CN112121261A

CN112121261A - PICC puts a tub intelligent maintenance equipment

Info

Publication number: CN112121261A
Application number: CN202011006141.6A
Authority: CN
Inventors: 王志芬; 陈丽平; 任振辉; 王黎伟
Original assignee: First Affiliated Hospital of Xinxiang Medical University
Current assignee: First Affiliated Hospital of Xinxiang Medical University
Priority date: 2020-09-23
Filing date: 2020-09-23
Publication date: 2020-12-25
Anticipated expiration: 2040-09-23
Also published as: CN112121261B

Abstract

The invention provides PICC (peripherally inserted central catheter) catheterization intelligent maintenance equipment which comprises a mechanical arm, a supporting plate, a heat controller, a first mechanical arm, a shaft bolt, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a touch screen, a box body, a special air conditioner, a chaos generator, a disc cam, an ejector and the like. The equipment can fix the PICC pipe placing position and give cold air compress or hot compress according to the actual need; the manipulator can drive fingers to hold and release the elastic holding ring; the heat controller is a transition element, is used for connecting the infusion tube and the PICC catheter, and has the functions of heating, intelligent monitoring and alarming; the chaotic generator can generate chaotic signals to drive the piezoelectric ceramics and the massage cushion to generate chaotic vibration, so that fingers, the back of the hand and wrists are stimulated; the four-freedom-degree series mechanical arm structure is provided, and the whole machine posture is flexibly adjusted and has strong adaptability.

Description

PICC puts a tub intelligent maintenance equipment

Technical Field

The invention relates to the technical field of PICC, in particular to PICC pipe placing intelligent maintenance equipment.

Background

The central vein (PICC) is placed by peripheral venipuncture, a catheter is used for puncturing from a vein of a peripheral arm, the catheter directly reaches a great vein close to the heart, the direct contact between chemotherapy drugs and the vein of the arm is avoided, and the blood flow speed of the great vein is high, so that the chemotherapy drugs can be quickly diluted, and the stimulation of the drugs to the blood vessel is prevented. Therefore, the upper limb vein can be effectively protected, the occurrence of phlebitis is reduced, the pain of the patient is relieved, and the life quality of the patient is improved. However, after the PICC catheterization is performed for a long time, various cautions need to be observed, such as avoiding continuous bleeding of the puncture point, avoiding water contamination, avoiding infection, etc., which can be attributed to the maintenance problem of the PICC catheterization, and in response, an intelligent maintenance device is designed and developed, which is an urgent problem to be solved.

Disclosure of Invention

Aiming at the problems, the invention provides PICC (peripherally inserted central catheter) catheter placement intelligent maintenance equipment which can fix a PICC catheter placement position and give cold air compress or hot air compress according to actual needs; the manipulator can drive fingers to hold and release the elastic holding ring; the heat controller is a transition element, is used for connecting the infusion tube and the PICC catheter, and has the functions of heating, intelligent monitoring and alarming; the chaotic generator can generate chaotic signals to drive the piezoelectric ceramics and the massage cushion to generate chaotic vibration, so that fingers, the back of the hand and wrists are stimulated; the four-freedom-degree series mechanical arm structure is provided, and the whole machine posture is flexibly adjusted and has strong adaptability.

