CN108744158A - A kind of automatic intravenous injection system and injecting method - Google Patents
A kind of automatic intravenous injection system and injecting method Download PDFInfo
- Publication number
- CN108744158A CN108744158A CN201810296208.0A CN201810296208A CN108744158A CN 108744158 A CN108744158 A CN 108744158A CN 201810296208 A CN201810296208 A CN 201810296208A CN 108744158 A CN108744158 A CN 108744158A
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- Prior art keywords
- syringe
- fixed plate
- image
- shooting
- intravenous injection
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
-
- 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
- A61M5/42—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 desensitising skin, for protruding skin to facilitate piercing, or for locating point where body is to be pierced
- A61M5/427—Locating point where body is to be pierced, e.g. vein location means using ultrasonic waves, injection site templates
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
- A61M2005/206—With automatic needle insertion
Abstract
The invention discloses a kind of automatic intravenous injection system and injecting method, which includes：Fixed plate, for the position that fixed needs are injected intravenously, and there is determining coordinate in each position；Infrared light supply, for emitting beam, irradiation needs the position injected；Shooting part, the region for shooting fixed plate, and by image transmission to processor；Processor is used for real-time reception image, and carries out image procossing, and each frame image is compared with the fixed plate blank image of known each position coordinates, determines vein blood vessel position coordinates；Proximity sensor for sensing syringe close to position distance to be injected, and is sent to control system；Control system, for according to vein blood vessel position coordinates and range information, controlling three-dimensional mobile system and moving syringe to the position, and control injection device liquid medicine injection.The present invention can be automatically performed injection, be participated in without nurse, and operation is time saving and energy saving, greatly improves efficiency, and the drug delivery that can remain a constant speed.
Description
Technical field
The present invention relates to medical instrument more particularly to a kind of automatic intravenous injection system and injecting methods.
Background technology
Intravenous injection is a kind of common medical method, i.e., the liquid substances such as blood, liquid, nutrient solution is injected directly into
In vein.
Currently, existing intravenous injector is generally pressed into medicine by nurse with hand push, not only labor intensity is big in this way, Er Qienan
To ensure that drug average rate injects vein, it be easy to cause the discomfort of patient.Moreover, nurse when to intravenous injection of patient, often needs
Even time half an hour more than ten minutes is wanted, wastes the time of nurse significantly, it is cumbersome, it is time-consuming and laborious；Some medicines need
It at the uniform velocity promotes, just can guarantee effect, for example, mannitol, is a kind of hyperosmotic dehydrant, blood penetration can be improved rapidly into vein
Pressure, to have the function that tissue fast dewatering.Due to the pharmacological action feature of mannitol, mannitol treatment process is being applied
In, it is most important be exactly intravenous injection input speed can not be too fast or excessively slow, excessive velocities can cause headache, giddy, eyesight
It is fuzzy；Speed measure slowly excessively it is small do not concentrate, concentration is low, and cannot improve colloidal osmotic pressure rapidly makes tissue dewatering, reduces cranium pressure.So
Intravenous injection mannitol needs the absorbed operation of special messenger, and in the meantime, medical worker needs hand-held propeller, at leisure
Remain a constant speed propulsion, this requires medical worker very high；And manipulation strength is big, it is difficult to ensure that drug at the uniform velocity injects vein,
Medical staff patient easily caused by fatigue is uncomfortable.
Furthermore sometimes it is only necessary to be injected intravenously some oneself clear drugs by patient, it is necessary to run to hospital into
Row vein is injected, and cannot be in and be completed alone, inefficiency.
In view of the above problems, the present invention provides a kind of automatic intravenous injection system and injecting methods.
Invention content
In view of the above problems, the present invention proposes a kind of automatic intravenous injection system and injecting method, is not necessarily to medical staff
It participating in, is automatically performed intravenous injection, operation is time saving and energy saving, mitigates the labour burden of medical worker, greatly improves working efficiency, and
Can remain a constant speed drug delivery.
