Automatic body invasion device

Abstract

The present invention relates to an automatic body invasive device, and more particularly to an automatic body invasive device including a body compression unit that can compress a body part to detect an invasive position. The present invention also relates to an automatic body invasive device that includes at least one of a rotatable probe unit, a vacuum tube driving unit, and a body contact object supply unit. The automatic body invasive device according to the present invention includes an injection needle unit support unit that supports an injection needle to be inserted into the body, and a compression unit (500) that compresses the body including the invasive target.

Description

[Technical Field]

[0001] The present invention relates to an automatic body invasive device, and more particularly to an automatic body invasive device including a body compression unit capable of compressing a body part in order to detect an invasive position.

[0002] The present invention also relates to an automated body invasive device including at least one of a rotatable probe unit, a vacuum tube drive unit, and a body contact supply unit. [Background technology]

[0003] In medical institutions such as hospitals, needles are often inserted into superficial veins to draw blood or administer injections. Currently, doctors, nurses, or clinical pathologists who have received training to locate superficial veins and other blood vessels locate and insert needles. However, this method requires a long training period, incurs ongoing costs for hiring specialized personnel, and often requires multiple attempts before a successful insertion can be achieved. Furthermore, in patients with poor vascular condition, such as babies, the elderly, or patients undergoing cancer treatment, or in those whose veins are dark-skinned and therefore difficult to see with the naked eye, even experienced specialists have difficulty locating the veins.

[0004] Furthermore, even for well-trained and experienced medical staff, repeated blood sampling is a medical technique that causes high levels of fatigue and many people to refuse the procedure. There is also the constant risk that the subject's blood may accidentally splash onto the medical technician during the blood sampling process or enter the medical technician's body, causing infection, and so there are many problems with human blood sampling.

[0005] In order to solve these problems of the prior art, the applicant filed Korean Patent Application No. 10-2020-0010302 on January 29, 2020, for a method for automatically detecting the location of a body part to be invasive, such as a superficial vein, and Korean Patent Application No. 10-2020-0040097 on April 2, 2020, for an automatic body invasive device. The contents of these patent applications are incorporated herein by reference in their entirety. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Korean Patent Registration No. 10-1601421 (Name of invention: Automatic blood collection method, Publication date: March 10, 2016) Summary of the Invention [Problem to be solved by the invention]

[0007] The present invention aims to provide an automatic body invasive device including a body compression unit that can more accurately detect the invasive position when the position of the body part to be invasively performed is determined and the invasive device is moved to that position to perform the invasive operation.

[0008] Another object of the present invention is to provide an automated body invasive device that includes a probe unit that is rotatable across the width of the body to allow for more accurate detection of the invasive location.

[0009] Another object of the present invention is to provide an automatic body invasive device that includes a vacuum tube driving unit that automatically inserts a vacuum tube into a syringe of an injection needle unit when the position of the body part to be invasively performed is determined and the invasive device is moved to that position to perform the invasive operation.

[0010] Another object of the present invention is to provide an automatic body invasive device that includes a body contact material supply unit for applying an ultrasound gel to the body after the position of the body part to be invasively determined and before the invasive procedure is performed, for example, after blood sampling, by applying a hemostatic bandage to the blood sampling site or before contacting the body with an ultrasound probe to detect the blood sampling position. [Means for solving the problem]

[0011] The automatic body invasive device according to the present invention includes an injection needle unit support part that supports an injection needle that will be inserted into a body, and a compression part that compresses the body including the invasive target.

[0012] The compression unit may include a compression band that contacts and compresses the compressed body, at least a pair of moving units that support the compression band, and a drive device that drives the moving units in the compression direction and the compression release direction.

[0013] The compression band can be positioned so as not to come into contact with the body to be compressed in an initial state before compression.

[0014] The compression unit may include a guide rod, a first nut that moves in a first direction along the guide rod by operation of the driving device, and a second nut that moves along the guide rod in a second direction opposite to the first direction, and the first nut and the second nut are connected to the at least one pair of moving units to move the moving units along the guide rod.

[0015] The automated body invasive device according to the present invention may further include a coupling that connects the guide rod and the output shaft of the drive device.

[0016] The automated body invasive device according to the present invention may further include an ultrasound probe for detecting an invasive position, and a probe unit for supporting the ultrasound probe and moving the ultrasound probe in a predetermined direction.

[0017] The method for measuring blood pressure or pulse using an automatic body invasive device according to the present invention includes a first step of compressing the upper arm with the compression unit, and a second step of measuring blood pressure or pulse by moving the ultrasound probe from the lower arm in a predetermined direction using a probe unit and measuring blood flow through ultrasound images.

[0018] The blood pressure or pulse measuring method according to the present invention may further include a step 1-1 of varying the pressure applied to the upper arm.

[0019] The automated body invasive device according to the present invention may further include a probe unit including a probe for detecting an invasive body part, a probe support, and a driving device. The probe unit may be rotatable in the width direction of the invasive body part by operation of the driving device.

[0020] The automated body invasive device according to the present invention may further include a direction converting unit that converts the driving force of the driving device into a rotational force that enables rotation of the probe unit in the width direction.

[0021] The probe unit may further include a presser portion adapted to press against the target body.

[0022] The probe unit may further include an elastic member connecting the pressing part and the probe supporting part.

[0023] The automated body invasive device according to the present invention may further include a linear drive device that moves the probe unit in the up and down direction.

[0024] The automated body invasive device according to the present invention may further include an insertion member driving unit that drives an insertion member inserted into the injection needle unit. The insertion member driving unit may include a tube support that supports the insertion member and a driving device that drives the insertion member support unit.

[0025] The insert support may include a toothed retainer that contacts and grips the insert.

[0026] The tooth profile holder may include teeth extending along the length of the insert support portion.

[0027] The insertion member driving unit may include a lead screw to which the driving force of the driving device is transmitted, a nut that rotates with the rotation of the lead screw and moves along the lead screw, and a connecting unit that is connected to the nut, moves with the movement of the nut, and is connected to the insertion member support unit.

[0028] The insertion member driving portion may further include a guide that guides the connecting portion.

[0029] The tooth profile holder may be provided rotatably about the longitudinal axis of the insertion member support.

[0030] The automatic body invasive device according to the present invention may further include a body contact object supply unit. The body contact object supply unit may include a roller unit that supplies a roll-shaped body contact object, and a pressing unit that presses the body contact object into contact with the body at a predetermined position.

[0031] The roller unit may include a first roller onto which the roll of body-contact item is wound before use, a second roller onto which the roll of body-contact item is wound after use, and a drive device that rotates at least one of the first roller and the second roller.

[0032] The roller unit may further include at least one diverting roller disposed between the first roller and the second roller, for diverting the direction of the body-contacting object so that the body-contacting object moves in a predetermined direction.

