CN111658879A - Automatic follow infusion support and infusion bottle height adjusting method - Google Patents

Automatic follow infusion support and infusion bottle height adjusting method Download PDF

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Publication number
CN111658879A
CN111658879A CN202010544798.1A CN202010544798A CN111658879A CN 111658879 A CN111658879 A CN 111658879A CN 202010544798 A CN202010544798 A CN 202010544798A CN 111658879 A CN111658879 A CN 111658879A
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China
Prior art keywords
ultrasonic
module
infusion
infusion support
time
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CN202010544798.1A
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Chinese (zh)
Inventor
李贤明
宋家玉
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NINGBO CHENGDA MACHINERY RESEARCH INSTITUTE
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NINGBO CHENGDA MACHINERY RESEARCH INSTITUTE
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Priority to CN202010544798.1A priority Critical patent/CN111658879A/en
Publication of CN111658879A publication Critical patent/CN111658879A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1415—Stands, brackets or the like for supporting infusion accessories
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1417—Holders or handles for hanging up infusion containers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/20—Position of source determined by a plurality of spaced direction-finders
    • 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
    • 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
    • A61M2205/3327—Measuring
    • 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
    • A61M2205/58—Means for facilitating use, e.g. by people with impaired vision

Abstract

The invention discloses an automatic following infusion support and an infusion bottle height adjusting method, which comprises a base and a hook, wherein universal wheels and power wheels are arranged at the bottom of the base; the power wheel is connected with a motor; the base is provided with a processor, and the processor comprises an ultrasonic receiving module for receiving and processing ultrasonic signals; the motor control module is used for controlling the motor; the ultrasonic transmission device also comprises a bracelet, wherein the bracelet is provided with an ultrasonic transmission module which transmits ultrasonic signals at intervals; the ultrasonic receiving module comprises at least three ultrasonic receivers which are positioned in the same plane and are used for determining the position of the ultrasonic transmitting module. The invention has compact structure and reasonable design, the height difference between the infusion bottle and the needle head can be adaptively adjusted according to the position of the arm of the patient, and when the arm of the patient is raised or lowered in the moving process, the infusion bottle can be automatically raised or lowered, so that the reasonable height difference between the infusion bottle and the needle head is kept, and the problems of unsmooth dropping liquid and even blood return can be effectively avoided.

Description

Automatic follow infusion support and infusion bottle height adjusting method
Technical Field
The invention relates to the technical field of infusion supports, in particular to an automatic following infusion support and an infusion bottle height adjusting method.
Background
At present, the transfusion is a more conventional treatment means in a hospital, the time of ordinary transfusion is basically 2-3 hours, serious patients need even longer time, and the transfusion is usually carried out in sickrooms, emergency rooms and other places, and the transfusion places are fixed, so that the actions of transfusion patients are greatly restricted during the transfusion. The movable infusion support brings convenience to infusion patients, and the infusion patients can move in hospitals properly, such as walking in a corridor, going to a toilet, performing examination and the like. However, the existing mobile infusion support can be moved only by pushing by people or medical staff, which is very inconvenient to use, and also requires special people to push the mobile infusion support to follow patients, which is troublesome and wastes human resources; and the height difference between the infusion bottle and the needle head of the existing movable infusion support cannot be adjusted according to the position of the arm of the patient, when the arm of the patient is raised in the moving process, the height between the infusion bottle and the needle head is reduced, and the phenomena of unsmooth dropping liquid and even blood return are easy to occur.
Disclosure of Invention
In order to solve the problems in the prior art, the automatic following infusion support and the infusion bottle height adjusting method are provided.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides an automatic following infusion support which comprises a base and a hook for hanging an infusion bottle; the bottom of the base is provided with a universal wheel and a power wheel, and the power wheel is connected with a motor for driving the power wheel to rotate; an electric telescopic rod is connected above the base, and the top of the electric telescopic rod is connected with the hook;
the processor is arranged on the base and comprises an ultrasonic receiving module for receiving and processing ultrasonic signals; the motor control module is used for controlling the forward and reverse rotation/acceleration and deceleration of the motor; the telescopic rod control module is used for controlling the telescopic rod to stretch;
the ultrasonic monitoring device also comprises a bracelet, wherein the bracelet is provided with an ultrasonic sending module which is used for transmitting ultrasonic signals at intervals; the ultrasonic receiving module comprises at least three ultrasonic receivers which are positioned in the same plane, and the position of the ultrasonic transmitting module is determined according to different time for receiving ultrasonic signals by different ultrasonic receivers when the ultrasonic signals are received each time.
