CN111558108B - Automatic skin test injection instrument - Google Patents
Automatic skin test injection instrument Download PDFInfo
- Publication number
- CN111558108B CN111558108B CN201910115850.9A CN201910115850A CN111558108B CN 111558108 B CN111558108 B CN 111558108B CN 201910115850 A CN201910115850 A CN 201910115850A CN 111558108 B CN111558108 B CN 111558108B
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- microprocessor
- skin test
- injector
- shaped
- push rod
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- 238000012360 testing method Methods 0.000 title claims abstract description 82
- 238000002347 injection Methods 0.000 title claims abstract description 13
- 239000007924 injection Substances 0.000 title claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 42
- 238000007789 sealing Methods 0.000 claims abstract description 10
- 239000003814 drug Substances 0.000 claims description 32
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000003466 welding Methods 0.000 claims description 12
- 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
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 239000007788 liquid Substances 0.000 description 12
- 210000004204 blood vessel Anatomy 0.000 description 5
- 230000002792 vascular Effects 0.000 description 5
- 206010002199 Anaphylactic shock Diseases 0.000 description 2
- 102000001554 Hemoglobins Human genes 0.000 description 2
- 108010054147 Hemoglobins Proteins 0.000 description 2
- 206010020751 Hypersensitivity Diseases 0.000 description 2
- 208000003455 anaphylaxis Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 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
- 208000028185 Angioedema Diseases 0.000 description 1
- 102000018832 Cytochromes Human genes 0.000 description 1
- 108010052832 Cytochromes Proteins 0.000 description 1
- 201000004624 Dermatitis Diseases 0.000 description 1
- 208000010201 Exanthema Diseases 0.000 description 1
- 208000025047 Non-histaminic angioedema Diseases 0.000 description 1
- 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
- 206010037660 Pyrexia Diseases 0.000 description 1
- 208000024780 Urticaria Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000000172 allergic effect Effects 0.000 description 1
- 208000006673 asthma Diseases 0.000 description 1
- 208000010668 atopic eczema Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 201000005884 exanthem Diseases 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229940049954 penicillin Drugs 0.000 description 1
- 206010037844 rash Diseases 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 229960005322 streptomycin Drugs 0.000 description 1
- 238000010254 subcutaneous injection Methods 0.000 description 1
- 239000007929 subcutaneous injection Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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 injector which is used for solving the problems of high cost and long queuing time of patients caused by manual skin test injection and comprises an injector body, wherein an arm slot is formed in the front side wall of the injector body; the port of the arm slot is provided with a semicircular sealing cover through a hinge, one end of the semicircular sealing cover is provided with a handle, the front side wall of the injector body is embedded with a control panel, the control panel is embedded with a touch screen, the control panel is connected with a plug through an electric wire, and the inside of the control panel is provided with a circuit main board; a microprocessor and a memory are arranged on the circuit main board, a first image processing module is arranged on one side of the microprocessor, and a second image processing module is arranged on the other side of the microprocessor; the first image processing module, the second image processing module and the memory are electrically connected with the microprocessor; the automatic skin test injector reduces labor cost and alleviates the problem that injection patients wait for skin test queuing.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an automatic skin test injection instrument.
Background
Skin test is an abbreviation for skin (or intradermal) sensitivity test, which is the most commonly used specificity test in clinic. Some drugs are prone to allergic reactions such as penicillin, streptomycin, cytochrome C, etc. during clinical use, and common allergic reactions include rash, urticaria, dermatitis, fever, angioneurotic edema, asthma, anaphylactic shock, etc., wherein anaphylactic shock is the most serious and even can lead to death.
At present, when skin test is carried out on patients clinically, the liquid medicine is injected into the skin by using a syringe in most cases, the reaction condition of the subcutaneous injection part is observed after 20 minutes, and whether the patients are allergic to the medicine is judged, but the skin test is carried out manually in most cases at present, the problem of manual skin test injection is solved, the cost is high, and the queuing time of the patients is long.
