CN105879148A - IoT (Internet of Things)-based medical intelligent robot - Google Patents
IoT (Internet of Things)-based medical intelligent robot Download PDFInfo
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- CN105879148A CN105879148A CN201610416441.9A CN201610416441A CN105879148A CN 105879148 A CN105879148 A CN 105879148A CN 201610416441 A CN201610416441 A CN 201610416441A CN 105879148 A CN105879148 A CN 105879148A
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- temperature
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- transfusion
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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
- A61M5/14—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
- A61M5/162—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
- A61M5/44—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 having means for cooling or heating the devices or media
- A61M5/445—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 having means for cooling or heating the devices or media the media being heated in the reservoir, e.g. warming bloodbags
-
- 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
- A61M2205/3368—Temperature
-
- 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
- A61M2205/36—General characteristics of the apparatus related to heating or cooling
-
- 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
- A61M2209/00—Ancillary equipment
- A61M2209/08—Supports for equipment
Abstract
The invention discloses an IoT-based medical intelligent robot including an ultrasonic follow trolley, a transfusion support, a transfusion device, a wristband, a terminal control system and a remote control system, wherein the transfusion support is arranged on the ultrasonic follow trolley, and the transfusion device is arranged at the upper end part of the transfusion support; the wristband comprises a wristband body, an ultrasonic wave transmission module, a singlechip, a first input module and a wireless communication module. According to the invention, the waggling of a moving transfusion robot results in the sloshing of liquid in a transfusion bottle is solved effectively, so as to ensure that transfusion liquid is steadily transfused into a patient along a transfusion tube.
Description
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: medicinal intelligent based on Internet of Things
Robot, follows dolly, drip stand, infusion set, bracelet, terminal control system and far-end including ultrasound wave
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 temperature supervising device；
Described transfusion temperature supervising device include crust of the device, control box, temperature controller, temperature sensor,
Electrical switch, temperature adjustment knob, temperature display, electrical heating wire, heating and thermal insulation sheath, elastic shrinkage band
And power supply plug cord；
Described crust of the device is columnar structured；
The described box that controls is arranged on the outer wall of crust of the device, and at crust of the device inwall corresponding to controlling box
Installed position is provided with thermal insulation layer；
Described temperature controller and electrical switch are arranged in control box；
Described temperature adjustment knob and temperature display may be contained within controlling box top；
Dismounting handle it is additionally provided with on the outer wall of described crust of the device；
Described heating and thermal insulation sheath is tubular construction, and is arranged in the cylinder of crust of the device；
Described electrical heating wire is embedded in insulation sheath；
Described elastic shrinkage band is around the outside being arranged on heating and thermal insulation sheath；
Described temperature sensor is arranged at the inner side of heating and thermal insulation sheath；
Described temperature controller is aobvious with temperature sensor, electrical switch, temperature adjustment knob and temperature respectively
Display screen electrically connects；
Described accumulator is the temperature controller of transfusion temperature supervising device, temperature sensing by power supply plug cord
Device, temperature adjustment knob and temperature display are powered；
Described temperature controller controls the break-make of supply line between electrical heating wire and accumulator by electrical switch；
Described transfusion temperature supervising device is set on infusion set, and heating and thermal insulation sheath is wrapped in cylinder
On the outer wall of cavity；
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, use transfusion temperature supervising device
Can need infusion set is heated according to setting, and there is preferable heat-insulating property, dismantle handle simultaneously
With power supply plug cord be designed to need not heating time device is taken off, easy to use.
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 theory diagrams of transfusion temperature supervising device；
Figure 10 is the side view of transfusion temperature supervising device；
Figure 11 is the top view of transfusion temperature supervising device.
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 crust of the device；16 is control
Box processed；17 is temperature display；18 is temperature adjustment knob；19 is elastic shrinkage band；20 is heating and thermal insulation
Sheath；21 is dismounting handle；22 is power supply plug cord.
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.
Ultrasound wave is followed dolly and is used front-wheel drive.
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。
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: medicinal intelligent 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 temperature supervising device；
Described transfusion temperature supervising device include crust of the device, control box, temperature controller, temperature sensor,
Electrical switch, temperature adjustment knob, temperature display, electrical heating wire, heating and thermal insulation sheath, elastic shrinkage band
And power supply plug cord；
Described crust of the device is columnar structured；
The described box that controls is arranged on the outer wall of crust of the device, and at crust of the device inwall corresponding to controlling box
Installed position is provided with thermal insulation layer；
Described temperature controller and electrical switch are arranged in control box；
Described temperature adjustment knob and temperature display may be contained within controlling box top；
Dismounting handle it is additionally provided with on the outer wall of described crust of the device；
Described heating and thermal insulation sheath is tubular construction, and is arranged in the cylinder of crust of the device；
Described electrical heating wire is embedded in insulation sheath；
Described elastic shrinkage band is around the outside being arranged on heating and thermal insulation sheath；
Described temperature sensor is arranged at the inner side of heating and thermal insulation sheath；
Described temperature controller is aobvious with temperature sensor, electrical switch, temperature adjustment knob and temperature respectively
Display screen electrically connects；
Described accumulator is the temperature controller of transfusion temperature supervising device, temperature sensing by power supply plug cord
Device, temperature adjustment knob and temperature display are powered；
Described temperature controller controls the break-make of supply line between electrical heating wire and accumulator by electrical switch；
Described transfusion temperature supervising device is set on infusion set, and heating and thermal insulation sheath is wrapped in cylinder
On the outer wall of cavity；
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.
