CN105327429A - Full-automatic injection device and full-automatic injection method capable of achieving automatic positioning and wound protection - Google Patents
Full-automatic injection device and full-automatic injection method capable of achieving automatic positioning and wound protection Download PDFInfo
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- CN105327429A CN105327429A CN201510686300.4A CN201510686300A CN105327429A CN 105327429 A CN105327429 A CN 105327429A CN 201510686300 A CN201510686300 A CN 201510686300A CN 105327429 A CN105327429 A CN 105327429A
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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
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- 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
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
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- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention discloses a full-automatic injection device and a full-automatic injection method capable of achieving automatic positioning and wound protection. The method includes the steps of acquiring a three-dimensional image of vein blood vessels of parts of a human body; determining a blood vessel to be injected and an injection position according to the three-dimensional image of the vein blood vessels; adjusting an injection direction of a syringe needle according to the trend of the blood vessel to be injected; controlling a blood vessel scanner to scan the syringe needle to obtain an initial three-dimensional coordinate of the syringe needle; controlling a telescopic device to move the syringe needle from the initial three-dimensional coordinate to the injection position of the blood vessel to be injected, and continuing to push the syringe needle to move by a preset distance so as to inject the syringe needle into the blood vessel to be injected; controlling the blood vessel scanner to judge that liquid medicine in a liquid medicine vessel is injected into the blood vessel to be injected through the syringe needle when the syringe needle enters the blood vessel to be injected successfully. The full-automatic injection device and the full-automatic injection method capable of achieving automatic positioning and wound protection have the advantages that the injection position of the blood vessel can be determined precisely, full-automatic injection can be achieved, and patients and medical personnel are facilitated.
Description
Technical field
The present invention relates to medical instruments field, particularly relate to the full-automatic injecting device and method of a kind of automatic location and Wound protection.
Background technology
Injection device is delivery device, using method be by the syringe needle of injection device insert patient Ink vessel transfusing with by drug injection in patient body.Described injection device comprises two classes, and a class is manual injection devices, and another kind of is automated injection device.
Wherein, traditional manual injection devices needs manual force to drive, and during injecting normally medical worker to perform injection.Such as, for the patient not having medical matters knowledge, be oneself injection according to traditional manual injection devices, difficulty is high and easily make mistakes.
And for existing automated injection device, although patient oneself can complete injection, but, existing automated injection device cannot be accomplished full-automatic injecting and be difficult to find accurately the injection position of blood vessel, different buttons can be pressed according to prompting different Phase patient, such as, the manually adjustment operation such as injection angles and direction during injecting.
Summary of the invention
Main purpose of the present invention is the full-automatic injecting device and method providing a kind of automatic location and Wound protection, is intended to solve the problem that existing injection device cannot realize full-automatic injecting and be difficult to find accurately intravascular injection position.
For achieving the above object, the invention provides the full-automatic injecting injection device of a kind of automatic location and Wound protection, the full-automatic injecting injection device of described automatic location and Wound protection comprises controller, the first driving device and the second driving device, and described controller is connected with described first driving device and the second driving device respectively;
Described first driving device arranges syringe, retractor device and angular adjustment apparatus, and described syringe is connected with described retractor device and angular adjustment apparatus, and described syringe is also connected with described medical liquid container;
Described second driving device arranges vascular scan instrument;
Described controller, for controlling described vascular scan instrument to obtain the 3-D view of human body angular vein blood vessel;
Described controller, for determining the injection position injecting blood vessel and this injection blood vessel according to the 3-D view of described vein blood vessel;
Described controller, for controlling described angular adjustment apparatus to adjust the injection direction of the syringe needle of described syringe according to the trend of described injection blood vessel;
Described controller, scans described syringe needle for controlling described vascular scan instrument, to obtain the initial three-dimensional coordinate of this syringe needle;
Described controller, to move to the injection position of this injection blood vessel from described initial three-dimensional coordinate by described syringe needle for controlling described retractor device, and continue to advance described retractor device predeterminable range with by described needle injection in this injection blood vessel; And
For controlling described vascular scan instrument, described controller, also judges that described syringe needle successfully enters described injection blood vessel, with by the medicinal liquid in described medical liquid container by described needle injection to described injection blood vessel.
Preferably, described controller also for:
When described syringe needle successfully enters to described injection blood vessel, judge whether the injecting liquid drug in described medical liquid container completes;
When the medicinal liquid in described medical liquid container has completed injection, control described retractor device to extract described syringe needle from described injection blood vessel; And
The type wound protecting device controlled in described second driving device fits to the injection position of described injection blood vessel to protect wound.
