An automatic venous puncture tip execution device

Abstract

The utility model discloses a kind of automatic intravenous puncture end execution devices, including first linear drive mechanism, first rotary driver, swing arm, second rotary driver, second linear drive mechanism, third rotary driver, 3D infrared imaging module and ultrasonic module, the output end of first linear drive mechanism is connected with first rotary driver, the output end of first rotary driver is connected with one end of swing arm, the other end of swing arm is fixedly connected with second rotary driver, the output end of second rotary driver is connected with second linear drive mechanism, the output end of third rotary driver is connected with first linear drive mechanism, 3D infrared imaging module and ultrasonic module. The utility model can realize multidimensional motion control, significantly improve the flexibility and adaptability of device. Device integration is high, small and exquisite, high puncture precision, convenient to maintain and overhaul, reduce use cost.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and in particular to an automatic intravenous puncture terminal actuator. Background Technology

[0002] With the improvement of people's living standards and the enhancement of medical awareness, patients have increasingly higher requirements for the quality of medical services. As an advanced medical device, intravenous puncture robots can achieve automated intravenous puncture operations. However, existing medical puncture devices have certain limitations in structural design, with insufficient degrees of freedom and poor flexibility. These factors directly affect the accuracy of the puncture operation, thus reducing the success rate. Furthermore, these devices are often bulky and complex in structure, which not only inconveniences daily cleaning and maintenance but also increases the difficulty of use and maintenance costs. Therefore, developing a new type of intravenous puncture robot to improve operational flexibility and accuracy while facilitating maintenance and use has become an urgent problem to be solved in the field of medical equipment. Utility Model Content

[0003] Therefore, this utility model proposes an automatic venipuncture terminal actuator to solve the problems mentioned in the background art and overcome the shortcomings of the existing technology.

[0004] To achieve the above objectives, this utility model provides an automatic venipuncture end-effector, comprising a first linear drive mechanism, a first rotary driver, a swing arm, a second rotary driver, a second linear drive mechanism, a third rotary driver, a 3D infrared imaging module, and an ultrasound module. The output end of the first linear drive mechanism is connected to the first rotary driver, the output end of the first rotary driver is connected to one end of the swing arm, the other end of the swing arm is fixedly connected to the second rotary driver, the output end of the second rotary driver is connected to the second linear drive mechanism, and the output end of the third rotary driver is connected to the first linear drive mechanism, the 3D infrared imaging module, and the ultrasound module.

[0005] Preferably, it also includes a fourth rotary driver and a puncture needle clamping device, wherein the fourth rotary driver is fixedly connected to the output end of the second linear drive mechanism, and the output end of the fourth rotary driver is connected to the puncture clamping device.

[0006] In any of the above embodiments, it is preferred that the puncture clamp device includes a jaw and a clamping plate, the output end of the fourth rotary driver is connected to the jaw, and the jaw and the clamping plate cooperate to clamp the puncture needle.

[0007] In any of the above embodiments, it is preferred that the shaft of the first linear drive mechanism is arranged in the vertical direction, the shaft of the third rotary drive is arranged in the vertical direction, the shaft of the first rotary drive is arranged in the horizontal direction, and the shaft of the second rotary drive is arranged in the horizontal direction.

[0008] In any of the above embodiments, it is preferred to further include a fixed plate and a first pressure sensor. The output end of the second linear drive mechanism is connected to the fixed plate through the first pressure sensor. The fixed plate is fixedly connected to the fourth rotary drive and the clamping plate respectively. The shaft of the fourth rotary drive and the clamping plate are perpendicular to the fixed plate respectively.

[0009] In any of the above embodiments, it is preferred to further include a support frame and a rotating plate, with the third rotary driver fixed on the support frame and the output end of the third rotary driver connected to the rotating plate. The rotating plate is fixedly connected to the first linear drive mechanism, the 3D infrared imaging module, and the ultrasound module, respectively.

[0010] In any of the above embodiments, it is preferred that the 3D infrared imaging module includes a 3D infrared camera and a depth camera.

[0011] In any of the above embodiments, it is preferred that the ultrasound module includes an electric actuator and an ultrasound imager, the electric actuator is fixed on a fixed plate, and the output end of the electric actuator is connected to the ultrasound imager.

[0012] In any of the above embodiments, it is preferred that the ultrasound module further includes a second pressure sensor, and the output of the fourth rotary actuator is connected to the ultrasound imager through the second pressure sensor.

