CN103976778A - Full-automatic venipuncture mechanical arm and application method thereof - Google Patents

Full-automatic venipuncture mechanical arm and application method thereof Download PDF

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Publication number
CN103976778A
CN103976778A CN201410222058.0A CN201410222058A CN103976778A CN 103976778 A CN103976778 A CN 103976778A CN 201410222058 A CN201410222058 A CN 201410222058A CN 103976778 A CN103976778 A CN 103976778A
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CN
China
Prior art keywords
puncture
needle
full
venipuncture
mechanical arm
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Granted
Application number
CN201410222058.0A
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Chinese (zh)
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CN103976778B (en
Inventor
王燕青
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Fifth Medical Center of PLA General Hospital
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Individual
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Priority to CN201410222058.0A priority Critical patent/CN103976778B/en
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Publication of CN103976778B publication Critical patent/CN103976778B/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/158—Needles for infusions; Accessories therefor, e.g. for inserting infusion needles, or for holding them on the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/158—Needles for infusions; Accessories therefor, e.g. for inserting infusion needles, or for holding them on the body
    • A61M2005/1588—Needles for infusions; Accessories therefor, e.g. for inserting infusion needles, or for holding them on the body having means for monitoring, controlling or visual inspection, e.g. for patency check, avoiding extravasation

Abstract

The invention discloses a full-automatic venipuncture mechanical arm and an application method thereof. The full-automatic venipuncture mechanical arm is composed of a venous visualization system, a three-dimensional B ultrasound machine, a B ultrasound probe carrying puncture instrument and the like. The full-automatic puncture instrument is capable of selecting a venous blood vessel by virtue of the venous visualization image system and then carrying out three-dimensional imaging by virtue of the B ultrasonic probe; after positioning by use of a computer program, the needle of the puncture instrument goes into the blood vessel after the angle of the needle is automatically adjusted, and whether the needle goes into the blood vessel is determined according to the size of an inclined surface of the needle; a film is fixed and attached after the needle goes forward by 2-3mm, and then the whole puncture process is completed. The whole process does not need manual operation and successful puncture can be determined without depending on seeing whether blood returns in the needle just like the traditional method, and therefore, the full-automatic venipuncture mechanical arm is high in puncture efficiency and speed, and has obvious effects on improving the puncture efficiency and relieving the pain of a punctured person. Meanwhile, the problems of difficult venipuncture and non-fast application of medicines under various complex conditions are solved; the technical problem that the young medical personnel needs to establish experience due to repeated puncture is solved.

