CN115721811A - Anesthesia injection device, automatic control method thereof and hair transplantation robot - Google Patents
Anesthesia injection device, automatic control method thereof and hair transplantation robot Download PDFInfo
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- CN115721811A CN115721811A CN202211505129.9A CN202211505129A CN115721811A CN 115721811 A CN115721811 A CN 115721811A CN 202211505129 A CN202211505129 A CN 202211505129A CN 115721811 A CN115721811 A CN 115721811A
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Abstract
The invention discloses an anesthesia injection device, an automatic control method thereof and a hair transplantation robot, relating to the technical field of medical operation equipment and comprising the following steps: a fixing mechanism for mounting on a robot arm to be driven by the robot arm; the first feeding mechanism is arranged on the fixing mechanism; the injection mechanism is arranged on the first feeding mechanism, and the first feeding mechanism is used for driving the injection mechanism to move; and the visual control unit is arranged on the fixing mechanism and used for acquiring images and controlling the first feeding mechanism and/or the mechanical arm to move according to the acquired images so as to enable the injection mechanism to reach a target position. The anesthesia injection device, the automatic control method thereof and the hair transplantation robot can automatically inject the anesthetic into the scalp of the target person, the injection pain is low, and the injection process is quick and efficient.
Description
Technical Field
The invention relates to the technical field of medical surgical equipment, in particular to an anesthesia injection device, an automatic control method thereof and a hair transplantation robot.
Background
In hair transplantation, a manual anesthetic injector is usually used by a doctor to perform anesthetic injection. The full-range injection is carried out in the operation area before formal operation, and the injection of anesthetic is required to be supplemented in time according to the pain of a patient in the operation process. However, the scalp anesthetic is manually injected by a doctor, which is highly dependent on the doctor, has low anesthetic efficiency, increases the labor load of the doctor, and affects the operation efficiency. On the other hand, the injection of the anesthetic by the existing syringe can bring a great pain to the patient.
Disclosure of Invention
The invention aims to provide an anesthetic injection device which can automatically inject anesthetic into the scalp of a target person and enables the injection process to be fast and efficient.
The above object of the present invention can be achieved by the following technical solutions:
the present invention provides an anesthetic injection device, comprising:
a fixing mechanism for mounting on a robot arm to be driven by the robot arm;
the first feeding mechanism is arranged on the fixing mechanism;
the injection mechanism is arranged on the first feeding mechanism, and the first feeding mechanism is used for driving the injection mechanism to move;
and the visual control unit is arranged on the fixing mechanism and used for acquiring images and controlling the first feeding mechanism and/or the mechanical arm to move according to the acquired images so as to enable the injection mechanism to reach a target position.
In a preferred embodiment, the injection mechanism comprises:
an injection member;
the fixed pipeline is fixedly arranged on the first feeding mechanism, and the injection piece is arranged at the distal end of the fixed pipeline;
a liquid supply conduit;
and the liquid supply module is communicated with the liquid supply module through the liquid supply pipeline and is used for conveying anesthetic in the liquid supply module into the injection piece through the liquid supply pipeline and the fixed pipeline.
In a preferred embodiment, the injection member is an injection needle having a guide section and an injection section, the injection section being disposed at a distal end of the guide section;
the guiding section comprises a guiding pipe, the inside of the guiding pipe is arranged in a penetrating way so as to enable the anesthetic to flow through, and at least one marking ring is formed on the outer wall surface of the guiding pipe;
the injection section includes a plurality of injection needles formed extending distally from a proximal end of the guide tube.
In a preferred embodiment, the injection member is a syringe tube, the interior of the syringe tube is arranged to pass through the injection member for flowing the anesthetic, and the inner wall surface at the distal end of the syringe tube is arranged to be tapered from the proximal end to the distal end toward the axis of the syringe tube.