The transfusion temperature supervising device of the present invention in use, can directly be set in the circular cylindrical cavity of infusion set
Outer wall on；Simultaneously because the effect of elastic shrinkage band, heating and thermal insulation sheath is tightly wrapped in circular cylindrical cavity
On outer wall；When carrying out temperature control, first by temperature adjustment knob design temperature and real by temperature display display
Shi Wendu；Temperature controller uses pulse square wave to control disconnection and the Guan Bi of electrical switch, thus controls electrical heating
Circuit connected state between silk and accumulator；Temperature sensor Real-time Feedback temperature to temperature controller, thus
Realize heated at constant temperature.
The overall diameter of described crust of the device is less than the annular diameters of annular cavity outer wall；So that dress
Put shell to be just enclosed between circular cylindrical cavity and annular cavity.
The present inventor's robot ambulation control method i.e. ultrasound wave of infusing follows the control method of carriage walking:
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.
Medicinal intelligent 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 temperature supervising device；
Described transfusion temperature supervising device include crust of the device, control box, temperature controller, temperature sensor,
Electrical switch, temperature adjustment knob, temperature display, electrical heating wire, heating and thermal insulation sheath, elastic shrinkage band
And power supply plug cord；
Described crust of the device is columnar structured；
The described box that controls is arranged on the outer wall of crust of the device, and at crust of the device inwall corresponding to controlling box
Installed position is provided with thermal insulation layer；
Described temperature controller and electrical switch are arranged in control box；
Described temperature adjustment knob and temperature display may be contained within controlling box top；
Dismounting handle it is additionally provided with on the outer wall of described crust of the device；
Described heating and thermal insulation sheath is tubular construction, and is arranged in the cylinder of crust of the device；
Described electrical heating wire is embedded in insulation sheath；
Described elastic shrinkage band is around the outside being arranged on heating and thermal insulation sheath；
Described temperature sensor is arranged at the inner side of heating and thermal insulation sheath；
Described temperature controller is aobvious with temperature sensor, electrical switch, temperature adjustment knob and temperature respectively
Display screen electrically connects；
Described accumulator is the temperature controller of transfusion temperature supervising device, temperature sensing by power supply plug cord
Device, temperature adjustment knob and temperature display are powered；
Described temperature controller controls the break-make of supply line between electrical heating wire and accumulator by electrical switch；
Described transfusion temperature supervising device is set on infusion set, and heating and thermal insulation sheath is wrapped in cylinder
On the outer wall of cavity；
Wherein, described remote controller, remote wireless communications module use smart mobile phone to realize.
Claims (2)
1. medicinal intelligent robot based on Internet of Things, it is characterised in that include that ultrasound wave follows dolly, drip stand, infusion set, bracelet, terminal control system 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 includes 4 ultrasound wave receiver modules, terminal controller, motor drive module, left 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 controls left motor and right electric motor starting, stopping and rotating speed by motor drive module；
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 electrically connect 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 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 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 annular cavity bottom surface altogether, 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, and infusion hole is provided with rubber closure；
Described infusion set also includes 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, and the other 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, and in 8 rubber closures of the lower surface being inserted respectively into described annular cavity, the outfan of 8 bottle plug puncture units is converged by flexible pipe and forms an outfan；
Stop member is set near the input port of described bottle plug puncture unit, and the size of 8 bottle plug puncture units is identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume Y1cm of annular cavity3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion temperature supervising device；
Described transfusion temperature supervising device includes crust of the device, controls box, temperature controller, temperature sensor, electrical switch, temperature adjustment knob, temperature display, electrical heating wire, heating and thermal insulation sheath, elastic shrinkage band and power supply plug cord；
Described crust of the device is columnar structured；
The described box that controls is arranged on the outer wall of crust of the device, and is provided with thermal insulation layer at crust of the device inwall corresponding to the installed position controlling box；
Described temperature controller and electrical switch are arranged in control box；
Described temperature adjustment knob and temperature display may be contained within controlling box top；
Dismounting handle it is additionally provided with on the outer wall of described crust of the device；
Described heating and thermal insulation sheath is tubular construction, and is arranged in the cylinder of crust of the device；
Described electrical heating wire is embedded in insulation sheath；
Described elastic shrinkage band is around the outside being arranged on heating and thermal insulation sheath；
Described temperature sensor is arranged at the inner side of heating and thermal insulation sheath；
Described temperature controller electrically connects with temperature sensor, electrical switch, temperature adjustment knob and temperature display respectively；
Described accumulator is that the temperature controller of transfusion temperature supervising device, temperature sensor, temperature adjustment knob and temperature display are powered by power supply plug cord；
Described temperature controller controls the break-make of supply line between electrical heating wire and accumulator by electrical switch；
Described transfusion temperature supervising device is set on infusion set, and heating and thermal insulation sheath is wrapped on the outer wall of circular cylindrical cavity.