Description

A kind of full-automatic venipuncture mechanical arm and using method thereof
Technical field
The present invention relates to a kind of full-automatic venipuncture mechanical arm and using method thereof, belong to medical instruments field.
Background technology
Venipuncture is the means of administration that hospital clinical is conventional, and can whole clinical vein administration, blood transfusion, rescue and part operations must be carried out after venipuncture success, promptly and accurately, expertly puncture and successfully be directly connected to treatment, rescue effect.Venipuncture need to be carried out accurately Superficial veins location, inserting needle puncture, and still, the billions of people's in the whole world vein blood vessel varies, particularly child, lose blood and loss of body fluids too much, the various situations punctures that decline of shock blood pressure are more difficult; When the medical unit of the unit such as army, People's Armed Police gives first aid in the wild, such as, in the environment such as night, battlefield, natural disaster (earthquake, accident) spot in the wild, puncture accurately, rapidly successfully also more difficult;
Whether at present, venipuncture is clinically mainly by manual operation, can a pin puncture and successfully rely on medical personnel's experience completely, and the factor such as the selection of blood vessel, needle angle, the degree of depth, operator's emotion affects.For being engaged in the medical personnel that the clinical position time do not grow, select exactly blood vessel, grasp needle angle and degree of depth tool and acquire a certain degree of difficulty, bring misery to patient simultaneously.The treatment speed that occasions a delay because venipuncture is unsuccessful, misses best rescue time, and brings serious conflict between doctors and patients.The raising of puncture success rate, can win more rescue times and patient's satisfaction, alleviates patient's misery, helps patient to establish the confidence of Fighting Disease, creates conditions for getting well.
Utility model patent 01261213.8 discloses a kind of Semi-autoamtic venipuncture appts.This semi-automatic venipuncture is made up of base, fixed support and rotating turret, venipuncture needle etc.This semi-automatic puncture apparatus can help medical personnel to control needle angle and the degree of depth of puncture, but can not automatically locate vein blood vessel.
Vein visualization system is applied clinically at present, as utility model patent 201230309642.1 discloses a kind of vein visible instrument, but can only provide puncture reference for medical personnel, when medical personnel implement venipuncture, still need that in syringe needle, blood back judges whether to puncture successfully according to traditional seeing.
Summary of the invention
In order to address the above problem, improve clinical medical and nursing personnel's puncture success rate and alleviate patient suffering, the invention provides a kind of full-automatic venipuncture mechanical arm, the drawback that adopts this type of puncture technique can solve artificial puncture and operate by rule of thumb, and change traditional whether to see that blood back judges whether intravasation of syringe needle, improve the problem that artificial puncture success rate is low, alleviate the misery that patient brings because of puncture, gain time for rescuing life simultaneously.
The technical solution adopted in the present invention is:
A kind of full-automatic puncture mechanical arm, carries puncture apparatus etc. by vein visualization system, three-dimensional type-B ultrasonic machine, Ultrasonic-B probe and forms.This full-automatic puncture apparatus can be selected vein blood vessel by the visual image system of vein, then by Ultrasonic-B probe three-dimensional imaging, behind computer program location, puncture apparatus syringe needle is adjusted angle intravasation automatically, and determine whether intravasation of syringe needle according to needle slope size, syringe needle more parallel blood vessel moves ahead after 2-3mm and fixes pad pasting, completes whole piercing process.
The using method of this automatic puncturing instrument is as follows: select vein blood vessel by the visual image system of vein, determine vessel position and thickness and automatically input computer by Ultrasonic-B probe, computer completes location by sequential operation, send subsequently puncture instruction, puncture needle, at a high speed accurately according to located sites, punctures.Meanwhile, computer program judges that according to the oblique size of piercing needle (whole nation unified model) puncture needle infuses after intravasation completely, completes whole piercing process.
According to piercing needle inclined-plane long-pending judge puncture needle whether the Mathematics Proof of complete intravasation be:
S 1=S 0× cos α, wherein S 1for the skin vertical direction syringe needle area that B ultrasonic is surveyed, S 0long-pending for needle slope, α is syringe needle and skin angulation.If S 1< S 0× cos α, illustrates the incomplete intravasation of syringe needle, and syringe needle continues by the parallel blood vessel of computer control the 2-3mm that moves ahead.
The present invention compared with prior art has following beneficial effect:
1. the drawback that solves artificial puncture and operate by rule of thumb;
2. solve the process that new registration medical personnel need repeat and accumulate experience with patient;
3. change and traditional inaccurately see that in syringe needle, blood back judges whether to puncture successfully, improve the problem that artificial puncture success rate is low;
4. alleviate the misery that patient brings because of puncture;
5. solve in the environment such as field night, battlefield, natural disaster (as earthquake, accident) problem of venipuncture difficulty;
Brief description of the drawings
Fig. 1 is the structural grouping figure of native system.
Fig. 2 is puncture needle structure enlarged drawing.
Detailed description of the invention
The invention discloses a kind of full-automatic venipuncture and mechanical arm and using method thereof.This full-automatic puncture apparatus carries puncture apparatus etc. by vein visualization system, three-dimensional type-B ultrasonic machine, Ultrasonic-B probe and forms.
This full-automatic puncture apparatus can be selected vein blood vessel by the visual image system of vein, then by Ultrasonic-B probe three-dimensional imaging, after computer program localization of blood vessel, puncture apparatus syringe needle is adjusted angle intravasation automatically, and determines whether intravasation of syringe needle according to needle slope size.Machine to be calculated determines after syringe needle intravasation, and the parallel blood vessel of syringe needle automatically moves ahead after 2-3mm again and fixes pad pasting, completes whole piercing process.Whole process does not need manual operation, does not need to judge whether to puncture successfully by traditional syringe needle blood back of seeing, have high, the speed of puncture efficiency soon for improving puncture efficiency, alleviate patient's misery that punctures and there is positive effect.

