CN111671441A - Robot draws blood - Google Patents
Robot draws blood Download PDFInfo
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- CN111671441A CN111671441A CN202010294230.9A CN202010294230A CN111671441A CN 111671441 A CN111671441 A CN 111671441A CN 202010294230 A CN202010294230 A CN 202010294230A CN 111671441 A CN111671441 A CN 111671441A
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- blood drawing
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- 239000008280 blood Substances 0.000 title claims abstract description 32
- 210000004369 blood Anatomy 0.000 title claims abstract description 32
- 239000012636 effector Substances 0.000 claims abstract description 36
- 210000003462 vein Anatomy 0.000 claims abstract description 22
- 238000013519 translation Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000001990 intravenous administration Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 238000010253 intravenous injection Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150015—Source of blood
- A61B5/15003—Source of blood for venous or arterial blood
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150748—Having means for aiding positioning of the piercing device at a location where the body is to be pierced
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/153—Devices specially adapted for taking samples of venous or arterial blood, e.g. with syringes
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Hematology (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Vascular Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a blood drawing robot which comprises a bottom plate, an arm fixing device, a positioning mechanical arm, an end effector and a binocular camera, wherein the arm fixing device and the positioning mechanical arm are both arranged on the bottom plate, the end effector is arranged on the positioning mechanical arm, the binocular camera is arranged on the end effector, and the positioning mechanical arm comprises a translation device and a link mechanism. The blood drawing robot disclosed by the invention has the advantages that the positioning mechanical arm can drive the end effector to accurately move and align vein vessels through the translation device and the matching link mechanism, the device is simplified, and the occupied space of the whole robot is greatly reduced; the arm fixer is suitable for fixing arms of various sizes by matching the movable end plate with the fixed end plate; the angle of the needle inserted into the vein and the needle tip posture are adjusted through the steering mechanism, so that the needle can obtain the optimal blood drawing posture.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a blood drawing robot.
Background
Venipuncture is an important and commonly used clinical means, and the main operations include intravenous injection, intravenous infusion, intravenous blood collection, intravenous blood transfusion and the like.
Currently, the venipuncture is mainly operated by skilled medical personnel clinically. The commonly used venipuncture method operates as follows: the patient is pricked with the blood stopping belt and then is made to make a fist to protrude the vein vessel, thereby performing venipuncture.
The success rate of the above conventional puncturing methods greatly depends on the experience and skill of medical staff, and it is very difficult to accurately perform venipuncture on patients with dark skin, deep veins, covered wounds, tattoos, and the like. Failure of venipuncture not only can cause pain and mental stress to the patient, but can also cause damage to the blood vessels, which in turn can lead to diffusion of the drug into the tissue surrounding the vein with serious consequences.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a blood drawing robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the blood drawing robot comprises a bottom plate, an arm fixing device, a positioning mechanical arm, an end effector and a binocular camera, wherein the arm fixing device and the positioning mechanical arm are arranged on the bottom plate, the end effector is arranged on the positioning mechanical arm, the binocular camera is arranged on the end effector, the positioning mechanical arm comprises a translation device and a link mechanism, the link mechanism comprises a first link, a second link and a third link, the translation device is slidably arranged on a slide rail, one end of the first link is connected with the translation device through a first joint, the other end of the first link is connected with one end of the second link through a second joint, the other end of the second link is connected with one end of the third link through a third joint, and the other end of the third link is connected with the end effector; the human arm is placed on the arm fixing device, the position of the vein vessel is searched by the binocular camera, the positioning mechanical arm drives the end effector to move to the end effector to align the vein vessel, and the end effector performs blood drawing work. In the technical scheme, when the blood drawing robot is used for drawing blood from the arms of a human body, the arms of the human body are placed on the arm fixing devices, the arm fixing devices fix the arms of the human body and enable veins to protrude, the binocular camera collects vein position signals, the positioning mechanical arm drives the end effector to enable the end effector to aim at the veins, and therefore the end effector performs blood drawing operation. The first joint, the second joint and the third joint are respectively provided with a motor for driving the first connecting rod, the second connecting rod and the third connecting rod. Through the translation device and the matching connecting rod mechanism, the positioning mechanical arm can drive the end effector to accurately move and align vein vessels, the device is simplified, and the occupied space of the whole robot is greatly reduced.
