CN115350305A - Robot for automatically cleaning and disinfecting gastrointestinal endoscope and control method thereof - Google Patents

Robot for automatically cleaning and disinfecting gastrointestinal endoscope and control method thereof Download PDF

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Publication number
CN115350305A
CN115350305A CN202211117997.XA CN202211117997A CN115350305A CN 115350305 A CN115350305 A CN 115350305A CN 202211117997 A CN202211117997 A CN 202211117997A CN 115350305 A CN115350305 A CN 115350305A
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CN
China
Prior art keywords
cavity
electric
disinfection
chamber
folding plate
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Pending
Application number
CN202211117997.XA
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Chinese (zh)
Inventor
华静
杜莹莹
董勇
魏书堂
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First Affiliated Hospital of Henan University
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First Affiliated Hospital of Henan University
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Priority to CN202211117997.XA priority Critical patent/CN115350305A/en
Publication of CN115350305A publication Critical patent/CN115350305A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
    • A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/24—Apparatus using programmed or automatic operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/26—Accessories or devices or components used for biocidal treatment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/022—Cleaning travelling work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/04—Cleaning involving contact with liquid
    • B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
    • F26B21/004—Nozzle assemblies; Air knives; Air distributors; Blow boxes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B3/00—Drying solid materials or objects by processes involving the application of heat
    • F26B3/02—Drying solid materials or objects by processes involving the application of heat by convection, i.e. heat being conveyed from a heat source to the materials or objects to be dried by a gas or vapour, e.g. air
    • F26B3/04—Drying solid materials or objects by processes involving the application of heat by convection, i.e. heat being conveyed from a heat source to the materials or objects to be dried by a gas or vapour, e.g. air the gas or vapour circulating over or surrounding the materials or objects to be dried
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/17—Combination with washing or cleaning means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/20—Targets to be treated
    • A61L2202/24—Medical instruments, e.g. endoscopes, catheters, sharps

Abstract

The invention belongs to the technical field related to gastrointestinal endoscope cleaning, and provides a robot for automatically cleaning and disinfecting a gastrointestinal endoscope, which comprises a robot body, wherein a working platform is arranged at the bottom of the robot body, a cleaning table is arranged at the top of the working platform, an electric slide rail is arranged at the top of the cleaning table in a penetrating manner, the cleaning table is sequentially divided into a placing cavity, a primary washing cavity, a soaking cavity, a secondary washing cavity, a disinfecting cavity, a tertiary washing cavity and a drying cavity through an electric folding plate from left to right, the electric slide rail penetrates through the placing cavity, the primary washing cavity, the soaking cavity, the secondary washing cavity, the disinfecting cavity, the tertiary washing cavity and the drying cavity, an electric clamping piece is arranged on the electric slide rail, an enzyme liquid storage box, a disinfectant liquid storage box and a controller are arranged inside the working platform, an electric fan is arranged at the bottom of the drying cavity, and the electric slide rail, the electric clamping piece, a spray head, a first water pump, a second water pump and the electric fan are all connected to the controller.

Description

Robot for automatically cleaning and disinfecting gastrointestinal endoscope and control method thereof
Technical Field
The invention belongs to the technical field related to gastrointestinal endoscope cleaning, and particularly relates to a robot for automatically cleaning and disinfecting a gastrointestinal endoscope and a control method of the robot for automatically cleaning and disinfecting the gastrointestinal endoscope.
Background
Gastroenteroscope among the current medical equipment, in order to guarantee its security and cleanliness factor, after using at every turn, all need carry out cleaning and disinfection work, gastroenteroscope cleaning and disinfection commonly used in hospital now is gone on through the mode of manual cleaning mostly, many including tentatively cleaning, wash, the disinfection is soaked, wash, dry too air-dry step etc. wherein every step all washs on every clean bench through medical personnel are manual, and when getting into every different clean bench, in order to avoid the infection, all need medical personnel's medical gloves of changing, the manpower that the cleaning process drops into on the one hand is more, also comparatively resource-wasting, medical personnel's labor input has been increased.
Disclosure of Invention
The invention provides a robot for automatically cleaning and disinfecting a gastrointestinal endoscope and a control method thereof, which are used for solving the problems in the prior art.