[0033] The diverting rollers may include a first diverting roller disposed downstream of the first roller and diverting the direction of the band of body contact object supplied from the first roller, a second diverting roller disposed downstream of the first diverting roller and diverting the direction of the band of body contact object supplied from the first diverting roller, a third diverting roller disposed downstream of the second diverting roller and diverting the direction of the band of body contact object supplied from the second diverting roller, a fourth diverting roller disposed downstream of the third diverting roller and diverting the direction of the band of body contact object supplied from the third diverting roller, and a diverting roller driving device that drives at least one of the first to fourth diverting rollers.

[0034] The second and third transfer rollers may be arranged such that the body contacting object band is placed between them on the upper side of the contacted body. [Effects of the Invention]

[0035] The present invention has the advantage of providing an automatic body invasive device that is advantageous for detecting the position of an invasive injury by including a body compression unit. Furthermore, by measuring blood pressure or pulse rate along with the invasive injury, it is possible to detect the possibility of vasovagal syncope before it occurs and take appropriate medical measures.

[0036] According to the present invention, the probe unit including the probe for detecting the invasive position can be rotated in the width direction of the body, thereby providing an automatic body invasive device that is advantageous for detecting the invasive position.

[0037] According to the present invention, since a vacuum tube driving device that automatically inserts a vacuum tube into a syringe of an injection needle unit is included, it is possible to provide an automatic body invasive device that improves convenience when collecting blood.

[0038] According to the present invention, a body contact object supply unit is provided that can attach or apply a hemostatic bandage or ultrasound gel to the body, thereby providing an automatic body invasive device that improves convenience when collecting blood. [Brief explanation of the drawings]

[0039] [Figure 1] FIG. 1 is a block diagram of an automated body invasive device according to the present invention. [Figure 2] FIG. 2 is a front view of the bevel adjustment portion of the automated body invasive device according to the present invention. [Figure 3] FIG. 3 is a side view of a bevel adjustment portion of an automated body invasive device according to the present invention. [Figure 4] FIG. 4 is a side view of the delivery section of the automated body invasive device according to the present invention. [Figure 5] FIG. 5 is a plan view of the transport section of the automated body invasive device according to the present invention. [Figure 6] FIG. 6 is a plan view of a slope adjustment unit according to another embodiment of the present invention. [Figure 7] FIG. 7 is a front view of the movable part of the injection needle unit of the automatic body invasive device according to the present invention. [Figure 8] FIG. 8 is a left side view of the movable part of the injection needle unit of the automatic body invasive device according to the present invention. [Figure 9] FIG. 9 is an enlarged front view of a vacuum tube drive according to the present invention. [Figure 10] FIG. 10 is an enlarged right side view of the vacuum tube drive according to the present invention. [Figure 11] FIG. 11 is a side view of the probe unit, the body compression unit, and the body contact material supply unit of the automatic body invasive device according to the present invention. [Figure 12] FIG. 12 is a side view of the probe unit of the present invention, illustrating a method for detecting an invasive position. [Figure 13] FIG. 13 is a front view of the probe unit, the body compression unit, and the body contact material supply unit of the automatic body invasive device according to the present invention. [Figure 14]FIG. 14 is an enlarged front view of the body compression unit and the body contact item supply unit according to the present invention. [Figure 15] FIG. 15 is an enlarged side view of the body compression unit and the body contact item supply unit according to the present invention. [Figure 16] FIG. 16 is a diagram showing an example of a body contact object band. [Figure 17] FIG. 17 is a flow diagram of a method for automated body invasion according to the present invention. [Figure 18] FIG. 18 is a flow diagram of a method for detecting a target body part according to the steps shown in FIG. [Figure 19] 19 to 22 are diagrams for explaining a method for detecting a target blood vessel. [Figure 20] 19 to 22 are diagrams for explaining a method for detecting a target blood vessel. [Figure 21] 19 to 22 are diagrams for explaining a method for detecting a target blood vessel. [Figure 22] 19 to 22 are diagrams for explaining a method for detecting a target blood vessel. DETAILED DESCRIPTION OF THE INVENTION

[0040] The present invention will now be described in detail with reference to the accompanying drawings.

[0041] In this specification, only the minimum components necessary for explaining the present invention are described, and components unrelated to the essence of the present invention are not mentioned. Furthermore, the description should not be interpreted in an exclusive sense including only the mentioned components, but in a non-exclusive sense that may also include other components not mentioned.

[0042] The exemplary embodiments described herein provide a general understanding of the principles of the structure, function, fabrication, and use of the devices and methods disclosed herein. One or more such embodiments are illustrated in the accompanying drawings. Those skilled in the art will appreciate that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments, and that the scope of the invention is defined by the claims. Features shown and described in connection with one exemplary embodiment may be combined with features of other embodiments. Such modifications or variations are intended to be within the scope of the invention.

[0043] In describing the present invention, the order of steps should be understood as non-restrictive unless a preceding step must be performed logically and chronologically before a following step. In other words, except in exceptional cases such as those described above, even if a process described as a following step is performed before a process described as a preceding step, the essence of the invention is not affected, and the scope of the invention should be defined regardless of the order of steps. Furthermore, in this specification, "A or B" is defined not only to refer to either A or B selectively, but also to include both A and B. Furthermore, in this specification, the term "comprise" is intended to encompass the inclusion of other components in addition to the elements listed as comprising.

[0044] The control methods of the present invention may be implemented by an electronic computing device, such as a computer, tablet PC, mobile phone, portable computing device, or fixed computing device. It should also be understood that one or more methods or aspects of the present invention may be implemented by at least one processor. The processor may be located in a computer, tablet PC, mobile device, portable computing device, or the like. These devices may include memory configured to store computer program instructions, such that the processor is specifically programmed to execute the stored program instructions to perform one or more processes as described herein. It should also be understood that the information and methods described herein may be implemented by a computer, tablet PC, mobile device, portable computing device, or the like, including one or more additional components and processors. The control logic may also be embodied in a non-volatile computer-readable medium containing program instructions executable by a processor, controller, or control unit. Examples of computer-readable media include, but are not limited to, ROM, RAM, CD-ROM, magnetic tape, floppy disks, flash drives, smart cards, optical data storage devices, and the like. The computer-readable recording medium may also be distributed among computers connected via a network, and the computer-readable medium may be stored and executed in a distributed manner, for example, by remote servers or a Controller Area Network (CAN).

[0045] A block diagram of the automatic body invasive device according to the present invention is shown in Fig. 1. As shown in Fig. 1, the automatic body invasive device according to the present invention includes a control unit 100, a slope adjustment unit 22, a transport unit 20, an injection needle unit moving unit 30, a probe unit 40, a vacuum tube driving unit 50, a body compression unit 500, and a body contact object supply unit 600.

[0046] The control unit 100 controls the operations of the inclination adjustment unit 22, the transport unit 20, the injection needle unit moving unit 30, the probe unit 40, the vacuum tube driving unit 50, the body compression unit 500, and the body-contacting object supply unit 600. The control unit 100 can be part of an electronic computing device and represents a logical combination of general-purpose hardware and software that performs its functions. The control commands generated by the control unit 100 for operating the automatic body invasive device according to the present invention can be generated by a computer program stored in the computer-readable recording medium.

