Medical miniature radial artery puncture mechanical arm

Abstract

The medical miniature radial artery puncture mechanical arm comprises a first telescopic pipe, a shaft arm and a universal telescopic shaft, the top of the first telescopic pipe is connected with a base through a sliding seat, the base is arranged on the upper side of an opening and closing cylinder, and the bottom of the first telescopic pipe is connected with the shaft arm; the shaft arm is L-shaped, and the other end of the shaft arm is movably connected with a tail lug seat of the universal telescopic shaft; a claw part is connected to a curved part at the front end of the universal telescopic shaft through a second telescopic tube, and a puncture needle is connected to the claw part. A driving motor can drive a mechanical arm to slide back and forth along a strip-shaped sliding groove, so that the front-back position of the mechanical arm is adjusted, a first electric telescopic rod in a first telescopic pipe can adjust the puncture height, and a third electric telescopic rod in a shaft wall adjusts the angle of a puncture needle through a movable rod; finally, puncture operation is conducted through a second electric telescopic rod, adjustment is flexible, the device can adapt to arms of patients of different body types, meanwhile, personnel operation is reduced, and clinical medical care burden is relieved.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, specifically relating to a medical miniature radial artery puncture robotic arm. Background Technology

[0002] Radial artery puncture and catheterization are widely used in clinical practice, such as during surgery, invasive arterial pressure monitoring in critically ill patients, and catheter placement during coronary angiography. The radial artery is relatively thin, making puncture and catheter placement difficult. Ultrasound-guided puncture can increase the success rate. However, ultrasound-guided puncture requires a high level of skill from clinicians, and many struggle to master it, resulting in more bleeding and increased suffering for conscious patients. Furthermore, excessive punctures of superficial arteries can cause hematomas, increasing the difficulty of the procedure. In such cases, alternative arteries, such as the femoral artery, must be selected, but choosing the femoral artery increases the risk of hematoma and aneurysm formation. This procedure requires significant manpower and time.

[0003] For example, patent CN118512242A provides a radial artery puncture indwelling needle kit that integrates the puncture and injection process using a syringe, and allows monitoring of blood return and determination of needle placement accuracy via a circular groove. However, the puncture needle in the aforementioned patent still cannot be automatically aligned, and manual adjustment of the puncture position is required for patients of different body types. Utility Model Content

[0004] This application provides a medical miniature radial artery puncture robotic arm to solve the above-mentioned technical problems.

[0005] To solve the above-mentioned technical problems, the present application adopts the following technical solution: a medical miniature radial artery puncture robotic arm, including a first telescopic tube, a shaft arm, and a universal telescopic shaft. The top of the first telescopic tube is connected to a base via a slide seat. The base is located on the upper side of the opening and closing cylinder. The bottom of the first telescopic tube is connected to the shaft arm. The shaft arm is L-shaped, and the other end of the shaft arm is movably connected to the tail end ear seat of the universal telescopic shaft. The curved part at the front end of the universal telescopic shaft is connected to a claw part via a second telescopic tube, and the claw part is connected to a puncture needle.

[0006] Furthermore, a first electric telescopic rod is provided at the upper end of the shaft arm, and the telescopic part of the first electric telescopic rod passes through the first telescopic tube and is connected to the bottom of the slide.

[0007] Furthermore, a motor mount is provided at the lower end of the shaft arm, and a vertically mounted rotating motor is provided in the motor mount. The rotating shaft of the rotating motor is connected to the center of the tail lug.

[0008] Furthermore, a movable motor base is provided at the front end of the universal telescopic shaft, and a second electric telescopic rod is fixedly connected in the movable motor base. The telescopic part of the second electric telescopic rod passes through the second telescopic tube and is connected to the claw part.

[0009] Furthermore, the movable motor base includes a seat plate and a vertical plate connected to the motor part of the second electric telescopic rod; the bottom of the vertical plate is connected to the lower side of the front curved part, the first half-meniscus at the upper end of the vertical plate and the second half-meniscus in the seat plate near the claw part are movably connected through the first rotating shaft, and a third half-meniscus is provided at the bottom of the other side of the seat plate.

[0010] Furthermore, a third electric telescopic rod is horizontally provided at the rear end of the universal telescopic shaft. The third electric telescopic rod is connected to the third meniscus via a movable rod. The end of the third electric telescopic rod is provided with a fourth meniscus pivotally connected to one end of the movable rod, and the other end of the movable rod is pivotally connected to the third meniscus.

[0011] Furthermore, the base is provided with a strip groove corresponding to the slide block, and a tapered rack is provided parallel to the upper end of the strip groove.

[0012] Furthermore, a drive motor is fixedly connected to the slide, and a bevel gear that meshes with the bevel rack is connected to the shaft of the drive motor.