The technical scheme adopted by the invention is as follows: a PICC (peripherally inserted central catheter) intelligent maintenance device comprises a manipulator, a supporting plate, a rubber support, a transparent cover, a heat controller, a motor base and a first pipeline; lead screw, slider, first motor, roller, first arm, pintle, second arm, first spring, keep off ring, second pipeline, third arm, fourth arm, touch screen, box, special air conditioner, base, universal wheel, drawer, handle, chaos generator, dish cam, frameless motor, sprayer, its characterized in that: the manipulator is inserted into the supporting plate and can stretch relative to the supporting plate; the motor base is fixedly arranged on the supporting plate; the first pipeline and the frameless motor are fixedly arranged on the motor base; the disc cam is fixedly arranged on the output end of the frameless motor; the transparent cover is hinged on the motor base; the two rubber supports are respectively and fixedly arranged at the two ends of the transparent cover; the two heat controllers are fixedly arranged on the transparent cover; positive integer number of ejectors uniformly distributed along the circumference are hinged in the supporting plate, and the tail ends of the ejectors are matched with the disc cam; the first motor is fixedly arranged on the supporting plate; the screw rod is fixedly arranged on the output end of the first motor; the slide block is matched with the inner wall of the supporting plate and the lead screw at the same time; the supporting plate is hinged on the first mechanical arm; a wedge plate and a first inner gear ring are arranged on the first mechanical arm; the roller is hinged on the sliding block and is in contact fit with the wedge plate; the shaft bolt is inserted into the first mechanical arm and can extend and retract relative to the first mechanical arm; one end of the second mechanical arm is hinged to the first mechanical arm and is matched with the shaft bolt; the baffle ring is fixedly arranged at the bottom of the shaft bolt, and a first spring is assembled between the baffle ring and the second mechanical arm; the third mechanical arm is hinged to the other end of the second mechanical arm, a shaft bolt is assembled between the third mechanical arm and the second mechanical arm, a stop ring is fixedly installed at the tail end of the shaft bolt, and a first spring is assembled between the stop ring and the third mechanical arm; the other end of the third mechanical arm is inserted into the fourth mechanical arm and can stretch along the fourth mechanical arm; the fourth mechanical arm is hinged on the special air conditioner; the second pipeline is fixedly arranged on the special air conditioner and penetrates through the third mechanical arm and the fourth mechanical arm; the special air conditioner is fixedly arranged on the base; four universal wheels are fixedly arranged on the lower side of the base; the box body is fixedly arranged on the special air conditioner; the drawer is assembled on the box body, and a handle is fixedly arranged on the drawer; the touch screen and the chaos generator are respectively and fixedly arranged on the box body.

Further, the mechanical arm comprises a sliding plate, a sliding rail, a massage pad, a spring pull rod, an elastic holding ring, a grommet, a steel cable, a first gear, a pulley, a second gear, a double-shaft motor, a finger joint shaft, a finger rail, a second spring, a third spring, a finger support, a fourth spring, a finger clamp and piezoelectric ceramics; the massage cushion, the double-shaft motor and the two slide rails are respectively and fixedly arranged on the slide plate; the finger joint shaft is hinged on the sliding plate, and the shaft ends at the two sides of the finger joint shaft are respectively and fixedly provided with a first gear; a second gear is fixedly arranged on the output shaft ends of the two sides of the double-shaft motor respectively; the first gear is meshed with the second gear; the shaft ends at two sides of the elastic holding ring are respectively inserted into the sliding rails at two sides, each end is respectively hinged with a spring pull rod, and the other side of each spring pull rod is hinged on the sliding plate; each second gear is fixedly provided with a pulley; two side shaft ends of the elastic holding ring are respectively hinged with a locking ring, and each locking ring is fixedly provided with a steel cable connected with the side pulley; the four finger rails are respectively hinged on the finger joint shafts; the three second springs are respectively sleeved on the two adjacent finger rails; three finger supports are mounted on each finger rail, and a third spring is respectively mounted between each finger support and the finger rail and between each finger support; a limiting fourth spring is assembled in each finger support, and a finger clamp is assembled on the fourth spring; and two sides of each finger clip are respectively and fixedly provided with a piezoelectric ceramic.

Furthermore, the heat controller comprises a first infusion joint, a buffer cavity, a thermal resistance ring, a line control joint, a capacitance plate and a second infusion joint; the first transfusion joint and the second transfusion structure are respectively and fixedly arranged at two ends of the buffer cavity; the thermal resistance ring is fixedly arranged on the buffer cavity, and a wire control joint is fixedly arranged on the thermal resistance ring; the two capacitor plates are respectively and fixedly arranged on two sides of the buffer cavity and tightly clamp the second infusion joint.

Further, the shaft bolt comprises a handball, a first outer gear ring, a second outer gear ring and a support shaft; the handball is fixedly arranged on the first outer gear ring; the first outer gear ring is fixedly arranged on the second outer gear ring; the second outer gear ring is fixedly arranged on the supporting shaft.