[0013] In any of the above embodiments, it is preferred to further include an adapter fixing plate, which is connected to the end of the support frame away from the third rotary drive.

[0014] Compared with the prior art, the advantages and beneficial effects of this utility model are as follows:

[0015] This novel automated intravenous puncture device utilizes a first linear drive mechanism to drive a first rotary actuator, a swing arm, a second rotary actuator, and a second linear drive mechanism to achieve precise vertical displacement of the entire device. The first and second rotary actuators work together to adjust the puncture angle of the second linear drive mechanism, ensuring the adjustability and accuracy of the puncture direction. A third rotary actuator drives the first linear drive mechanism, the first rotary actuator, the swing arm, the second rotary actuator, the second linear drive mechanism, the 3D infrared imaging module, and the ultrasound module to rotate horizontally, achieving multi-dimensional motion control and significantly improving the device's flexibility and adaptability. The device is highly integrated, compact, easy to maintain and repair, and reduces operating costs.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a schematic diagram of the overall structure of the automatic venipuncture end-effector of this utility model.

[0019] Figure 2 This is a schematic diagram of the connection structure between the first linear drive mechanism and the first rotary driver of the automatic venipuncture end-effector in this embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of the first rotary driver and the second rotary driver of the automatic venipuncture end effector in this embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the puncture secondary electric cylinder and puncture clamp device of the automatic venipuncture terminal actuator in this embodiment of the present invention.

[0022] Figure 5 for Figure 4 Enlarged view of part A in the middle.

[0023] Figure 6 This is a schematic diagram of the puncture clamp device in the automatic venipuncture terminal actuator according to an embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of the 3D infrared imaging module and the ultrasound module in the automatic venipuncture terminal actuator according to an embodiment of the present invention.

[0025] Figure 8 This is a schematic diagram of the rotating plate in the automatic venipuncture end-effector according to an embodiment of the present invention.

[0026] Wherein: 1-First linear drive mechanism; 2-First rotary driver; 3-Swing arm; 4-Second rotary driver; 5-Second linear drive mechanism; 6-Third rotary driver; 7-Fourth rotary driver; 8-Gripper; 9-Clamping plate; 10-Punch needle; 11-Fixing plate; 12-First pressure sensor; 13-Support frame; 14-Rotating plate; 15-Second pressure sensor; 16-Adapter fixing plate. Detailed Implementation

[0027] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0028] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] like Figures 1 to 8 As shown, an embodiment of the present invention provides an automatic venipuncture end-effector, comprising a first linear drive mechanism 1, a first rotary driver 2, a swing arm 3, a second rotary driver 4, a second linear drive mechanism 5, a third rotary driver 6, a 3D infrared imaging module, and an ultrasound module 8. The output end of the first linear drive mechanism 1 is connected to the first rotary driver 2, the output end of the first rotary driver 2 is connected to one end of the swing arm 3, the other end of the swing arm 3 is fixedly connected to the second rotary driver 4, the output end of the second rotary driver 4 is connected to the second linear drive mechanism 5, and the output end of the third rotary driver 6 is connected to the first linear drive mechanism 1, the 3D infrared imaging module, and the ultrasound module 8.

[0030] The first linear drive mechanism 1 is parallel to the vertical direction. The axis of the first linear drive mechanism 1 is parallel to or coincides with the z-axis, which is a vertical axis, i.e., an axis perpendicular to the horizontal plane. The first rotary driver 2 and the second rotary driver 4 are horizontally arranged. The central axis of the first rotary driver 2 is parallel to the central axis of the second rotary driver 4. The central axis of the first rotary driver 2 is parallel to or coincides with the x-axis. The direction perpendicular to the central axis of the first rotary driver 2 is the y-axis direction. The first linear drive mechanism 1 can drive the first rotary driver 2 to move along the z-axis. The first rotary driver 2 drives the swing arm 3 to rotate around the x-axis. The other end of the swing arm 3 is fixedly connected to the second rotary driver 4. The first rotary driver 2 can drive the second rotary driver 4 to rotate around its central axis. The central axis of the second rotary driver 4 is perpendicular to the second linear drive mechanism. The second rotary driver 4 can drive the second linear drive mechanism to rotate around its central axis. The first linear drive mechanism 1, the first rotary driver 2, and the second rotary driver 4 adjust the position of the puncture needle 12. When adjusted to the appropriate position, the puncture is completed, driving the puncture needle 12 into the blood vessel.