In view of the above, the invention provides a robot for automatically cleaning and disinfecting a gastrointestinal endoscope, which comprises a robot body, the bottom of the robot body is provided with a working platform, the top of the working platform is provided with a cleaning table, the top of the cleaning table is provided with an electric slide rail in a penetrating way, the cleaning table is sequentially divided into a placing cavity, a primary washing cavity, a soaking cavity, a secondary washing cavity, a disinfecting cavity, a tertiary washing cavity and a drying cavity by an electric folding plate from left to right, the electric slide rail penetrates through the placing cavity, the primary washing cavity, the soaking cavity, the secondary washing cavity, the sterilizing cavity, the tertiary washing cavity and the drying cavity, the electric slide rail is provided with an electric clamping piece, the working platform is internally provided with an enzyme liquid storage box, a disinfectant liquid storage box and a controller, the first water pump in the enzyme liquid storage box is provided with a first infusion tube, the second water pump in the disinfectant liquid storage box is provided with a second infusion tube, the liquid outlet of the first infusion tube is arranged at the bottom of the soaking cavity, the liquid outlet of the second infusion tube is arranged at the bottom of the disinfection cavity, the bottom of the drying cavity is provided with an electric fan, the interiors of the primary washing cavity, the secondary washing cavity and the tertiary washing cavity are all provided with spray headers, the spray header is communicated with a water tank through a water pipe, the water tank is arranged in the working platform, the electric slide rail, the electric clamping piece, the spray header, the first water pump, the second water pump and the electric fan are all connected with the controller, the bottom of the primary flushing cavity, the bottom of the secondary flushing cavity and the bottom of the tertiary flushing cavity are provided with drain holes, the drain holes are communicated with a water storage barrel, and the water storage barrel is arranged in the working platform.
Among the above-mentioned technical scheme, be provided with the clean bench on the work platform of robot body, medical personnel can be with treating the direct block of disinfection intestines mirror back on the electronic holder of placing the chamber, can drive through electronic holder and treat that disinfection intestines mirror has moved in proper order along electronic slide rail and has tentatively washed the chamber, the soaks the chamber, the secondary washes the chamber, the disinfection chamber, the cubic washes chamber and stoving chamber, because tentatively wash the chamber, the secondary washes the shower head that the intracavity set up with the cubic, can treat that disinfection intestines mirror is automatic to be washed, because the intracavity is provided with the transfer line of intercommunication enzyme liquid storage box that soaks, make can carry the enzyme liquid to soak the intracavity and treat disinfection intestines mirror and soak, with the decomposition treat the saliva of the patient that disinfection intestines mirror is infected with outward, because the intracavity is provided with the transfer line No. two of antiseptic solution intercommunication storage box, make can carry the antiseptic solution to the intracavity and treat that disinfection intestines mirror disinfects and soak, disinfect and disinfect the operation with disinfection intestines mirror, because the stoving intracavity is provided with electric fan, can dry the operation of treating disinfection intestines mirror of disinfecting of drying, whole medical equipment automatic operation of retrieving, also can effectively retrieve waste water and waste water, the effective resource of saving has effectively retrieved.
Further, wash the chamber tentatively wash the chamber the secondary wash the chamber with the top that the chamber was washed to the cubic all is provided with telescopic outlet pipe, the delivery port department of telescopic outlet pipe all is provided with the fastening hoop No. one.
Furthermore, a plurality of first infrared sensors respectively corresponding to the positions of the water outlets of the telescopic water outlet pipes are uniformly arranged on the electric sliding rail.
Furthermore, the outside cover of telescopic outlet pipe is provided with electronic flexible arm No. one, the delivery port department of telescopic outlet pipe is provided with the solenoid valve No. one, electronic flexible arm No. one the solenoid valve No. one the fastening hoop with an infrared sensor all connect in the controller.
Among the above-mentioned technical scheme, telescopic water pipe can be under the drive of an electronic flexible arm, perpendicular downstream, because be provided with infrared sensor on the electronic slide rail, the centre gripping remains the electronic holder of disinfection intestines mirror when removing this infrared sensor, an infrared sensor can the electronic flexible arm of auto-triggering drive telescopic water pipe move down, move down in inserting the lumen inlet of waiting to disinfect the intestines mirror down to the delivery port of telescopic water pipe, with wash the inside of lumen, wait to wash after the settlement time, can the automatic telescopic water pipe that contracts.
Furthermore, the top of the soaking cavity and the top of the disinfection cavity are both provided with telescopic liquid outlet pipes, and the liquid outlet parts of the telescopic liquid outlet pipes are both provided with a second fastening hoop.
Furthermore, a plurality of infrared sensors which are respectively corresponding to each of the liquid outlet positions of the telescopic liquid outlet pipes are evenly arranged on the electric slide rail.
Further, the outside cover of telescopic drain pipe is equipped with electronic flexible arm No. two, the liquid outlet department of telescopic drain pipe is provided with the solenoid valve No. two, electronic flexible arm No. two the solenoid valve No. two the fastening hoop with No. two infrared sensor all connect in the controller.
Among the above-mentioned technical scheme, telescopic drain pipe can be under the drive of No. two electronic flexible arms, perpendicular downstream, because be provided with No. two infrared sensor on the electronic slide rail, the centre gripping remains the electronic holder of disinfection intestines mirror when removing to this No. two infrared sensor, no. two infrared sensor can the automatic triggering No. two electronic flexible arms drive telescopic drain pipe and move down, move down to the liquid outlet of telescopic drain pipe and insert in the lumen inlet of waiting to disinfect the intestines mirror, in order to carry out the antiseptic solution to the inside of lumen and wash, wait to wash after the settlement time, can the automatic telescopic drain pipe that contracts.
Further, be provided with pressure sensor on the electronic holder, pressure sensor connect in the controller.
