An automatic batch component blood preparation method, device, equipment and medium

Abstract

This invention discloses a fully automated batch preparation method, apparatus, equipment, and medium for blood component preparation, belonging to the field of blood component preparation. The apparatus includes a stack module for storing and scheduling blood bag chambers to be prepared and those already prepared; a balancing and transfer module automatically balances the weight of the blood bag chambers; a robotic arm module transfers blood bag chambers between modules; a centrifuge module performs whole blood centrifugation; a temporary storage area module temporarily stores the centrifuged blood bag chambers; and a blood component separation module uses a vision module to determine the centrifugation quality and component thresholds, and a color sensor to detect the color difference of the liquid in the pipeline in real time, precisely controlling the extrusion separation of different blood components and the heat sealing of the pipeline. This invention achieves fully automated, batch processing from whole blood loading to blood component unloading, significantly reducing manual intervention and operational intensity, improving preparation efficiency and separation accuracy, and meeting the needs of large-scale, continuous blood component preparation.

Description

Technical Field

[0001] This invention relates to the field of component blood preparation technology, and in particular to a fully automated batch component blood preparation method, apparatus, equipment, and medium. Background Technology

[0002] Component blood transfusion refers to the separation of various effective components (such as red blood cells, plasma, and platelets) from whole blood, preparing them into high-concentration, high-purity blood products, and then transfusing the appropriate components according to the patient's needs. Compared with whole blood transfusion, component blood transfusion has significant advantages such as high utilization efficiency, strong targeting, fewer adverse reactions, and ease of storage and transportation, and is currently the main development direction of clinical transfusion therapy. With the continuous development of modern medical technology, the clinical demand for component blood is increasing, and higher requirements are being placed on preparation efficiency and quality.

[0003] Currently, mainstream methods for preparing whole blood components generally employ a combination of manual operation and mechanical equipment. A typical preparation process includes multiple steps such as weighing, balancing, centrifugation, compression separation, and heat sealing. While some steps, such as centrifugation and compression separation, are assisted by specialized equipment, the coordination between these steps, such as the transfer, removal, and placement of blood bags, still heavily relies on manual intervention. Operators need to manually place the whole blood bags to be processed into the centrifuge, manually remove them after centrifugation and transfer them to the separation equipment, manually observe and judge the separation interface during the separation process, and finally manually complete the heat sealing.

[0004] However, this combination of manual and mechanical methods has the following obvious drawbacks and shortcomings when applied to mass production: 1. High degree of manual involvement and high labor intensity. Throughout the preparation process, operators need to repeatedly perform repetitive tasks such as handling, loading, and unloading blood bags. Especially when processing large quantities of whole blood, the workload is extremely heavy, and prolonged high-intensity work can easily lead to operator fatigue and increase the risk of human error.

[0005] 2. Low preparation efficiency and difficulty in achieving continuous operation. Due to the lack of effective automated connections between processes, there is waiting time in the transfer of blood bags between workstations, making it impossible to form a continuous and smooth assembly line operation. When processing batches of whole blood, the overall preparation efficiency is limited by the speed of manual operation, making it difficult to meet the needs of large-scale, high-throughput component blood preparation.

[0006] 3. Inability to achieve large-scale continuous production. The current technology model limits its processing capacity and cannot support a continuous production model that operates around the clock and without human intervention, which creates a significant contradiction with the ever-increasing clinical demand for blood components.

[0007] In summary, existing technologies lack a fully automated, continuous, batch-processing technology for whole blood component preparation. Therefore, there is an urgent need for a fully automated, batch-processing method and apparatus for component blood preparation that can effectively reduce manual intervention and improve preparation efficiency and stability. Summary of the Invention

[0008] To achieve the above-mentioned objectives and other advantages of the present invention, the first objective of the present invention is to provide a fully automated batch preparation method for component blood, applied to preparing component blood from blood bag chambers containing whole blood bags, comprising the following steps: The stack module stores the blood bag compartments to be prepared and the blood bag compartments that have been prepared. The weight of the two blood bag chambers to be prepared, taken out from the stack module, is balanced using the balancing transfer module. The two balanced blood bag compartments are transferred to the centrifuge module using the robotic arm module; The whole blood bags in the blood bag chamber are centrifuged using a centrifuge module to separate them into different blood components. The centrifuged blood bag chamber is transferred to the temporary storage area module via the robotic arm module; The blood bag chamber in the temporary storage module is transported to the component blood separation module according to the instructions; The whole blood bags after centrifugation are processed by a component blood separation module, which involves squeezing and separating the components and heat-sealing the tubing to obtain independent component blood bags. The robotic arm module transfers the blood bag chamber, which has undergone separation and heat sealing, from the component blood separation module back to the stacking module.

[0009] Furthermore, the step of storing the blood bag compartment to be prepared and the prepared blood bag compartment through the stack module includes: The information of the blood bag compartment is identified and recorded by the barcode scanning module of the loading / unloading arm of the stack module; The presence of blood bag compartments within each independent compartment is determined by photoelectric detection modules at the bottom of each compartment within the multi-layered frame structure of the stacked module. The blood bag compartment is cooled by a refrigeration module at the bottom of the compartment.

[0010] Furthermore, the step of weight balancing the two blood bag chambers to be prepared taken from the stack module through the balancing transfer module specifically includes: The weighing transmission module of the balancing transmission module obtains the weight of the blood bag compartments on the left and right vehicle compartments respectively and calculates the difference; The control module balances the weight module according to the difference command, and places weights of the corresponding specifications into the lighter blood bag chamber through electromagnets and slides to complete the pair balancing. After balancing, the weighing and transmission module will transfer the blood bag compartment to the grabbing position.

