CN106880891B - Robot with intravenous injection function - Google Patents
Robot with intravenous injection function Download PDFInfo
- Publication number
- CN106880891B CN106880891B CN201710041168.0A CN201710041168A CN106880891B CN 106880891 B CN106880891 B CN 106880891B CN 201710041168 A CN201710041168 A CN 201710041168A CN 106880891 B CN106880891 B CN 106880891B
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- injection
- clamping
- degree
- setting
- freedom manipulator
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- 238000010253 intravenous injection Methods 0.000 title claims abstract description 11
- 238000002347 injection Methods 0.000 claims abstract description 66
- 239000007924 injection Substances 0.000 claims abstract description 66
- 239000003708 ampul Substances 0.000 claims abstract description 55
- 239000007788 liquid Substances 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 claims description 17
- 238000009527 percussion Methods 0.000 claims description 9
- 210000003462 vein Anatomy 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000010079 rubber tapping Methods 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 5
- 239000003814 drug Substances 0.000 description 8
- 229940079593 drug Drugs 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 239000000243 solution Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000017531 blood circulation Effects 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 239000003085 diluting agent Substances 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 206010073310 Occupational exposures Diseases 0.000 description 1
- 241000256856 Vespidae Species 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000003013 cytotoxicity Effects 0.000 description 1
- 231100000135 cytotoxicity Toxicity 0.000 description 1
- 238000009510 drug design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000013002 intravenous (IV) drug Substances 0.000 description 1
- 239000002906 medical waste Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 231100000675 occupational exposure Toxicity 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
- A61J1/2096—Combination of a vial and a syringe for transferring or mixing their contents
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Vascular Medicine (AREA)
- Pharmacology & Pharmacy (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The present invention relates to the robots with intravenous injection function, it includes the rack for placing ampoule bottle, the clamping six degree of freedom manipulator that rack side is set and is rotated by 360 °, ampoule bottle clamp device on clamping six degree of freedom manipulator is set, clamping 90 ° of sides of six degree of freedom manipulator and the knocking device for opening the ampoule body on ampoule bottle clamp device are set, clamping 180 ° of sides of six degree of freedom manipulator and the dustbin for placing broken ampoule body are set, the injection rack of clamping 270 ° of sides of six degree of freedom manipulator is set, it is arranged in injection rack and for taking liquid to be vented from ampoule body and the injection device to human injection and injection rack side being arranged in and for placing the handrail device of arm.
Description
Technical field
The present invention relates to the robots with intravenous injection function.
Background technique
Currently, robot is the machinery simulated human behavior or thought or simulate other biological, it is that integration is mechanical, electric
The technology in the fields such as son, information, industrial design.Robot is widely used in various fields at present, especially high-risk,
The high work of high burden, fine, repeatability, such as manufacturing production line produce product using industrial robot.
In hospitality industry, ninety percent or more PIVAS nurse breaks ampoule bottle in hand, separation syringe, the used syringe needle of disposition, pulls out
All occurred different degrees of hand incised wound when needle.Since such drug mostly has cytotoxicity, even if safeguard procedures are tight again,
Still there are the danger of occupational exposure by staff, vulnerable to the murder by poisoning of drug, cause no small hidden danger to the health of worker,
It is configured in traditional chemotherapeutics configuration using machine, protects the safety of medical staff and patient, further increase curative effect, machine
Device people has accomplished this point well.
How to provide it is a kind of can inject drug, make up a prescription, reach the machine of the intravenous injection function of complete human machine separation
Device people becomes technical problem urgently to be solved.
Summary of the invention
The invention employs diluent adjustment powdered drug for allowing robot that can automatically turn on ampoule bottle certainly, automatic to take out
Quantitative ampule medicinal liquid is inhaled, clinical waste is put into special container automatically, without repeatedly puncturing, prevents drug cross-infection from allowing to use
Family priority processing is promptly made up a prescription, and adjust automatically is made up a prescription sequentially, and closed environment handles configuration process；It is also possible that making up a prescription every time all
There is complete documentation for retrospect, avoids medical trouble.