The present invention provides a kind of automatic intravenous injection systems, include the syringe for injection, which further includes：
Fixed plate, for the position that fixed needs are injected intravenously, and in the fixed plate each position have it is determining
Coordinate；
Infrared light supply needs the position being injected intravenously for sending out near infrared light irradiation；
Shooting part, the region for shooting fixed plate, real time shooting vein image, and it is transferred to processor；
Processor for the image of real-time reception shooting part shooting, and carries out image procossing, by each frame image and
Know that the fixed plate blank image of each position coordinates is compared, so that it is determined that the vein blood vessel position by infrared development is sat
Mark；
Proximity sensor, the distance for sensing the syringe close to position to be injected, and the distance is sent to
Control system；
Control system, the distance that vein blood vessel position coordinates and proximity sensor for being obtained according to processor obtain
Information controls three-dimensional mobile system and moves the syringe to the vein blood vessel position, and controls injection device push injection
Device liquid medicine injection.
Further, the injection device includes front-bank rotor housing, piston, piston rod, electric system and rear-bank rotor housing, the preceding cylinder
For body for fixing the syringe, inner diameter size is identical as syringe outer diameter size, and is less than rear-bank rotor housing inner diameter size；Institute
It states syringe piston handle to be installed on the piston, the piston rod is used to push piston by the control of the electric system
Movement；The electric system, for controlling syringe injection according to control instruction or drawing drug；The rear-bank rotor housing inner diameter size
It is identical as piston diameter size, and it is used for piston motion.
Further, the electric system includes motor and transmission mechanism, the motor, for the finger according to control system
Enable one fixing turn of rotation；Transmission mechanism, the number of turns for rotating the motor are converted into the displacement of transverse shifting, and drive institute
State piston rod back-and-forth motion.
Further, the infrared light supply is mounted on the positive top of front-bank rotor housing, the shooting part by inline mode
It is mounted on the positive lower section of front-bank rotor housing by inline mode, to ensure infrared light supply with shooting part as possible point-blank；
The front-bank rotor housing front is equipped with the proximity sensor close to centre position, for incuding syringe close to position to be injected
Distance.
Further, the three-dimensional mobile system includes fixing piece, three-dimensional motor, and the fixing piece is for fixing and carrying
The injection device and control system, the three-dimensional motor is mounted below the fixing piece, for being instructed according to control system,
The fixing piece is controlled to move on three-dimensional.
Further, the recess pedestal of arm shape is installed in the fixed plate, the arm for placing intravenous injection,
And bare terminal end, it is used for fixing arm, auxiliary arm positioning.
Further, each location point in the fixed plate blank image corresponds to specific each coordinate value and passes through people
Artificial neural networks training early period obtains.
Further, the shooting part initial position is located at certain distance above the fixed plate centre, this away from
When from shooting, the shooting part just shoots the fixed plate overall picture.
In addition to this, the present invention also provides one kind carrying out automatic intravenous injection side based on above-mentioned automatic intravenous injection system
Method includes the following steps：
The position being injected intravenously will be needed to be fixed in fixed plate；
Control infrared light supply sends out near infrared light irradiation and needs the position being injected intravenously；
Control the region of shooting part shooting fixed plate, real time shooting vein image；
Image procossing carried out to the image of shooting, and by the fixed plate blank of each frame image and known each position coordinates
Image is compared, so that it is determined that the vein blood vessel position coordinates for passing through infrared development；
Three-dimensional mobile system, which is controlled, according to the vein blood vessel position coordinates of acquisition moves the syringe to the venous blood
At pipe position coordinates；
Distance of the syringe close to position to be injected is sensed using proximity sensor, and control three-dimensional mobile system to make
Syringe is close, until injection needle is pricked into vein blood vessel；
Control injection device steadily pushes syringe liquid medicine injection.
Further, the method is further comprising the steps of：After injection finishes, control system controls shooting part and returns
To the initial position.
Compared with prior art, automatic intravenous injection system and injecting method advantageous effect of the present invention include：
(1) by whole full-automatic intravenous injection, medical staff is liberated completely, participates in, is automatically performed without medical staff
Intravenous injection, operation is time saving and energy saving, mitigates the labour burden of medical worker.