Further, the second mechanical arm comprises a second inner gear ring and a third inner gear ring; the second inner gear ring and the first outer gear ring are mutually meshed, and the number of teeth of the second inner gear ring and the number of teeth of the first outer gear ring are equal; the third inner gear ring and the second outer gear ring are meshed with each other, and the number of teeth of the third inner gear ring and the number of teeth of the second outer gear ring are equal.

Further, the third mechanical arm comprises a fourth inner gear ring; the fourth inner gear ring and the second outer gear ring are meshed with each other, and the number of teeth of the fourth inner gear ring and the number of teeth of the second outer gear ring are equal.

Furthermore, the chaotic generator comprises a first bottom plate, an electromagnet, a first support, a steel ball, a first spherical hinge shaft, a hand-cranking ring, a laser head, a photosensitive sensor, a second support, a second bottom plate and a spherical hinge support; three first supporting columns and electromagnets which are uniformly distributed on the circumference are respectively and fixedly arranged on the first bottom plate; the second bottom plate is fixedly arranged on the three first supporting columns; the center of the second bottom plate is provided with a spherical hinged support; the first spherical hinge shaft is hinged on the spherical hinge support; one end of the first spherical hinge shaft close to the electromagnet is fixedly provided with a steel ball, and the other end of the first spherical hinge shaft is fixedly provided with a hand ring and a laser head; the photosensitive sensor is fixedly arranged on the first bottom plate through a second support.

Further, the ejector comprises an air nozzle, an air pipe joint and a second spherical hinge shaft; the air pipe joint is fixedly arranged on the air injection head; the second spherical hinge shaft is inserted into the lower side of the air nozzle and can freely stretch out and draw back.

Furthermore, a spherical cam groove with a plurality of waves is formed in the disc cam, and the spherical cam groove is in contact fit with the second spherical hinge shaft; the air pipe joints of all the ejectors are externally connected with air pipes, and the air pipes sequentially pass through the first pipeline and the second pipeline and are finally connected with a special air conditioner.

Due to the adoption of the technical scheme, the invention has the following advantages: (1) cold air application or hot air application can be performed on the PICC pipe placement position; (2) the infusion process can be monitored, and the automatic alarm reminding can be realized after the liquid flows out; (3) the delivered liquid medicine can be heated and can be kept at a constant temperature; (4) the pitch angle of the arm of the user can be adjusted at will; (5) the hand motion of the user can be assisted; (6) the chaotic vibration massage function is realized; (7) possess PICC intubate and store the function.

Drawings

Fig. 1 and 2 are assembly views of the overall structure of the present invention.

Fig. 3 and 4 are schematic structural views of the robot of the present invention.

FIG. 5 is a schematic view of a heat controller according to the present invention.

FIG. 6 is a schematic view of the structure of the shaft plug of the present invention.

FIG. 7 is a schematic view of a second robot arm part according to the present invention.

Figure 8 is a schematic view of a third robot arm part configuration of the present invention.

FIG. 9 is a schematic diagram of the structure of the chaotic generator according to the present invention.

Fig. 10 is a schematic view of the structure of the ejector of the present invention.

Reference numerals: 1-a manipulator; 2-a supporting plate; 3-a rubber support; 4-a transparent cover; 5-a thermal controller; 6-motor base; 7-a first pipeline; 8-a lead screw; 9-a slide block; 10-a first electric machine; 11-a roller; 12-a first robot arm; 13-shaft bolt; 14-a second mechanical arm; 15-a first spring; 16-a baffle ring; 17-a second conduit; 18-a third mechanical arm; 19-a fourth mechanical arm; 20-a touch screen; 21-a box body; 22-special air conditioner; 23-a base; 24-a universal wheel; 25-a drawer; 26-a handle; 27-a chaotic generator; 28-disc cam; 29-frameless electric machines; 30-an ejector; 101-a slide plate; 102-a slide rail; 103-massage cushion; 104-spring pull rod; 105-an elastic grip ring; 106-a grommet; 107-steel cord; 108-a first gear; 109-a pulley; 110-a second gear; 111-a two-shaft motor; 112-knuckle axis; 113-finger rail; 114-a second spring; 115-a third spring; 116-a finger rest; 117-fourth spring; 118-finger grip; 119-piezoelectric ceramics; 501-a first infusion connector; 502-a buffer chamber; 503-thermal resistance ring; 504-wire control joints; 505-capacitive plates; 506-a second infusion connector; 1201-wedge plate; 1202-a first ring gear; 1301-handball; 1302-a first outer ring gear; 1303-second outer gear ring; 1304-supporting the shaft; 1401-a second annulus gear; 1402-third ring gear; 1801-fourth ring gear; 2701-first base plate; 2702-electromagnet; 2703-first post; 2704-steel ball; 2705-first ball pivot; 2706-hand ring; 2707-laser head; 2708-a light sensitive sensor; 2709-second post; 2710-a second backplane; 2711-spherical hinge mount; 3001-a gas showerhead; 3002-air tube connector; 3003-second ball pivot.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Fig. 1-10 illustrate a preferred embodiment of the present invention, in which a disc cam employs a string-type spherical groove having eight waves, and eight injectors are employed; the supporting plate is arranged at the right side and is only suitable for the right arm.

