CN105856259A - Intelligent infusion robot based on internet of things - Google Patents

Intelligent infusion robot based on internet of things Download PDF

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Publication number
CN105856259A
CN105856259A CN201610437579.7A CN201610437579A CN105856259A CN 105856259 A CN105856259 A CN 105856259A CN 201610437579 A CN201610437579 A CN 201610437579A CN 105856259 A CN105856259 A CN 105856259A
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CN
China
Prior art keywords
module
infusion
ultrasound wave
controller
circular cylindrical
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Granted
Application number
CN201610437579.7A
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Chinese (zh)
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CN105856259B (en
Inventor
谢亚军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuzhou Huanya Zhongzhi Computer Co Ltd
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Individual
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Priority to CN201610737444.2A priority Critical patent/CN106267440A/en
Priority to CN201610727952.2A priority patent/CN106166314A/en
Priority to CN201610724527.8A priority patent/CN106310432A/en
Priority to CN201610437579.7A priority patent/CN105856259B/en
Priority to CN201610727241.5A priority patent/CN106310433A/en
Publication of CN105856259A publication Critical patent/CN105856259A/en
Application granted granted Critical
Publication of CN105856259B publication Critical patent/CN105856259B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1413—Modular systems comprising interconnecting elements
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1415—Stands, brackets or the like for supporting infusion accessories
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1417—Holders or handles for hanging up infusion containers
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/158—Needles for infusions; Accessories therefor, e.g. for inserting infusion needles, or for holding them on the body
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/162—Needle sets, i.e. connections by puncture between reservoir and tube ; Connections between reservoir and tube
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16804—Flow controllers
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16804—Flow controllers
    • A61M5/16813—Flow controllers by controlling the degree of opening of the flow line
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
    • A61M5/1684—Monitoring, detecting, signalling or eliminating infusion flow anomalies by detecting the amount of infusate remaining, e.g. signalling end of infusion
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16877—Adjusting flow; Devices for setting a flow rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M2005/1401—Functional features
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/10—General characteristics of the apparatus with powered movement mechanisms
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/18—General characteristics of the apparatus with alarm
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3375—Acoustical, e.g. ultrasonic, measuring means
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3507—Communication with implanted devices, e.g. external control
    • A61M2205/3523—Communication with implanted devices, e.g. external control using telemetric means
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3546—Range
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3546—Range
    • A61M2205/3561—Range local, e.g. within room or hospital
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3576—Communication with non implanted data transmission devices, e.g. using external transmitter or receiver

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Hematology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Anesthesiology (AREA)
  • Vascular Medicine (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Nursing (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Manipulator (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)

Abstract

The invention discloses an intelligent infusion robot based on an internet of things. The intelligent infusion robot comprises an ultrasonic following trolley, an infusion support, an infusion device, a hand ring, a terminal control system and a remote control system, wherein the infusion support is arranged above the ultrasonic following trolley; the infusion device is arranged at the upper end of the infusion support; the hand ring comprises a hand ring body, an ultrasonic emission module, a single-chip microcomputer, a first input module and a wireless communication module. According to the invention, the technical problem that the liquid level in an infusion bottle sways because the infusion robot shakes in the moving process can be effectively solved, so that liquid medicine can be infused into the body of a patient along an infusion tube at a constant speed.

