CN108744158B - Automatic intravenous injection system and injection method - Google Patents
Automatic intravenous injection system and injection method Download PDFInfo
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- CN108744158B CN108744158B CN201810296208.0A CN201810296208A CN108744158B CN 108744158 B CN108744158 B CN 108744158B CN 201810296208 A CN201810296208 A CN 201810296208A CN 108744158 B CN108744158 B CN 108744158B
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- injector
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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
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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
- A61M5/42—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
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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
- A61M2005/206—With automatic needle insertion
Abstract
The invention discloses an automatic intravenous injection system and an injection method, wherein the system comprises: the fixing plate is used for fixing a part needing intravenous injection, and each position has determined coordinates; the infrared light source is used for emitting light to irradiate a part needing injection; the camera shooting component is used for shooting the area of the fixing plate and transmitting the image to the processor; the processor is used for receiving the images in real time, processing the images, comparing each frame of image with the blank image of the fixed plate with each known position coordinate and determining the position coordinate of the vein; the proximity sensor is used for sensing the distance between the injector and the part to be injected and sending the distance to the control system; and the control system is used for controlling the three-dimensional moving system to move the injector to the position and controlling the injection device to inject liquid medicine according to the position coordinates and the distance information of the vein. The invention can automatically complete injection without the participation of nurses, saves time and labor in operation, greatly improves the efficiency and can keep constant-speed medicine delivery.
Description
Technical Field
The invention relates to medical equipment, in particular to an automatic intravenous injection system and an injection method.
Background
Intravenous injection is a commonly used medical procedure, in which liquid substances such as blood, medical solutions, nutritional solutions, etc. are directly injected into a vein.
At present, the existing intravenous injector is generally pushed by a nurse to inject medicine, so that the labor intensity is high, the medicine is difficult to be injected into the vein at the same speed, and discomfort of a patient is easily caused. Moreover, when a nurse injects the intravenous injection to a patient, the time is often dozens of minutes or even half an hour, which greatly wastes the time of the nurse, and the operation is complicated, time-consuming and labor-consuming; some medicines need to be propelled at a constant speed to ensure the effect, for example, mannitol is a hypertonic dehydrating agent, and can quickly increase the osmotic pressure of blood when entering veins, thereby achieving the effect of quickly dehydrating tissues. Due to the pharmacological action characteristics of mannitol, in the treatment process of mannitol, the most important is that the intravenous injection infusion speed cannot be too fast or too slow, and the too fast infusion speed can cause headache, dizziness and blurred vision; too slow, small amount, no concentration and low concentration, and can not rapidly increase the blood osmotic pressure to dehydrate tissues and reduce the cranial pressure. Therefore, the injection of mannitol in a vein needs the operation of the whole attention of a special person, and during the period, medical staff need to hold a propeller to slowly keep constant-speed propulsion, which has very high requirements on the medical staff; and the operation intensity is high, the medicine is difficult to be injected into the vein at a constant speed, and medical care personnel are easy to cause discomfort of patients due to fatigue.
Moreover, patients sometimes only need to intravenously inject some self-clear medicines, and still have to go to hospitals for intravenous injection, which cannot be done at home alone, and thus the efficiency is low.
In view of the above problems, the present invention provides an automatic intravenous injection system and an injection method.
Disclosure of Invention
In view of the above problems, the invention provides an automatic intravenous injection system and an injection method, which can automatically complete intravenous injection without the participation of medical staff, save time and labor in operation, reduce the labor burden of the medical staff, greatly improve the working efficiency and keep constant medicine delivery.
The present invention provides an automatic intravenous injection system comprising an injector for injection, the system further comprising:
the fixing plate is used for fixing a part needing intravenous injection, and each position on the fixing plate has a determined coordinate;
the infrared light source is used for emitting near infrared light to irradiate the part needing intravenous injection;
the camera shooting component is used for shooting the area of the fixing plate, shooting the vein image in real time and transmitting the vein image to the processor;
the processor is used for receiving the images shot by the camera shooting component in real time, processing the images, and comparing each frame of image with the blank image of the fixed plate with each known position coordinate so as to determine the position coordinate of the vein vessel developed by infrared;
the proximity sensor is used for sensing the distance of the injector close to the part to be injected and sending the distance to the control system;
and the control system is used for controlling the three-dimensional moving system to move the injector to the position of the vein according to the position coordinates of the vein obtained by the processor and the distance information obtained by the proximity sensor, and controlling the injection device to push the injector to inject liquid medicine.
