Automatic cannulating machine

Abstract

The invention relates to a cannulation robot for the automated affixing of a cannula to a patient. The cannulation robot comprises a fixing apparatus for affixing the cannula to the patient by means of an adhesive carrier. The cannulation robot comprises a positioning device designed to position a cannula holder of the cannula to an area of the patient's skin. The cannulation robot comprises an actuator device for a guide means, wherein the guide means is designed to guide the adhesive carrier to said skin area. The actuator device is designed to activate the guide means and thereby move the adhesive carrier by means of the guide means toward the skin area, wherein the adhesive carrier contacts the skin area as a result of the movement and adheres to same as well as is disposed such that it is connected to the cannula at least after being adhered.

Claims

1. A cannulation robot for automated affixing of a cannula to a patient for automated cannulation of a blood vessel of the patient, the cannulation robot comprising: a fixing apparatus for affixing the cannula to the patient and comprising a segregating apparatus for one or more adhesive carriers, the segregating apparatus comprising a storage device configured to store one or more adhesive carriers and being configured to sort out the one or more adhesive carriers for the affixing of the cannula; a positioning device designed to position a cannula holder, the cannula holder being a component part of the cannula and/or connected to the cannula, at a skin area of the patient at which the cannula is to be affixed; and an actuator device for a guide designed to guide the one or more adhesive carriers to the skin area, wherein the actuator device is designed to activate the guide and move the one or more adhesive carriers, guided by the guide, toward the skin area, such that the one or more adhesive carriers contacts the skin area as a result of the movement, adheres to the skin area by an adhesive, and is connected to the cannula.

2. The cannulation robot according to claim 1, wherein the fixing apparatus further comprises a connecting device for a robotic tool arm, wherein the connecting device is designed to connect the fixing apparatus to a tool arm of the cannulation robot.

3. The cannulation robot according to claim 1, further comprising a robotic tool arm equipped with at least a gripper apparatus for grasping the cannula, wherein the positioning device is designed to control the robotic tool arm on the basis of one or more motion control parameters and to position the cannula holder, grasped by the gripper apparatus, on the skin area.

4. The cannulation robot according to claim 3, wherein the robotic tool arm is equipped with the gripper apparatus and the fixing apparatus; the gripper apparatus and the fixing apparatus form a common unit in which the fixing apparatus is arranged adjacent to the gripper apparatus, the gripper apparatus and the fixing apparatus are configured to move in concert by the robotic tool arm, the fixing apparatus comprises the actuator device and the guide, and the guide is arranged adjacent to the actuator device and to the gripper apparatus or the gripper apparatus is designed to dispose the guide adjacent to the actuator device.

5. The cannulation robot according to claim 1, wherein the fixing apparatus comprises the actuator device and the guide, the guide comprises a transport device, a guide channel, and a pressing device, the transport device is designed to transport the one or more adhesive carriers through the guide channel to the pressing device, the actuator device is designed to move at least the pressing device and the guide channel along the skin area to which the cannula is to be affixed, and the pressing device is designed to press on at least a part of the one or more adhesive carriers disposed between the pressing device and that portion of the skin area over which the actuator device respectively moves the pressing device.

6. The cannulation robot according to claim 1, wherein the cannulation robot is configured for connecting (1) the one or more adhesive carriers and (2) a cannula holder holding the cannula, each comprising a connector for connecting to the respective other, the fixing apparatus comprises the actuator device and the guide, the fixing apparatus is designed to adhere the one or more adhesive carriers to the skin area and thereby guide it along the skin area via the guide until, after adhering to the skin area, the one or more adhesive carriers extends over a section of the skin area over which the cannula holder is to be positioned for fixation by the positioning device, and the positioning device is designed to move the cannula holder, after the one or more adhesive carriers adheres to the skin area, toward the one or more adhesive carriers, and connect the two together.

7. The cannulation robot according to claim 3, further comprising the cannula holder, wherein the cannula holder has the one or more adhesive carriers on the underside, the actuator device comprises the positioning device and is designed to move the cannula holder toward the skin area and press the adhesive carrier onto the skin area, guided by the guide.