Description

Intelligent transfusion robot based on Internet of Things
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of medical infusion robot.
Background technology
Medical Robot, refers to for hospital, the medical treatment of clinic or the robot of medical assistance, Medical Robot Kind is a lot, different according to its purposes, has clinical treatment robot, nursing robot, Medical teaching machine People and be services for the disabled robot etc..
Traditional infusion bottle is all to hang over above drip stand, and drip stand is placed on sick bed side, moves the numbest Tired, when client need is walked about, need to take off infusion bottle, then raise high, sometimes patient takes action not Just time, in addition it is also necessary to nurse or household follow patient and raise infusion bottle together high.
For often going the phenomenon of toilet during patient infusion, and for faster rehabilitation, doctor advises especially Often walk about, but a lot of patient infusion time is inconvenient to walk about very for a long time especially, then Patent No. " 2015207522799 ", invention entitled " from motion tracking infuse robot " utility model patent disclose The transfusion robot walked about it is also convenient for while a kind of transfusion.This robot can follow one piece of row of patient automatically Walk, very easy to use, but it being found that a problem in actual use: transfusion robot exists Can rock slightly during movement, thus cause the slosh in infusion bottle, thus cause in infusion bottle Medicinal liquid cannot be input to the internal of patient along tube for transfusion evenly.
Summary of the invention
It is an object of the invention to solve techniques below problem: transfusion robot can rock during movement, Thus cause the slosh in infusion bottle, thus cause the medicinal liquid in infusion bottle cannot be evenly along tube for transfusion It is input to the internal of patient.
In order to realize object above, the technical solution adopted in the present invention is: intelligent transfusion based on Internet of Things Robot, it is characterised in that include that ultrasound wave follows dolly, drip stand, infusion set, bracelet, terminal control System processed and far-end control system；
Described drip stand is arranged on ultrasound wave and follows above dolly, and described infusion set is arranged at described Drip stand upper end；
Described bracelet includes bracelet body, ultrasonic emitting module, single-chip microcomputer, the first input module, wireless Communication module；
Described ultrasonic emitting module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system include 4 ultrasound wave receiver modules, terminal controller, motor drive module, Left motor, right motor；Display module, the second input module, GPS module, camera module；Accumulator mould Block, charger module, terminal wireless communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller passes through motor Module is driven to control left motor and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module respectively with terminal controller Electrical connection；
4 described ultrasound wave receiver modules be respectively arranged at ultrasound wave follow the left front of dolly, right front, Left back, right back；
Described camera module is arranged at the top of drip stand；
Described terminal control system is arranged at ultrasound wave and follows above dolly；
Described battery module outfan is unit module for power supply, and the outfan of charger module connects storage The charging input end of battery module；
Described terminal wireless communication module electrically connects with terminal controller；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal controller and remote controller；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and the annular cavity end altogether Face, the bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air inlet；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, on infusion hole all It is provided with rubber closure；
Described infusion set also include bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, Infusion tube, intravenous needle；One end of described infusion tube connects the outfan of bottle plug puncture unit unit, another End connects intravenous needle；Dropping funnel, flow regulator, liquid medicine filter is set gradually on described infusion tube；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively into described annular cavity Lower surface 8 rubber closures in, the outfan of 8 bottle plug puncture units by flexible pipe converge formed an output End；
Stop member, and the size of 8 bottle plug puncture units are set near the input port of described bottle plug puncture unit Identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The body of annular cavity Long-pending Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion bascule；
Described transfusion bascule include control chamber, balance controller, three electric expansion bars, gyroscope, Support base, support cover, gripper shoe, annular cover plate and clamping screw；
Described control chamber and support base are installed in ultrasound wave and follow on dolly；
Described support cover is vertically mounted on support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle installing hole is provided with a proof rubber circle；
Described balance controller and gyroscope are installed in control chamber, and gyroscope is for being horizontally mounted；
Described gripper shoe is positioned at support cover；
The two ends up and down of three described electric expansion bars are arranged on support cover inner top by spherical linkage respectively With on the upper face of gripper shoe；
The three described electric expansion bars, three strong points on support cover inner top and on the supporting plate plate Three strong points on face all constitute equilateral triangle；
The upper face center of described gripper shoe is provided with and intubates；
Described clamping screw screws on the screwed hole intubating tube wall；
The lower end of described drip stand is through on being inserted into and intubate after the centre bore of annular cover plate, and passes through locking screw Bolt is fixed；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice drip stand lower end；
Described balance controller motor-drive circuit with gyroscope and three electric expansion bars respectively is connected；
Described accumulator respectively balance controller, gyroscope and three electric expansion bars are powered.