[0011] Furthermore, the step of separating the components of the whole blood bag after centrifugation and heat-sealing the tubing through the component blood separation module to obtain independent component blood bags includes: The stopper of the whole blood bag is broken by the stopper-breaking mechanism to open the tubing; The main blood bag image acquisition module takes pictures of the centrifuged main blood bag and uploads them to the host computer for image processing. By comparing the images with the built-in standard color chart, it is determined whether the centrifugation was successful and whether the blood bag was damaged. If centrifugation fails or the blood bag is damaged, the blood bag compartment is marked as abnormal and transferred from the robotic arm module to the fault alarm area of ​​the stack module, and no further separation is performed. For normal blood bags, the main blood bag is squeezed by the squeezing module, and at the same time, the color of the liquid in the tube is detected in real time by the color sensor that is close to the main blood bag tube. When the detected color change reaches the preset difference threshold, it is determined that the current blood component layer has been squeezed out. Based on the color sensor's determination, the tubing of the corresponding blood bag is clamped or released by the clamping heat sealing module, guiding different blood components into the corresponding blood bag; After all blood components are separated, the red blood cell preservation solution tubing is connected, the preservation solution is squeezed into the main blood bag, and finally all blood bag tubing is heat-sealed.

[0012] Furthermore, the step of transferring the blood bag chamber, after separation and heat sealing, from the component blood separation module back to the stack module via the robotic arm module includes: The robotic arm module transfers the blood bag chamber, which has completed separation and heat sealing, from the component blood separation module to the balancing and transfer module. The blood bag compartment is transferred to the grab position of the stack module via the balance transfer module; The blood bag chamber is placed into the independent compartment of the stacking area using the loading / unloading arms of the stacking module.

[0013] A second objective of this invention is to provide a fully automated batch blood component preparation device for implementing the above-mentioned method, comprising: The stack module is used for the storage and scheduling of blood bag compartments that are to be prepared, have been prepared, and have fault alarms. The weight balancing and transmission module is connected to the stack module and is used to receive the blood bag compartment and perform weight balancing. A robotic arm module is used to transfer blood bag chambers between modules; Centrifuge module, used to receive the blood bag chamber transferred by the robotic arm module and perform centrifugal separation; The temporary storage module is used to temporarily store the centrifuged blood bags and transport them to subsequent modules in an orderly manner. The component blood separation module is used for squeezing and separating whole blood bags after centrifugation and heat sealing them. Each module is electrically connected to the host computer and is coordinated and controlled by it.

[0014] Furthermore, the stack module includes: A multi-layer frame structure has a preparation area and a preparation area. The multi-layer frame structure has multiple non-fully enclosed independent compartments. Each independent compartment has a cooling module and a photoelectric detection module at the bottom for detecting whether there is a blood bag compartment inside the compartment. The sample loading / unloading arm is capable of XYZ three-degree-of-freedom motion. It is equipped with a gripping mechanism for grabbing or unloading the blood bag compartment, as well as a barcode scanning module for identifying and recording information about the blood bag compartment.

[0015] Furthermore, the trimming transmission module includes: The weighing and transmission module includes a linear slide, a balancing scale, and left and right vehicle compartments located on the left and right sides, respectively, for carrying blood bag compartments and acquiring weight data. The balancing weight module includes a weight compartment containing weights of various specifications, an electromagnet, and a slide table. The balancing weight module adds weights of the corresponding specifications into the blood bag compartment based on the weight difference measured by the weighing transmission module.

[0016] Furthermore, the robotic arm module is a robot capable of XYZ three-degree-of-freedom motion and rotational motion, and is equipped with a gripping mechanism for grasping or unloading the blood bag chamber, as well as a pin positioning mechanism for precisely adjusting the position of the centrifuge.

[0017] Furthermore, the temporary storage module has a multi-layer structure, including a temporary storage area in the lower layer and a transfer and transmission area in the upper layer, and the blood bag chamber is transferred between the temporary storage area and the component blood separation module through a lifting platform and a linear slide.

[0018] Furthermore, the component blood separation module includes: A stopper-breaking mechanism used to break the stopper of a whole blood bag; The main blood bag image acquisition module is used to acquire images of the main blood bag after centrifugation and upload them to the host computer to determine the centrifugation quality and blood bag status. The color recognition module includes at least one color sensor that is closely attached to the main blood bag tubing, used to detect the color of the liquid in the tubing in real time and determine the interface between different blood components based on the color change. The clamping and heat-sealing module is used to clamp, loosen, or heat-seal the tubing of the triple or quadruple blood bag based on feedback from the color recognition module. The squeezing module is used to squeeze the main blood bag or red blood cell preservation fluid bag to drive the flow of fluid.

[0019] Furthermore, the color recognition module includes two photoelectric sensors arranged side by side, used to simultaneously detect the color of the liquid in the pipeline, and to determine the interface between different blood components based on the voltage difference output by the two sensors.

[0020] Furthermore, the centrifuge module includes: The centrifuge chamber's cover is controlled to open and close by an electric push rod; Door lock electromagnet, used to lock the cover plate in the closed position; Servo motors are used to drive the centrifuge chambers to rotate at speeds of 1,000 to 3,000 revolutions per minute; The cooling circuit is used to cool the inside of the centrifuge chamber.