Further, the injection device comprises a front cylinder, a piston rod, a motor system and a rear cylinder, wherein the front cylinder is used for fixing the injector, and the inner diameter of the front cylinder is the same as the outer diameter of the injector and is smaller than the inner diameter of the rear cylinder; the syringe piston handle is mounted on the piston, and the piston rod is used for pushing the piston to move through the control of the motor system; the motor system is used for controlling the injector to inject or suck the medicine according to the control instruction; the inner diameter of the rear cylinder body is the same as the diameter of the piston and is used for the piston to move.
Further, the motor system comprises a motor and a transmission mechanism, wherein the motor is used for rotating for a certain number of turns according to the instruction of the control system; and the transmission mechanism is used for converting the number of turns of the motor into transverse movement displacement and driving the piston rod to move back and forth.
Furthermore, the infrared light source is arranged above the front face of the front cylinder body in an embedded mode, and the camera shooting component is arranged below the front face of the front cylinder body in an embedded mode, so that the infrared light source and the camera shooting component are ensured to be on the same straight line as much as possible; the front surface of the front cylinder body is provided with the proximity sensor near the middle position, and the proximity sensor is used for sensing the distance of the injector near the part to be injected.
Further, the three-dimensional moving system comprises a fixing part and a three-dimensional motor, wherein the fixing part is used for fixing and carrying the injection device and the control system, and the three-dimensional motor is installed below the fixing part and used for controlling the fixing part to move in the three-dimensional direction according to the instruction of the control system.
Furthermore, the fixing plate is provided with an arm-shaped sunken base for placing an intravenous injection arm, and a clamping end for fixing the arm and assisting arm positioning.
Further, each position point in the blank image of the fixed plate is obtained by training the artificial neural network in the early stage corresponding to each specific coordinate value.
Further, the initial position of the image pickup component is located at a certain distance above the center of the fixing plate, and when the image pickup component picks up the image at the distance, the image pickup component just picks up the full view of the fixing plate.
In addition, the invention also provides an automatic intravenous injection method based on the automatic intravenous injection system, which comprises the following steps:
fixing the part needing intravenous injection on a fixing plate;
controlling an infrared light source to emit near-infrared light to irradiate a part needing intravenous injection;
controlling a camera shooting component to shoot the area of the fixing plate and shooting a vein image in real time;
processing the images shot, and comparing each frame of image with a blank image of a fixed plate with known position coordinates, thereby determining the position coordinates of the vein vessel developed by infrared;
controlling a three-dimensional moving system to move the injector to the position coordinate of the vein vessel according to the acquired position coordinate of the vein vessel;
sensing the distance of the injector close to the part to be injected by using a proximity sensor, and controlling a three-dimensional moving system to enable the injector to approach until an injection needle penetrates into a vein;
the injection device is controlled to stably push the syringe to inject the liquid medicine.
Further, the method further comprises the steps of: after the injection is finished, the control system controls the camera part to return to the initial position.
Compared with the prior art, the automatic intravenous injection system and the injection method have the advantages that:
(1) through full-automatic intravenous route, liberate medical personnel completely, need not medical personnel and participate in, accomplish intravenous route automatically, operation labour saving and time saving alleviates medical personnel's work burden.
(2) The speed of pushing the medicine is controlled by the motor, so that the medicine is ensured to be delivered at a constant speed, and the difficult problems that the medicine pushing cannot be too fast or too slow are solved.
(3) The automatic intravenous injection system provided by the invention can completely complete the injection by the patient, does not need to go to a hospital, can complete the intravenous injection by the patient at home, greatly improves the efficiency and is convenient for life.