[0013] The beneficial effects of this application are as follows: This application uses a drive motor to drive the robotic arm to slide back and forth along the strip groove, thereby adjusting the front and rear position of the robotic arm. The first electric telescopic rod in the first telescopic tube can adjust the puncture height, while the third electric telescopic rod in the shaft wall adjusts the angle of the puncture needle through a movable rod. Finally, the puncture operation is performed through the second electric telescopic rod. The adjustment is flexible and can adapt to the arms of patients of different body sizes, while reducing personnel operation and alleviating the burden on clinical medical staff. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of an embodiment of the radial artery puncture machine system of this application;

[0015] Figure 2 This is a cross-sectional structural schematic diagram of an embodiment of the medical miniature radial artery puncture robotic arm of this application;

[0016] Figure 3 yes Figure 2 A schematic diagram of the structure of region A in the diagram;

[0017] Figure 4 yes Figure 2 A schematic diagram of the structure of region B in the diagram;

[0018] Figure 5 yes Figure 2 A top view of one embodiment of the base. Detailed Implementation

[0019] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0020] like Figure 1-5 As shown, a medical miniature radial artery puncture robotic arm includes a first telescopic tube 1, a shaft arm 2, and a universal telescopic shaft 3. The top of the first telescopic tube 1 is connected to a base 6 via a slide 4. The base 6 is located on the upper side of an opening and closing cylinder 5. The bottom of the first telescopic tube 1 is connected to the shaft arm 2. The shaft arm 2 is L-shaped, and the other end of the shaft arm 2 is movably connected to the tail end ear seat 31 of the universal telescopic shaft 3. The curved part at the front end of the universal telescopic shaft 3 is connected to a claw part 9 via a second telescopic tube 8. The claw part 9 is connected to a puncture needle 7.

[0021] In the above design, the robotic arm is connected to the base 6 via the slide 4 above the opening and closing cylinder 5. The first telescopic tube 1 can adjust the height of the puncture needle 7, and the shaft arm 2 and the universal telescopic shaft 3 can adjust the left and right and up and down angles of the puncture needle 7 to adapt to the arms of different patients.

[0022] In this embodiment, the opening and closing cylinder 5 is equipped with an ultrasound probe 51 and a pneumatic balloon 52. The ultrasound probe 51 and the robotic arm assembly are located on the upper sides of both ends of the inner wall of the opening and closing cylinder 5. The pneumatic balloon 52 is located below the ultrasound probe 51. A base 6 is provided above the opening and closing cylinder 5, and a central control assembly connected to the ultrasound probe 51 and the robotic arm assembly is provided above the base 6. A puncture needle 7 for puncturing an artery is fixedly connected to the front end of the robotic arm assembly. The ultrasound probe 51 can detect the radial artery image of the patient's arm and transmit it to the display terminal, so that the program can determine the puncture point of the radial artery.

[0023] The upper end of the shaft arm 2 is provided with a first electric telescopic rod 11. The telescopic part of the first electric telescopic rod 11 passes through the first telescopic tube 1 and is connected to the bottom of the slide 4. The extension and retraction of the first electric telescopic rod 11 in the above design can adjust the height of the shaft arm 2, thereby controlling the height of the puncture needle 7.

[0024] A motor base 21 is provided at the lower end of the shaft arm 2, and a vertically arranged rotary motor 22 is provided in the motor base 21. The rotating shaft of the rotary motor 22 is connected to the center of the tail ear seat 31. The rotation of the rotary motor 22 can adjust the left and right rotation angle of the shaft arm 2, thereby adjusting the left and right angle of the puncture needle 7 to meet the puncture requirements of the patient's arm.

[0025] The universal telescopic shaft 3 has a movable motor base 32 at its front end. A second electric telescopic rod 33 is fixedly connected to the movable motor base 32. The telescopic part of the second electric telescopic rod 33 passes through the second telescopic tube 8 and is connected to the claw part 9. In the above design, the second electric telescopic rod 33 can control the forward and backward movement of the claw part 9 and the puncture needle 7, thereby performing arterial puncture operations.

[0026] The movable motor base 32 includes a base plate 321 connected to the motor section of the second electric telescopic rod 33 and a vertical plate 322. The bottom of the vertical plate 322 is connected to the lower side of the front curved section. The first meniscus 323 at the upper end of the vertical plate 322 and the second meniscus 324 near the claw 9 in the base plate 321 are movably connected via a first rotating shaft. A third meniscus 325 is provided at the bottom of the other side of the base plate 321. In the above design, the end of the base plate 321 is pivotally connected to the vertical plate 322, so that the base plate 321 can rotate along the end of the vertical plate 322 to adjust the vertical angle of the second electric telescopic rod 33 and the puncture needle 7.

[0027] A third electric telescopic rod 34 is horizontally mounted at the rear end of the universal telescopic shaft 3. The third electric telescopic rod 34 is connected to the third meniscus 325 via a movable rod 35. The end of the third electric telescopic rod 34 is provided with a fourth meniscus 341 pivotally connected to one end of the movable rod 35, and the other end of the movable rod 35 is pivotally connected to the third meniscus 325. The extension and retraction of the third electric telescopic rod 34 in the above design can push the tilt angle of the movable rod 35, thereby controlling the height of the tail end of the seat plate 321, thus indirectly adjusting the angle of the seat plate 321 and the second electric telescopic rod 33, thereby completing the angle adjustment of the puncture needle 7.