For above content, the technical problems to be solved by the invention be generally speaking to provide it is a kind of design rationally, cost
It is cheap, durable, safe and reliable, easy to operate, time saving and energy saving, save fund, it is compact-sized and it is easy to use have it is quiet
The robot of arteries and veins function of injection；The technical issues of solving in detail and acquirement beneficial effect in aftermentioned content and combine specific real
Content in mode is applied to specifically describe.
To solve the above problems, the technical solution used in the present invention is:
A kind of robot with intravenous injection function is arranged including the rack for placing ampoule bottle in rack side
And be rotated by 360 ° clamping six degree of freedom manipulator, be arranged in clamping six degree of freedom manipulator on ampoule bottle clamp device, set
It sets in clamping 90 ° of sides of six degree of freedom manipulator and the percussion for opening the ampoule body on ampoule bottle clamp device fills
It sets, clamping 180 ° of sides of six degree of freedom manipulator is set and the dustbin for placing broken ampoule body, setting are clamping
The injection rack of 270 ° of sides of six degree of freedom manipulator, setting in injection rack and are used to take liquid exhaust from ampoule body simultaneously
Injection device to human injection and injection rack side and the handrail device for placing arm are set.
As a further improvement of the above technical scheme:
Ampoule bottle clamp device includes the fixing clamp being arranged on clamping six degree of freedom manipulator, work corresponding with fixing clamp
Dynamic folder is separately positioned on the clamping on fixing clamp side pressed from both sides, be arranged on movable folder/fixing clamp with the arc on activity folder side
Cylinder and the guide rod being arranged on fixing clamp；Clamping cylinder drive activity folder on the guide bar far from or close to fixing clamp,
The arc folder of fixing clamp forms blind hole slot or clear opening for clamping ampoule body with the arc folder of activity folder.
Knocking device include tap six degree of freedom manipulator, be arranged in tap six degree of freedom manipulator on percussion cylinder,
The percussion bar for tapping cylinder head portions is set, and percussion bar is corresponding with the neck for the ampoule body that ampoule bottle clamp device clamps, and strikes
Bar is hit to shoot down the glass of the neck upper end of ampoule body in dustbin.
Injection device includes that the injection six degree of freedom manipulator injected in rack is arranged in bottom, setting is injecting six freely
The injection head device that the inclined-plane swivel head and tail portion for spending robot end are connect with inclined-plane swivel head；
Injection head device includes injection head frame, is arranged on injection head frame and clamps the clamping of syringe by frictional force
Hole, be arranged on injection head frame and for detect in inverted syringe whether bladdery ultrasonic bubble detector, be used for
The lever manipulator of the needle core tail portion of radial clamping syringe, push the clamping handle cylinder of lever manipulator for axial and
The injection electric linear push rod on injection head frame and lever manipulator being driven to be axially moved is set；
The infrared ray and ultrasonic imaging system for detecting vein are provided in injection rack.
The spin canting of inclined-plane swivel head is 45 °.
The bottom surface of syringe is to the inclined bottom incline in pin hole position.
The beneficial effects of adopting the technical scheme are that
In order to solve robot identification vein blood vessel, infrared ray and ultrasonic imaging system are added in traditional robot.
Robot first pushes down the arm of subject, restricts his blood flow slightly, also allows vein a little prominent.At this moment it is issued infrared
Line finds vein in the arm part bit scan of people.Ultrasonic scanning is also used simultaneously, confirms that needle point will be stabbed with " dual fail-safe "
Into blood vessel, without arm to be bundled into " hornet's nest ".In addition, blood flow is detected plus accurately analysis software, to find down
The blood vessel of needle.Machine will adjust syringe needle and be inserted into accurate position and depth later, inject drug.
Ampoule bottle is automatically turned on using the robotic arm in robot while being employed diluent adjustment powdered drug certainly and being taken out
Inhale quantitative ampule medicinal liquid, drug ampoule bottle is discarded after being finished and puts into accommodating container, while using infrared ray and ultrasonic wave at
As system finds intravenous (IV) drug.
Beneficial effects of the present invention description without being limited thereto, in order to preferably be easy to understand, specific embodiment part into
More preferably detailed description is gone.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of ampoule bottle clamp device of the present invention.
Fig. 3 is the structural schematic diagram of knocking device of the present invention.
