CN113262353B - Multi-stage robot injection device and method based on force control - Google Patents
Multi-stage robot injection device and method based on force control Download PDFInfo
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- CN113262353B CN113262353B CN202110348934.4A CN202110348934A CN113262353B CN 113262353 B CN113262353 B CN 113262353B CN 202110348934 A CN202110348934 A CN 202110348934A CN 113262353 B CN113262353 B CN 113262353B
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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
- A61M5/142—Pressure infusion, e.g. using pumps
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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
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
- A61M2205/332—Force measuring means
Abstract
The invention relates to a force control-based multi-stage robot injection device and a force control-based multi-stage robot injection method, wherein the device comprises a linear guide rail, an injection needle tube, a needle tube fixing pillow, a clamp and an electric push rod, wherein a force sensor is arranged in the electric push rod; the guide rail connecting plate is provided with a synchronous belt mechanism, and the linear guide rail is connected with a bearing of the synchronous belt mechanism through a bearing connecting plate. Compared with the prior art, the invention improves the degree of freedom of the injection instrument; meanwhile, the force control injection robot integrates the functions of exhausting, injecting, pulling out a needle and the like, and effectively solves the problem of unmanned injection in medical injection.
Description
Technical Field
The invention relates to the technical field of robot injection, in particular to a force control-based multi-stage robot injection device and method.
Background
With the development of science and technology, the injection robot is gradually suitable for occasions requiring automatic injection in a large scale. For some injections with radioactivity, such as: radionuclide preparations, angiographic agents and the like, medical personnel need to perform radiography in an x-ray environment for a long time, and certain influence is easily caused on the bodies of the medical personnel. The injection robot can obviously improve the injection efficiency of medical personnel and reduce long-time radiation injury.
Chinese patent No. CN107050577A, published as 20170818, discloses a radiation-proof liquid medicine injection robot with controllable injection speed, which is composed of an intelligent controller and a mechanical component, wherein the mechanical component is characterized by comprising the following components: a substrate (1), linear guide rails (19) and (2) fixed on the edge of the substrate, a slide block (3) capable of sliding on the guide rails, a motor (4), a motor bracket (5) fixed on the substrate, a screw rod (6) with threads, a shaft coupling (7) between the screw rod and a motor shaft, a screw cap (8) matched with the screw rod, a bracket (9) is fixed with the sliding block (3), the bracket (9) is fixed with the screw cap (8), the injection pump comprises a push rod (10) fixed with a sliding block, a pressure sensor (11) at the front end of the push rod, a pushed end (12) of a piston of the injection pump, a horizontal semicircular cylinder-shaped injection pump limiting groove (13), an arc-shaped injection pump upper limiting cover plate (14) which is provided with a hinge and can be turned over, the injection pump (15), a motor rotation angle sensor (16), and an intelligent controller (17) which is arranged on a straight line with a guide rail and a motor.
The anti-radiation liquid medicine injection robot utilizes the motor and the intelligent controller to be matched with the injection pump for use. Realizes the controllable medicine injection at a continuous speed and solves the movable automatic injection requirement in angiography or CT examination. However, this invention has certain limitations. The essence of the injection pump is an improvement on the injection pump, and although the injection speed and the injection amount can be precisely controlled, the spatial position relationship between the patient and the injection pump in practical application is influenced by a plurality of factors, such as: site factors, physical conditions of the patient, etc., and there are limitations in the perception of displacement during the injection process, freedom of movement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a force control-based multi-stage robot injection device and method which have high degree of freedom and integrate functions of exhausting, injecting, pulling a needle and the like.
The purpose of the invention can be realized by the following technical scheme:
a multi-stage robot injection device based on force control comprises a linear guide rail, an injection needle tube, a needle tube fixing pillow, a clamp and an electric push rod, wherein a force sensor is arranged in the electric push rod;
The guide rail connecting plate is provided with a second motor, a bearing and a synchronous conveyor belt, the second motor and the bearing are both arranged on the guide rail connecting plate, the synchronous conveyor belt is respectively connected with the second motor and the bearing, and the linear guide rail is connected with the bearing through a bearing connecting plate;
the injection needle tube is installed on the needle tube fixing pillow, the needle tube fixing pillow is installed on the clamp, the clamp is movably connected with the linear guide rail, the electric push rod is fixedly connected with the linear guide rail, and the output end of the electric push rod is right opposite to the needle tube fixing pillow.