Among the above-mentioned technical scheme, treat that disinfection enteroscope centre gripping can exert pressure on pressure sensor after on electronic holder, can trigger pressure touch sensor, and the controller confirms from this that the clamp has already been pressed from both sides on the electronic holder and treats disinfection enteroscope.
Further, the bottoms of the soaking cavity and the disinfection cavity are provided with propellers, and the propellers are connected to the controller.
Among the above-mentioned technical scheme, the screw can be under motor control, and automatic the rotation to stir the enzyme liquid in the soaking cavity or the antiseptic solution in the disinfection intracavity, strengthen the soaking effect.
Another aspect provides a method for controlling a robot for automatically cleaning and sterilizing a gastrointestinal endoscope, the method including:
receiving a cleaning requirement initiated by a user, and controlling the electric clamping piece to tightly grasp the enteroscope to be disinfected by the controller;
acquiring a pressure signal received by a pressure sensor, confirming that the electric clamping piece clamps the enteroscope to be disinfected by a controller, and controlling the electric folding plate between the placing cavity and the primary flushing cavity to be folded;
after the electric folding plate between the placing cavity and the position before the preliminary cleaning is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move to the preliminary washing cavity along the electric sliding rail;
acquiring position information detected by a first infrared sensor in a primary washing cavity, and controlling an electric folding plate between the placing cavity and the primary washing cavity to open by a controller;
after the opening of the electric folding plate between the placing cavity and the preliminary washing cavity is confirmed, the opening work of a spray head in the preliminary washing cavity is controlled, and the preliminary washing work is carried out on the enteroscope to be disinfected when the work is carried out for a set time;
after confirming that the set time is reached, controlling a spray header in the primary washing cavity to stop working, and triggering an electric folding plate between the primary washing cavity and the soaking cavity to fold;
after the electric folding plate between the primary washing cavity and the soaking cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the soaking cavity along the electric sliding rail;
acquiring position information detected by a second infrared sensor in the soaking cavity, and controlling an electric folding plate between the primary washing cavity and the soaking cavity to open by a controller;
after the opening of the electric folding plate between the primary washing cavity and the soaking cavity is confirmed, controlling a first infusion pump to work, and conveying enzyme liquid into the soaking cavity through a first infusion tube until the enzyme liquid storage amount in the soaking cavity reaches a set height, namely completely soaking the enteroscope to be disinfected by the enzyme liquid;
starting a set time to time when the enzyme solution is confirmed to be completely soaked in the enteroscope to be disinfected;
after the soaking time is confirmed to reach the set time, the controller controls the first infusion pump to draw back the enzyme liquid in the soaking cavity;
after confirming that the enzyme liquid in the soaking cavity is emptied, the controller controls the folding of the electric folding plate between the soaking cavity and the secondary washing cavity;
after the electric folding plate between the soaking cavity and the secondary washing cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the secondary washing cavity along the electric sliding rail;
confirming the position information detected by the infrared sensor I in the secondary flushing cavity, and controlling the spray header in the secondary flushing cavity to start to work by the controller, and working to the secondary set time, namely carrying out secondary flushing work on the enteroscope to be disinfected;
after the secondary set time is confirmed, controlling a spray header in the secondary washing cavity to stop working, and triggering an electric folding plate between the secondary washing cavity and the disinfection cavity to fold;
after the electric folding plate between the secondary washing cavity and the disinfection cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the disinfection cavity along the electric sliding rail;
acquiring position information detected by a second infrared sensor in the disinfection cavity, and controlling the electric folding plate between the secondary washing cavity and the disinfection cavity to open by a controller;
after the opening of the electric folding plate between the secondary flushing cavity and the disinfection cavity is confirmed, a second infusion pump is controlled to work, and disinfectant is delivered into the disinfection cavity through a second infusion tube until the storage amount of the disinfectant in the disinfection cavity reaches a set height, namely the disinfectant completely soaks the enteroscope to be disinfected;
starting a set time to time when the disinfectant is confirmed to be completely soaked in the enteroscope to be disinfected;
after the soaking time is confirmed to reach the set time, the controller controls the second infusion pump to pump back the disinfectant in the disinfection cavity;
after the disinfectant in the disinfection cavity is determined to be emptied, the controller controls the electric folding plate between the disinfection cavity and the third flushing cavity to be folded;
after the electric folding plate between the disinfection cavity and the third washing cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the third washing cavity along the electric sliding rail;
confirming the position information detected by the infrared sensor I in the third flushing cavity, and controlling the spray header in the third flushing cavity to start to work by the controller, and working for the third set time, namely performing the third flushing work on the enteroscope to be disinfected;
after the set time of the third time is confirmed, controlling the spray header in the third washing cavity to stop working, and triggering the electric folding plate between the third washing cavity and the drying cavity to fold;
after the electric folding plate between the three-time washing cavity and the drying cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the drying cavity along the electric sliding rail;
acquiring position information detected by a first infrared sensor in the drying cavity, and controlling an electric folding plate between the tertiary washing cavity and the drying cavity to open by a controller;
confirm the cubic and wash the back that the electronic folded sheet between chamber and the stoving chamber opens, the electric fan work of control stoving intracavity treats the operation of drying of disinfection intestines mirror, and up to reaching the settlement time, the self-cleaning disinfection work of completion intestines mirror.
