CN106955393B - Automatic liquid changing control method and device and automatic infusion robot - Google Patents

Automatic liquid changing control method and device and automatic infusion robot Download PDF

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Publication number
CN106955393B
CN106955393B CN201710282297.9A CN201710282297A CN106955393B CN 106955393 B CN106955393 B CN 106955393B CN 201710282297 A CN201710282297 A CN 201710282297A CN 106955393 B CN106955393 B CN 106955393B
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China
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infusion
infusion bottle
control
manipulator
bottle
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CN106955393A (en
Inventor
宦海祥
凌福林
詹月林
李京京
宦博文
曾勇
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Yancheng Institute of Technology
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Yancheng Institute of Technology
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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
    • A61M5/142—Pressure infusion, e.g. using pumps
    • 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
    • A61M5/1407—Infusion of two or more substances
    • A61M5/1409—Infusion of two or more substances in series, e.g. first substance passing through container holding second substance, e.g. reconstitution systems
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with 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
    • A61M5/142—Pressure infusion, e.g. using pumps
    • A61M2005/14208—Pressure infusion, e.g. using pumps with a programmable infusion control system, characterised by the infusion program
    • 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

Abstract

The embodiment of the invention provides an automatic liquid changing control method and device, and the method comprises the steps of receiving a liquid level position in a first infusion bottle sent by a detection device, judging whether the liquid level position is lower than a first preset value or not, if the liquid level position is lower than the first preset value, sending a first control command to an infusion device to control a parallel air claw to pull a needle head out of the first infusion bottle, opening a clamping part for fixing the first infusion bottle, sending a second control command to a manipulator to control the manipulator to grasp the first infusion bottle positioned on the opened clamping part and then place the first infusion bottle at a preset position, grasping a second infusion bottle positioned on a placing table and placing the second infusion bottle on the clamping part, sending a third control command to the infusion device to close the clamping part with the second infusion bottle, and controlling the parallel air claw to insert the needle head into the second infusion bottle. The invention can realize the automatic and intelligent control of the infusion and liquid changing processes, reduce the workload of medical personnel and improve the safety of the infusion process.

Description

Automatic liquid changing control method and device and automatic infusion robot
Technical Field
The invention relates to the technical field of medical equipment, in particular to an automatic liquid changing control method and device and an automatic infusion robot.
Background
According to investigation, in the medical treatment process of China, billions of hanging bottles are required on average every year, namely, the large infusion amount of eight bottles per person is average, so that many hospital infusion halls are often full of patients and nurses have insufficient staff, but the conventional infusion device is lack of intellectualization and informatization, so that patients cannot be perfectly cared for infusion, and many medical disputes occur. Therefore, it is necessary to provide an automatic fluid changing control device in the medical industry.
Disclosure of Invention
In view of the above, the invention provides an automatic liquid changing control method and device and an automatic infusion robot, which can realize automatic monitoring of an infusion process and automatic and intelligent replacement of infusion bottles, effectively improve the working efficiency of medical staff and ensure the safety of patients.
The preferred embodiment of the invention provides an automatic liquid changing control method, which is applied to an automatic liquid changing control device and comprises the following steps:
receiving the liquid level position in the first infusion bottle sent by the detection device;
judging whether the liquid level position is lower than a first preset value or not, if so, sending a first control instruction to the infusion device to control the parallel gas claw to pull out the needle head from the first infusion bottle, and opening a clamping part for fixing the first infusion bottle;
sending a second control instruction to the manipulator to control the manipulator to grab the first infusion bottle on the opened clamping part and then place the first infusion bottle at a preset position, and then grab the second infusion bottle on the object placing table and place the second infusion bottle on the clamping part;
and sending a third control instruction to the infusion device to close the clamping part with the second infusion bottle, and controlling the parallel pneumatic claws to insert the needle head into the second infusion bottle.
Further, the step of grabbing the second infusion bottle on the object placing table and placing the second infusion bottle on the clamping part comprises the following steps:
controlling the manipulator to grab the second infusion bottle and inverting the second infusion bottle;
controlling the manipulator to shake according to a preset frequency so as to uniformly mix the liquid medicine in the second infusion bottle;
and judging whether the shaking time is equal to the preset time, and if so, controlling the manipulator to place the second infusion bottle on the clamping part.
Further, the method further comprises:
acquiring and storing the number of infusion bottles to be infused to serve as the number of pre-stored infusion bottles;
and detecting and recording the grabbing times of the manipulator for grabbing the infusion bottles, judging whether the number of the pre-stored infusion bottles is equal to the grabbing times, and if so, not sending a first control instruction to the infusion device.
