Puncture system

Patent metadata

Field	Value
Publication number	US-11992240-B2
Application number	US-202017110747-A
Country	US
Kind code	B2
Filing date	Dec 3, 2020
Priority date	Jun 6, 2018
Publication date	May 28, 2024
Grant date	May 28, 2024

Abstract

A puncture system that is configured to automatically puncture a radial artery of a hand of a patient includes: a grip to be gripped by the hand; a blood vessel detection unit that detects a position of an artery of the hand that grips the grip; an adjustment mechanism that adjusts a relative posture of the grip and a puncture needle a forward mechanism to move the puncture needle forward toward the grip; and a control unit that determines, in accordance with the position of the artery detected by the blood vessel detection unit, a relative posture of the grip and the puncture needle and a forward distance of the puncture needle, and controls operations of the adjustment mechanism and the forward mechanism on the basis of the posture and the forward distance having been determined.

First claim

What is claimed is:

1. A puncture system configured to automatically puncture a blood vessel of a hand of a patient by a puncture needle, the puncture system comprising:
a grip to be gripped by the hand of the patient;
a blood vessel detection unit configured to detect a position of the blood vessel of the hand of the patient that grips the grip;
an adjustment mechanism configured to adjust a relative posture of the grip and the puncture needle;
a forward mechanism configured to move the puncture needle forward toward the grip; and
a control unit that determines, in accordance with the position of the blood vessel detected by the blood vessel detection unit, the relative posture of the grip and the puncture needle and a forward movement distance to move the puncture needle, and controls operations of the adjustment mechanism and the forward mechanism based on the posture of the grip and the forward movement distance determined by the control unit.

2. The puncture system according to claim 1 , wherein the adjustment mechanism includes a grip actuator connected to the grip and configured to adjust a posture of the grip.

3. The puncture system according to claim 1 , wherein the adjustment mechanism includes a puncture actuator configured to adjust a posture of the puncture needle.

4. The puncture system according to claim 3 , wherein the blood vessel detection unit simultaneously detects the position of the blood vessel and the position of the puncture needle, and
the puncture actuator adjusts the posture of the puncture needle in accordance with the position of the blood vessel and the position of the puncture needle detected by the blood vessel detection unit.

5. The puncture system according to claim 1 , wherein the adjustment mechanism includes a grip actuator configured to adjust a position and a posture of the grip, and a puncture actuator configured to adjust a position and a posture of the puncture needle, and
the control unit acquires data on the position and the posture of the grip, and also acquires data on the position and the posture of the puncture needle.

6. The puncture system according to claim 1 , further comprising a reversed blood detection unit configured to detect reversed blood flow into the puncture needle.

7. The puncture system according to claim 1 , further comprising a marker detection unit configured to detect a position of a marker indicating an intended puncture region of the hand,
the blood vessel detection unit being configured to detect the blood vessel in the intended puncture region.

8. The puncture system according to claim 1 , further comprising a detection actuator configured to adjust a position and a posture of the blood vessel detection unit.

9. The puncture system according to claim 1 , wherein the grip includes a hole portion into which a thumb of the hand is insertable, and
further comprising a thumb detection unit that detects contact of the thumb with the thumb detection unit, the thumb detection unit being positioned in the hole portion.

10. The puncture system according to claim 1 , further comprising a restrainer configured to be worn on a wrist of the patent to suppress motion of the wrist.

11. A puncture system configured to automatically puncture a blood vessel in a hand of a patient with a puncture needle, the patient's hand including fingers and a thumb, the puncture system comprising:
a grip to be gripped by the hand of the patient, the grip including a hole sized to receive the thumb of the patient's hand or at least one of the fingers of the patent's hand;
a grip actuator that holds the grip and adjusts a posture of the grip;
a puncture needle holder configured to hold the puncture needle and move the puncture needle toward and away from the grip;
a puncture needle actuator operatively connected to the puncture needle holder to adjust a posture of the puncture needle;
a blood vessel detection unit that detects a position of the blood vessel of the hand of the patient that grips the grip; and
a control unit that determines, in accordance with the position of the blood vessel detected by the blood vessel detection unit and a relative posture of the grip and the puncture needle, a forward movement distance to move the puncture needle to puncture the blood vessel in the hand of the patient, and controls operations of the puncture needle holder based on the forward movement distance determined by the control unit.

12. The puncture system according to claim 11 , wherein the grip actuator comprises a multi-degree-of-freedom robot arm.

13. The puncture system according to claim 11 , wherein the puncture needle holder comprises a multi-degree-of-freedom robot arm.

14. The puncture system according to claim 11 , further comprising a reversed blood detection unit configured to detecting blood flowing into the puncture needle when the blood vessel has been punctured by the puncture needle.

15. The puncture system according to claim 11 , further comprising a detection unit that detects contact of the thumb or the one of the fingers with the detection unit, the detection unit being positioned in the hole portion in the grip.

16. A method of automatically puncturing a blood vessel in a hand of a patient with a puncture needle, the method comprising:
detecting a position of a blood vessel in a hand of a patient while the hand of the patient is gripping a grip;
determining a relative posture of the grip and the puncture needle, and a forward movement distance to move the puncture needle, using the detected position of the blood vessel;
changing the posture of the grip and/or the puncture needle so that the relative posture of the grip and the puncture needle is the determined relative posture of the grip and the puncture needle; and
moving the puncture needle the forward movement distance to puncture the blood vessel.

17. The method according to claim 16 , wherein the gripping of the grip includes positioning a thumb of the patient's hand or at least one finger of the patent's hand in a hole in the grip.

18. The method according to claim 17 , wherein the determining of the relative posture of the grip is performed only if a detection unit positioned in the hole of the grip detects the thumb of the patient's hand or the at least one finger of the patient's hand.

19. The method according to claim 16 , further comprising, after moving the puncture needle the forward movement distance, detecting whether blood is flowing into the puncture needle, and moving the puncture needle away from the patient's hand when blood is not detected as flowing into the puncture needle.

Assignees

• Terumo Corp

Inventors

• Ueda Ryosuke
• Kumazawa Takashi
• Maeda Ryosuke
• Shinohara Toshiaki
• Watanabe Masaaki
• Uchida Yuusuke

Classifications

• A61B17/3403 Primary

  Needle locating or guiding means · CPC title

• A61B34/32 Primary

  operating autonomously · CPC title

• A61B2034/303

  specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels · CPC title

• A61M25/0113

  Mechanical advancing means, e.g. catheter dispensers · CPC title

• A61B8/00

  Diagnosis using ultrasonic, sonic or infrasonic waves · CPC title