Further, described remote controller, remote wireless communications module use smart mobile phone to realize.
Compared with prior art, it is an advantage of the current invention that: first, the meeting during movement of transfusion robot Rock, thus cause the slosh in infusion bottle, but the medicinal liquid of the present invention still can be evenly along defeated Liquid pipe is input to the internal of patient.Second, owing to equipped with GPS module and camera module, therefore passing through far-end Controller can understand the position of patient and the situation at scene in real time；3rd, employing transfusion bascule can Follow dolly at ultrasound wave and move the process of rocking, reduce drip stand and rock degree, it is ensured that transfusion normal safe is carried out.
Accompanying drawing explanation
Fig. 1 is the principle block diagram of the circuit control part of the present invention；
Fig. 2 is that ultrasound wave follows dolly schematic top plan view；
Fig. 3 is that ultrasound wave follows dolly front view (not drawing infusion set)；
Fig. 4 is infusion set front view (schematic diagram)；
Fig. 5 is the top view (schematic diagram) of infusion set；
Fig. 6 is the upward view (schematic diagram) of infusion set；
Fig. 7 is existing infusion bottle and tube for transfusion connection diagram；
Fig. 8 is bottle plug puncture unit cell schematics；
Fig. 9 is the circuit diagram of transfusion bascule；
Figure 10 is the plan structure schematic diagram of transfusion bascule；
Figure 11 is sectional structure schematic diagram at A-A in Figure 10.
Wherein, 1 is ultrasonic emitting module；2 is ultrasound wave receiver module；3 wheels；4 is that ultrasound wave is followed Dolly；5 is drip stand；7 is camera module；8 is circular cylindrical cavity；9 is annular cavity；10 are Rubber stopper；12 is infusion bottle；13 is tube for transfusion；14 is stop member；15 is control chamber；16 is to support Cover；17 is annular cover plate；18 is to support base；19 is electric expansion bar；20 is to intubate；21 is to support Plate.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Need during use to be poured in the circular cylindrical cavity of device for storing liquid by the medicinal liquid in infusion bottle or incite somebody to action The infusion set of the present invention is made the disposable infusion bottle that directly substitutes and is used.
" dropping funnel, flow regulator, liquid medicine filter, infusion tube, intravenous needle；Described infusion tube One end connects the outfan of bottle plug puncture unit, and the other end connects intravenous needle；Set gradually on described infusion tube Dropping funnel, flow regulator, liquid medicine filter " belong to existing known technology, it is not described in detail.
Annular cavity except lower surface be provided with infusion hole, in addition to bottom connects with circular cylindrical cavity, remaining is everywhere Seal the most everywhere, and the upper surface of circular cylindrical cavity is provided with air inlet, but air inlet position is provided with air mistake Filter sterilizing unit (existing known technology), so that it is guaranteed that the liquid within infusion set is not by the dirt of outside air Dye.
It is provided with air inlet pipe near the bottle plug puncture unit of existing tube for transfusion, and air inlet pipe is provided with air mistake Filter sterilizing unit, this technology belongs to prior art.
Wherein, the height of circular cylindrical cavity takes 20cm, and the height of annular cavity takes 2cm；
The volume of circular cylindrical cavity is 1500cm3, the volume of annular cavity is 30cm3。
Ultrasound wave is followed dolly and is used front-wheel drive.
The stop member of bottle plug puncture unit can ensure that 8 bottle plug puncture units are inserted into the following table of annular cavity The degree of depth in the rubber closure in face is just the same, thus ensures the pressure at the input port of 8 bottle plug puncture units almost Equally, so stop member is extremely important.If stop member, 8 bottle plug puncture units are inserted into The degree of depth in the rubber closure of the lower surface of annular cavity is the most widely different, and (existing bottle plug puncture unit is the longest all Unobstructed parts, it is impossible to fully-inserted enter), due to the size of 8 bottle plug puncture units complete Sample, and it is provided with stop member, when the stop member of 8 bottle plug puncture units touches annular cavity Just cannot be inserted into during the rubber closure of lower surface.
Embodiment: intelligent transfusion robot based on Internet of Things, including ultrasound wave follow dolly, drip stand, Infusion set, bracelet, terminal control system and far-end control system；Described drip stand be arranged on ultrasound wave with Above dolly, described infusion set is arranged at described drip stand upper end；Described bracelet includes hands Ring body, ultrasonic emitting module, single-chip microcomputer, the first input module, wireless communication module；
Described ultrasonic emitting module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively； Described terminal control system includes 4 ultrasound wave receiver modules, terminal controller, motor drive module, left sides Motor, right motor；Display module, the second input module, GPS module, camera module；Battery module, Charger module, terminal wireless communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller passes through motor Module is driven to control left motor and right electric motor starting, stopping and rotating speed；Described left motor, right motor are used respectively In driving the near front wheel, off-front wheel；Described display module, the second input module, GPS module, shooting head mould Block electrically connects with terminal controller respectively；4 described ultrasound wave receiver modules are respectively arranged at ultrasound wave and follow The left front of dolly, right front, left back, right back；
Described camera module is arranged at the top of drip stand；Described terminal control system be arranged at ultrasound wave with Above dolly；Described battery module outfan is unit module for power supply, the output of charger module End connects the charging input end of battery module；Described terminal wireless communication module is electrically connected with terminal controller Connect；Described remote wireless communications module electrically connects with remote controller；Described terminal controller and far-end control Communicate between device processed；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and the annular cavity end altogether Face, the bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air inlet；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, on infusion hole all It is provided with rubber closure；
