CN111248975A - Four-limb intelligent hemostatic soft robot system with controllable tightening pressure - Google Patents
Four-limb intelligent hemostatic soft robot system with controllable tightening pressure Download PDFInfo
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- 230000023597 hemostasis Effects 0.000 claims abstract description 43
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- 238000006243 chemical reaction Methods 0.000 claims description 19
- UIIMBOGNXHQVGW-UHFFFAOYSA-M Sodium bicarbonate Chemical compound [Na+].OC([O-])=O UIIMBOGNXHQVGW-UHFFFAOYSA-M 0.000 claims description 12
- 230000000740 bleeding effect Effects 0.000 claims description 8
- 239000011248 coating agent Substances 0.000 claims description 8
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- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 claims description 6
- 229910000030 sodium bicarbonate Inorganic materials 0.000 claims description 6
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- 210000003414 extremity Anatomy 0.000 description 33
- 208000032843 Hemorrhage Diseases 0.000 description 11
- 208000027418 Wounds and injury Diseases 0.000 description 8
- 208000034158 bleeding Diseases 0.000 description 7
- 208000014674 injury Diseases 0.000 description 6
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/132—Tourniquets
- A61B17/135—Tourniquets inflatable
- A61B17/1355—Automated control means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/132—Tourniquets
- A61B17/135—Tourniquets inflatable
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Abstract
The utility model provides a tighten controllable four limbs of pressure intelligence hemostasis software robot system, belongs to intelligent medical instrument field, tightens the module by two fingers, tightens module, drive control module by single finger and constitutes, drive control module includes the shell, locates power supply, the control assembly in the shell. Firstly, the control panel makes the two fingers of the soft body bent firstly by controlling the normally closed electromagnetic valve and the two-position three-way electromagnetic valve, then makes the single finger of the soft body bent and buckled in the middle of the two fingers of the soft body, and is adhered and locked with the magic paste suede through the magic paste hook surface. And then, the control panel controls the air passage of the annular air bag to ventilate, and the air passage is pressurized to the pressure required by hemostasis to perform tightening hemostasis. And finally, the control panel appropriately cuts off the two-position three-way electromagnetic valve according to the feedback pressure and time, so as to realize deflation and loose binding. The device has the functional characteristics of safety and comfort in contact with people, controllable and reliable hemostasis action, automatic loosening and the like; the universality is good; the control mode based on force feedback is adopted, and the hemostasis pressure and time can be controlled; can be applied to occasions such as robotized disaster rescue, family self rescue and the like.
Description
Technical Field
The invention belongs to the field of intelligent medical instruments, and relates to a limb intelligent hemostatic soft robot system with controllable tightening pressure.
Background
The hysteretic treatment of the massive trauma hemorrhage is an important reason for casualties caused by natural disasters such as earthquakes, debris flows and the like. The phenomenon that a wound patient dies from a disaster site because massive haemorrhage cannot be timely and effectively cured occurs in a large quantity. For the elderly and the weak living alone, the bleeding of the limbs and other parts caused by accidents may also bring serious consequences. The fatality rate caused by massive hemorrhage after trauma is closely related to the time of treatment. However, in practical situations, it is often difficult for medical staff to enter a post-earthquake emergency building or other places, and further conventional measures such as a traditional hand-wrapped rubber tourniquet and an air bag tourniquet cannot be adopted to perform hemostasis, so that the treatment time is greatly delayed. The fatality rate caused by massive hemorrhage after trauma is closely related to the time of treatment. Therefore, the study of the pre-hospital wound hemostasis emergency device suitable for disaster site and self-rescue use is of great significance.
The first-aid hemostasis technique and equipment are one of the common equipment in medical first-aid. Chayote et al in the chinese patent application No. 201810853470.0 discloses a hemostatic device using a disposable gas cylinder and an inflatable air bag, and integrates a related pressure sensor to realize adaptive adjustment of pressure. Chinese patent application No. 201910446870.4, chenling, discloses a compression type hemostatic device with a locking mechanism, which can reduce or close the vascular lacerations under a certain pressure to achieve the hemostatic function. Zhang Xiaofei et al, in the Chinese patent with application number 201821908245.4, disclose a device for pressurizing and stopping bleeding of four limbs, which simulates manual compression after artery puncture, instead of manual compressionThe medical care personnel continuously press the action, thereby achieving the effect of hemostasis. Radi Medical Systems, Inc
Et al propose a hemostatic device that is an air cushion type unit that can be stably secured to the wound site and can provide a pressure that is centered and perpendicular to the wound throughout the compression as desired. However, the existing hemostatic device mostly adopts manual operation, an external air source, and the device has large structure size and is not independently controllable, so that the device cannot adapt to a complex rescue environment. There is a need for a limb hemostasis device that can be applied to unmanned, robotic operation and is safe to operate.