In a preferred embodiment, the liquid supply module comprises:
the accommodating box body is provided with an accommodating cavity for accommodating the anesthetic;
and the hydraulic pump is arranged in the accommodating cavity, and the liquid supply pipeline can be communicated with the hydraulic pump. ,
in a preferred embodiment, the liquid supply module comprises:
an accommodation box body;
the liquid injection plate is arranged in the accommodating box body, an accommodating cavity for accommodating the anesthetic is formed by the liquid injection plate and the inner wall of the accommodating box body, and the liquid supply pipeline is communicated with the accommodating cavity;
and the driver is used for pushing the liquid injection plate to move in the accommodating box body so as to compress the accommodating cavity and inject the anesthetic into the liquid supply pipeline.
In a preferred embodiment, the fixing mechanism comprises a fixing part, the upper end of the fixing part is fixedly connected with the mechanical arm, and a slide rail is formed at the lower end of the fixing part;
the first feed mechanism includes:
a drive member;
the sliding part is arranged on the sliding rail and connected with the driving part, and the injection mechanism is fixedly arranged on the sliding part so that the driving part can drive the injection mechanism to reach the target position.
In a preferred embodiment, the vision control unit comprises:
a controller;
the vision module is arranged on the fixing mechanism and is in signal connection with the controller, and the injection piece is located in a vision information acquisition range of the vision module, so that the controller controls the mechanical arm and/or the first feeding mechanism to move according to the position of the injection piece.
Another object of the present invention is to provide an automatic control method of an anesthetic injection device that can automatically inject anesthetic into the scalp of a target person, making the injection process fast and efficient.
The above object of the present invention can be achieved by the following technical solutions:
the invention provides an automatic control method of an anesthesia injection device, which comprises the following steps:
acquiring RGB data and point cloud data of a target to be injected through a vision module;
generating a three-dimensional model of the target to be injected by using the RGB data and the point cloud data;
planning at least one target position on the three-dimensional model of the target to be injected;
the controller controls the first feeding mechanism to drive the injection piece to reach the target position.
In a preferred embodiment, the injection member is an injection needle; when the controller controls the first feeding mechanism to drive the injection piece to reach the target position, the method comprises the following steps:
determining the relative position between the distal end of the injection needle and the target to be injected through the vision module;
when the distal end of the injection needle does not contact the target to be injected, controlling the first feeding mechanism and enabling the injection needle to move at a first speed until the distal end of the injection needle contacts the target to be injected;
when the far end of the injection needle contacts the target to be injected, the first feeding mechanism is controlled, the injection needle moves at a second speed, the injection needle enters the target to be injected, and after the position of a marking ring of the injection needle is flush with the surface of the target to be injected, anesthetic is injected to the target to be injected through the injection needle.
In a preferred embodiment, the injection member is a syringe; when the controller controls the first feeding mechanism to drive the injection piece to reach the target position, the method comprises the following steps:
determining, by the vision module, a relative position between a distal end of the syringe and the target to be injected;
when the distal end of the injection tube does not contact the object to be injected, the first feeding mechanism is controlled and the injection tube is moved at a first speed, and anesthetic is injected to the object to be injected through the injection tube after the distal end of the injection tube contacts the object to be injected.
Still another object of the present invention is to provide a hair transplant robot capable of automatically injecting anesthetic into the scalp of a target person and extracting hair follicles, so that the hair transplant operation process is fast and efficient.
The above object of the present invention can be achieved by the following technical solutions:
the invention provides a hair planting robot which comprises an absorbing mechanism and the anesthesia injection device, wherein the absorbing mechanism is arranged on the fixing mechanism and is used for circularly cutting and absorbing hair follicles.
In a preferred embodiment, the hair planting robot comprises a second feeding mechanism, the second feeding mechanism is arranged on the fixing mechanism, the suction mechanism is arranged on the second feeding mechanism, and the second feeding mechanism is used for driving the suction mechanism.