Described infusion set also include bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, Infusion tube, intravenous needle；One end of described infusion tube connects the outfan of bottle plug puncture unit unit, another End connects intravenous needle；Dropping funnel, flow regulator, liquid medicine filter is set gradually on described infusion tube；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively into described annular cavity Lower surface 8 rubber closures in, the outfan of 8 bottle plug puncture units by flexible pipe converge formed an output End；
Stop member, and the size of 8 bottle plug puncture units are set near the input port of described bottle plug puncture unit Identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The body of annular cavity Long-pending Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion bascule；
Described transfusion bascule include control chamber, balance controller, three electric expansion bars, gyroscope, Support base, support cover, gripper shoe, annular cover plate and clamping screw；
Described control chamber and support base are installed in ultrasound wave and follow on dolly；
Described support cover is vertically mounted on support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle installing hole is provided with a proof rubber circle；
Described balance controller and gyroscope are installed in control chamber, and gyroscope is for being horizontally mounted；
Described gripper shoe is positioned at support cover；
The two ends up and down of three described electric expansion bars are arranged on support cover inner top by spherical linkage respectively With on the upper face of gripper shoe；
The three described electric expansion bars, three strong points on support cover inner top and on the supporting plate plate Three strong points on face all constitute equilateral triangle；
The upper face center of described gripper shoe is provided with and intubates；
Described clamping screw screws on the screwed hole intubating tube wall；
The lower end of described drip stand is through on being inserted into and intubate after the centre bore of annular cover plate, and passes through locking screw Bolt is fixed；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice drip stand lower end；
Described balance controller motor-drive circuit with gyroscope and three electric expansion bars respectively is connected；
Described accumulator respectively balance controller, gyroscope and three electric expansion bars are powered；
Wherein, described remote controller, remote wireless communications module use smart mobile phone to realize.
The present invention substantially operation principle describes: be worn at wrist by bracelet when client need is walked about, defeated by first Enter module startup ultrasonic emitting module to start to launch ultrasonic signal, by single-chip microcomputer and terminal controller communication Starting timing, GPS module, camera module are started working, the signal of GPS module, camera module output By terminal controller and remote controller communication, such remote controller can be recognized residing for patient in real time Position and patient's field conditions.
The signal that ultrasonic emitting module sends is received by four ultrasound wave receiver modules, and terminal controller is according to four Distance between individual ultrasound wave receiver module and ultrasonic emitting module, it is judged that the position of patient, thus control super Sound wave follows the direction of dolly.
The present invention is capable of transfusion robot medicinal liquid during movement and remains able to evenly along transfusion Pipe is input to the internal principle explanation of patient: infusion set includes circular cylindrical cavity and annular cavity, due to The height of circular cylindrical cavity is far above the height of annular cavity, and the bottom of circular cylindrical cavity and annular cavity type The bottom connection of body；So the liquid height within annular cavity is the most constant (when being totally lost soon except medicinal liquid Carve), when ultrasound wave follow dolly rock time, the liquid level within circular cylindrical cavity also can rock, but described The lower surface of annular cavity has 8 infusion holes around center of circle spaced set, and infusion hole is provided with rubber Plug；Described bottle plug puncture unit has 8 inputs and 1 outfan, and 8 inputs are inserted respectively into institute In 8 rubber closures of the lower surface of the annular cavity stated；Although so the rocking of circular cylindrical cavity internal liquid level The change of pressure at each infusion hole can be caused, but the pressure sum at 8 infusion holes is almost constant (pressure at the infusion hole having becomes big, and at some infusion holes, pressure diminishes, and size is cancelled out each other), the most just It is that to say that the pressure sum at 8 infusion holes is averaged be almost unchanged.And bottle plug puncture unit have 8 defeated Entering end and 1 outfan, 8 inputs are inserted respectively into 8 rubbers of the lower surface of described annular cavity In leather plug, therefore the pressure of the output of bottle plug puncture unit is almost unchanged.
Robot ambulation control method i.e. ultrasound wave follows the control method of dolly:
The first step, patient follows dolly by the first input module input ultrasound wave of bracelet and starts walking order, After single-chip microcomputer receives this order, single-chip microcomputer sends wireless signal to terminal controller, and terminal controller receives wireless Start 4 intervalometers during signal simultaneously and start timing；
Second step, single-chip microcomputer is spaced 2s, Single-chip Controlling ultrasound wave after terminal controller sends wireless signal Transmitter module starts to launch ultrasonic signal；
3rd step, left front, right front, left back, four ultrasound wave receiver modules of right back receive super Time interval between the moment that acoustic signals moment distance terminal controller starts timing, correspondence is designated as respectively