Disclosure of Invention
The invention mainly solves the technical problem of overcoming the defects of the device, and provides the limb intelligent hemostasis soft body robot system with controllable tightening pressure aiming at the problem of robotized hemostasis of human limbs in disaster rescue or life self rescue. The system adopts a pneumatic bionic finger tightening structure based on a multi-cavity principle to realize the annular pre-coating action of the four limbs arteries of the human body within a certain diameter range; the stable locking of the annular wrapping action of the four limbs is realized by adopting magic tapes and the like; the pressure controllable tightening action of the arteries of the four limbs of the human body is realized by adopting a bottom expansion layer pneumatic pressurization method fed back by a pressure sensor; the mode that the micro air pump compresses air or sodium bicarbonate and the like to generate gas through chemical reaction is adopted to provide effective high-pressure gas driving force. And a microcontroller system is adopted, so that the modular system design of the hemostatic robot with high integration level is realized.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a tighten controllable four limbs of pressure intelligence hemostasis software robot system, it divides into following triplex according to functional structure: the device comprises a driving control module 1, a single-finger tightening module 2 and a double-finger tightening module 3.
The drive control module 1 comprises a shell, a power source arranged in the shell and a control assembly.
The power source is a gas generating device for providing driving gas, the gas generating device is a micro air pump 101 or a chemical reaction module 107, and two different power sources can be selected in different use environments. The miniature air pump 101 is small in size and can output compressed air when being electrified; the chemical reaction module 107 can heat sodium bicarbonate through a resistance wire to decompose the sodium bicarbonate to generate carbon dioxide as driving gas, and compared with the micro air pump 101, the chemical reaction module is smaller in volume and power consumption, but cannot stably output for a long time. The control assembly comprises three two-position three-way electromagnetic valves 102, three normally closed electromagnetic valves 103, three pressure sensors 106, a control board 104 and a liquid crystal screen 105 arranged on the surface of the shell. The annular air bag 5 is connected with a two-position three-way electromagnetic valve 102, a normally closed electromagnetic valve 103 and a pressure sensor 106 to form a first air path, wherein the two-position three-way electromagnetic valve 102 is provided with three interfaces, and is communicated with the outside to be used as an exhaust passage besides being connected with the annular air bag 5 and the normally closed electromagnetic valve 103. The soft single finger 202 is connected with another two-position three-way electromagnetic valve 102, another normally closed electromagnetic valve 103 and another pressure sensor 106 to form a second air path, wherein the two-position three-way electromagnetic valve 102 is connected with an air inlet pipe A202-4 and the normally closed electromagnetic valve 103 of the soft single finger 202, and a connector is communicated with the outside to be used as an exhaust passage. The soft double fingers 302 are connected with a third two-position three-way electromagnetic valve 102, a third normally closed electromagnetic valve 103 and a third pressure sensor 106 to form a third air path, wherein the two-position three-way electromagnetic valve 102 is connected with an air inlet pipe B302-4 and the normally closed electromagnetic valve 103 of the soft double fingers 302, and a connector is communicated with the outside to form an exhaust passage. In addition, except for being connected with the two-position three-way electromagnetic valve 102, three normally closed electromagnetic valves 103 in the three gas paths are all connected with a gas generating device (a miniature gas pump 101 or a chemical reaction module 107) and are used for electrifying to connect a gas source to increase the pressure of the annular gas bag 5, the soft single finger 202 and the soft double finger 302 or powering off to stop gas inlet and keep the pressure of the annular gas bag 5, the soft single finger 202 and the soft double finger 302. The three two-position three-way electromagnetic valves 102 and the three normally closed electromagnetic valves 103 are used for respectively controlling the pressure of the soft single finger 202, the soft double fingers 302 and the annular air bag 5 so as to complete sequential action and independent control. The control board 104 comprises a microcontroller and peripheral circuits thereof, is connected with the pressure sensor 106 and the two electromagnetic valves, and is used for receiving and processing pressure signals and controlling the on-off of the two electromagnetic valves so as to enable the system to work according to a preset rule; the pressure sensor 106 is used for detecting and feeding back the pressure of each gas path; three two-position three-way electromagnetic valves 102 and three normally closed electromagnetic valves 103 are used for controlling the on-off of the air path to change the pressure and maintain the hemostasis state or reduce the pressure and bleed. The liquid crystal display 105 is used for providing hemostasis information for patients or for disaster relief communication.
