Intelligent blood sampling robot based on vision

Abstract

The utility model discloses an intelligent blood sampling robot based on vision, and belongs to the field of robots. Comprising a workbench, a control mechanism, a direct drive type three-joint blood sampling mechanical arm electrically connected with the control mechanism, a blood sampling needle, a sliding block type blood sampling drive device, a blood sampling clamping device, a pitching head frame, a rotating head frame, a supporting frame, a binocular infrared camera device and an industrial camera. The industrial camera, the binocular infrared camera and the pitching head frame are all arranged on the direct drive type three-joint blood sampling mechanical arm, the rotating head frame is rotatably connected to the pitching head frame, and the blood sampling pushing device is slidably connected to the rotating head frame; the automatic vein blood sampling device is simple in structure, automatic vein blood sampling based on binocular vision can be achieved, cross infection of doctors and patients is avoided, the current situation of medical manpower tension is relieved, and blood sampling safety is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an intelligent blood sampling robot based on vision. Background Art

[0002] Domestic hospitals use manual blood collection, which has problems such as low efficiency, insufficient medical staff, high risk of infection, difficulty in finding blood vessels for special populations, and low success rate of blood collection. This not only increases the pressure on medical staff, but also may cause pain to patients and waste medical resources. It is urgent to design an automatic and safe intelligent blood collection system.

[0003] At present, the relevant technologies are:

[0004] The venous imaging device uses a single infrared camera and an ultrasonic probe. The infrared camera uses the principle that hemoglobin in the blood absorbs near-infrared light more strongly than other tissues. Through digital image processing technology, the subcutaneous veins are displayed, thereby assisting medical staff in blood collection. However, a single infrared camera can only obtain a two-dimensional image of the vein, but cannot provide depth information. Existing ultrasound-assisted puncture uses an ultrasonic probe to obtain the depth information of the blood vessel, but there is ultrasound agent contamination and high cost. Therefore, it is very necessary to design an intelligent blood collection robot that does not pollute and has low cost. Utility Model Content

[0005] The purpose of the utility model is to provide a vision-based intelligent blood sampling robot to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A vision-based intelligent blood sampling robot comprises a workbench, a control system, a directly driven three-joint blood sampling mechanical arm electrically connected to the control system, a blood sampling needle, a slider-type blood sampling drive device, a blood sampling clamping device, a pitch head frame, a rotating head frame, a support frame, a binocular infrared camera device, and an industrial camera. An arm placement slot is provided on the workbench directly opposite the blood sampling mechanical arm. The industrial camera, the binocular infrared camera device and the pitch head frame are all arranged on the directly driven three-joint blood sampling mechanical arm. The rotating head frame is rotatably connected to the pitch head frame, the slider-type blood sampling drive device is slidably connected to the rotating head frame, and the blood sampling needle is slidably connected to the slider-type blood sampling push device with adjustable advance and retreat stroke.

[0008] As a further technical solution of the utility model: one end of the rotating head frame is connected to the reduction motor inside the pitch head frame, and the other end is provided with a slide groove slidably connected to a slider-type blood sampling drive device. The slider-type blood sampling drive device is connected to the blood sampling clamping device by screws, and the blood collection needle is pre-tightened and fixed in the blood collection clamping device by the clamping plate.

[0009] As a further technical solution of the utility model: the blood collection device includes a blood collection needle, a clamping plate and a rubber hose, the blood collection needle is connected to the rubber hose, the clamping plate is pre-tightened and arranged outside the rubber hose, and the clamping plate is rectangular.

[0010] As a further technical solution of the utility model: the slider-type blood sampling drive device is connected to the blood sampling clamping device on one side and to the rotating head frame on the other side.

[0011] As a further technical solution of the utility model: the upper and lower planes of the clamping plate are parallel to the axis of the blood collection needle, and the clamping plate is pre-tightened and fixed on the outside of the rubber hose, one end of the rubber hose is connected to the blood collection needle, and the other end is connected to the puncture catheter, and the blood collection needle, rubber hose and puncture catheter are axially collinear.

[0012] As a further technical solution of the utility model: a tubular slide is arranged on the blood sampling clamping device, and the blood sampling needle and the rubber hose can move forward and backward in the tubular slide. A card slot is arranged on the blood sampling clamping device, and the card slot cooperates with the clamping plate.

[0013] As a further technical solution of the utility model: a pressure sensor device is provided in the blood sampling drive device.

[0014] As a further technical solution of the utility model: the infrared binocular camera device includes two infrared cameras, and the infrared cameras are symmetrically fixed on both sides of the mechanical arm.