8. The cannulation robot according to claim 1, further comprising the cannula holder, wherein the cannulation robot is configured to guide the cannula holder with the guide, the guide comprising at least two fixing elements, and a respective bearing element for each respective one of the fixing elements, as the guide secures the cannula to the patient, the actuator device comprises one or more pressure rods, each respectively allocated to one or more of the at least two fixing elements, and an actuator for the pressure rods, and the actuator is designed to actuate the pressure rods, move a distal end of each respective pressure rod to a respectively associated fixing element, and respectively press the fixing element toward the skin area via the pressure rod until the adhesive carrier disposed with the fixing elements touches the skin area.

9. The cannulation robot according to claim 8, wherein the cannula holder comprises a base body, the at least two fixing elements of the cannula holder are designed as wing elements rotatably mounted about a rotational axis relative to the base body by the respective bearing element, the at least two fixing elements comprise respective wing tips that point away from the skin area in an initial state prior to affixing the cannula, and the actuator device is designed to first move the distal ends of the pressure rods toward the base body or toward a respectively associated wing element or its bearing element, and, upon encountering a mechanical resistance, effect a spreading motion by which the distal ends of the pressure rods are in each case moved outwardly away along the associated wing element from the base body.

10. The cannulation robot according to claim 1, wherein the segregating apparatus is further designed to apply the adhesive: onto the adhesive carrier; onto the skin area of the patient; onto the cannula holder; onto a tube connected to the cannula holder; or onto a combination thereof.

11. The cannulation robot according to claim 1, wherein the one or more adhesive carriers comprises at least two different adhesive carriers, the storage device is designed to store the at least two different adhesive carriers, the cannulation robot further comprises a detection system for tissue and/or skin types, which detects data on the nature of the skin area and the tissue underneath by sensor-based measuring of radiation, mechanical forces, and/or chemical substances, and stores the data as tissue and/or skin type identifying data, the cannulation robot is designed to implement a selection process comprising the following steps: gathering, with the detection system, data on the nature of the skin and the tissue underneath, for the skin area of the patient, at which the cannula is to be affixed; determining the tissue and/or skin type of the skin area based on the identifying data using a tissue/skin type database; selecting one of the at least two different adhesive carriers from among the at least two different adhesive carriers, which is suitable for the specific tissue type and/or skin type based on the tissue/skin type database or a different database; and outputting one or more control parameters for the segregating apparatus, wherein at least the segregating apparatus is designed to be controlled, on the basis of the control parameters, to separate out the selected one adhesive carrier.

12. The cannulation robot according to claim 1, further comprising a detection system for detecting a location of the cannula, the detection system being configured to detect location data on the location of the cannula by sensor-based measuring of radiation, mechanical forces, and/or ultrasound, and and being configured to store the location data as cannula location identifying data, wherein the cannulation robot is designed to move the cannula, at a predetermined and minimal displacement and/or force, with the positioning device, after the cannula has been affixed, the detection system is designed to detect a change in location of the cannula upon the movement, and the cannulation robot is designed to determine whether the cannula is sufficiently secured based on the detected change in location of the cannula.

13. A method for the automated affixing of a cannula to a patient for automated cannulation of a blood vessel of the patient, with the cannulation robot according to claim 1, wherein the cannulation robot comprises the cannula and the method comprises the following method steps: providing the cannula with the cannula holder or providing the cannula without the cannula holder and connecting the cannula to the cannula holder; providing the fixing apparatus for affixing the cannula to the patient; sorting out, using the segregating apparatus, the one or more adhesive carriers for the affixing of the cannula; actuating the guide with the actuator device, wherein the guide guides the one or more adhesive carriers to the skin area at which the cannula is to be affixed; positioning the cannula holder at the skin area, using the positioning device; and affixing the cannula to the skin area with the cannula holder and the one or more adhesive carriers, wherein the one or more adhesive carriers are adhered to the skin area by an adhesive, and connected to the cannula.