The invention also provides a method for adjusting the height of the infusion bottle automatically following the infusion support, which comprises the following steps:
s1, sending an ultrasonic signal to sleeve the bracelet on the hand of the patient, enabling the bracelet to walk along with the patient, and enabling the ultrasonic sending module to send the ultrasonic signal once every fixed time t;
s2, receiving an ultrasonic signal, and constructing a coordinate system by taking the intersection point of the telescopic rod of the infusion support and the horizontal plane where the ultrasonic receiver is positioned as a coordinate origin O; determining the coordinate of the ultrasonic transmitting module in the constructed coordinate system according to different time for receiving the ultrasonic signal by different ultrasonic receivers, thereby determining the direction and the distance of the ultrasonic transmitting module;
s3, calculating the height difference between the infusion bottle and the origin of coordinates as H, and obtaining the height of the ultrasonic transmitting module relative to the origin of coordinates O as H according to the coordinates of the ultrasonic transmitting module in the constructed coordinate system; presetting a height difference value between an infusion bottle and an ultrasonic wave sending module in the electric telescopic module as X;
when the H-H result is larger than the preset value X, the telescopic rod is controlled to extend until the H-H result is equal to the preset value X, and the telescopic rod does not extend any more;
and when the H-H result is smaller than the preset value X, controlling the telescopic rod to shorten until the H-H result is equal to the preset value X, and preventing the telescopic rod from shortening.
Preferably, in step S3, the method further includes calculating the average speed of the ultrasonic transmission module and the direction and magnitude of the displacement, and the specific calculation method includes: determining the position of the ultrasound transmitting module at the nth transmission of the ultrasound signal, denoted A(n)Then, according to the distance traveled by the ultrasonic receiving module after the ultrasonic signal is received last time, the position A of the ultrasonic transmitting module when the ultrasonic signal is transmitted for the (n-1) th time is determined(n-1)The position of the current origin of coordinates O is denoted as B(n-1)(ii) a Calculating the moving distance B of the ultrasonic transmission module in the time interval from the n-1 th time to the n-th time of transmitting the ultrasonic signal(n-1)A(n)And the moving direction, and the average speed v(n)。
Preferably, the automatic following method further comprises the automatic following of the infusion support, and the specific method comprises the following steps: when the ultrasonic wave transmitting module transmits the ultrasonic wave signal for the nth time, the line segment B(n-1)A(n)Has a point C on the side surface(n)Line segment C(n)A(n)Perpendicular to line segment B(n-1)A(n)Line segment C(n)A(n)The length of the infusion support is set manually, and the length is the expected distance between the infusion support and the patient; the position of the ultrasonic wave transmitting module when the ultrasonic wave signal is transmitted for the first time is A(1)At the moment, the infusion support is not moved until the ultrasonic wave sending module sends the ultrasonic wave signal for the second time, the infusion support does not move, and then the movement direction of the infusion support is changed into OC(n)Direction of (1), acceleration is a, when the speed reaches 2v(n)When the device is started, the device starts to keep constant-speed motion; when the infusion support moves to the position C(n)When the infusion stand is on, the infusion stand stops moving.
Compared with the prior art, the invention has the beneficial effects that:
1. the height difference between the infusion bottle and the needle head of the infusion support can be adaptively adjusted according to the position of the arm of a patient, and when the arm of the patient is raised or lowered in the moving process, the infusion bottle can be automatically raised or lowered, so that the reasonable height difference is kept between the infusion bottle and the needle head, and the problems of unsmooth dropping liquid and even blood return can be effectively avoided;
2. the invention also has an automatic following function, can move along with the walking of the infusion patient and is kept at a position with a certain distance from the infusion patient at any time; the following method can ensure that the infusion support moves on the side of the patient, so that the patient can conveniently observe the amount of the liquid medicine in the infusion support, and can conveniently see the movement condition of the infusion support, thereby preventing the occurrence of accidents and being safer and more reliable.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic bottom view of the present invention;
FIG. 3 is a schematic view of the bracelet of the present invention;
FIG. 4 is a flow chart of a method for adjusting the height of the stand according to the present invention;
FIG. 5 is a schematic diagram showing the relative position of the infusion stand according to the side following method of the present invention.