These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an automatic IV system according to a first embodiment of the invention;
FIG. 2 is a diagram illustrating a blank image of a fixing plate and an image during injection according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a second syringe according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a third automatic IV set according to an embodiment of the present invention;
FIG. 5 is a schematic cross-sectional view taken along line A-A of FIG. 4 in accordance with a third embodiment of the present invention;
FIG. 6 is an enlarged view of the third embodiment of the present invention shown in FIG. 4;
FIG. 7 is a schematic structural diagram of an automatic IV set according to a fourth embodiment of the invention;
description of the drawings: 1-motor system, 2-rear cylinder, 3-piston rod, 4-piston, 5-needle handle, 6-front cylinder, 7-injector, 8-needle, 9-infrared light source, 10-camera component, 11-injection device, 12-fixing plate, 13-vein, 14-arm, 15-control system, 16-proximity sensor, 17-first through hole, 18-second through hole, 20-injector piston handle, 21-empty cylinder, 22-empty cylinder bolt, 31-front cylinder fixing part, 32-front cylinder dismounting part, 33-buckle, 34-elastic groove, 35-rubber ring, 36-button, 41-piston groove, 42-left fixing cover, 43-right fixing cover and 44-rotating shaft.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, an automatic iv injection system according to an embodiment of the present invention includes an injector 7 for injection, and the system further includes:
a fixing plate 12 for fixing a site requiring intravenous injection, and each position on the fixing plate 12 having a determined coordinate (y, z);
the infrared light source 9 is used for emitting near infrared light to irradiate the part needing intravenous injection;
the camera part 10 is used for shooting the area of the fixing plate, shooting the vein image in real time and transmitting the vein image to the processor;
a processor for receiving the images photographed by the photographing part 10 in real time, performing image processing, and comparing each frame image with a blank image of the fixing plate for which each position coordinate (y, z) is known, thereby determining a vein position coordinate (y1, z1) by infrared imaging;
a proximity sensor 16 for sensing the distance of the injector 7 close to the site to be injected and sending said distance to the control system 15;
and the control system 15 is used for controlling the three-dimensional moving system to move the injector 7 to the position of the vein according to the position coordinates of the vein obtained by the processor and the distance information obtained by the proximity sensor 16, and controlling the injection device 11 to push the injector 7 to inject liquid medicine.
The processor can be arranged inside the control system 15 and integrated together to reduce the volume.
In the invention, the wavelength of near-infrared light emitted by the infrared light source is 700-900nm, the penetration depth of the near-infrared light to human tissues is stronger than that of visible light, the energy absorption of the deoxyhemoglobin in venous blood to the near-infrared light is obviously higher than that of peripheral tissues of blood vessels such as fat, melanin and the like, the near-infrared light can penetrate to the subcutaneous position by about 15 mm, and the light can be absorbed by the deoxyhemoglobin in the blood but can be reflected by the peripheral tissues. Therefore, the method of near infrared light imaging can remarkably improve the contrast between the vein vessel and the surrounding tissues and obtain a clearer vein structure image.
The camera part 10 is used for receiving the reflected light, shooting the area of the fixing plate, shooting the vein image in real time and transmitting the vein image to the processor; the camera part 10 is an infrared camera and a digital camera with a visible light filter;
the initial position of the imaging device 10 is located a distance above the center of the fixed plate 12, and when the distance is shot, the imaging device just shoots the whole view of the fixed plate 12. After each intravenous injection, the control system 15 controls the camera to return to the initial position. At an initial position, the image pickup component 10 picks up 12 a complete picture including a part to be injected and a vein, after sending the picture to the processor, the processor performs image processing such as enhancement, denoising, segmentation and the like on the picture, and compares the picture with a fixed plate blank picture with known coordinates (y, z) of each position, as shown in fig. 2, the fixed plate blank picture is compared with the picture at the time of injection, the left picture is a fixed plate blank picture, each point has a fixed coordinate (y, z) determined, the fixed plate blank picture is also picked up at the initial position by the image pickup component 10, and further, each position point in the fixed plate blank picture is obtained by artificial neural network early training corresponding to each specific coordinate value.
Therefore, comparing the right image and the left image in fig. 2, the coordinate value of each point on the vein 13 in fig. 2 can be determined, and taking one point a, such as the middle point, as the intravenous point, the coordinate value of the point a can be obtained by comparison (y1, z 1).
Next, the control system 15 controls the servo motors matched with the Y-direction transmission shaft and the Z-direction rotation shaft in the three-dimensional moving system to rotate according to the acquired coordinate values (Y1, Z1) of the point a, controls the syringe needle 8 to reach the (Y1, Z1) point in the YZ-direction coordinate system in the three-dimensional space, and controls the needle to move in the YZ plane at all times without moving the motor in the X direction.
Thereafter, the proximity sensor 16 is activated, sensing the distance of the injector 7 close to the site to be injected and sending said distance to the control system 15; when the injector is at an initial position, the part of the injector except a needle head (the position of the proximity sensor 16 in the figure) is about 20 cm-60 cm away from a fixed plate, an optimal value of 30cm is taken, wherein the needle head is about 2-2.5cm, and 2cm is taken here, therefore, even if the proximity sensor does not work, the control system moves forwards about 20cm in the X direction after the YZ plane determines coordinates, when the needle head approaches muscles, the proximity sensor senses the distance between the sensor and the muscles in real time, and when only 2cm of the needle head is left, a dripping sound is emitted, at the moment, the control system controls the injector to start the injection, and the needle head can be kept to be inserted into the vein A point only by keeping the X direction unchanged and moving forwards by 1-2 cm.