Compared with the prior art, the invention has the advantages that: the utility model provides an automatic robot for cleaning and disinfecting of intestines and stomach mirror, be provided with the clean bench on the work platform of robot body, medical personnel will treat the direct block of disinfection intestines and stomach mirror back on placing the electronic holder in chamber, can drive through electronic holder and treat that disinfection intestines and stomach mirror has moved in proper order along electronic slide rail and has tentatively washed the chamber, soak the chamber, the secondary washes the chamber, the disinfection chamber, chamber and stoving chamber are washed to the cubic, treat in proper order automatically that disinfection intestines and stomach mirror washes and disinfect many times, whole equipment automatic operation, can effectively replace medical personnel's human input, also can retrieve automatically and wash waste water and waste liquid, effectively practiced thrift the resource, medical personnel's intensity of labour has also been reduced.
Drawings
FIG. 1 is a schematic view showing a cross-sectional structure of a robot for automatically cleaning and sterilizing a gastrointestinal endoscope according to an embodiment of the present invention;
FIG. 2 is a schematic view showing a cross-sectional structure of a robot for automatically cleaning and sterilizing a gastrointestinal endoscope according to another embodiment of the present invention;
FIG. 3 is a schematic view showing a cross-sectional structure of a robot for automatically cleaning and sterilizing a gastrointestinal endoscope according to the embodiment of FIG. 2;
fig. 4 shows a schematic workflow diagram of an automatic robot for cleaning and disinfecting a gastrointestinal endoscope according to an embodiment of the present invention.
Wherein, the name corresponding to the reference number in the figure is 101 and a working platform; 102. a cleaning table; 103. an electric slide rail; 104. a placement chamber; 105. preliminarily flushing the cavity; 106. a soaking cavity; 107. a secondary flushing chamber; 108. a disinfection chamber; 109. flushing the cavity for three times; 110. a drying cavity; 111. an electrically powered gripping member; 112. an enzyme solution storage tank; 113. a disinfectant storage tank; 114. a controller; 115. a water pump; 116. a first infusion tube; 117. a second water pump; 118. a second infusion tube; 119. an electric fan; 120. a shower head; 121. a telescopic water outlet pipe; 122. an infrared sensor number one; 123. a telescopic liquid outlet pipe; 124. a second infrared sensor; 125. a pressure sensor; 126. and a propeller.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, but they are not to be construed as limiting the invention, and are merely illustrative, and the advantages of the invention will be more clearly understood and appreciated by those skilled in the art.
The invention is further described below with reference to fig. 1 to 4.
Example 1:
referring to fig. 1, the invention provides a robot for automatically cleaning and disinfecting a gastrointestinal endoscope, which comprises a robot body, wherein the bottom of the robot body is provided with a working platform, the top of the working platform is provided with a cleaning table, the top of the cleaning table is provided with an electric sliding rail in a penetrating manner, the cleaning table is sequentially divided into a placing cavity, a primary washing cavity, a soaking cavity, a secondary washing cavity, a disinfecting cavity, a tertiary washing cavity and a drying cavity through an electric folding plate from left to right, the electric sliding rail penetrates through the placing cavity, the primary washing cavity, the soaking cavity, the secondary washing cavity, the disinfecting cavity, the tertiary washing cavity and the drying cavity, an electric clamping piece is arranged on the electric sliding rail, an enzyme liquid storage box, a disinfectant storage box and a controller are arranged in the working platform, a water pump in the enzyme liquid storage box is provided with a liquid transfer pipe, the second water pump in the disinfectant storage tank is provided with a second infusion tube, the liquid outlet of the first infusion tube is arranged at the bottom of the soaking cavity, the liquid outlet of the second infusion tube is arranged at the bottom of the disinfecting cavity, the bottom of the drying cavity is provided with an electric fan, the primary flushing cavity, the secondary flushing cavity and the tertiary flushing cavity are all internally provided with a spray head, the spray heads are communicated with a water tank (not shown in the figure) through water pipes, the water tank is arranged in the working platform, the electric slide rail, the electric clamping piece, the spray heads, the first water pump, the second water pump and the electric fan are all connected with the controller, the bottoms of the primary flushing cavity, the secondary flushing cavity and the tertiary flushing cavity are all provided with drain holes (not shown in the figure), the water discharge hole is communicated with a water storage barrel (not shown in the figure), and the water storage barrel is arranged in the working platform.
In the embodiment, be provided with the clean bench on the work platform of robot body, medical personnel can be with treating the direct block of disinfection intestines mirror back on the electronic holder of placing the chamber, can drive through electronic holder and treat that disinfection intestines mirror has moved along electronic slide rail in proper order and has preliminarily washed the chamber, soak the chamber, the secondary washes the chamber, the disinfection chamber, the tertiary washes chamber and stoving chamber, because preliminarily wash the chamber, the shower head that the intracavity set up is washed to secondary washing chamber and tertiary washing, can treat disinfection intestines mirror is automatic to be washed, because soak the intracavity and be provided with the transfer line of intercommunication enzyme liquid storage box, make and carry the enzyme liquid to soak the intracavity and treat disinfection intestines mirror and soak, treat disinfection intestines mirror and soak in the soaking chamber, with treating disinfection intestines mirror disinfection operation of disinfecting, because the stoving intracavity is provided with electric fan, can dry the operation of treating disinfection intestines mirror in the stoving intracavity, whole medical equipment automatic operation, can effectively replace disinfection personnel's human input, also can retrieve the automatic labor input, waste water and the effective waste water that has been practiced thrift to the effective resources of washing.