Disclosure of Invention
The invention aims to provide an automatic skin test injector which is used for solving the problems of high cost and long queuing time of patients caused by manual skin test injection.
The aim of the invention can be achieved by the following technical scheme: an automatic skin test injector comprises an injector body, wherein an arm slot is formed in the front side wall of the injector body; the port of the arm slot is provided with a semicircular sealing cover through a hinge, one end of the semicircular sealing cover is provided with a handle, the front side wall of the injector body is embedded with a control panel, the control panel is embedded with a touch screen, the control panel is connected with a plug through an electric wire, and the inside of the control panel is provided with a circuit main board; a microprocessor and a memory are arranged on the circuit main board, a first image processing module is arranged on one side of the microprocessor, and a second image processing module is arranged on the other side of the microprocessor; the first image processing module, the second image processing module and the memory are electrically connected with the microprocessor;
The inner top wall of the injector body is connected with a guide rail mechanism through a screw, a mechanical arm is arranged on the guide rail mechanism, an infrared laser is arranged on one side of the guide rail mechanism, and a first camera is arranged on one side of the infrared laser; the support is installed to the inside diapire of syringe body, has cup jointed the grab handle on the support, and the medicine bottle is deposited the board in the right side that the inside diapire of syringe body is located the support, and the syringe is deposited the board in the left side that the inside diapire of syringe body is located the support.
Preferably, the automatic skin test injector according to claim, wherein the guide rail mechanism comprises a guide rail groove, a ball screw arranged in the guide rail groove, a servo motor for driving the ball screw to rotate and a guide rail sliding block arranged on the ball screw, a spindle end of the servo motor is in transmission connection with one end of the ball screw through a coupler, 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 arranged on the bottom end surface of the guide rail sliding block through a bolt, the 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 bracket, and the top of the first U-shaped bracket is fixedly connected with the bottom end of the main shaft of the first motor through welding; one end of a first connecting rod is connected in a U-shaped groove of the first U-shaped support through a first rotating shaft, one side of the first U-shaped support is connected with a first driving motor through a bolt, a spindle 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 all electrically connected with a microprocessor through wires.
Preferably, the second joint comprises a second U-shaped bracket, the left side wall of the second U-shaped bracket is fixedly connected with the other end of the first connecting rod through welding, a second connecting rod is connected in a U-shaped groove of the second U-shaped bracket through a second rotating shaft, the front side wall of the second U-shaped bracket 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 coupling; the inside of second connecting rod has seted up U type mounting groove, and the inside of U type mounting groove has first miniature electric putter through the screw connection, first miniature electric putter and second driving motor all are connected with the microprocessor electricity through the electric wire.
Preferably, the fixture comprises a U-shaped frame, the left side wall of the U-shaped frame is fixed with 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 part 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 arranged in the T-shaped groove, and a first half clamping groove is formed in the bottom wall of the U-shaped frame and the movable clamping block; the left side wall bottom through connection of U type frame has the miniature electric putter of third, the portable clamp splice of second has been welded to the main shaft end of miniature electric putter, the bottom integrated into one piece of first portable clamp splice has the cutting, the recess that uses with the cutting cooperation has been seted up to the up end of the portable clamp splice of second, the half draw-in groove of second has all been seted up on portable clamp splice of first portable clamp splice and the portable clamp splice of second, first miniature electric putter, miniature electric putter of second and miniature electric putter of third all are connected with the microprocessor electricity through the electric wire.
Preferably, the medicine bottle storage plate is provided with a plurality of rows of storage holes for storing medicine bottles, and the top ports of the storage holes are stuck with O-shaped elastic silica gel rings through powerful glue; the injector storage plate is provided with a plurality of rows of storage grooves for storing skin test injectors; both sides of the medicine bottle storage plate and the injector storage plate are provided with raised strips.
Preferably, a second camera and a flash lamp are arranged on the left side wall inside the injector body 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 lead.