[0031] The central axis of the third rotary actuator 6 is parallel to or coincides with the y-axis. The third rotary actuator 6 can drive the first linear drive mechanism 1, the 3D infrared imaging module and the ultrasonic module 8 to rotate around the central axis of the third rotary actuator 6 to achieve position adjustment.

[0032] Optionally, the first linear drive mechanism 1 is specifically a linear module, including a drive motor, a guide rail, and a slider. The output end of the drive motor is connected to the slider via a lead screw to drive the slider to slide along the guide rail. The slider is fixedly connected to the first rotary driver 2, thereby driving the first rotary driver 2 to move along the guide rail. The first linear drive mechanism 1 can also directly use a linear motor to drive the first rotary driver 2 to move vertically. The specific implementation of the first linear drive mechanism 1 is not limited, and an appropriate drive method can be selected according to actual needs.

[0033] Optionally, the second linear drive mechanism can be a puncture electric cylinder, a servo electric cylinder, an electric cylinder, or any mechanism capable of achieving linear puncture motion.

[0034] This invention relates to an automated intravenous puncture distal actuator. A first linear drive mechanism 1 drives a first rotary actuator 2, a swing arm 3, a second rotary actuator 4, and a second linear drive mechanism to achieve precise vertical displacement. The first rotary actuator 2 and the second rotary actuator 4 work together to adjust the puncture angle, ensuring precise and adjustable puncture direction. A third rotary actuator 6 drives the entire device to rotate horizontally, achieving multi-dimensional motion control and enhancing the device's flexibility and adaptability. This device is highly integrated, compact, and easy to maintain, reducing operating costs and the workload of medical staff. Especially during the pandemic, it can avoid direct contact between medical staff and patients, protecting the safety of medical personnel. Simultaneously, it completes the puncture procedure with high precision and stability, completely freeing up medical staff.

[0035] Specifically, it also includes a fourth rotary driver 9 and a puncture needle 12 clamping device. The fourth rotary driver 9 is fixedly connected to the output end of the second linear drive mechanism 5, and the output end of the fourth rotary driver 9 is connected to the puncture clamping device.

[0036] Furthermore, the puncture clamp device includes a jaw 10 and a clamping plate 11. The output end of the fourth rotary driver 9 is connected to the jaw 10, and the jaw 10 cooperates with the clamping plate 11 to clamp the puncture needle 12.

[0037] The output of the fourth rotary actuator 9 is connected to the gripper 10. The gripper 10 and the clamping plate 11 cooperate to form a controllable clamping of the puncture needle 12. The clamping plate 11 is provided with a groove that mates with the shank of the puncture needle 12. The shank of the puncture needle 12 is placed into the groove, and then the gripper 10 clamps and holds the shank of the puncture needle 12 in place. The fourth rotary actuator 9 drives the gripper 10 to rotate around its central axis. When the puncture needle 12 needs to be replaced, the clamping or loosening action of the gripper 10 and the clamping plate 11 is controlled to achieve quick disassembly and installation of the puncture needle 12, thereby significantly improving the convenience and efficiency of puncture needle 12 replacement.

[0038] Specifically, the axis of the first linear drive mechanism 1 is set in the vertical direction, the axis of the third rotary drive 6 is set in the vertical direction, the axis of the first rotary drive 2 is set in the horizontal direction, and the axis of the second rotary drive 4 is set in the horizontal direction.

[0039] The axis of the first linear drive mechanism 1 is parallel to the axis of the third rotary drive 6, and the axis of the first rotary drive 2 is parallel to the axis of the second rotary drive 4.

[0040] The axes of the first linear drive mechanism 1 and the third rotary driver 6 are arranged vertically. The first linear drive mechanism 1 drives the second linear drive mechanism to move vertically, and the third rotary driver 6 drives the entire device to rotate. The axes of the first rotary driver 2 and the second rotary driver 4 are arranged horizontally, used to drive the second linear drive mechanism for multi-angle adjustment and positioning. By orthogonally arranging the above structures, precise motion control of the puncture needle 12 in multi-dimensional space is achieved, improving the flexibility and accuracy of the puncture operation.

[0041] Specifically, it also includes a fixed plate 13 and a first pressure sensor 14. The output end of the second linear drive mechanism 5 is connected to the fixed plate through the first pressure sensor 14. The fixed plate 13 is fixedly connected to the fourth rotary driver 9 and the clamping plate 11 respectively. The axis of the fourth rotary driver 9 and the clamping plate 11 are perpendicular to the fixed plate 13 respectively.