The working principle of this embodiment is as follows: when the device is used, the device is pushed to the side of a sickbed or a chair, and the four-freedom-degree robot arm is adjusted to a working position, so that the device is suitable for a patient to lie down and lean on the body; the specific adjustment mode is as follows: firstly, adjusting the height of the third mechanical arm relative to the fourth mechanical arm; secondly, overcoming the elastic force of a first spring, pulling out a shaft bolt between a third mechanical arm and a second mechanical arm, disengaging a first outer gear ring and a third inner gear ring at the moment, enabling the second mechanical arm to rotate around the third mechanical arm, releasing the shaft bolt after rotating for a certain angle, automatically inserting the shaft bolt back under the action of the elastic force of the first spring to enable the first outer gear ring and the third inner gear ring to be re-engaged, and locking the second mechanical arm to be locked and incapable of rotating relative to the third mechanical arm under the engagement contact action of the second outer gear ring and a fourth inner gear ring at the moment; and then, pulling a shaft bolt between the first mechanical arm and the second mechanical arm to enable the first outer gear ring to be disengaged from the first inner gear ring, then rotating the first mechanical arm, then loosening the shaft bolt to enable the first mechanical arm to return to the original position, and at the moment, under the action of the second outer gear ring and the second inner gear ring, the first mechanical arm is locked, and the first mechanical arm cannot rotate relative to the second mechanical arm.

After the pose of each mechanical arm is adjusted, the transparent cover is opened, the patient places the arms on the supporting plate, the hands are inserted into the mechanical arms, the fingers are embedded into the finger clips, and the palm of the hand is opposite to the elastic grip ring. When the manipulator works, the double-shaft motor drives the second gear to drive the first gear, so that the four finger rails rotate to force the fingers to bend, in the process of bending the fingers, included angles among the fingers are changed, each finger rail is hinged on the finger joint shaft and can only swing back and forth within a certain angle, and the second springs among the finger rails play a role in balancing; the finger rest and the finger clip and the finger rest can move relatively, so that the flexion and extension movement of the fingers is perfectly restored. When the fingers do bending and stretching movement, the pulley can pull the elastic holding ring to move downwards along the sliding rail under the action of the grommet, the steel cable and the pulley, so that the elastic holding ring is always attached to the inner side of the fingers in the bending and stretching process of the fingers. In addition, the slide is scalable for the layer board, adapts to the patient of different length arms.

When the frameless motor drives the disc cam to rotate, the frameless motor drives the ejectors to swing in a reciprocating mode along the radial direction of the disc cam, the ejectors can be static, at a constant speed or at variable speeds, different swing speeds represent different modes, cold air or hot air generated in the special air conditioner can finally reach the ejectors through the first pipeline and the second pipeline, the cold air or the hot air is ejected out of the ejectors, and circulating air flow is formed in a closed space formed by the motor base, the supporting plate and the transparent cover, so that cold air application or hot air application is realized.

The first infusion joint on the thermal controller is used for connecting a PICC catheter, the second infusion joint is used for externally connecting an infusion tube, and the thermal resistance ring can heat or keep the temperature of the liquid medicine remained in the buffer cavity constant; two electric capacity boards for the warning after liquid is defeated is reminded, because the difference of liquid medicine and air capacitance value, when liquid is defeated, the capacitance value can change, and this signal of telecommunication is carried to the touch-control screen, and then triggers the warning and reminds.