Preferably, according to the 3-D view of described vein blood vessel, described controller determines that the mode of injecting blood vessel and injection position is as follows:
The fineness of every bar vein blood vessel is calculated according to the three-dimensional coordinate information of the 3-D view medium-sized vein blood vessel of described vein blood vessel;
Select the thickest vein blood vessel as injection blood vessel;
The cross point of vein blood vessel is calculated according to the three-dimensional coordinate information of the 3-D view medium-sized vein blood vessel of described vein blood vessel;
In described injection blood vessel, choose arbitrarily one section of blood vessel, the distance of this one section of blood vessel chosen is more than or equal to the length of described syringe needle, and does not have cross point in this one section of blood vessel chosen; And
The initiating terminal of the one section of blood vessel this chosen is as injection position.
Preferably, described controller control mode that described vascular scan instrument judges that described syringe needle successfully enters described injection blood vessel as:
The three-dimensional coordinate of described syringe needle in human body inside is determined by described vascular scan instrument;
If the three-dimensional coordinate of described syringe needle in human body inside in the position of described injection blood vessel, determines that described syringe needle successfully enters described injection blood vessel.
Preferably, described syringe also comprises syringe, baffle plate, infusion tube.
Preferably, described syringe needle is fixed on the front end of described syringe, described infusion tube is connected to described syringe needle through described syringe, described infusion tube is also connected with medical liquid container, the end of described syringe is provided with described baffle plate, described retractor device is connected with described baffle plate, and described syringe is set up in the circular groove of described angular adjustment apparatus upper end.
Preferably, be detachable structure between described syringe needle and described syringe, and be detachable structure between described infusion tube and described syringe.
On the other hand, the present invention also provides the full-automatic injecting shooting method of a kind of automatic location and Wound protection, be applied in the full-automatic injecting injection device of location and Wound protection automatically, the full-automatic injecting injection device of described automatic location and Wound protection comprises controller, first driving device and the second driving device, described controller is connected with described first driving device and the second driving device respectively, described first driving device arranges syringe, retractor device and angular adjustment apparatus, described syringe is connected with described retractor device and angular adjustment apparatus, described syringe is also connected with described medical liquid container, described second driving device arranges vascular scan instrument, the method comprises the steps:
Control described vascular scan instrument to obtain the 3-D view of blood vessel in human body;
The injection position injecting blood vessel and this injection blood vessel is determined according to the 3-D view of described blood vessel;
Control described angular adjustment apparatus to adjust the injection direction of the syringe needle of described syringe according to the trend of described injection blood vessel;
Control described vascular scan instrument to scan described syringe needle, to obtain the initial three-dimensional coordinate of this syringe needle;
Control described syringe needle is moved to this injection blood vessel by described retractor device injection position from described initial three-dimensional coordinate, and continue advance described retractor device predeterminable range with by described needle injection in this injection blood vessel; And
Control described vascular scan instrument and judge that described syringe needle successfully enters described injection blood vessel, with by the medicinal liquid in described medical liquid container by described needle injection to described injection blood vessel.
Preferably, the full-automatic injecting shooting method of described automatic location and Wound protection also comprises step:
When described syringe needle successfully enters to described injection blood vessel, judge whether the injecting liquid drug in described medical liquid container completes;
When the medicinal liquid in described medical liquid container has completed injection, control described retractor device to extract described syringe needle from described injection blood vessel; And
The type wound protecting device controlled in described second driving device fits to the injection position of described injection blood vessel to protect wound.
Preferably, the described 3-D view according to described blood vessel determines that the mode of injecting blood vessel and injection position is as follows:
The fineness of every bar blood vessel is calculated according to the three-dimensional coordinate information of the 3-D view medium vessels of described blood vessel;
Select the thickest vein blood vessel as injection blood vessel;
The cross point of blood vessel is calculated according to the three-dimensional coordinate information of the 3-D view medium vessels of described blood vessel;
In described injection blood vessel, choose arbitrarily one section of blood vessel, the distance of this one section of blood vessel chosen is more than or equal to the length of described syringe needle, and does not have cross point in this one section of blood vessel chosen; And
The initiating terminal of the one section of blood vessel this chosen is as injection position.
Compared to prior art; the full-automatic injecting device and method of automatic location of the present invention and Wound protection have employed technique scheme; reach following technique effect: accomplish that finding blood vessel to the full-automation of inserting patient vessel overall process from syringe needle can find the injection position of blood vessel accurately; the manpower having saved medical worker also facilitates patient; and after medicinal liquid completes injection; automatically extract syringe needle and protect wound, the safety of patient during guaranteeing to inject.
Accompanying drawing explanation
Fig. 1 is that the present invention locates and the configuration diagram of full-automatic injecting injection device preferred embodiment of Wound protection automatically.