[0021] A third objective of the present invention is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0022] A fourth objective of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method.

[0023] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a fully automated batch preparation method, apparatus, equipment, and medium for blood component preparation, which has high operability and can greatly improve the efficiency and quality of blood component preparation. In addition, this invention provides a novel method for detecting different blood components, which uses a combination of vision and color sensors for detection: that is, vision is used to determine the separation quality and the approximate threshold of each component; then, by combining the difference between two acquisition points of the color sensor, the problematic blood source can be effectively detected and the different blood components can be accurately separated.

[0024] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 Block diagram of a fully automated batch blood component preparation device; Figure 2 Flowchart for fully automated batch blood component preparation; Figure 3 This is the schematic diagram of the electrical control system for the production line. Figure 4 This is a flowchart of the image processing procedure for the host computer. Figure 5 A schematic diagram of a four-piece blood bag storage unit; Figure 6 This is a flowchart of the blood component separation process; Figure 7 Flowchart of a fully automated batch blood component preparation method; Figure 8 Here is a flowchart of the stack steps; Figure 9 A flowchart of the balancing steps; Figure 10 Flowchart of the separation and heat sealing steps; Figure 11 A schematic diagram of computer equipment; Figure 12 This is a schematic diagram of a computer-readable storage medium. Detailed Implementation

[0026] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0027] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0028] The drawing numbers in this application are only used to distinguish the steps in the scheme and are not used to limit the execution order of the steps. The specific execution order is as described in the specification.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0030] This invention provides a method and apparatus for the fully automated batch preparation of whole blood into blood components. The apparatus, following the blood component preparation process, automatically balances whole blood bags through weighing data acquisition, identification, and analysis; transfers the blood bag compartments via a robotic arm module; separates the whole blood via a centrifuge module; and uses a vision module with deep learning and color recognition to determine the interfaces between different blood components, facilitating the separation of different blood components after centrifugation. This invention improves the efficiency and time of blood component preparation, significantly reduces manual intervention, effectively lowers the intensity of manual operation, and reduces the risks associated with manual intervention. The specific solution is as follows: Example 1 A fully automated batch component blood preparation device is used to prepare blood bag chambers containing whole blood bags into individual component blood bags. For example... Figure 1 , Figure 2 As shown, the device 1 includes: Stack module 11 is used for the storage and scheduling of blood bag compartments that are to be prepared, have been prepared, and have fault alarms. The balancing transmission module 12 is connected to the stack module and is used to receive the blood bag compartment and perform weight balancing. Robotic arm module 13 is used to transfer blood bag chambers between modules; Centrifuge module 14 is used to receive the blood bag chamber transferred by the robotic arm module and perform centrifugal separation; Temporary storage module 15 is used to temporarily store the centrifuged blood bags and transport them to subsequent modules in an orderly manner. The component blood separation module 16 is used for squeezing and separating whole blood bags after centrifugation and heat sealing. Each module is electrically connected to the host computer and is coordinated and controlled by it.

[0031] In some embodiments, the stack module includes: The multi-layered frame structure is divided into two regions, left and right, representing the area to be prepared and the area already prepared, respectively. The multi-layered frame further divides this into a series of non-fully enclosed independent compartments that can move back and forth along the X-axis. Each independent compartment is equipped with a cooling module and a photoelectric detection module at its bottom. The cooling module can use Peltier cooling pads to maintain a storage environment of 2-6°C to ensure blood quality; the photoelectric detection module is used to determine whether there is whole blood to be prepared or separated blood components within the compartment.

[0032] In some embodiments, the multi-layer frame structure also includes a fault alarm area for separately storing abnormal blood bag compartments detected during the preparation process. When the host computer receives an abnormal signal, the robotic arm module directly transfers the abnormal blood bag compartment to the fault alarm area, preventing the entire production line from being blocked due to an abnormality in a single blood bag compartment and ensuring the smooth operation of batch continuous operations.

[0033] The loading / unloading arm can perform XYZ three-degree-of-freedom motion and is equipped with a gripping mechanism to grip and unload the blood bag compartment of the stack module. The loading / unloading arm is also equipped with a barcode scanning module for the identification and input of blood bag compartment information, realizing full traceability of blood information.

[0034] The balancing and transfer module is mainly used to balance the weight of the two blood bag compartments transferred from the stacking module and transfer the balanced blood bag compartments to the gripping position for easy grasping by the robotic arm module. In some embodiments, the balancing and transfer module includes: The weighing and transmission module includes a linear slide, a balancing scale, and a left and right carrier compartments located on the left and right sides, respectively. The left and right carrier compartments are used to carry the two blood bag compartments to be balanced, and the balancing scale acquires the weight data of the two blood bag compartments in real time.

[0035] The balancing weight module includes a weight compartment containing weights of various specifications, an electromagnet, and a slide table. After the left and right vehicle compartments calculate the weight difference using the balancing scale and transmit it to the control module, the control module sends a command to the balancing weight module. The slide table within the balancing weight module, under the action of the electromagnet, removes weights of appropriate specifications from the weight compartment and places them in the required position of the lighter blood bag compartment, thus completing the pairwise balancing of the two blood bag compartments. After balancing, the weighing and transmission module uses a linear slide table to transport the blood bag compartment to the grasping position for the next step.