Furthermore, the needle tube fixing pillow comprises an electromagnetic baffle, a spring, a solenoid and a fixing base platform, the injection needle tube is installed on the fixing base platform, the electromagnetic baffle, the spring and the solenoid are all located on one side, close to the electric push rod, of the fixing base platform, the electromagnetic baffle, the spring and the solenoid are connected in sequence, the electromagnetic baffle is provided with a groove matched with a main body part of the electric push rod, and the area of the groove is smaller than that of a pushing extrusion head on the top end of the electric push rod.
Furthermore, two cross rods which are positioned on the same straight line are arranged at the top end of the electric push rod and are used for abutting against the electromagnetic baffle.
Further, multi-stage robot injection device still includes cloud platform base, first cloud platform plate mounting and second cloud platform plate mounting, first motor and optical axis all are connected the casing specifically is:
the holder base is fixedly connected with the shell, the upper end of the holder base is respectively connected with the first motor and the optical axis, and the two ends of the bottom of the holder base are respectively connected with the first holder plate fixing part and the second holder plate fixing part.
Further, the first motor is a brushless direct current motor.
Furthermore, a position sensor is arranged in the electric push rod.
Furthermore, the clamp adopts a pneumatic clamp which is connected with a miniature air pump.
The invention also provides an injection method adopting the multi-stage robot injection device based on force control, which comprises the following steps:
a preparation phase comprising an exhaust step: keeping the clamp in a closed state, and electrifying the solenoid to retract the electromagnetic baffle; the guide rail connecting plate is driven to rotate by the first motor, so that the injection needle tube is vertical to the horizontal plane and faces upwards, and then the electric push rod extends out to push the piston of the injection needle tube until liquid in the injection needle tube flows out a little from the needle head;
An angle adjusting step: the first motor and the second motor are controlled to drive the linear guide rail to rotate, so that the needle inserting angle of the injection needle tube is adjusted, and the electric push rod is retracted; then the clamp is kept in a release state, the solenoid is powered off, and the electromagnetic baffle is made to ascend;
a positioning stage; the electric push rod extends out to push the needle tube fixing pillow to move on the linear guide rail until the needle tube fixing pillow is close to skin tissues;
a puncturing stage; the electric push rod pushes the needle tube fixing pillow to make the injection needle tube prick into the skin tissue until reaching the puncture state;
an injection phase comprising the preparation steps of: keeping the clamp in a closed state, contracting the electric push rod, electrifying the solenoid and retracting the electromagnetic baffle;
an injection step: the electric push rod extends out to push the piston of the injection needle tube to inject liquid;
needle pulling stage: after injection is finished, the clamp is kept in a released state, the solenoid is powered off, so that the electromagnetic baffle plate rises, and the main body part of the electric push rod is positioned in the groove of the electromagnetic baffle plate; then the electric push rod is contracted, the top end of the electric push rod pulls the electromagnetic baffle to drive the injection needle tube, and needle pulling is realized.
Further, in the process of the injection method, the electric push rod obtains the push force of the push rod in real time,
In the exhausting step, the pushing force of the push rod is within the range of a preset first injection resistance and a preset second injection resistance, the first injection resistance is the minimum pushing force in the exhausting step, and the second injection resistance is the minimum pushing force required by injection when the needle of the injection needle tube is inserted into the blood vessel;
in the positioning stage, the push rod thrust is within the range of zero and a first injection resistance;
in the puncture stage, the pushing force of the push rod is greater than the preset skin tissue resistance, and the skin tissue resistance is the minimum puncture force required by the needle head to damage the skin tissue and enter the blood vessel in the process of puncturing the skin tissue from air;
in the injecting step, the pusher thrust is within a second injection resistance and skin tissue resistance range.
