Design And Experiment Of The Prototype Of Venous Blood Drawing Robot

With the development of medical technology,venous blood sampling has become an indispensable step in the diagnosis and treatment process.At present,it is only clinically possible to rely on skilled medical personnel to manually collect blood,so it brings great physical and mental stress.Although these medical staff have been specially trained,the failure rate is still very high,and there is a need for a robotic system that can replace or assist medical personnel to complete automatic or semi-automatic blood collection.With the advancement of computer vision,sensing and robotics,the technical conditions for developing automatic venous blood collection robot systems have gradually matured.Driven by the attraction of huge market prospects and technological advancement,the research of venous blood collection robots has attracted wide attention from scholars from all over the world.This paper has carried out in-depth research on the development of venous blood collection robot system,including the following contents:Firstly,based on the full investigation of market demand and manual blood collection process,the overall design of the venous blood collection robot was completed.Based on the modular design concept,the functional module division of the robot system is completed,and the technical design indicators of the modules are clarified.Then the optimal design of the body structure,hardware control system and sensing system of the venous blood collection robot system is completed.The optimized series design of the robot body structure is realized by the improved series double parallel fourlink mechanical arm and decoupling pick-up design.The decoupling control of each degree of freedom reduces the control difficulty and improves the development efficiency.The design of the robot control system is completed by the architecture of PC-multi-axis motion controller-servo drive,which has friendly man-machine interface and high control precision.It can be iteratively good;the design of venous vessel identification and positioning system based on binocular near-infrared camera,and the real-time detection system design of puncture force based on membrane pressure sensor provide hardware support for automatic venipuncture control.Then the design of the venous blood collection robot software system was completed.The human-computer interaction module adopts QT-based graphical user interface to facilitate user operation;the control module uses a bottom-up,layer-by-layer package to complete the control program of motor single-axis drive,shaft drive,and robot arm drive;The SGBM-based three-dimensional imaging algorithm is used to reconstruct the vein three-dimensionally,and the blood vessel wall is judged by the force change during the puncture.Finally,an experimental analysis was carried out on the prototype.Focusing on the analysis of the puncture force changes during the puncture process,to provide experimental data for more accurate automatic needle picking,on this basis completed a semi-automatic venipuncture experiment,verifying the functionality of the prototype,analyzing performance characteristics and the next generation Product design provides a reference.