CN111558108A - Automatic skin test injection instrument - Google Patents
Automatic skin test injection instrument Download PDFInfo
- Publication number
- CN111558108A CN111558108A CN201910115850.9A CN201910115850A CN111558108A CN 111558108 A CN111558108 A CN 111558108A CN 201910115850 A CN201910115850 A CN 201910115850A CN 111558108 A CN111558108 A CN 111558108A
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- skin test
- microprocessor
- injection instrument
- processing module
- image processing
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- 238000012360 testing method Methods 0.000 title claims abstract description 93
- 238000002347 injection Methods 0.000 title claims abstract description 68
- 239000007924 injection Substances 0.000 title claims abstract description 68
- 238000012545 processing Methods 0.000 claims abstract description 38
- 238000007789 sealing Methods 0.000 claims abstract description 10
- 239000003814 drug Substances 0.000 claims description 34
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000003466 welding Methods 0.000 claims description 13
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 229920001651 Cyanoacrylate Polymers 0.000 claims 1
- 239000004830 Super Glue Substances 0.000 claims 1
- 239000007788 liquid Substances 0.000 description 12
- 238000000034 method Methods 0.000 description 7
- 210000004204 blood vessel Anatomy 0.000 description 5
- 208000003455 anaphylaxis Diseases 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000002792 vascular Effects 0.000 description 3
- 206010002199 Anaphylactic shock Diseases 0.000 description 2
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- 108010054147 Hemoglobins Proteins 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
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- UCSJYZPVAKXKNQ-HZYVHMACSA-N streptomycin Chemical compound CN[C@H]1[C@H](O)[C@@H](O)[C@H](CO)O[C@H]1O[C@@H]1[C@](C=O)(O)[C@H](C)O[C@H]1O[C@@H]1[C@@H](NC(N)=N)[C@H](O)[C@@H](NC(N)=N)[C@H](O)[C@H]1O UCSJYZPVAKXKNQ-HZYVHMACSA-N 0.000 description 2
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- 229930182555 Penicillin Natural products 0.000 description 1
- JGSARLDLIJGVTE-MBNYWOFBSA-N Penicillin G Chemical compound N([C@H]1[C@H]2SC([C@@H](N2C1=O)C(O)=O)(C)C)C(=O)CC1=CC=CC=C1 JGSARLDLIJGVTE-MBNYWOFBSA-N 0.000 description 1
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- 229940049954 penicillin Drugs 0.000 description 1
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- 231100000046 skin rash Toxicity 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
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Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
- 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
- A61M5/178—Syringes
- A61M5/31—Details
-
- 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
- A61M5/31—Details
- A61M5/3148—Means for causing or aiding aspiration or plunger retraction
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
- A61M2205/3306—Optical measuring means
Landscapes
- Health & Medical Sciences (AREA)
- Vascular Medicine (AREA)
- Engineering & Computer Science (AREA)
- Anesthesiology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention discloses an automatic skin test injection instrument, which is used for solving the problems of high cost of manual injection skin test and long queuing time of patients and comprises an injection instrument body, wherein an arm slot is formed in the front side wall of the injection instrument body; a semicircular sealing cover is mounted at the port of the arm slot through a hinge, a handle is mounted at one end of the semicircular sealing cover, a control panel is embedded in the front side wall of the injection instrument body, a touch screen is embedded in the control panel, the control panel is connected with a plug through a wire, and a circuit main board is mounted in the control panel; the circuit main board is provided with a microprocessor and a memory, one side of the microprocessor is provided with a first image processing module, and the other side of the microprocessor is provided with a second image processing module; the first image processing module, the second image processing module and the memory are all electrically connected with the microprocessor; this automatic skin test injection appearance has reduced the cost of labor, has alleviated the problem that the injection patient waited for the skin test and queued.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an automatic skin test injection instrument.