Further, the size of the push rod thrust is controlled by controlling the torque of a push rod motor in the electric push rod, and the calculation expression of the torque of the push rod motor is as follows:
in the formula, Ta is the torque of the push rod motor; f is the axial cutting force of a lead screw in the electric push rod, mu is the comprehensive friction coefficient of a guide piece in the electric push rod, m is the weight of a moving object in the electric push rod, and g is the gravity acceleration; i is lead screw lead mm in the electric push rod; nl is the positive efficiency of the feed screw in the electric push rod.
Compared with the prior art, the invention has the following advantages:
(1) the injection needle tube fixing device is provided with a first motor, the output end of the first motor is connected with one end of a guide rail connecting plate through a shaft seat mounting plate, an optical shaft is arranged, the other end of the guide rail connecting plate is connected with a shaft seat and a shaft seat connecting table which are connected with the optical shaft, and a linear guide rail, an injection needle tube, a needle tube fixing pillow, a clamp and an electric push rod are all arranged on the guide rail connecting plate, so that the injection needle tube can be controlled to rotate along the Pitch angle through the first motor;
still set up second motor, bearing and synchronous conveyer belt, it is rotatory to drive the linear guide who installs on the bearing through the second motor for control syringe needle pipe is rotatory along the yaw angle, through adjusting Pitch angle and yaw angle, increases the degree of freedom of motion, can satisfy the selection of arbitrary needle insertion angle basically.
(2) The invention combines mechanical control and utilizes the miniature servo electric push rod to realize robot injection. The cost is lower, the control is simple and convenient, the occupied space is small, and the site constraint is low; in a certain range, the moving distance of the needle tube can be automatically adjusted along with the distance between a patient and the injection robot in the injection process, and the Pitch and yaw angles can be adjusted by controlling the direct current brushless motor and the synchronous belt mechanism, so that the needle inserting range is changed.
(3) The invention effectively improves the traditional injection pump, and improves the degree of freedom of the injection instrument; meanwhile, the force control injection robot integrates the functions of exhausting, injecting, pulling out a needle and the like, and effectively solves the problem of unmanned injection in medical injection.
(4) The invention utilizes the miniature servo electric push rod 15 with an absolute position sensor arranged inside, which can accurately establish the displacement relation between the needle head, the patient and the injection power end; meanwhile, a force sensor is arranged in the push rod, the resistance change of the needle head can be sensed in the puncture of the biological soft tissue, the puncture state can be sensed through the puncture force change, and the autonomous range adjustment is further realized.
Drawings
Fig. 1 is a flow chart of a force control based multi-stage robotic injection method provided in an embodiment of the present invention;
FIG. 2 is a perspective interior elevation view of a force control based multi-stage robotic injection device provided in an embodiment of the present invention;
FIG. 3 is a rotational orientation elevation view of a force control based multi-stage robotic injection device provided in an embodiment of the present invention;
FIG. 4 is a front view of a force control based multi-stage robotic injection device provided in an embodiment of the present invention;
FIG. 5 is a front view of a force control based multi-stage robotic injection device provided in an embodiment of the present invention;
FIG. 6 is a left side view of a multi-stage robotic force-based injection device provided in an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electromagnetic baffle of a force-control-based multi-stage robotic injection device according to an embodiment of the present invention;
FIG. 8 is a block diagram of an injection control system provided in an embodiment of the present invention;
in the figure, 1, a housing, 2, a first motor, 3, a shaft seat mounting plate, 4, a first pan-tilt plate fixing member, 5, a guide rail connecting plate, 6, a shaft seat, 7, an optical axis, 8, a shaft seat connecting table, 9, a second pan-tilt plate fixing member, 10, a micro air pump, 11, a pan-tilt base, 12, a synchronous belt mechanism, 1201, a second motor, 1202, a synchronous conveyor belt, 1203, a bearing, 1204, a bearing connecting plate, 13, a square push rod fixing support, 14, a support fixing base, 15, an electric push rod, 1501, a push rod extrusion head, 16, a clamp, 17, a needle tube fixing pillow, 1701, an electromagnetic baffle, 1702, a spring, 1703, a solenoid, 1704, a threaded hole, 1705, a fixing base, 18, an injection needle tube, 19, a linear guide, 20 and a liquid crystal display screen.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