Further, the preset rule is as follows: firstly, the control board 104 makes the soft double fingers 302 bend first by controlling the normally closed solenoid valve 103 and the two-position three-way solenoid valve 102, then makes the soft single finger 202 bend and buckle in the middle of the soft double fingers 302, and adheres and locks with the magic paste suede 201 through the magic paste hook surface 301. Then, the control board 104 controls the air passage of the annular air bag 5 to ventilate, and pressurizes to the pressure required by hemostasis to perform tightening hemostasis. Finally, the control board 104 appropriately powers off the two-position three-way electromagnetic valve 102 according to the feedback pressure and time, so as to realize deflation and loose binding.
Further, when the chemical reaction module 107 is used as a power source, the control board 104 controls whether the resistance wires therein are continuously heated through the pressure fed back by the gas circuit, so as to control whether the reaction is continuously performed.
The double-finger tightening module 3 comprises a soft double finger 302, a hook-and-loop surface 301 and one side of an annular air bag 5. The soft double fingers 302 comprise a driving layer B302-2 and a limiting layer B302-3. The driving layer B302-2 comprises a plurality of air cavities B302-1 communicated with one another, an air inlet pipe B302-4 is arranged at an inlet, the air cavities B302-1 can expand and deform when being filled with air, and the air inlet pipe B302-4 is connected with a two-position three-way electromagnetic valve 102 in a third air path of the driving control module 1. The driving layer B302-2 is fixedly connected with the limiting layer B302-3, and the double-finger tightening module 3 can only be subjected to unilateral bending deformation when the driving gas is filled. The two-finger tight module 3 is provided with an inflatable and deflatable annular air bag 5 on the inner side of the curve (i.e. the contact area with the human body). The annular air bag 5 is adhered to the limiting layer B302-3, and the hook-and-loop surface 301 is adhered to the outer side (i.e. the side not in contact with the limb) of the annular air bag 5 and is used for adapting to the locking of different limb diameters.
The single-finger tightening module 2 comprises a soft single finger 202, a magic tape suede 201 and the other side of the annular air bag 5. The soft single finger 202 comprises a driving layer A202-2 and a limiting layer A202-3. The driving layer A202-2 comprises a plurality of communicated air cavities A202-1, and an air inlet pipe A202-4 is arranged at an inlet; the limiting layer A202-3 is fixedly connected with the driving layer A202-2, the air chamber A202-1 is inflated with air and then expands and deforms, and the soft single finger 202 bends accordingly. The inner side of the single-finger tight module 2 (i.e. the contact area with the human body) is provided with an annular air bag 5 which can be inflated and deflated. The annular air bag 5 is adhered to the limiting layer A202-3, the magic tape suede 201 is adhered to the inner side (namely the side contacted with the limbs) of the annular air bag 5, and the magic tape suede 201 is contacted with the skin of the limbs and can be adhered and locked with the magic tape hook surface 301 in the double-finger tightening module 3.
Two sides of the annular air bag 5 are of annular structures and are respectively attached to the soft double fingers 302 and the soft single finger 202, and the middle part of the annular air bag is of a horizontal square structure and is arranged above the shell of the drive control module 1. The annular bladder 5 is inflated and the whole body expands, thereby tightening the limb.
Further, a magnetic adsorption device 4 is attached to the surface of the shell of the driving control module 1 and used as a connection mode with a mobile robot on the rescue site, and the magnetic adsorption connection can enable the system to be quickly separated from an external mechanism, so that the rescue efficiency is improved.
A use method of a four-limb intelligent hemostatic soft robot system with controllable tightening pressure comprises the following steps:
firstly, the control board 104 controls to open the normally closed solenoid valve 103 and the two-position three-way solenoid valve 102 of the third air path to which the soft double fingers 302 belong, so that the soft double fingers 302 are inflated to bend and pre-coat the limbs. The pressure sensor 106 of the air path sends data to the control board 104, and when the required pressure is reached, the control board 104 closes the normally closed electromagnetic valve 103 in the air path, and the pre-coating state of the soft double fingers 302 is maintained.