[0042] The fourth rotary actuator 9 is located on one side of the fixed plate 13, and the clamping plate 11 is located on the other side of the fixed plate 13. The output end of the fourth rotary actuator 9 passes through the fixed plate and is connected to the gripper. The axis of the fourth rotary actuator 9 and the clamping plate 11 are both perpendicular to the fixed plate 13. The first pressure sensor 14 measures the puncture pressure in real time. Through the above structure, a stable connection and coordinated movement between the second linear drive mechanism, the fourth rotary actuator 9, and the clamping plate 11 are achieved.

[0043] Specifically, it also includes a support frame 15 and a rotating plate 16. The third rotating driver 6 is fixed on the support frame 15, and the output end of the third rotating driver 6 is connected to the rotating plate 16. The rotating plate 16 is fixedly connected to the first linear drive mechanism 1, the 3D infrared imaging module and the ultrasound module respectively.

[0044] Through the above structure, the third rotary driver 6 drives the rotating plate 16 and the components connected to it to rotate as a whole, thereby ensuring the flexible movement and coordinated operation of the device in the horizontal direction and improving the integration and operational accuracy of the device.

[0045] Specifically, the 3D infrared imaging module includes a 3D infrared camera and a depth camera.

[0046] A 3D infrared imaging module is used to identify blood vessels and determine their spatial position relative to the actuator. Blood vessel identification is performed using a 3D infrared camera. This 3D infrared imaging module can be composed of a single infrared camera and a single depth camera, or it can be composed of two infrared cameras.

[0047] Specifically, the ultrasound module includes an electric actuator 17 and an ultrasound imager 18. The electric actuator 17 is fixed to the mounting plate 13, and its output end is connected to the ultrasound imager 18. This structure enables precise drive and control of the ultrasound imager 18 by the electric actuator 17, ensuring flexible movement of the ultrasound imager 18 within a preset range, thereby improving the accuracy of imaging positioning and the ease of operation. The ultrasound module provides ultrasound recognition of the depth and diameter of human blood vessels, providing a basis for puncture decisions. The ultrasound module can be installed using either in-plane or out-of-plane puncture methods.

[0048] Specifically, the ultrasound module also includes a second pressure sensor 19, and the output end of the electric push rod 17 is connected to the ultrasound imager 18 through the second pressure sensor 19. While enabling the electric push rod 17 to drive the ultrasound imager 18, the second pressure sensor 19 monitors and feeds back the pressure data applied to the ultrasound imager 18 in real time, thereby ensuring the controllability of pressure and operational safety during the imaging process, and improving the intelligence level and reliability of the device.

[0049] The device integrates an ultrasound imager 18 and a 3D infrared camera, enabling it to identify vein locations and precisely select puncture targets, thereby providing high-precision motion control and improving the accuracy and success rate of venipuncture.

[0050] It also includes an adapter fixing plate 20, which is connected to the end of the support frame 15 away from the third rotary driver 6. The adapter fixing plate 20 can be connected and fixed to the robot for intravenous puncture.

[0051] Optionally, the first rotary driver 2, the second rotary driver 4, the third rotary driver 6, and the fourth rotary driver 9 are servo motors or rotary motors, respectively. The first rotary driver 2, the second rotary driver 4, the third rotary driver 6, and the fourth rotary driver 9 are configured to provide rotary driving force, or they can be other forms of rotary driving structures.

[0052] The working principle of this utility model is as follows: The first linear drive mechanism controls the first rotary driver, the second rotary driver, the second linear drive mechanism, and the puncture needle to move vertically. The first and second rotary drivers work together to adjust the angle and position of the puncture needle. The third rotary driver drives the first linear drive mechanism, the first rotary driver, the second rotary driver, and the second linear drive mechanism to adjust the horizontal rotation angle, thereby accurately determining the puncture direction of the venous puncture needle according to the direction of the blood vessel. The electric push rod controls the ultrasound instrument to move vertically for detection, and the imaging data from the ultrasound imager and the 3D infrared camera provide a precise puncture position. When the puncture needle needs to be replaced, the fourth rotary driver drives the clamping device to clamp or release the puncture needle, thereby completing the replacement of the puncture needle. The second linear drive mechanism drives the puncture needle to perform puncture and needle return operations through pushing and contracting actions.