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 an electric wire.
Preferably, ultraviolet lamps are arranged at the corners of the two sides of the top wall inside the injector body through screws, and the ultraviolet lamps are electrically connected with a microprocessor through wires.
Preferably, the microprocessor is AT89S51, and the rear side wall of the injector 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 to be tested into an arm slot, holding a grab handle with the palm facing upwards, selecting liquid medicine for skin test through a touch screen, starting a mechanical arm, clamping a skin test injector in a storage plate of the injector through a clamp, moving the mechanical arm to enable the skin test injector to be inserted into a medicine bottle with the corresponding number of the liquid medicine for skin test, driving a piston rod of a third miniature electric push rod to move backwards, driving a piston handle of the skin test injector to move, enabling the skin test injector to suck the liquid medicine in a medicine bottle, enabling the mechanical arm to move upwards, enabling a needle head of the skin test injector to leave the medicine bottle, starting a second driving motor, enabling the second driving motor to drive a second connecting rod to rotate, driving the clamp to rotate, and then driving the skin test injector to rotate, enabling the needle head of the skin test injector to face upwards, and enabling the liquid medicine in the skin test injector to rest;
(2) The second camera collects an image of the skin test injector, the image is transmitted to the first image processing module, the first image processing module carries out identification processing on the image to obtain the height of the air bubble, the second image processing module sends the height of the air bubble to the microprocessor, and the microprocessor controls the third miniature electric push rod to move forwards and be located at a distance from the height of the air bubble, so that the air bubble in the skin test injector is discharged;
(3) The infrared laser emits infrared rays, the principle that hemoglobin absorbs the infrared rays is utilized, the first camera collects images and sends the images to the second image processing module, the second image processing module performs image processing, selects a non-vascular area and positions the non-vascular area 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 miniature electric push rod is started, the first miniature electric push rod drives the clamp to move forward, the skin test injector is driven to move forward, the needle head of the skin test injector is led to prick into the skin test area point, the third miniature electric push rod drives the piston rod in the skin test injector to move, the skin test liquid is injected into the skin test area point, then the first miniature 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 back into the number corresponding to the injector storage plate.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of an automatic skin test injector according to the present invention.
Fig. 2 is a side cross-sectional view of an automatic pilot injector of the present invention.
Fig. 3 is a rear cross-sectional view of an automatic pilot injector of the present invention.
Fig. 4 is a front view of a robotic arm of an automatic pilot injector of the present invention.
Fig. 5 is a schematic diagram of the whole structure of a mechanical arm of an automatic skin test injector according to the present invention.
Fig. 6 is a top view of a circuit board of an automatic pilot injection device according to the present invention.
FIG. 7 is a schematic view of a movable clamp plate of an automatic skin test injector according to the present invention.
Fig. 8 is a schematic block diagram of an automatic pilot injection device of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-8, the present invention is an automatic skin test injector, comprising an injector body 1, wherein an arm slot 11 is formed on the front side wall of the injector body 1; the port of the arm slot 11 is provided with a semicircular sealing cover 12 through a hinge, one end of the semicircular sealing cover 12 is provided with a handle 13, the front side wall of the injector body 1 is embedded with a control panel 2, the control panel 2 is embedded with a touch screen 21, the control panel 2 is connected with a plug 22 through an electric wire, and the inside of the control panel 2 is provided with a circuit main board 23; the circuit main board 23 is provided with a microprocessor 24 and a memory 27, one side of the microprocessor 24 is provided with a first image processing module 25, and the other side of the microprocessor 24 is provided with a second image processing module 26; 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 inner top wall of the injector body 1 is connected with a guide rail mechanism 3 through a screw, a mechanical arm 4 is arranged on the guide rail mechanism 3, an infrared laser 15 is arranged on one side of the guide rail mechanism 3, and a first camera 16 is arranged on one side of the infrared laser 15; the inner bottom wall of the injector body 1 is provided with a bracket 17, a grab handle 18 is sleeved on the bracket 17, the right side of the inner bottom wall of the injector body 1, which is positioned on the bracket 17, is provided with a medicine bottle storage plate 5, and the left side of the inner bottom wall of the injector body 1, which is positioned on the bracket 17, is provided with a syringe storage plate 6; 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 sliding block 34 arranged on the 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 a microprocessor through an electric wire.