Secondly, the control panel 104 controls to open the normally closed solenoid valve 103 and the two-position three-way solenoid valve 102 of the second air path to which the soft single finger 202 belongs, so that the soft single finger 202 is inflated to bend and is buckled between the soft double fingers 302 and is bonded and locked with the magic tape suede 201 through the magic tape hook surface 301, and the magic tape is used for adapting to the locking of different limb diameters. The pressure sensor 106 of the air path sends data to the control board 104, and when the required pressure is reached, the control board 104 closes the normally closed electromagnetic valve 103 in the air path, and the pre-coating state of the soft single finger 202 is maintained.
And thirdly, the control panel 104 controls to open the normally closed electromagnetic valve 103 and the two-position three-way electromagnetic valve 102 of the first air path to which the annular air bag 5 belongs, and the annular air bag 5 starts to inflate and expand to tighten the limb to stop bleeding. The pressure sensor 106 of the air passage sends data to the control board 104, and when the required pressure is reached, the normally closed electromagnetic valve 103 is closed, and the current pressure of the annular air bag 5 is maintained.
Finally, after a period of hemostasis, the control board 104 cuts off the power of the two-position three-way electromagnetic valve 102 of the gas path to which the annular air bag 5 belongs according to the pressure fed back by the pressure sensor 106 of the first gas path and the actual condition, so that the two-position three-way electromagnetic valve 102 is disconnected with the normally closed electromagnetic valve 103, and the annular air bag 5 is communicated with the outside through the two-position three-way electromagnetic valve 102, so that deflation and loose binding are realized; after the air is discharged for a period of time, the control panel 104 opens the two-position three-way electromagnetic valve 102 of the air passage to which the annular air bag 5 belongs again, and the air inflation hemostasis is continued.
The invention has the beneficial effects that: the invention adopts soft materials, and has the functional characteristics of safe and comfortable contact with people, controllable and reliable hemostatic action, automatic loosening and the like; the adopted soft and flexible robot fingers can realize the hemostasis operation of limbs within a certain diameter range, and have good universality; the ordered hemostasis operation actions of pre-coating, locking and tightening are adopted, and a force feedback-based control mode is provided, so that the hemostasis pressure and time can be controlled; the system has small volume and low power consumption, is convenient to be matched with a manipulator for use or self-rescue, can be applied to occasions such as robotized disaster rescue, family self-rescue and the like, and realizes the rescue operation without medical care personnel on site.
Drawings
Fig. 1 is a schematic structural view of an intelligent four-limb hemostatic soft robot system with controllable tightening pressure according to the present invention;
FIG. 2 is a schematic diagram of the internal structure of a driving control module using a micro air pump as a power source according to the present invention;
FIG. 3 is a schematic view of the working state of the limb intelligent hemostatic soft robot system with controllable tightening pressure according to the present invention;
FIG. 4 is a diagram of the internal structure of a driving control module using a chemical reaction module as a power source according to the present invention;
FIG. 5 is a diagram of a software single finger structure according to the present invention;
FIG. 6 is a diagram of the structure of the software dual finger of the present invention;
FIG. 7 is a schematic structural view of the annular bladder 5;
in the figure: 1 driving a control module; 2, a single-finger tightening module; 3 a two-finger tightening module; 4, a magnetic adsorption device; 5, an annular air bag; 101 a miniature air pump; 102 two-position three-way electromagnetic valve; 103 a normally closed solenoid valve; 104 a control panel; 105 a liquid crystal panel; 106 a pressure sensor; 107 a chemical reaction module; 201 magic paste suede; 202 a software single finger; 301 hook sticking surface; 302 soft two fingers; 202-1 air cavity A; 202-2 drive layer A; 202-3 restriction layer A; 202-4 air inlet pipe A; 302-1 air cavity B; 302-2 drive layer B; 302-3 confinement layer B; 302-4 intake pipe B.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the drawings and technical solutions, but the scope of the present invention is not limited thereto.