(2) rate of push drug is controlled by motor, it is ensured that at the uniform velocity drug delivery, solving the push of some drugs cannot be too fast
Problem that cannot be excessively slow.
(3) automatic intravenous injection system provided by the invention can voluntarily be completed to inject completely by patient, without going to hospital,
Being in can voluntarily complete to be injected intravenously, and greatly improve efficiency, and provide amenities for the people.
The aspects of the invention or other aspects can more straightforwards in the following description.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the structural schematic diagram of the automatic intravenous injection system of an embodiment of the present invention one；
Fig. 2 is fixed plate blank image and image comparison figure when injection in the embodiment of the present invention one；
Fig. 3 is the structural schematic diagram of two syringe of the embodiment of the present invention；
Fig. 4 is three automatic vein injector structural schematic diagram of the embodiment of the present invention；
Fig. 5 is Section A-A schematic diagram in three Fig. 4 of the embodiment of the present invention；
Fig. 6 is the enlarged diagram at D in three Fig. 4 of the embodiment of the present invention；
Fig. 7 is the automatic vein injector structural schematic diagram of the embodiment of the present invention four；
Description of the drawings：1- electric systems, 2- rear-bank rotor housings, 3- piston rods, 4- pistons, 5- needle handles, 6- front-bank rotor housings, 7- injections
Device, 8- syringe needles, 9- infrared light supplies, 10- shooting parts, 11- injection devices, 12- fixed plates, 13- vein blood vessels, 14- arms,
15- control systems, 16- proximity sensors, 17- first through hole, the second through-holes of 18-, 20- syringe piston handles, 21- sky cylinders, 22-
Empty cylinder bolt, 31- front-bank rotor housing fixed parts, 32- front-bank rotor housing disassembling parts, 33- buckles, 34- spring grooves, 35- rubber rings, 36- buttons,
41- pistion recess, the left fixed covers of 42-, the right fixed covers of 43-, 44- rotary shafts.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
There is the every other embodiment obtained under the premise of making creative work, shall fall within the protection scope of the present invention.
Referring to FIG. 1, the embodiment of the present invention one provides a kind of automatic intravenous injection system, include the syringe for injection
7, which further includes：
Fixed plate 12, for the position that fixed needs are injected intravenously, and there is really each position in the fixed plate 12
Fixed coordinate (y, z)；
Infrared light supply 9 needs the position being injected intravenously for sending out near infrared light irradiation；
Shooting part 10, the region for shooting fixed plate, real time shooting vein image, and it is transferred to processor 15；
Processor and carries out image procossing for the image that real-time reception shooting part 10 is shot, by each frame image with
The fixed plate blank image of known each position coordinates (y, z) is compared, so that it is determined that passing through the vein blood vessel of infrared development
Position coordinates (y1, z1)；
Proximity sensor 16, the distance for sensing the syringe 7 close to position to be injected, and the distance is sent
To control system 15；
Control system 15, what vein blood vessel position coordinates and proximity sensor 16 for being obtained according to processor obtained
Range information controls three-dimensional mobile system and moves the syringe 7 to the vein blood vessel position, and controls injection device 11 and push away
Send syringe 7 liquid medicine injection.
Processor can be arranged inside control system 15, integrate, and reduce volume.
In the present invention, a length of 700-900nm of near-infrared light waves of infrared light supply transmitting, near infrared light penetrates tissue
Depth is better than visible light, and deoxyhemoglobin is apparently higher than fat and melanin near infrared energy absorption in venous blood
Equal blood vessels perienchyma, near infrared light can be penetrated into subcutaneous 15 millimeters or so, these light can be by the deoxyhemoglobin in blood
It absorbs, but can be reflected by surrounding tissue.Therefore, vein blood vessel and surrounding can be significantly improved using the method for near infrared light imaging
The contrast of tissue obtains comparing clearly venous structures image.