Fig. 6 is a flow chart of the method for following the side surface of the infusion bottle and adjusting the height of the infusion bottle.
Description of reference numerals:
a hook 1; a telescopic rod 2; an ultrasonic receiver 3; a base 4; a universal wheel 5; a power wheel 6; a hand ring 7; and an ultrasonic wave transmitting module 8.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Example one
As shown in fig. 1-5, the invention provides an automatic following infusion support, which comprises a base 4, wherein an expansion rod 2 is connected above the base 4, and the expansion rod 2 is an electric expansion rod; the top of the telescopic rod 2 is connected with a hook 1, and the hook 1 is used for hanging an infusion bottle or an infusion bag; two universal wheels 5 and two power wheels 6 are respectively arranged on the lower surface of the base 4 in two mutually perpendicular directions, and the universal wheels 5 and the power wheels 6 are positioned on 4 vertexes of a square; the two power wheels 6 are parallel to each other, and the power wheels 6 are respectively provided with a motor.
The processor is arranged on the base 4 and comprises an ultrasonic receiving module for receiving and processing ultrasonic signals; the motor control module is used for controlling the forward and reverse rotation/acceleration and deceleration of the motor; and the telescopic rod 2 control module is used for controlling the telescopic rod 2 to stretch.
And the hand ring 7 is also included, and the hand ring 7 can be worn on the wrist of the hand of the patient needing intravenous injection. The bracelet 7 is provided with an ultrasonic wave sending module 8 which sends ultrasonic wave signals once every t time; the ultrasonic receiving module comprises at least three ultrasonic receivers 3 which are positioned in the same plane, and when the ultrasonic signals are received each time, the position of the ultrasonic transmitting module 8 is determined according to different time for receiving the ultrasonic signals by the different ultrasonic receivers 3.
When the transfusion frame is used for positioning the bracelet 7 by utilizing an ultrasonic ranging and positioning technology, a single ultrasonic receiver 3 cannot meet the requirement that at least three receivers can receive ultrasonic signals at the same time, and in order to ensure that at least three receivers of the transfusion frame receive the ultrasonic signals at the same time, 4 ultrasonic receivers 3 are arranged on the base 4, so that the 4 ultrasonic receivers 3 on the base 4 can receive the ultrasonic signals successively, the 4 ultrasonic receivers 3 are respectively positioned on the 4 vertexes of a square, the central points of the 4 ultrasonic receivers 3 are taken as the origin of coordinates O, the time for the ultrasonic signals sent by the ultrasonic sending module 8 to reach the 4 ultrasonic receivers 3 is different, the coordinates of the ultrasonic sending module 8 can be calculated according to the sound velocity and the time for the ultrasonic receivers 3 to receive the signals, wherein the coordinates with the height smaller than 0 are discarded, multiple sets of coordinates of the ultrasonic transmission module 8 can be obtained by the 4 ultrasonic receivers 3, and errors can be reduced by averaging the multiple sets of coordinates. The specific steps are that the 4 ultrasonic receivers 3 are respectively labeled with A, B, C, D, wherein A, B, C three ultrasonic receivers 3 can obtain a set of coordinates of the ultrasonic transmission module 8, and in the same way A, B, D three ultrasonic receivers 3 can also obtain a set of coordinates of the ultrasonic transmission module 8, and the average value of the two sets of coordinates is the coordinate of the ultrasonic transmission module 8 at the moment, so that the specific coordinates of the bracelet 7 in the coordinate system established by the infusion support are calculated, and the direction and the distance of the bracelet 7 are determined.