Description

(1) Thereby shown, to some extent schematized:

(2) FIG. 1A a frontal view of a fixing apparatus of an example embodiment of the cannulation robot according to the invention;

(3) FIG. 1B a frontal view of an example embodiment of the cannula holder according to the invention;

(4) FIG. 2 a frontal view of an actuator device of an example embodiment of the cannulation robot according to the invention;

(5) FIG. 3A a frontal view of an example embodiment of the cannula holder according to the invention together with a cannula;

(6) FIG. 3B a side view of said cannula holder;

(7) FIG. 4 an example embodiment of the inventive cannulation robot;

(8) FIG. 5 an example embodiment of the method according to the invention for the automated affixing of a cannula.

(9) FIG. 1A depicts a fixing apparatus of an example embodiment of the cannulation robot according to the invention in a frontal view.

(10) The fixing apparatus 10 comprises an actuator device 100, a positioning device 120 and a fixing base 140. The actuator device 100 and the positioning device 120 are physically connected by the fixing base 140 and thus form one physical unit in which the relative arrangements to one another are predetermined based on the fixation.

(11) The actuator device 100 comprises two actuators 102 and two pressure rods 104, whereby a respective one of said actuators 102 is designed to move a respective one of the pressure rods 104 along an axis of the respective actuator 102 in the direction of a distal end 106 of the respective pressure rod 104. This movement toward the distal end 106 can actuate a guide means. After the actuating of the guide means, the actuators 102 can in particular move the pressure rods 104 again in the opposite direction.

(12) The positioning device 120 is configured to position a cannula holder at an area of a patient's skin at which the cannula is to be affixed. To that end, the positioning device 120 comprises a gripper apparatus 20 and/or is designed to move a gripper apparatus 20 relative to the patient so as to position the cannula holder. Preferably, the positioning device 120 comprises an actuator 122 thereto—in particular an electric actuator—which is physically connected to the fixing base 140 of the fixing apparatus on one side and to the gripper apparatus 20 on the other side. Alternatively or additionally and also preferentially, the fixing apparatus 10, in particular the fixing base 140, can comprise a connecting device 142 by means of which the fixing apparatus 10 can be connected to a robotic tool arm. This enables the fixing apparatus 10 and its gripper apparatus 20, or the gripper apparatus 20 connected thereto respectively, to be moved by the robotic tool arm relative to the patient and thus position the cannula holder.

(13) The gripper apparatus 20 comprises two gripper elements 124 arranged around a receiving area 128 and a moving device 126. The two gripper elements 124 can be moved relative to each other by means of the moving device 126, which preferably has an electric drive, and thus grasp a cannula holder, in particular at one or more grip regions of the cannula holder corresponding to the gripper elements 124 and/or the receiving area 128, by the two gripper elements 124 being moved toward each other.

(14) FIG. 1B shows an example embodiment of a cannula holder according to the invention, in particular for the fixing apparatus of FIG. 1A, as well as a transverse axis 214 and a vertical axis 216 of the cannula holder and/or a cannula connected to the cannula holder, in frontal view. Also illustrated is the position of an upper side 226 and an underside 228 of the cannula holder or cannula respectively.

(15) The cannula holder 200 comprises a base body 240 and two regions 252 for affixing the cannula holder to a patient. Two fixing elements 254 are each physically connected to the base body 240 by means of a respective bearing element 256, wherein the bearing elements 256 support the fixing elements 254 so as to be rotatable about a rotational axis relative to the base body 240. The rotational axis preferably runs, as depicted, at least substantially in the direction of a longitudinal axis of the cannula holder, or cannula respectively, pointing out of the plane of projection. Alternatively and also preferentially, the axis of rotation of the transverse axis 214 runs or at least substantially lies in a plane spanned by the longitudinal axis and the transverse axis. In particular, the fixing elements 254 are configured as wing elements which can be flipped upward relative to the base body 240 in respect of FIG. 1B; i.e. in particular away from the patient, and downward; i.e. in particular toward the patient.