Claims (3)

1. a full-automatic venipuncture mechanical arm, is characterized in that, this system is carried puncture apparatus and formed by vein visualization system, three-dimensional imaging B ultrasonic machine, Ultrasonic-B probe.
2. full-automatic venipuncture mechanical arm as claimed in claim 1, is characterized in that, described vein visualization system, three-dimensional imaging B ultrasonic machine and Ultrasonic-B probe carry puncture apparatus by same computer control.
3. the using method of a full-automatic venipuncture mechanical arm as claimed in claim 1, it is characterized in that, select vein blood vessel by the visual image system of vein, then by Ultrasonic-B probe three-dimensional imaging, the puncture apparatus syringe needle that behind computer program location, Ultrasonic-B probe carries is adjusted angle intravasation automatically, and determine whether intravasation of syringe needle according to needle slope size, the parallel blood vessel of syringe needle moves ahead after 2-3mm and fixes pad pasting, completes whole piercing process.
CN201410222058.0A 2014-05-26 2014-05-26 A kind of full-automatic venipuncture system Expired - Fee Related CN103976778B (en)

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CN201410222058.0A CN103976778B (en) 2014-05-26 2014-05-26 A kind of full-automatic venipuncture system

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Application Number Priority Date Filing Date Title
CN201410222058.0A CN103976778B (en) 2014-05-26 2014-05-26 A kind of full-automatic venipuncture system

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CN103976778A true CN103976778A (en) 2014-08-13
CN103976778B CN103976778B (en) 2017-08-29

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104248790A (en) * 2014-09-04 2014-12-31 肖程午 Intelligent transfusion device and operation method thereof
CN104337524A (en) * 2014-10-27 2015-02-11 王炎 Blood collection container
CN105327429A (en) * 2015-10-21 2016-02-17 深圳市前海康启源科技有限公司 Full-automatic injection device and full-automatic injection method capable of achieving automatic positioning and wound protection
CN105582590A (en) * 2014-10-24 2016-05-18 万军 Intelligent diagnosis and treatment injection system
CN106267473A (en) * 2016-09-23 2017-01-04 河北工业大学 Hand back vein injection instrument based on infrared imagery technique
WO2017067106A1 (en) * 2015-10-21 2017-04-27 深圳市前海康启源科技有限公司 Automatic-positioning injection apparatus and method
WO2017067055A1 (en) * 2015-10-21 2017-04-27 深圳市前海康启源科技有限公司 Injection apparatus having automatic positioning and shooting function
WO2017067057A1 (en) * 2015-10-21 2017-04-27 深圳市前海康启源科技有限公司 Automatic blood vessel scanning fully automatic injection apparatus
CN106730149A (en) * 2017-03-10 2017-05-31 王燕青 A kind of vein puncture device, system and venipuncture control method
CN106974623A (en) * 2017-04-27 2017-07-25 上海迈鹊医用机器人技术有限公司 Blood vessel identification lancing system, blood vessel recognition methods
CN108542476A (en) * 2018-05-14 2018-09-18 潍坊科技学院 A kind of thoracentesis drainage device that can be automatically positioned
CN108992143A (en) * 2018-08-22 2018-12-14 中国人民解放军陆军军医大学第二附属医院 A kind of vein puncture device and venipuncture control method
CN109009196A (en) * 2018-07-27 2018-12-18 杭州行开科技有限公司 A kind of clot positioning system intracranialed hemorrhage and method based on CT images
CN109567761A (en) * 2019-01-31 2019-04-05 中国人民解放军陆军军医大学第附属医院 A kind of method and its application that venipuncture makes blood vessel develop
CN110624152A (en) * 2019-08-28 2019-12-31 中国福利会国际和平妇幼保健院 Intelligent puncturing device and puncturing method for venous trocar
CN111096796A (en) * 2019-12-30 2020-05-05 哈尔滨工业大学 Full-automatic vein puncture robot multilayer control system
CN111434316A (en) * 2019-01-15 2020-07-21 北京理工大学 Ultrasonic plane external blood vessel puncture auxiliary robot
CN111790025A (en) * 2020-08-10 2020-10-20 华中科技大学同济医学院附属协和医院 Skin test injection mechanism and control method thereof
CN112932482A (en) * 2021-01-28 2021-06-11 南通帕克医用材料有限公司 Puncture technology based on monocular camera recognition

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CN103750866A (en) * 2014-01-25 2014-04-30 汕头市超声仪器研究所有限公司 Ultrasonic-Doppler-effect positioning puncturing device for vessel