Background
The skin test is short for skin (or intradermal) sensitivity test, and is the most common clinical specific test. Some drugs are easy to have anaphylactic reactions in clinical use, such as penicillin, streptomycin, cytochrome C and the like, and common anaphylactic reactions comprise skin rash, urticaria, dermatitis, fever, angioneurotic edema, asthma, anaphylactic shock and the like, wherein the anaphylactic shock is the most serious and even can cause death.
At present, when a patient is clinically subjected to skin test, a syringe is mostly used for injecting liquid medicine subcutaneously, the reaction condition of a subcutaneous injection part is observed after 20 minutes, whether the drug is allergic or not is judged, however, manual skin test and manual injection skin test are mostly adopted in the prior art, the cost is high, and the queuing time of the patient is long.
Disclosure of Invention
The invention aims to provide an automatic skin test injection instrument, which is used for solving the problems of high cost of manual injection skin test and long queuing time of patients.
The purpose of the invention can be realized by the following technical scheme: an automatic skin test injection instrument comprises an injection instrument body, wherein an arm slot is formed in the front side wall of the injection instrument body; a semicircular sealing cover is mounted at the port of the arm slot through a hinge, a handle is mounted at one end of the semicircular sealing cover, a control panel is embedded in the front side wall of the injection instrument body, a touch screen is embedded in the control panel, the control panel is connected with a plug through a wire, and a circuit main board is mounted in the control panel; the circuit main board is provided with a microprocessor and a memory, one side of the microprocessor is provided with a first image processing module, and the other side of the microprocessor is provided with a second image processing module; the first image processing module, the second image processing module and the memory are all electrically connected with the microprocessor;
the injection instrument comprises an injection instrument body, a guide rail mechanism, a mechanical arm, an infrared laser and a first camera, wherein the guide rail mechanism is connected to the inner top wall of the injection instrument body through screws; the support is installed to the inside diapire of injection appearance body, has cup jointed the grab handle on the support, and the medicine bottle is deposited the board to the inside diapire of injection appearance body is located the right side of support and is installed, and the syringe is deposited the board to the inside diapire of injection appearance body is located the left side of support and is installed.
Preferably, the automatic skin test injection apparatus according to the claim, wherein the guide rail mechanism comprises a guide rail groove, a ball screw installed inside the guide rail groove, a servo motor for driving the ball screw to rotate, and a guide rail slider installed on the sub ball screw, a spindle end of the servo motor is in transmission connection with one end of the ball screw through a coupling, and the servo motor is electrically connected with the microprocessor through an electric wire.
Preferably, the mechanical arm comprises a first motor, the top end of the first motor is mounted on the bottom end face of the guide rail sliding block through a bolt, a main shaft end of the first motor is connected with a first joint, one end of the first joint is connected with a second joint, and one end of the second joint is connected with a clamp; the first joint comprises a first U-shaped support, and the top of the first U-shaped support is fixedly connected with the bottom end of a main shaft of the first motor through welding; the U-shaped groove of the first U-shaped support is connected with one end of a first connecting rod through a first rotating shaft, one side of the first U-shaped support is connected with a first driving motor through a bolt, a main shaft end of the first driving motor is in transmission connection with the first rotating shaft through a coupler, and the first motor and the first driving motor are both electrically connected with the microprocessor through electric wires.
Preferably, the second joint comprises a second U-shaped support, the left side wall of the second U-shaped support is fixedly connected with the other end of the first connecting rod through welding, a U-shaped groove of the second U-shaped support is connected with a second connecting rod through a second rotating shaft, the front side wall of the second U-shaped support is connected with a second driving motor through a bolt, and the main shaft end of the second driving motor is in transmission connection with the second rotating shaft through a coupler; u type mounting groove has been seted up to the inside of second connecting rod, and there is first miniature electric putter in the inside of U type mounting groove through screwed connection, first miniature electric putter and second driving motor all are connected through electric wire and microprocessor electricity.