(16) Preferably, the cannula holder 200 is made or consists of plastic and/or produced in an injection molding process. Preferably, the bearing elements 256 are formed as film hinges. Preferably, the cannula holder 200 is made of a disinfectable material, in particular a disinfectable plastic, so that the cannula holder can be disinfected after manufacture and/or after connecting to a cannula.

(17) To connect to a cannula, the cannula holder 200 exhibits a connecting area 242 at which the cannula can be connected, in particular integrally, to the cannula holder. Said connecting area 242 is preferably arranged and configured within or at the base body 240 such that a cannula connected to the cannula holder is rigidly oriented and/or disposed relative to the base body 240, thus in particular the position and/or orientation of the cannula can be dictated by the position and/or orientation of the cannula holder.

(18) To grasp and/or position the cannula, the cannula holder 200 comprises at least one grip region 248. Same is rigidly connected to the base body 240 and/or configured as part of the base body so that the position and/or orientation of the cannula holder can be dictated by a gripper apparatus, in particular by the gripper apparatus 20 from FIG. 1A, which engages with grip region 248. In particular, the grip region 248 can be arranged further forward on the base body 240 or alternatively rearward on the base body 240 in respect of the FIG. 1B plane of projection relative to the regions 252 as depicted. One advantage of this arrangement can be being able to prevent collisions between the regions 252 and the grip region 248 and/or collisions between the respective apparatus for these regions.

(19) In particular, the upper side 226 of the cannula holder is above the base body 240 and its intended position and/or orientation during cannulation, in particular during affixing of the cannula, predetermined and situated opposite the cannula holder's underside 228. The vertical axis 216 thereby extends from the underside 228 to the upper side 226.

(20) The cannula holder 200 and in particular the base body 240 exhibits two longitudinal sides, wherein the transverse axis 214 extends from one of the longitudinal sides to the other of the longitudinal sides. In addition, the transverse axis 214 and the vertical axis 216 enclose an angle of between 45° and 135°, preferably between 70° and 110°, preferably between 80° and 100°, and further preferentially between 86° and 94° and are in particular at least substantially perpendicular to each other. In particular, the transverse axis 214 and the vertical axis 216 in FIG. 1B are at least substantially situated in the plane of projection while the longitudinal axis at least substantially points out of the plane of projection—and thus not depicted in FIGS. 1A and 1B.

(21) Preferably, as depicted, an adhesive 262 is deposited on the respective fixing elements 254 such that the fixing elements 254 are self-adhesive. Alternatively or additionally and also preferentially, a fixing apparatus can comprise a segregating apparatus for adhesive, by means of which an adhesive can be applied onto the fixing elements—the fixing elements 254 can thus in particular be coated with adhesive. The adhesive 262 is in each case deposited on one side of the respective fixing element 254 which, when the fixing element 254 is flipped downward and at least substantially situated on a plane with the base body 240, corresponds to the underside 228 of the cannula holder 200 or is a part of the underside 228 respectively.

(22) The fixing elements 254, or the respective sides of the fixing elements respectively, thereby form an adhesive carrier 260 and the bearing elements 256, in particular together with the fixing elements 254, form a guide means 160, which guides the adhesive carrier 260—i.e. in particular the sides of the fixing elements 254 coated with the adhesive 262—to the skin area of the patient upon being actuated by an actuator device, in particular the actuator device 100 from FIG. 1A. The regions 252 are thus thereby configured as the sides of the fixing elements 254 coated with adhesive.

(23) In particular, the fixing apparatus 10 from FIG. 1A is designed to cooperate with the cannula holder 200 from FIG. 1B and in doing so, secure the cannula holder 200, and in particular a cannula connected to the cannula holder, to an area of skin on a patient. To that end, the gripper apparatus 20 is arranged at the cannula holder 200 such that the grip region 244 is disposed in the receiving area 128. The gripper elements 124 are thereupon moved toward each other and toward the grip region 244 until they engage with one another. The actuator 122, and/or a robotic tool arm with which the fixing apparatus 10 and the gripper apparatus 20 is equipped, positions the cannula holder over the area of the patient's skin at which the cannula holder is to be affixed. The pressure rods 104 of the actuator device 100 are additionally arranged such that when the cannula holder is positioned, the pressure rods 104 are disposed at the fixing elements 254—thus are in particular situated above the fixing elements 254 in FIGS. 1A and 1B. When moved in the direction of their distal end 106, the pressure rods 104 contact a respective fixing element and flip it down to the skin area to come into contact with the sides coated with the adhesive 262—thus regions 252—wherein the movement of these sides—thus the adhesive carrier 260—is guided by the guide means 160—thus in particular the fixing elements 254 and the bearing elements 256.

