CN114463222B - Automatic positioning and assembling method for head end of intradermal or subcutaneous injection micro needle - Google Patents
Automatic positioning and assembling method for head end of intradermal or subcutaneous injection micro needle Download PDFInfo
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- 238000002347 injection Methods 0.000 claims abstract description 14
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- G06T5/70—
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- G—PHYSICS
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Abstract
The invention discloses an automatic positioning and assembling method of an intradermal or subcutaneous injection micro needle head end, which comprises the steps of collecting an original aerial view image of a target needle platform area for placing a needle tube, carrying out noise reduction pretreatment on the original aerial view image to obtain a noise reduction image, carrying out filter treatment on the noise reduction image to obtain a second image, carrying out pixel value difference on the second image and the noise reduction image to obtain a difference image, screening one or more closed areas from the difference image, and determining the position for placing a micro needle according to the screened closed areas. The present invention achieves that the present invention facilitates the construction of an injection device with a plurality of side-by-side syringes that is automatically assembled, easy to use, and non-destructive.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an automatic positioning and assembling method for the head end of an intradermal or subcutaneous injection micro needle.
Background
Medical injection therapy is a common means of clinical treatment and plays an important role in clinical treatment or nursing. Intradermal or hypodermic injection needle pipe commonly used is 1, adopt injection molding machine integrated into one piece method, once injection moulding, need not to consider the spatial position who places the needle pipe, and to the injection part that many needle pipes are constituteed, often adopt artifical naked eye to judge, place and form, like in the medical treatment cosmetic injection, the syringe needle of commonly used is like the water light syringe needle, there are 5 or 9 syringe needles, it places to become "article" style of calligraphy, the spatial position is complicated, in the current injection apparatus instrument, few have many needle pipe injection apparatus of placing side by side, if adopt the manual work to place side by side to assemble the needle pipe of this type, there is very big productivity restriction, can't form large-scale production.
Disclosure of Invention
The present invention is directed to a method for automatically positioning and assembling the tip of an intradermal or subcutaneous injection microneedle, which is suitable for the requirement of assembling a plurality of side-by-side needle tubes, and which solves one or more of the problems of the prior art and provides at least one of the advantages of the present invention.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
a method of automatically positioning and assembling the tip of an intradermal or subcutaneous injection microneedle, the method comprising the steps of:
step 1, collecting an original aerial view image of a target needle platform area where a needle tube is placed, and performing noise reduction pretreatment on the original aerial view image to obtain a noise reduction image;
step 2, carrying out filter processing on the noise-reduced image to obtain a second image, and carrying out pixel value difference on the second image and the noise-reduced image to obtain a difference image;
step 3, screening one or more closed areas from the difference image;
and 4, determining the placing area of the miniature needle tube according to the screened closed area.
Further, in step 1, acquiring an original bird's-eye view image of a target needle bed area where the needle tube is placed, and performing noise reduction preprocessing on the original bird's-eye view image to obtain a noise-reduced image, wherein the substep of:
carrying out noise reduction preprocessing on the original aerial view image, wherein the substep of obtaining the noise reduction image is as follows:
and fixing a target needle platform area for placing the needle tube, scanning the target needle tube area under a light source, covering the target needle tube placement area to obtain an original aerial view image, and performing noise reduction pretreatment on the original aerial view image to obtain a noise reduction image.
Preferably, the noise reduction process is performed by gaussian filtering.
Further, in step 2, performing filter processing on the noise-reduced image to obtain a second image, and performing pixel value difference between the second image and the noise-reduced image to obtain a difference image, the sub-steps of obtaining the difference image are as follows:
carrying out filter processing on the noise reduction image to obtain a second image; wherein the noise-reduced image and the second image are of the same size; initializing an empty difference set; respectively obtaining the gray value of each pixel of the noise-reduced image and the second image in the step (1), making a difference value on the gray values of the pixels with the same coordinate in the noise-reduced image and the second image, and putting the current coordinate into a difference value set if the absolute value of the difference value is greater than a first difference value threshold;
establishing a blank image, wherein the size of the blank image is consistent with that of the noise reduction image;
and defaulting the gray value of each pixel in the blank image to be 1, traversing the difference set, extracting coordinates of all pixels in the difference set, setting the gray value of a pixel point corresponding to the coordinates to be 255 in the blank image, and obtaining a difference image which is a binary image.
