 8 to complete the adjustment of the puncture depth of the bloodletting needle 16. The direction control component drives the gear 15 through the third motor 14 to mesh with the rack 7 of the arc frame 4 to adjust the puncture angle of the bloodletting needle 16. The clamping block 17, the lowering frame 20 and the push rod 21 inside the needle shell 8 work together to realize the quick fixation and replacement of the bloodletting needle 16. The device achieves multi-dimensional precise adjustment through motor-assisted control, the needles are easy to assemble and disassemble, and the negative pressure assistance adapts to diverse clinical needs, making the traditional Chinese medicine bloodletting procedure more standardized and efficient.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm device for assisting bloodletting in traditional Chinese medicine, comprising a stand (1), characterized in that: The top end of the vertical frame (1) is connected to a horizontal frame (2), an adjustable puncture mechanism is installed on the horizontal frame (2), and a negative pressure device (22) is arranged on the side wall of the vertical frame (1).

2. The robotic arm device for assisting bloodletting in traditional Chinese medicine according to claim 1, characterized in that: The puncture mechanism includes an arc-shaped frame (4), a top block (5) is arranged at the top end of the arc-shaped frame (4), a group of guide sliding rods are arranged at the bottom of the horizontal frame (2), the top block (5) can slide on the guide sliding rods, a first motor (3) is installed at one end of the horizontal frame (2), the output end of the first motor (3) is connected to a first screw rod (6), the first screw rod (6) passes through the top block (5) and is in threaded connection with the threaded hole in the top block (5), a needle shell (8) is arranged below the arc-shaped frame (4), a bloodletting needle (16) is installed at the bottom of the needle shell (8), the needle shell (8) is arranged in the middle of a clamping frame (10), a second motor (11) is installed at the top end of the needle shell (8), the output end of the second motor (11) is connected to a second screw rod (12), the second screw rod (12) passes through the top end of the clamping frame (10) and is in threaded connection with the threaded hole at the top of the clamping frame (10), and a direction control component is arranged at the top of the clamping frame (10).

3. The robotic arm device for assisting bloodletting in traditional Chinese medicine according to claim 2, characterized in that: Limiting blocks (9) are arranged on both sides of the needle shell (8), and the two side walls of the clamping frame (10) are slidably inserted into the limiting blocks (9).

4. The robotic arm device for assisting bloodletting in traditional Chinese medicine according to claim 2, characterized in that: The direction control component includes a top frame (13) welded to the top end of the clamping frame (10), a slider is arranged on each side of the top end of the top frame (13), sliding grooves are formed on both side walls at the bottom of the arc-shaped frame (4), and the sliders can slide in the sliding grooves. A third motor (14) is arranged in the middle of the top frame (13), the output end of the third motor (14) is connected to a gear (15), an arc-shaped rack (7) is arranged at the middle position of the bottom surface of the arc-shaped frame (4), and the gear (15) is meshed with the rack (7).

5. A robotic arm device for assisting bloodletting in traditional Chinese medicine according to claim 2, characterized in that: An installation hole is arranged at the bottom of the needle shell (8), the bloodletting needle (16) is fixedly inserted into the installation hole, an installation cavity is arranged inside the needle shell (8), two clamping blocks (17) are movably arranged in the installation cavity, side plates (18) are welded on the side walls of the clamping blocks (17), a spring (19) is arranged between the two side plates (18), a pressing frame (20) is arranged above the clamping blocks (17), the pressing frame (20) is of a "U" - shaped structure, the top end of the pressing frame (20) is connected to a push rod (21), and the push rod (21) is fixedly installed on the inner top surface of the installation cavity.

6. The robotic arm device for assisting bloodletting in traditional Chinese medicine according to claim 5, characterized in that: A group of sliding rods are arranged in the installation cavity, and guide holes are formed on the side plates (18), and the sliding rods correspondingly pass through the guide holes.

7. The robotic arm device for assisting bloodletting in traditional Chinese medicine according to claim 5, characterized in that: Anti - slip rubber pads are arranged on the opposite surfaces of the two clamping blocks (17).

8. A robotic arm device for assisting bloodletting in traditional Chinese medicine according to claim 5, characterized in that: The upper section of the outer side wall of the clamping block (17) is of an inclined surface structure, and the bottom end of the pressing frame (20) is aligned with the inclined surface.

9. A robotic arm device for assisting bloodletting in traditional Chinese medicine according to claim 2, characterized in that: The upper end of the bloodletting needle (16) is of a hexagonal prism structure, and the installation hole is a hexagonal hole.

10. A robotic arm device for assisting bloodletting in traditional Chinese medicine according to claim 1, characterized in that: The suction end of the negative pressure device (22) is connected to a hose, and a transparent cover is arranged at the end of the hose.

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