Preferably, the fixture comprises a U-shaped frame, the left side wall of the U-shaped frame is fixed to the end of a piston rod of the first miniature electric push rod through welding, the top wall of the U-shaped frame is welded with the middle of the second miniature electric push rod, the bottom end of the piston rod of the second miniature electric push rod is connected with a movable clamping plate through welding, a T-shaped groove is formed in the bottom wall of the movable clamping plate, a first movable clamping block is installed inside the T-shaped groove, and first half clamping grooves are formed in the bottom wall of the U-shaped frame and the movable clamping block; the bottom of the left side wall of the U-shaped frame is connected with a third miniature electric push rod in a penetrating manner, a main shaft end of the third miniature electric push rod is welded with a second movable clamping block, the bottom end of the first movable clamping block is integrally formed with an inserting strip, a groove matched with the inserting strip for use is formed in the upper end face of the second movable clamping block, a second half clamping groove is formed in the first movable clamping block and the second movable clamping block, and the first miniature electric push rod, the second miniature electric push rod and the third miniature electric push rod are electrically connected with the microprocessor through electric wires.
Preferably, the medicine bottle storage plate is provided with a plurality of rows of storage holes for storing medicine bottles, and the top port of each storage hole is adhered with an O-shaped elastic silica gel ring through a strong adhesive; the injector storage plate is provided with a plurality of rows of storage grooves for storing the skin test injectors; the sand grip has been all seted up to the both sides of medicine bottle storage plate and syringe storage plate.
Preferably, the injection instrument body is internally provided with a second camera and a flash lamp on the left side wall through screws, the output end of the second camera is electrically connected with the input end of the first image processing module through a transmission line, and the flash lamp is electrically connected with the microprocessor through a wire.
Preferably, the output end of the first camera is electrically connected with the input end of the second image processing module through a transmission line, and the infrared laser is electrically connected with the microprocessor through a wire.
Preferably, the corners of both sides of the top wall inside the injection instrument body are respectively provided with an ultraviolet lamp through screws, and the ultraviolet lamps are electrically connected with the microprocessor through electric wires.
Preferably, the microprocessor is AT89S51, and the rear side wall of the injection device body is connected with a box door through a hinge.
The invention has the beneficial effects that:
(1) opening a semicircular sealing cover, inserting an arm needing a skin test into an arm slot, enabling the palm to face upwards, holding a grab handle, selecting a liquid medicine of the skin test through a touch screen, starting a mechanical arm, clamping a skin test injector in an injector storage plate through a clamp, enabling the skin test injector to be inserted into a medicine bottle with a corresponding number of the liquid medicine of the skin test through the movement of the mechanical arm, driving a second movable clamping block to move backwards through a piston rod of a third miniature electric push rod, driving a piston handle of the skin test injector to move, enabling the skin test injector to suck the liquid medicine in the medicine bottle, enabling a needle head of the skin test injector to leave the medicine bottle through the upward movement of the mechanical arm, then starting a second driving motor, driving a second connecting rod to rotate through the second driving motor, driving the clamp to rotate, driving the skin test injector to rotate, enabling the needle head of the skin test injector to face upwards, so as to lead the liquid medicine in the skin test injector to stand;
(2) the second camera collects standing images of the skin test injector and transmits the standing images to the first image processing module, the first image processing module identifies the images to obtain the height of the bubbles, the second image processing module sends the height of the bubbles to the microprocessor, and the microprocessor controls the third micro electric push rod to move forwards and to be away from the height of the bubbles, so that the bubbles in the skin test injector are discharged;
(3) the infrared laser emits infrared rays, the first camera collects images and sends the images to the second image processing module by utilizing the principle that hemoglobin absorbs the infrared rays, the second image processing module processes the images, a non-vascular area is selected and positioned to obtain a skin test area point, the second image processing module sends the skin test area to the microprocessor, and the microprocessor controls the guide rail mechanism and the mechanical arm to move to the skin test area point; then the second driving motor drives the second connecting rod to rotate, the angle of the clamp is adjusted, the angle of the skin test injector is adjusted, then the first micro electric push rod is started, the first micro electric push rod drives the clamp to move forwards, the skin test injector is driven to move forwards, the needle head of the skin test injector is pricked into a skin test area point, the third micro electric push rod drives the piston rod in the skin test injector to move, skin test liquid medicine is injected into the skin test area point, then the first micro electric push rod drives the clamp to move backwards, the skin test injector is pulled out, then the microprocessor is started to control the guide rail mechanism and the mechanical arm to move, and the skin test injector is inserted into a serial number corresponding to the injector storage plate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of the overall structure of an automatic skin test injection apparatus according to the present invention.