Preferably, in step 2, the step of performing filter processing on the noise-reduced image to obtain a second image, and performing a pixel value difference between the second image and the noise-reduced image to obtain a difference image may further include:
carrying out filter processing on the noise reduction image to obtain a second image; wherein the noise reduced image and the second image are of the same size; initializing an empty quotient set; respectively obtaining the gray value of each pixel of the noise-reduced image and the second image in the step (1), dividing the larger value of the gray values of the 2 pixels at the same position of the noise-reduced image and the second image by the smaller value of the gray values of the 2 pixels at the same position of the noise-reduced image and the second image to obtain a quotient, and if the quotient is greater than a first quotient threshold value, putting the current coordinate into a quotient set;
establishing a blank image, wherein the size of the blank image is consistent with that of the noise reduction image;
and defaulting the gray value of each pixel in the blank image to be 1, traversing the quotient value set, extracting coordinates of all pixels in the quotient value set, setting the gray value of a pixel point corresponding to the coordinates to be 255 in the blank image, and obtaining a difference image which is a binary image.
In one embodiment, the first difference is 20 and the first quotient is 3.
Further, in step 3, the sub-step of screening out one or more closed regions from the difference image is:
carrying out edge detection on the difference image through an edge detection operator, dividing a plurality of independent areas from the difference image by an edge curve obtained by edge detection, and forming a first Set by all the independent areas;
and sorting the independent areas in the first Set in a descending order, wherein Set1 and Set2 respectively represent a first independent area and a second independent area in the first Set, namely, the independent area with the maximum Set1 and the independent area with the second maximum Set2 are respectively represented by the first independent area and the second independent area in the first Set.
Further, in step 4, the substep of determining the placement area of the micro needle cannula according to the screened closed area comprises:
respectively constructing rectangles with the minimum area tangent to the outer edge of the closed area in the first Set in sequence, wherein each rectangle with the minimum area tangent to the outer edge of the closed area has tangent points, the number of the tangent points is at least 2, and each 2 tangent points are respectively connected to obtain at least one tangent line, so that the longest tangent line is the two ends for placing the micro needle tube; if the length of the tangent lines is greater than that of the micro needle tube and the total number of the tangent lines is less than 5, judging the next closed area in the first Set, obtaining the tangent lines until the total number of the tangent lines is 5 or the lengths of the tangent lines are all less than that of the micro needle tube, and ending the judgment.
The number of tangent lines is taken as the number of needles placed.
An automatic positioning and assembling device for the tip of an intradermal or subcutaneous injection microneedle, said device comprising at least:
the light source module can emit light with a specific wavelength range to illuminate a target part on the surface of a human body, wherein the wavelength range is 700nm to 1200nm or 710nm to 960nm;
the imaging module is used for acquiring a target photo, can be a CCD or CMOS camera device and is provided with an infrared filter which can filter visible light so as to enhance the imaging quality;
the image processing module is used for processing the original image and outputting the area where the micro needle tube is placed;
the micro needle tube is connected with the base of the liquid medicine injection tube;
the needle bench, the needle bench interval is provided with 2 at least miniature needle tubes that run through the needle bench, the base has the liquid medicine chamber, needle bench fixed mounting be in the base, just miniature needle tube's injection inner chamber intercommunication the liquid medicine chamber.
Preferably, the number of micro-syringes placed is [2,5].
Compared with the prior art, the invention has the following beneficial technical effects:
the present invention facilitates the construction of an injection device with multiple side-by-side syringes that is automatically assembled, easy to use, and non-destructive.