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US20040054248A1 (en) * 2000-08-21 2004-03-18 Yoav Kimchy Radioactive emission detector equipped with a position tracking system
CN1522671A (en) * 2003-09-04 2004-08-25 高春平 Mechanical arm type automatic tridimensional positioning system
CN101310780A (en) * 2007-05-24 2008-11-26 王燕青 Visual venipuncture instrument and use method thereof
US20100286507A1 (en) * 2007-12-31 2010-11-11 Katja Paassilta Determining the position of a needle
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Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104248790A (en) * 2014-09-04 2014-12-31 肖程午 Intelligent transfusion device and operation method thereof
CN105582590A (en) * 2014-10-24 2016-05-18 万军 Intelligent diagnosis and treatment injection system
CN104337524A (en) * 2014-10-27 2015-02-11 王炎 Blood collection container
CN105327429A (en) * 2015-10-21 2016-02-17 深圳市前海康启源科技有限公司 Full-automatic injection device and full-automatic injection method capable of achieving automatic positioning and wound protection
WO2017067106A1 (en) * 2015-10-21 2017-04-27 深圳市前海康启源科技有限公司 Automatic-positioning injection apparatus and method
WO2017067105A1 (en) * 2015-10-21 2017-04-27 深圳市前海康启源科技有限公司 Automatic positioning and wound protecting fully automatic injection apparatus and method
WO2017067055A1 (en) * 2015-10-21 2017-04-27 深圳市前海康启源科技有限公司 Injection apparatus having automatic positioning and shooting function
WO2017067057A1 (en) * 2015-10-21 2017-04-27 深圳市前海康启源科技有限公司 Automatic blood vessel scanning fully automatic injection apparatus
CN106267473A (en) * 2016-09-23 2017-01-04 河北工业大学 Hand back vein injection instrument based on infrared imagery technique
CN106730149B (en) * 2017-03-10 2020-04-21 中国人民解放军总医院第五医学中心 Venipuncture device and system
CN106730149A (en) * 2017-03-10 2017-05-31 王燕青 A kind of vein puncture device, system and venipuncture control method
WO2018161620A1 (en) * 2017-03-10 2018-09-13 王燕青 Venipuncture device, system, and venipuncture control method
CN106974623A (en) * 2017-04-27 2017-07-25 上海迈鹊医用机器人技术有限公司 Blood vessel identification lancing system, blood vessel recognition methods
CN108542476A (en) * 2018-05-14 2018-09-18 潍坊科技学院 A kind of thoracentesis drainage device that can be automatically positioned
CN109009196A (en) * 2018-07-27 2018-12-18 杭州行开科技有限公司 A kind of clot positioning system intracranialed hemorrhage and method based on CT images
CN108992143A (en) * 2018-08-22 2018-12-14 中国人民解放军陆军军医大学第二附属医院 A kind of vein puncture device and venipuncture control method
CN111434316A (en) * 2019-01-15 2020-07-21 北京理工大学 Ultrasonic plane external blood vessel puncture auxiliary robot
CN111434316B (en) * 2019-01-15 2021-06-29 北京理工大学 Ultrasonic plane external blood vessel puncture auxiliary robot
CN109567761A (en) * 2019-01-31 2019-04-05 中国人民解放军陆军军医大学第附属医院 A kind of method and its application that venipuncture makes blood vessel develop
CN110624152A (en) * 2019-08-28 2019-12-31 中国福利会国际和平妇幼保健院 Intelligent puncturing device and puncturing method for venous trocar
CN111096796A (en) * 2019-12-30 2020-05-05 哈尔滨工业大学 Full-automatic vein puncture robot multilayer control system
CN111790025A (en) * 2020-08-10 2020-10-20 华中科技大学同济医学院附属协和医院 Skin test injection mechanism and control method thereof
CN112932482A (en) * 2021-01-28 2021-06-11 南通帕克医用材料有限公司 Puncture technology based on monocular camera recognition

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Effective date of registration: 20190724

Address after: 100039 Fengtai District West Fourth Ring Road, Beijing, No. 100

Patentee after: THE FIFTH MEDICAL CENTER OF THE CHINESE PEOPLE'S LIBERATION ARMY GENERAL Hospital

Address before: 100071 District 1, Lymphoma Department, 307 Hospital, No. 8 Dongjie, Fengtai District, Beijing

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Granted publication date: 20170829