[0053] This invention has multiple degrees of freedom, can accommodate various blood vessel orientations, is easy to operate, and also has the following advantages:

[0054] 1. It can comprehensively cover the puncture needs of special blood vessels at different angles and directions.

[0055] 2. Before puncture, the needle can be returned to the clamping mode, and medical staff can insert a standard intravenous puncture needle.

[0056] 3. After the puncture is completed, the puncture needle is automatically released, making it easier for the puncture robot and nurse to perform subsequent operations.

[0057] 4. The 3D infrared imaging module and ultrasound module in the venipuncture system can effectively improve the success rate of puncture, especially for patients with poor venous visualization and difficult puncture, reducing the risk and pain of puncture.

[0058] 5. Based on ultrasound and infrared imaging technologies: Ultrasound can easily penetrate human tissue, making it suitable even for individuals with thicker adipose tissue layers. It has a wide range of applications and can provide accurate information on vein depth. Infrared imaging technology features a wide imaging range, accurately identifies vascular characteristics, and effectively improves puncture efficiency.

[0059] 6. Featuring a compact design, the device is small in size, high in rigidity, and free from cumulative errors. It can be mounted on a robotic arm or a self-made mobile platform as an end effector to achieve automated intravenous puncture, making it suitable for high-precision medical procedures. Its compact structure facilitates sterilization, reducing the difficulty of sterilization and the risk of cross-infection.

[0060] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. An automated intravenous puncture distal actuator, characterized in that, The device includes a first linear drive mechanism, a first rotary driver, a swing arm, a second rotary driver, a second linear drive mechanism, a third rotary driver, a 3D infrared imaging module, and an ultrasound module. The output end of the first linear drive mechanism is connected to the first rotary driver. The output end of the first rotary driver is connected to one end of the swing arm. The other end of the swing arm is fixedly connected to the second rotary driver. The output end of the second rotary driver is connected to the second linear drive mechanism. The output end of the third rotary driver is connected to the first linear drive mechanism, the 3D infrared imaging module, and the ultrasound module.

2. The automatic venipuncture distal actuator as described in claim 1, characterized in that, It also includes a fourth rotary driver and a puncture needle clamping device, wherein the fourth rotary driver is fixedly connected to the output end of the second linear drive mechanism, and the output end of the fourth rotary driver is connected to the puncture clamping device.

3. The automatic venipuncture distal actuator as described in claim 2, characterized in that, The puncture clamp device includes a jaw and a clamping plate. The output end of the fourth rotary driver is connected to the jaw, and the jaw cooperates with the clamping plate to clamp the puncture needle.

4. The automatic venipuncture distal actuator as described in claim 3, characterized in that, The axis of the first linear drive mechanism is set vertically, the axis of the third rotary drive is set vertically, the axis of the first rotary drive is set horizontally, and the axis of the second rotary drive is set horizontally.

5. The automatic venipuncture distal actuator as described in claim 4, characterized in that, It also includes a fixed plate and a first pressure sensor. The output end of the second linear drive mechanism is connected to the fixed plate through the first pressure sensor. The fixed plate is fixedly connected to the fourth rotary drive and the clamping plate respectively. The axis of the fourth rotary drive and the clamping plate are perpendicular to the fixed plate respectively.

6. The automatic venipuncture distal actuator as described in claim 5, characterized in that, It also includes a support frame and a rotating plate. The third rotary driver is fixed on the support frame, and the output end of the third rotary driver is connected to the rotating plate. The rotating plate is fixedly connected to the first linear drive mechanism, the 3D infrared imaging module and the ultrasound module respectively.

7. The automatic venipuncture distal actuator as described in claim 6, characterized in that, The 3D infrared imaging module includes a 3D infrared camera and a depth camera.

8. The automatic venipuncture distal actuator as described in claim 6, characterized in that, The ultrasound module includes an electric actuator and an ultrasound imager. The electric actuator is fixed on the fixed plate, and the output end of the electric actuator is connected to the ultrasound imager.

9. The automatic venipuncture distal actuator as described in claim 8, characterized in that, The ultrasound module also includes a second pressure sensor, and the output of the fourth rotary driver is connected to the ultrasound imager through the second pressure sensor.

10. The automatic venipuncture distal actuator as described in claim 6, characterized in that, It also includes an adapter mounting plate, which is connected to the end of the support frame away from the third rotary driver.

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