Drawings
The foregoing and other features of the present invention will become more apparent to those skilled in the art from the following detailed description of the embodiments taken in conjunction with the accompanying drawings, in which like reference characters designate the same or similar elements, and in which it is apparent that the drawings described below are merely exemplary of the invention and that other drawings may be derived therefrom without the inventive faculty, to those skilled in the art, and in which:
fig. 1 is a flow chart of an automatic positioning and assembling method for the head end of an intradermal or subcutaneous injection microneedle according to the present invention;
figure 2 is a block diagram illustrating the structure of an automatic positioning and assembling device for the tip of an intradermal or subcutaneous injection microneedle according to one embodiment of the present invention;
FIG. 3 is a schematic view of a micro needle cannula base.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are merely illustrative of the invention and do not delimit the invention.
It is also to be understood that the following examples are illustrative of the present invention and are not to be construed as limiting the scope of the invention, and that certain insubstantial modifications and adaptations of the invention by those skilled in the art in light of the foregoing description are intended to be included within the scope of the invention. The specific process parameters and the like of the following examples are also only one example within a suitable range, i.e., those skilled in the art can select the appropriate range through the description herein, and are not limited to the specific values exemplified below.
The following is an exemplary illustration of a method of automatically positioning and assembling the tip of an intradermal or subcutaneous injection microneedle according to the present invention.
Referring to fig. 1, a flow chart of a method for automatically positioning and assembling the tip of an intradermal or subcutaneous injection microneedle is shown, and a method for automatically positioning and assembling the tip of an intradermal or subcutaneous injection microneedle according to an embodiment of the present invention is described with reference to fig. 1, the method comprising the steps of:
step 1, collecting an original aerial view image of a target needle platform area where a needle tube is placed, and carrying out noise reduction pretreatment on the original aerial view image to obtain a noise reduction image;
step 2, carrying out filter processing on the noise-reduced image to obtain a second image, and carrying out pixel value difference on the second image and the noise-reduced image to obtain a difference image;
step 3, screening one or more closed areas from the difference image;
and 4, determining the placement area of the miniature needle tube according to the screened closed area.
Further, in step 1, acquiring an original bird's-eye view image of a target needle bed area where the needle tube is placed, and performing noise reduction preprocessing on the original bird's-eye view image, wherein the substep of obtaining the noise reduction image is as follows:
carrying out noise reduction preprocessing on the original aerial view image, wherein the substep of obtaining the noise reduction image is as follows:
and fixing a target needle platform area for placing the needle tube, scanning the target needle tube area under a light source, covering the target needle tube area to obtain an original aerial view image, and performing noise reduction pretreatment on the original aerial view image to obtain a noise reduction image.
Further, in step 2, the filter processing is performed on the noise-reduced image to obtain a second image, and the pixel value difference is performed between the second image and the noise-reduced image to obtain a difference image, and the sub-step of obtaining the difference image is as follows:
carrying out filter processing on the noise reduction image to obtain a second image; wherein the noise-reduced image and the second image are of the same size; initializing an empty difference set; respectively obtaining the gray value of each pixel of the noise-reduced image and the second image in the step 1, making a difference value on the gray values of the pixels of the same coordinate in the noise-reduced image and the second image, and putting the current coordinate into a difference value set if the absolute value of the difference value is greater than a first difference threshold value;
establishing a blank image, wherein the size of the blank image is consistent with that of the noise reduction image;
and defaulting the gray value of each pixel in the blank image to be 1, traversing the difference set, extracting coordinates of all pixels in the difference set, setting the gray value of a pixel point corresponding to the coordinates to be 255 in the blank image, and obtaining a difference image which is a binary image.