[0015] As a further technical solution of the utility model: the arm placement slot 2 is located in front of the mechanical arm, and the control system is located at the rear of the workbench.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The utility model has a simple structure and can realize automatic venous blood sampling based on binocular vision, which can avoid cross infection between doctors and patients, alleviate the current situation of tight medical manpower and ensure the safety of blood sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a side view of the vision-based intelligent blood sampling robot of the present utility model.

[0019] Figure 2It is a side view of the main manipulator of the vision-based intelligent blood sampling robot of the utility model.

[0020] Figure 3 This is a partial view of the vision-based intelligent blood sampling robot of the present invention.

[0021] Figure 4 It is a partial view of the pitch head frame and the rotating head frame of the vision-based intelligent blood sampling robot of the utility model.

[0022] Figure 5 It is a structural schematic diagram of the blood sampling push device of the vision-based intelligent blood sampling robot of the utility model.

[0023] In the figure: 1-workbench, 2-arm placement slot, 3-base, 4-motor, 5-support frame, 6-industrial camera, 7-rotating head frame, 8-pitching head frame, 9-binocular infrared camera device, 10-joint three, 11-joint two, 12-joint one, 13-blood sampling clamping device, 14-blood sampling needle, 15-clamping plate, 16-rubber hose, 17-puncture catheter, 18-slideway, 19-slider type blood sampling drive device. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] Example 1: Figure 1-4 As shown, a vision-based intelligent blood sampling robot according to a preferred embodiment of the utility model includes a workbench 1, a control system, a directly driven three-joint blood sampling mechanical arm electrically connected to the control system, a blood collection needle 14, a slider-type blood sampling drive device 19, a blood collection clamping device 13, a pitch head frame 8, a rotating head frame 7, a support frame 5, a binocular infrared camera device 9, and an industrial camera 6. An arm placement slot 2 is provided on the workbench facing the blood collection mechanical arm. The industrial camera 6, the binocular infrared camera device 9 and the pitch head frame 8 are all arranged on the directly driven three-joint blood sampling mechanical arm. The rotating head frame 7 is rotatably connected to the pitch head frame 8, the slider-type blood sampling drive device 19 is slidably connected to the rotating head frame 7, and the blood collection needle 14 is slidably connected to the slider-type blood collection push device 19 with an adjustable advance and retreat stroke.

[0026] By adopting the intelligent blood sampling robot provided by the utility model to collect blood, the arm of the person being collected is placed in the arm fixing slot 2 facing the mechanical arm, the light source switch is triggered, the light source is turned on, and the industrial camera 6 located on the mechanical arm takes pictures of the needle tip of the blood collection needle 14 and the elbow fossa of the arm, and records the position information of the two. The position information is transferred to the control system, and the control system controls the three joints 0, 11, and 12 of the direct-drive mechanical arm to rotate, so as to move the binocular camera device to the top of the elbow fossa, and the binocular camera 9 takes pictures of the blood vessels of the arm, and the image information is transmitted to the control system. The control system analyzes and obtains the direction angle of the blood vessels, determines the best blood collection point and the skin tangent information at the blood collection point, and the control system controls the rotating head frame 7 to rotate a certain angle to make the direction of the blood collection needle basically parallel, and then controls the pitch head frame 8 to rotate a certain angle to make the blood collection needle form a certain angle with the skin tangent, and the slider-type blood collection drive device 19 drives the slider to move forward and perform the puncture movement. The force sensor on the slider detects the change of the puncture force to ensure the safety of the blood collection process. After the puncture is completed, the blood collection push device drives the slider to retreat, the blood collection needle is pulled out, and the blood collection work is completed. The utility model has the advantages of simple structure, safe use, low cost and convenience for actual popularization and use.

[0027] Embodiment 2: Based on Embodiment 1, a direct-drive three-joint blood sampling robot arm includes a working base 3 and a joint 1 rotatably connected to a fixed base of a workbench, an arm 1 rotatably connected to the joint 1 and a joint 2 whose axis is perpendicular, a joint 3 rotatably connected to the arm 1 and an arm 2 rotatably connected to the joint 3, wherein the joint 3 is parallel to the axis of the joint 2. This type of blood sampling robot arm is designed to be flexible in movement, have a large working space, minimize arm interference in the working space, and have a compact structure. Specifically, a rotating motor is provided inside the fixed base joint 1, and when it is necessary to drive the blood collection needle to move in the XY plane, the control system drives the joint 1 to rotate around the fixed base.