Fig. 2 is a side cross-sectional view of an automatic skin test injection apparatus of the present invention.
Fig. 3 is a rear cross-sectional view of an automatic skin test injection apparatus of the present invention.
Fig. 4 is a front view of a robotic arm of an automatic skin test injector of the present invention.
Fig. 5 is a schematic view of the overall structure of the robot arm of the automatic skin test injection instrument of the present invention.
Fig. 6 is a top view of a circuit board of an automatic skin test injection apparatus of the present invention.
Fig. 7 is a schematic diagram of the structure of the movable clamping plate of the automatic skin test injection instrument.
Fig. 8 is a schematic block diagram of an automatic skin test injector of the present invention.
Detailed Description
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. 1-8, the present invention is an automatic skin test injection apparatus, including an injection apparatus body 1, wherein an arm slot 11 is disposed on a front side wall of the injection apparatus body 1; a semicircular sealing cover 12 is mounted at the port of the arm slot 11 through a hinge, a handle 13 is mounted at one end of the semicircular sealing cover 12, a control panel 2 is embedded in the front side wall of the injection instrument body 1, a touch screen 21 is embedded in the control panel 2, the control panel 2 is connected with a plug 22 through a wire, and a circuit main board 23 is mounted inside the control panel 2; a microprocessor 24 and a memory 27 are installed on the circuit main board 23, a first image processing module 25 is installed on one side of the microprocessor 24, and a second image processing module 26 is installed on the other side of the microprocessor 24; the first image processing module 25, the second image processing module 26 and the memory 27 are all electrically connected with the microprocessor 24;
the top wall of the interior of the injection instrument body 1 is connected with a guide rail mechanism 3 through screws, a mechanical arm 4 is installed on the guide rail mechanism 3, an infrared laser 15 is installed on one side of the guide rail mechanism 3, and a first camera 16 is installed on one side of the infrared laser 15; a support 17 is arranged on the inner bottom wall of the injection instrument body 1, a grab handle 18 is sleeved on the support 17, a medicine bottle storage plate 5 is arranged on the right side, located on the support 17, of the inner bottom wall of the injection instrument body 1, and an injector storage plate 6 is arranged on the left side, located on the support 17, of the inner bottom wall of the injection instrument body 1; the first camera 16 is used for collecting the skin area image irradiated by the infrared light of the infrared laser 15;
the guide rail mechanism 3 comprises a guide rail groove 31, a ball screw 33 arranged in the guide rail groove 31, a servo motor 32 for driving the ball screw 33 to rotate and a guide rail slide block 34 arranged on the sub ball screw 33, wherein the main shaft end of the servo motor 32 is in transmission connection with one end of the ball screw 33 through a coupler, and the servo motor 32 is electrically connected with the microprocessor through an electric wire.
The mechanical arm 4 comprises a first motor 41, the top end of the first motor 41 is installed on the bottom end surface of the guide rail slide block 34 through a bolt, the main shaft end of the first motor 41 is connected with a first joint 42,
one end of the first joint 42 is connected with a second joint 43, and one end of the second joint 43 is connected with a clamp 44; the first joint 42 comprises a first U-shaped support 4201, and the top of the first U-shaped support 4201 is fixedly connected to the bottom end of the main shaft of the first motor 41 by welding; one end of a first connecting rod 4202 is connected to a U-shaped groove of the first U-shaped bracket 4201 through a first rotating shaft, one side of the first U-shaped bracket 4201 is connected to a first driving motor 4203 through a bolt, a main shaft end of the first driving motor 4203 is in transmission connection with the first rotating shaft through a coupling, and both the first driving motor 41 and the first driving motor 4203 are electrically connected to the microprocessor 24 through a wire.