Medicinal intelligent robot based on Internet of Things the most according to claim 2, it is characterised in that described remote controller, remote wireless communications module use smart mobile phone to realize.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610723842.9A CN106310431A (en) | 2016-06-14 | 2016-06-14 | Medical intelligent robot based on Internet of Things |
| CN201610737980.2A CN106237427A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot ambulation control method based on Internet of Things |
| CN201610737936.1A CN106237426A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot system based on Internet of Things |
| CN201610723347.8A CN106075645A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot system based on Internet of Things |
| CN201610416441.9A CN105879148A (en) | 2016-06-14 | 2016-06-14 | IoT (Internet of Things)-based medical intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416441.9A CN105879148A (en) | 2016-06-14 | 2016-06-14 | IoT (Internet of Things)-based medical intelligent robot |
Related Child Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610737936.1A Division CN106237426A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot system based on Internet of Things |
| CN201610737980.2A Division CN106237427A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot ambulation control method based on Internet of Things |
| CN201610723842.9A Division CN106310431A (en) | 2016-06-14 | 2016-06-14 | Medical intelligent robot based on Internet of Things |
| CN201610723347.8A Division CN106075645A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot system based on Internet of Things |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105879148A true CN105879148A (en) | 2016-08-24 |
Family
ID=56730559
Family Applications (5)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610723842.9A Withdrawn CN106310431A (en) | 2016-06-14 | 2016-06-14 | Medical intelligent robot based on Internet of Things |
| CN201610416441.9A Pending CN105879148A (en) | 2016-06-14 | 2016-06-14 | IoT (Internet of Things)-based medical intelligent robot |
| CN201610737980.2A Pending CN106237427A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot ambulation control method based on Internet of Things |
| CN201610737936.1A Pending CN106237426A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot system based on Internet of Things |
| CN201610723347.8A Withdrawn CN106075645A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot system based on Internet of Things |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610723842.9A Withdrawn CN106310431A (en) | 2016-06-14 | 2016-06-14 | Medical intelligent robot based on Internet of Things |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610737980.2A Pending CN106237427A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot ambulation control method based on Internet of Things |
| CN201610737936.1A Pending CN106237426A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot system based on Internet of Things |
| CN201610723347.8A Withdrawn CN106075645A (en) | 2016-06-14 | 2016-06-14 | Medicinal intelligent robot system based on Internet of Things |
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| Country | Link |
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| CN (5) | CN106310431A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106237445A (en) * | 2016-08-25 | 2016-12-21 | 李辉 | Robot automatic system for monitoring transfusion |
| US11583597B2 (en) | 2019-03-15 | 2023-02-21 | Ecolab Usa Inc. | Reducing microbial growth on food preparation, storage, or processing apparatus |
| US11819581B2 (en) | 2019-07-03 | 2023-11-21 | Ecolab Usa Inc. | Touch screen display surface sanitization using antimicrobial light |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107823754A (en) * | 2017-11-27 | 2018-03-23 | 钱昱昭 | One kind transfusion intelligent management system |
| CN109186778A (en) * | 2018-09-30 | 2019-01-11 | 深圳和呈睿国际技术有限公司 | Heat source reminding method, system, readable storage medium storing program for executing and company robot |
| CN109893706A (en) * | 2019-04-15 | 2019-06-18 | 黄娉 | A kind of medical robot that may span across step for assisted transfusion |
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- 2016-06-14 CN CN201610723842.9A patent/CN106310431A/en not_active Withdrawn
- 2016-06-14 CN CN201610416441.9A patent/CN105879148A/en active Pending
- 2016-06-14 CN CN201610737980.2A patent/CN106237427A/en active Pending
- 2016-06-14 CN CN201610737936.1A patent/CN106237426A/en active Pending
- 2016-06-14 CN CN201610723347.8A patent/CN106075645A/en not_active Withdrawn
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| CN103816582A (en) * | 2012-10-10 | 2014-05-28 | 葛锋 | Integrated digital transfusion apparatus and transfusion monitoring and management method thereof |
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| CN106237445A (en) * | 2016-08-25 | 2016-12-21 | 李辉 | Robot automatic system for monitoring transfusion |
| US11583597B2 (en) | 2019-03-15 | 2023-02-21 | Ecolab Usa Inc. | Reducing microbial growth on food preparation, storage, or processing apparatus |
| US11819581B2 (en) | 2019-07-03 | 2023-11-21 | Ecolab Usa Inc. | Touch screen display surface sanitization using antimicrobial light |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106075645A (en) | 2016-11-09 |
| CN106310431A (en) | 2017-01-11 |
| CN106237426A (en) | 2016-12-21 |
| CN106237427A (en) | 2016-12-21 |
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