Example 1
The embodiment provides a multi-stage robot injection device based on force control, which comprises a linear guide rail 19, an injection needle tube 18, a needle tube fixing pillow 17, a clamp 16 and an electric push rod 15, wherein a force sensor is arranged in the electric push rod 15, the multi-stage robot injection device further comprises a shell 1, a guide rail connecting plate 5, a first motor 2, a shaft seat mounting plate 3, a shaft seat 6, an optical shaft 7 and a shaft seat connecting table 8, the guide rail connecting plate 5 is positioned in the shell 1, the first motor 2 and the optical shaft 7 are both connected with the shell 1, an output shaft of the first motor 2 is connected with the shaft seat mounting plate 3, the shaft seat 6 is respectively connected with the optical shaft 7 and the shaft seat connecting table 8, and the shaft seat mounting plate 3 and the shaft seat connecting table 8 are respectively connected with two ends of the guide rail connecting plate 5;
The guide rail connecting plate 5 is provided with a second motor 1201, a bearing 1203 and a synchronous conveyor belt 1202, the second motor 1201 and the bearing 1203 are both installed on the guide rail connecting plate 5, the synchronous conveyor belt 1202 is respectively connected with the second motor 1201 and the bearing 1203, and the linear guide rail 19 is connected with the bearing 1203 through the bearing 1203 connecting plate;
an injection needle tube 18 is arranged on a needle tube fixing pillow 17, the needle tube fixing pillow 17 is arranged on a clamp 16, the clamp 16 is movably connected with a linear guide rail 19, an electric push rod 15 is fixedly connected with the linear guide rail 19, and the output end of the electric push rod 15 is opposite to the needle tube fixing pillow 17.
Based on the device, the angles of the needle tubes Pitch and Yaw can be regulated and controlled by controlling the first motor 2 and the second motor 1201 so as to select a proper needle inserting angle.
In a preferred embodiment, in order to realize the functions of air exhaust, injection, needle extraction and the like of the robot injection device, the needle fixing pillow 17 comprises an electromagnetic baffle 1701, a spring 1702, a solenoid 1703 and a fixing base 1705, the injection needle 18 is mounted on the fixing base 1705, the electromagnetic baffle 1701, the spring 1702 and the solenoid 1703 are all positioned on one side of the fixing base 1705 close to the electric push rod 15, the electromagnetic baffle 1701, the spring 1702 and the solenoid 1703 are sequentially connected, the electromagnetic baffle 1701 is provided with a groove matched with the main body part of the electric push rod 15, and the area of the groove is smaller than that of a pushing and pressing head at the top end of the electric push rod 15.
Preferably, the head of the electric push rod 15 is connected with a push rod extrusion head, the two sides of the electric push rod are provided with protruding cross rods, and when the electromagnetic baffle is not electrified, the push rod extrusion head cannot pass through a through hole in the baffle; when the electromagnetic baffle is electrified, the push rod extrusion head can push the injector to realize injection through the upper part of the baffle. After injection is finished, the transverse rods protruding from the two sides of the extrusion head are extruded at the electromagnetic baffle, so that the miniature servo electric push rod 15 drives the whole needle tube to move reversely.
As a preferred embodiment, in order to realize reliable fixation of the guide rail connecting plate 5, the multi-stage robot injection device further includes a holder base 11, a first holder plate fixing member 4 and a second holder plate fixing member 9, and the first motor 2 and the optical axis 7 are both connected to the housing 1, specifically:
In this embodiment, the preferred arrangement for each individual component of the multi-stage robotic injection device is as follows:
The clamp is pneumatic, the lowest application pressure is 0.3MPa, and the highest application pressure is 0.6 MPa.
The electric push rod 15 adopts a LAF50-024D type micro push rod, the working voltage is 6-9V, the measuring range is 50mm, and the tail part is provided with a force sensor. The force sensor detection range is-100 to 100N. The idle speed of the push rod is 17mm/s, and the full load speed is 8 mm/s.
The maximum pressure output by the air pump is 500kpa, the power is 7w, the voltage can be 12V DC, and a hose with the diameter of 4mm is connected in an internal connection mode.