The second joint 43 comprises a second U-shaped support 4301, the left side wall of the second U-shaped support 4301 is fixedly connected with the other end of the first connecting rod 4202 by welding, a U-shaped groove of the second U-shaped support 4301 is connected with a second connecting rod 4303 by a second rotating shaft, the front side wall of the second U-shaped support 4301 is connected with a second driving motor 4302 by a bolt, and the main shaft end of the second driving motor 4302 is in transmission connection with the second rotating shaft by a coupler; u type mounting groove 4304 has been seted up to second connecting rod 4303 inside, and there is first miniature electric putter 4305 inside through screwed connection in U type mounting groove 4304, and first miniature electric putter 4305 and second driving motor 4302 are all connected with microprocessor 24 electricity through the electric wire.
The clamp 44 comprises a U-shaped frame 4401, the left side wall of the U-shaped frame 4401 is fixed to the end of a piston rod of the first micro electric push rod 4305 by welding, the top wall of the U-shaped frame 4401 is welded with the middle part of the second micro electric push rod 4402, the bottom end of the piston rod of the second micro electric push rod 4402 is connected with a movable clamping plate 4403 by welding, a T-shaped groove 4407 is formed in the bottom wall of the movable clamping plate 4403, a first movable clamping block 4408 is installed inside the T-shaped groove 4403, and first half clamping grooves 4406 are formed in the bottom wall of the U-shaped frame 4401 and the movable clamping block 4408; the bottom of the left side wall of the U-shaped frame 4401 is connected with a third micro electric push rod 4405 in a penetrating manner, a second movable clamping block 4404 is welded at the spindle end of the third micro electric push rod 4405, an insert 4409 is integrally formed at the bottom end of the first movable clamping block 4408, a groove matched with the insert 4409 is formed in the upper end surface of the second movable clamping block 4404, second half clamping grooves 4410 are formed in the first movable clamping block 4408 and the second movable clamping block 4404, and the first micro electric push rod 4305, the second micro electric push rod 4402 and the third micro electric push rod 4405 are electrically connected with the microprocessor 24 through electric wires; displacement sensors for monitoring the movement of the top ends of the piston rods of the first miniature electric push rod 4305, the second miniature electric push rod 4402 and the third miniature electric push rod 4405 are arranged on the first miniature electric push rod 4305, the second miniature electric push rod 4402 and the third miniature electric push rod 4405; the two first half clamping grooves 4406 are used for clamping the end of the injection cylinder of the skin test injector 63; the second half clamping groove 4410 is used for clamping a piston handle arranged in the skin test injector 63;
a plurality of rows of storage holes 51 for storing medicine bottles 53 are formed in the medicine bottle storage plate 5, and O-shaped elastic silica gel rings 52 are adhered to the top port parts of the storage holes 51 through strong glue; the injector storage plate 6 is provided with a plurality of rows of storage grooves 61 for storing the skin test injectors 63; convex strips 62 are arranged on both sides of the medicine bottle storage plate 5 and the injector storage plate 6; numbering the medicine bottle 53 and the skin test injector 63 through the microprocessor 24, and then inputting the medicine liquid name corresponding to the medicine bottle 53 through the touch screen 21;
a second camera 8 and a flash lamp 9 are mounted on the left side wall inside the injection instrument body 1 through screws, the output end of the second camera 8 is electrically connected with the input end of the first image processing module 25 through a transmission line, and the flash lamp 9 is electrically connected with the microprocessor 24 through a wire;
the output end of the first camera 16 is electrically connected with the input end of the second image processing module 26 through a transmission line, and the infrared laser 15 is electrically connected with the microprocessor 24 through a wire.
The ultraviolet lamps 7 are arranged at the corners of two sides of the top wall in the injection instrument body 1 through screws, and the ultraviolet lamps 7 are electrically connected with the microprocessor 24 through wires; the ultraviolet lamp 7 is started to facilitate the disinfection of the inside of the injection instrument.