The Δ t1 second, the Δ t2 second, the Δ t3 second, the Δ t4 second；
If Δ t1=Δ t2, Δ t3=Δ t4, then terminal controller control ultrasound wave follows dolly craspedodrome；
If Δ t1 > Δ is t2, Δ t3 > Δ t4, then terminal controller control ultrasound wave follows the near front wheel acceleration of dolly, Off-front wheel slows down；
If Δ t1 < Δ is t2, Δ t3 < Δ t4, then terminal controller control ultrasound wave follows the near front wheel deceleration of dolly, Off-front wheel accelerates.
Illustrate: 4 intervalometers can use hardware timer, it would however also be possible to employ software simulation intervalometer； Left front, right front, left back, the most corresponding intervalometer of four ultrasound wave receiver modules of right back, The intervalometer that ultrasound wave receiver module is corresponding when receiving ultrasonic signal stops timing, such four timings respectively The timing time of the device the most respectively Δ t1 second, the Δ t2 second, the Δ t3 second, the Δ t4 second.
The transfusion bascule of the present invention operationally, is detected ultrasound wave in real time and follows the balance of dolly by gyroscope State, then controlled the stroke of three electric expansion bars according to the poised state of detection by balance controller, thus Realize the stability contorting of drip stand, prevent dolly from causing drip stand acutely to rock during mobile rocking, it is ensured that Infusion safety；Drop in support cover simultaneously because the effect of annular cover plate is prevented from foreign body, affect electronic stretching Contracting bar works；Proof rubber circle can alleviate the friction of drip stand and circular mounting hole.
Intelligent transfusion robot system based on Internet of Things, it is characterised in that include that multiple ultrasound wave follows dolly System and far-end control system；
Described ultrasound wave follow cart system include ultrasound wave follow dolly, drip stand, infusion set, bracelet, Terminal control system；
Described drip stand is arranged on ultrasound wave and follows above dolly, and described infusion set is arranged at described Drip stand upper end；
Described bracelet includes bracelet body, ultrasonic emitting module, single-chip microcomputer, the first input module, wireless Communication module；
Described ultrasonic emitting module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system include 4 ultrasound wave receiver modules, terminal controller, motor drive module, Left motor, right motor；Display module, the second input module, GPS module, camera module；Accumulator mould Block, charger module, terminal wireless communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller passes through motor Module is driven to control left motor and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module respectively with terminal controller Electrical connection；
4 described ultrasound wave receiver modules be respectively arranged at ultrasound wave follow the left front of dolly, right front, Left back, right back；
Described camera module is arranged at the top of drip stand；
Described terminal control system is arranged at ultrasound wave and follows above dolly；
Described battery module outfan is unit module for power supply, and the outfan of charger module connects storage The charging input end of battery module；
Described terminal wireless communication module electrically connects with terminal controller；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal controller and remote controller；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and the annular cavity end altogether Face, the bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air inlet；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, on infusion hole all It is provided with rubber closure；
Described infusion set also include bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, Infusion tube, intravenous needle；One end of described infusion tube connects the outfan of bottle plug puncture unit unit, another End connects intravenous needle；Dropping funnel, flow regulator, liquid medicine filter is set gradually on described infusion tube；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively into described annular cavity Lower surface 8 rubber closures in, the outfan of 8 bottle plug puncture units by flexible pipe converge formed an output End；
Stop member, and the size of 8 bottle plug puncture units are set near the input port of described bottle plug puncture unit Identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The body of annular cavity Long-pending Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include multiple transfusion bascule；
Described transfusion bascule include control chamber, balance controller, three electric expansion bars, gyroscope, Support base, support cover, gripper shoe, annular cover plate and clamping screw；
Described control chamber and support base are installed in ultrasound wave and follow on dolly；
Described support cover is vertically mounted on support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle installing hole is provided with a proof rubber circle；
Described balance controller and gyroscope are installed in control chamber, and gyroscope is for being horizontally mounted；
Described gripper shoe is positioned at support cover；
The two ends up and down of three described electric expansion bars are arranged on support cover inner top by spherical linkage respectively With on the upper face of gripper shoe；
The three described electric expansion bars, three strong points on support cover inner top and on the supporting plate plate Three strong points on face all constitute equilateral triangle；
The upper face center of described gripper shoe is provided with and intubates；
Described clamping screw screws on the screwed hole intubating tube wall；
The lower end of described drip stand is through on being inserted into and intubate after the centre bore of annular cover plate, and passes through locking screw Bolt is fixed；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice drip stand lower end；
Described balance controller motor-drive circuit with gyroscope and three electric expansion bars respectively is connected；
Described accumulator respectively balance controller, gyroscope and three electric expansion bars are powered；
Wherein, described remote controller, remote wireless communications module use smart mobile phone to realize.