Further, when the grabbing times are equal to the number of pre-stored infusion bottles, the method further comprises the following steps:
and judging whether the liquid level position is lower than a second preset value, if so, sending a fourth control instruction to the infusion device so as to control a clamp positioned on the infusion tube to clamp the infusion tube, and sending alarm information to the medical care terminal.
Further, after grabbing a second infusion bottle on the stand, the method further comprises:
and sending a fifth control instruction to the object placing table, so that the object placing table rotates by a preset angle by taking the upright column as an axis.
The preferred embodiment of the present invention further provides an automatic liquid changing control device, which is applied to an automatic infusion robot, wherein the automatic liquid changing control device is respectively connected with a detection device, an infusion device, a manipulator and a placement table, and the automatic liquid changing control device comprises:
the receiving module is used for receiving the liquid level position in the first infusion bottle sent by the detection device;
the first control module is used for judging whether the liquid level position is lower than a first preset value or not, and if the liquid level position is lower than the first preset value, sending a first control instruction to the infusion device to control the parallel gas claw to pull out the needle head from the first infusion bottle and open a clamping part for fixing the first infusion bottle;
the second control module is used for sending a second control instruction to the manipulator so as to control the manipulator to grab the first infusion bottle on the opened clamping part, place the first infusion bottle at a preset position, grab the second infusion bottle on the object placing table and place the second infusion bottle on the clamping part;
and the third control module is used for sending a third control instruction to the infusion device so as to close the clamping part where the second infusion bottle is placed and controlling the parallel pneumatic claws to insert the needle head into the second infusion bottle.
Further, the second control module includes:
the inversion control submodule is used for controlling the manipulator to grab the second infusion bottle and invert the second infusion bottle;
the frequency control submodule is used for controlling the manipulator to shake according to a preset frequency so as to uniformly mix the liquid medicine in the second infusion bottle;
the judgment submodule is used for judging whether the shaking time is equal to the preset time or not, and if the shaking time is equal to the preset time, the manipulator is controlled to place the second infusion bottle on the clamping part;
further, the automatic liquid changing control device further comprises:
the storage module is used for acquiring and storing the number of infusion bottles to be infused so as to serve as the number of pre-stored infusion bottles;
the judgment module is used for detecting and recording the grabbing times of the manipulator grabbing infusion bottles, judging whether the number of the prestored infusion bottles is equal to the grabbing times, and if so, not sending a first control instruction to the infusion device;
the judging module is further used for judging whether the liquid level position is lower than a second preset value when the grabbing times are equal to the number of pre-stored infusion bottles, and if the liquid level position is lower than the second preset value, sending a fourth control instruction to the infusion device to control the clamp on the infusion tube to clamp the infusion tube and send alarm information to the medical care terminal.
Further, the automatic liquid changing control device further comprises:
and the angle control submodule is used for sending a fifth control instruction to the object placing table, so that the object placing table rotates by taking the upright column as an axis at a preset angle.
The invention also provides an automatic transfusion robot, which comprises an automatic liquid changing control device, a detection device, a transfusion device, a manipulator and a storage table;
the detection device is used for detecting the liquid level position in the first infusion bottle and sending the liquid level position to the automatic liquid changing control device;
the automatic liquid changing control device is used for judging whether the liquid level position is lower than a first preset value or not according to the received liquid level position, if so, sending a first control instruction or a third control instruction to the liquid conveying device, sending a second control instruction to the manipulator, and sending a fifth control instruction to the object placing table;
the infusion device is used for controlling the parallel gas claw to pull out the needle head from the first infusion bottle according to the received first control instruction and opening a clamping part for fixing the first infusion bottle; and
closing the clamping part with a second infusion bottle according to a received third control instruction, and controlling the parallel gas claw to insert the needle head into the second infusion bottle;
the manipulator is used for grabbing a first infusion bottle on the opened clamping part according to a received second control instruction, then placing the first infusion bottle at a preset position, and grabbing a second infusion bottle on the object placing table and placing the second infusion bottle on the clamping part;
the object placing table is used for placing a second infusion bottle and rotates by a preset angle by taking the upright post as an axis according to a received fifth control instruction.
The automatic liquid changing control method and device and the automatic infusion robot provided by the embodiment of the invention can realize automatic monitoring of the infusion process and automatic and intelligent replacement of an infusion bottle, improve the working efficiency of medical personnel and ensure the safety of patients.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a connection block diagram of an automatic infusion robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an automatic infusion robot according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of an automatic liquid-changing control method according to an embodiment of the present invention.