Example 2:
combine above-mentioned embodiment, as shown in fig. 2, wash the chamber tentatively the secondary wash the chamber with the top that the chamber was washed to the cubic all is provided with telescopic outlet pipe, the delivery port department of telescopic outlet pipe all is provided with fastening hoop (not shown in the figure), evenly be provided with a plurality ofly respectively corresponding to every on the electronic slide rail infrared sensor No. one of the delivery port position of telescopic outlet pipe, the outside cover of telescopic outlet pipe is provided with an electronic flexible arm (not shown in the figure), the delivery port department of telescopic outlet pipe is provided with the solenoid valve No. one, electronic flexible arm No. one the solenoid valve fastening hoop with infrared sensor all connect in the controller.
The immersion chamber with the top in disinfection chamber all is provided with telescopic drain pipe, the liquid outlet department of telescopic drain pipe all is provided with No. two fastening hoops (not shown in the figure), still evenly be provided with a plurality ofly respectively corresponding to every on the electronic slide rail No. two infrared sensor of the liquid outlet position of telescopic drain pipe, the outside cover of telescopic drain pipe is equipped with No. two electronic flexible arms (not shown in the figure), the liquid outlet department of telescopic drain pipe is provided with the solenoid valve No. two, no. two electronic flexible arms No. two the solenoid valve No. two fastening hoops with No. two infrared sensor all connect in the controller.
In the embodiment, the telescopic water pipe can vertically move downwards under the driving of the first electric telescopic arm, the first infrared sensor is arranged on the electric sliding rail, and when the electric clamping piece for clamping the enteroscope to be disinfected moves to the first infrared sensor, the first infrared sensor can automatically trigger the first electric telescopic arm to drive the telescopic water pipe to move downwards until the water outlet of the telescopic water pipe moves downwards to be inserted into the tube cavity inlet of the enteroscope to be disinfected so as to flush the inside of the tube cavity, and the telescopic water pipe can automatically retract after the water outlet of the telescopic water pipe is flushed for a set time; telescopic drain pipe can be under the drive of No. two electronic flexible arms, perpendicular downstream, because be provided with No. two infrared sensor on the electronic slide rail, the centre gripping remains the electronic holder of disinfection intestines mirror when removing to this No. two infrared sensor, no. two infrared sensor can the automatic triggering No. two electronic flexible arms drive telescopic drain pipe and move down, move down to the liquid outlet of telescopic drain pipe and insert in the lumen inlet of treating disinfection intestines mirror, wash with the inside antiseptic solution to the lumen, treat and wash behind the settlement time, can the automatic telescopic drain pipe that contracts.
Example 3:
with reference to the above embodiment, as shown in fig. 3, a pressure sensor is disposed on the electric clamping member, and the pressure sensor is connected to the controller; after the enteroscope to be disinfected is clamped on the electric clamping piece, pressure can be applied to the pressure sensor, the pressure sensor can be triggered, and the controller confirms that the enteroscope to be disinfected is clamped on the electric clamping piece.
Propellers are arranged at the bottoms of the soaking cavity and the disinfection cavity and connected with the controller; the propeller can automatically rotate under the control of the motor to stir enzyme liquid in the soaking cavity or disinfectant in the disinfection cavity, so that the soaking effect is enhanced.
The operation flow of the robot for automatically cleaning and sterilizing a gastroscope is shown in fig. 4.