The first motor can drive the lead screw to rotate, the lead screw drives the sliding block to reciprocate, and the sliding block drives the roller to slide along the wedge plate on the first mechanical arm, so that the pitching motion of the supporting plate is realized, and the pitching motion of the arm of the patient is driven.

The chaotic generator is used for arranging a patient, activating three electromagnets by operating a touch screen, manually and randomly driving a hand-operated ring, enabling a steel ball to swing through random excitation, then enabling the steel ball to move undetectably in a swinging motion under the action of magnetic force, and further emitting laser through a laser head on a first spherical hinge shaft where the steel ball is located, transmitting the motion of the steel ball to a pot-shaped photosensitive sensor through the laser head, and converting the motion data collected by the photosensitive sensor into electric signals for exciting piezoelectric ceramics and a massage cushion to enable the piezoelectric ceramics and the massage cushion to generate random mixed vibration.

Claims

1. A PICC (peripherally inserted central catheter) intelligent maintenance device comprises a manipulator 1, a supporting plate 2, a rubber support, a transparent cover, a heat controller, a motor base and a first pipeline; lead screw, slider, first motor, roller, first arm, pintle, second arm, first spring, keep off ring, second pipeline, third arm, fourth arm, touch screen, box, special air conditioner, base, universal wheel, drawer, handle, chaos generator, dish cam, frameless motor, sprayer, its characterized in that: the manipulator is inserted into the supporting plate and can stretch relative to the supporting plate; the motor base is fixedly arranged on the supporting plate; the first pipeline and the frameless motor are fixedly arranged on the motor base; the disc cam is fixedly arranged on the output end of the frameless motor; the transparent cover is hinged on the motor base; the two rubber supports are respectively and fixedly arranged at the two ends of the transparent cover; the two heat controllers are fixedly arranged on the transparent cover; positive integer number of ejectors uniformly distributed along the circumference are hinged in the supporting plate, and the tail ends of the ejectors are matched with the disc cam; the first motor is fixedly arranged on the supporting plate; the screw rod is fixedly arranged on the output end of the first motor; the slide block is matched with the inner wall of the supporting plate and the lead screw at the same time; the supporting plate is hinged on the first mechanical arm; a wedge plate and a first inner gear ring are arranged on the first mechanical arm; the roller is hinged on the sliding block and is in contact fit with the wedge plate; the shaft bolt is inserted into the first mechanical arm and can extend and retract relative to the first mechanical arm; one end of the second mechanical arm is hinged to the first mechanical arm and is matched with the shaft bolt; the baffle ring is fixedly arranged at the bottom of the shaft bolt, and a first spring is assembled between the baffle ring and the second mechanical arm; the third mechanical arm is hinged to the other end of the second mechanical arm, a shaft bolt is assembled between the third mechanical arm and the second mechanical arm, a stop ring is fixedly installed at the tail end of the shaft bolt, and a first spring is assembled between the stop ring and the third mechanical arm; the other end of the third mechanical arm is inserted into the fourth mechanical arm and can stretch along the fourth mechanical arm; the fourth mechanical arm is hinged on the special air conditioner; the second pipeline is fixedly arranged on the special air conditioner and penetrates through the third mechanical arm and the fourth mechanical arm; the special air conditioner is fixedly arranged on the base; four universal wheels are fixedly arranged on the lower side of the base; the box body is fixedly arranged on the special air conditioner; the drawer is assembled on the box body, and a handle is fixedly arranged on the drawer; the touch screen and the chaos generator are respectively and fixedly arranged on the box body.