Subsequently, the control system 15 controls the injection device 11 to smoothly and uniformly push the syringe 7 to inject the liquid medicine. After the injection is completed, the control system 15 controls the whole system to return to the initial state.
Further, the injection device comprises a front cylinder 6, a piston 4, a piston rod 3, a motor system 1 and a rear cylinder 2, wherein the front cylinder 6 and the rear cylinder 2 are integrally formed, as shown in fig. 1, the front cylinder 6 is integrally connected to the rear cylinder 2 through a horn-shaped cylinder, the front cylinder 6 is used for detachably installing and sealing and fixing the injector 7, and the inner diameter of the front cylinder is the same as the outer diameter of the injector and is smaller than the inner diameter of the rear cylinder 2; a needle handle 5 connected with the syringe piston is detachably arranged on the piston 4, and the piston rod 3 is used for pushing the piston 4 to move through the control of the motor system 1; the motor system 1 is connected with the control system 15 and is used for controlling the number of turns of rotation according to the instruction of the control system 15 so as to control the injector 7 to inject or suck the medicine; the inner diameter of the rear cylinder body is the same as the diameter of the piston and is used for the piston to move. The rear end of the rear cylinder body 1 is an integrally formed rear end body, and the other mode can be a mode that a rear cover is screwed at the rear end, which is not shown in the figure.
Here, since the syringe piston is very small and is not beneficial to the motor to control the movement of the syringe piston, the needle handle 5 of the syringe piston is detachably and fixedly arranged on the piston 4, the pushing of the syringe piston is amplified to be pushed by the piston rod 3 controlled by the motor in an amplifying mode, so that two-layer piston pushing is formed, the back piston pushes the syringe piston to move, and the precision of the motor control back and forth movement is higher.
Further, the motor system 1 comprises a motor and a transmission mechanism, wherein the motor is used for rotating for a certain number of turns according to the instruction of the control system; and the transmission mechanism is used for converting the number of turns of the motor into transverse movement displacement and driving the piston rod to move back and forth.
Further, the three-dimensional moving system 11 comprises a fixing member (the fixing table 11 in fig. 1) for fixing and carrying the injection device and the control system, and a three-dimensional motor installed below the fixing member for controlling the fixing member to move in three-dimensional directions according to the control system command.
Further, an arm-shaped fixing recess is installed on the fixing plate 12 for placing an arm for intravenous injection.
Further, the infrared light source 9 is installed above the front surface of the front cylinder 6 in an embedded manner, and the camera component 10 is installed below the front surface of the front cylinder 6 in an embedded manner, so as to ensure that the infrared light source 9 and the camera component 10 are as linear as possible.
Further, the proximity sensor 16 is installed on the front surface of the front cylinder 6 near the middle position, and is used for sensing the distance of the injector near the to-be-injected part.
Furthermore, the front cylinder body 6 and the rear cylinder body 2 are integrally formed, a rear cover is screwed at the rear end of the rear cylinder body, and a through hole is formed in the middle of the rear cylinder body and used for the movement of the piston rod 3; the piston 4 is provided with a plurality of first through holes 17 for extruding air to circulate when the piston moves.
As shown in fig. 3, which is a schematic structural diagram of a second syringe according to an embodiment of the present invention, the syringe may be a conventional syringe, and includes a needle 8, an empty cylinder 21, an empty cylinder plug 22, a needle handle 5 and a syringe piston handle 20, and the syringe may be customized according to the size and shape of a front cylinder body by pushing the syringe piston handle 20 back and forth.
Fig. 4 is a schematic structural view of a third automatic iv administration apparatus according to an embodiment of the present invention; FIG. 5 is a schematic cross-sectional view taken along line A-A of FIG. 4 in accordance with a third embodiment of the present invention; FIG. 6 is an enlarged view of the third embodiment of the present invention shown in FIG. 4; in the third embodiment, the injector 7 is detachably mounted on the front cylinder 6;
further, the injector 7 is detachably and fixedly mounted on the front cylinder 6 in a specific manner that: the front cylinder 6 is divided into a front cylinder fixing portion 31 integrally formed with the rear cylinder and a detachable front cylinder detaching portion 32, and the syringe is fixed by being sandwiched by the front cylinder fixing portion 31 and the front cylinder detaching portion 32.