In another aspect, there is provided a method for controlling a robot for automatically cleaning and sterilizing a gastrointestinal endoscope, the method including:
receiving a cleaning requirement initiated by a user, and controlling the electric clamping piece to tightly grasp the enteroscope to be disinfected by the controller;
acquiring a pressure signal received by a pressure sensor, confirming that the electric clamping piece clamps the enteroscope to be disinfected by a controller, and controlling the electric folding plate between the placing cavity and the primary flushing cavity to be folded;
after the electric folding plate between the placing cavity and the position before the initial cleaning is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move to the initial washing cavity along the electric sliding rail;
acquiring position information detected by a first infrared sensor in a primary washing cavity, and controlling an electric folding plate between the placing cavity and the primary washing cavity to open by a controller;
after the electric folding plate between the placing cavity and the preliminary flushing cavity is confirmed to be opened, the spraying head in the preliminary flushing cavity is controlled to be opened for working, and the working is carried out for a set time, namely, the preliminary flushing work is carried out on the enteroscope to be disinfected;
after the primary set time is confirmed, controlling the spray header in the primary washing cavity to stop working, and triggering the electric folding plate between the primary washing cavity and the soaking cavity to fold;
after the electric folding plate between the primary washing cavity and the soaking cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the soaking cavity along the electric sliding rail;
acquiring position information detected by a second infrared sensor in the soaking cavity, and controlling an electric folding plate between the primary washing cavity and the soaking cavity to open by a controller;
after confirming that the electric folding plate between the primary washing cavity and the soaking cavity is opened, controlling a first infusion pump to work, and conveying enzyme liquid into the soaking cavity through a first infusion pipe until the enzyme liquid storage amount in the soaking cavity reaches a set height, namely completely soaking the enteroscope to be disinfected by the enzyme liquid;
starting a set time to time when the enzyme solution is confirmed to be completely soaked in the enteroscope to be disinfected;
after the soaking time is confirmed to reach the set time, the controller controls the first infusion pump to pump back the enzyme liquid in the soaking cavity;
after confirming that the enzyme liquid in the soaking cavity is emptied, controlling the folding of the electric folding plate between the soaking cavity and the secondary washing cavity by the controller;
after the electric folding plate between the soaking cavity and the secondary washing cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the secondary washing cavity along the electric sliding rail;
confirming the position information detected by the infrared sensor I in the secondary flushing cavity, and controlling the spray header in the secondary flushing cavity to start to work by the controller, wherein the work is carried out for the second set time, namely, the secondary flushing work is carried out on the enteroscope to be disinfected;
after the secondary set time is confirmed, controlling a spray header in the secondary washing cavity to stop working, and triggering an electric folding plate between the secondary washing cavity and the disinfection cavity to fold;
after the electric folding plate between the secondary washing cavity and the disinfection cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the disinfection cavity along the electric sliding rail;
acquiring position information detected by a second infrared sensor in the disinfection cavity, and controlling the electric folding plate between the secondary washing cavity and the disinfection cavity to open by a controller;
after the opening of the electric folding plate between the secondary flushing cavity and the disinfection cavity is confirmed, a second infusion pump is controlled to work, and disinfectant is delivered into the disinfection cavity through a second infusion tube until the storage amount of the disinfectant in the disinfection cavity reaches a set height, namely the disinfectant completely soaks the enteroscope to be disinfected;
starting a set time to time when the disinfectant is confirmed to be completely soaked in the enteroscope to be disinfected;
after the soaking time is confirmed to reach the set time, the controller controls the second infusion pump to pump back the disinfectant in the disinfection cavity;
after the disinfectant in the disinfection cavity is confirmed to be emptied, the controller controls the folding of the electric folding plate between the disinfection cavity and the third washing cavity;
after the electric folding plate between the disinfection cavity and the third flushing cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the third flushing cavity along the electric sliding rail;
confirming the position information detected by the infrared sensor I in the third flushing cavity, and controlling the spray header in the third flushing cavity to start to work by the controller, and working for the third set time, namely performing the third flushing work on the enteroscope to be disinfected;
after the setting time of the third time is confirmed, controlling a spray header in the third washing cavity to stop working, and triggering an electric folding plate between the third washing cavity and the drying cavity to fold;
after the electric folding plate between the three-time washing cavity and the drying cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the drying cavity along the electric sliding rail;
acquiring position information detected by a first infrared sensor in the drying cavity, and controlling an electric folding plate between the tertiary washing cavity and the drying cavity to open by a controller;
after confirming that the electric folding plate between the three-time washing cavity and the drying cavity is opened, controlling the electric fan in the drying cavity to work, and drying the enteroscope to be sterilized until the set time is reached to finish the automatic cleaning and sterilizing work of the enteroscope.
Above-mentioned in-process is waiting that the disinfection intestines mirror gets into and tentatively washes chamber, soaks the chamber, the secondary washes chamber, disinfection chamber, cubic and washes the chamber when, the telescopic outlet pipe or the telescopic drain pipe that set up at the cavity top can stretch out and draw back and retrieve as required to the lumen inside of waiting to disinfect the intestines mirror washes and disinfect.
The technical scheme of the invention is described in detail in combination with the attached drawings, the robot for automatically cleaning and disinfecting the enteroscope is provided, a cleaning table is arranged on a working platform of a robot body, medical staff can drive the enteroscope to be disinfected to sequentially move through a primary washing cavity, a soaking cavity, a secondary washing cavity, a disinfecting cavity, a tertiary washing cavity and a drying cavity along an electric slide rail after directly clamping the enteroscope to be disinfected on an electric clamping piece of a placing cavity, the whole device automatically operates, the human input of the medical staff can be effectively replaced, the washing waste water and the waste liquid can be automatically recovered, resources are effectively saved, the labor intensity of the medical staff is reduced, and the robot is suitable for popularization and use.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an automatic robot for cleaning and disinfecting of intestines and stomach mirror, includes the robot, its characterized in that, the bottom of robot is provided with work platform, work platform's top is provided with the clean bench, the top run-through of clean bench is provided with electronic slide rail, the clean bench loops through electronic folded sheet from left to right and cuts apart for placing the chamber, wash the chamber, soak chamber, secondary washing chamber, disinfection chamber, cubic washing chamber and stoving chamber, electronic slide rail runs through place the chamber preliminarily wash the chamber the soak chamber the secondary washing chamber the disinfection chamber the cubic wash the chamber with the stoving chamber, be provided with electronic holder on the electronic slide rail, work platform's inside is provided with enzyme liquid storage tank, antiseptic solution storage tank and controller, the inside water pump of enzyme liquid storage tank is provided with one number, the inside water pump of antiseptic solution is provided with two numbers, the liquid outlet of one number sets up the bottom of soak chamber, the liquid outlet of two numbers transfer pipe sets up the bottom of disinfection chamber, the bottom of stoving chamber is provided with electronic storage tank, the preliminary washing chamber the inside water pump of secondary washing chamber is provided with the spray head No. two numbers the water tank, the water tank is connected in the inside water pump of electronic water pump, the shower head, the water pump is connected through the transport pipe, the shower head is all provided with the electronic water pump, the shower head, the transport pipe is provided with the inside the transport pipe.