The invention also provides a method for adjusting the height of the infusion bottle automatically following the infusion support, which comprises the following steps:
s1, sending an ultrasonic signal to sleeve the bracelet on the hand of the patient, enabling the bracelet to walk along with the patient, and enabling the ultrasonic sending module to send the ultrasonic signal once every fixed time t;
s2, receiving an ultrasonic signal, and constructing a coordinate system by taking the intersection point of the telescopic rod of the infusion support and the horizontal plane where the ultrasonic receiver is positioned as a coordinate origin O; determining the coordinate of the ultrasonic transmitting module in the constructed coordinate system according to different time for receiving the ultrasonic signal by different ultrasonic receivers, thereby determining the direction and the distance of the ultrasonic transmitting module;
s3, calculating the height difference between the infusion bottle and the origin of coordinates as H, and obtaining the height of the ultrasonic transmitting module relative to the origin of coordinates O as H according to the coordinates of the ultrasonic transmitting module in the constructed coordinate system; presetting a height difference value between an infusion bottle and an ultrasonic wave sending module in the electric telescopic module as X;
when the H-H result is larger than the preset value X, the telescopic rod is controlled to extend until the H-H result is equal to the preset value X, and the telescopic rod does not extend any more;
and when the H-H result is smaller than the preset value X, controlling the telescopic rod to shorten until the H-H result is equal to the preset value X, and preventing the telescopic rod from shortening.
The height difference between the infusion bottle and the needle head of the infusion support can be adjusted according to the position of the arm of a patient, and when the arm of the patient is lifted up or lowered down in the moving process, the infusion bottle can be automatically lifted up or lowered down, so that the reasonable height difference between the infusion bottle and the needle head is kept, and the problems of unsmooth dropping liquid and even blood return can be effectively avoided.
In addition, step S3 further includes calculating the average speed of the ultrasonic transmission module, the direction and the magnitude of the displacement, and the specific calculation method is as follows: determining the position of the ultrasound transmitting module at the nth transmission of the ultrasound signal, denoted A(n)Then, according to the distance traveled by the ultrasonic receiving module after the ultrasonic signal is received last time, the position A of the ultrasonic transmitting module when the ultrasonic signal is transmitted for the (n-1) th time is determined(n-1)The position of the current origin of coordinates O is denoted as B(n-1)(ii) a Calculating the moving distance B of the ultrasonic transmission module in the time interval from the n-1 th time to the n-th time of transmitting the ultrasonic signal(n-1)A(n)And the moving direction, and the average speed v(n)。
The automatic following method of the infusion support is as follows: when the ultrasonic wave transmitting module transmits the ultrasonic wave signal for the nth time, the line segment B(n-1)A(n)Has a point C on the side surface(n)Line segment C(n)A(n)Perpendicular to line segment B(n-1)A(n)Line segment C(n)A(n)The length of the infusion support is set manually, and the length is the expected distance between the infusion support and the patient; the position of the ultrasonic wave transmitting module when the ultrasonic wave signal is transmitted for the first time is A(1)At the moment, the infusion support is not moved until the ultrasonic wave sending module sends the ultrasonic wave signal for the second time, the infusion support does not move, and then the movement direction of the infusion support is changed into OC(n)Direction of (1), acceleration is a, when the speed reaches 2v(n)When the device is started, the device starts to keep constant-speed motion; when the infusion support moves to the position C(n)When the infusion stand is on, the infusion stand stops moving.
Example two
As shown in FIG. 6, the invention also provides a method for automatically following the side surface of the infusion support and adjusting the height of the infusion support, which comprises the following steps:
s1, sending ultrasonic signals to sleeve the bracelet 7 on the hand of the patient, enabling the bracelet 7 to walk along with the patient, and enabling the ultrasonic sending module 8 to send the ultrasonic signals once every fixed time t; t may be 0.5 s.
S2, when the ultrasonic wave receiving module receives the ultrasonic wave signal each time, the position of the ultrasonic wave sending module 8 is determined according to the different time of receiving the ultrasonic wave signal by the different ultrasonic wave receivers 3; the specific method comprises the following steps: constructing a coordinate system by taking the intersection point of the horizontal planes of the telescopic rod 2 and the ultrasonic receiver 3 of the infusion support as a coordinate origin O; according to different times of receiving the ultrasonic signals by different ultrasonic receivers 3, the coordinates of the ultrasonic transmitting module 8 in the constructed coordinate system are determined, so that the direction and the distance of the ultrasonic transmitting module 8 are determined.