[0036] The robotic arm module is primarily used for transferring blood bag compartments, including transferring them from the balancing and transfer module to the centrifuge module, from the centrifuge module to the temporary storage area module, from the temporary storage area module to the component blood separation module, and from the component blood separation module back to the prepared area of ​​the stack module. In some embodiments, the robotic arm module is a robot capable of XYZ three-degree-of-freedom motion and rotational motion, equipped with a gripping mechanism for grasping or unloading the blood bag compartment. Furthermore, the robotic arm module is also equipped with a pin positioning mechanism, which can precisely adjust the position of the centrifuge module to ensure that the blood bag compartment is accurately placed into the centrifuge rotor.

[0037] The centrifuge module is mainly used for centrifuging whole blood in the blood bag chamber. After centrifugation, the whole blood is separated into multiple layers of different blood components, from top to bottom: a plasma layer (pale yellow), a white membrane layer (white), and a blood cell layer (dark red). In some embodiments, the centrifuge module includes a centrifuge chamber, the cover of which is controlled to open and close by an electric push rod; a door lock electromagnet is used to lock the cover in the closed state to ensure that the cover will not be opened during centrifugation; a servo motor is used to drive the centrifuge chamber to rotate at a high speed of 1000 to 3000 rpm; and a centrifuge chamber cooling circuit is used to cool the inside of the centrifuge chamber to prevent the heat generated during centrifugation from causing the blood to heat up and deteriorate, thus maintaining the freshness and quality of the blood.

[0038] The temporary storage module is primarily used to temporarily store blood bag compartments from the centrifuge module and sequentially transfer these compartments to the component blood separation module according to instructions, thereby further improving overall preparation efficiency. In some embodiments, the temporary storage module has a multi-layered structure, including a lower temporary storage area and an upper transfer area, with a lifting platform and a linear slide facilitating the transfer of blood bag compartments between the temporary storage area and the component blood separation module. This design acts as a process buffer, avoiding waiting times during centrifugation due to the lengthy separation process.

[0039] The component blood separation module is mainly used for the separation and heat sealing of blood components of different types. This module can separate centrifuged whole blood into components such as plasma and red blood cells, deliver red blood cell preservation solution into the red blood cells, and heat seal the separated component blood bags.

[0040] like Figure 5 , Figure 6 As shown, the state of the four-pack blood bags immediately after centrifugation is as follows: The whole blood bag contains successfully centrifuged blood, divided into three layers: the top layer is plasma (pale yellow), the middle layer is a white membrane (white), and the bottom layer is blood cells (dark red). The red blood cell preservation solution bag is pre-filled with red blood cell preservation solution to provide nutrients to the blood cells in the whole blood bag and prolong their survival. The outlet tubing of both the whole blood bag and the red blood cell preservation solution is fitted with plungers to seal the tubing and prevent liquid spillage during centrifugation. The white membrane bag and the plasma bag are empty immediately after centrifugation.

[0041] In some embodiments, the component blood separation module includes a stopper-breaking mechanism, a main blood bag image acquisition module, a color recognition module, a clamping and heat-sealing module, and a squeezing module. The stopper-breaking mechanism is mainly used to break the stopper of the whole blood bag, and it mainly consists of a stepper motor and a stopper clamping mechanism; when it is necessary to connect the corresponding pipeline, the stepper motor drives the stopper clamping mechanism to break the stopper.

[0042] The main blood bag image acquisition module is primarily used for determining the quality of whole blood centrifugation. This module controls a camera to photograph the centrifuged main blood bag, acquires the image, and uploads it to the host computer. The host computer then uses an image processing scheme to determine whether the blood has been successfully centrifuged. Only if successful centrifugation is determined can the blood squeezing and separation process begin.

[0043] like Figure 4As shown, the main principle of the image processing algorithm is as follows: It receives a photograph of the blood bag and analyzes the color values ​​of the plasma area. These color values ​​are then compared with the color values ​​of a standard color chart stored internally by the device to determine the approximate concentration range of free hemoglobin in the plasma. The host computer software system then integrates the plasma color values ​​to determine whether the blood in the blood bag has been successfully centrifuged, and displays the results on the host computer. In addition, the image acquisition module is also used to identify any abnormalities such as blood bag damage or contamination.

[0044] The color recognition module is used to accurately identify different blood components during the separation process. For example... Figure 5 As shown, the color recognition module includes at least one color sensor that is closely attached to the main blood bag tubing. Preferably, two photoelectric sensors (denoted as LED1 and LED2) are arranged side by side on the whole blood bag near the stopper and close to the tubing.

[0045] This sensor outputs different voltage values ​​for different wavelengths of input light (reflected in the color of blood components), and the voltage is only related to the wavelength. Therefore, by measuring the output voltage, the wavelength (color) of the measured light can be determined. When the entire plasma layer of the whole blood bag is squeezed out and the white film layer is about to be squeezed out, the two sensors detect different colors, corresponding to different voltage values. At this time, based on the different voltage differences output by the two LEDs, it can be accurately determined whether the entire plasma layer or the white film layer of the whole blood bag has been squeezed out.

[0046] This invention employs a detection method combining threshold and difference metrics: First, visual recognition determines the threshold fluctuation range for different components of the blood to be prepared, and abnormal blood, such as failed whole blood separation or damaged blood bags, is reported. Then, compression separation begins. A color sensor mounted at one end of the blood bag's main pipeline compares the color difference of the collected data in real time. When the difference reaches a set value, a command is immediately issued to either close one pathway or open another, thereby achieving precise separation of various blood components. This method can filter out the influence of environmental factors and the inherent characteristics of the blood itself to a large extent, resulting in higher stability in component blood separation.