In a preferred embodiment, the anesthetic injection device includes an injection member, a fixing tube, and a liquid supply tube, the injection member is an injection needle, and the suction mechanism includes:
the injection member;
the fixed pipe;
the liquid supply pipeline and the adsorption pipeline can be communicated with the fixed pipeline;
and the adsorption module is used for generating suction so as to suck hair follicles through the adsorption pipeline and the injection needle head.
In a preferred embodiment, the device further comprises a solenoid valve, the solenoid valve has a first port, a second port, and a third port, the solenoid valve is used for controlling the first port to communicate with the second port or the third port, the fixed pipe communicates with the first port, the liquid supply pipe communicates with the second port, and the adsorption pipe communicates with the third port.
The invention has the characteristics and advantages that:
the anesthesia injection device and the hair planting robot can be arranged on the mechanical arm, the mechanical arm can be controlled by the visual control unit, so that the anesthesia injection device and the hair planting robot can be driven by the mechanical arm to automatically move integrally, and meanwhile, the first feeding mechanism can also be controlled by the visual control unit, so that the injection mechanism arranged on the first feeding mechanism can automatically move. Through the motion matching of the mechanical arm and the first feeding mechanism, the injection mechanism can move to the scalp of the target person and enter the target position in the scalp of the target person to inject the anesthetic, so that the effect of automatically injecting the anesthetic in the scalp of the target person is achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a usage scenario of the anesthetic injection device of the present invention.
Fig. 2 is a schematic structural view of the anesthetic injection device of the present invention.
Fig. 3 is a schematic structural view of an injection mechanism of the anesthetic injection apparatus of the present invention.
Fig. 4 shows a schematic structural view of an embodiment of an injection member of the anesthetic injection device of the present invention.
Fig. 5 shows a schematic structural view of another embodiment of an injection member of the anesthetic injection device of the present invention.
Fig. 6 is a schematic structural view of a liquid supply module of the anesthetic injection device according to an embodiment of the invention.
Fig. 7 is a schematic structural view of a liquid supply module of an anesthetic injection device according to another embodiment of the present invention.
Fig. 8 shows a schematic structural view of an embodiment of the drive member of the anesthesia injection device of the present invention.
Fig. 9 is a schematic structural view of an embodiment of a sliding member of the anesthetic injection apparatus of the present invention.
Fig. 10 is a schematic structural view showing another embodiment of the slider of the anesthetic injection apparatus of the present invention.
Fig. 11 is a schematic structural view of the hair transplantation robot of the present invention.
Fig. 12 is a schematic structural view of the suction mechanism of the hair transplantation robot of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, mechanical or electrical connections, communications between two elements, direct connections, indirect connections through intermediaries, and the like. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
The first embodiment is as follows:
referring to fig. 1 and 2, an anesthetic injection device a according to an embodiment of the present invention includes: a fixing mechanism 1 for mounting on the robot arm B to be driven by the robot arm B; a first feeding mechanism 2 arranged on the fixing mechanism 1; the injection mechanism 3 is arranged on the first feeding mechanism 2, and the first feeding mechanism 2 is used for driving the injection mechanism 3 to move; and the vision control unit 4 is arranged on the fixing mechanism 1 and is used for acquiring images and controlling the first feeding mechanism 2 and/or the mechanical arm B to move according to the acquired images so as to enable the injection mechanism 3 to reach a target position.
The anesthesia injection device A provided by the embodiment of the invention can be arranged on the mechanical arm B, and the mechanical arm B can be controlled by the visual control unit 4, so that the whole anesthesia injection device A can be driven by the mechanical arm B to realize automatic movement, and meanwhile, the first feeding mechanism 2 can also be controlled by the visual control unit 4, so that the injection mechanism 3 arranged on the first feeding mechanism 2 can be automatically moved. Through the motion matching of the mechanical arm B and the first feeding mechanism 2, the injection mechanism 3 can move to the scalp of the target person and enter a target position in the scalp of the target person to inject the anesthetic, so that the effect of automatically injecting the anesthetic in the scalp of the target person is achieved.