2. The robot for automatically cleaning and disinfecting a gastrointestinal endoscope according to claim 1, wherein telescopic water outlet pipes are arranged at the tops of the primary washing cavity, the secondary washing cavity and the tertiary washing cavity, and a first fastening hoop is arranged at the water outlet of each telescopic water outlet pipe.
3. The robot for automatically cleaning and disinfecting a gastrointestinal endoscope according to claim 2, wherein a plurality of first infrared sensors respectively corresponding to the positions of the water outlets of the telescopic water outlet pipes are uniformly arranged on the electric slide rail.
4. The robot for automatically cleaning and disinfecting the gastrointestinal endoscope according to claim 3, wherein a first electric telescopic arm is arranged on an outer sleeve of the telescopic water outlet pipe, a first electromagnetic valve is arranged at a water outlet of the telescopic water outlet pipe, and the first electric telescopic arm, the first electromagnetic valve, the first fastening hoop and the first infrared sensor are all connected to the controller.
5. The robot for automatically cleaning and disinfecting a gastrointestinal endoscope according to claim 1, wherein telescopic liquid outlet pipes are arranged at the tops of the soaking cavity and the disinfecting cavity, and a second fastening hoop is arranged at a liquid outlet of each telescopic liquid outlet pipe.
6. The robot for automatically cleaning and disinfecting the gastrointestinal endoscope according to claim 5, wherein a plurality of second infrared sensors respectively corresponding to the positions of liquid outlets of the telescopic liquid outlet pipes are uniformly arranged on the electric slide rail.
7. The robot for automatically cleaning and disinfecting a gastrointestinal endoscope according to claim 5, wherein a second electric telescopic arm is sleeved outside the telescopic liquid outlet pipe, a second electromagnetic valve is arranged at a liquid outlet of the telescopic liquid outlet pipe, and the second electric telescopic arm, the second electromagnetic valve, the second fastening hoop and the second infrared sensor are all connected to the controller.
8. The robot for automatically cleaning and disinfecting a gastrointestinal endoscope according to claim 1, wherein a pressure sensor is provided on the electric holder, and the pressure sensor is connected to the controller.
9. The robot for automatically cleaning and disinfecting a gastrointestinal endoscope according to claim 1, wherein propellers are arranged at the bottoms of the soaking cavity and the disinfecting cavity and are connected to the controller.
10. A method for controlling a robot for automatically cleaning and sterilizing a gastrointestinal endoscope, which comprises the steps of:
receiving a cleaning requirement initiated by a user, and controlling an electric clamping piece to tightly grasp an enteroscope to be disinfected by a controller;
acquiring a pressure signal received by a pressure sensor, confirming that the electric clamping piece clamps the enteroscope to be disinfected by a controller, and controlling the electric folding plate between the placing cavity and the primary flushing cavity to be folded;
after the electric folding plate between the placing cavity and the position before the initial cleaning is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move to the initial washing cavity along the electric sliding rail;
acquiring position information detected by a first infrared sensor in a primary washing cavity, and controlling an electric folding plate between the placing cavity and the primary washing cavity to open by a controller;
after the electric folding plate between the placing cavity and the preliminary flushing cavity is confirmed to be opened, the spraying head in the preliminary flushing cavity is controlled to be opened for working, and the working is carried out for a set time, namely, the preliminary flushing work is carried out on the enteroscope to be disinfected;
after confirming that the set time is reached, controlling a spray header in the primary washing cavity to stop working, and triggering an electric folding plate between the primary washing cavity and the soaking cavity to fold;
after the electric folding plate between the primary washing cavity and the soaking cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the soaking cavity along the electric sliding rail;
acquiring position information detected by a second infrared sensor in the soaking cavity, and controlling an electric folding plate between the primary washing cavity and the soaking cavity to open by a controller;
after the opening of the electric folding plate between the primary washing cavity and the soaking cavity is confirmed, controlling a first infusion pump to work, and conveying enzyme liquid into the soaking cavity through a first infusion tube until the enzyme liquid storage amount in the soaking cavity reaches a set height, namely completely soaking the enteroscope to be disinfected by the enzyme liquid;
starting a set time to time when the enzyme solution is confirmed to be completely soaked in the enteroscope to be disinfected;
after the soaking time is confirmed to reach the set time, the controller controls the first infusion pump to draw back the enzyme liquid in the soaking cavity;