Fig. 4 is the exhaust structure schematic diagram of injection device of the present invention.
Fig. 5 is that injection device of the present invention takes liquid structural schematic diagram.
Fig. 6 is the injection structure schematic diagram of injection device of the present invention.
Wherein: 1, clamping six degree of freedom manipulator；2, ampoule bottle clamp device；3, knocking device；4, dustbin；5, it injects
Rack；6, injection device；7, handrail device；8, fixing clamp；9, activity folder；10, arc presss from both sides；11, clamping cylinder；12, guide rod；
13, six degree of freedom manipulator is tapped；14, cylinder is tapped；15, bar is tapped；16, ampoule body；17, injection six degree of freedom is mechanical
Hand；18, inclined-plane swivel head；19, injection head device；20, injection head frame；21, holes for clamping；22, syringe；23, bottom incline；
24, ultrasonic bubble detector；25, electric linear push rod is injected；26, lever manipulator；27, clamping handle cylinder；28, infrared ray
And ultrasonic imaging system.
Specific embodiment
As shown in figures 1 to 6, the robot with intravenous injection function of the present embodiment, including the platform for placing ampoule bottle
Frame, the clamping six degree of freedom manipulator 1 that rack side is arranged in and is rotated by 360 °, setting are on clamping six degree of freedom manipulator 1
Ampoule bottle clamp device 2, clamping 190 ° of sides of six degree of freedom manipulator are set and for will be on ampoule bottle clamp device 2
The knocking device 3 of the opening of ampoule body 16, setting in clamping 1180 ° of sides of six degree of freedom manipulator and are used to place broken ampoule
The dustbin 4 of bottle body 16, the injection rack 5 that clamping 1270 ° of sides of six degree of freedom manipulator are arranged in, setting are in injection rack 5
Above and for taking liquid to be vented and to the injection device of human injection 6 and setting in injection 5 side of rack from ampoule body 16
And the handrail device 7 for placing arm.
Ampoule bottle clamp device 2 includes the fixing clamp 8, corresponding with fixing clamp 8 being arranged on clamping six degree of freedom manipulator 1
Activity folder 9, be separately positioned on it is fixed in activity folder 9/ with the arc folder 10 on 9 sides of activity folder, setting on 8 side of fixing clamp
The guide rod 12 for pressing from both sides the clamping cylinder 11 on 8 and being arranged on fixing clamp 8；11 drive activity of clamping cylinder folder 9 is in guide rod
Far from or close to fixing clamp 8 on 12, the arc folder 10 of fixing clamp 8 and 10 composition of arc folder of activity folder 9 are for clamping ampoule bottle
The blind hole slot or clear opening of body 16.
Knocking device 3 includes tapping six degree of freedom manipulator 13, the percussion tapped on six degree of freedom manipulator 13 being arranged in
The percussion bar 15 for tapping 14 end of cylinder is arranged in cylinder 14, taps the ampoule body that bar 15 and ampoule bottle clamp device 2 clamp
16 neck is corresponding, taps bar 15 and shoots down the glass of the neck upper end of ampoule body 16 in dustbin 4.
Injection device 6 includes that the injection six degree of freedom manipulator 17 injected in rack 5, setting is arranged in injection six in bottom
The injection head device 19 that the inclined-plane swivel head 18 of 17 end of free degree manipulator and tail portion are connect with inclined-plane swivel head 18；
Injection head device 19 includes injection head frame 20, is arranged on injection head frame 20 and clamps syringe 22 by frictional force
Holes for clamping 21, be arranged on injection head frame 20 and for detect in inverted syringe 22 whether bladdery ultrasonic bubble
Detector 24 is pushed for the lever manipulator 26 of the radial needle core tail portion for clamping syringe 22, for axial by lever machinery
The clamping handle cylinder 27 of hand 26 and it is arranged on injection head frame 20 and the injection for driving lever manipulator 26 to be axially moved is electronic
Line handspike 25；
The infrared ray and ultrasonic imaging system 28 for detecting vein are provided in injection rack 5.
The spin canting of inclined-plane swivel head 18 is 45 °.
The bottom surface of syringe 22 is to the inclined bottom incline 23 in pin hole position.