The microprocessor 24 has a model number of AT89S 51; the rear side wall of the injection instrument body 1 is connected with a box door 14 through a hinge;
the first motor 41, the first driving motor 4203 and the second driving motor 4302 are all provided with angle sensors for detecting the rotation angle of the spindle of the driving motor, and the angle sensors are electrically connected with the microprocessor.
The first image processing module 25 is configured to process an image acquired by the second camera 8, and specifically includes the following processing steps:
the method comprises the following steps: dividing the image acquired by the second camera 8 into a plurality of pixel grids Ai, i being 1 … … n; setting the coordinates corresponding to the pixel grid Ai as (Xi, Yi) and setting the color of the bubble as B1;
step two: comparing the pixel grids Ai with the bubble color B1 to obtain bubble pixel grids Ci;
step three: screening in the bubble pixel grids Ci, and selecting a highest pixel grid Cg and a lowest pixel grid Cd from top to bottom according to the value of the coordinate Yi; coordinates (Xg, Yg) corresponding to the highest pixel grid Cg; coordinates (Xd, Yd) corresponding to the lowest pixel grid Cd;
step (ii) ofFourthly, the method comprises the following steps: using formulas
Obtaining the height Hi of the obtained bubbles;
the second image processing module 26 is configured to process an image acquired by the first camera 16, and includes the following specific processing steps:
s1: dividing an image collected by the first camera 16 into a plurality of pixel grids Di, where i is 1 … … n; setting the coordinates corresponding to the pixel grid Di as (Wi, Zi), setting the blood vessel color as B2 and the non-blood vessel color as B3;
s2: pixel grid Di is compared to a vascular color of B2 and a non-vascular color of B3;
s3: acquiring a pixel grid Di of a non-blood vessel color B3 and marking the pixel grid Di as a pixel grid Ei to be screened;
s4: screening in a pixel grid Ei to be screened, calculating the colors of blood vessels met in the upper, lower, left and right directions of the pixel grid Ei as B2 numbers which are respectively marked as a, B, c and d, and concretely showing that the 3 rd upward pixel grid E1 is B2, and then a is 3;
s5: obtaining the area Si of the region by using a formula Si ═ pi (a + b) × (c + d);
s6: selecting a pixel grid Di with the largest area Si and a corresponding coordinate (Wi, Zi) as a skin test area point;
the working principle is as follows: the semicircular sealing cover 12 is opened, an arm needing a skin test is inserted into the arm slot 11, the palm of the hand is upward, the handle 18 is held, a skin test liquid medicine is selected through the touch screen 21, the mechanical arm 4 is started, the skin test injector 63 in the injector storage plate 6 is clamped through the clamp 44, the mechanical arm 4 moves to enable the skin test injector 63 to be inserted into a medicine bottle 53 with a corresponding number of the skin test liquid medicine, the piston rod of the third miniature electric push rod 4405 drives the second movable clamp block 4404 to move backwards so as to drive the piston handle of the skin test injector 63 to move, the skin test injector 63 pumps the liquid medicine in the medicine bottle 53, the mechanical arm 4 moves upwards to enable the needle head of the skin test injector 63 to leave the medicine bottle 53, then the second driving motor 4302 is started, the second driving motor 4302 drives the second connecting rod 4303 to rotate so as to drive the clamp 44 to rotate, then the skin test injector 63 is driven to rotate, the needle head of the skin test injector 63 is made to face upwards, so that liquid medicine in the skin test injector 63 is made to stand, the second camera 8 collects images of the skin test injector 63 and transmits the images to the first image processing module 25, the first image processing module 25 identifies and processes the images to obtain the height of the bubbles, the second image processing module 26 sends the height of the bubbles to the microprocessor 24, and the microprocessor 24 controls the third micro electric push rod 4405 to move forwards and be located at a distance from the height of the bubbles, so that the bubbles in the skin test injector 63 are discharged; the infrared laser 15 emits infrared rays, the first camera 16 collects images and sends the images to the second image processing module 26 by utilizing the principle that hemoglobin absorbs infrared rays, the second image processing module 26 processes the images, a non-blood vessel area is selected and positioned to obtain skin test area points, the second image processing module 26 sends the skin test area to the microprocessor 24, and the microprocessor 24 controls the guide rail