[0047] The clamping and heat-sealing module is mainly used to clamp, loosen, and heat-seal the tubing of triple or quadruple blood bags. That is, according to the signals issued by the control unit, it controls the opening and closing of the tubing of different blood bags and performs clamping and heat-sealing operations on the tubing.

[0048] like Figure 5 As shown, the clamping and heat-sealing mechanism has two symmetrically mounted heat-sealing heads, with the tubing placed between them. The two heat-sealing heads can move relative to each other under the drive of the driving circuit, clamping or releasing the tubing. In the clamped state, the tubing clamping heat-sealing circuit can drive the heat-sealing heads to generate a high-frequency alternating electric field, polarizing the molecules of the blood bag's plastic tubing, achieving a contactless sealing effect on the blood bag.

[0049] The squeezing module is used to squeeze the main blood bag or red blood cell preservation fluid bag to drive the liquid flow. It adopts a servo motor driven squeezing plate structure, which can precisely control the squeezing force and speed according to a preset program.

[0050] Figure 3 This is a diagram of the electrical control system architecture of the device of the present invention. Functionally, it is mainly divided into main power supply, host computer, stack module circuit, robotic arm module circuit, balancing and transmission module circuit, temporary storage area module circuit, centrifuge module circuit, and component blood separation module circuit.

[0051] The main power supply refers to the system drawing power from the 220V AC mains, which is then converted to 24V DC by a switching power supply to power each module. Each module circuit has its own DC-DC converter circuit, which then converts the 24V DC power to the voltage required by the internal circuitry of the module.

[0052] The host computer refers to the software of the fully automated blood component preparation production line system, including debugging software and user software. The debugging software uses a graphical user interface (GUI) as the user input / output interface, used to debug the basic actions, functions, and simple processes of each module, calibrate the position of each module's movement, and ensure that each module component functions properly and meets usage requirements. The user software also uses a GUI as the user input / output interface, is based on a database, and implements a modular software design. A CAN bus-based communication protocol is used to plan the overall process, ensuring the continuous operation of each module and achieving maximum throughput.

[0053] The stack module circuit mainly consists of a servo motor drive circuit, an electric gripper drive circuit, an optocoupler detection circuit, a Peltier cooling module circuit, and a barcode scanning module drive circuit. The barcode scanning module drive circuit is used to identify blood bag compartment information; the servo motor drive circuit is used for closed-loop control of the motor to move the blood bag compartment; the optocoupler detection circuit is divided into blood bag compartment placement position optocoupler detection and motion limit optocoupler detection; the electric gripper drive circuit is used to control the gripping and unloading actions of the electric gripper; and the cooling circuit controls the Peltier cooling module to cool the blood bag compartment.

[0054] The robotic arm module circuit mainly consists of a stepper motor drive circuit, a magnetic ruler signal acquisition circuit, a limit optocoupler detection circuit, and an electric gripper drive circuit. The stepper motor drive circuit and the magnetic ruler signal acquisition circuit are used to drive the stepper motor in closed-loop motion, ensuring the robotic arm reaches its precise position and preventing missed steps.

[0055] The balancing transmission module circuit mainly consists of a stepper motor drive circuit, an optocoupler detection circuit, a weighing sensor signal acquisition circuit, and a weight balancing circuit. The weighing sensor signal acquisition circuit is used to collect the weight of the two blood bag compartments in real time; the weight balancing circuit controls the balancing action based on the weight difference.

[0056] The centrifuge module circuit mainly consists of a door lock optocoupler circuit, a door lock electromagnet circuit, a centrifuge chamber cooling circuit, a servo motor drive circuit, and an electric push rod circuit.

[0057] The temporary storage module circuit mainly consists of a stepper motor drive circuit and an optocoupler detection circuit, which is used to control the temporary storage and transportation of blood bags in the blood bag compartment.

[0058] The component blood separation module circuit mainly consists of a tubing plugging circuit, a tubing clamping and heat sealing circuit, a main blood bag squeezing circuit, a main blood bag tubing color sensor circuit, and a main blood bag image acquisition circuit.

[0059] Example 2 A fully automated batch method for preparing blood components is disclosed, applied to preparing blood components from blood bag chambers containing whole blood bags. For a detailed description of the preparation apparatus, please refer to the corresponding description in the above apparatus embodiments, which will not be repeated here. Figure 2 , Figure 7 As shown, the method includes the following steps: S100. The blood bag compartment to be prepared and the blood bag compartment that has been prepared are stored through the stack module. In some embodiments, such as Figure 8 As shown, the step of storing the blood bag compartment to be prepared and the prepared blood bag compartment through the stack module includes: S110. The information of the blood bag compartment is identified and recorded by the barcode scanning module of the loading / unloading arm of the stack module. S120. The photoelectric detection module at the bottom of each independent compartment in the multi-layer frame structure of the stacked module determines whether there is a blood bag compartment in the compartment. S130: The blood bag compartment is cooled by a refrigeration module at the bottom of the compartment to maintain a storage environment of 2-6°C.

[0060] S200, The weight of the two blood bag chambers to be prepared taken out from the stack module is balanced by the balancing transfer module; In some embodiments, such as Figure 9 As shown, the step of weight balancing the two blood bag chambers to be prepared taken from the stack module through the balancing transfer module specifically includes: S210. The weight of the blood bag compartments on the left and right vehicle compartments is obtained by the weighing transmission module of the balancing transmission module and the difference is calculated. S220: The control module balances the weight module according to the difference command, and places weights of the corresponding specifications into the lighter blood bag chamber through electromagnets and slides to complete the pair balancing. S230. After balancing, the weighing and transmission module will transfer the blood bag chamber to the grabbing position.