Fig. 2 be the present invention automatically locate and Wound protection full-automatic injecting injection device in the planar structure schematic diagram of preferred embodiment of syringe;
Fig. 3 is that the present invention locates and the planar structure schematic diagram of full-automatic injecting injection device preferred embodiment of Wound protection automatically;
Fig. 4 be the present invention automatically locate and Wound protection full-automatic injecting injection device in the structural representation of the first driving device preferred embodiment;
Fig. 5 be the present invention automatically locate and Wound protection full-automatic injecting injection device in the planar structure schematic diagram of angular adjustment apparatus preferred embodiment;
Fig. 6 be the present invention automatically locate and Wound protection full-automatic injecting injection device in the structural representation of the second driving device preferred embodiment;
Fig. 7 is the planar structure schematic diagram of the blood vessel preferred embodiment that the present invention locates automatically and the full-automatic injecting injection device medium vessels scanner of Wound protection scans;
Fig. 8 be the present invention automatically locate and Wound protection full-automatic injecting injection device in syringe syringe needle insert vein blood vessel time schematic diagram;
Fig. 9 is that the present invention locates and the flow chart of full-automatic injecting shooting method preferred embodiment of Wound protection automatically.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Detailed description of the invention
For further setting forth the present invention for the technological means reaching above-mentioned purpose and take and effect, below in conjunction with accompanying drawing and preferred embodiment, describe in detail bright to the specific embodiment of the present invention, structure, feature and effect thereof.Should be appreciated that specific embodiment described in the invention only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, Fig. 1 is that the present invention locates and the configuration diagram of full-automatic injecting injection device preferred embodiment of Wound protection automatically.
The full-automatic injecting injection device 1 of described automatic location and Wound protection comprises controller 2, first driving device 10, second driving device 20, binding apparatus 30, input equipment 40 and display device 50.Described controller 2 is set up with described first driving device 10, second driving device 20, binding apparatus 30, input equipment 40 and display device 50 respectively and is electrically connected.
Described first driving device 10 inside arranges syringe 11, retractor device 12 and angular adjustment apparatus 13.Described syringe 11 is connected with described retractor device 12 and angular adjustment apparatus 13.Described syringe 11 is also connected with medical liquid container 3.Described medical liquid container 3 is the transfusion bottle of powder charge liquid.Generally speaking, described medical liquid container 3 position of placing than described syringe 11 is higher than certain preset height (such as, a meter).It should be noted that, described medical liquid container 3 is not installed on the full-automatic injecting injection device 1 of described automatic location and Wound protection, but is separated with the full-automatic injecting injection device 1 of described automatic location and Wound protection.
As shown in Figure 2, Fig. 2 be the present invention automatically locate and Wound protection full-automatic injecting injection device in the planar structure schematic diagram of preferred embodiment of syringe.
Described syringe 11 comprises syringe needle 110, syringe 111, baffle plate 112 and infusion tube 113.Described syringe needle 110 is fixed on the front end of described syringe 111, and described infusion tube 113 is connected internally to described syringe needle 110 through described syringe 111, and further, described infusion tube 113 is also connected with described medical liquid container 3.The end of described syringe 111 is provided with baffle plate 112, can move described syringe 111 by promoting described baffle plate 112, and then mobile described syringe needle 110.It should be noted that, be detachable structure between described syringe needle 110 and described syringe 111, is detachable structure between described infusion tube 113 and described syringe 111.That is, described syringe needle 110 and described infusion tube 113 can take out from described syringe 111, so that change.
Described syringe needle 110 is for puncturing the vein blood vessel of required injection and entering this vein blood vessel.
Described syringe 111 is for fixing described syringe needle 110, and when described syringe 111 moves, described syringe needle 110 also moves.In other words, by mobile described syringe 111, make described syringe needle 110 puncture the vein blood vessel of required injection and enter described vein blood vessel.Described syringe 111 is columniform shape.
Described infusion tube 113 is for being expelled to the medicinal liquid in medical liquid container 3 in described vein blood vessel by described syringe needle 3.
As shown in Figure 3, Fig. 3 is that the present invention locates and the planar structure schematic diagram of full-automatic injecting injection device preferred embodiment of Wound protection automatically.
Described first driving device 10 is arranged on slide rail 60, the built-in motor for sliding in described first driving device 10, and this motor can drive described first driving device 10 to slide on described slide rail 60.Be hollow out band in the middle of described slide rail 60, when the full-automatic injecting injection device 1 of described automatic location and Wound protection is positioned on human body, the skin surface of human body can be touched from described hollow out band.In other embodiments, can not need described slide rail 60, in such cases, described first driving device 10 is arranged at a fixed position of the full-automatic injecting injection device 1 of described automatic location and Wound protection.
Further, as shown in Figure 4, Fig. 4 be the present invention automatically locate and Wound protection full-automatic injecting injection device in the structural representation of the first driving device preferred embodiment.