Fig. 4 is a sub-flow diagram of an automatic liquid-changing control method according to an embodiment of the present invention.
Fig. 5 is a schematic view of another sub-flow of an automatic liquid-changing control method according to an embodiment of the present invention.
Fig. 6 is a block diagram of module connections of an automatic liquid change control device according to an embodiment of the present invention.
Fig. 7 is a connection block diagram of sub-modules of an automatic liquid changing control device according to an embodiment of the present invention.
Icon: 10-automatic transfusion robot; 100-a detection device; 200-automatic liquid changing control device; 202-a receiving module; 204-a first control module; 206-a second control module; 2060-inversion control submodule; 2062-frequency control submodule; 2064-judge submodule; 208-a third control module; 210-an angle control module; 212-a storage module; 214-a determination module; 300-an infusion device; 310-a clamping portion; 312-a clamping member; 314-a conical cover; 320-parallel gas claw; 322-a piston rod; 324-a cylinder; 330-a clip; 340-a support frame; 350-a first infusion bottle; 360-infusion tube; 400-a manipulator; 410-a first robot arm; 420-a second robotic arm; 430-a grip; 500-a placement table; 510-concave stage; 520-a second infusion bottle; 600-a column; 610-base.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Referring to fig. 1 and fig. 2, a connection block diagram and a structure diagram of an automatic infusion robot 10 according to an embodiment of the present invention are shown. The automatic infusion robot 10 comprises an automatic liquid changing control device 200, a detection device 100, an infusion device 300, a manipulator 400, a placement platform 500 and a stand column 600, wherein the automatic liquid changing control device 200 is connected with the detection device 100, the infusion device 300, the manipulator 400 and the placement platform 500 respectively, and the automatic liquid changing control device 200, the detection device 100, the infusion device 300, the manipulator 400 and the placement platform 500 are arranged on the stand column 600 respectively.
Specifically, fig. 2 is a schematic structural diagram of the automatic infusion robot 10. The one end of stand 600 is provided with base 610, infusion set 300 set up in the other end of stand 600, infusion set 300 includes clamping part 310, parallel gas claw 320, clip 330, support frame 340, first infusion bottle 350 and transfer line 360, support frame 340 is located stand 600 is kept away from the one end of base 610, clamping part 310 set up in on the support frame 340, first infusion bottle 350 place in on the clamping part 310, the one end of transfer line 360 is provided with the syringe needle, transfer line 360 passes through the syringe needle inserts first infusion bottle 350, parallel gas claw 320 set up in on the syringe needle, clip 330 set up in on the transfer line 360. The infusion device 300 is used for pulling out the needle head of the first infusion bottle 350 through the parallel air claw 320 according to the received first control instruction, and opening the clamping part 310 for fixing the first infusion bottle 350; or the infusion apparatus 300 closes the holding part 310 where the second infusion bottle 520 is placed according to the received third control instruction, and controls the parallel gas claw 320 to insert the needle into the second infusion bottle 520.
Optionally, in this embodiment, the clamping portion 310 includes a conical cover 314 and a clamping member 312 disposed on the conical cover 314, and when an infusion bottle is placed in the conical cover 314, the infusion bottle is fixed in the conical cover 314 by the clamping member 312. It should be understood that the specific shape, material, size, etc. of the clamping portion 310 can be designed flexibly according to the actual situation.
Optionally, the parallel pneumatic claw 320 is used for clamping a needle to pull out or insert the needle into an infusion bottle during the replacement of the infusion bottle, in this embodiment, the parallel pneumatic claw 320 is connected to a piston rod 322 on a cylinder 324, and the piston rod 322 and the parallel pneumatic claw 320 connected to the piston rod 322 are driven to move by controlling the variation of the air pressure value in the cylinder 324, so as to realize the insertion and extraction of the needle. There are various ways to realize the insertion and extraction of the needle by the parallel pneumatic claw 320, and the specific implementation manner of the embodiment of the present invention is not limited thereto. The shape and size of the parallel gas claw 320 are not limited herein.
In order to prevent the backflow of blood and ensure the safety of the patient when the infusion of all the medical fluids is completed in practice, the infusion apparatus 300 solves the problem by the clamp 330 provided on the infusion tube 360, that is, the clamp 330 can clamp the infusion tube 360 according to the received fourth control command to stop the infusion.