Preferably, the translation device comprises a horizontal guide rail arranged on the bottom plate, a vertical guide rail arranged on the horizontal guide rail through a first sliding block, and a second sliding block arranged on the vertical guide rail, wherein the second sliding block is connected with a mounting seat, and the first connecting rod is arranged on the mounting seat through a first joint. In the technical scheme, the mounting base can move and position on a two-dimensional plane through the horizontal guide rail and the vertical guide rail, and then the three-dimensional space of the positioning mechanical arm can move and position through the first connecting rod, the second connecting rod and the third connecting rod. The bottom plate is provided with a horizontal driving motor, and the horizontal driving motor drives the first sliding block to move along the horizontal guide rail through the lead screw. And a vertical driving motor is arranged on the vertical guide rail and drives the second sliding block to move along the vertical guide rail through a lead screw. The mount pad is L shape mount pad, and first connecting rod is established on the vertical face of L shape mount pad through first joint.
Preferably, the arm fixing device comprises an arm fixing device and a pneumatic pulse pressing sleeve, the arm fixing device is arranged on the bottom plate, the pneumatic pulse pressing sleeve is arranged in front of the arm fixing device, the arm fixing device comprises a fixing end plate fixedly arranged on the bottom plate and a movable end plate slidably arranged on the fixing end plate, and the fixing end plate and the movable end plate form a semi-arc shape. In the technical scheme, the pneumatic pulse pressing sleeve is an annular air bag, and the pneumatic pulse pressing sleeve is inflated by an external air pump so as to extrude the arms of the human body, so that the vein vessels of the arms of the human body are protruded. The pneumatic pulse pressing sleeve can be arranged on the bottom plate through the fixing ring, and the pneumatic pulse pressing sleeve is embedded in the inner wall of the fixing ring. The arm fixer is suitable for fixing arms of various sizes by matching the movable end plate with the fixed end plate, and the fixed end plate and the movable end plate form a semi-circular arc shape to be matched with the arms of a human body, so that the arms of the human body can be comfortably placed on the arm fixer.
Preferably, the right side of the bottom of the fixed end plate is provided with a sliding groove, the bottom of the movable end plate is inserted into the sliding groove, the front side wall and the rear side wall of the movable end plate are provided with a plurality of concave hole grooves, and the fixed end plate is provided with plug bolts clamped into the concave hole grooves. Among the above technical scheme, the bottom of activity end plate inserts the spout and slides in the spout to adjust the interval between fixed end plate and the activity end plate, thereby make the arm fixer can be applicable to the fixed of each big or small arm. The movable end plate is inserted into the sliding groove and then is inserted into the concave groove through the plug for fixing, and the concave grooves are uniformly arranged on the front side wall and the rear side wall of the movable end plate at intervals.
Preferably, the end effector comprises a steering mechanism arranged on the third connecting rod and a puncture mechanism arranged on the steering mechanism, and the puncture mechanism comprises a shell arranged on the steering mechanism, a first motor arranged on the shell, a transmission part connected with the first motor and a needle head arranged on the transmission part. In the technical scheme, the steering mechanism is used for adjusting the angle of the needle inserted into the vein and the posture of the needle tip, and the puncture mechanism controls the needle to be inserted into or pulled out of the vein.
Preferably, the transmission part comprises a screw rod connected with the first motor through a coupler, a third sliding block arranged on the screw rod, and a third guide rail arranged on the shell and corresponding to the third sliding block, and the needle head is arranged on the third sliding block through a needle head fixing block. Among the above technical scheme, first motor passes through the shaft coupling and drives the lead screw rotation, and the lead screw drives the third slider and slides to the third slider slides along the third guide rail, thereby drives the syringe needle and advances or retreat, thereby the syringe needle inserts or extracts vein. The binocular camera is arranged at the front end of the needle head fixing block, so that the position of the vein vessel can be conveniently positioned.
Preferably, the steering mechanism comprises a connecting seat arranged on the third connecting rod, an arc body connected with the connecting seat into a whole, a V-shaped groove guide rail arranged on the arc body, and a roller corresponding to the V-shaped groove guide rail, and a second motor used for driving the roller is arranged in the shell. Among the above technical scheme, the second motor drives the gyro wheel through the connecting rod and rolls along V-arrangement groove guide rail to the function that the realization drove the syringe needle and turn to.
Preferably, the bottom plate is also provided with a handrail. Among the above technical scheme, the handrail has made things convenient for the placing of another arm of the personnel of drawing blood, and the personnel of drawing blood can alleviate its psychological pressure through holding the handrail tightly.
Preferably, the needle is connected to an external vacuum test tube by a vacuum transfer tube. Among the above technical scheme, the syringe needle directly passes through the vacuum conveyer pipe with the blood of drawing and conveys outside vacuum test tube and preserve.