Shooting part 10 shoots the region of fixed plate for receiving reflected light, real time shooting vein image, and
It is transferred to processor 15；The shooting part 10 is infrared camera and the digital camera with visible light filter；
10 initial position of the shooting part is located at certain distance above 12 centre of the fixed plate, is shot in the distance
When, the shooting part just shoots 12 overall picture of the fixed plate.After being injected intravenously each time, the control of control system 15 is taken the photograph
As component returns to initial position.In initial position, the overall picture of the shooting of shooting part 10 12, including position to be injected and vein
Blood vessel, after the image procossings such as after which is sent to processor, processor enhanced the image, denoising, segmentation, by it
Be compared with the fixed plate blank image of known each position coordinates (y, z), as shown in Fig. 2, for fixed plate blank image with
Image comparison figure when injection, the left side are illustrated as fixed plate blank image, wherein each point there are one determine fixed coordinates (y,
Z), the fixed plate blank image and shooting part 10 are shot in the initial position, and further, the fixed plate is empty
Each location point in white image corresponds to specific each coordinate value and is obtained by artificial neural network training early period.
Therefore, the right image in Fig. 2 is compared with left image, you can determine on Fig. 2 medium sized veins blood vessel 13
The coordinate value of every bit takes wherein one point A, such as a bit intermediate, as the point of intravenous injection, then can be obtained by comparison
The coordinate value (y1, z1) of A points.
In next step, control system 15 is controlled according to the coordinate value (y1, z1) of the A points of the acquisition in three-dimensional mobile system
The servo motor to match with Y-direction transmission shaft and Z-direction rotation axis is rotated, and is controlled the syringe needle 8 and is reached three-dimensional space
Between in the directions YZ coordinate system in (y1, z1) point, in this whole process, the motor of X-direction is motionless, always control syringe needle exist
It is moved in YZ planes.
Hereafter, start proximity sensor 16, sense distance of the syringe 7 close to position to be injected, and will it is described away from
From being sent to control system 15；When the syringe is in initial position, syringe removes needle portion (proximity sensor in figure
16 position) from fixed plate in 20cm~60cm or so, take optimal value 30cm herein, wherein syringe needle about 2-2.5cm, herein
2cm is taken, therefore, even if proximity sensor does not work, control system determines coordinate in the initial position most started, in YZ planes
Afterwards, also about 20cm can be moved forward to X-direction, when syringe needle is close to muscle, proximity sensor real-time sensing sensor is from muscle
Distance, when the only 2cm of remaining syringe needle, send out drop drop sound, at this point, control system control syringe start to have an acupuncture treatment, it is only necessary to
It keeps X-direction constant, moves forward 1-2cm, you can syringe needle is kept to prick into vein blood vessel A points.
Then, control system 15, control injection device 11 is steady at the uniform velocity to push 7 liquid medicine injection of syringe.After injection,
Control system 15 controls whole system and returns to original state.
Further, the injection device includes front-bank rotor housing 6, piston 4, piston rod 3, electric system 1 and rear-bank rotor housing 2, institute
It states front-bank rotor housing 6 to be integrally formed with rear-bank rotor housing 2, as shown in Figure 1, front-bank rotor housing 6 is integrally attached to rear-bank rotor housing by horn-like cylinder body
2, front-bank rotor housing 6 is for removably disposing and sealing the fixed syringe 7, inner diameter size and syringe outer diameter size phase
Together, and it is less than 2 inner diameter size of rear-bank rotor housing；The needle handle 5 for connecting the syringe piston is detachably mounted on the piston 4
On, the piston rod 3 is used to push piston 4 to move by the control of the electric system 1；The electric system 1 connects described
Control system 15 for instructing control turnning circle according to control system 15, and then controls the injection of syringe 7 or draws drug；
The rear-bank rotor housing inner diameter size is identical as piston diameter size, and is used for piston motion.The rear end of the rear-bank rotor housing 1 using
The mode that rear end is rotary with rear cover may be used in integrally formed rear end element, another way, does not show to come in figure.