(24) FIG. 2 depicts an actuator device of one example embodiment of the inventive cannulation robot, in particular a fixing apparatus of the cannulation robot, in frontal view along with a transverse axis 214 and a vertical axis 216. Unless otherwise described and as far as technically feasible, the arrangements, forms, variants and advantages of the present example embodiment in particular correspond to those of the preceding figures. The cannulation robot, the fixing apparatus and/or the actuator device can additionally comprise further components which are not depicted in the figure for the sake of clarity but in particular constitute an integral part of the invention.

(25) Of the actuator device 100, FIG. 2 depicts an actuator 102, two pressure rods 104, a supporting element 110, a rotational bearing 112 and a restoring element 114. The two pressure rods 104 are connected at their proximal ends 108 to the supporting element 110 by means of the rotational bearing 112 and rotatably mounted about a rotational axis which is particular points out of the plane of projection. The pressure rods 104 have a pressing device 116, in particular designed as a roller, at their respective distal ends 106.

(26) The actuator 102 is designed to move the supporting element 110, and thus the pressure rods 104, along an axis of movement, which in particular runs in the direction of or in the opposite direction respectively to the vertical axis 216, toward distal ends 106. Upon the pressing devices 116 encountering mechanical resistance during such movement, in particular a cannula holder and/or an adhesive carrier, the pressing devices 116 move along the mechanical resistance, in particular in a spreading motion. The restoring element 114 thereby counteracts said spreading motion such that the pressing devices 116 press against the mechanical resistance. In particular, the pressing devices, which are in particular designed as rollers, can roll along the mechanical resistance. In particular, the movement along the mechanical resistance can ensue in or opposite to the direction of the transverse axis 214.

(27) FIGS. 3A and 3B depict a further example embodiment of the inventive cannula holder, in particular for a cannulation robot and/or a fixing apparatus with the actuator device from FIG. 2, along with a cannula, a longitudinal axis 212, a transverse axis 214 and a vertical axis 216. Unless otherwise described and as far as technically feasible, the arrangements, forms, variants and advantages of the present example embodiment in particular correspond to those of the preceding figures. The cannula holder can additionally comprise further components which are not depicted in the figures for the sake of clarity but in particular constitute an integral part of the invention.

(28) FIG. 3A shows the cannula holder 200 in a view from the front. The cannula holder 200 comprises a cannula 220 and is connected to same, in particular integrally. The cannula holder 200 additionally comprises a base body 240, a grip region 248, two fixing elements 254—in particular configured as wing elements—, two bearing elements 256 and an adhesive carrier 260.

(29) The two bearing elements 256 are each arranged on a respective longitudinal side of the base body 240 and rotatably support the two wing elements 254 about a rotational axis which in particular points out of the plane of projection. In particular, the transverse axis 214 of the cannula holder 200 extends from one of the longitudinal sides to the other of the longitudinal sides. In particular, the rotational axis points in the direction of the longitudinal axis which in particular points out of the plane of projection and is thus not depicted in this figure.

(30) The adhesive carrier 260 is preferably of two-part configuration and one respective part thereof arranged in each case on one of the two longitudinal sides. The adhesive carrier 260 is thereby connected to a respective one of the longitudinal sides by a respective connecting means 266, in particular welded to the base body 240.

(31) Alternatively to the two-part configuration of the adhesive carrier 260, and also preferentially, the adhesive carrier can also further extend from one longitudinal side to another longitudinal side as a single piece and in particular extend along the underside of the cannula holder, in particular the base body 240, such that an additional adhesive fixing region is disposed on the underside.