The mechanical arm 4 comprises a first motor 41, the top end of the first motor 41 is arranged on the bottom end surface of the guide rail sliding 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 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 by welding; one end of a first connecting rod 4202 is connected in the 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 with a first driving motor 4203 through a bolt, a main shaft end of the first driving motor 4203 is connected with the first rotating shaft through a coupling in a transmission manner, and the first motor 41 and the first driving motor 4203 are electrically connected with the microprocessor 24 through electric wires.
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 through welding, a second connecting rod 4303 is connected in a 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; the U-shaped mounting groove 4304 is formed in the second connecting rod 4303, the first micro electric push rod 4305 is connected to the U-shaped mounting groove 4304 through screws, and the first micro electric push rod 4305 and the second driving motor 4302 are electrically connected with the microprocessor 24 through wires.
The fixture 44 comprises a U-shaped frame 4401, the left side wall of the U-shaped frame 4401 is fixed with the end of a piston rod of a first micro electric push rod 4305 through welding, the top wall of the U-shaped frame 4401 is welded with the middle part of a 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 through 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 arranged in the T-shaped groove 4403, and a first half clamping groove 4406 is 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 way, a second movable clamping block 4404 is welded at the main shaft end of the third micro electric push rod 4405, an inserting strip 4409 is integrally formed at the bottom end of the first movable clamping block 4408, a groove matched with the inserting strip 4409 is formed in the upper end face of the second movable clamping block 4404, a second half clamping groove 4410 is formed in each of 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 piston rod top ends of the first micro electric push rod 4305, the second micro electric push rod 4402 and the third micro electric push rod 4405 are arranged on the first micro electric push rod 4305, the second micro electric push rod 4402 and the third micro electric push rod 4405; two first half clamping grooves 4406 are used for clamping the end heads of the syringe 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;
The medicine bottle storage plate 5 is provided with a plurality of rows of storage holes 51 for storing medicine bottles 53, and O-shaped elastic silica gel rings 52 are adhered to the top ports of the storage holes 51 through strong adhesion; the injector storage plate 6 is provided with a plurality of rows of storage grooves 61 for storing skin test injectors 63; the two sides of the medicine bottle storage plate 5 and the injector storage plate 6 are provided with raised strips 62; the medicine bottle 53 and the skin test injector 63 are numbered by the microprocessor 24, and then the name of the medicine liquid corresponding to the medicine bottle 53 is input by the touch screen 21;
the left side wall inside the injector body 1 is provided with a second camera 8 and a flash lamp 9 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 lead;
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 an electric wire.
Ultraviolet lamps 7 are arranged at the corners of the two sides of the top wall inside the injector body 1 through screws, and the ultraviolet lamps 7 are electrically connected with a microprocessor 24 through wires; the ultraviolet lamp 7 is started, so that the interior of the injector is conveniently disinfected.