Described first driving device 10 inside is provided with syringe 11, retractor device 12 and angular adjustment apparatus 13.Described retractor device 12 is connected with described baffle plate 112, and when described retractor device 12 stretches, described syringe 11 is flexible (such as, move forward or move backward) also.Described syringe 111 is also set up on described angular adjustment apparatus 13, this angular adjustment apparatus 13 can stretch up and down, to adjust the angle of inclination (such as, adjusting described syringe 111 to spend with horizontal plane to 15) of syringe 111 and horizontal plane (referring generally to the plane of human body).In addition, described angular adjustment apparatus 13 can also move left and right in described first driving device 10 inside, to adjust described syringe 111 in the position of horizontal plane.Further, as shown in Figure 5, described adjusting device 13 upper end also arranges circular groove 130, and the described syringe 111 of erection in described circular groove 130, described syringe 111 can move in described circular groove 130.Described angular adjustment apparatus 13 can also rotate (turn clockwise or be rotated counterclockwise), to drive described circular groove 130 to rotate, thus the direction of adjustment syringe 111.
Further, shown in composition graphs 1, in described second driving device 20, described second driving device 20 comprises vascular scan instrument 22 and type wound protecting device 24.As shown in Figure 3 and Figure 6, described second driving device 20 is arranged on slide rail 60, the built-in motor for sliding in described second driving device 20, and this motor can drive described second driving device 20 to slide on described slide rail 60.Be hollow out band in the middle of described slide rail 60, when the full-automatic injecting injection device 1 of described automatic location and Wound protection is positioned on human body, the skin surface of human body can be touched from described hollow out band.In other embodiments, can not need described slide rail 60, in such cases, described second driving device 20 is arranged at a fixed position of the full-automatic injecting injection device 1 of described automatic location and Wound protection.
Described vascular scan instrument 22 for scanning human body, to obtain the 3-D view of human body angular vein blood vessel.The 3-D view of described vein blood vessel is also associated with the three-dimensional coordinate information of vein blood vessel.Further, described vascular scan instrument 22 can also scan to described syringe needle 110 three-dimensional coordinate obtaining described syringe needle 110.In the present embodiment, described vascular scan instrument 22 may be, but not limited to, the equipment such as 3D ultrasound scanner, color ultrasonic devices (such as, three-dimensional type-B ultrasonic) or infrared light vascular scan instrument.In addition; if described vascular scan instrument 22 is bulky; the scanning device (not shown) of described vascular scan instrument 22 can be installed on described second driving device 20; and the main process equipment (not shown) of described vascular scan instrument 22 is positioned over the position of the full-automatic injecting injection device 1 away from described automatic location and Wound protection; the main process equipment of described vascular scan instrument 22 is connected with described scanning device and controller 2 by data wire (such as, USB line).
Described type wound protecting device 24 for when extracting described syringe needle 110 from vein blood vessel, and mobile described type wound protecting device 24 to described syringe needle 110 punctures wound site during described vein blood vessel, to stop blooding and antiinflammatory to wound.In the present embodiment, described type wound protecting device 24 comprises the medical cotton ball after sterilization and medical adhesive tape.
The full-automatic injecting injection device 1 of described automatic location and Wound protection is positioned over human body (such as; the human body such as arm or wrist) on by the vein blood vessel in described vascular scan instrument 22 Automatic-searching tissue; and automatically the syringe needle of syringe 11 is inserted in described vein blood vessel, afterwards by the injecting liquid drug in described medical liquid container 3 in described vein blood vessel.
Further; in order to tell vein blood vessel more significantly in described 3-D view; in the present embodiment; when the full-automatic injecting injection device 1 of described automatic location and Wound protection is worn on human body (such as; palm, arm or wrist place) upper time; described binding apparatus 30 bundlees described human body; described controller is for controlling described binding apparatus to slow down the circulation of described human body medium-sized vein vessel inner blood; thus make described vein blood vessel protruding; thus, vein blood vessel can be told more significantly in described 3-D view.Described binding apparatus 30 is a closed circle, can being worn in arm or wrist of this binding apparatus 30, and the elasticity by regulating the radius of described closed circle to control described binding apparatus 30.In the present embodiment, described binding apparatus 30 may be, but not limited to, closed rubber band, closed binder, closed aeration ring etc.Described controller 2 controls described binding apparatus 30, to control the elasticity of described binding apparatus 30.After described syringe needle 110 enters described vein blood vessel, described controller 2 controls described binding apparatus 30, to stop bundling (radius namely increasing described circle) described human body.In other embodiments, described binding apparatus 30 can omit.