(32) The wing elements 254 each have a connecting means 206 for connecting to the adhesive carrier 260. Preferably, the connecting means 206 are designed as engaging elements into which the adhesive carrier 260 is locked into place, preferably detachably. One advantage of such a detachable connection can in particular be that, after the cannula has been affixed, the engaging elements 206 can be disengaged from the adhesive carrier and preferably also removed from the cannula holder 200, in particular by tearing away the bearing elements 256, whereby in particular the comfort of use, thus in particular the comfort when fitted post-cannula fixation can be increased.

(33) FIG. 3B shows the cannula holder 200 with cannula 220 in a side view as a partial cross-section through the base body 240 along longitudinal axis 212. The cannula exhibits a distal end 222 and a proximal end 224, whereby the longitudinal axis 212 of the cannula 220 extends from the proximal end 224 to the distal end 222.

(34) Preferably, the grip region 248 is arranged closer to the distal end 222 than the bearing elements 256 and the wing elements 254 supported by same. This advantageously enables the wing elements to be moved—in particular flipped downward relative to the vertical axis—without colliding with the grip region 248 and a gripper apparatus, in particular the gripper apparatus 20 from FIG. 1A.

(35) The wing elements 254 comprise a respective cavity 258 through which the adhesive carrier—not shown in FIG. 3B—can reach and/or be moved from the respective opposite side of the wing element by an actuator device, in particular the actuator device 100 from FIG. 2. In particular, during their movement along the mechanical resistance, which is formed by the base body 240, the bearing elements 256, the wing elements 254 and the adhesive carrier, the pressing devices 116 of the actuator device 100 from FIG. 2 can reach the adhesive carrier, actuate—i.e. in particular open—the wing elements 254 to the adhesive carrier via connecting means 206, and press the adhesive carrier against the skin area.

(36) FIG. 4 depicts an example embodiment of the inventive cannulation robot, in particular having a fixing apparatus and a gripper apparatus. Unless otherwise described and as far as technically feasible, the arrangements, forms, variants and advantages of the present example embodiment in particular correspond to those of the preceding figures. The cannulation robot, the fixing apparatus and/or the gripper apparatus can additionally comprise further components which are not depicted in the figure for the sake of clarity but in particular constitute an integral part of the invention.

(37) The cannulation robot 1 comprises a fixing apparatus 10, a gripper apparatus 20 and two robotic tool arms 340, wherein one of the tool arms 340 is in each case equipped with the fixing apparatus 10 or the gripper apparatus 20 respectively. In particular, the cannulation robot 1 can alternatively comprise only one tool arm or at least three tool arms. In particular, a tool arm can also be concurrently equipped with two tool devices, in particular the fixing apparatus 10 and the gripper apparatus 20.

(38) The cannulation robot 1 exhibits a central system 310 which accommodates a plurality of cannulation robot components in one common housing and/or provides a stable base for further components of the cannulation robot. The tool arm 340 is thereby affixed to the central system 310 of the cannulation robot 1, whereby its spatial position is dictated at least in regard to its fixation region on the central system 310.

(39) At least one of the tool arms 340 is connected at one end to the central system 310 and exhibits articulated joints as well as a connecting device 342 on the other end which are designed for connecting to a tool device, wherein the joints allow a movement of said tool device relative to the central system 310. Such a tool device can in particular be an embodiment of the fixing apparatus and/or an embodiment of the gripper apparatus.

(40) As illustrated, the gripper apparatus 20 is mechanically connected, in particular in a form-fit and/or force-fit, to the connecting device 342 of one of the tool arms. The cannulation robot 1 is thereby configured to move the gripper apparatus 20 by means of the tool arm 340 to parts of the patient's body so that a cannula held by the gripper apparatus 20 can puncture a blood vessel of said body part and/or a cannula holder connected to the cannula can be positioned at an area of skin, in particular in the proximity of the puncture site, and be affixed to said skin area by means of an adhesive carrier.