[0028] In this embodiment, a rotating motor is provided inside the joint 2, and the joint 2 is rotationally connected to the arm 1. When the blood collection needle needs to be driven to move in the Z direction, the control system drives the joint 2 to pitch in the three-dimensional space.

[0029] In this embodiment, a rotating motor is provided inside the joint 3, and the joint 3 is rotationally connected to the arm 2. When the blood collection needle needs to be driven to move in the Z direction, the control system drives the joint 3 to pitch in the three-dimensional space.

[0030] In this embodiment, joints one, two and three are electrically connected to the control system, one end of the rotating head frame 7 is connected to the reduction motor and the other end is connected to the slider type blood collection drive device 19, the slider type blood collection drive device 19 is connected to a slider, and the slider is connected to the blood collection needle 14.

[0031] In this embodiment, when the angle of the blood collection needle needs to be adjusted, the control system controls joints one, two, and three to rotate at a certain angle by calculating the inverse kinematics solution and trajectory planning technology, so that the binocular camera 9 moves to an appropriate position to take pictures of the blood vessels. After analyzing the image information, the control system controls the rotating head frame 7 to rotate at a certain angle so that the blood collection needle 14 is approximately parallel to the direction of the blood vessel. The reduction motor drives the pitch head frame to rotate so that the blood collection needle 14 is at a certain angle with the skin tangent, thereby realizing the angle adjustment of the blood collection needle 14.

[0032] In this embodiment, when the stroke of the blood collection needle needs to be adjusted, the slider-type blood collection drive device 19 is started. The drive device can adopt a linear transmission method such as a linear motor, gear rack, etc. The drive device drives the slider to move, and the slider drives the blood collection needle 14 to move.

[0033] Example 3: Based on Example 2, please refer to the attached Figure 5 In this embodiment, the blood collection device includes a blood collection equipment and a needle holding device; the blood collection equipment includes a blood collection needle 14, a rubber hose 16, and a puncture catheter 17. The blood collection needle 14 is connected to the rubber hose 16, and the blood collection equipment is slidably placed in the needle holding device 13. The other end of the rubber hose 16 is connected to the puncture catheter 17, and the axes of the three are collinear. The needle holding device includes a clamping plate 15 and a clamping device 13. The clamping device 13 is provided with a slide groove and a guide port. The rectangular clamping plate 15 is pre-tightened and fixed to the outside of the rubber hose 16, which effectively improves the positioning accuracy of the blood collection needle 14.

[0034] In this embodiment, the upper and lower planes of the clamping plate 15 are parallel to the axis of the blood collection needle 14, and the blood collection needle 14 is driven forward and backward in the slide groove by pushing the movement of the clamping plate 15 to achieve puncture movement.

[0035] In addition, the slider-type blood sampling drive device 19 is provided with a force sensor and fixed to the blood collection needle. The slider-type blood collection drive device 19 is used to bear force instead of the needle tip force, making detection and installation more convenient. The force sensor is electrically connected to the control system, and can dynamically detect the change of resistance during the needle tip puncture process. When the resistance value range is within the set threshold range, the drive device works normally. When it is less than or greater than the set threshold, the drive device stops moving, the slider stops and retreats, and the blood collection needle is pulled out, thereby protecting the safety of the user.

[0036] In this embodiment, the blood collection needle can be any model of blood collection needles currently used in hospitals, and the bevel of the needle tip forms a certain angle with the needle holding plate, which is more conducive to puncture.

[0037] In this embodiment, the light source is coaxially placed with the industrial camera 6 to ensure the brightness of the photo. A light source switch is set in the arm fixing slot 2. When the arm is placed, the switch is turned on, the light source emits light, and the industrial camera 6 takes a photo.

[0038] In this embodiment, an arm gripping device is provided in the arm fixing slot 2, and the arm placement slot is further tightened by pumping air through the suction pump to make the veins more prominent.

[0039] In this embodiment, an emergency stop button is provided on the workbench for the user to control the start and stop of the blood sampling robot in an emergency.

[0040] The utility model symmetrically arranges two infrared cameras 9 on both sides of the mechanical arm to form a binocular camera device. According to the binocular infrared imaging principle, the left and right binocular infrared cameras take pictures of the venous blood vessel area and transmit the image information to the control system for image processing. The opencv image processing software is used to perform distortion correction, denoising, and adaptive median filtering on the blood vessel image to obtain a clearer blood vessel image. The left and right infrared images are stereo matched according to the binocular vision BM stereo matching algorithm, and the disparity map of the left and right blood vessels is calculated and obtained. According to the disparity map, the binocular vision depth calculation is performed using the distance between the left and right infrared cameras and the camera focal length, thereby generating a depth map of the arm blood vessel image; finally, the pinhole imaging model is used in combination with the camera internal parameters obtained after calibration to obtain a three-dimensional coordinate map of each point in the image.