S3 calculation
The ultrasonic receiving module records each ultrasonic transmitting module 8The position when the ultrasonic signal is transmitted for the second time, and the average speed of the ultrasonic transmitting module 8 and the direction and the magnitude of the displacement in the adjacent time interval of transmitting the ultrasonic signal for the second time are calculated; the specific calculation method comprises the following steps: the nth (n is a positive integer and n is a positive integer) of the ultrasonic transmission module 8 is determined>1) The position at the time of transmitting the ultrasonic signal is denoted by A(n)Then, the position A of the ultrasonic wave transmitting module 8 at the n-1 th time of transmitting the ultrasonic wave signal is determined according to the distance traveled by the ultrasonic wave receiving module after the ultrasonic wave signal is received last time(n-1)Position B relative to the current origin of coordinates O(n-1)(ii) a Since the movement locus of the origin of coordinates O is known, B(n-1)Is A(n-1)And (4) reversely moving the point along the motion track of the coordinate origin O. Calculating the moving distance B of the ultrasonic transmission module 8 from the n-1 th time to the n-th time of the ultrasonic transmission module 8(n-1)A(n)And the moving direction, and the average speed v(n)；
And calculating the height difference between the infusion bottle and the ultrasonic transmitting module, wherein the calculating method comprises the following steps: the height difference between the infusion bottle and the coordinate origin is recorded as H, and the height of the ultrasonic transmitting module relative to the coordinate origin O can be obtained according to the coordinate of the ultrasonic transmitting module in the constructed coordinate system and is recorded as H; presetting a height difference value between an infusion bottle and an ultrasonic wave sending module in the electric telescopic module as X;
s4 automatic following and height adjustment of infusion bottle
The motor control module controls the motor to rotate, so that the infusion support can automatically follow the side direction of the patient, and the specific method comprises the following steps: when the ultrasonic wave transmitting module 8 transmits the ultrasonic wave signal n time, the line segment B(n-1)A(n)Has a point C on the side surface(n)Line segment C(n)A(n)Perpendicular to line segment B(n-1)A(n)Line segment C(n)A(n)The length of the infusion support is set manually, and the length is the expected distance between the infusion support and the patient; the position of the ultrasonic wave transmission module 8 at the time of transmitting the ultrasonic wave signal for the first time is A(1)At the moment, the infusion support is not moved until the ultrasonic wave sending module 8 sends the ultrasonic wave for the second timeWhen the ultrasonic signal is sent, the infusion support starts to move, and then the movement direction of the infusion support is changed into OC(n)Direction of (1), acceleration is a, when the speed reaches 2v(n)When the device is started, the device starts to keep constant-speed motion; when the infusion support moves to the position C(n)When the infusion support is on, the infusion support stops moving;
the method for adjusting the height of the infusion bottle comprises the following steps: when the H-H result is larger than the preset value X, the telescopic rod is controlled to extend until the H-H result is equal to the preset value X, and the telescopic rod does not extend any more;
and when the H-H result is smaller than the preset value X, controlling the telescopic rod to shorten until the H-H result is equal to the preset value X, and preventing the telescopic rod from shortening.
By adopting the method, the height of the infusion bottle can be adjusted while automatic following is realized.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (4)

1. An automatic following infusion support comprises a base and a hook for hanging an infusion bottle; the device is characterized in that the bottom of the base is provided with a universal wheel and a power wheel, and the power wheel is connected with a motor for driving the power wheel to rotate; an electric telescopic rod is connected above the base, and the top of the electric telescopic rod is connected with the hook;
the processor is arranged on the base and comprises an ultrasonic receiving module for receiving and processing ultrasonic signals; the motor control module is used for controlling the forward and reverse rotation/acceleration and deceleration of the motor; the telescopic rod control module is used for controlling the telescopic rod to stretch;
the ultrasonic monitoring device also comprises a bracelet, wherein the bracelet is provided with an ultrasonic sending module which is used for transmitting ultrasonic signals at intervals; the ultrasonic receiving module comprises at least three ultrasonic receivers which are positioned in the same plane, and the position of the ultrasonic transmitting module is determined according to different time for receiving ultrasonic signals by different ultrasonic receivers when the ultrasonic signals are received each time.