[0047] FIG. 2 shows a front view of the slope adjustment unit 22, and FIG. 3 shows a side view of the slope adjustment unit 22.

[0048] The bevel adjustment unit 22 includes a first drive device 16, a first direction changing unit 18, a first rotation shaft 17, a main body 19, a second pneumatic device 145, a support arm 14, a support base 15, and a detection unit 222 (e.g., a vision sensor). As shown in FIG. 3 , the support arm 14 may be provided as at least a pair of arms arranged parallel to each other, and may be driven by the second pneumatic device 145 in directions toward or away from each other. The support arms 14 may move from the inside of the injection needle unit 200 in directions away from each other, and may support the injection needle unit 200 while biasing the inner wall of the injection needle unit 200 in an outward radial direction. The direction of the bevel at the end of the injection needle of the injection needle unit 200 may be detected by the detection unit 222.

[0049] When the detected bevel direction of the injection needle unit 200 mounted on the support base 15 is not the desired direction, the first driving device 16 is driven to rotate the main body 19 about the first rotation axis 17 in response to a control command from the control unit 100, thereby adjusting the bevel direction of the injection needle of the injection needle unit 200 supported by the support arm 14 to the desired direction. The driving force of the first driving device 16 is converted by the first direction changing unit 18 into a direction that rotates the main body 19. The conversion of the transmission direction of the driving force of the first driving device 16 can be implemented using various known mechanical structures, and the first direction changing unit 18 can include a reducer. The direction changing unit described later in this specification can also include a reducer as needed. The first driving device 16 can be a rotary driving device, such as a conventional motor, or a linear driving device, such as a linear motor. When a linear motor is used, the first direction changing unit 18 converts the linear motion direction into a rotational direction that rotates the support arm 14.

[0050] The direction changers used in the slope adjustment unit 22 as well as other components described below are not essential components and may not be used depending on the design of the drive unit.

[0051] Figures 4 and 5 show a side view and a plan view, respectively, of the transport section 20 of the automated body invasive device of the present invention. The transport section 20 shown in Figures 4 and 5 may be provided with a slope adjustment section according to another embodiment of the present invention. A plan view of the slope adjustment section according to another embodiment of the present invention is shown in Figure 6.

[0052] The transfer unit 20 includes a second driving device 23, a movable arm 24, a second rotating shaft 25, a first main body 26, and a second direction changing device 27. The movable arm 24 may be provided with a slope adjustment unit according to another embodiment of the present invention. The slope adjustment unit may include at least one roller 214 that contacts the injection needle unit 200, a seventh driving device 223 that rotates the roller 214 to rotate the injection needle unit 200, and a detection unit 222 (not shown in FIGS. 4 to 6 ). The injection needle unit 200 can be held at a predetermined position by being supported at its outer side by the first holding unit 211. The first holding unit 211 may include at least a pair of arms that are parallel to each other, and the arms can be driven toward or away from each other by, for example, a third pneumatic device 215. When the holding units 211 approach each other and contact the outer side of the injection needle unit 200, they can be biased inward to support the injection needle unit 200. The holding portion 211 may be supported inside the injection needle unit 200 in the same manner as the support arm 14 .

[0053] The roller 214 has teeth on its outer circumferential surface, which can come into contact with the outer circumferential surface of the injection needle unit 200. If complementary teeth are provided on the outer circumferential surface of the injection needle unit 200, they can come into contact with each other in a meshing manner. The roller 214 can be made of silicone, synthetic resin, or metal.

[0054] 6 may further include movement limiters 212, 213 that prevent the injection needle unit 200 from moving in any direction other than the rotation direction dependent on the rotation of the roller 214. A plurality of movement limiters 212, 213 may be provided on the outer periphery of the injection needle unit 200.

[0055] The movable arm 24 can move between a first position and a second position by being driven by the second drive device 23. In this specification, the "first position" refers to the position where the injection needle unit 200 is provided in the transfer section 20, and the "second position" refers to the position where the injection needle unit 200 is transferred from the transfer section 20 to the injection needle unit moving section 30. The slope adjustment section 22 may be adjacent to the first position or provided at the first position, or adjacent to the second position or provided at the second position. Alternatively, the slope adjustment section 22 may be provided at a third position that is neither the first nor the second position. In such a case, the movable arm 24 can transfer the injection needle unit 200 from the first position to the third position, adjust the direction of the slope at the third position, and transfer the injection needle unit 200 from the third position to the second position. In such an embodiment, the movable arm that transfers the injection needle unit 200 from the first position to the third position and the movable arm that transfers the injection needle unit 200 from the third position to the second position may be configured separately.

[0056] The position of the slope adjustment unit 22 is irrelevant to the essential technical concept of the present invention. Alternatively, a plurality of slope adjustment units may be provided. When the slope adjustment unit is provided at the second position, the movable arm 24 may not be necessary.

[0057] FIG. 7 shows a front view of the injection needle unit moving part 30 of the automatic body invasive device according to the present invention, and FIG. 8 shows a side view thereof.

[0058] The injection needle unit movable part 30 includes a second main body part 31, a first pneumatic device 32, a third drive device 33, a fourth drive device 34, a connecting member 35, a third rotation shaft 36, a third direction change part 37, and a vacuum tube drive part 50.

[0059] The injection needle unit 200 is supported on the connecting member 35, and may be supported by at least a pair of second holders 321 driven by the first air pressure device 32. The connecting member 35 may also support a vacuum tube driving unit 50. The vacuum tube (not shown) is a device that is inserted into the injection needle unit 200 and can suck blood when collecting blood. For convenience of explanation, this specification will be described as a vacuum tube that is inserted into the injection needle unit 200, but it also includes driving other parts that can be inserted into the injection needle unit.

[0060] 9 shows an enlarged front view of the vacuum tube drive unit 50, and FIG. 10 shows an enlarged right side view of the vacuum tube drive unit 50.

[0061] Vacuum tube drive unit 50 includes a bracket 383 connected to connecting member 35, a vacuum tube support unit 38, a lead screw 385, a nut 384, a connecting unit 387, and an eighth drive device 39. A guide 386 is provided along the longitudinal direction of bracket 383. Connecting unit 387 is coupled to nut 384 so as to move together with movement of nut 384.

[0062] The connecting portion 387 connects the vacuum tube support portion 38 and the guide 386 together.

[0063] The vacuum tube support portion 38 may be provided with a recess 382 (see FIG. 9 ) into which a vacuum tube (not shown) is fitted, and the recess 382 may be provided with a toothed retaining portion 381 that contacts the side of the fitted vacuum tube. The toothed retaining portion 381 may be provided with teeth extending along the longitudinal direction of the vacuum tube support portion 38, which facilitates insertion of the vacuum tube while preventing the vacuum tube from falling out. Furthermore, the teeth extending along the longitudinal direction of the vacuum tube support portion 38 help maintain the straightness and center of the vacuum tube when inserting it into the injection needle unit 200. The toothed retaining portion 381 may be provided to be rotatable about the longitudinal axis of the vacuum tube support portion 38.