When using the present invention, six degree of freedom manipulator is very common mechanism, be briefly exactly multiple motors with it is multiple
The combination of Linear motor-driven push rod.Clamping six degree of freedom manipulator 1 drives ampoule bottle clamp device 2 to be moved to above rack, clamps
Ampoule body 16 on rack is set with by 11 drive activity of cylinder folder 9 far from fixing clamp 8, is then driven by clamping cylinder 11
Activity folder 9 realizes the clamping to ampoule body 16 close to fixing clamp 8, by arc folder 10, can install rubber pad etc. wherein,
Increase frictional force, realizes crawl ampoule body 16.90 ° are rotated by clamping six degree of freedom manipulator 1, striking on knocking device 3
Six degree of freedom manipulator 13 is hit according to ready-made program, drives percussion bar 15 to open ampoule body 16 by tapping cylinder 14, glass
Glass slag falls into dustbin 4；It is rotated by 90 ° again, starts to take liquid process, when taking liquid to finish, rotated by clamping six degree of freedom manipulator 1
90 °, (also can be reversed 90 °) unclamps clamping cylinder 11, and broken ampoule body 16 falls into dustbin 4, passes through telescopic arm certainly
Cooperation, dustbin 4 can be made far from workspace.
Holes for clamping 21 clamps syringe 22, certainly more preferable using 16 fastening of ampoule body by frictional fit, lever
Manipulator 26 is radially adjacent to needle core caudal peduncle, to hold caudal peduncle, realizes axial grip tail as clamping handle cylinder 27 is preferably passed through
Handle, prevents axial float, and 17 lever manipulator 26 of rotary injection six degree of freedom manipulator realizes that syringe 22 is inverted, passes through injection
Electric linear push rod 25 pushes needle core, and bubble is discharged, by bottom incline 23 bubble is preferably pooled at needle mouth, passes through
Ultrasonic bubble detector 24 feeds back bubble information, so that preferably drained bubble, passes through (the similar boring and milling head outer of inclined-plane swivel head 18
Structure) rotation 45 ° make syringe become horizontal direction, pass through infrared ray and 28 dual fail-safe of ultrasonic imaging system induction search
Vein, or vein is manually found, by process control, coordinate is defined on a position of needle point or syringe, injection six is certainly
It drives syringe to penetrate by degree manipulator 17, pushes needle core to realize injection by injection electric linear push rod 25, inject electronic straight
The control of line push rod is accurate, and invention replaces nurse's injections, realizes slowly injection by speed regulation, prevents from pricking wrong position, reduce
The labor burden of nurse.
The present invention has rational design, it is low in cost, durable, safe and reliable, easy to operate, time saving and energy saving, save fund,
It is compact-sized and easy to use.
It is to disclose in order to more clear, and the prior art is not just being enumerated that the present invention, which fully describes,.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；Make
It is obvious for being combined for those skilled in the art to multiple technical solutions of the invention.And these are modified or replace
It changes, the spirit and scope for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (4)
1. a kind of robot with intravenous injection function, it is characterised in that: including the rack for placing ampoule bottle, setting exists
The ampoule of rack side and the clamping six degree of freedom manipulator (1) being rotated by 360 °, setting in clamping six degree of freedom manipulator (1)
Bottle clamp device (2), setting are in clamping (1) 90 ° of side of six degree of freedom manipulator and for will be on ampoule bottle clamp device (2)
The knocking device (3) of ampoule body (16) opening, setting in clamping (1) 180 ° of side of six degree of freedom manipulator and are used to place brokenly
The dustbin (4) of broken ampoule body (16), setting are clamping the injection rack (5) of (1) 270 ° of side of six degree of freedom manipulator, are setting
Set in injection rack (5) and for take from ampoule body (16) liquid be vented and to the injection device of human injection (6) and
Handrail device (7) injecting rack (5) side and for placing arm is set；
Knocking device (3) includes tapping six degree of freedom manipulator (13), setting striking in percussion six degree of freedom manipulator (13)
Cylinder (14), setting are hit in the percussion bar (15) for tapping cylinder (14) end, bar (15) and ampoule bottle clamp device (2) is tapped and presss from both sides
The neck for the ampoule body (16) held is corresponding, taps bar (15) for the glass of the neck upper end of ampoule body (16) and shoots down rubbish
In case (4)；
Injection device (6) includes that bottom setting is injecting the injection six degree of freedom manipulator (17) on rack (5), is being arranged and injecting
The injection head dress that the inclined-plane swivel head (18) of six degree of freedom manipulator (17) end and tail portion are connect with inclined-plane swivel head (18)
Set (19)；
Injection head device (19) includes injection head frame (20), is arranged on injection head frame (20) and clamps syringe by frictional force
(22) whether holes for clamping (21), setting are on injection head frame (20) and bladdery in inverted syringe (22) for detecting
Ultrasonic bubble detector (24), is used for axis at the lever manipulator (26) that the needle core tail portion of syringe (22) is clamped for radial direction
On injection head frame (20) and drive lever mechanical in the clamping handle cylinder (27) of lever manipulator (26) and setting to promotion
The injection electric linear push rod (25) that hand (26) is axially moved；
The infrared ray and ultrasonic imaging system (28) for detecting vein are provided in injection rack (5).