Further, the detection device 100 is provided in the holding portion 310, and detects the liquid level position in the first infusion bottle 350 and sends the detected liquid level position to the automatic liquid change control device 200. Optionally, the detection device 100 for detecting the liquid level position in the first infusion bottle 350 may be implemented in various forms, for example, the detection device 100 may be a laser detection device 100 to detect the liquid level position by laser rays, and the embodiments of the present invention are not described herein again.
Further, the robot 400 is disposed on the column 600, wherein the robot 400 includes a first robot arm 410, a second robot arm 420, and a grip 430, one end of the first robot arm 410 is mounted on the column 600, the other end of the first robot arm 410 is connected to one end of the second robot arm 420, and the other end of the second robot arm 420 is connected to the grip 430. In this embodiment, the manipulator 400 grasps the first infusion bottle 350 positioned on the opened holding portion 310 and places the first infusion bottle 350 at a predetermined position according to the received second control command, and places the second infusion bottle 520 positioned on the placement base 500 on the holding portion 310.
Alternatively, in order to ensure that the grip portion 430 does not fall off the first infusion bottle 350 or the second infusion bottle 520 when gripping the first infusion bottle 350 or the second infusion bottle 520, a slip-proof pattern or the like may be provided at a position where the grip portion 430 contacts the first infusion bottle 350 or the second infusion bottle 520.
It should be understood that, in the present embodiment, since the manipulator 400 is used for performing a grabbing action during an infusion level changing process, the number and shape of the mechanical arms on the manipulator 400 and the shape and size of the gripping portion 430 are not limited herein, and can be flexibly set according to actual needs.
Further, the object placing table 500 is disposed on the upright column 600, and can rotate with the upright column 600 as an axis, and the object placing table 500 can rotate with the upright column 600 as an axis by a preset angle according to the received fifth control instruction. Optionally, in this embodiment, a plurality of concave platforms 510 are disposed on the object placing platform 500, and the second infusion bottle 520 is placed on the concave platforms 510, so that the robot 400 can conveniently grip at a fixed point in the gripping process, and the second infusion bottle 520 on the object placing platform 500 is not easy to drop. In this embodiment, the size, number and shape of the object placing table 500 and the concave table 510 are not limited.
Further, in this embodiment, the upright column 600 is used as a carrying device of the automatic infusion robot 10, the size, shape and material of the upright column 600 are not limited, and in the actual implementation process, the upright column 600 may be replaced by other devices.
Further, as shown in fig. 3, a schematic flow chart of an automatic liquid-changing control method applied to the automatic liquid-changing control device 200 according to an embodiment of the present invention is provided, and a detailed description of a specific flow chart shown in fig. 3 will be provided below.
Step S102: the liquid level position in the first infusion bottle 350 transmitted from the detection device 100 is received.
In this embodiment, the detection device 100 detects a liquid level position in the first infusion bottle 350 and sends the liquid level position to the automatic liquid change control device 200, where the liquid level position is used to indicate whether the liquid medicine in the first infusion bottle 350 is about to be infused completely and whether the infusion bottle needs to be changed, but the detection of the liquid level position may be implemented in various ways, such as laser detection, infrared detection, and the like, which is not limited in this embodiment.
Step S104: and judging whether the liquid level position is lower than a first preset value, if so, executing the step S106, otherwise, executing the step S102.
Step S106: sends a first control command to the infusion apparatus 300 to control the parallel pneumatic claw 320 to pull the needle from the first infusion bottle 350 and open the clamping part 310 for fixing the first infusion bottle 350.
In this embodiment, the first preset value and the first control command are pre-stored in the automatic fluid changing control apparatus 200, and when the automatic fluid changing control apparatus 200 determines that the fluid level value is lower than the first preset value, the first control command is called and sent to the infusion apparatus 300 to control the parallel gas claw 320 to pull the needle from the first infusion bottle 350, and then the clamping portion 310 for fixing the first infusion bottle 350 is opened. The first preset value can be flexibly set according to the actual situation in the actual operation process.
It should be noted that in this embodiment, the two actions of pulling the needle from the first infusion bottle 350 by the parallel pneumatic claws 320 and then opening the clamping portion 310 can be performed simultaneously or sequentially, and are not limited herein.
Step S108: and sending a second control command to the manipulator 400 to control the manipulator 400 to grasp the first infusion bottle 350 on the opened clamping part 310 and then place the first infusion bottle at a preset position, and then grasp the second infusion bottle 520 on the object placing table 500 and place the second infusion bottle at the clamping part 310.