Herein, since syringe piston is very small, it is unfavorable for motor control syringe piston movement, therefore, will injects
The needle handle 5 of device piston is removably secured on the piston 4, by way of amplification, by the promotion of syringe piston
Motor-controlled piston rod 3 is enlarged into push, two layers of piston is formed in this way and pushes, rear piston pushes syringe piston fortune
It is dynamic, less sensitive in this way, the precision higher that motor control is moved forward and backward.
Further, the electric system 1 includes motor and transmission mechanism, the motor, for according to control system
Instruction one fixing turn of rotation；Transmission mechanism, the number of turns for rotating the motor are converted into the displacement of transverse shifting, and drive
The piston rod is moved forward and backward.
Further, the three-dimensional mobile system 11 includes fixing piece (11 fixed mesas in Fig. 1), three-dimensional motor, institute
It states fixing piece and is mounted under the fixing piece for fixing and carrying the injection device and control system, the three-dimensional motor
Side, for being instructed according to control system, controls the fixing piece and is moved on three-dimensional.
Further, the fixed swage of arm shape is installed, the hand for placing intravenous injection in the fixed plate 12
Arm.
Further, the infrared light supply 9 is mounted on 6 positive top of front-bank rotor housing, the image pickup part by inline mode
Part 10 is mounted on 6 positive lower section of front-bank rotor housing by inline mode, to ensure infrared light supply 9 with shooting part 10 as possible at one
On straight line.
Further, 6 front of the front-bank rotor housing is equipped with the proximity sensor 16 close to centre position, for incuding note
Distance of the emitter close to position to be injected.
Further, the front-bank rotor housing 6 is integrally formed with rear-bank rotor housing 2, and the rear-bank rotor housing rear end is rotary with rear cover, and intermediate
Equipped with through-hole, moved for piston rod 3；There are several first through hole 17 on the piston 4, for squeezing air when piston motion
Circulation.
As shown in figure 3, for the structural schematic diagram of two syringe of the embodiment of the present invention, the syringe can be regular injection
Device, including syringe needle 8, empty cylinder 21, empty cylinder bolt 22, needle handle 5 and syringe piston handle 20, before and after syringe piston handle 20
It pushes, liquid is drawn and is injected, in addition to this, which can also be customized according to front-bank rotor housing size, shape,
For the present invention in order to adapt to existing specification of syringe, the size for designing front-bank rotor housing meets the size dimension of existing syringe.
As shown in figure 4, being three automatic vein injector structural schematic diagram of the embodiment of the present invention；Fig. 5 is that the present invention is implemented
Section A-A schematic diagram in three Fig. 4 of example；Fig. 6 is the enlarged diagram at D in three Fig. 4 of the embodiment of the present invention；In the embodiment three,
The syringe 7 is detachably mounted on front-bank rotor housing 6；
Further, the syringe 7 is removably secured the concrete mode mounted on front-bank rotor housing 6 and is：The preceding cylinder
Body 6 divide for the integrally formed front-bank rotor housing fixed part 31 of rear-bank rotor housing and dismountable front-bank rotor housing disassembling part 32, the syringe
It is clipped in the middle fixation by front-bank rotor housing fixed part 31 and front-bank rotor housing disassembling part 32.
As shown in figure 5, the front-bank rotor housing disassembling part 32 by way of clamp button of the spring with the front-bank rotor housing fixed part 31 into
Row is fixed, wherein shown front-bank rotor housing disassembling part 32 is equipped with fixed card buckle 33, and the front-bank rotor housing disassembling part 32 is equipped with for buckle
It is inserted into the spring groove 34 being buckled to, spring and button 36 are connected with the spring groove 34, is controlled by pressing button 36
Spring groove 34 processed becomes larger, and buckle 33 is opened, to replace syringe.
Further, both the front-bank rotor housing fixed part and the front-bank rotor housing disassembling part size are equivalent, by the front-bank rotor housing
It is divided into two, and rubber ring 35 is respectively arranged with along front-bank rotor housing fixed part and front-bank rotor housing disassembling part inside edge, for closely solid
It is fixed.