Preferably, in step 2, the filter processing is performed on the noise-reduced image to obtain a second image, and a pixel value difference is performed between the second image and the noise-reduced image, and the sub-step of obtaining a difference image may further include:
carrying out filter processing on the noise reduction image to obtain a second image; wherein the noise-reduced image and the second image are of the same size; initializing an empty quotient set; respectively obtaining the gray value of each pixel of the noise-reduced image and the second image in the step (1), dividing the larger value of the gray values of the 2 pixels at the same position of the noise-reduced image and the second image by the smaller value of the gray values of the 2 pixels at the same position of the noise-reduced image and the second image to obtain a quotient, and if the quotient is greater than a first quotient threshold value, putting the current coordinate into a quotient set;
establishing a blank image, wherein the size of the blank image is consistent with that of the noise reduction image;
and defaulting the gray value of each pixel in the blank image to be 1, traversing the quotient value set, extracting coordinates of all pixels in the quotient value set, setting the gray value of a pixel point corresponding to the coordinates to be 255 in the blank image, and obtaining a difference image which is a binary image.
In one embodiment, the first difference is 20 and the first quotient is 3.
In one embodiment, the second image is obtained by changing the wavelength of the light source in the original image, the wavelength of the light source in the original bird's eye view image is 850nm, and the wavelength of the light source in the second image is 960nm.
Further, in step 3, the sub-step of screening out one or more closed regions from the difference image is as follows:
carrying out edge detection on the difference image through an edge detection operator, dividing an edge curve obtained by the edge detection into a plurality of independent areas from the difference image, and forming a first Set by all the independent areas;
and sorting the independent areas in the first Set in a descending order, wherein Set1 and Set2 respectively represent a first independent area and a second independent area in the first Set, namely, the independent area with the maximum Set1 and the independent area with the second maximum Set2 are the second large independent areas.
Further, in step 4, the substep of determining the placement area of the micro needle cannula according to the screened closed area comprises:
respectively constructing rectangles with the minimum area tangent to the outer edge of the closed area in the first Set in sequence, wherein each rectangle with the minimum area tangent to the outer edge of the closed area has tangent points, the number of the tangent points is at least 2, and each 2 tangent points are respectively connected to obtain at least one tangent line, so that the longest tangent line is the two ends for placing the micro needle tube; if the length of the phase tangent line is greater than that of the micro needle tube and the total number of the phase tangent lines is less than 5, judging the next closed area in the first Set, acquiring the phase tangent lines until the total number of the phase tangent lines is 5 or the lengths of the phase tangent lines are all less than that of the micro needle tube, and finishing the judgment; the number of tangent lines is taken as the number of needles placed.
Fig. 2 is a block diagram illustrating the structure of an automatic positioning and assembling device for the tip of an intradermal or subcutaneous injection microneedle according to an embodiment of the present invention.
An automatic positioning and assembling device for the tip of an intradermal or subcutaneous injection microneedle, said device comprising at least:
the light source module can emit light with a specific wavelength range to illuminate a target part on the surface of a human body, wherein the wavelength range is 700nm to 1200nm or 710nm to 960nm;
the imaging module is used for acquiring a target photo, can be a CCD or CMOS camera device and is provided with an infrared filter which can filter visible light so as to enhance the imaging quality;
and the image processing module is used for processing the original image and outputting the area where the micro needle tube is placed.
Referring to fig. 3, fig. 3 is a view of the micro needle tube connected to the base of the liquid medicine injection tube, including at least one needle stand, the micro needle tube connected to the base of the liquid medicine injection tube; the needle bench interval is provided with 2 piece at least and runs through the miniature needle tubing of needle platform, the base has the liquid medicine chamber, needle platform fixed mounting be in the base, just miniature needle tubing's injection inner chamber intercommunication the liquid medicine chamber.
In a third aspect, the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the first aspect of the invention.
In a fourth aspect, the present invention provides an electronic device comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to perform the steps of the method provided by the present invention.