In this embodiment, between the step S106 and the step S108, the sequential execution between the two steps can be implemented in many different ways. For example, a feedback command of needle pulling-out completion or clamping portion 310 opening completion may be fed back to the automatic fluid replacement control device 200 through the infusion device 300 to trigger the automatic fluid replacement control device 200 to execute step S108, or the automatic fluid replacement control device 200 may execute step S108 after a predetermined time after executing step S106, where the predetermined time is set in advance and stored in the automatic fluid replacement control device 200.
It should be understood that in step S108, the automatic fluid changing control device 200 calls the second control command to control the robot 400 to perform a series of actions of automatically changing an infusion bottle, which are stored in advance as corresponding control commands, for example, the robot 400 picks up the first infusion bottle 350 and places it at a predetermined position, picks up the second infusion bottle 520 and places it in the clamping portion 310, and relative rotation between the joints of the robot 400. After the automatic liquid-changing control device 200 calls the second control command and sends the second control command to the manipulator 400, the manipulator 400 can grasp and change the first infusion bottle 350 and the second infusion bottle 520 according to the pre-stored execution sequence of the related actions.
In the embodiment, the manipulator 400 performs fixed-point grasping in the automatic grasping process, for example, the first infusion bottle 350 is positioned in the clamping portion 310, the second infusion bottle 520 is positioned on the placing table 500, the concave table 510 of the placing table 500 adjacent to the second infusion bottle 520 to be grasped is empty, after the manipulator 400 finishes grasping the first infusion bottle 350, the first infusion bottle 350 is placed on the empty concave table 510 at a fixed point, and then the second infusion bottle 520 is grasped at a fixed point and placed on the opened clamping portion 310 at a fixed point. It should be noted that when the manipulator 400 grasps the first infusion bottle 350 or the second infusion bottle 520, the grasping force should be set reasonably, for example, the grasping force can be flexibly set according to the material and the bearing degree of the infusion bottle, or the best grasping force can be obtained through repeated experiments, so as to avoid damage to the infusion bottle during grasping.
Specifically, after the manipulator 400 finishes gripping the second infusion bottle 520, the step S108 further includes the steps shown in fig. 4, which are specifically as follows.
Step S1080: the manipulator 400 is controlled to grasp the second infusion bottle 520 and invert the second infusion bottle 520.
In this embodiment, the second infusion bottle 520 is a waiting infusion bottle for replacing the first infusion bottle 350 positioned on the holding portion 310, and therefore, since the second infusion bottle 520 may be left standing for a while to cause the liquid medicine to be layered and mixed unevenly, or in order to ensure the timeliness of the liquid medicine, the second infusion bottle 520 is provided with a structure for separately placing the medicines of different components, and the liquid medicines are mixed by inverting the second infusion bottle 520. Therefore, in actual implementation, after the manipulator 400 grasps the second infusion bottle 520, the second infusion bottle 520 needs to be inverted by the rotation of the grip 430.
Step S1082: the manipulator 400 is controlled to shake according to a preset frequency, so that the liquid medicine in the second infusion bottle 520 is uniformly mixed.
Step S1084: judging whether the shaking time is equal to a preset time, if so, controlling the manipulator 400 to place the second infusion bottle 520 in the clamping part 310.
In practical implementation, in order to further ensure that the liquid medicine in the second infusion bottle 520 is uniformly mixed, the liquid medicine needs to be shaken, and therefore, in this embodiment, the robot 400 is controlled to shake at a preset frequency to shake the liquid medicine, and after the robot 400 shakes for a preset time, the second infusion bottle 520 is placed in the clamping portion 310. The preset time and the preset frequency are not limited in the embodiment of the present invention. It should be understood that the preset frequency can be set uniformly, that is, different medicine bottles are shaken by the same vibration frequency, and the preset frequency can also be flexibly set according to actual conditions.
Step S110: sends a third control command to the infusion apparatus 300 to close the clamp 310 with the second infusion bottle 520 placed thereon and to control the parallel pneumatic claw 320 to insert the needle into the second infusion bottle 520.
In this embodiment, the automatic liquid-changing control device 200 executes the step S110 after executing the corresponding time length after the step S108, and may also be implemented in other manners, and the specific implementation manner is not limited herein. It should be noted that after the second infusion bottle 520 is placed on the clamping portion 310, the clamping portion 310 is closed first, and then the needle is inserted into the second infusion bottle 520 through the parallel gas claw 320, so as to avoid the second infusion bottle 520 falling from the clamping portion 310 during the needle insertion process.
Step S112: and sending a fifth control command to the object placing table 500, so that the object placing table 500 rotates by a preset angle by taking the upright column 600 as an axis.