As shown in fig. 6, the syringe piston handle 20 is detachably mounted on the piston 4, set on the piston 4
There is pistion recess 41, is used for the built-in syringe piston handle 20；The left side in fixed cover, including figure is additionally provided on the piston 4
Fixed cover 42 and right fixed cover 43 fix the syringe piston handle, the left fixed cover 42 and the right side for passing through revolving coverage method
Fixed cover 43 can be rotated around rotary shaft 44, when rotating to vertical position from horizontal position, fixed piston groove
Syringe piston handle 20 in 41, it is on the contrary then for dismantling syringe piston handle 20.
In another embodiment, the syringe is integrally formed with front-bank rotor housing, indivisible, in production, syringe
It is just fixed in front-bank rotor housing, the syringe needle of only front can be replaced, and after each medication, clean syringe, when next medication more
The syringe needle 8 renewed.
As shown in fig. 7, being the embodiment of the present invention four, which exists with above-described embodiment once~tri- unique differences
In：The front-bank rotor housing is fixedly connected with rear-bank rotor housing by the connector with several the second through-holes 18, and after rear-bank rotor housing
End or after cover and be provided with third through-hole, without with first through hole 17 is arranged on the piston 4, when drawing liquid, sky
Gas from the second through-hole 18 into, go out from third through-hole, when liquid medicine injection, air from third through-hole into, go out from the second through-hole 18, from
And realize slowly steady control syringe liquid medicine injection.
In addition to this, the present invention also provides one kind carrying out automatic intravenous injection side based on above-mentioned automatic intravenous injection system
Method includes the following steps：
Automatic intravenous injection system is in initial position and is loaded in front-bank rotor housing 6 after syringe medicine-feeding；
The position being injected intravenously will be needed to be fixed in fixed plate；
Control infrared light supply sends out near infrared light irradiation and needs the position being injected intravenously；
Control the region of shooting part shooting fixed plate, real time shooting vein image；
Image procossing carried out to the image of shooting, and by the fixed plate blank of each frame image and known each position coordinates
Image is compared, so that it is determined that the vein blood vessel position coordinates for passing through infrared development；
Three-dimensional mobile system, which is controlled, according to the vein blood vessel position coordinates of acquisition moves the syringe to the venous blood
At pipe position coordinates；
Distance of the syringe close to position to be injected is sensed using proximity sensor, and control three-dimensional mobile system to make
Syringe is close, until injection needle is pricked into vein blood vessel；
It controls the injection device and steadily pushes syringe liquid medicine injection.
Further, the method is further comprising the steps of：After injection finishes, control system controls shooting part and returns
To the initial position.
Some embodiments provided by the present invention are described in detail above, for the general technology people of this field
Member, the thought of embodiment according to the present invention, there will be changes in the specific implementation manner and application range, in conclusion
The content of the present specification should not be construed as limiting the invention.
Claims (10)
1. a kind of automatic intravenous injection system includes the syringe for injection, which is characterized in that the system further includes：
Fixed plate, for the position that fixed needs are injected intravenously, and there is determining coordinate in each position in the fixed plate；
Infrared light supply needs the position being injected intravenously for sending out near infrared light irradiation；
Shooting part, the region for shooting fixed plate, real time shooting vein image, and it is transferred to processor；
Processor and carries out image procossing for the image of real-time reception shooting part shooting, by each frame image with it is known every
The fixed plate blank image of a position coordinates is compared, so that it is determined that the vein blood vessel position coordinates for passing through infrared development；
Proximity sensor, the distance for sensing the syringe close to position to be injected, and the distance is sent to control
System；
Control system, the distance that vein blood vessel position coordinates and proximity sensor for being obtained according to processor obtain are believed
Breath controls three-dimensional mobile system and moves the syringe to the vein blood vessel position, and controls injection device push syringe
Liquid medicine injection.