In addition, as shown in Figure 1, when the full-automatic injecting injection device 1 of described automatic location and Wound protection be worn on human body (wrist) upper time, the full-automatic injecting injection device 1 of described automatic location and Wound protection completes injection automatically.
Specifically, described controller 2 controls described vascular scan instrument 22 to obtain the 3-D view of human body (such as, the back of the hand) angular vein blood vessel.The 3-D view of described vein blood vessel is also associated with the three-dimensional coordinate information of vein blood vessel.Specifically, described vascular scan instrument 22 moves in described slide rail 60, the vein blood vessel of human body in the described hollow out band of scanning.As shown in Figure 7, after described vascular scan instrument 22 scans, described human body 4 comprises three vein blood vessels 400, and wherein a vein blood vessel 400 has cross point 401 (having two cross points 401 in figure) with another vein blood vessel 400.It should be noted that, vein blood vessel 400 can be determined whether by the flow direction of blood in blood vessel.It should be noted that, in the crowd due to baby (less than two years old), little and hiding dark of blood vessel, therefore preferably, the present invention is more suitable for the crowd of more than two years old, especially adult (colony of more than 18 years old).
Described controller 2 determines according to the 3-D view of described vein blood vessel 400 injection position injecting blood vessel and this injection blood vessel.
The described 3-D view according to described vein blood vessel 400 determines that the mode of injecting blood vessel and injection position is as follows:
The fineness of every bar vein blood vessel 400 is calculated according to the three-dimensional coordinate information of described vein blood vessel 400;
Select the thickest vein blood vessel 400 as injection blood vessel;
The cross point of vein blood vessel 400 is calculated according to the three-dimensional coordinate information of described vein blood vessel 400;
In described injection blood vessel, choose arbitrarily one section of blood vessel, the distance of this one section of blood vessel chosen is more than or equal to the length of described syringe needle 110, and does not have cross point in this one section of blood vessel chosen;
The initiating terminal of the one section of blood vessel this chosen is as injection position.
Described controller 2 controls described angular adjustment apparatus 13 to adjust the injection direction of described syringe needle 110 according to the trend of described injection blood vessel.Specifically, described injection direction be described syringe needle 110 in the direction of horizontal plane, the direction of this horizontal plane is consistent with the trend of described injection blood vessel, as shown in Figure 8.
Described controller 2 controls the syringe needle 110 of described vascular scan instrument 22 to described syringe 11 and scans, to obtain the initial three-dimensional coordinate of this syringe needle 110.
Described controller 2 controls described syringe needle 110 is moved to this injection blood vessel by described retractor device 12 injection position from described initial three-dimensional coordinate, and continue to advance described syringe needle 110 move predeterminable range (distances such as, between 1 centimetre to 2 centimetres) thus be expelled in this injection blood vessel by described syringe needle 110.
Described controller 2 controls described vascular scan instrument 22 to judge whether described syringe needle 110 successfully enters described injection blood vessel.Specifically, the three-dimensional coordinate of described syringe needle 110 in human body inside is determined in real time by described vascular scan instrument 22, judge that whether the three-dimensional coordinate of described syringe needle 110 in human body inside be at described injection Ink vessel transfusing, if the three-dimensional coordinate of described syringe needle 110 in human body inside is at described injection Ink vessel transfusing, then determine the success of described needle injection, otherwise, if the three-dimensional coordinate of described syringe needle 110 in human body inside be not in the position of described injection blood vessel, then determine the failure of described needle injection.
Described controller 2 judges whether the injecting liquid drug in described medical liquid container 3 completes.Specifically, described controller 2 can draw in described syringe needle 110 whether have blood backflow by the 3-D view of described vascular scan instrument 22 to described syringe needle scanning gained, if have blood backflow in described syringe needle 110, determine that the medicinal liquid in described medical liquid container 3 completes injection.
When the medicinal liquid in described medical liquid container 3 has completed injection, described controller 2 has controlled described retractor device 12 to extract described syringe needle 110 from described injection blood vessel.
Described controller 2 type wound protecting device 24 controlled in described second driving device 20 fits to the injection position of described injection blood vessel to protect wound.
In addition, described input equipment 40, for inputting relevant parameter, is beneficial to described controller 2 and controls described retractor device 12, angular adjustment apparatus 13, vascular scan instrument 22 and type wound protecting device 24.Specifically, user inputs fltting speed for controlling described retractor device 12 (such as in described input equipment 40, five cels), for controlling the injection angles of described angular adjustment apparatus 13, (described injection angles is the angle of inclination on syringe needle and human body surface, such as, selected within the scope of 15 degree to a 30 degree injection angles).