[0028] The base 6 has a strip-shaped groove 61 corresponding to the slide 4, and a conical rack 62 is provided parallel to the upper end of the strip-shaped groove 61. The above design allows the slide 4 to move along the extension direction of the strip-shaped groove 61, thereby controlling the forward and backward displacement of the robotic arm.

[0029] A drive motor 41 is fixedly connected to the slide 4, and a bevel gear 42 that meshes with the bevel rack 62 is connected to the shaft of the drive motor 41. In the above design, the drive motor 41 drives the bevel gear 42 to rotate, thereby causing the slide 4 to move along the rack gear 42, and ultimately driving the robotic arm to move back and forth.

[0030] The specific working principle is as follows: The operator assesses whether radial artery puncture and catheterization is necessary, and disinfects the patient's arm. The latch of the opening and closing cylinder 5 is opened, the upper half is opened, the disinfected arm is placed into the device, the air pressure bladder 52 is wrapped around the forearm to cover the upper half, and then the latch is closed. The start button is pressed on the terminal touchscreen. Ultrasound determines the specific location of the radial artery and transmits the data to the computer via the central control component. The ultrasound image is also displayed on the computer screen. The puncture point is automatically or manually selected, and the ultrasound probe 51 is moved away. Once the puncture point is selected, the program controls the drive motor 41 to rotate, thereby moving the robotic arm to the appropriate position. Simultaneously, the first electric telescopic rod 11 extends and retracts to adjust the height of the shaft arm 2, and the rotation motor 22 and the third electric telescopic rod 34 are activated to adjust the left-right and up-down angles of the puncture needle 7. Once the puncture angle is determined, the second electric telescopic rod 33 is activated to control the puncture needle 7 to puncture the preset puncture point. After the catheter in the puncture needle 7 is inserted into the blood vessel, the robotic arm withdraws the puncture needle 7. The air pressure bladder 52 is inflated to stop bleeding and prevent bleeding from the ductus arteriosus.

[0031] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A medical miniature radial artery puncture robotic arm, characterized in that, The device includes a first telescopic tube, a shaft arm, and a universal telescopic shaft. The top of the first telescopic tube is connected to a base via a slide, and the base is located on the upper side of the opening and closing cylinder. The bottom of the first telescopic tube is connected to the shaft arm. The shaft arm is L-shaped, and the other end of the shaft arm is movably connected to the tail lug of the universal telescopic shaft. The curved front end of the universal telescopic shaft is connected to a claw via a second telescopic tube, and the claw is connected to a puncture needle.

2. The medical miniature radial artery puncture robotic arm according to claim 1, characterized in that, The upper end of the shaft arm is provided with a first electric telescopic rod, the telescopic part of the first electric telescopic rod passes through the first telescopic tube and is connected to the bottom of the slide.

3. The medical miniature radial artery puncture robotic arm according to claim 2, characterized in that, The lower end of the shaft arm is provided with a motor base, and the motor base is provided with a vertically arranged rotating motor. The rotating shaft of the rotating motor is connected to the center of the tail lug.

4. The medical miniature radial artery puncture robotic arm according to claim 1, characterized in that, The front end of the universal telescopic shaft is provided with a movable motor seat, and a second electric telescopic rod is fixedly connected in the movable motor seat. The telescopic part of the second electric telescopic rod passes through the second telescopic tube and is connected to the claw part.

5. The medical miniature radial artery puncture robotic arm according to claim 4, characterized in that, The movable motor base includes a seat plate and a vertical plate connected to the motor part of the second electric telescopic rod; the bottom of the vertical plate is connected to the lower side of the front curved part, and the first half-meniscus at the upper end of the vertical plate and the second half-meniscus in the seat plate near the claw part are movably connected through a first rotating shaft, and a third half-meniscus is provided at the bottom of the other side of the seat plate.

6. The medical miniature radial artery puncture robotic arm according to claim 5, characterized in that, The rear end of the universal telescopic shaft is provided with a third electric telescopic rod, which is connected to the third meniscus via a movable rod; wherein, the end of the third electric telescopic rod is provided with a fourth meniscus pivotally connected to one end of the movable rod, and the other end of the movable rod is pivotally connected to the third meniscus.

7. The medical miniature radial artery puncture robotic arm according to claim 1, characterized in that, The base is provided with a strip groove corresponding to the slide block, and a tapered rack is provided parallel to the upper end of the strip groove.

8. A medical miniature radial artery puncture robotic arm according to claim 7, characterized in that, The slide is fixedly connected to a drive motor, and a bevel gear that meshes with the bevel rack is connected to the shaft of the drive motor.

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