The model number of the microprocessor 24 is AT89S51; the rear side wall of the injector 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 respectively provided with an angle sensor for detecting the rotation angle of the driving motor spindle, 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:
Step one: dividing an image acquired by the second camera 8 into a plurality of pixel grids Ai, i= … … n; setting coordinates corresponding to the pixel grid Ai as (Xi, yi) and setting the color of the bubble as B1;
step two: comparing the pixel grid Ai with the bubble color B1 to obtain a bubble pixel grid Ci;
Step three: screening in the bubble pixel grid Ci, and selecting the highest pixel grid Cg and the lowest pixel grid Cd from top to bottom according to the coordinate Yi value; coordinates (Xg, yg) corresponding to the highest pixel grid Cg; coordinates (Xd, yd) corresponding to the lowest pixel cell Cd;
step four: using the formula Acquiring the height Hi of the obtained bubbles;
the second image processing module 26 is configured to process the image acquired by the first camera 16, and specifically includes the following processing steps:
S1: dividing an image acquired by the first camera 16 into a plurality of pixel grids Di, i= … … 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: the pixel grid Di is compared with a blood vessel color B2 and a non-blood vessel color B3;
S3: acquiring a pixel grid Di of a non-vascular 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 encountered in the upper direction, the lower direction, the left direction and the right direction of the pixel grid Ei as B2 numbers, respectively marking as a, B, c, d, specifically, taking 3 as B2 from the upward direction of the pixel grid E1, and taking 3 as a;
s5: obtaining a region area Si by using a formula Si=pi (a+b) and (c+d);
S6: selecting a pixel grid Di with the largest area Si of the area and a corresponding coordinate (Wi, zi) as a skin test area point;
Working principle: opening the semicircular sealing cover 12, inserting an arm to be tested into the arm slot 11, holding the handle 18 with the palm facing upwards, selecting a skin test liquid medicine through the touch screen 21, starting the mechanical arm 4, clamping the skin test syringe 63 in the syringe storage plate 6 through the clamp 44, moving the mechanical arm 4 to enable the skin test syringe 63 to be inserted into a medicine bottle 53 with the corresponding number of the skin test liquid medicine, driving the second movable clamping block 4404 to move backwards by the piston rod of the third miniature electric push rod 4405, driving the piston handle of the skin test syringe 63 to move, sucking the liquid medicine in the medicine bottle 53 by the skin test syringe 63, enabling the needle of the skin test syringe 63 to leave the medicine bottle 53 by upward movement of the mechanical arm 4, then, starting a second driving motor 4302, wherein the second driving motor 4302 drives a second connecting rod 4303 to rotate, so that the clamp 44 is driven to rotate, and then the skin test injector 63 is driven to rotate, so that the needle head of the skin test injector 63 faces upwards, the liquid medicine in the skin test injector 63 is kept still, the second camera 8 collects an image of the skin test injector 63 kept still and then transmits the image to the first image processing module 25, the first image processing module 25 carries out recognition processing on the image, the height of the obtained air bubble is obtained, the second image processing module 26 sends the height of the air bubble 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 air bubble, so that the air bubble in the skin test injector 63 is discharged; the infrared laser 15 emits infrared rays, the principle that hemoglobin absorbs infrared rays is utilized, the first camera 16 collects images and sends the images to the second image processing module 26, the second image processing module 26 performs image processing, selects a non-vascular area and positions the non-vascular area to obtain a skin test area point, 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 point; then the second driving motor 4302 drives the second connecting rod 4303 to rotate, the angle of the clamp 44 is adjusted, so that the angle of the skin test injector 63 is adjusted, then the first micro electric push rod 4305 is started, the first micro electric push rod 4305 drives the clamp 44 to move forward, so that the skin test injector 63 is driven to move forward, the needle head of the skin test injector 63 is pricked 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, the skin test liquid is injected into the skin test area point, then the first micro electric push rod 4305 drives the clamp 44 to move backward, so that the skin test injector 63 is pulled out, then the microprocessor 24 is started to control the guide rail mechanism 3 and the mechanical arm 4 to move, and the skin test injector 63 is inserted back into the corresponding number of the injector storage plate 6.
The foregoing is merely illustrative of the structures of this invention and various modifications, additions and substitutions for those skilled in the art can be made to the described embodiments without departing from the scope of the invention or from the scope of the invention as defined in the accompanying claims.