As shown in fig. 5, the front cylinder detaching portion 32 is fixed to the front cylinder fixing portion 31 by a spring snap, wherein a fixing snap 33 is provided on the front cylinder detaching portion 32, an elastic groove 34 into which the snap is inserted to be reversed is provided on the front cylinder detaching portion 32, a spring and a button 36 are connected to the elastic groove 34, and the button 36 is pressed to control the elastic groove 34 to be enlarged, so that the snap 33 is opened, thereby replacing the syringe.
Further, the front cylinder fixing part and the front cylinder detaching part are equal in size, the front cylinder is divided into two parts, and rubber rings 35 are respectively arranged along the inner side edges of the front cylinder fixing part and the front cylinder detaching part and used for tightly fixing the front cylinder and the front cylinder.
As shown in fig. 6, the syringe piston shank 20 is detachably mounted on the piston 4, and a piston groove 41 is formed on the piston 4 for accommodating the syringe piston shank 20; the piston 4 is further provided with a fixing cover, including a left fixing cover 42 and a right fixing cover 43 in the figure, for fixing the syringe piston handle by rotating to cover, and the left fixing cover 42 and the right fixing cover 43 can rotate around a rotating shaft 44, when rotating from a horizontal position to a vertical position, the syringe piston handle 20 in the piston groove 41 is fixed, and vice versa, the syringe piston handle 20 is detached.
In another embodiment, the syringe is integral with the front cylinder, inseparable, and during production the syringe is fixed in the front cylinder, only the front needle can be replaced, after each administration the syringe is cleaned, and the next administration is replaced with a new needle 8.
As shown in fig. 7, a fourth embodiment of the present invention is different from the first to third embodiments only in that: the front cylinder body is fixedly connected with the rear cylinder body through a connecting piece with a plurality of second through holes 18, a third through hole is arranged at the rear end of the rear cylinder body or on the rear cover, the first through hole 17 is not needed to be arranged on the piston 4, when the liquid medicine is sucked, air enters from the second through hole 18 and exits from the third through hole, and when the liquid medicine is injected, air enters from the third through hole and exits from the second through hole 18, so that the liquid medicine is slowly and stably injected by the injector.
In addition, the invention also provides an automatic intravenous injection method based on the automatic intravenous injection system, which comprises the following steps:
the automatic intravenous injection system is in an initial position, and the syringe is loaded in the front cylinder body 6 after being filled with medicine;
fixing the part needing intravenous injection on a fixing plate;
controlling an infrared light source to emit near-infrared light to irradiate a part needing intravenous injection;
controlling a camera shooting component to shoot the area of the fixing plate and shooting a vein image in real time;
processing the images shot, and comparing each frame of image with a blank image of a fixed plate with known position coordinates, thereby determining the position coordinates of the vein vessel developed by infrared;
controlling a three-dimensional moving system to move the injector to the position coordinate of the vein vessel according to the acquired position coordinate of the vein vessel;
sensing the distance of the injector close to the part to be injected by using a proximity sensor, and controlling a three-dimensional moving system to enable the injector to approach until an injection needle penetrates into a vein;
and controlling the injection device to stably push the injector to inject the liquid medicine.
Further, the method further comprises the steps of: after the injection is finished, the control system controls the camera part to return to the initial position.