(41) As illustrated, a fixing apparatus 10 is mechanically connected, in particular in a form-fit and/or force-fit, to connecting device 342 of one of the tool arms 340. The cannulation robot 1 is thereby configured to move the fixing apparatus 10 by means of the tool arm 340 to parts of the patient's body so that an actuator device of the cannulation robot can actuate a guide means and can affix a cannula by means of an adhesive carrier which guides the guide means to an area of a patient's skin to which the cannula is be affixed.

(42) Preferably, the fixing apparatus 10 corresponds to a fixing apparatus from the preceding figures, whereby it also can comprise the gripper apparatus 20 or is equipped with the tool arm 340 as well as with the fixing apparatus 10 and also the gripper apparatus 20.

(43) Alternatively and preferentially, the cannulation robot 1 exhibits a further embodiment of the fixing apparatus as fixing apparatus 10 or as an additional fixing apparatus.

(44) Said fixing apparatus 10 preferably comprises a segregating apparatus for adhesive carriers which has a storage device for adhesive carriers, wherein the segregating apparatus is designed to sort an adhesive carrier or a part thereof, in particular a section thereof, out of the storage device. Said fixing apparatus also comprises an actuator device and a guide means, wherein the guide means comprises or consists of a transport device, a guide channel and a pressing device, and wherein the transport device is designed to receive the adhesive carrier sorted out by the segregating apparatus and transport it through the guide channel to the pressing device. The actuator device is furthermore designed to move at least the pressing device and the guide channel along the area of the skin to which the cannula is to be affixed. Additionally or alternatively thereto, the actuator device can also be moved along the skin area, in particular via a fixing base of the fixing apparatus and a connecting device of the fixing apparatus having a robotic tool arm, in particular one of the tool arms 340 of the cannulation robot 1. In particular, the fixing apparatus 10 can exhibit said tool arm. Lastly, the pressing device is designed to press on that part of the adhesive carrier disposed between the pressing device and that portion of the skin area over which the actuator device or the tool arm respectively moves the pressing device.

(45) In particular, said fixing apparatus 10 can comprise a positioning device for positioning the cannula holder or, alternatively, the gripper apparatus 20 of the cannulation robot 1, in particular together with one of the tool arms 340 of the cannulation robot 1, can be configured as the positioning device.

(46) Preferably, in particular the fixing apparatus 10, and with it the pressing device, is already moved over the skin area and the adhesive carrier adhered to the skin area prior to the puncturing of the blood vessel; the gripper apparatus 20, which grasps the cannula, is thereupon moved by one of the tool arms 340 of the cannulation robot such that the cannula punctures the blood vessel and the cannula, in particular the cannula holder, then moved to a part of the adhered adhesive carrier and connected thereto, in particular by means of a connecting means of the adhesive carrier and/or the cannula holder.

(47) Preferably, the cannulation robot 1 comprises a storage device 330 designed to store cannula holders, cannulas and/or cannulas with cannula holders. The cannulation robot 1 is thereby preferably designed for a cannula with cannula holder to be removed out of the storage device 330 by being grasped by the gripper apparatus 20.

(48) To control in particular the tool arm device 350 and/or the gripper apparatus 100, the central system 310 preferably comprises a control system 314 which is data-linked to a data processing apparatus 312 of the central system 310. In particular, the data processing apparatus 312 is thereto designed to determine control parameters for program-controlled cannulation. Additionally, the control system 314 is preferably designed to transform these control parameters into control signals and output them for the control, in particular for one of the robotic tool arms 340, the fixing apparatus 10 and/or the gripper apparatus 20.

(49) FIG. 5 depicts an example embodiment of the method according to the invention for the automated affixing of a cannula to a patient in the automated cannulation of a patient blood vessel by means of the cannula, in particular for a cannulation robot and/or for a cannula holder according to one of the preceding figures, in particular for hemodialysis.

(50) The method 400 comprises method steps 410, 412, 414 and 415. The method 400 begins at process start SA and ends at process end SΩ, whereby one or more method steps, in particular a sequence of method steps, and preferably the entire method, can be repeated.

(51) In method step 410, a cannula with a cannula holder is provided or, alternatively, a cannula without a cannula holder is first provided and then connected to a likewise provided cannula holder.