[0061] S300: The two blood bag compartments, after being balanced, are transferred to the centrifuge module via the robotic arm module; specifically, the pin positioning mechanism of the robotic arm module precisely adjusts the position of the centrifuge module to ensure that the blood bag compartments are accurately placed.

[0062] S400: The whole blood bag in the blood bag chamber is centrifuged and separated into different blood components by the centrifuge module; specifically, the servo motor drives the centrifuge chamber to rotate at a speed of 1000-3000 rpm, so that it is separated into different blood components; during the centrifugation process, the centrifuge chamber cooling circuit works to prevent the blood from heating up and deteriorating.

[0063] S500: The centrifuged blood bag chamber is transferred to the temporary storage area module via the robotic arm module; specifically, the lifting platform and linear slide of the temporary storage area module store the blood bag chamber in the temporary storage area.

[0064] S600, The blood bag chamber in the temporary storage area module is transported to the component blood separation module according to the instruction; specifically, the transfer area of ​​the temporary storage area module takes the blood bag chamber out of the temporary storage area and sends it into the component blood separation module.

[0065] S700: The component blood separation module performs compression separation of whole blood bags after centrifugation and heat sealing of pipelines to obtain independent component blood bags. In some embodiments, such as Figure 10 As shown, the step of separating the components of whole blood from centrifuged whole blood bags by squeezing and heat-sealing the tubing using the component blood separation module to obtain independent component blood bags includes: S710. The stopper of the whole blood bag is broken by the stopper breaking mechanism to open the pipeline; S720: The main blood bag image acquisition module takes pictures of the centrifuged main blood bag and uploads them to the host computer for image processing. By comparing the images with the built-in standard color chart, it determines whether the centrifugation was successful and whether the blood bag is damaged. S730. If centrifugation fails or the blood bag is damaged, the blood bag compartment is marked as abnormal and transferred from the robotic arm module to the fault alarm area of ​​the stack module, and no further separation is performed. The subsequent separation process continues only if centrifugation is deemed successful. S730: For normal blood bags, the main blood bag is squeezed by the squeezing module, while the color sensor attached to the main blood bag tubing detects the color of the liquid inside the tubing in real time. When the detected color change reaches a preset difference threshold, it is determined that the current blood component layer has been completely squeezed. S740: Based on the color sensor's determination, the corresponding blood bag's tubing is clamped or released by the clamping heat sealing module, guiding different blood components into the corresponding blood bag. S750. After completing the separation of all blood components, connect the red blood cell preservation solution bag tubing, squeeze the preservation solution into the main blood bag, and finally heat-seal all blood bag tubing.

[0066] Specifically, after ensuring the four-piece blood bag in the main blood bag compartment is installed, the main blood bag image acquisition module takes a picture of the centrifuged main blood bag and uploads it to the host computer for image processing. By comparing the image with the built-in standard color chart, it is determined whether the centrifugation was successful and whether the blood bag is damaged. Only if the centrifugation is determined to be successful will the subsequent separation process continue. The tubing clamping and heat sealing circuit drives the clamping and heat sealing mechanism to clamp the white film bag tubing. The tubing plugging circuit drives the plugging mechanism to pry open the whole blood bag plug. At this time, the whole blood bag tubing is only connected to the plasma bag tubing. The blood bag squeezing circuit drives the squeezing module to squeeze the whole blood bag. At the same time, the tubing color sensor detects the tubing color in real time. After all the plasma layer of the whole blood bag is squeezed out, the tubing clamping and heat sealing circuit drives the clamping and heat sealing mechanism to heat seal the plasma bag tubing. The previously clamped white film bag tubing is then released. At this time, the whole blood bag tubing... The blood bag is connected only to the white membrane bag tubing. The blood bag squeezing circuit drives the squeezing module to continue squeezing the whole blood bag. Simultaneously, the tubing color sensor determines whether the white membrane layer of the whole blood bag has been completely squeezed out by analyzing the color layering of the tubing. When the output voltage difference between the two photoelectric sensors reaches a set value, it is determined that the white membrane layer has been completely squeezed out. After the white membrane layer of the whole blood bag has been completely squeezed out, the blood bag squeezing circuit drives the squeezing module to stop squeezing, and the tubing clamping and heat-sealing circuit drives the clamping and heat-sealing mechanism to heat-seal the white membrane bag tubing. The tubing stoppering circuit drives the stoppering mechanism to open the red blood cell preservation fluid bag stopper. At this point, the whole blood bag tubing is only connected to the red blood cell preservation fluid bag tubing. The blood bag squeezing circuit drives the squeezing module to squeeze all the red blood cell preservation fluid from the red blood cell preservation fluid bag into the whole blood bag. After all the red blood cell preservation fluid has been squeezed out, the tubing clamping and heat-sealing circuit drives the clamping and heat-sealing mechanism to heat-seal the whole blood bag tubing. At this point, the component blood separation process is complete. The whole blood bag, plasma bag, and white membrane bag each contain their own blood components, and the tubing is heat-sealed, forming their own independent component blood bags.

[0067] S800: The blood bag chamber, which has been separated and heat-sealed, is transferred from the component blood separation module back to the prepared area of ​​the stack module via the robotic arm module.