[0041] The three-dimensional coordinate diagram generated by the image processing technology is calculated to generate a three-dimensional image of the skin in the blood sampling area, and the tangent slope of the skin contour in the blood sampling area is calculated.

[0042] In this embodiment, the generated three-dimensional image information is transmitted to the host computer, which finds the best blood collection vessel through a specific optimal blood collection point algorithm and calculates the optimal blood collection angle information. The direction information is transmitted by the host computer to the control system, and the control system controls the joint motor and the reduction motor to rotate into place, and the direction adjustment of the blood collection needle is completed.

[0043] In practice, in order to ensure the accuracy of blood sampling, the position of the blood sampling needle tip needs to be calibrated. In this embodiment, the Zhang Zhengyou calibration method is adopted.

[0044] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

[0045] In addition, it should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment have also been appropriately combined to form other implementation modes that are easy for those skilled in the art to understand.

Claims

1. A vision-based intelligent blood sampling robot, comprising a workbench (1), a control system, a directly driven three-jointed blood sampling mechanical arm electrically connected to the control system, a blood sampling needle (14), a slider-type blood sampling drive device (19), a blood sampling clamping device (13), a pitch head frame (8), a rotating head frame (7), a support frame (5), a binocular infrared camera device (9) and an industrial camera (6), characterized in that: An arm placement slot (2) is provided on the workbench facing the blood sampling robotic arm; the industrial camera (6), the binocular infrared camera device (9) and the pitch head frame (8) are all arranged on the direct-drive three-joint blood sampling robotic arm; the rotating head frame (7) is rotatably connected to the pitch head frame (8); the slider-type blood sampling drive device (19) is slidably connected to the rotating head frame (7); and the blood sampling needle (14) is slidably connected to the slider-type blood sampling push device (19) with an adjustable forward and backward stroke.

2. The vision-based intelligent blood sampling robot according to claim 1, characterized in that: One end of the rotating head frame (7) is connected to a reduction motor inside the pitch head frame (8), and the other end is provided with a slide groove (18) for sliding connection to a slider-type blood sampling drive device (19). The slider-type blood sampling drive device (19) is connected to the blood sampling clamping device (13) by screws, and the blood sampling needle (14) is pre-tightened and fixed in the blood sampling clamping device (13) by a clamping plate (15).

3. The vision-based intelligent blood sampling robot according to claim 1, characterized in that: The blood collection needle (14), the clamping plate (15) and the rubber hose (16) form a blood collection device. The blood collection needle (14) is connected to the rubber hose (16). The clamping plate (15) is pre-tightened and arranged outside the rubber hose (16). The clamping plate (15) is rectangular.

4. The vision-based intelligent blood sampling robot according to claim 2, characterized in that: The slider-type blood sampling drive device (19) is connected to the blood sampling clamping device (13) on one side and to the rotating head frame (7) on the other side.

5. The vision-based intelligent blood sampling robot according to claim 3, characterized in that: The upper and lower planes of the clamping plate (15) are parallel to the axis of the blood collection needle (14), and the clamping plate (15) is pre-tightened and fixed on the outside of the rubber hose (16). One end of the rubber hose (16) is connected to the blood collection needle (14), and the other end is connected to the puncture catheter (17). The blood collection needle (14), the rubber hose (16), and the puncture catheter (17) are axially aligned.

6. The vision-based intelligent blood sampling robot according to claim 2, characterized in that: The blood sampling clamping device (13) is provided with a tubular slideway, and the blood sampling needle (14) and the rubber hose (16) can move forward and backward in the tubular slideway. The blood sampling clamping device (13) is provided with a clamping groove, and the clamping groove cooperates with the clamping plate (15).

7. The vision-based intelligent blood sampling robot according to claim 4, characterized in that: The blood sampling drive device (19) is provided with a pressure sensor.

8. The vision-based intelligent blood sampling robot according to claim 1, characterized in that: The binocular infrared camera device (9) comprises two infrared cameras, which are symmetrically fixed on both sides of the mechanical arm.

9. The vision-based intelligent blood sampling robot according to claim 1, characterized in that: The arm placement slot (2) is located in front of the mechanical arm, and the control system is located at the rear of the workbench.

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