(52) In method step 412, a guide means is actuated by an actuator device, whereby the guide means guides an adhesive carrier to an area of the patient's skin at which the cannula is to be affixed.

(53) In method step 414, the cannula holder, which is connected to the cannula, is positioned at the skin area by a positioning device.

(54) In method step 416, which is in particular realized after the blood vessel has been punctured by the cannula, the cannula is affixed to the skin area by means of the cannula holder and the adhesive carrier. The adhesive carrier thereby in particular adheres to the skin area by means of an adhesive and is connected to the cannula, in particular via the cannula holder or via a tube connected to the cannula.

(55) It is obvious that individual method steps or sequences of the method 400 can also occur in different order when technically feasible. In particular, the order of method steps 412 and 414 depends on the respective cannulation robot, the respective fixing apparatus and/or the respective cannula holder.

(56) In one preferential variant, the adhesive carrier can be adhered to the skin area prior to the cannulation or at least prior to the puncturing of the blood vessel or at least prior to positioning the cannula or cannula holder respectively, whereby said skin area to which the cannula is affixed is already known by virtue of the automated method prior to the puncturing. After the blood vessel has been punctured, the cannula holder is positioned—method step 414—and lastly, the cannula affixed—method step 416. The cannula; i.e. in particular the cannula holder, can thereby be connected to the adhesive carrier such that the adhesive carrier, thus in particular a part thereof, is disposed between the skin area and the cannula holder and the cannula holder is connected to said part of the adhesive carrier, in particular by a connecting means.

(57) In another preferential variant, the blood vessel is first punctured and then the cannula holder positioned—method step 414. The guide means is thereupon actuated by means of the actuator device—method step 412—, whereby the adhesive carrier is guided to the skin area by the guide means. The adhesive carrier is thereby already connected to the cannula holder—in particular the cannula holder can comprise the adhesive carrier—or the adhesive carrier is connected, in particular via the guide means, to the cannula holder and thus the cannula affixed to the skin area—method step 416.

(58) While the preceding describes at least one preferential embodiment, it will be noted that there is a great number of variations thereof. It is also to be noted that the embodiments described only represent non-limiting examples and are not thereby intended to limit the scope, the applicability or the configuration of the systems, apparatus and methods described herein. Rather, the foregoing description will provide a person skilled in the art with guidance for implementing at least one embodiment, wherein it is to be understood that a variety of changes can be made to the functioning and arrangement of the elements described in a preferential embodiment without thereby departing from the subject matter respectively set forth in the accompanying claims nor from legal equivalents thereof.

LIST OF REFERENCE NUMERALS

(59) 1 cannulation robot 10 fixing apparatus 20 gripper apparatus 100 actuator device 102 actuator of actuator device 104 pressure rod of actuator device 106 pressure rod distal end 108 pressure rod proximal end 110 actuator device supporting element 112 actuator device rotational bearing 114 actuator device restoring element 116 pressing device 120 positioning device 122 positioning device actuator 124 gripper element 126 gripper apparatus moving device 128 gripper apparatus receiving area 140 fixing base of fixing apparatus 142 fixing apparatus connecting device 160 guide means 200 cannula holder 206 cannula holder connecting means for connecting to an adhesive carrier 212 cannula longitudinal axis 214 cannula transverse axis 216 cannula vertical axis 220 cannula 222 cannula distal end 224 cannula proximal end 226 cannula/cannula holder upper side 228 cannula/cannula holder underside 240 cannula holder base body 242 cannula holder connecting area for connecting to a cannula 248 cannula holder grip region 252 cannula holder regions for affixing to a patient 254 fixing element 256 bearing element 258 cavity at fixing element 260 adhesive carrier 262 adhesive 266 adhesive carrier connecting means for connecting to the cannula holder 310 cannulation robot central system 312 data processing apparatus 314 control system 330 cannulation robot storage device for cannulas and/or cannula holders 340 robotic tool arm 342 tool arm connecting device for connecting to a tool device 400 method for automated securing of a cannula SA process start SΩ process end 410 to 416 method steps