In this embodiment, since the automatic solution changing controller 200 controls the robot 400 to grasp the first infusion bottle 350 and the second infusion bottle 520 at a fixed point, after the robot 400 finishes grasping the second infusion bottle 520, the placing table 500 should be controlled to rotate by a predetermined angle to prepare for the next grasping by the robot 400. It should be noted that the predetermined angle can be flexibly selected according to the number of the concave stations 510 formed on the object placing table 500. For example, in the present embodiment, the preset angle is 60 degrees.
Further, in the process of infusion by the automatic infusion robot 10, it is necessary to not only realize automatic replacement of an infusion bottle, but also monitor whether infusion operation by the automatic infusion robot 10 is completed in real time, and when to notify a medical worker to perform needle pulling operation, and therefore, as shown in fig. 5, the automatic fluid replacement control method further includes the following steps.
Step S114: and acquiring and storing the number of infusion bottles to be infused to serve as the number of pre-stored infusion bottles.
Step S116: and detecting and recording the grabbing times of the manipulator 400 for grabbing the infusion bottles, judging whether the number of the pre-stored infusion bottles is equal to the grabbing times, and if so, not sending a first control instruction to the infusion device 300.
In this embodiment, the number of all the medicine bottles that the patient needs to transfuse at this time may be input to the automatic liquid changing control apparatus 200 as the preset number of the medicine bottles. In the process that the automatic liquid changing control device 200 replaces the infusion bottle by the manipulator 400, the number of grabbing times that the manipulator 400 grabs the second infusion bottle 520 is detected and recorded, the grabbing times are compared with the number of prestored infusion bottles, if the number of grabbing times is equal to the number of prestored infusion bottles, the current infusion is about to be completed, that is, when the automatic liquid changing control device 200 detects that the liquid level position in the first infusion bottle 350 is lower than the first preset position again, the first control instruction is not sent to the infusion device 300 any more. It should be understood that, in practical implementation, when the automatic liquid change control device 200 records the number of times of grabbing by the manipulator 400, it should automatically add 1, and then compare with the number of the pre-stored infusion bottles.
Step S118: and judging whether the liquid level position is lower than a second preset value, if so, sending a fourth control instruction to the infusion device 300 so as to control the clamp 330 on the infusion tube 360 to clamp the infusion tube 360 and send alarm information to the medical care terminal.
In this embodiment, after step S116 is completed, the automatic fluid replacement control device 200 needs to determine whether the current infusion operation of the patient is about to be completed, and therefore, the automatic fluid replacement control device 200 needs to determine whether the fluid level position is lower than the second preset value according to the fluid level position sent by the detection device 100, and if the fluid level position is lower than the second preset value, send a fourth control instruction to the infusion device 300 to control the clamp 330 on the infusion tube 360 to clamp the infusion tube 360, and send an alarm message to the medical care terminal to notify the medical care personnel that the current infusion operation is completed, and the needle pulling operation needs to be performed on the patient.
It should be noted that, in this embodiment, the first preset value is used to determine whether to replace the medicine bottle, and the second preset value is used to determine whether to notify the medical staff of needle pulling operation when the medicine bottle is no longer required to be replaced. In this embodiment, the second preset value should be smaller than the first preset value.
Further, as shown in fig. 6, a connection block diagram of the automatic liquid-changing control device 200 is also provided in the embodiment of the present invention. The above-described automatic liquid-changing control method is implemented based on the automatic liquid-changing control apparatus 200, and the automatic liquid-changing control apparatus 200 shown in fig. 6 will be described in detail below. The automatic liquid changing control device 200 includes a receiving module 202, a first control module 204, a second control module 206, a third control module 208, an angle control module 210, a storage module 212, and a determination module 214.
The receiving module 202 is used for receiving the liquid level position in the first infusion bottle 350 sent by the detecting device 100.
In this embodiment, step S102 in fig. 3 may be executed by the receiving module 202.
The first control module 204 is configured to determine whether the liquid level is lower than a first preset value, and if the liquid level is lower than the first preset value, send a first control instruction to the infusion apparatus 300 to control the parallel gas claw 320 to pull the needle from the first infusion bottle 350 and open the clamping portion 310 for fixing the first infusion bottle 350.
In this embodiment, step S104 and step S106 of fig. 3 may be executed by the first control module 204.
The second control module 206 is configured to send a second control command to the manipulator 400 to control the manipulator 400 to grasp the first infusion bottle 350 on the opened holding portion 310 and then place the first infusion bottle at a predetermined position, and then grasp the second infusion bottle 520 on the placing table 500 and place the second infusion bottle on the holding portion 310.