A four-limb intelligent hemostatic soft robot system with controllable tightening pressure is shown in fig. 1 and is divided into the following three parts according to a functional structure: module 2, the module 3 is tightened to two fingers are tightened to drive control module 1, single finger, and the triplex is fixed through the veneer, and wherein, drive control module 1 includes the shell, locates power supply, the control assembly in the shell, and module 3 is tightened to two fingers includes software double fingers 302, magic subsides hook face 301, 5 one sides of annular gasbag, and module 2 is tightened to single finger includes software single finger 202, magic subsides matte 201, 5 one sides of annular gasbag. The two sides of the annular air bag 5 are of annular structures, and the middle horizontal square structure is arranged above the shell of the drive control module 1, as shown in fig. 7. The invention can adapt to limbs with different thicknesses and realize effective pre-coating, locking and tightening. The range of the diameter of the four limbs is 230mm-480mm as an example for design explanation. The inner arc length of the soft double-finger 302 end is 220mm, and the inner arc length of the soft single-finger 202 end is 280 mm. The soft single finger 202 is buckled between the soft double fingers 302 to realize the pre-coating action of the hemostasis part of the limb. The finger width of the soft single finger 202 and the soft double fingers 302 is 25mm, and after locking, the finger width reaches 80mm, so that the effective hemostasis area can be achieved. The soft finger driving layer, the limiting layer and the air bag are fixedly connected through hot melt adhesive, pneumatic driving control is adopted, air path control is achieved through the normally closed solenoid valve and the two-position three-way solenoid valve, inflation and deflation of the system are achieved, and pressure-controllable tightening action is achieved.
The drive control module 1 comprises a shell, a power source arranged in the shell and a control assembly. The control assembly comprises three two-position three-way electromagnetic valves 102, three normally closed electromagnetic valves 103, three pressure sensors 106, a control board 104 and a liquid crystal screen 105 arranged on the surface of the shell. The lcd 105 is used for displaying information such as the current hemostasis pressure and hemostasis time to the wounded, as shown in fig. 1.
The annular air bag 5 is connected with a two-position three-way electromagnetic valve 102, a normally closed electromagnetic valve 103 and a pressure sensor 106 to form a first air path. The soft single finger 202 is connected with another two-position three-way electromagnetic valve 102, another normally closed electromagnetic valve 103 and another pressure sensor 106 to form a second air path. The soft double fingers 302 are connected with a third two-position three-way electromagnetic valve 102, a third normally closed electromagnetic valve 103 and a third pressure sensor 106 to form a third air path. In addition, the interfaces of three two-position three-way solenoid valves 102 in the three air paths are connected with the normally closed solenoid valve 103, the annular air bag 5 or the soft single finger 202 and the soft double finger 302, and are communicated with the outside to be used as an exhaust channel, as shown in fig. 3. The three normally closed solenoid valves 103 are connected to the gas generating device in addition to the two-position three-way solenoid valve 102, as shown in fig. 2, specifically: the air inlet end of the normally closed electromagnetic valve 103 is connected with the gas generating device, and the air outlet end of the normally closed electromagnetic valve is connected with the two-position three-way electromagnetic valve 102. The normally closed electromagnetic valve 103 is communicated with the air source to inflate the soft fingers (the soft single finger 202 and the soft double fingers 302) and the annular air bag 5 when being electrified, and stops air inflow to keep the pressure of the soft fingers (the soft single finger 202 and the soft double fingers 302) and the annular air bag 5 when being powered off. When the two-position three-way electromagnetic valve 102 is electrified, the soft single finger 202, the soft double finger 302 or the annular air bag 5 is communicated with the gas generating device through the two-position three-way electromagnetic valve 102 and the normally closed electromagnetic valve 103 for inflation, and when the two-position three-way electromagnetic valve 102 is powered off, the loop is switched to be communicated with the outside for exhaust and pressure reduction. As shown in fig. 4, the 3 pressure sensors 106 are respectively used for detecting the pressure of the air paths of the annular air bag 5, the soft single finger 202 and the soft double finger 302, and feeding back pressure signals to the control board 104, and the control board 104 adjusts the two-position three-way electromagnetic valve 102 and the normally closed electromagnetic valve 103 according to the pressure and the actual situation, so as to realize scientific management of hemostasis and bleeding. The hemostasis mode can realize self rescue without help of the wounded, automatic decompression, loosening and binding and bloodletting can be carried out under the supervision of no medical personnel, and secondary injury of necrosis of limb tissues caused by long-time hemostasis is avoided. The hemostasis method can avoid the risk of secondary injury caused by improper operation of the wounded personnel when medical personnel are lacked.