Claims (6)
1. An automatic skin test injector comprises an injector body (1), and is characterized in that an arm slot (11) is formed in the front side wall of the injector body (1); the port of the arm slot (11) is provided with a semicircular sealing cover (12) through a hinge, one end of the semicircular sealing cover (12) is provided with a handle (13), the front side wall of the injector body (1) is embedded with a control panel (2), the control panel (2) is embedded with a touch screen (21), the control panel (2) is connected with a plug (22) through an electric wire, and the interior of the control panel (2) is provided with a circuit main board (23); a microprocessor (24) and a memory (27) are arranged on the circuit main board (23), a first image processing module (25) is arranged on one side of the microprocessor (24), and a second image processing module (26) is arranged 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 electrically connected with the microprocessor (24);
the injection device comprises an injection device body (1), a guide rail mechanism (3) connected with the inner top wall of the injection device body through screws, a mechanical arm (4) arranged on the guide rail mechanism (3), an infrared laser (15) arranged on one side of the guide rail mechanism (3), and a first camera (16) arranged on one side of the infrared laser (15); a bracket (17) is arranged on the inner bottom wall of the injector body (1), a grab handle (18) is sleeved on the bracket (17), a medicine bottle storage plate (5) is arranged on the right side of the bracket (17) of the inner bottom wall of the injector body (1), and a syringe storage plate (6) is arranged on the left side of the bracket (17) of the inner bottom wall of the injector body (1);
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 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 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 in 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 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 a microprocessor (24) through electric wires;
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) through welding, a second connecting rod (4303) is connected in a U-shaped groove of the second U-shaped support (4301) through a second rotating shaft, the front side wall of the second U-shaped support (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 coupler; a U-shaped mounting groove (4304) is formed in the second connecting rod (4303), a first micro electric push rod (4305) is connected to the U-shaped mounting groove (4304) through a screw, and the first micro electric push rod (4305) and the second driving motor (4302) are electrically connected with the microprocessor (24) through electric wires;
The fixture (44) comprises a U-shaped frame (4401), the left side wall of the U-shaped frame (4401) is fixed with the end of a piston rod of a first micro electric push rod (4305) through welding, the top wall of the U-shaped frame (4401) is welded with the middle part of a 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) through 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 arranged in 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 way, a second movable clamping block (4404) is welded at the main shaft end of the third micro electric push rod (4405), an inserting strip (4409) is integrally formed at the bottom end of the first movable clamping block (4408), a groove matched with the inserting strip (4409) is formed in the upper end face of the second movable clamping block (4404), a second half clamping groove (4410) is formed in each of 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 a microprocessor (24) through electric wires;
The left side wall inside the injection instrument body (1) is provided with a second camera (8) and a flash lamp (9) 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 lead.
2. The automatic skin test injector according to claim 1, wherein 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 sliding block (34) arranged on the sub ball screw (33), a 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.
3. The automatic skin test injector 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 stuck at the top port of the storage holes (51) through strong adhesion; a plurality of rows of storage grooves (61) for storing skin test injectors (63) are formed in the injector storage plate (6); both sides of the medicine bottle storage plate (5) and the injector storage plate (6) are provided with raised strips (62).
4. An automatic skin test injector according to claim 1, characterized in that the output of the first camera (16) is electrically connected to the input of the second image processing module (26) via a transmission line, and the infrared laser (15) is electrically connected to the microprocessor (24) via an electrical line.
5. The automatic skin test injector according to claim 1, wherein ultraviolet lamps (7) are mounted at corners of two sides of the inner top wall of the injector body (1) through screws, and the ultraviolet lamps (7) are electrically connected with the microprocessor (24) through wires.
6. An automatic skin test injector according to claim 1, characterized in that the microprocessor (24) is AT89S51, and the rear side wall of the injector body (1) is hinged to the door (14).
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| CN201910115850.9A CN111558108B (en) | 2019-02-15 | 2019-02-15 | Automatic skin test injection instrument |
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| CN201910115850.9A CN111558108B (en) | 2019-02-15 | 2019-02-15 | Automatic skin test injection instrument |
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