Described display device 50 scans the 3-D view of the vein blood vessel 400 obtained for showing described vascular scan instrument 22.In other embodiments, described display device 50 can away from the full-automatic injecting injection device 1 of described automatic location and Wound protection.Specifically; by an image line data (such as; the image line data of any appropriate such as HDMI wire, VGA line) be connected with the controller 2 in the full-automatic injecting injection device 1 of described automatic location and Wound protection; now, described display device 50 can be separated with the full-automatic injecting injection device 1 of described automatic location and Wound protection.
As shown in Figure 9, Fig. 9 is that the present invention locates and the flow chart of full-automatic injecting shooting method preferred embodiment of Wound protection automatically.In the present embodiment, the full-automatic injecting shooting method of described automatic location and Wound protection is applied in the full-automatic injecting injection device 1 of location and Wound protection automatically, comprises the steps that S10 is to step S19.
Step S10, described controller 2 controls the 3-D view that described vascular scan instrument 22 pairs of human bodies (such as, the back of the hand) carry out scanning to obtain human body angular vein blood vessel 400.The 3-D view of described vein blood vessel 400 is also associated with the three-dimensional coordinate information of vein blood vessel 400.Specifically, described vascular scan instrument 22 moves in described slide rail 60, the vein blood vessel 400 of human body in the described hollow out band of scanning.As shown in Figure 7, after described vascular scan instrument 22 scans, described human body 4 comprises three vein blood vessels 400, and wherein, vein blood vessel 400 and vein blood vessel 400 have cross point 401 (having two cross points 401 in figure).
Step S11, described controller 2 determines according to the 3-D view of described vein blood vessel 400 injection position injecting blood vessel and this injection blood vessel.
The described 3-D view according to described vein blood vessel 400 determines that the mode of injecting blood vessel and injection position is as follows:
The fineness of every bar vein blood vessel 400 is calculated according to the three-dimensional coordinate information of vein blood vessel 400;
Select the thickest vein blood vessel 400 as injection blood vessel;
The cross point of vein blood vessel 400 is calculated according to the three-dimensional coordinate of vein blood vessel 400;
In described injection blood vessel, choose arbitrarily one section of blood vessel, the distance of this one section of blood vessel chosen is more than or equal to the length of described syringe needle 110, and does not have cross point in this one section of blood vessel chosen;
The initiating terminal of the one section of blood vessel this chosen is as injection position.
Step S12, described controller 2 controls described angular adjustment apparatus 13 to adjust the injection direction of described syringe needle 110 according to the trend of described injection blood vessel.Specifically, described injection direction be described syringe needle 110 in the direction of horizontal plane, the direction of this horizontal plane is consistent with the trend of described injection blood vessel, as shown in Figure 8.
Step S13, described controller 2 controls the syringe needle 110 of described vascular scan instrument 22 to described syringe 11 and scans, to obtain the initial three-dimensional coordinate of this syringe needle 110.
Step S14, described controller 2 controls described syringe needle 110 is moved to this injection blood vessel by described retractor device 12 injection position from described initial three-dimensional coordinate, and continue to advance described syringe needle 110 move predeterminable range (distances such as, between 1 centimetre to 2 centimetres) thus be expelled in this injection blood vessel by described syringe needle 110.
Step S15, by described vascular scan instrument 22, described controller 2 judges whether described syringe needle 110 successfully enters described injection blood vessel.Specifically, the three-dimensional coordinate of described syringe needle 110 in human body inside is determined by described vascular scan instrument 22, judge the three-dimensional coordinate of described syringe needle 110 in human body inside whether in the position of described injection blood vessel, if the three-dimensional coordinate of described syringe needle 110 in human body inside is at described injection Ink vessel transfusing, then determine that described syringe needle 110 successfully enters described injection blood vessel, flow process enters step S16.Otherwise, if the three-dimensional coordinate of described syringe needle 110 in human body inside be not in the position of described injection blood vessel, then determine that failure injected by described syringe needle 110, flow performing step S19, described controller 2 controls described retractor device 12 to extract described syringe needle 110 from described injection blood vessel, flow process returns step S10 (avoid duplicate injection again and again for the sake of security, if second time injects failure, then do not return step S10) afterwards.In other embodiments, failure injected by described syringe needle 110, and notice specifies medical worker's (such as, nurse), and flow process does not need perform step S19 and be back to S10.In addition, after described syringe needle 110 successfully enters described injection blood vessel, described controller 2 controls described type wound protecting device 24 and moves to described injection position, and pastes medical proof fabric, to protect wound.
Step S16, described controller 2 judges whether the injecting liquid drug in described medical liquid container 3 completes.Specifically, described controller 2 can draw in described syringe needle 110 whether have blood backflow by the 3-D view of described vascular scan instrument 22 to described syringe needle scanning gained.If have blood backflow in described syringe needle 110, determine that the medicinal liquid in described medical liquid container 3 completes injection, flow process enters step S17.Otherwise, if there is no blood backflow in described syringe needle 110, repeated execution of steps S16.