The invention has the beneficial effects that:
the blood drawing robot disclosed by the invention has the advantages that the positioning mechanical arm can drive the end effector to accurately move and align vein vessels through the translation device and the matching link mechanism, the device is simplified, and the occupied space of the whole robot is greatly reduced; the arm fixer is suitable for fixing arms of various sizes by matching the movable end plate with the fixed end plate; the angle of the needle inserted into the vein and the needle tip posture are adjusted through the steering mechanism, so that the needle can obtain the optimal blood drawing posture.
Drawings
FIG. 1 is a schematic structural view of a blood drawing robot according to the present invention;
FIG. 2 is a schematic view of the arm holder according to the present invention;
FIG. 3 is a schematic structural view of the linkage mechanism of the present invention;
FIG. 4 is a schematic structural view of an end effector of the present invention;
FIG. 5 is a schematic view of the back side of the end effector of the present invention
Fig. 6 is a schematic structural view of the puncture mechanism of the present invention.
In the figure: 1. a bottom plate, 2, an arm fixing device, 21, an arm fixer, 211, a fixed end plate, 2111, a sliding groove, 2112, a plug, 212, a movable end plate, 2121, a concave groove, 22, a pneumatic tourniquet sleeve, 31, a translation device, 311, a horizontal guide rail, 312, a first slider, 313, a vertical guide rail, 314, a second slider, 32, a link mechanism, 321, a first link, 322, a second link, 323, a third link, 324, a first joint, 325, a second joint, 326, a third joint, 4, an end effector, 411, a connecting seat, 412, a circular arc body, 413, a V-groove guide rail, 414, a roller, 415, a second motor, 442, a puncture mechanism, 421, a housing, 422, a first motor, 423, a coupling, 424, a lead screw, 425, a third slider, 426, a third guide rail, 427, a needle, 428, a needle, 5, a mounting seat, 6, and an armrest fixing block.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and embodiments.
As shown in fig. 1-6, the blood drawing robot of the present embodiment includes a base plate 1, an arm fixing device 2, a positioning mechanical arm, and an end effector 4, the mechanical arm fixing device 2 and the positioning mechanical arm are arranged on the base plate 1, the end effector 4 is arranged on the positioning mechanical arm, the binocular camera is arranged on the end effector 4, the positioning mechanical arm comprises a translation device 31 and a link mechanism 32, the link mechanism comprises a first link 321, a second link 322 and a third link 323, the translation device 31 is arranged on the sliding rail in a sliding mode, one end of the first link 321 is connected with the translation device 31 through a first joint 324, the other end of the first link 321 is connected with one end of the second link 322 through a second joint 325, the other end of the second link 322 is connected with one end of the third link 323 through a third joint 326, and the other end of the third link 323 is connected with the end effector 4; place human arm on arm fixing device 2, the vein position is seeked to the binocular camera, and location arm drives end effector 4 and moves to end effector 4 and aim at the vein, and end effector 4 draws blood work.
In this embodiment, the translating device 31 includes a horizontal guide rail 311 disposed on the bottom plate 1, a vertical guide rail 313 disposed on the horizontal guide rail 311 through a first slider 312, and a second slider 314 disposed on the vertical guide rail 313, the second slider 314 is connected to the mounting base 5, and the first link 321 is disposed on the mounting base 5 through a first joint 324.
In this embodiment, the arm fixing device 2 includes an arm fixing device 21 and a pneumatic tourniquet sleeve 22 disposed on the base plate 1, the pneumatic tourniquet sleeve 22 is disposed at a front position of the arm fixing device 21, the arm fixing device 21 includes a fixed end plate 211 fixedly disposed on the base plate 1 and a movable end plate 212 slidably disposed on the fixed end plate 211, and the fixed end plate 211 and the movable end plate 212 form a semi-circular arc shape.
In this embodiment, the right side of the bottom of the fixed end plate 211 is provided with a sliding slot 2111, the bottom of the movable end plate 212 is inserted into the sliding slot 2111, the front and rear side walls of the movable end plate 212 are provided with a plurality of recessed slots 2121, and the fixed end plate 211 is provided with plugs 2112 which are clamped into the recessed slots 2121.
In this embodiment, the end effector 4 includes a steering mechanism disposed on the third link 323, and a puncturing mechanism 442 disposed on the steering mechanism, and the puncturing mechanism 442 includes a housing 421 disposed on the steering mechanism, a first motor 422 disposed on the housing 421, a transmission member connected to the first motor 422, and a needle 427 disposed on the transmission member.