Surface mounting has hold-in range mechanism on the guide rail connecting plate, and accessible intelligence remote control realizes linear guide at the rotation of yaw axle direction, adjusts the needle inserting angle.
Adopt GM6020 DC brushless motor in the cloud platform mechanism, accessible intelligence remote control realizes linear guide at the rotation of Pitch axle, realizes the exhaust work of injection preparation stage, adjustable needle insertion angle simultaneously.
An absolute position sensor is arranged in the miniature servo electric push rod 15, so that information is not lost when power is off, and zero resetting operation is not needed.
The present embodiment also provides an injection method using the above force-control-based multi-stage robotic injection device, comprising the steps of:
a preparation phase comprising an exhaust step: keeping the clamp 16 in the closed state, the solenoid 1703 is energized, causing the electromagnetic shutter 1701 to retract; the guide rail connecting plate 5 is driven to rotate by the first motor 2, so that the injection needle tube 18 is vertical to the horizontal plane and faces upwards, then the electric push rod 15 extends out, and the piston of the injection needle tube 18 is pushed until the liquid in the injection needle tube 18 flows out a little from the needle head;
An angle adjusting step: the first motor 2 and the second motor 1201 are controlled to drive the linear guide rail 19 to rotate, so that the needle inserting angle of the injection needle tube 18 is adjusted, and the electric push rod 15 contracts; then the clamp 16 is held in the released state, the solenoid 1703 is de-energized, so that the electromagnetic shutter 1701 is raised;
a positioning stage; the electric push rod 15 extends out to push the needle tube fixing pillow 17 to move on the linear guide rail 19 until the needle tube fixing pillow is close to skin tissues;
a puncturing stage; the electric push rod 15 pushes the needle tube fixing pillow 17 to make the injection needle tube 18 prick into the skin tissue until reaching the puncture state;
an injection phase comprising the preparation steps of: keeping the clamp 16 in a closed state, the electric push rod 15 is contracted, the solenoid 1703 is electrified, and the electromagnetic baffle 1701 is retracted;
an injection step: the electric push rod 15 extends out to push the piston of the injection needle tube 18 to inject liquid;
needle pulling stage: after the injection is finished, the clamp 16 is kept in a release state, the solenoid 1703 is powered off, the electromagnetic baffle 1701 is lifted, and the main body part of the electric push rod 15 is positioned in the groove of the electromagnetic baffle 1701; then the electric push rod 15 contracts, the top end of the electric push rod 15 pulls the electromagnetic baffle 1701, and the injection needle tube 18 is driven to realize needle pulling.
In the process of the injection method, the electric push rod 15 acquires the push force of the push rod in real time,
in the exhaust step, the push rod thrust is within the preset range of a first injection resistance and a second injection resistance, the first injection resistance is the minimum thrust in the exhaust step, and the second injection resistance is the minimum thrust required by injection when the needle of the injection needle tube 18 is inserted into a blood vessel;
in the positioning stage, the push rod thrust is within the range of zero and the first injection resistance;
in the puncture stage, the pushing force of the push rod is greater than the preset skin tissue resistance, and the skin tissue resistance is the minimum puncture force required by the needle head to damage the skin tissue and enter the blood vessel in the process of puncturing the skin tissue from air;
in the injecting step, the pushing force of the push rod is within the range of the second injection resistance and the skin tissue resistance.
Through the moment of torsion of push rod motor among the control electric putter 15, the size of control push rod thrust, the computational expression of the moment of torsion of push rod motor is:
in the formula, Ta is the torque of the push rod motor; f is the axial cutting force of a lead screw in the electric push rod, mu is the comprehensive friction coefficient of a guide piece in the electric push rod, m is the weight of a moving object in the electric push rod, and g is the gravity acceleration; i is lead screw lead mm in the electric push rod; nl is the positive efficiency of the feed screw in the electric push rod.
The following describes a specific implementation of the present embodiment.