Step S17, described controller 2 controls described retractor device 12 to extract described syringe needle 110 from described injection blood vessel.
Step S18, described controller 2 type wound protecting device 24 controlled in described second driving device 20 fits to the injection position of described injection blood vessel to protect wound.Specifically, when extracting described syringe needle 110 from described injection blood vessel, mobile described type wound protecting device 24 to described syringe needle 110 punctures wound site during described injection blood vessel, to stop blooding and antiinflammatory to wound.
In other embodiments; consider from cost-saving angle; described step S16 to S18 can omit; that is; the full-automatic injecting injection device 1 of described automatic location and Wound protection is after completing a shot; can remove with it from current patents (only retaining described syringe needle 110, infusion tube 113 and medical liquid container 3), use to give other patient.That is, when described syringe needle 110 successfully enters described injection blood vessel, medical worker removes the full-automatic injecting injection device 1 (only retaining described syringe needle 110, infusion tube 113 and medical liquid container 3) of described automatic location and Wound protection from current patents.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention and accompanying drawing content to do equivalent structure or equivalent function conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. the full-automatic injecting injection device of an automatic location and Wound protection, it is characterized in that, the full-automatic injecting injection device of described automatic location and Wound protection comprises controller, the first driving device and the second driving device, and described controller is connected with described first driving device and the second driving device respectively;
Described first driving device arranges syringe, retractor device and angular adjustment apparatus, and described syringe is connected with described retractor device and angular adjustment apparatus, and described syringe is also connected with described medical liquid container;
Described second driving device arranges vascular scan instrument;
Described controller, for controlling described vascular scan instrument to obtain the 3-D view of human body angular vein blood vessel;
Described controller, for determining the injection position injecting blood vessel and this injection blood vessel according to the 3-D view of described vein blood vessel;
Described controller, for controlling described angular adjustment apparatus to adjust the injection direction of the syringe needle of described syringe according to the trend of described injection blood vessel;
Described controller, scans described syringe needle for controlling described vascular scan instrument, to obtain the initial three-dimensional coordinate of this syringe needle;
Described controller, to move to the injection position of this injection blood vessel from described initial three-dimensional coordinate by described syringe needle for controlling described retractor device, and continue to advance described retractor device predeterminable range with by described needle injection in this injection blood vessel; And
For controlling described vascular scan instrument, described controller, also judges that described syringe needle successfully enters described injection blood vessel, with by the medicinal liquid in described medical liquid container by described needle injection to described injection blood vessel.
2. the full-automatic injecting injection device of as claimed in claim 1 location and Wound protection automatically, is characterized in that, described controller also for:
When described syringe needle successfully enters to described injection blood vessel, judge whether the injecting liquid drug in described medical liquid container completes;
When the medicinal liquid in described medical liquid container has completed injection, control described retractor device to extract described syringe needle from described injection blood vessel; And
The type wound protecting device controlled in described second driving device fits to the injection position of described injection blood vessel to protect wound.
3. the full-automatic injecting injection device of location and Wound protection automatically as claimed in claim 1, is characterized in that, according to the 3-D view of described vein blood vessel, described controller determines that the mode of injecting blood vessel and injection position is as follows:
The fineness of every bar vein blood vessel is calculated according to the three-dimensional coordinate information of the 3-D view medium-sized vein blood vessel of described vein blood vessel;
Select the thickest vein blood vessel as injection blood vessel;
The cross point of vein blood vessel is calculated according to the three-dimensional coordinate information of the 3-D view medium-sized vein blood vessel of described vein blood vessel;
In described injection blood vessel, choose arbitrarily one section of blood vessel, the distance of this one section of blood vessel chosen is more than or equal to the length of described syringe needle, and does not have cross point in this one section of blood vessel chosen; And
The initiating terminal of the one section of blood vessel this chosen is as injection position.
4. the full-automatic injecting injection device of as claimed in claim 1 location and Wound protection automatically, is characterized in that, described controller control mode that described vascular scan instrument judges that described syringe needle successfully enters described injection blood vessel as:
The three-dimensional coordinate of described syringe needle in human body inside is determined by described vascular scan instrument;
If the three-dimensional coordinate of described syringe needle in human body inside in the position of described injection blood vessel, determines that described syringe needle successfully enters described injection blood vessel.
5. the automatic location as described in any one of Claims 1-4 and the full-automatic injecting injection device of Wound protection, it is characterized in that, described syringe also comprises syringe, baffle plate, infusion tube.