2. the robot with intravenous injection function according to claim 1, it is characterised in that: ampoule bottle clamp device
(2) fixing clamp (8) including setting in clamping six degree of freedom manipulator (1), activity corresponding with fixing clamp (8) are pressed from both sides (9), are divided
(10), setting She Zhi not be pressed from both sides with the arc on activity folder (9) side on fixing clamp (8) side press from both sides (9)/fixing clamp in activity
(8) guide rod (12) of clamping cylinder (11) and setting on fixing clamp (8) on；Clamping cylinder (11) drive activity folder
(9) far from or close to fixing clamp (8) on guide rod (12), the arc folder (10) of fixing clamp (8) and the arc of activity folder (9) are pressed from both sides
(10) the blind hole slot or clear opening for clamping ampoule body (16) are formed.
3. the robot with intravenous injection function according to claim 1, it is characterised in that: inclined-plane swivel head (18)
Spin canting is 45 °.
4. the robot with intravenous injection function according to claim 3, it is characterised in that: the bottom surface of syringe (22)
For to the inclined bottom incline in pin hole position (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041168.0A CN106880891B (en) | 2017-01-20 | 2017-01-20 | Robot with intravenous injection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041168.0A CN106880891B (en) | 2017-01-20 | 2017-01-20 | Robot with intravenous injection function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106880891A CN106880891A (en) | 2017-06-23 |
| CN106880891B true CN106880891B (en) | 2019-07-02 |
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ID=59175758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710041168.0A Active CN106880891B (en) | 2017-01-20 | 2017-01-20 | Robot with intravenous injection function |
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| Country | Link |
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| CN (1) | CN106880891B (en) |
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| CN109498914B (en) * | 2019-01-21 | 2024-05-24 | 河南埃尔森智能科技有限公司 | Automatic intravenous injection system based on 3D vision guidance and injection method thereof |
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| CN113041456B (en) * | 2021-03-04 | 2022-11-25 | 深圳市天道医药有限公司 | Emergency syringe |
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| WO2022253450A1 (en) * | 2021-06-01 | 2022-12-08 | Orefice Sergio Enrico | Booth for the automated administration of a medication by intramuscular injection or the like |
| IT202100027677A1 (en) * | 2021-10-28 | 2023-04-28 | Samuele Innocenti | MACHINERY FOR MAKING INJECTIONS |
| CN117752899A (en) * | 2021-11-04 | 2024-03-26 | 中国计量大学 | A human vaccine injection system and injection method based on a needleless automatic injector |
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| CN106880891A (en) | 2017-06-23 |
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Address after: 518000 Guangdong, Shenzhen, Baoan District, Baoan District Air Town Street Development Area, 2A, building 4 and 4, 4 Patentee after: SHENZHEN YYD ROBO Co.,Ltd. Address before: 518061 1002E room, building C, 5 software industry base, Xuefu Road, Shenzhen, Guangdong, Nanshan District Patentee before: SHENZHEN QIANHAI YONGYIDA ROBOT Co.,Ltd. |
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