The utility model provides a multistage robot injection device based on force control, wherein casing 1 passes through bolted connection with cloud platform base 11, and cloud platform base 11 bottom is by first cloud platform plate mounting 4 and second cloud platform plate mounting 9 as gusset reinforcement panel stability, prevents that cloud platform base 11 from using for a long time and warping. Two sides of the upper end of the holder base 11 are respectively fixed with the first motor 2(RM6020 DC brushless motor) and the optical axis 7 by screws. One side of the first motor 2 is connected with a guide rail connecting plate 5 through a shaft seat mounting plate 3(Pitch shaft 6020 mounting plate); on one side of the optical axis 7, the guide rail connecting plate 5 is connected with the shaft seat connecting table 8 through the SK10 vertical shaft seat 6, so that the guide rail connecting plate 5 can be driven to rotate by the first motor 2 to adjust the angle in the Pitch axis direction. The second motor 1201 (synchronous belt servo motor) and the bearing 1203(GB/T301-1995 thrust ball bearing) are connected by the synchronous conveyor belt 1202 to form a synchronous belt module, the motor and the bearing are fixed on the guide rail connecting plate 5 by bolts and nuts, and the axis connecting line is parallel to the linear guide rail. The bearing attachment plate 1204 is fixed to the upper surface of the bearing 1203, and the linear guide is fixed to the bearing attachment plate 1204 by bolts and nuts. And the given electric signal makes the servo motor 1201 rotate a given angle, drives the bearing to rotate, and carries out angle adjustment in the direction of the Yaw axis.
The fixed end of a miniature servo electric push rod 15 (a built-in force sensor) is fixed on a support fixing base 14 through a square push rod fixing support 13, and the support fixing base 14 is fixed on a linear guide rail 19 through bolts and nuts. The needle tube fixing pillow 17 is fixed on the pneumatic clamp 16 through bolts and nuts, the pneumatic clamp 16 is fixed on the linear guide rail 19 and is in a normally open state, the pneumatic clamp is connected with the micro air pump 10 through a hose (not shown), the pneumatic clamp 16 can slide on the linear guide rail 19, the groove of the needle tube fixing pillow 17 is matched with the tail of the injection needle tube 18 to play a limiting role, and the front half part of the needle tube is placed in a front semicircular hole to keep balance. The micro servo electric push rod 15 can act on the electromagnetic baffle 1701 to push the needle tube fixing pillow 17 to drive the injection needle tube 18 to move integrally without changing the injection state. The head of the micro servo electric push rod 15 is a push rod extrusion head 1501 which can not pass through the electromagnetic baffle 1701 because of the existence of a protruded cross rod under normal conditions. After the preparation is finished, the pneumatic clamp 16 is firstly in a release state, and then the miniature servo electric push rod 15 extends out to push the injection needle tube 18 to move towards the direction of skin tissues. When the micro servo electric push rod 15 extends to a preset position, the system receives a switching signal of the front magnetic induction switch, so that the pneumatic clamp 16 acts and clamps the guide rail. When the solenoid 1703 is energized, the spring 1702 further compresses, so that the micro servo electric push rod 15 directly acts on the injection needle tube 18, but since the injection needle tube 18 is limited by the needle tube fixing pillow 17, the micro servo electric push rod 15 only acts on the piston part of the injection needle tube 18, and then the micro servo electric push rod 15 pushes the piston, so that the injection is realized. The pneumatic clamp 16 is released until the system receives the switching signal of the rear magnetic induction switch and then executes the next action.
An injection method of an injection robot based on force control prevents a puncture distance from being restricted by space, improves the flexibility and safety of injection, and is shown in a flow chart of figure 1. The intravenous injection robot comprises a miniature servo electric push rod 15 module, a cradle head module and a synchronous belt module, and as shown in figure 2, the injection control method comprises the following specific steps:
s1, preparing the injection needle tube 18 before injection. The pneumatic clamp 16 is closed, the solenoid 1703 is electrified, the needle tube is placed vertically to the horizontal plane, and the piston is pushed until liquid flows out a little from the needle head;
rather, as shown in fig. 1, air is prevented from entering the blood vessel and embolizing, and venting should occur prior to injection. At stage S1, the syringe 18 is prepared for injection. The pneumatic clamp 16 is closed and the solenoid 1703 is energized. Through remote control, or in liquid crystal display 20 department, adjustable Pitch angle places the needle tubing perpendicular horizontal plane, and miniature servo electric putter 15 promotes the piston to liquid flows a little from the syringe needle, realizes exhausting. After the preparation phase is completed, the proper angle between Yaw and Pitch is adjusted.