The automatic positioning and assembling method based on the intradermal or subcutaneous injection microneedle end can be operated in computing equipment such as desktop computers, notebooks, palm computers, cloud servers and the like. The system which can be operated by the automatic positioning and assembling method of the intradermal or subcutaneous injection microneedle end can comprise, but is not limited to, a processor and a memory. It will be appreciated by those skilled in the art that the examples are merely illustrative of a method of automatically positioning and assembling the tips of intradermal or subcutaneous injection microneedles and do not constitute a limitation on a method of automatically positioning and assembling the tips of intradermal or subcutaneous injection microneedles and may include more or less than a proportion of the components, or a combination of certain components, or different components, for example, the apparatus may also include an input output device, a network access device, a bus, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the system for operating the automatic positioning and assembly device of the intradermal or subcutaneous injection microneedle tip, the various interfaces and lines connecting the various parts of the system for operating the automatic positioning and assembly device of the intradermal or subcutaneous injection microneedle tip throughout.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the method of automatically positioning and assembling the tip of an intradermal or subcutaneous injection microneedle by running or executing the computer programs and/or modules stored in the memory and invoking the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Although the present invention has been described in considerable detail and with reference to certain illustrated embodiments, it is not intended to be limited to any such details or embodiments or any particular embodiment, so as to effectively encompass the intended scope of the invention. Furthermore, the foregoing describes the invention in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the invention, not presently foreseen, may nonetheless represent equivalents thereto.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
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 (8)
1. A method for automatically positioning and assembling the tip of an intradermal or subcutaneous injection microneedle, the method comprising the steps of:
step 1, collecting an original aerial view image of a target needle platform area where a needle tube is placed, and performing noise reduction pretreatment on the original aerial view image to obtain a noise reduction image;
step 2, performing filter processing on the noise-reduced image to obtain a second image, and performing pixel value difference on the second image and the noise-reduced image to obtain a difference image;
step 3, screening one or more closed areas from the difference image;
step 4, determining a placing area of the miniature needle tube according to the screened closed area;
in step 4, the substep of determining the placement area of the micro needle tube according to the screened closed area comprises:
respectively constructing rectangles with the minimum area tangent to the outer edge of the closed area in the first Set in sequence, wherein each rectangle with the minimum area tangent to the outer edge of the closed area has tangent points, the number of the tangent points is at least 2, and each 2 tangent points are respectively connected to obtain at least one tangent line, so that the longest tangent line is the two ends for placing the micro needle tube; if the length of the phase tangent line is greater than that of the micro needle tube and the total number of the phase tangent lines is less than 5, judging the next closed area in the first Set, acquiring the phase tangent lines until the total number of the phase tangent lines is 5 or the lengths of the phase tangent lines are all less than that of the micro needle tube, and finishing the judgment; the number of tangent lines is taken as the number of needles placed.
2. The method according to claim 1, wherein in step 1, an original bird's eye view image of a target needle bed area where the needle cannula is placed is acquired, and the original bird's eye view image is subjected to noise reduction preprocessing to obtain a noise-reduced image, and the sub-steps of:
and fixing a target needle platform area for placing the needle tube, scanning the target needle tube area under a light source to obtain an original aerial view image, covering the target needle tube placing area with the obtained original aerial view image, and performing noise reduction pretreatment on the original aerial view image to obtain a noise reduction image.
3. The method as claimed in claim 1, wherein in step 2, the step of filtering the noise-reduced image to obtain a second image, and performing pixel difference between the second image and the noise-reduced image to obtain a difference image comprises the following sub-steps:
carrying out filter processing on the noise reduction image to obtain a second image; wherein the noise reduced image and the second image are of the same size; initializing an empty difference set; respectively obtaining the gray value of each pixel of the noise-reduced image and the second image in the step 1, making a difference value on the gray values of the pixels of the same coordinate in the noise-reduced image and the second image, and putting the current coordinate into a difference value set if the absolute value of the difference value is greater than a first difference threshold value;
establishing a blank image, wherein the size of the blank image is consistent with that of the noise reduction image;
and defaulting the gray value of each pixel in the blank image to be 1, traversing the difference set, extracting the coordinates of all pixels in the difference set, setting the gray value of a pixel point corresponding to the coordinates in the blank image to be 255, and obtaining a difference image which is a binary image.