mechanism 3 and the mechanical arm 4 to move to the skin test area points; then the second driving motor 4302 drives the second connecting rod 4303 to rotate, the angle of the fixture 44 is adjusted, so as to adjust the angle of the skin test injector 63, then the first micro electric push rod 4305 is started, the first micro electric push rod 4305 drives the fixture 44 to move forward, so as to drive the skin test injector 63 to move forward, so as to prick the needle of the skin test injector 63 into the skin test area point, the third micro electric push rod 4405 drives the piston rod in the skin test injector 63 to move, so as to inject the skin test liquid medicine into the skin test area point, then the first micro electric push rod 4305 drives the fixture 44 to move backward, so as to extract the skin test injector 63, then the microprocessor 24 is started to control the guide rail mechanism 3 and the mechanical arm 4 to move, so as to insert the skin test injector 63 back into the corresponding number of the injector storage plate 6.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (10)
1. An automatic skin test injection instrument comprises an injection instrument body (1), and is characterized in that an arm slot (11) is formed in the front side wall of the injection instrument body (1); a semicircular sealing cover (12) is mounted at a port of the arm slot (11) through a hinge, a handle (13) is mounted at one end of the semicircular sealing cover (12), a control panel (2) is embedded in the front side wall of the injection instrument body (1), a touch screen (21) is embedded in the control panel (2), the control panel (2) is connected with a plug (22) through an electric wire, and a circuit main board (23) is mounted inside the control panel (2); a microprocessor (24) and a memory (27) are installed on the circuit main board (23), a first image processing module (25) is installed on one side of the microprocessor (24), and a second image processing module (26) is installed on the other side of the microprocessor (24); the first image processing module (25), the second image processing module (26) and the memory (27) are all electrically connected with the microprocessor (24);
the injection instrument comprises an injection instrument body (1), and is characterized in that a guide rail mechanism (3) is connected to the inner top wall of the injection instrument body (1) through screws, a mechanical arm (4) is installed on the guide rail mechanism (3), an infrared laser (15) is installed on one side of the guide rail mechanism (3), and a first camera (16) is installed on one side of the infrared laser (15); support (17) are installed to the inside diapire of injection appearance body (1), have cup jointed grab handle (18) on support (17), and the inside diapire of injection appearance body (1) is located the right side of support (17) and installs medicine bottle and deposit board (5), and the inside diapire of injection appearance body (1) is located the left side of support (17) and installs syringe and deposit board (6).
2. The automatic skin test injection instrument according to claim 1, wherein the guide rail mechanism (3) comprises a guide rail groove (31), a ball screw (33) installed inside the guide rail groove (31), a servo motor (32) for driving the ball screw (33) to rotate, and a guide rail slider (34) installed on the sub ball screw (33), a spindle end of the servo motor (32) is in transmission connection with one end of the ball screw (33) through a coupler, and the servo motor (32) is electrically connected with the microprocessor through an electric wire.
3. The automatic skin test injection instrument according to claim 1, wherein the mechanical arm (4) comprises a first motor (41), the top end of the first motor (41) is mounted on the bottom end surface of the guide rail sliding block (34) through a bolt, the spindle end of the first motor (41) is connected with a first joint (42), one end of the first joint (42) is connected with a second joint (43), and one end of the second joint (43) is connected with a clamp (44); the first joint (42) comprises a first U-shaped bracket (4201), and the top of the first U-shaped bracket (4201) is fixedly connected with the bottom end of the main shaft of the first motor (41) through welding; one end of a first connecting rod (4202) is connected to the inside of a U-shaped groove of the first U-shaped support (4201) through a first rotating shaft, one side of the first U-shaped support (4201) is connected with a first driving motor (4203) through a bolt, a main shaft end of the first driving motor (4203) is in transmission connection with the first rotating shaft through a coupling, and the first motor (41) and the first driving motor (4203) are electrically connected with the microprocessor (24) through electric wires.