[0064] When the movable arm 24 moves from the first position to the second position, the first air pressure device 32 is operated to cause the second holding part 321 to support the injection needle unit 200 at the second position, and then the third air pressure device 215 is operated to release the holding state between the holding part 211 and the injection needle unit 200, thereby allowing the injection needle unit 200 to be delivered. After the injection needle unit 200 has been delivered, the movable arm 24 can return to the first position.

[0065] The connecting member 35 may be provided with a slope adjustment part having the configuration shown in Figures 4 to 6. In an embodiment in which the injection needle unit 200 is supplied to the injection needle unit movable part 30 as shown in Figure 7 and the injection needle unit movable part 30 is provided with a slope adjustment part, the transport part 20 may not be necessary.

[0066] With the injection needle unit 200 transferred to the injection needle unit movable part 30 and held by the second holding part 321, the vacuum tube fitted into the vacuum tube support part 38 can be inserted into the injection needle unit 200. The vacuum tube may be supported by the vacuum tube support part 38 in advance, or the vacuum tube may be fitted into the vacuum tube support part 38 with the injection needle unit 200 held by the second holding part 321.

[0067] When the eighth driving device 39 is operated with the vacuum tube fitted into the vacuum tube support part 38, the nut 384 moves downward along the lead screw 385. The movement of the nut 384 moves the connecting part 387 together, and the vacuum tube support part 38 connected to the connecting part 387 also moves along the guide 386 towards the injection needle unit 200 and is inserted into the injection needle unit 200.

[0068] The injection needle unit 200 with the vacuum tube inserted therein is aligned by the third driving device 33 and the fourth driving device 34 in an orientation that allows it to penetrate into the target body, and penetrates into the target body.

[0069] First, the third driving device 33 is driven to rotate the second body part 31 about the third rotation axis 36 to have a predetermined angle of orientation that allows for invasion. The driving force of the third driving device 33 is converted into a rotational force about the third rotation axis 36 by the third direction changing unit 37. With the second body part 31 rotated at the predetermined angle, the fourth driving device 34 is driven to move the connecting member 35 along the longitudinal direction of the second body part 31 to perform invasion. The connecting member 35 can be moved by providing a ball screw along the longitudinal direction of the second body part 31.

[0070] The adjustment of the injection needle unit 200 to the invasive orientation angle by driving the third driving device may be performed at a separate third position, and then the injection needle unit 200 may be transported to the invasive position.

[0071] Although not shown in FIGS. 7 and 8, the second main body portion 31 may be provided so as to move in at least one of the left and right directions in FIG. 7 and the left and right directions in FIG. 8, or the other direction.

[0072] The second body part 31 may be adjusted to an invasive orientation by the third driving device 33, or the orientation may be adjusted passively without the third driving device 33. For example, the user can adjust the orientation by rotating the second body part 31 so that it has a predetermined angle toward the invasive body.

[0073] FIG. 11 shows a side view of the probe unit 40, the body compression unit 500, and the body contact material supply unit 600 according to the present invention.

[0074] The probe unit 40 according to the present invention includes a probe 41, a probe support 42, a fifth driving device 43, a sixth driving device 44, a rail 45, a movable device 46, a fourth direction changer 47, a presser 48 configured to press against a target body, and a presser holder 485. The probe 41 may be, for example, an ultrasound probe. The presser 48 may be rotatably supported by the presser holder 485 and may take the form of a roller. The presser 48 and the probe support 42 may be connected to each other by an elastic member 49 (e.g., a spring) so that the presser 48 presses against the body with a predetermined force. FIG. 12 shows a side view of the probe unit 40 to illustrate the state in which the presser 48 presses against the body. To clearly illustrate this state, the body compression unit 550 and the body contact object supply unit 600 are omitted from the illustration.

[0075] By operating the fifth driving device 43, the probe support section 42 can rotate about the fourth rotation axis 475, that is, in the left-right direction when viewed from the front as shown in FIG.

[0076] When the probe support part 42 rotates about the fourth rotation axis 475, the probe 41 supported by the probe support part 42 can move in the width direction of the body part supported by the body support part 300, for example, the lower arm, and detect the invasive position.

[0077] The driving force of the fifth driving device 43 may be converted into a rotational force that rotates the probe support part 42 about the fourth rotation axis 475 by the fourth direction changing part 47 .

[0078] The movable portion 46 can move along the longitudinal direction of the rail portion 45 by operation of the sixth driving device 44. The rail portion 45 can be provided with a ball screw.

[0079] The probe unit 40 can move in the longitudinal direction of the body 400. An example of a method for detecting the position of a target body (e.g., a superficial vein) will be described later. When the target body is a blood vessel, position detection is facilitated if the blood vessel is straightened before detection. Therefore, the probe unit 40 can be moved along the longitudinal direction of the body 400 (e.g., the upper arm) placed on the body support part 300 while the pressing part 48 presses the body to straighten it. The range over which the pressing part 48 presses to straighten the body is a distance significant for detecting the target body, and can be set within a predetermined range.

[0080] A body compression section 500 is provided in front of the probe unit 40. The body compression section 500 of the present invention will be described with reference to Figures 13 and 14. For the sake of convenience, the present specification will describe a case where the body part to be compressed is the upper arm, but the body part to be compressed may be other parts than the upper arm.

[0081] The body compression unit 500 includes a compression band 510, a ninth driving device 520, at least one pair of moving units 530 supporting both sides of the compression band 510, a first support frame 540, a coupling 550, an encoder 560, a first nut 570, a second nut 580, and a guide rod 590 supporting the moving unit 530 and guiding the movement of the moving unit. The guide rod 590 may be a lead screw. The first nut 570 and the second nut 580 are connected to the at least one pair of moving units 530, respectively, so that the at least one pair of moving units 530 can move together with the movement of the first nut 570 and the second nut 580.

[0082] When the lower arm 400 is placed on the body support part 300, the upper arm 410 passes through the compression band 510. The compression band 510 may be arranged so as not to touch the upper arm 410 in the initial state before compression is performed. If the compression band 510 does not touch the upper arm 410 before compression is performed, it is possible to prevent the skin from rubbing against the compression band during compression, which can cause abrasions.

[0083] The coupling 550 connects the output shaft of the ninth driving device 520 to the guide rod 590 to transmit the driving force of the ninth driving device 520. The first nut 570 and the second nut 580 move along the guide rod 590 by the operation of the ninth driving device 520, and the first nut 570 and the second nut 580 have threads such that they move in opposite directions along the guide rod 590. is formed.

[0084] The encoder 560 is a sensor that detects the rotation speed and direction of the ninth driving device 520 .

[0085] The upper arm compression unit 500 may further include a pressure sensor (not shown) that can measure the pressure that compresses the upper arm.

[0086] Next, the body contact item supply unit 600 will be described.

[0087] The body contact object may be a hemostatic bandage that is applied to the blood collection site after blood collection to stop bleeding, or a gel that is applied to the skin before blood collection so that the ultrasound probe can locate the blood collection site.