2. A method for adjusting the height of an infusion bottle of an automatic follow infusion support, which is characterized in that the automatic follow infusion support of claim 1 is adopted, and comprises the following steps:
s1, sending an ultrasonic signal to sleeve the bracelet on the hand of the patient, enabling the bracelet to walk along with the patient, and enabling the ultrasonic sending module to send the ultrasonic signal once every fixed time t;
s2, receiving an ultrasonic signal, and constructing a coordinate system by taking the intersection point of the telescopic rod of the infusion support and the horizontal plane where the ultrasonic receiver is positioned as a coordinate origin O; determining the coordinate of the ultrasonic transmitting module in the constructed coordinate system according to different time for receiving the ultrasonic signal by different ultrasonic receivers, thereby determining the direction and the distance of the ultrasonic transmitting module;
s3, calculating the height difference between the infusion bottle and the origin of coordinates as H, and obtaining the height of the ultrasonic transmitting module relative to the origin of coordinates O as H according to the coordinates of the ultrasonic transmitting module in the constructed coordinate system; presetting a height difference value between an infusion bottle and an ultrasonic wave sending module in the electric telescopic module as X;
when the H-H result is larger than the preset value X, the telescopic rod is controlled to extend until the H-H result is equal to the preset value X, and the telescopic rod does not extend any more;
and when the H-H result is smaller than the preset value X, controlling the telescopic rod to shorten until the H-H result is equal to the preset value X, and preventing the telescopic rod from shortening.
3. The method of claim 2, wherein the step S3 further comprises calculating the average speed of the ultrasonic transmission module and the direction and magnitude of the displacement, and the specific calculation method is as follows: determining the position of the ultrasound transmitting module at the nth transmission of the ultrasound signal, denoted A(n)Then, according to the distance traveled by the ultrasonic receiving module after the ultrasonic signal is received last time, the n-1 th time of sending the ultrasonic signal by the ultrasonic sending module is determinedPosition A of time(n-1)The position of the current origin of coordinates O is denoted as B(n-1)(ii) a Calculating the moving distance B of the ultrasonic transmission module in the time interval from the n-1 th time to the n-th time of transmitting the ultrasonic signal(n-1)A(n)And the moving direction, and the average speed v(n)。
4. The method for automatically following the side surface of the infusion support according to claim 3, further comprising the step of automatically following the infusion support, wherein the method comprises the following specific steps: when the ultrasonic wave transmitting module transmits the ultrasonic wave signal for the nth time, the line segment B(n-1)A(n)Has a point C on the side surface(n)Line segment C(n)A(n)Perpendicular to line segment B(n-1)A(n)Line segment C(n)A(n)The length of the infusion support is set manually, and the length is the expected distance between the infusion support and the patient; the position of the ultrasonic wave transmitting module when the ultrasonic wave signal is transmitted for the first time is A(1)At the moment, the infusion support is not moved until the ultrasonic wave sending module sends the ultrasonic wave signal for the second time, the infusion support does not move, and then the movement direction of the infusion support is changed into OC(n)Direction of (1), acceleration is a, when the speed reaches 2v(n)When the device is started, the device starts to keep constant-speed motion; when the infusion support moves to the position C(n)When the infusion stand is on, the infusion stand stops moving.
CN202010544798.1A 2020-06-15 2020-06-15 Automatic follow infusion support and infusion bottle height adjusting method Pending CN111658879A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113082356A (en) * 2021-04-09 2021-07-09 苏州市立医院 Intelligent infusion set for paediatrics based on big data
CN113181465A (en) * 2021-04-22 2021-07-30 解秀芬 Lifting type infusion support capable of being automatically followed
CN113082356B (en) * 2021-04-09 2024-04-26 苏州市立医院 Intelligent infusion device for pediatrics based on big data

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Application publication date: 20200915