2. automatic intravenous injection system according to claim 1, which is characterized in that the injection device include front-bank rotor housing,
Piston, piston rod, electric system and rear-bank rotor housing, the front-bank rotor housing is for fixing the syringe, inner diameter size and syringe
Outer diameter size is identical, and is less than rear-bank rotor housing inner diameter size；The syringe piston handle is installed on the piston, the work
Stopper rod is used to push piston motion by the control of the electric system；The electric system, for being controlled according to control instruction
Drug is injected or drawn to syringe；The rear-bank rotor housing inner diameter size is identical as piston diameter size, and is used for piston motion.
3. automatic intravenous injection system according to claim 2, which is characterized in that the electric system includes motor and biography
Motivation structure, the motor, for rotating a fixing turn according to the instruction of control system；Transmission mechanism, for turning the motor
The dynamic number of turns is converted into the displacement of transverse shifting, and the piston rod is driven to be moved forward and backward.
4. automatic intravenous injection system according to claim 2, which is characterized in that the infrared light supply passes through inline mode
Mounted on the positive top of front-bank rotor housing, the shooting part is mounted on the positive lower section of front-bank rotor housing by inline mode, to ensure
Infrared light supply and shooting part are as possible point-blank；The front-bank rotor housing front is equipped with described close to biography close to centre position
Sensor, the distance for incuding syringe close to position to be injected.
5. automatic intravenous injection system according to claim 1, which is characterized in that the three-dimensional mobile system includes fixing
Part, three-dimensional motor, the fixing piece are mounted on for fixing and carrying the injection device and control system, the three-dimensional motor
Below the fixing piece, for being instructed according to control system, controls the fixing piece and moved on three-dimensional.
6. automatic intravenous injection system according to claim 1, which is characterized in that be equipped with arm shape in the fixed plate
The recess pedestal of shape, arm and bare terminal end for placing intravenous injection are used for fixing arm, auxiliary arm positioning.
7. automatic intravenous injection system according to claim 1, which is characterized in that every in the fixed plate blank image
A location point corresponds to specific each coordinate value and is obtained by artificial neural network training early period.
8. automatic intravenous injection system according to claim 1, which is characterized in that the shooting part initial position is located at
Certain distance above the fixed plate centre, when the distance is shot, it is complete that the shooting part just shoots the fixed plate
Looks.
9. one kind carrying out automatic intravenous injection method based on automatic intravenous injection system described in claim 1~8 any one,
It is characterized in that, includes the following steps：
The position being injected intravenously will be needed to be fixed in fixed plate；
Control infrared light supply sends out near infrared light irradiation and needs the position being injected intravenously；
Control the region of shooting part shooting fixed plate, real time shooting vein image；
Image procossing carried out to the image of shooting, and by the fixed plate blank image of each frame image and known each position coordinates
It is compared, so that it is determined that the vein blood vessel position coordinates for passing through infrared development；
Three-dimensional mobile system, which is controlled, according to the vein blood vessel position coordinates of acquisition moves the syringe to the vein blood vessel position
It sets at coordinate；
Distance of the syringe close to position to be injected is sensed using proximity sensor, and control three-dimensional mobile system to make injection
Device is close, until injection needle is pricked into vein blood vessel；
It controls injection device and steadily at the uniform velocity pushes syringe liquid medicine injection.
10. a kind of automatic intravenous injection method according to claim 9, which is characterized in that include the following steps：It is injecting
Bi Yihou, control system control shooting part return to the initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810296208.0A CN108744158B (en) | 2018-04-03 | 2018-04-03 | Automatic intravenous injection system and injection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810296208.0A CN108744158B (en) | 2018-04-03 | 2018-04-03 | Automatic intravenous injection system and injection method |
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| CN112587760A (en) * | 2020-12-18 | 2021-04-02 | 万鑫精工(湖南)股份有限公司 | A mechanical arm device for bacterin injection |
| TWI736066B (en) * | 2019-09-29 | 2021-08-11 | 英華達股份有限公司 | Intravenous infusion monitoring method and monitoring device |
| CN111558108B (en) * | 2019-02-15 | 2024-04-30 | 华中科技大学同济医学院附属协和医院 | Automatic skin test injection instrument |
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| CN108744158B (en) | 2021-12-17 |
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