[0068] In some embodiments, the step of transferring the blood bag chamber, after separation and heat sealing, from the component blood separation module back to the stack module via the robotic arm module includes: The robotic arm module transfers the blood bag chamber, which has completed separation and heat sealing, from the component blood separation module to the balancing and transfer module. The blood bag compartment is transferred to the grab position of the stack module via the balance transfer module; The blood bag chamber is placed into the independent compartment of the stacking area using the loading / unloading arms of the stacking module.

[0069] Throughout the entire preparation process, any abnormal blood bag chamber detected at any stage can be promptly transferred by the robotic arm module to the fault alarm area of ​​the stacking module. This design effectively avoids the problem of the entire production line being blocked due to the abnormality of a single blood bag, realizing truly fully automated batch continuous operation. Theoretically, any number of blood bags can be prepared automatically without interrupting the process due to individual abnormalities.

[0070] This invention combines threshold and difference methods. Through visual recognition and database comparison, it determines the threshold fluctuation range for different components of the blood to be prepared and reports abnormal blood, such as failed whole blood separation or damaged blood bags. Then, compression separation begins. A color sensor mounted at one end of the blood bag's main pipeline compares the color difference of the collected data. When the difference reaches a set value, a command to close one pathway or open another is immediately issued, thus achieving the separation of various blood components. This invention can filter out environmental influences and the inherent characteristics of the blood itself to a large extent, resulting in higher stability in blood component separation.

[0071] Example 3 A computer device 900, such as Figure 11 As shown, the system includes a memory 910, a processor 920, and a computer program 930 stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of a fully automated batch blood component preparation method. For a detailed description of the method, please refer to the corresponding description in the above method embodiments; it will not be repeated here.

[0072] Example 4 A computer-readable storage medium, such as Figure 12 As shown, a computer program is stored thereon, which, when executed by a processor, implements the steps of a fully automated batch blood component preparation method. For a detailed description of the method, please refer to the corresponding description in the above method embodiments, and will not be repeated here.

[0073] The number of devices and processing scale described herein are for the purpose of simplifying the description of the invention. Applications, modifications, and variations of the invention will be readily apparent to those skilled in the art.

[0074] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

[0075] The apparatus, computer device, and non-volatile computer storage medium and method provided in the embodiments of this specification are corresponding. Therefore, the apparatus, computer device, and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, computer device, and non-volatile computer storage medium will not be repeated here.

[0076] Those skilled in the art will also know that, besides implementing the controller in the form of purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller take the form of logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices included within it for implementing various functions can also be considered structures within that hardware component. Alternatively, the devices for implementing various functions can be considered as both software units implementing the method and structures within a hardware component.

[0077] The systems, apparatuses, or units described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above apparatuses are described separately as various units based on their functions. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in one or more software and / or hardware.

[0078] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0079] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0080] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0081] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0082] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0083] This specification may be described in the general context of computer-executable instructions, such as program units, that are executed by a computer. Generally, program units include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification may also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program units may reside in local and remote computer storage media, including storage devices.

[0084] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0085] The above description is merely an embodiment of this specification and is not intended to limit the scope of one or more embodiments of this specification. Various modifications and variations can be made to one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of one or more embodiments of this specification.

Claims

1. A fully automated batch preparation method for blood component blood, applied to preparing blood component blood from a blood bag chamber containing whole blood bags, characterized in that, Includes the following steps: The stack module stores the blood bag compartments to be prepared and the blood bag compartments that have been prepared. The weight of the two blood bag chambers to be prepared, taken out from the stack module, is balanced using the balancing transfer module. The two balanced blood bag compartments are transferred to the centrifuge module using the robotic arm module; The whole blood bags in the blood bag chamber are centrifuged using a centrifuge module to separate them into different blood components. The centrifuged blood bag chamber is transferred to the temporary storage area module via the robotic arm module; The blood bag chamber in the temporary storage module is transported to the component blood separation module according to the instructions; The whole blood bags after centrifugation are processed by a component blood separation module, which involves squeezing and separating the components and heat-sealing the tubing to obtain independent component blood bags. The robotic arm module transfers the blood bag chamber, which has undergone separation and heat sealing, from the component blood separation module back to the stacking module.

2. The fully automated batch preparation method for blood components as described in claim 1, characterized in that, The step of storing the blood bag compartment to be prepared and the prepared blood bag compartment through the stack module includes: The information of the blood bag compartment is identified and recorded by the barcode scanning module of the loading / unloading arm of the stack module; The presence of blood bag compartments within each independent compartment is determined by photoelectric detection modules at the bottom of each compartment within the multi-layered frame structure of the stacked module. The blood bag compartment is cooled by a refrigeration module at the bottom of the compartment.

3. The fully automated batch preparation method for blood components as described in claim 1, characterized in that, The step of weight balancing the two blood bag chambers to be prepared taken from the stack module through the balancing transfer module specifically includes: The weighing transmission module of the balancing transmission module obtains the weight of the blood bag compartments on the left and right vehicle compartments respectively and calculates the difference; The control module balances the weight module according to the difference command, and places weights of the corresponding specifications into the lighter blood bag chamber through electromagnets and slides to complete the pair balancing. After balancing, the weighing and transmission module will transfer the blood bag compartment to the grabbing position.