The power source is a gas generating device, and the gas generating device can select a chemical reaction module 107 besides the micro air pump 101, as shown in fig. 4. The volume of the chemical reaction module 107 is 8cm3The product is convenient to miniaturize, the resistance wire is arranged in the device, and the sodium bicarbonate powder is decomposed by heating to generate carbon dioxide as driving gas. The control board 104 can stop heating the resistance wire when the pressure meets the use requirement according to the data fed back by the pressure sensor 106 of the air path of the annular air bag 5, so that the reaction is not continued any more. Compared with the driving of a miniature air pump, the chemical reaction driving method can continuously reduce the volume and reduce the power consumption on the basis of the driving of the miniature air pump, but the output is not stable enough for long-time or severe-injury hemostasis scenes. If the size of the drive control module 1 is reduced, the soft fingers can be correspondingly reduced, the hemostasis device can be used for hemostasis of limbs with the diameter of less than 230mm, and the compliance of the small arms, the thin arms of women and even the wrists can be theoretically achieved, so that the adaptation range of the soft robot is expanded.
As shown in fig. 2, the curved inner side (i.e. the area contacting with human body) of the single-finger tightening module 2 and the outer side (i.e. the side not contacting with limb) of the annular air bag 5 of the double-finger tightening module 3 are attached with a magic suede 201 and a magic hook surface 301, which play a role in assisting the fingers to close and lock stably. Due to the difference of the diameters of the affected limbs of the wounded, the closed locking of the soft single finger 202 and the soft double fingers 302 needs to have enough adaptability. The magic tape suede 201 and the magic tape hook surface 301 imitate watch watchbands, can depend on the magic tape to be mutually closely matched, and can be used by patients with different limb diameters.
As shown in fig. 3, the annular air bag 5 is pre-wrapped by the soft single finger 202 and the soft double fingers 302, locked by the Velcro surface 201 and the Velcro hook surface 301, and then inflated by the driving gas to tighten and stop bleeding of the limbs of the patient.
As shown in fig. 3, the magnetic adsorption device 4 is attached to the surface of the housing of the driving control module 1, and can be used as a connection mode with a mobile robot on a rescue scene, and the system can be quickly separated from an external mechanism through the magnetic adsorption device 4, so that the rescue efficiency is improved.
A use method of an intelligent four-limb hemostasis soft robot system with controllable tightening pressure is disclosed, wherein the working state of the soft robot system is specifically divided into a hemostasis stage and a bloodletting stage, and the method specifically comprises the following steps:
in the hemostasis stage, the limb intelligent hemostasis soft robot with controllable tightening pressure can be integrated at the tail end of a robot arm of a rescue field mobile robot or is held by a wounded person for self rescue by utilizing the magnetic adsorption device 4, and hemostasis is directly performed on a wound part or a limb aorta/main vein part. Firstly, the control board 104 energizes the normally closed solenoid valve 103 and the two-position three-way solenoid valve 102 of the gas path where the soft double fingers 302 are located, the two-position three-way solenoid valve 102 connects the soft double fingers 302 and the normally closed solenoid valve 103 with the gas generating device, the chemical reaction module 107 or the micro air pump 101 starts to charge gas into the soft double fingers 302, and the soft double fingers 302 are bent. The normally closed solenoid valve 103 closes after contact with the limb and drive gas cannot enter its circuit. The soft fingers 302 thus maintain pressure, maintaining the pre-coated state. Secondly, the control board 104 controls to open the normally closed solenoid valve 103 and the two-position three-way solenoid valve 102 of the air path to which the soft single finger 202 belongs, so that the soft single finger 202 is inflated to bend and is buckled between the soft double fingers 302, and at the moment, the magic paste suede 201 and the magic paste hook surface 301 are adhered and locked. Finally, the control board 104 controls to open the normally closed electromagnetic valve 103 and the two-position three-way electromagnetic valve 102 of the air path to which the annular air bag 5 belongs, so that the annular air bag 5 starts to inflate and expand, the pressure for stopping bleeding of the wounded limb is achieved, and the hemostatic effect is achieved. In this embodiment, if the power source selects the chemical reaction module 107, the control board 104 will stop heating the resistance wire when the hemostatic pressure is reached. At the moment, the movable robot in the disaster relief site powers off the electro-permanent magnet, loses the connection with the magnetic adsorption device 4, is quickly separated from the soft robot system, and carries out the next rescue work.
In the bleeding stage, the loop pressure sensor 106 of the annular air bag 5 sends pressure data to the control board 104, and after the standard and the standard hemostasis time (about 30 min) are reached, the control board 104 cuts off the power of the two-position three-way electromagnetic valve 102 of the air path where the annular air bag 5 is located, and the two communicated interface ends become the annular air bag 5 and the outside. At the moment, the automatic deflation, loosening and binding are carried out to release blood so as to prevent the necrosis of the far-end tissue and the secondary injury.