Specifically, the anesthesia injection device A and the mechanical arm B are fixedly connected through the fixing mechanism 1, so that the hair transplantation robot A can be directly driven by the mechanical arm B, and the driving efficiency of the mechanical arm B is improved. Meanwhile, the first feeding mechanism 2 and the vision control unit 4 are also fixedly connected to the fixing mechanism 1 at the same time, so that the relative position between the first feeding mechanism 2 and the vision control unit 4 is fixed, and the driving energy of the first feeding mechanism 2 on the injection mechanism 3 can be quickly fed back to the vision control unit 4. The following describes the overall structure and connection of the anesthetic injection device a according to the embodiment of the present invention.
The anesthesia injection device A provided by the embodiment of the invention can realize full automation of a series of operations such as auxiliary positioning, needle setting, medicament injection and the like. Referring to fig. 2 and 3, in a preferred embodiment, the injection mechanism 3 includes: the injection member 31; a fixed conduit 32 fixedly arranged on the first feeding mechanism 2, and an injection piece 31 is arranged at the far end of the fixed conduit 32; a liquid supply conduit 33; and the liquid supply module 34 is communicated with the liquid supply module 34 through the liquid supply pipeline 33, and the liquid supply module 34 is used for conveying the anesthetic in the liquid supply module 34 into the injection piece 31 through the liquid supply pipeline 33 and the fixed pipeline 32.
The injection piece 31 is directly and fixedly arranged on the first feeding mechanism 2 through the hard fixed pipeline 32, the driving efficiency of the injection piece 31 can be effectively improved, the liquid supply module 34 is independently arranged and is connected with the fixed pipeline 32 through the soft liquid supply pipeline 33, the load weight of the mechanical arm B for driving the anesthesia injection device A can be effectively reduced, and the mechanical arm B is more flexible.
Specifically, the injection member 31 may be coupled to the fixed pipe 32 by a screw structure, or may be coupled to the fixed pipe 32 by an interference fit. Preferably, the end of the fixed pipe 32 may be provided with a clamping structure having an adjustable inner diameter, such as a three-jaw chuck, etc., so that the injection member 31 can be quickly detachably disposed on the fixed pipe 32.
To reduce the pain of the injection member 31 when it enters the scalp of the subject person and to facilitate the identification and control of the injection member 31 by the vision control unit 4, the injection member 31 of the embodiment of the present invention can minimize the volume of invasion into the scalp of the subject person. Referring to fig. 4, in a preferred embodiment, the injection member 31 is a needle, and has a guiding section 311 and an injection section 312, wherein the injection section 312 is disposed at the distal end of the guiding section 311; the guiding section 311 is arranged in a penetrating way so as to enable anesthetic to flow through, and at least one marking ring 313 is formed on the outer wall surface of the guiding section 311; the injection section 312 includes a plurality of injection needles 314, the injection needles 314 are formed by extending from the proximal end of the guiding section 311 to the distal end, specifically, the plurality of injection needles 314 are uniformly distributed at intervals in the circumferential direction, and the radial outer side surfaces of the injection needles 314 are arranged in a tapered manner from the proximal end to the distal end towards the axis of the injection section 312.
Through the syringe needle structure that designs into multistage syringe needle 314 and set up side by side with injection piece 31, and make syringe needle 314's needle point department thinner, can effectively reduce the volume that injection piece 31 invades target person's scalp, thereby weaken the painful sense when injection piece 31 injects anesthetic, in addition, anesthetic can permeate target person's scalp through the gap between syringe needle 314 fast in, thereby make anesthetic quick effect, effectively shorten target person's painful perception time. The guide section 311 of the injection member 31 is further provided with a marking ring 313, so that the vision control unit 4 can quickly recognize the injection member 31 and can recognize the depth of the injection member 31 entering the scalp of the target person, thereby controlling the feeding mechanism 2 so that the injection depth of the injection member 31 of the injection mechanism 3 driven by the feeding mechanism 2 is within a reasonable range.