4. The fully automated batch preparation method for blood components as described in claim 1, characterized in that, The step of separating the components of whole blood from centrifuged whole blood bags by squeezing and heat-sealing the tubing using a component blood separation module to obtain independent component blood bags includes: The stopper of the whole blood bag is broken by the stopper-breaking mechanism to open the tubing; The main blood bag image acquisition module takes pictures of the centrifuged main blood bag and uploads them to the host computer for image processing. By comparing the images with the built-in standard color chart, it is determined whether the centrifugation was successful and whether the blood bag was damaged. If centrifugation fails or the blood bag is damaged, the blood bag compartment is marked as abnormal and transferred from the robotic arm module to the fault alarm area of ​​the stack module, and no further separation is performed. For normal blood bags, the main blood bag is squeezed by the squeezing module, and at the same time, the color of the liquid in the tube is detected in real time by the color sensor that is close to the main blood bag tube. When the detected color change reaches the preset difference threshold, it is determined that the current blood component layer has been squeezed out. Based on the color sensor's determination, the tubing of the corresponding blood bag is clamped or released by the clamping heat sealing module, guiding different blood components into the corresponding blood bag; After all blood components are separated, the red blood cell preservation solution tubing is connected, the preservation solution is squeezed into the main blood bag, and finally all blood bag tubing is heat-sealed.

5. The fully automated batch preparation method for blood components as described in claim 1, characterized in that, The step of transferring the blood bag chamber, which has undergone separation and heat sealing, from the component blood separation module back to the stacking module via the robotic arm module includes: The robotic arm module transfers the blood bag chamber, which has completed separation and heat sealing, from the component blood separation module to the balancing and transfer module. The blood bag compartment is transferred to the grab position of the stack module via the balance transfer module; The blood bag chamber is placed into the independent compartment of the stacking area using the loading / unloading arms of the stacking module.

6. A fully automated batch blood component preparation device, used to implement the method as described in any one of claims 1 to 5, characterized in that, include: The stack module is used for the storage and scheduling of blood bag compartments that are to be prepared, have been prepared, and have fault alarms. The weight balancing and transmission module is connected to the stack module and is used to receive the blood bag compartment and perform weight balancing. A robotic arm module is used to transfer blood bag chambers between modules; Centrifuge module, used to receive the blood bag chamber transferred by the robotic arm module and perform centrifugal separation; The temporary storage module is used to temporarily store the centrifuged blood bags and transport them to subsequent modules in an orderly manner. The component blood separation module is used for squeezing and separating whole blood bags after centrifugation and heat sealing them. Each module is electrically connected to the host computer and is coordinated and controlled by it.

7. The fully automated batch blood component preparation device as described in claim 6, characterized in that, The stack module includes: A multi-layer frame structure has a preparation area and a preparation area. The multi-layer frame structure has multiple non-fully enclosed independent compartments. Each independent compartment has a cooling module and a photoelectric detection module at the bottom for detecting whether there is a blood bag compartment inside the compartment. The sample loading / unloading arm is capable of XYZ three-degree-of-freedom motion. It is equipped with a gripping mechanism for grabbing or unloading the blood bag compartment, as well as a barcode scanning module for identifying and recording information about the blood bag compartment.

8. The fully automated batch blood component preparation device as described in claim 6, characterized in that, The balancing transmission module includes: The weighing and transmission module includes a linear slide, a balancing scale, and left and right vehicle compartments located on the left and right sides, respectively, for carrying blood bag compartments and acquiring weight data. The balancing weight module includes a weight compartment containing weights of various specifications, an electromagnet, and a slide table. The balancing weight module adds weights of the corresponding specifications into the blood bag compartment based on the weight difference measured by the weighing transmission module.

9. The fully automated batch blood component preparation device as described in claim 6, characterized in that, The robotic arm module is a robot capable of XYZ three-degree-of-freedom motion and rotational motion. It is equipped with a gripping mechanism for grasping or unloading blood bag chambers, and a pin positioning mechanism for precisely adjusting the position of the centrifuge.

10. The fully automated batch blood component preparation device as described in claim 6, characterized in that, The temporary storage module has a multi-layer structure, including a temporary storage area in the lower layer and a transfer and transmission area in the upper layer. The blood bag chamber is transferred between the temporary storage area and the component blood separation module through a lifting platform and a linear slide.

11. The fully automated batch blood component preparation device as described in claim 6, characterized in that, The component blood separation module includes: A stopper-breaking mechanism used to break the stopper of a whole blood bag; The main blood bag image acquisition module is used to acquire images of the main blood bag after centrifugation and upload them to the host computer to determine the centrifugation quality and blood bag status. The color recognition module includes at least one color sensor that is closely attached to the main blood bag tubing, used to detect the color of the liquid in the tubing in real time and determine the interface between different blood components based on the color change. The clamping and heat-sealing module is used to clamp, loosen, or heat-seal the tubing of the triple or quadruple blood bag based on feedback from the color recognition module. The squeezing module is used to squeeze the main blood bag or red blood cell preservation fluid bag to drive the flow of fluid.

12. The fully automated batch blood component preparation device as described in claim 11, characterized in that, The color recognition module includes two photoelectric sensors arranged side by side, used to simultaneously detect the color of the liquid in the pipeline, and to determine the interface between different blood components based on the voltage difference output by the two sensors.

13. The fully automated batch blood component preparation device as described in claim 6, characterized in that, The centrifuge module includes: The centrifuge chamber's cover is controlled to open and close by an electric push rod; Door lock electromagnet, used to lock the cover plate in the closed position; Servo motors are used to drive the centrifuge chambers to rotate at speeds of 1,000 to 3,000 revolutions per minute; The cooling circuit is used to cool the inside of the centrifuge chamber.

14. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 5.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 5.

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