after confirming that the enzyme liquid in the soaking cavity is emptied, the controller controls the folding of the electric folding plate between the soaking cavity and the secondary washing cavity;
after the electric folding plate between the soaking cavity and the secondary washing cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the secondary washing cavity along the electric sliding rail;
confirming the position information detected by the infrared sensor I in the secondary flushing cavity, and controlling the spray header in the secondary flushing cavity to start to work by the controller, wherein the work is carried out for the second set time, namely, the secondary flushing work is carried out on the enteroscope to be disinfected;
after the secondary set time is confirmed, controlling a spray header in the secondary washing cavity to stop working, and triggering an electric folding plate between the secondary washing cavity and the disinfection cavity to fold;
after the electric folding plate between the secondary washing cavity and the disinfection cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the disinfection cavity along the electric sliding rail;
acquiring position information detected by a second infrared sensor in the disinfection cavity, and controlling the opening of an electric folding plate between the secondary washing cavity and the disinfection cavity by a controller;
after the opening of the electric folding plate between the secondary flushing cavity and the disinfection cavity is confirmed, a second infusion pump is controlled to work, and disinfectant is delivered into the disinfection cavity through a second infusion tube until the storage amount of the disinfectant in the disinfection cavity reaches a set height, namely the disinfectant completely soaks the enteroscope to be disinfected;
starting a set time to time when the disinfectant is confirmed to be completely soaked in the enteroscope to be disinfected;
after the soaking time is confirmed to reach the set time, the controller controls the second infusion pump to pump back the disinfectant in the disinfection cavity;
after the disinfectant in the disinfection cavity is determined to be emptied, the controller controls the electric folding plate between the disinfection cavity and the third flushing cavity to be folded;
after the electric folding plate between the disinfection cavity and the third washing cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the third washing cavity along the electric sliding rail;
confirming the position information detected by the infrared sensor I in the third flushing cavity, and controlling the spray header in the third flushing cavity to start to work by the controller, and working for the third set time, namely performing the third flushing work on the enteroscope to be disinfected;
after the setting time of the third time is confirmed, controlling a spray header in the third washing cavity to stop working, and triggering an electric folding plate between the third washing cavity and the drying cavity to fold;
after the electric folding plate between the three-time washing cavity and the drying cavity is confirmed to be folded, the controller controls the electric clamping piece to clamp the enteroscope to be disinfected to move into the drying cavity along the electric sliding rail;
acquiring position information detected by a first infrared sensor in the drying cavity, and controlling an electric folding plate between the tertiary washing cavity and the drying cavity to open by a controller;
confirm the cubic and wash the back that the electronic folded sheet between chamber and the stoving chamber opens, the electric fan work of control stoving intracavity treats the operation of drying of disinfection intestines mirror, and up to reaching the settlement time, the self-cleaning disinfection work of completion intestines mirror.
CN202211117997.XA 2022-09-14 2022-09-14 Robot for automatically cleaning and disinfecting gastrointestinal endoscope and control method thereof Pending CN115350305A (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0966064A (en) * 1995-08-30 1997-03-11 Showa Denko Kk Sterilizing and washing method for medical treatment appliance
CN106862138A (en) * 2017-03-10 2017-06-20 陈晴 A kind of medicine equipment circulation cleaning device
CN111358418A (en) * 2020-03-23 2020-07-03 舟山医院 Digestive system detects belt cleaning device
US20200306395A1 (en) * 2019-03-28 2020-10-01 Kart Kleen LLC Sanitization and cleaning system for objects
CN212733268U (en) * 2020-07-16 2021-03-19 长沙市第一医院 Belt cleaning device of digestion scope
CN213852156U (en) * 2020-09-01 2021-08-03 青岛和风环境科技有限公司 Sterilizing device
CN113857137A (en) * 2021-08-27 2021-12-31 无锡华纳医疗科技有限公司 Full-automatic endoscope cleaning machine

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0966064A (en) * 1995-08-30 1997-03-11 Showa Denko Kk Sterilizing and washing method for medical treatment appliance
CN106862138A (en) * 2017-03-10 2017-06-20 陈晴 A kind of medicine equipment circulation cleaning device
US20200306395A1 (en) * 2019-03-28 2020-10-01 Kart Kleen LLC Sanitization and cleaning system for objects
CN111358418A (en) * 2020-03-23 2020-07-03 舟山医院 Digestive system detects belt cleaning device
CN212733268U (en) * 2020-07-16 2021-03-19 长沙市第一医院 Belt cleaning device of digestion scope
CN213852156U (en) * 2020-09-01 2021-08-03 青岛和风环境科技有限公司 Sterilizing device
CN113857137A (en) * 2021-08-27 2021-12-31 无锡华纳医疗科技有限公司 Full-automatic endoscope cleaning machine

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