[0088] According to the present invention, such a body contact substance can be continuously supplied in the form of a roller, and the body contact substance can be precisely applied to the invasive or desired location on the body.

[0089] The body-contact item supply unit 600 includes a first roller 610, a first redirect roller 615, a second redirect roller 640, a third redirect roller 650, a fourth redirect roller 655, and a second roller 620. A first band roll 611 is wound around the first roller 610, and a second band roll 621 is wound around the second roller 620. If the first band roll 611 is a roll of body-contact items before use, the second band roll 621 is a roll of body-contact items after use, i.e., a roll from which body-contact items have been removed, and if the second band roll 621 is a roll of body-contact items before use, the first band roll 611 is a roll of body-contact items after use, i.e., a roll from which body-contact items have been removed.

[0090] When the first band roll 611 is a roll of body-contact items before use, the first band roll 611 is advanced from the first roller 610 to the second roller 620 via the first transfer roller 615, the second transfer roller 640, the third transfer roller 650, and the fourth transfer roller 655, and the used roll of body-contact items is wound up on the second roller 620.

[0091] The second transfer roller 640 is driven by a tenth driving device 660 (see FIG. 15), and the second roller 620 is driven by an eleventh driving device (not shown), so that the band 630 can be fed in the above-mentioned direction.

[0092] The first auxiliary roller 642 cooperates with the second diverting roller 640 to advance the band in the feeding direction. The second auxiliary roller 652 cooperates with the third diverting roller 650 to advance the band in the feeding direction.

[0093] 15, band 630 can be placed so as to pass over the upper part of lower arm 400, and a pressing part 680 is placed on the upper part of band 630 to press band 630 so that the body contact product attached to band 630 can be attached or applied to the body. Pressing part 680 can be driven by a predetermined driving means, for example, a solenoid valve (not shown), to press the upper part of band 630 at a predetermined position.

[0094] The body-contact item supply unit 600 according to the present invention can be positioned to attach or apply a body-contact item by controlling its position in multiple directions according to a predetermined rail system. For example, the position can be controlled by connecting a predetermined bracket supporting the body-contact item supply unit 600 to a rail system that can move it in multiple directions. The technique for controlling the position by moving the bracket in multiple directions according to a rail system can be easily implemented using known techniques, and as it is not an essential technical concept of the present invention, a detailed description thereof will be omitted.

[0095] 16 shows an example of a band 630 of the present invention. The band 630 can be provided with a body contacting material, such as a hemostatic bandage for stopping bleeding after blood sampling or a gel for detecting the location of an invasion site using an ultrasound probe. The gel provided on the band 630 may be in the form of a solid gel.

[0096] When a hemostatic adhesive bandage and a solid gel are provided on the band 630, the first region A and the second region B may be arranged alternately, for example, the hemostatic adhesive bandage may be provided on the first region A, and the solid gel may be provided on the second region B. There is no limit to the number of body-contacting objects provided on the band 630, and two or more types of body-contacting objects may be provided as needed.

[0097] Next, the operation and control method of the present invention will be described. The order of the steps in Figures 17 and 21 should be understood as non-restrictive unless the preceding step must be performed logically and temporally before the following step. In other words, except in the exceptional cases described above, even if a process described as a following step is performed before a process described as a preceding step, the essence of the invention is not affected, and the scope of the invention should be defined regardless of the order of the steps.

[0098] In step 1100, the injection needle unit 200 is provided. The injection needle unit 200 may be provided to the bevel adjustment unit 22. In the embodiment shown in FIGS. 2 and 3, the injection needle unit 200 may be provided so that it is supported by the support base 15. In the embodiment of the bevel adjustment unit shown in FIGS. 4 to 6, the injection needle unit 200 may be provided so that it is held by the holder 211 and disposed between the rollers 214. As described above, the bevel adjustment unit may be provided at or adjacent to at least one of the first position and the second position, or may be provided at or adjacent to a third position other than the first position or the second position.

[0099] When the injection needle unit 200 is supplied, the detection unit 222 recognizes the direction of the bevel and the position of the end of the injection needle (step 1110). If the recognized direction of the bevel of the injection needle differs from the set direction, the first driving unit 16 or the seventh driving unit 223 receives a command from the control unit 100 and operates to rotate the injection needle unit 200, thereby adjusting the direction of the bevel of the injection needle (step 1120). When the first driving unit 16 operates, the main body 19 rotates about the first rotation shaft 17, and the injection needle unit 200 supported by the support arm 14 rotates.

[0100] In the slope adjustment unit of another embodiment shown in FIGS. 4 to 6, when the seventh driving device 223 is operated, the roller 214 rotates, which causes the injection needle unit 200 to rotate and adjust the direction of the slope.

[0101] When the direction of the bevel of the injection needle adjusted by the detection unit 222 reaches the set value, the operation of the first driving unit 16 or the seventh driving unit 223 is stopped, and the position information of the adjusted bevel of the injection needle is synchronized with the value recorded in the control unit 100 (step 1130).

[0102] In step 1132, the body compression unit 500 compresses the upper arm. When the ninth driving device 520 is operated, the guide rod 590 connected to the output shaft of the ninth driving device 520 by the coupling 550 rotates, and the rotation moves the first nut 570 and the second nut 580 toward each other, causing the compression band to compress the upper arm 410.

[0103] Next, the location of the target body is selected (step 1140). The selection process when the target body is a superficial vein is shown in FIG.

[0104] First, the probe 41 is moved close to the blood vessel (step 1141). Next, the probe unit 40 is moved to straighten the blood vessel while the holding unit 48 is pressing against the blood vessel (step 1142). The holding unit 48 can move only within a predetermined range of the target body. Straightening the blood vessel with the holding unit 48 facilitates ultrasound scanning and blood collection. The pressing force applied by the holding unit 48 can be set to be an optimized constant force within a range of 0 to 19.6 N.

[0105] Once the blood vessel straightening is completed, the probe 41 is brought into contact with the target body to acquire an ultrasound image (step 1143), and the target blood vessel is located through image processing of the acquired ultrasound image (step 1144).

[0106] Meanwhile, blood pressure and pulse can be measured using ultrasound probe 41 simultaneously with or after determining the position of the target blood vessel. That is, when ultrasound probe 41 is brought into contact with the body to locate the blood vessel, blood flow can be measured, thereby simultaneously measuring blood pressure and pulse. Measuring blood pressure and / or pulse simultaneously has the effect of identifying and treating the possibility of vasovagal syncope, which may occur during blood sampling.

[0107] When measuring blood pressure or pulse, the blood flow rate can be measured through the acquired image by moving the ultrasound probe 41 while changing the pressure with which the upper arm compression unit 500 compresses the upper arm. The ultrasound probe 41 can measure the blood flow rate by moving it toward or away from the upper arm.