In this embodiment, step S108 of fig. 3 may be executed by the second control module 206. As shown in fig. 7, the second control module 206 includes an inversion control submodule 2060, a frequency control submodule 2062, and a determination submodule 2064.
The inversion control submodule 2060 is configured to control the manipulator 400 to grasp the second infusion bottle 520 and invert the second infusion bottle 520.
In this embodiment, step S1080 of fig. 4 may be executed by the inversion control sub-module 2060.
The frequency control submodule 2062 is configured to control the manipulator 400 to shake according to a preset frequency, so that the liquid medicine in the second infusion bottle 520 is uniformly mixed.
In this embodiment, step S1082 of fig. 4 may be executed by the frequency control sub-module 2062.
The determination submodule 2064 is configured to determine whether the shaking time is equal to a predetermined time, and if the shaking time is equal to the predetermined time, control the manipulator 400 to place the second infusion bottle 520 in the clamping portion 310.
In this embodiment, step S1084 in fig. 4 may be executed by the determining sub-module 2064.
The third control module 208 is used for sending a third control command to the infusion apparatus 300 to close the clamping portion 310 with the second infusion bottle 520 placed thereon, and controlling the parallel gas claw 320 to insert the needle into the second infusion bottle 520.
In this embodiment, step S110 of fig. 3 may be executed by the third control module 208.
The angle control module 210 is configured to send a fifth control command to the object placing table 500, so that the object placing table 500 rotates by a preset angle with the upright 600 as an axis.
In this embodiment, step S112 of fig. 3 may be executed by the angle control module 210.
The storage module 212 is configured to obtain and store the number of infusion bottles to be infused, so as to serve as the number of pre-stored infusion bottles.
In this embodiment, step S114 in fig. 5 may be executed by the angle control module 210.
The determining module 214 is configured to detect and record the number of times that the manipulator 400 grasps the infusion bottle, determine whether the number of the pre-stored infusion bottles is equal to the number of times that the manipulator grasps the infusion bottle, and if so, no longer send the first control instruction to the infusion apparatus 300. The judging module 214 is further configured to judge whether the liquid level position is lower than a second preset value when the number of grabbing times is equal to the number of pre-stored infusion bottles, and if the liquid level position is lower than the second preset value, send a fourth control instruction to the infusion apparatus 300 to control the clamp 330 on the infusion tube 360 to clamp the infusion tube 360, and send alarm information to the medical care terminal.
In this embodiment, step S116 and step S118 of fig. 5 may be executed by the determining module 214.
It should be noted that, in the embodiment of the present invention, the first infusion bottle 350 refers to an infusion bottle that is being infused on the holding portion 310, and the second infusion bottle 520 refers to an infusion bottle that is located on the placement table 500 or is ready to be infused after being grasped by the manipulator 400.
In summary, the automatic fluid-changing control method and device and the automatic infusion robot 10 provided by the invention can realize automatic monitoring of an infusion process, automation and intellectualization of infusion bottle changing in the infusion process, improve the working efficiency of medical care personnel and guarantee the safety of patients, and the automatic infusion robot 10 provided by the invention has a simple structure and is easy to realize.
In the description of the present invention, the terms "disposed", "connected" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the embodiments provided in the embodiments of the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to a predetermined number of embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code. The module, segment, or portion of code, comprises one or a predetermined number of elements designed to implement a specified logical function.
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (3)

1. An automatic liquid changing control method is applied to an automatic liquid changing control device, and the method comprises the following steps:
receiving the liquid level position in the first infusion bottle sent by the detection device;
judging whether the liquid level position is lower than a first preset value or not, if so, sending a first control instruction to the infusion device to control the parallel gas claw to pull out the needle head from the first infusion bottle, and opening a clamping part for fixing the first infusion bottle;
sending a second control instruction to the manipulator to control the manipulator to grab the first infusion bottle on the opened clamping part and then place the first infusion bottle at a preset position, and then grab the second infusion bottle on the object placing table and place the second infusion bottle on the clamping part;
sending a third control instruction to the infusion device to close the clamping part with the second infusion bottle, and controlling the parallel pneumatic claws to insert the needle head into the second infusion bottle;
the automatic liquid changing control method is characterized in that the step of grabbing a second infusion bottle positioned on the object placing table and placing the second infusion bottle on the clamping part comprises the following steps:
controlling the manipulator to grab the second infusion bottle and inverting the second infusion bottle;
controlling the manipulator to shake according to a preset frequency so as to uniformly mix the liquid medicine in the second infusion bottle;
judging whether the shaking time is equal to preset time or not, and if so, controlling the manipulator to place the second infusion bottle on the clamping part;
the automatic liquid changing control method is characterized by further comprising the following steps:
acquiring and storing the number of infusion bottles to be infused to serve as the number of pre-stored infusion bottles;
detecting and recording the grabbing times of the manipulator for grabbing the infusion bottles, judging whether the number of the prestored infusion bottles is equal to the grabbing times, and if so, not sending a first control instruction to the infusion device;
the automatic liquid changing control method is characterized in that when the grabbing times are equal to the number of pre-stored infusion bottles, the method further comprises the following steps:
judging whether the liquid level position is lower than a second preset value or not, if so, sending a fourth control instruction to the infusion device to control a clamp on the infusion tube to clamp the infusion tube, and sending alarm information to the medical care terminal;
the automatic liquid changing control method is characterized in that after a second infusion bottle positioned on the object placing table is grabbed, the method further comprises the following steps:
and sending a fifth control instruction to the object placing table, so that the object placing table rotates by a preset angle by taking the upright column as an axis.