S2, adjusting and controlling the Pitch and Yaw angles of the needle tube to select a proper needle inserting angle, starting the pneumatic clamp 16 and powering off the solenoid 1703;
After the preparation for exhaust and the angle adjustment, the micro servo electric push rod 15 is changed into a working state to push the needle tube module to move along the linear guide rail. The built-in sensor of the electric push rod 15 can sense the impedance change, and then outputs a feedback signal, changes the action state of the motor control module, the air pump module and the electromagnetic module, and the block diagram of the injection control system is shown in fig. 8:
s3, the miniature servo electric push rod 15 pushes the needle tube fixing pillow 17 to move on the linear guide rail 19 and basically stays in a zero resistance state;
s4, dragging the needle tube fixing pillow by the miniature servo electric push rod 15, pricking the needle into skin tissue, and sensing the puncture force through the force sensor so as to sense the puncture state;
s5, the needle head moves to a proper puncture position, the pneumatic clamp 16 is closed, the solenoid 1703 is electrified, and the electromagnetic baffle 1701 moves downwards;
s6, the whole needle tube keeps unchanged with the position of skin tissue, and the miniature servo electric push rod 15 pushes the piston to realize the liquid injection with controllable speed;
s7, after the injection is finished, the pneumatic clamp 16 is started, and the solenoid 1703 is powered off. The micro servo electric push rod 15 moves reversely, and the push rod extrusion head 1501 pulls the electromagnetic baffle 1701 to realize needle pulling.
The miniature servo electric push rod 15 module senses the puncture force through a mechanical signal fed back by the force sensor to obtain a puncture state, and then identifies the movement position of the needle head in the skin tissue of a punctured person.
The injection end needs to realize the data acquisition and processing of the puncture force of the needle, the control of a motor, the control of an air pump module and the electromagnetic control. As shown in fig. 5, the injection end is provided with a puncture needle on the needle tube fixing pillow 17, and the puncture injection is performed on the tissue. When the needle contacts with the tissue, the force sensor (built in the miniature servo electric push rod) detects the puncture force signal and sends the puncture force signal to the terminal signal processing platform. Meanwhile, the position, the moving speed and the torque of the electric push rod are controlled by the motor, so that the push rod thrust is changed.
In the injection process, the forces sensed by the micro servo electric push rod 15 at different stages are roughly divided into:
injection resistance 1 (first injection resistance) characterized by the minimum thrust required during the exhaust process, which includes air resistance and the like;
injection resistance 2 (second injection resistance), which is characterized by the minimum thrust required for injection when the needle has been inserted into a blood vessel, which includes air resistance, blood pressure, etc.;
skin tissue resistance, which is characterized in that the minimum puncture force required for damaging skin tissue and entering blood vessels is achieved when the needle punctures the skin tissue from the air;
the clamp has the lowest application pressure, and is characterized in that the normal open pneumatic clamp has the minimum pressure required when being clamped, so that the conversion between the movement of the needle tube and the liquid injection of the needle tube is realized;
The thrust of the miniature servo electric push rod 15 is recorded as push rod thrust, and a reasonable push rod thrust range should be set. The following magnitude relation expression is approximately satisfied between the above sensing forces:
0< injection resistance 1 ≈ injection resistance 2< skin tissue resistance < push rod thrust < lowest application pressure of clamp
Because of the need of larger driving force and stability in the process of skin puncture, the miniature servo electric push rod 15 pushes the object to be the needle tube fixing pillow 17, and if the piston is pushed, liquid can be forced to be injected in the process of puncture. The micro servo electric push rod 15 pushes the object to be switched, and controls the descending or rising state of the electromagnetic baffle plate by controlling the electrifying condition of the solenoid.