In this embodiment, the transmission member includes a lead screw 424 connected to the first motor 422 through a coupling 423, a third slider 425 disposed on the lead screw 424, a third guide rail 426 disposed on the housing 421 and corresponding to the third slider 425, and a needle 427 is disposed on the third slider 425 through a needle fixing block 428.
In this embodiment, the steering mechanism includes a connection seat 411 disposed on the third connection rod 323, an arc body 412 connected with the connection seat 411 into a whole, a V-shaped groove guide rail 413 disposed on the arc body 412, and a roller 414 corresponding to the V-shaped groove guide rail 413, and a second motor 415 for driving the roller 414 is disposed in the casing 421.
In this embodiment, the bottom plate 1 is further provided with a handrail 6.
In this embodiment, the needle 427 is connected to an external vacuum tube via a vacuum transfer tube.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Simple substitutions without changing the inventive content of the present invention are considered to be the same. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. Blood drawing robot, its characterized in that: comprises a bottom plate (1), an arm fixing device (2), a positioning mechanical arm, an end effector (4) and a binocular camera, wherein the arm fixing device (2) and the positioning mechanical arm are arranged on the bottom plate (1), the end effector (4) is arranged on the positioning mechanical arm, the binocular camera is arranged on the end effector (4), the positioning mechanical arm comprises a translation device (31) and a link mechanism (32), the link mechanism comprises a first link (321), a second link (322) and a third link (323), the translation device (31) is slidably arranged on a slide rail, one end of the first link (321) is connected with the translation device (31) through a first joint (324), the other end of the first link (321) is connected with one end of the second link (322) through a second joint (325), the other end of the second link (322) is connected with one end of the third link (323) through a third joint (326), the other end of the third connecting rod (323) is connected with the end effector (4); the human arm is placed on the arm fixing device (2), the position of the vein is searched by the binocular camera, the positioning mechanical arm drives the end effector (4) to move to the end effector (4) to align the vein, and the end effector (4) performs blood drawing.
2. The blood drawing robot according to claim 1, wherein: translation device (31) including establishing horizontal guide (311) on bottom plate (1), establish vertical guide (313) on horizontal guide (311) through first slider (312), establish second slider (314) on vertical guide (313), second slider (314) are connected with mount pad (5), and first connecting rod (321) are established on mount pad (5) through first joint (324).
3. The blood drawing robot according to claim 1 or 2, wherein: the arm fixing device (2) comprises an arm fixing device (21) and a pneumatic pulse pressing sleeve (22) which are arranged on a bottom plate (1), the pneumatic pulse pressing sleeve (22) is arranged in the front position of the arm fixing device (21), the arm fixing device (21) comprises a fixed end plate (211) which is fixedly arranged on the bottom plate (1) and a movable end plate (212) which is slidably arranged on the fixed end plate (211), and the fixed end plate (211) and the movable end plate (212) form a semi-arc shape.
4. The blood drawing robot according to claim 3, wherein: the right side of the bottom of the fixed end plate (211) is provided with a sliding groove (2111), the bottom of the movable end plate (212) is inserted into the sliding groove (2111), the front side wall and the rear side wall of the movable end plate (212) are provided with a plurality of concave hole grooves (2121), and the fixed end plate (211) is provided with a plug (2112) clamped into the concave hole grooves (2121).
5. The blood drawing robot according to claim 1, 2 or 4, wherein: the end effector (4) comprises a steering mechanism arranged on the third connecting rod (323) and a puncture mechanism (442) arranged on the steering mechanism, wherein the puncture mechanism (442) comprises a shell (421) arranged on the steering mechanism, a first motor (422) arranged on the shell (421), a transmission part connected with the first motor (422), and a needle (427) arranged on the transmission part.
6. The blood drawing robot according to claim 5, wherein: the transmission part comprises a lead screw (424) connected with the first motor (422) through a coupling (423), a third sliding block (425) arranged on the lead screw (424), and a third guide rail (426) arranged on the shell (421) and corresponding to the third sliding block (425), and the needle (427) is arranged on the third sliding block (425) through a needle fixing block (428).
7. The blood drawing robot according to claim 6, wherein: the steering mechanism comprises a connecting seat (411) arranged on a third connecting rod (323), an arc body (412) connected with the connecting seat (411) into a whole, a V-shaped groove guide rail (413) arranged on the arc body (412), and a roller (414) corresponding to the V-shaped groove guide rail (413), wherein a second motor (415) used for driving the roller (414) is arranged in the shell (421).
8. A robot as claimed in claim 1 or 2 or 4 or 6 or 7, wherein: the bottom plate (1) is also provided with a handrail (6).