2. The utility model provides an automatic liquid changing control device, its characterized in that is applied to automatic infusion robot, automatic liquid changing control device is connected respectively with detection device, infusion set, manipulator and put the thing platform, automatic liquid changing control device includes:
the receiving module is used for receiving the liquid level position in the first infusion bottle sent by the detection device;
the first control module is used for judging whether the liquid level position is lower than a first preset value or not, if so, a first control instruction is sent to the infusion device to control the parallel gas claw to pull out the needle head from the first infusion bottle, and a clamping part for fixing the first infusion bottle is opened;
the second control module is used for sending a second control instruction to the manipulator so as to control the manipulator to grab the first infusion bottle on the opened clamping part, place the first infusion bottle at a preset position, grab the second infusion bottle on the object placing table and place the second infusion bottle on the clamping part;
the third control module is used for sending a third control instruction to the infusion device so as to close the clamping part with the second infusion bottle and control the parallel pneumatic claw to insert the needle head into the second infusion bottle;
the automatic liquid changing control device is characterized in that the second control module comprises:
the inversion control submodule is used for controlling the manipulator to grab the second infusion bottle and invert the second infusion bottle;
the frequency control submodule is used for controlling the manipulator to shake according to a preset frequency so as to uniformly mix the liquid medicine in the second infusion bottle;
the judgment submodule is used for judging whether the shaking time is equal to the preset time or not, and if the shaking time is equal to the preset time, the manipulator is controlled to place the second infusion bottle on the clamping part;
the automatic liquid changing control device is characterized by further comprising:
the storage module is used for acquiring and storing the number of infusion bottles to be infused so as to serve as the number of pre-stored infusion bottles;
the judgment module is used for detecting and recording the grabbing times of the manipulator grabbing infusion bottles, judging whether the number of the prestored infusion bottles is equal to the grabbing times, and if so, not sending a first control instruction to the infusion device;
the judging module is further used for judging whether the liquid level position is lower than a second preset value when the grabbing times are equal to the number of pre-stored infusion bottles, and if the liquid level position is lower than the second preset value, sending a fourth control instruction to the infusion device so as to control a clamp on an infusion tube to clamp the infusion tube and sending alarm information to the medical care terminal;
the automatic liquid changing control device is characterized in that the automatic liquid changing control device further comprises:
and the angle control submodule is used for sending a fifth control instruction to the object placing table, so that the object placing table rotates by taking the upright column as an axis at a preset angle.
3. An automatic infusion robot, characterized in that the automatic infusion robot comprises the automatic liquid-changing control device, the detection device, the infusion device, the manipulator and the object placing table of claim 2;
the detection device is used for detecting the liquid level position in the first infusion bottle and sending the liquid level position to the automatic liquid changing control device;
the transfusion device is used for controlling the parallel gas claw to pull out the needle head from a first transfusion bottle according to a received first control instruction, and opening a clamping part for fixing the first transfusion bottle; the clamping part with a second infusion bottle is closed according to a received third control instruction, and the parallel air claw is controlled to insert the needle head into the second infusion bottle;
the manipulator is used for grabbing a first infusion bottle on the opened clamping part according to a received second control instruction, then placing the first infusion bottle at a preset position, and grabbing a second infusion bottle on the object placing table and placing the second infusion bottle on the clamping part;
the object placing table is used for placing a second infusion bottle and rotates by a preset angle by taking the upright post as an axis according to a received fifth control instruction.
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