Specifically, the guiding section 311 of the injection needle is hollow for delivering anesthetic. Further, the injection needle can be used not only for injecting anesthetic but also for cutting tissue within the scalp of the subject to be injected. When the injection needle penetrates into the scalp to a certain depth, the injection needle can be rotated to enable the plurality of injection needles 314 to move in the circumferential direction, and the side surfaces of the injection needles 314 can cut off tissues in the scalp. The guide section 311 is arranged to be a hollow structure, and can be beneficial to sucking the cut tissues in the scalp in time.
Referring to fig. 5, in another preferred embodiment, the injection member 31 is an injection tube 315, the interior of the injection tube 315 is disposed through to allow the anesthetic to flow, and the inner wall surface at the distal end of the injection tube 315 is tapered from the proximal end to the distal end toward the axis of the injection tube 315. By designing the injection member 31 to be a tube-shaped structure without puncture, the injection member 31 does not need to invade the scalp of the target person, but an injection port with a small diameter is formed at the head of the injection tube 315 by making the inner wall surface of the injection tube 315 to be a structure that is tapered from the proximal end to the distal end toward the axis of the injection tube 315, so that the anesthetic is injected into the scalp of the target person by forming a high-pressure jet and rapidly atomizing the anesthetic due to the increase of pressure at the injection port, and the pain of the injection member 31 in injecting the anesthetic is further reduced. Furthermore, the injection member 31 does not need to penetrate the scalp, and the visual control unit 4 can easily recognize and control the injection member 31.
The liquid supply module 34 is capable of delivering an anesthetic agent to the injection member 31 and providing pressure to cause the anesthetic agent to be injected into the scalp of the subject person. Referring to FIG. 6, in a preferred embodiment, the liquid supply module 34 includes: a housing case 341 having a housing chamber for housing an anesthetic agent; and a hydraulic pump 342 disposed in the receiving chamber, the liquid supply conduit 33 being in communication with the hydraulic pump 342 such that the hydraulic pump 342 draws anesthetic agent into the liquid supply conduit 33. By previously containing the anesthetic in the accommodation case 341 and sucking the anesthetic through the hydraulic pump 342 and injecting the anesthetic into the injection member 31, the anesthetic can be automatically injected, thereby further improving the integration and automation of the anesthetic injection device a.
Referring to FIG. 7, in another preferred embodiment, the liquid supply module 34 includes: the accommodation case 341a; the liquid injection plate 343 is arranged inside the accommodating box body 341a, an accommodating cavity for accommodating anesthetic is formed by the liquid injection plate 343 and the inner wall of the accommodating box body 341a, and the liquid supply pipeline 33 is communicated with the accommodating cavity; a driver 344 for pushing the injection plate 343 to move within the receiving box 341a to compress the receiving chamber and inject the anesthetic into the liquid supply conduit 33. Similarly, the anesthetic is injected into the injection member 31 by accommodating the anesthetic in the accommodating case 341a in advance and pushing the injection plate 343 by the driver 344, so that the anesthetic is automatically injected, and the integration and automation of the anesthetic injection apparatus a are further improved.
Specifically, the driver 344 may be a rotary motor, a linear motor, or a linear cylinder, and correspondingly, the liquid injection plate 343 may be in transmission connection with the rotary motor through a screw structure, or may be directly connected to the linear motor or the linear cylinder, so that the driver 344 can push the liquid injection plate 343 to perform linear motion and provide the liquid pressure necessary for injecting anesthetic.