While the present invention has been described with reference to the embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. An automatic intravenous injection system comprising an injector for injection, characterized in that the system further comprises:
the fixing plate is used for fixing a part needing intravenous injection, and each position on the fixing plate has a determined coordinate;
the infrared light source is used for emitting near infrared light to irradiate the part needing intravenous injection;
the camera shooting component is used for shooting the area of the fixing plate, shooting the vein image in real time and transmitting the vein image to the processor;
the processor is used for receiving the images shot by the camera shooting component in real time, processing the images, and comparing each frame of image with the blank image of the fixed plate with each known position coordinate so as to determine the position coordinate of the vein vessel developed by infrared;
the proximity sensor is used for sensing the distance of the injector close to the part to be injected and sending the distance to the control system;
the control system is used for controlling the three-dimensional moving system to move the injector to the position of the vein according to the position coordinates of the vein obtained by the processor and the distance information obtained by the proximity sensor, and controlling the injection device to push the injector to inject liquid medicine; the three-dimensional moving system comprises a fixing piece and a three-dimensional motor, wherein the fixing piece is used for fixing and bearing the injection device and the control system, and the three-dimensional motor is arranged below the fixing piece and used for controlling the fixing piece to move in the three-dimensional direction according to the instruction of the control system;
the injection device comprises a front cylinder body, a piston rod, a motor system and a rear cylinder body, wherein the front cylinder body is used for fixing the injector, and the inner diameter of the front cylinder body is the same as the outer diameter of the injector and is smaller than the inner diameter of the rear cylinder body; a syringe piston handle is arranged on the piston, the syringe piston handle is used for sucking and ejecting liquid medicine through forward and backward pushing, and the piston rod is used for pushing the piston to move through the control of the motor system; the motor system is used for controlling the injector to inject or suck the medicine according to the control instruction; the inner diameter of the rear cylinder body is the same as the diameter of the piston and is used for the piston to move;
the motor system comprises a motor and a transmission mechanism, wherein the motor is used for rotating for a certain number of turns according to the instruction of the control system; the transmission mechanism is used for converting the number of turns of the rotation of the motor into transverse movement displacement and driving the piston rod to move back and forth;
the infrared light source is arranged above the front face of the front cylinder body in an embedded mode, and the camera shooting component is arranged below the front face of the front cylinder body in an embedded mode so as to ensure that the infrared light source and the camera shooting component are in the same straight line as much as possible; the front surface of the front cylinder body is provided with the proximity sensor near the middle position, and the proximity sensor is used for sensing the distance of the injector near the part to be injected.
2. The automatic iv system of claim 1, wherein the three-dimensional moving system comprises a fixture for holding and carrying the injection device and the control system, and a three-dimensional motor mounted below the fixture for controlling the fixture to move in three-dimensional directions according to control system instructions.
3. The automatic iv system of claim 1, wherein the fixing plate has an arm-shaped recessed seat for receiving an iv arm and a holding end for fixing the arm and assisting arm positioning.
4. The automatic iv system of claim 1, wherein each position point in the blank image of the fixed plate is obtained by pre-training an artificial neural network corresponding to each specific coordinate value.
5. The automatic iv system of claim 1 wherein the initial position of the camera assembly is located a distance above the midpoint of the fixation plate at which the camera assembly captures an overview of the fixation plate.
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| CN201810296208.0A CN108744158B (en) | 2018-04-03 | 2018-04-03 | Automatic intravenous injection system and injection method |
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| CN201810296208.0A CN108744158B (en) | 2018-04-03 | 2018-04-03 | Automatic intravenous injection system and injection method |
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| CN109481792A (en) * | 2018-12-27 | 2019-03-19 | 季雪莲 | A kind of Surgical Operating Room continued narcosis device |
| CN110665093B (en) * | 2019-09-29 | 2022-02-01 | 英华达（上海）科技有限公司 | Monitoring method and monitoring device for venous transfusion |
| 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 |
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| US8478386B2 (en) * | 2006-01-10 | 2013-07-02 | Accuvein Inc. | Practitioner-mounted micro vein enhancer |
| CN202777312U (en) * | 2012-09-27 | 2013-03-13 | 汕头大学医学院第一附属医院 | Constant speed pusher of injector |
| CN105213063A (en) * | 2014-06-24 | 2016-01-06 | 上海益诺思生物技术有限公司 | Sd rat continuous intravenous injection equipment |
| CN104523230B (en) * | 2014-12-29 | 2016-07-13 | 华中科技大学 | A kind of device of vein puncture needle head location positioning |
| CN105056351B (en) * | 2015-07-31 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of automatic acupuncture treatment device |
| CN105536093B (en) * | 2016-03-10 | 2019-05-03 | 京东方科技集团股份有限公司 | Transfusion system and the infusion method for using transfusion system |
| CN205612819U (en) * | 2016-03-29 | 2016-10-05 | 中国人民解放军南京军区南京总医院 | Liquid crystal vein locater auxiliary device |
| CN106039487B (en) * | 2016-06-30 | 2017-11-10 | 广东药科大学附属第一医院 | A kind of automatic acupuncture treatment system and its control method |
| CN106510730B (en) * | 2016-12-15 | 2018-03-30 | 北京迈纳士手术机器人技术股份有限公司 | Vein blood vessel depth measurement device and blood sampling machine |
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