9. The blood drawing robot according to claim 8, wherein: the needle (427) is connected to the external vacuum test tube by a vacuum transfer tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010294230.9A CN111671441A (en) | 2020-04-15 | 2020-04-15 | Robot draws blood |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010294230.9A CN111671441A (en) | 2020-04-15 | 2020-04-15 | Robot draws blood |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111671441A true CN111671441A (en) | 2020-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010294230.9A Pending CN111671441A (en) | 2020-04-15 | 2020-04-15 | Robot draws blood |
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| Country | Link |
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| CN (1) | CN111671441A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247977A (en) * | 2020-10-14 | 2021-01-22 | 浙江杭摩欧亿汽车零部件有限公司 | Mechanical arm for automatically installing automobile parts |
| CN112450927A (en) * | 2021-01-12 | 2021-03-09 | 成都小眉拉科技有限公司 | Medical blood sample information acquisition equipment |
| CN112515638A (en) * | 2020-12-02 | 2021-03-19 | 杭州医学院 | Vein blood vessel imaging instrument |
| CN112643662A (en) * | 2020-12-21 | 2021-04-13 | 上海交通大学 | Multi-degree-of-freedom operating robot with force sense perception |
| CN113003523A (en) * | 2021-04-30 | 2021-06-22 | 江阴市富仁高科股份有限公司 | A moving platform and refuel robot for refuel robot |
| CN113080955A (en) * | 2021-04-08 | 2021-07-09 | 广东医科大学附属第二医院 | Arterial blood extraction device |
| EP3984455A1 (en) * | 2020-10-15 | 2022-04-20 | Grifols Worldwide Operations Limited | Unit for collecting blood and/or plasma |
| CN114767234A (en) * | 2022-05-05 | 2022-07-22 | 元化智能科技(深圳)有限公司 | Venipuncture device |
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| CN107981872A (en) * | 2017-08-31 | 2018-05-04 | 北京邮电大学 | The image-guided intervention medical robotic system of multiple degrees of freedom |
| JP2018202042A (en) * | 2017-06-08 | 2018-12-27 | 株式会社テクノサイエンス | Puncture system, puncture control device, and puncture needle |
| CN208851511U (en) * | 2018-05-24 | 2019-05-14 | 重庆市中医院 | Arm fixing device on CT bed |
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| CN106510731A (en) * | 2016-11-08 | 2017-03-22 | 华中科技大学同济医学院附属协和医院 | Full-automatic venous blood sampling device |
| JP2018202042A (en) * | 2017-06-08 | 2018-12-27 | 株式会社テクノサイエンス | Puncture system, puncture control device, and puncture needle |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247977A (en) * | 2020-10-14 | 2021-01-22 | 浙江杭摩欧亿汽车零部件有限公司 | Mechanical arm for automatically installing automobile parts |
| EP3984455A1 (en) * | 2020-10-15 | 2022-04-20 | Grifols Worldwide Operations Limited | Unit for collecting blood and/or plasma |
| WO2022079628A1 (en) * | 2020-10-15 | 2022-04-21 | Grifols Worldwide Operations Limited | Unit for collecting blood and/or plasma |
| CN112515638A (en) * | 2020-12-02 | 2021-03-19 | 杭州医学院 | Vein blood vessel imaging instrument |
| CN112643662A (en) * | 2020-12-21 | 2021-04-13 | 上海交通大学 | Multi-degree-of-freedom operating robot with force sense perception |
| CN112643662B (en) * | 2020-12-21 | 2022-09-27 | 上海交通大学 | Multi-degree-of-freedom operating robot with force sense perception |
| CN112450927A (en) * | 2021-01-12 | 2021-03-09 | 成都小眉拉科技有限公司 | Medical blood sample information acquisition equipment |
| CN113080955A (en) * | 2021-04-08 | 2021-07-09 | 广东医科大学附属第二医院 | Arterial blood extraction device |
| CN113080955B (en) * | 2021-04-08 | 2023-11-24 | 广东医科大学附属第二医院 | Arterial blood extracting device |
| CN113003523A (en) * | 2021-04-30 | 2021-06-22 | 江阴市富仁高科股份有限公司 | A moving platform and refuel robot for refuel robot |
| CN114767234A (en) * | 2022-05-05 | 2022-07-22 | 元化智能科技(深圳)有限公司 | Venipuncture device |
| CN114767234B (en) * | 2022-05-05 | 2023-02-24 | 元化智能科技(深圳)有限公司 | Venipuncture device |
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Application publication date: 20200918 |
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| WD01 | Invention patent application deemed withdrawn after publication |