Referring to fig. 2, in a preferred embodiment, the fixing mechanism 1 includes a fixing member 11, an upper end of the fixing member 11 is fixedly connected to the robot arm B, and a sliding rail 12 is formed at a lower end of the fixing member 11; the first feed mechanism 2 includes: a driver 21; and the sliding piece 22 is arranged on the driving piece 12, the sliding piece 22 is connected with the driving piece 21, and the injection mechanism 3 is fixedly arranged on the sliding piece 22 so that the driving piece 21 can drive the injection mechanism 3 to reach a target position. Specifically, the driving member 21 may be a rotary motor driven by a lead screw mechanism to the slider 22, or a linear motor 211 (shown in fig. 8) directly connected to the slider 22. Preferably, as shown in fig. 9 and 10, the driving member 21 of the first feeding mechanism 2 is a rotating motor for driving the injection needle to rotate through a gear rotation or belt transmission structure, so as to realize the function of cutting the tissue in the scalp of the target to be injected by the injection needle. The slide 22 is a linear cylinder 221 or a linear hydraulic cylinder 222 to achieve quick response of the injection mechanism 3 provided on the slide 22 by pneumatic or hydraulic driving.
The vision control unit 4 includes: a controller 41; the vision module 42 is arranged on the fixing mechanism 1, the vision module 42 is in signal connection with the controller 41, and the injection piece 31 of the injection mechanism 3 is positioned in a visual information acquisition range of the vision module 42, so that the controller 41 controls the movement of the mechanical arm B and/or the first feeding mechanism 2 according to the position of the injection piece 31.
The first feeding mechanism 2, the injection mechanism 3 and the vision control unit 4 are fixedly arranged on the mechanical arm B through the fixing part 11, so that the driving efficiency of the mechanical arm B can be effectively improved, and the vision control unit 4 can conveniently determine the positions of the anesthesia injection device A and the injection mechanism 3, so that the vision control unit 4 can more accurately control the movement of the mechanical arm B and the first feeding mechanism 2. Further, the visual information collection range of the visual control unit 4 particularly needs to include the injection member 31 of the injection mechanism 3 to ensure that the injection member 31 accurately and smoothly injects the scalp of the target person. By providing the injection mechanism 3 on the slider 22, the resistance of the injection mechanism 3 during movement can be reduced, so that the injection mechanism 3 can be driven more smoothly by the motor 21, and the stability of the movement of the injection member 31 can be further improved.
Specifically, the controller 41 of the vision control unit 4 may be a computer or an industrial personal computer with certain data processing capability, the vision module 42 may be a monocular camera, and two vision modules 42 may be provided, where the two vision modules 42 are arranged in parallel on the fixing mechanism 1 to form a binocular vision system to output RGB image information and three-dimensional point cloud data, and the vision information acquisition range of the two vision modules 42 should include the injection mechanism 3, especially the injection member 31. The motor 21 for driving the injection mechanism 3 may be a rotary stepping motor and is in transmission connection with the slider 22 through a lead screw mechanism so as to convert the rotary motion of the motor 21 into the linear motion of the injection mechanism 3, and the motor 21 may also be a linear motor and is connected with the slider 22 so as to directly drive the injection mechanism 3.
Example two:
referring to fig. 1 to 5, an embodiment of the present invention provides an automatic control method of an anesthetic injection apparatus, the method including the following steps: acquiring RGB data and point cloud data of a target to be injected through a vision module 42; generating a three-dimensional model of the target to be injected by using the RGB data and the point cloud data; planning at least one target position for injecting anesthetic on a three-dimensional model of a target to be injected; the controller 41 controls the first feed mechanism 2 and drives the injection mechanism 3 to bring the injection piece 31 to the target position.
The vision control unit 4 can identify and generate a scalp three-dimensional model of the target to be injected, and meanwhile, the vision control unit 4 identifies the real-time position of the injection piece 31 relative to the scalp of the target to be injected, so that the injection piece 31 is automatically controlled, and the needle point under the injection piece 31 is quickly positioned based on the scalp three-dimensional model of the target to be injected, so that the positioning process of injecting the anesthetic is more accurate and efficient. After the injection piece 31 is positioned, when the injection piece 31 is pierced into the scalp of the target person, the visual control unit 4 can visually recognize the injection piece 31 again, thereby realizing the automatic control of the needle depth.