In different stages, if the micro servo electric push rod 15 pushes the piston during injection, the minimum thrust for pushing the piston exists and is recorded as the constraint force of the piston. When injecting, assuming that the micro servo electric push rods 15 all push the needle tube fixing pillow 17, the minimum pushing force for pushing the needle tube fixing pillow 17 exists and is recorded as the needle tube constraint force. In actual injection, the air pump is started, and the pneumatic clamp is clamped; when the solenoid is electrified, the electromagnetic baffle descends to push the piston. Otherwise, the same reasoning can be obtained. The binding force threshold and the operation state of each device are shown in table 1.
TABLE 1 binding force threshold and operating conditions of the respective devices
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the above teachings. Therefore, the technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.
Claims (6)
1. A multi-stage robot injection device based on force control comprises a linear guide rail (19), an injection needle tube (18), a needle tube fixing pillow (17), a clamp (16) and an electric push rod (15), wherein a force sensor is arranged in the electric push rod (15), and the multi-stage robot injection device is characterized by further comprising a shell (1), a guide rail connecting plate (5), a first motor (2), a shaft seat mounting plate (3), a shaft seat (6), an optical shaft (7) and a shaft seat connecting platform (8), wherein the guide rail connecting plate (5) is located in the shell (1), the first motor (2) and the optical shaft (7) are connected with the shell (1), an output shaft of the first motor (2) is connected with the shaft seat mounting plate (3), the shaft seat (6) is connected with the optical shaft seat (7) and the shaft seat connecting platform (8), and the shaft seat mounting plate (3) and the shaft seat connecting platform (8) are connected with two ends of the guide rail connecting plate (5) respectively (ii) a
The guide rail connecting plate (5) is provided with a second motor (1201), a bearing (1203) and a synchronous conveyor belt (1202), the second motor (1201) and the bearing (1203) are both installed on the guide rail connecting plate (5), the synchronous conveyor belt (1202) is respectively connected with the second motor (1201) and the bearing (1203), and the linear guide rail (19) is connected with the bearing (1203) through a bearing (1203) connecting plate;
the injection needle tube (18) is arranged on the needle tube fixing pillow (17), the needle tube fixing pillow (17) is arranged on the clamp (16), the clamp (16) is movably connected with the linear guide rail (19), the electric push rod (15) is fixedly connected with the linear guide rail (19), and the output end of the electric push rod (15) is opposite to the needle tube fixing pillow (17);
the needle tube fixing pillow (17) comprises an electromagnetic baffle (1701), a spring (1702), a solenoid (1703) and a fixing base platform (1705), the injection needle tube (18) is installed on the fixing base platform (1705), the electromagnetic baffle (1701), the spring (1702) and the solenoid (1703) are all located on one side, close to the electric push rod (15), of the fixing base platform (1705), the electromagnetic baffle (1701), the spring (1702) and the solenoid (1703) are connected in sequence, the electromagnetic baffle (1701) is provided with a groove matched with the main body part of the electric push rod (15), and the area of the groove is smaller than that of a pushing and extruding head at the top end of the electric push rod (15).
2. A force control based multi-stage robotic injection device according to claim 1, wherein the top end of the electric pushrod (15) is provided with two cross bars on the same line for abutting the electromagnetic baffle (1701).
3. A force control based multi-stage robotic injection device according to claim 1, further comprising a pan-tilt base (11), a first pan-tilt plate mount (4) and a second pan-tilt plate mount (9), wherein the first motor (2) and the optical axis (7) are both connected to the housing (1) specifically:
cloud platform base (11) fixed connection the casing, the upper end of cloud platform base (11) is connected respectively first motor (2) and optical axis (7), the bottom both ends of cloud platform base (11) are connected respectively first cloud platform plate mounting (4) and second cloud platform plate mounting (9).
4. A force control based multistage robotic injection device according to claim 1, wherein the first motor (2) is a dc brushless motor.
5. A force control based multi-stage robotic injection device according to claim 1, wherein the electric push rod (15) incorporates a position sensor.
6. A force control based multi-stage robotic injection device according to claim 1, characterized in that the pneumatic clamp (16) is used as the clamp (16), and the pneumatic clamp (16) is connected with a miniature air pump (10).
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