4. The method as claimed in claim 1, wherein in step 2, the step of filtering the noise-reduced image to obtain a second image, and performing a pixel difference between the second image and the noise-reduced image to obtain a difference image further comprises:
carrying out filter processing on the noise reduction image to obtain a second image; wherein the noise reduced image and the second image are of the same size; initializing an empty quotient value set; respectively obtaining the gray value of each pixel of the noise-reduced image and the second image in the step (1), dividing the larger value of the gray values of the 2 pixels at the same position of the noise-reduced image and the second image by the smaller value of the gray values of the 2 pixels at the same position of the noise-reduced image and the second image to obtain a quotient, and if the quotient is greater than a first quotient threshold value, putting the current coordinate into a quotient set;
establishing a blank image, wherein the size of the blank image is consistent with that of the noise reduction image;
defaulting the gray value of each pixel in the blank image to 1, traversing the quotient set, extracting the coordinates of all pixels in the quotient set, setting the gray value of a pixel point corresponding to the coordinates in the blank image to 255, and obtaining a difference image, wherein the difference image is a binary image.
5. The method of claim 1, wherein the step of selecting one or more closed regions from the difference image in step 3 comprises the sub-steps of:
carrying out edge detection on the difference image through an edge detection operator, dividing an edge curve obtained by the edge detection into a plurality of independent areas from the difference image, and forming a first Set by all the independent areas;
and sorting the independent areas in the first Set in a descending order according to the areas, wherein Set1 and Set2 respectively represent a first independent area and a second independent area in the first Set.
6. An automatic positioning assembly device for the tip of an intradermal or subcutaneous injection microneedle, said device comprising at least:
the light source module can emit light with a specific wavelength range to illuminate a target part on the surface of the needle platform, and the wavelength range is 700nm to 1200nm or 710nm to 960nm;
the imaging module is used for acquiring a target photo, can be a CCD or CMOS camera device and is provided with an infrared filter which can filter visible light so as to enhance the imaging quality;
the image processing module is used for processing an original image, outputting an area for placing the micro needle tube and operating the automatic positioning and assembling method for the head end of the intradermal or subcutaneous injection micro needle according to any one of claims 1 to 5; the method comprises the following steps:
step 1, collecting an original aerial view image of a target needle platform area where a needle tube is placed, and carrying out noise reduction pretreatment on the original aerial view image to obtain a noise reduction image;
step 2, carrying out filter processing on the noise-reduced image to obtain a second image, and carrying out pixel value difference on the second image and the noise-reduced image to obtain a difference image;
step 3, screening one or more closed areas from the difference image;
step 4, determining a placing area of the miniature needle tube according to the screened closed area;
in the step 4, the substep of determining the placing area of the micro needle tube according to the screened closed area comprises the following steps:
respectively constructing rectangles with the minimum area tangent to the outer edge of the closed area in the first Set in sequence, wherein each rectangle with the minimum area tangent to the outer edge of the closed area has tangent points, the number of the tangent points is at least 2, and each 2 tangent points are respectively connected to obtain at least one tangent line, so that the longest tangent line is the two ends for placing the micro needle tube; if the length of the phase tangent line is greater than that of the micro needle tube and the total number of the phase tangent lines is less than 5, judging the next closed area in the first Set, acquiring the phase tangent lines until the total number of the phase tangent lines is 5 or the lengths of the phase tangent lines are all less than that of the micro needle tube, and finishing the judgment; the number of the tangent lines is used as the number of the needle tubes;
the micro needle tube is connected with a base of the liquid medicine injection tube, and the base is provided with a liquid medicine cavity;
the needle bench, the needle bench is provided with at least 2 at intervals and runs through the miniature needle tubing of needle bench, needle bench fixed mounting be in the base, just the injection inner chamber intercommunication of miniature needle tubing the liquid medicine chamber.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
8. An electronic device, comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210157523.1A CN114463222B (en) | 2022-02-21 | 2022-02-21 | Automatic positioning and assembling method for head end of intradermal or subcutaneous injection micro needle |
Applications Claiming Priority (1)
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