4. The automatic skin test injection instrument according to claim 3, wherein the second joint (43) comprises a second U-shaped bracket (4301), the left side wall of the second U-shaped bracket (4301) is fixedly connected with the other end of the first connecting rod (4202) by welding, a second connecting rod (4303) is connected to the U-shaped groove of the second U-shaped bracket (4301) through a second rotating shaft, the front side wall of the second U-shaped bracket (4301) is connected with a second driving motor (4302) through a bolt, and the main shaft end of the second driving motor (4302) is in transmission connection with the second rotating shaft through a coupling; u type mounting groove (4304) have been seted up to the inside of second connecting rod (4303), and there is first miniature electric putter (4305) inside through screwed connection in U type mounting groove (4304), first miniature electric putter (4305) and second driving motor (4302) are all connected with microprocessor (24) electricity through the electric wire.
5. The automatic skin test injection instrument according to claim 3, wherein the clamp (44) comprises a U-shaped frame (4401), the left side wall of the U-shaped frame (4401) is fixed to the end of the piston rod of the first micro electric push rod (4305) by welding, the top wall of the U-shaped frame (4401) is welded with the middle part of the second micro electric push rod (4402), the bottom end of the piston rod of the second micro electric push rod (4402) is connected with a movable clamping plate (4403) by welding, the bottom wall of the movable clamping plate (4403) is provided with a T-shaped groove (4407), the inside of the T-shaped groove (4403) is provided with a first movable clamping block (4408), and the bottom wall of the U-shaped frame (4401) and the movable clamping block (4408) are both provided with a first half clamping groove (4406); the left side wall bottom through connection of U type frame (4401) has third miniature electric putter (4405), the main shaft end welding of third miniature electric putter (4405) has second portable clamp splice (4404), the bottom integrated into one piece of first portable clamp splice (4408) has inserted bar (4409), the recess that uses with the cooperation of inserted bar (4409) has been seted up to the up end of second portable clamp splice (4404), first half double-layered groove (4410) of second have all been seted up on first portable clamp splice (4408) and second portable clamp splice (4404), first miniature electric putter (4305), second miniature electric putter (4402) and third miniature electric putter (4405) all are connected through electric wire and microprocessor (24) electricity.
6. The automatic skin test injection instrument according to claim 1, wherein the medicine bottle storage plate (5) is provided with a plurality of rows of storage holes (51) for storing medicine bottles (53), and an O-shaped elastic silica gel ring (52) is adhered to the top port of each storage hole (51) through super glue; a plurality of rows of storage grooves (61) for storing the skin test injectors (63) are formed in the injector storage plate (6); the two sides of the medicine bottle storage plate (5) and the injector storage plate (6) are both provided with a convex strip (62).
7. The automatic skin test injection instrument according to claim 1, wherein a second camera (8) and a flash lamp (9) are mounted on the left side wall inside the injection instrument body (1) through screws, the output end of the second camera (8) is electrically connected with the input end of the first image processing module (25) through a transmission line, and the flash lamp (9) is electrically connected with the microprocessor (24) through a wire.
8. The automatic skin test injection apparatus according to claim 1, wherein the output end of the first camera (16) is electrically connected with the input end of the second image processing module (26) through a transmission line, and the infrared laser (15) is electrically connected with the microprocessor (24) through a wire.
9. The automatic skin test injection instrument according to claim 1, wherein the ultraviolet lamps (7) are mounted at the corners of both sides of the top wall inside the injection instrument body (1) through screws, and the ultraviolet lamps (7) are electrically connected with the microprocessor (24) through wires.
10. The automatic skin test injection apparatus according to claim 1, wherein the microprocessor (24) is of the type AT89S51, and a door (14) is hinged to a rear side wall of the injection apparatus body (1).
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| CN201910115850.9A CN111558108B (en) | 2019-02-15 | 2019-02-15 | Automatic skin test injection instrument |
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