[0108] In step 1150, the injection needle unit 200 is moved to the second position. When the bevel adjustment part 22 is arranged at the first position or adjacent to the first position, the injection needle unit 200, whose bevel direction has been adjusted, is supported by the movable arm 24, and the second drive device 23 is actuated in response to a command from the control part 100 to rotate the movable arm 24 about the second rotation axis, thereby moving the injection needle unit 200 from the first position to the second position. The movement from the first position to the second position does not necessarily have to be performed by rotation of the movable arm 24 alone, and any mechanical position change structure that is publicly known or that is obvious to a person skilled in the art from a publicly known structure can be applied.

[0109] When the slope adjustment part 22 is located at the second position or adjacent to the second position, step 1150 may be unnecessary. In this embodiment, it is sufficient that the slope adjustment part shown in Figures 2 and 3 or 4 to 6 adjusts the direction of the slope with the injection needle unit 200 supported by the injection needle unit movable part 30.

[0110] When the slope adjustment unit 22 is provided at the third position, the movable arm 24 can move from the first position to the third position, adjust the direction of the slope at the third position, and then move to the second position.

[0111] After the needle unit 200 has been moved to the second position or the bevel adjustment has been performed at a position adjacent to the second position, a vacuum tube is inserted into the needle unit 200 (step 1152).

[0112] When the eighth drive device 39 is actuated, the lead screw 385 rotates, and the nut 384 moves along the lead screw 385. The movement of the nut 384 causes the connecting part 387 to move along the guide 386, and the vacuum tube support part 38 connected to the connecting part 387 moves toward the injection needle unit 200 and is inserted.

[0113] With the injection needle unit 200 with the vacuum tube inserted supported by the injection needle unit movable part 30, the third driving device 33 operates in accordance with a command from the control unit 100 to rotate the second body part 31 by a predetermined angle, i.e., the angle for invasive insertion, and the fourth driving device 34 receives a command from the control unit 100 to move the connecting member 35 along the longitudinal direction of the second body part 31 to perform the invasive insertion (step 1160). If the target body part is a superficial vein, blood sampling can be performed after the insertion. Although not shown in FIGS. 7 and 8, the second body part 31 may be configured to move in at least one direction between the left and right directions in FIG. 7 and the left and right directions in FIG. 8.

[0114] Once the blood collection is complete, a blood collection bandage can be attached to the blood collection site, i.e., the invasive position (step 1162). The pressing unit 680 is moved downward by a driving device (e.g., a solenoid valve; not shown) and presses the band 630 to contact the blood collection site, thereby attaching the hemostatic bandage attached to the band 630 to the blood collection site. Once the contact and attachment are complete, the pressing unit 680 moves upward, and the second and third converting rollers 640 and 650 are driven so that the next body contact object will be at that position.

[0115] If the body-contacting object is a solid gel, step 1162 may be performed before step 1140 .

[0116] In step 1164, the compression of the upper arm is released. When the ninth driving device 520 is operated to move the first nut 570 and the second nut 580 in directions away from each other, the moving parts 530 move away from each other and the compression state of the compression band 510 compressing the upper arm 410 is released.

[0117] Hereinafter, an example of a method for detecting the position of an invasive body part (superficial veins will be described as an example) by processing an image acquired by an ultrasound probe 41 will be described. The detection method described below is the content disclosed in Korean Patent Application No. 10-2020-0010302 filed by the present applicant, and is only meant as an example application to facilitate understanding of the present invention, and does not limit the scope of the present invention.

[0118] FIG. 19 shows a flow chart of the superficial vein localization method according to the present invention.

[0119] To locate the superficial vein, the subject first places their upper arm in the upper arm compression unit 120 to compress the upper arm (step 1200). The upper arm compression unit 120 includes a 1-5 cm compression means that compresses the upper arm 3-12 cm, preferably 6-8 cm, above the elbow. The compression pressure can be 10-60 mmHg, preferably 20-30 mmHg. The process described below may also be performed without the upper arm compression unit 120 compressing the upper arm.

[0120] 19 shows that upper arm compression is performed before the ultrasonic probe 41 is moved, but upper arm compression may also be performed after the ultrasonic probe 41 has started to acquire the first image data after the ultrasonic probe 41 has moved. When upper arm compression is performed after the start of acquisition of the first image data, the first image data before upper arm compression and the first image data after upper arm compression can be acquired.

[0121] Returning to FIG. 19, after compressing the upper arm, the ultrasonic probe 41 is moved to a position spaced a predetermined distance, for example, 1 mm, from the subject's body (step 1205).

[0122] The position on the subject's body where the ultrasonic probe 41 is placed can be 0 to 8 cm, preferably 1 to 3 cm, in the hand direction from the antecubital fossa where the median cubital vein is located.

[0123] In step 1210, first image data is acquired while moving the ultrasound probe 41 toward the subject's body. The first image data is image data before the ultrasound probe 41 comes into contact with the subject's body, and may include image data before the upper arm is compressed and image data after the upper arm is compressed.

[0124] The second image data is collected while the ultrasound probe 41 contacts and applies pressure to the subject's body. According to another embodiment of the present invention, the subject's body may be compressed by means other than the ultrasound probe 41.

[0125] The first and second image data may include image data analyzed by the Doppler effect of an acoustic signal of blood flow. According to another embodiment of the present invention, only one of the first image data and the second image data may be used.

[0126] The acquired first and second video data are converted by the video data processing module 30 into a format and size usable by a program that executes the method of the present invention (step 1220). According to another embodiment of the present invention, the video data analysis described below can be performed without converting the video data.

[0127] The machine learning server 140 analyzes the transformed video data using, for example, a convolutional neural network, to display pixels of desired targets and avoidance targets in the video data (step 1225).

[0128] In this specification, the target target refers to a blood vessel such as a superficial vein or an artery, and the avoidance target refers to an artery, a nerve, bone tissue, etc. The target target and the avoidance target can be determined depending on the application. For example, depending on the application, an artery, a nerve, bone tissue, etc. that is determined as an avoidance target when the location of a superficial vein is confirmed can be set as the target target.

[0129] The target and avoidance target may be displayed in pixel units or as a bounding box based on the median, boundary, and distance. Alternatively, information on the shape (e.g., median, circle, ellipse, rectangle) may be stored together with information that can identify the shape (e.g., radius, distance information between two or more points, length of one side, etc.).

[0130] Convolutional neural network learning, which is an example of machine learning utilized in the present invention, will be described.

[0131] To train a convolutional neural network, it is necessary to train it using training data in advance. The video data used to train the convolutional neural network may be preprocessed to increase the generality of the data using data augmentation techniques such as random cropping, resizing, and horizontal flipping of the first and second video data.

[0132] The machine learning server acquires and stores information that matches the characteristics of the target and the target to be avoided through convolutional neural network learning.

[0133] Such characteristic information may include at least one of the following: the echogenicity intensity of the components observed in the ultrasound image data; distribution pattern information of the echogenic components; relative position information of the components observed in the image data; the subject's height, weight, sex, age, current illness, past or current treatment information; information on pressure applied by an ultrasound probe or other means; and real-time flow information of blood flow analyzed using Doppler images.