The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.
Claims (5)
1. A four-limb intelligent hemostatic soft robot system with controllable tightening pressure is characterized by comprising a driving control module (1), a single-finger tightening module (2) and a double-finger tightening module (3);
the drive control module (1) comprises a shell, a power source and a control assembly, wherein the power source and the control assembly are arranged in the shell;
the power source is a gas generating device and is used for providing driving gas; the control assembly comprises three two-position three-way electromagnetic valves (102), three normally closed electromagnetic valves (103), three pressure sensors (106), a control panel (104) and a liquid crystal screen (105) arranged on the surface of the shell, wherein the three two-position three-way electromagnetic valves (102), the three normally closed electromagnetic valves (103), the three pressure sensors and the control panel are arranged in the shell; the two-position three-way electromagnetic valve (102), the normally closed electromagnetic valve (103) and the pressure sensor (106) are connected with the annular air bag (5) to form a first air path, wherein the two-position three-way electromagnetic valve (102) is provided with three interfaces, is connected with the annular air bag (5) and the normally closed electromagnetic valve (103), and is communicated with the outside to form an exhaust passage; the other two-position three-way electromagnetic valve (102), the other normally closed electromagnetic valve (103) and the other pressure sensor (106) are connected with the soft single finger (202) to form a second air path, wherein the two-position three-way electromagnetic valve (102) is connected with an air inlet pipe A (202-4) of the soft single finger (202) and the normally closed electromagnetic valve (103), and a connector is communicated with the outside to be used as an exhaust passage; the third two-position three-way electromagnetic valve (102), the third normally closed electromagnetic valve (103) and the third pressure sensor (106) are connected with the soft double fingers (302) to form a third air path, wherein the two-position three-way electromagnetic valve (102) is connected with an air inlet pipe B (302-4) of the soft double fingers (302) and the normally closed electromagnetic valve (103), and is also provided with a connector communicated with the outside to serve as an exhaust passage; in addition, except for being connected with the two-position three-way electromagnetic valve (102), three normally closed electromagnetic valves (103) in the three gas paths are all connected with a gas generating device and are used for electrifying to connect a gas source to increase the pressure of the annular air bag (5), the soft single finger (202) and the soft double finger (302) or powering off to stop gas inlet and keep the pressure of the annular air bag; the three two-position three-way electromagnetic valves (102) and the three normally closed electromagnetic valves (103) are used for respectively controlling the pressure of the soft single finger (202), the soft double finger (302) and the annular air bag (5) and are used for completing sequential action and independent control; the control panel (104) comprises a microcontroller and peripheral circuits thereof, is connected with the pressure sensor (106) and the two electromagnetic valves, and is used for receiving and processing pressure signals and controlling the on-off of the two electromagnetic valves so as to enable the system to work according to a preset rule; the pressure sensor (106) is used for detecting and feeding back the pressure of each gas path; the liquid crystal screen (105) is used for providing hemostasis information for a patient or disaster relief communication;
the double-finger tightening module (3) comprises a soft double finger (302), a hook-and-loop surface (301) and one side of an annular air bag (5); the soft double fingers (302) comprise a driving layer B (302-2) and a limiting layer B (302-3); the driving layer B (302-2) comprises a plurality of air cavities B (302-1) which are communicated with each other, an air inlet pipe B (302-4) is arranged at an inlet, the air cavities B (302-1) can expand and deform when being filled with air, and the air inlet pipe B (302-4) is connected with a two-position three-way electromagnetic valve (102) in a third air path of the driving control module (1); the driving layer B (302-2) is fixedly connected with the limiting layer B (302-3), and the double-finger tightening module (3) can only be bent and deformed on one side when driving gas is filled; the annular air bag (5) on the inner side of the double-finger tightening module (3) is adhered to the limiting layer B (302-3), and the hook-and-loop surface (301) is adhered to the outer side of the annular air bag (5) and is used for adapting to locking of different limb diameters, wherein the inner side of the double-finger tightening module (3) is a contact area with a human body, and the outer side of the annular air bag (5) is a side which is not in contact with the limbs;
the single-finger tightening module (2) comprises a soft single finger (202), a magic tape suede (201) and the other side of the annular air bag (5); the soft single finger (202) comprises a driving layer A (202-2) and a limiting layer A (202-3); the driving layer A (202-2) comprises a plurality of communicated air cavities A (202-1), and an air inlet pipe A (202-4) is arranged at an inlet; the limiting layer A (202-3) is fixedly connected with the driving layer A (202-2), the air cavity A (202-1) is inflated with air and then undergoes expansion deformation, and the soft single finger (202) is bent along with the inflation deformation; the ring-shaped air bag (5) on the inner side of the bending of the single-finger tightening module (2) is adhered to the limiting layer A (202-3), the magic tape suede (201) is adhered to the inner side of the ring-shaped air bag (5), the magic tape suede (201) is contacted with limb skin, and can be adhered and locked with the magic tape hook surface (301) in the double-finger tightening module (3), wherein the inner side of the bending of the single-finger tightening module (2) is a contact area with a human body, and the inner side of the ring-shaped air bag (5) is a side contacted with limbs;
the two sides of the annular air bag (5) are of annular structures and are respectively attached to the soft double fingers (302) and the soft single finger (202), and the middle part of the annular air bag is of a horizontal square structure and is arranged above the shell of the drive control module (1); the annular air cell (5) is inflated, and the whole body is expanded, so that the limb is tightened.