Claims (2)

1. intelligent transfusion robot based on Internet of Things, it is characterised in that include that ultrasound wave follows dolly, defeated Liquid frame, infusion set, bracelet, terminal control system and far-end control system；
Described infusion set is arranged at described drip stand upper end；
Described bracelet includes bracelet body, ultrasonic emitting module, single-chip microcomputer, the first input module, wireless Communication module；
Described ultrasonic emitting module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system include 4 ultrasound wave receiver modules, terminal controller, motor drive module, Left motor, right motor；Display module, the second input module, GPS module, camera module；Accumulator mould Block, charger module, terminal wireless communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller passes through motor Module is driven to control left motor and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module respectively with terminal controller Electrical connection；
4 described ultrasound wave receiver modules be respectively arranged at ultrasound wave follow the left front of dolly, right front, Left back, right back；
Described camera module is arranged at the top of drip stand；
Described terminal control system is arranged at ultrasound wave and follows above dolly；
Described battery module outfan is unit module for power supply, and the outfan of charger module connects storage The charging input end of battery module；
Described terminal wireless communication module electrically connects with terminal controller；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal controller and remote controller；
Described single-chip microcomputer and terminal controller communication；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and the annular cavity end altogether Face, the bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air inlet, and air inlet position is provided with air filtering disinfection Device；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, on infusion hole all It is provided with rubber closure；
Described infusion set also include bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, Infusion tube, intravenous needle；One end of described infusion tube connects the outfan of bottle plug puncture unit unit, another End connects intravenous needle；Dropping funnel, flow regulator, liquid medicine filter is set gradually on described infusion tube；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively into described annular cavity Lower surface 8 rubber closures in, the outfan of 8 bottle plug puncture units by flexible pipe converge formed an output End；
Stop member, and the size of 8 bottle plug puncture units are set near the input port of described bottle plug puncture unit Identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The body of annular cavity Long-pending Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion bascule；
Described transfusion bascule include control chamber, balance controller, three electric expansion bars, gyroscope, Support base, support cover, gripper shoe, annular cover plate and clamping screw；
Described control chamber and support base are installed in ultrasound wave and follow on dolly；
Described support cover is vertically mounted on support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle installing hole is provided with a proof rubber circle；
Described balance controller and gyroscope are installed in control chamber, and gyroscope is for being horizontally mounted；
Described gripper shoe is positioned at support cover；
The two ends up and down of three described electric expansion bars are arranged on support cover inner top by spherical linkage respectively With on the upper face of gripper shoe；
The three described electric expansion bars, three strong points on support cover inner top and on the supporting plate plate Three strong points on face all constitute equilateral triangle；
The upper face center of described gripper shoe is provided with and intubates；
Described clamping screw screws on the screwed hole intubating tube wall；
The lower end of described drip stand is through on being inserted into and intubate after the centre bore of annular cover plate, and passes through locking screw Bolt is fixed；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice drip stand lower end；
Described balance controller motor-drive circuit with gyroscope and three electric expansion bars respectively is connected；
Described accumulator respectively balance controller, gyroscope and three electric expansion bars are powered.
2., according to the intelligent transfusion robot based on Internet of Things described in claims 1 or 2, its feature exists In, described remote controller, remote wireless communications module use smart mobile phone to realize.
CN201610437579.7A 2016-06-19 2016-06-19 Intelligent transfusion robot based on internet of things Expired - Fee Related CN105856259B (en)

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CN201610727952.2A CN106166314A (en) 2016-06-19 2016-06-19 Intelligent transfusion robot based on internet of things
CN201610724527.8A CN106310432A (en) 2016-06-19 2016-06-19 Walking control method for intelligent infusion robot based on Internet of things
CN201610437579.7A CN105856259B (en) 2016-06-19 2016-06-19 Intelligent transfusion robot based on internet of things
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CN106310433A (en) 2017-01-11

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