[0134] When compressed, when pressing the skin surface with an ultrasound probe or other means, veins, unlike arteries, are compressed directly, causing them to shrink in size, or compressed proximally, causing congestion, causing them to expand in size.

[0135] According to real-time information on blood flow, arteries, which are one of the targets to be avoided, have a strong Doppler signal due to the fast blood flow, unlike veins, and pulsate by periodically increasing and decreasing in size, making them useful for target detection.

[0136] A convolutional neural network can be trained to display pixels corresponding to the locations of desired and avoidance targets in the video data based on the feature information.

[0137] The learning (training) can be, for example, supervised learning, unsupervised learning, or semi-supervised learning.

[0138] In supervised learning, training can be performed by comparing the images with the correct answer. However, if the correct answer differs from the desired target and the avoidance target found by the convolutional neural network, the network can be trained to reduce the loss function. The loss function can be binary cross entropy loss (BCEloss), cross entropy, etc., and the optimizer can be adam, RMSprop, or stochastic gradient descent. Evaluation can also be performed using dice coefficient loss, etc.

[0139] Once the destination target and the avoidance target have been determined by machine learning such as convolutional neural network learning, the process proceeds to step 230, where a final destination target is determined. Steps 230 and 235 may be executed by the central processing module 10, but are not necessarily limited to this. For example, the preprocessed first and second video data may be transmitted to a remote third processing server or the like via the communication network 130, and each step according to the present invention may be executed therein.

[0140] FIG. 20 shows a flowchart of the specific process of step 1230.

[0141] In step 1300, it is determined whether or not there is a target found in step 1225. If there is a target, the process proceeds to step 1305, where it is determined whether one target or two or more targets have been found. First, the case where there is one target will be described.

[0142] If there is one target of interest, it is determined whether the boundary of the target of interest overlaps with the boundary of the video data (step 1335). If they do not overlap, the process proceeds to step 1310; if they do overlap, the process proceeds to step 1355, where the ultrasound probe 41 is moved so that the boundary surface coordinates are positioned inside the video data, for example, at the center, and the process returns to step 1210, where the subsequent procedures are performed. The subject's body can also be moved without moving the ultrasound probe 41.

[0143] In step 1310, the maximum inscribed circle diameter, which is one piece of information based on the size of the destination target, is calculated. The maximum inscribed circle means the largest inscribed circle among the circles that can contain only the pixels of the destination target. In addition to the maximum inscribed circle diameter, other information based on the size of the destination target includes the maximum and minimum lengths of horizontal and vertical lines that can be drawn within the destination target, the maximum and minimum distances from the center of gravity of the destination target to the boundary line of the destination target, the area of ​​the destination target, etc.

[0144] Then, the depth, which is information based on the depth of the target, is calculated (step 1315), and it is determined whether the target satisfies the first and second criteria (step 1320). "Information based on depth" includes not only the depth but also various other information related to the depth.

[0145] If the intended target is a superficial vein, the first criterion is to determine whether the maximum inscribed circle diameter is equal to or greater than a predetermined value (first value). The first value may be determined within the operational tolerance of the device. For example, if the maximum inscribed circle diameter is less than 2 mm, the intended target can be classified as an avoidance target (step 1375). If the maximum inscribed circle diameter is greater than or equal to the first value, the first criterion is determined to be satisfied.

[0146] If the size-based information is information about the lengths of horizontal and vertical lines that can be drawn within the target, the first criterion may be determining whether the maximum and minimum lengths of the horizontal and vertical lines are equal to or greater than a predetermined value. For example, if the minimum lengths of the horizontal and vertical lines are less than 2 mm, the target may be classified as an avoidance target. If there is more than one target, the target with the largest sum, product, average, etc. of the horizontal and vertical lines may be selected as the final target candidate (step 1370).

[0147] In an embodiment in which the size-based information is the maximum and minimum distances from the target's center of gravity to the boundary, the first criterion may be a criterion for determining whether the maximum and minimum distances are equal to or greater than a predetermined value. For example, if the minimum distance from the target's center of gravity to the boundary of the target is less than 2 mm, the target can be classified as an avoidance target. If there are multiple target targets, the target with the largest sum, product, average, etc. of the distances from the center of gravity to the target boundary can be selected as the final target candidate (step 1370).

[0148] In an embodiment where the size-based information is area information, the first criterion may be whether the area is greater than or equal to a predetermined value. For example, if the area of ​​the target is 10 mm 2 If the target is smaller than the target area, the target can be classified as an avoidance target, and if there are multiple target targets, the target with the larger area can be selected as the final target candidate (step 1370).

[0149] The second criterion is a criterion for determining whether the depth of the desired target is equal to or less than a predetermined value (second value), for example, 1 cm. If the depth of the desired target is deeper than the second value, the desired target is determined as an avoidance target (step 1375). This is to exclude deep veins rather than superficial veins because they are more difficult to stop bleeding from than superficial veins, and also to exclude arteries, which are avoidance targets. If the depth is deeper than the second value, there is a possibility that a deep wound will be caused when the injection needle enters, and there is a possibility that important anatomical structures or nerves may be present within the invasion path, so the second criterion is applied. If the depth of the desired target is equal to or less than the second value, it is determined that the second criterion has been passed.

[0150] If the first and second criteria are satisfied, it is determined whether an avoidance target exists on the straight line path between the target and the skin surface (step 1325; third criterion). If an avoidance target exists on the straight line path, the avoidance target may be a nerve on the side of the arm.

[0151] If the determination result in step 1325 is "NO", the destination target is determined as the final destination target (step 1330).

[0152] A target may be determined as the final goal target if it satisfies all of the first to third criteria, or it may be determined as the final goal target if it satisfies at least one of the first to third criteria.

[0153] A case where a plurality of target targets are searched for in step 1225 will be described.

[0154] If multiple destination targets are found, the process proceeds to step 1360, where the maximum inscribed circle size of each of the destination targets is calculated. Next, the sizes of the maximum inscribed circles are compared (step 1365), and a final destination target candidate is selected based on the third criterion (step 1370).

[0155] The third judgment criterion is as follows: In principle, the target with the largest maximum inscribed circle is selected as a candidate for the final target, but if the difference between the size of this inscribed circle and the size of the inscribed circle of the target with the next largest maximum inscribed circle is within a predetermined value (third value), for example, 10%, the target that is close to the contact surface of the ultrasonic probe, for example, close to the center point of the contact surface of the ultrasonic probe, can be determined as a candidate for the final target.

[0156] Even if the first information is information based on size other than the maximum inscribed circle size, if the difference in the comparison values ​​is within a predetermined value, a target that is close to the contact surface of the ultrasonic probe, for example, close to the center point of the contact surface of the ultrasonic probe, can be determined as a candidate for the final target.

[0157] Once the candidate for the final destination target is determined in step 1370, the process proceeds to step 1315, where the subsequent steps described above are performed to determine the final destination target or to determine it as an avoidance target.