2. The intelligent four-limb hemostasis soft robot system with controllable tightening pressure as claimed in claim 1, wherein the gas generating device is a micro air pump (101) or a chemical reaction module (107), and two different power sources can be selected for different use environments; the miniature air pump (101) outputs compressed air when being electrified; the chemical reaction module (107) heats sodium bicarbonate through a resistance wire, so that the sodium bicarbonate is decomposed to generate carbon dioxide as driving gas.
3. The limb intelligent hemostatic soft robot system with tightening pressure controllable according to claim 2, wherein when the chemical reaction module (107) is used as a power source, the control board (104) controls whether the resistance wire is continuously heated through pressure fed back by the gas circuit, so as to control whether the reaction is continuously performed.
4. The four-limb intelligent hemostatic soft robot system with controllable tightening pressure according to claim 3, wherein the magnetic adsorption device (4) is attached to the surface of the shell of the driving control module (1) and used for connecting with a mobile robot at a rescue scene.
5. The use method of the limb intelligent hemostatic soft robot system with controllable tightening pressure according to any one of claims 1-4, comprising the following steps:
firstly, a control board (104) controls to open a normally closed electromagnetic valve (103) and a two-position three-way electromagnetic valve (102) of a third air path to which the soft double fingers (302) belong, so that the soft double fingers (302) are inflated to be bent and pre-coated on limbs; the pressure sensor (106) of the gas circuit sends data to the control board (104), when the required pressure is reached, the control board (104) closes the normally closed electromagnetic valve (103) in the gas circuit, and the pre-coating state of the soft double fingers (302) is kept;
secondly, the control panel (104) controls to open a normally closed solenoid valve (103) and a two-position three-way solenoid valve (102) of a second air path to which the soft single finger (202) belongs, so that the soft single finger (202) is inflated to bend, buckled in the middle of the soft double fingers (302), and adhered and locked with the magic tape suede (201) through the magic tape hook surface (301); the pressure sensor (106) of the gas circuit sends data to the control board (104), when the required pressure is reached, the control board (104) closes the normally closed electromagnetic valve (103) in the gas circuit, and the pre-coating state of the soft single finger (202) is kept;
thirdly, the control panel (104) controls to open the normally closed electromagnetic valve (103) and the two-position three-way electromagnetic valve (102) of the first air path to which the annular air bag (5) belongs, and the annular air bag (5) starts to inflate and expand to tighten the limb to stop bleeding; the pressure sensor (106) of the air path sends data to the control board (104), and the normally closed electromagnetic valve (103) is closed when the required pressure is reached, so that the current pressure of the annular air bag (5) is maintained;
finally, after hemostasis is carried out for a period of time, the control panel (104) cuts off the power of the two-position three-way electromagnetic valve (102) of the gas circuit to which the annular air bag (5) belongs according to the pressure fed back by the pressure sensor (106) of the first gas circuit and the actual condition, so that the two-position three-way electromagnetic valve (102) is disconnected with the normally closed electromagnetic valve (103), and the annular air bag (5) is communicated with the outside through the two-position three-way electromagnetic valve (102) to realize deflation and loose binding; after the air is discharged for a period of time, the control panel (104) opens the two-position three-way electromagnetic valve (102) of the air passage to which the annular air bag (5) belongs again to continue to perform the air inflation hemostasis.
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