6. the full-automatic injecting injection device of location and Wound protection automatically as claimed in claim 5; it is characterized in that; described syringe needle is fixed on the front end of described syringe; described infusion tube is connected to described syringe needle through described syringe; described infusion tube is also connected with medical liquid container; the end of described syringe is provided with described baffle plate, and described retractor device is connected with described baffle plate, and described syringe is set up in the circular groove of described angular adjustment apparatus upper end.
7. the full-automatic injecting injection device of location and Wound protection automatically as claimed in claim 5, it is characterized in that, be detachable structure between described syringe needle and described syringe, and be detachable structure between described infusion tube and described syringe.
8. the full-automatic injecting shooting method of an automatic location and Wound protection, be applied in the full-automatic injecting injection device of location and Wound protection automatically, it is characterized in that, the full-automatic injecting injection device of described automatic location and Wound protection comprises controller, first driving device and the second driving device, described controller is connected with described first driving device and the second driving device respectively, described first driving device arranges syringe, retractor device and angular adjustment apparatus, described syringe is connected with described retractor device and angular adjustment apparatus, described syringe is also connected with described medical liquid container, described second driving device arranges vascular scan instrument, the method comprises the steps:
Control described vascular scan instrument to obtain the 3-D view of blood vessel in human body;
The injection position injecting blood vessel and this injection blood vessel is determined according to the 3-D view of described blood vessel;
Control described angular adjustment apparatus to adjust the injection direction of the syringe needle of described syringe according to the trend of described injection blood vessel;
Control described vascular scan instrument to scan described syringe needle, to obtain the initial three-dimensional coordinate of this syringe needle;
Control described syringe needle is moved to this injection blood vessel by described retractor device injection position from described initial three-dimensional coordinate, and continue advance described retractor device predeterminable range with by described needle injection in this injection blood vessel; And
Control described vascular scan instrument and judge that described syringe needle successfully enters described injection blood vessel, with by the medicinal liquid in described medical liquid container by described needle injection to described injection blood vessel.
9. the full-automatic injecting shooting method of location and Wound protection automatically as claimed in claim 8, it is characterized in that, the full-automatic injecting shooting method of described automatic location and Wound protection also comprises step:
When described syringe needle successfully enters to described injection blood vessel, judge whether the injecting liquid drug in described medical liquid container completes;
When the medicinal liquid in described medical liquid container has completed injection, control described retractor device to extract described syringe needle from described injection blood vessel; And
The type wound protecting device controlled in described second driving device fits to the injection position of described injection blood vessel to protect wound.
10. the full-automatic injecting shooting method of location and Wound protection automatically as claimed in claim 8, is characterized in that, the described 3-D view according to described blood vessel determines that the mode of injecting blood vessel and injection position is as follows:
The fineness of every bar blood vessel is calculated according to the three-dimensional coordinate information of the 3-D view medium vessels of described blood vessel;
Select the thickest vein blood vessel as injection blood vessel;
The cross point of blood vessel is calculated according to the three-dimensional coordinate information of the 3-D view medium vessels of described blood vessel;
In described injection blood vessel, choose arbitrarily one section of blood vessel, the distance of this one section of blood vessel chosen is more than or equal to the length of described syringe needle, and does not have cross point in this one section of blood vessel chosen; And
The initiating terminal of the one section of blood vessel this chosen is as injection position.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510686300.4A CN105327429A (en) | 2015-10-21 | 2015-10-21 | Full-automatic injection device and full-automatic injection method capable of achieving automatic positioning and wound protection |
| PCT/CN2016/071116 WO2017067105A1 (en) | 2015-10-21 | 2016-01-16 | Automatic positioning and wound protecting fully automatic injection apparatus and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510686300.4A CN105327429A (en) | 2015-10-21 | 2015-10-21 | Full-automatic injection device and full-automatic injection method capable of achieving automatic positioning and wound protection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105327429A true CN105327429A (en) | 2016-02-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510686300.4A Withdrawn CN105327429A (en) | 2015-10-21 | 2015-10-21 | Full-automatic injection device and full-automatic injection method capable of achieving automatic positioning and wound protection |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105327429A (en) |
| WO (1) | WO2017067105A1 (en) |
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| CN110811910A (en) * | 2019-12-02 | 2020-02-21 | 赵林燕 | Injection device capable of quickly replacing plug and reducing labor intensity |
| CN110812577A (en) * | 2019-11-12 | 2020-02-21 | 中国地质大学（武汉） | Novel automatic intravenous injection instrument |
| CN113577458A (en) * | 2021-07-14 | 2021-11-02 | 深圳市罗湖医院集团 | Automatic injection method, device, electronic equipment and storage medium |
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| CN111558108B (en) * | 2019-02-15 | 2024-04-30 | 华中科技大学同济医学院附属协和医院 | Automatic skin test injection instrument |
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| WO2017067105A1 (en) | 2017-04-27 |
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