[0158] If it is determined in step 1300 that the target target does not exist, it is determined whether the target target has been searched for a predetermined number of times or more. If it has been searched for a predetermined number of times, for example, two or three times or more, the process proceeds to step 1380, where the target target is searched for on the opposite arm. If it has been searched for less than the predetermined number of times, the process proceeds to step 1210, where the ultrasonic probe 41 is moved to acquire first image data. At this time, the ultrasonic probe 41 is moved to a position where it does not overlap with the previous image, and the first image data is acquired.

[0159] Once the final destination target is determined through the above process, the center coordinates of the final destination target are calculated in step 235. The injection needle unit 200 moves to the center coordinates and performs the injection (step 240).

[0160] The center coordinate is any point X within the maximum inscribed circle that contains only the pixels of the final target. iIt is determined as the coordinate of point X where the distance between the two points is the greatest.

[0161] After the calculation of the center coordinate is completed, if the surface of the blood vessel passes through the straight line path between the center coordinate and the skin surface a predetermined number of times, for example, two or more times, the final destination target can be excluded.

[0162] On the other hand, a circle having a predetermined diameter, for example, 1 mm, is drawn for all pixels in the final target, and if a predetermined percentage of the pixels in the circle, for example, 30 to 95%, preferably 50 to 70%, or more, are classified as the final target, the pixels are designated as the final target; otherwise, the pixels are deleted.

[0163] 22, all pixels (a predetermined ratio or more) exist within a circle 1520 drawn around pixel 1510, so pixel 1510 can be classified as a pixel of the final destination target. Since a predetermined ratio or more of pixels that are not pixels of the final destination target do not exist within a circle 1511 drawn around pixel 1530, pixel 1530 can be removed from the final destination target.

[0164] This process is intended to smooth the boundary surface of the final target and eliminate the possibility of misclassified pixels, but is an additional process and not necessarily required for implementing the present invention.

[0165] Although the present invention has been described above with reference to the accompanying drawings, the scope of the present invention is determined by the claims below and should not be construed as being limited to the above-described embodiments and / or drawings. It should be clearly understood that improvements, changes, and modifications of the invention described in the claims that are obvious to those skilled in the art are also included in the scope of the present invention.

Claims

1. An automated body invasive device, comprising: an injection needle unit support part that supports an injection needle unit including an injection needle that penetrates the body; A compression unit that compresses the body including the invasive target; a detection unit that detects the direction of the injection needle bevel of the injection needle unit, Further comprising a body contact supply unit, The body contact object supply unit includes a roller unit that supplies a roll-shaped body contact object, and a pressing unit that presses the body contact object so that it comes into contact with the body at a predetermined position. Automatic body invasion device.

2. The compression portion is A compression band adapted to contact and compress the body to be compressed; At least one pair of moving parts supporting the compression band; A drive device that drives the moving unit in a compression direction and a compression release direction, The automated body invasive device of claim 1 .

3. The automatic body invasive device according to claim 2 , wherein the compression band is positioned so as not to come into contact with the body to be compressed in an initial state before compression.

4. The compression portion is A guide rod and a first nut that moves in a first direction along the guide rod by operation of the drive device; a second nut that moves along the guide rod in a second direction opposite to the first direction, the first nut and the second nut are coupled to the at least one pair of moving parts to move the moving parts along the guide rod; 4. The automated body invasive device according to claim 2 or 3.

5. Further comprising a coupling connecting the guide rod and the output shaft of the drive device. The automated body invasive device of claim 4.

6. an ultrasound probe for detecting the location of the invasion; a probe unit that supports the ultrasonic probe and moves the ultrasonic probe in a predetermined direction. The automatic body invasive device according to any one of claims 1 to 3.

7. A method for measuring blood pressure or pulse using the automatically invasive body device according to claim 6, comprising: A first stage of compressing the upper arm with the compression portion; a second step of acquiring a plurality of ultrasound images by moving the ultrasound probe in a predetermined direction from the lower arm while changing the pressure transmitted to the upper arm through the compression unit; and a third step of measuring blood pressure or pulse rate by measuring blood flow rate based on the plurality of ultrasound images. How to measure blood pressure or pulse.

8. The device further includes a probe unit including a probe for detecting an invasive body part, a probe support, and a drive device; The probe unit is provided so as to be rotatable in a left-right direction corresponding to a width direction of the body, with the body compressed by the compression unit as a reference, by operation of the drive device. The automated body invasive device of claim 1 .

9. a direction conversion unit that converts the driving force of the driving device into a rotational force that enables the probe unit to rotate in the left-right direction, The automated body invasive device of claim 8.

10. The probe unit further includes a presser adapted to press against the target body.

10. The automated body invasive device according to claim 8 or 9.

11. the probe unit further includes an elastic member connecting the pressing portion and the probe support portion; The automated body invasive device of claim 10.

12. Further comprising a linear drive device that moves the probe unit in a vertical direction.

10. The automated body invasive device according to claim 8 or 9.

13. further comprising an insertion member driving unit that drives an insertion member that is inserted into the injection needle unit; The insertion member driving unit includes a tube support unit that supports the insertion member, and a driving device that drives the insertion member support unit. The automated body invasive device of claim 1 .

14. The insert member support portion includes a toothed retaining portion that contacts and grips the insert member.

14. The automated body invasive device of claim 13.

15. The tooth profile retaining portion includes a tooth portion extending along the longitudinal direction of the insertion member support portion.

15. The automated body invasive device of claim 14.

16. The insertion member driving unit a lead screw to which the driving force of the driving device is transmitted, a nut that rotates with the rotation of the lead screw and moves along the lead screw, and a connecting part that is connected to the nut, moves with the movement of the nut, and is connected to the insertion member support part, The automatic body invasive device according to any one of claims 13 to 15.

17. The insertion member driving portion further includes a guide that guides the connecting portion.

17. The automated body invasive device of claim 16.

18. The tooth profile holder is rotatable about the longitudinal axis of the insert member support.

16. An automated body invasive device according to claim 14 or 15.

19. The roller unit includes a first roller on which a roll of body-contact article is wound before use; a second roller onto which the used body-contact article roll is wound, and a driving device that rotates at least one of the first roller and the second roller, The automated body invasive device of claim 1 .

20. The roller unit further includes at least one redirecting roller disposed between the first roller and the second roller, which redirects the direction of the body-contacting object so that the body-contacting object moves in a predetermined direction.

20. The automated body invasive device of claim 19.

21. The diverting roller is a first redirecting roller disposed downstream of the first roller and redirecting the direction of the body contact object band supplied from the first roller; a second diverting roller disposed downstream of the first diverting roller and diverting the direction of the body contact article band supplied from the first diverting roller; a third diverting roller disposed downstream of the second diverting roller and diverting the direction of the body contact article band supplied from the second diverting roller; a fourth diverting roller disposed downstream of the third diverting roller and diverting the direction of the body contact article band supplied from the third diverting roller; and a diverting roller driving device for driving at least one of the first to fourth diverting rollers.

21. The automated body invasive device of claim 20.

22. The second and third transfer rollers are arranged such that the body contacting object band is placed between them on the upper side of the contacted body.

22. The automated body invasive device of claim 21.

Images