2. The PICC intelligent maintenance device of claim 1, wherein: the mechanical hand comprises a sliding plate 222, a sliding rail, a massage pad, a spring pull rod, an elastic holding ring, a grommet, a steel cable, a first gear, a pulley, a second gear, a double-shaft motor, a finger joint shaft, a finger rail, a second spring, a third spring, a finger holder, a fourth spring, a finger clamp and piezoelectric ceramics; the massage cushion, the double-shaft motor and the two slide rails are respectively and fixedly arranged on the slide plate; the finger joint shaft is hinged on the sliding plate, and the shaft ends at the two sides of the finger joint shaft are respectively and fixedly provided with a first gear; a second gear is fixedly arranged on the output shaft ends of the two sides of the double-shaft motor respectively; the first gear is meshed with the second gear; the shaft ends at two sides of the elastic holding ring are respectively inserted into the sliding rails at two sides, each end is respectively hinged with a spring pull rod, and the other side of each spring pull rod is hinged on the sliding plate; each second gear is fixedly provided with a pulley; two side shaft ends of the elastic holding ring are respectively hinged with a locking ring, and each locking ring is fixedly provided with a steel cable connected with the side pulley; the four finger rails are respectively hinged on the finger joint shafts; the three second springs are respectively sleeved on the two adjacent finger rails; three finger supports are mounted on each finger rail, and a third spring is respectively mounted between each finger support and the finger rail and between each finger support; a limiting fourth spring is assembled in each finger support, and a finger clamp is assembled on the fourth spring; and two sides of each finger clip are respectively and fixedly provided with a piezoelectric ceramic.

3. The PICC intelligent maintenance device of claim 1, wherein: the heat controller comprises a first infusion joint, a buffer cavity, a thermal resistance ring, a line control joint, a capacitance plate and a second infusion joint; the first transfusion joint and the second transfusion structure are respectively and fixedly arranged at two ends of the buffer cavity; the thermal resistance ring is fixedly arranged on the buffer cavity, and a wire control joint is fixedly arranged on the thermal resistance ring; the two capacitor plates are respectively and fixedly arranged on two sides of the buffer cavity and tightly clamp the second infusion joint.

4. The PICC intelligent maintenance device of claim 1, wherein: the shaft bolt comprises a handball, a first outer gear ring, a second outer gear ring and a support shaft; the handball is fixedly arranged on the first outer gear ring; the first outer gear ring is fixedly arranged on the second outer gear ring; the second outer gear ring is fixedly arranged on the supporting shaft.

5. The PICC intelligent maintenance device of claim 1 or 4, wherein: the second mechanical arm comprises a second inner gear ring and a third inner gear ring; the second inner gear ring and the first outer gear ring are mutually meshed, and the number of teeth of the second inner gear ring and the number of teeth of the first outer gear ring are equal; the third inner gear ring and the second outer gear ring are meshed with each other, and the number of teeth of the third inner gear ring and the number of teeth of the second outer gear ring are equal.

6. The PICC intelligent maintenance device of claim 1 and claim 4, wherein: the third mechanical arm comprises a fourth inner gear ring; the fourth inner gear ring and the second outer gear ring are meshed with each other, and the number of teeth of the fourth inner gear ring and the number of teeth of the second outer gear ring are equal.

7. The PICC intelligent maintenance device of claim 1, wherein: the chaos generator comprises a first bottom plate, an electromagnet, a first support, a steel ball, a first ball hinge shaft, a hand-operated ring, a laser head, a photosensitive sensor, a second support, a second bottom plate and a spherical hinge support; three first supporting columns and electromagnets which are uniformly distributed on the circumference are respectively and fixedly arranged on the first bottom plate; the second bottom plate is fixedly arranged on the three first supporting columns; the center of the second bottom plate is provided with a spherical hinged support; the first spherical hinge shaft is hinged on the spherical hinge support; one end of the first spherical hinge shaft close to the electromagnet is fixedly provided with a steel ball, and the other end of the first spherical hinge shaft is fixedly provided with a hand ring and a laser head; the photosensitive sensor is fixedly arranged on the first bottom plate through a second support.

8. The PICC intelligent maintenance device of claim 1, wherein: the ejector comprises a gas nozzle, a gas pipe joint and a second spherical hinge shaft; the air pipe joint is fixedly arranged on the air injection head; the second spherical hinge shaft is inserted into the lower side of the air nozzle and can freely stretch out and draw back.

9. The PICC intelligent maintenance device of claim 1 or 8, wherein: the disc cam is provided with a spherical cam groove with a positive integer number of waves, and the spherical cam groove is in contact fit with the second spherical hinge shaft; the air pipe joints of all the ejectors are externally connected with air pipes, and the air pipes sequentially pass through the first pipeline and the second pipeline and are finally connected with a special air conditioner.