In particular, for the two different injection members 31 described above, different depth positioning methods can be used. In a preferred embodiment, the injection member 31 is the injection needle as described in the first embodiment, and when the controller 41 controls the first feeding mechanism 2 to drive the injection member 31 to the target position, the method includes the following steps: determining the relative position between the distal end of the injection needle and the target to be injected by the vision module 42; when the distal end of the injection needle does not contact the target to be injected, controlling the first feeding mechanism 2 and enabling the injection needle to move at a first speed until the distal end of the injection needle contacts the target to be injected; when the distal end of the injection needle contacts the target to be injected, the first feeding mechanism 2 is controlled and the injection needle moves at the second speed, so that the injection needle enters the target to be injected, and after the position of the marking ring 313 of the injection needle is flush with the surface of the target to be injected, anesthetic is injected to the target to be injected through the injection needle. By providing the marking ring 313 outside the injection member 31, the visual control unit 4 can quickly recognize the depth of penetration of the injection member 31 into the scalp of the target person. In addition, the vision control unit 4 can also recognize and control the movement speed of the injection member 31, so that the injection member 31 can penetrate into the scalp of the target person more gently, the pain of the target person can be relieved, the injection process can be more efficient, and the injection efficiency of the anesthetic can be improved. Specifically, the first speed may be between 5cm/s and 10cm/s to satisfy the fast feeding positioning before the injection of the anesthetic from the injection member 31, and the second speed may be between 2cm/s and 5cm/s to satisfy the slow insertion of the injection member 31 to alleviate the pain of the needle penetrating into the scalp.
In another preferred embodiment, the injection member 31 is the injection tube 315 described in the first embodiment; when the controller 41 controls the first feeding mechanism 2 to drive the injection member 31 to reach the target position, the method comprises the following steps: determining, by the vision module 42, the relative position between the distal end of the syringe 315 and the target to be injected; when the distal end of the syringe 315 is not in contact with the object to be injected, the first feed mechanism 2 is controlled and the syringe 315 is moved at the first speed, and after the distal end of the syringe 315 is in contact with the object to be injected, an anesthetic is injected to the object to be injected through the syringe 315. By providing the injection member 31 in a tubular shape, the pain of the target person can be further reduced. In addition, the tubular injection piece 31 does not need to be punctured into the scalp of the target person, so that the visual control unit 4 is facilitated to better identify and control the injection piece 31 and control the movement speed of the injection piece, the injection piece 31 is softer when contacting the scalp of the target person, the pain of the target person is relieved, the injection process is more efficient, and the injection efficiency of the anesthetic is improved. In particular, the first speed may be between 5cm/s and 10cm/s to satisfy the fast feed positioning of the injection member 31 before injection of the anesthetic.
Example three:
the embodiment of the present invention further provides a hair-planting robot, please refer to fig. 2, which includes a suction mechanism 5 and an anesthetic injection device a as described in the first embodiment, wherein the suction mechanism 5 is disposed on the fixing mechanism 1 and is used for performing circular cutting and sucking hair follicles. By arranging the suction mechanism 5 on the fixing mechanism 1, the suction mechanism 5 can be driven by the robot arm B as well, thereby automatically reaching a target position required for sucking the hair follicle.
Specifically, the suction mechanism 5 of the hair transplantation robot may be arranged in parallel with the injection mechanism of the anesthetic injection device a. Referring to fig. 2, in a preferred embodiment, the hair planting robot includes a second feeding mechanism 6, the second feeding mechanism 6 is disposed on the fixing mechanism 1, the suction mechanism 5 is disposed on the second feeding mechanism 6, and the second feeding mechanism 6 is used for driving the suction mechanism 5.
Through setting up injection mechanism 3 and suction means 5 side by side on first feed mechanism 2 and second feed mechanism 6, make injection mechanism 3 and suction means 5 can be driven by first feed mechanism 2 and second feed mechanism 6 respectively, the interference between injection mechanism 3 and suction means 5 has been reduced, and control anesthesia injection device A translation through arm B, realize the quick switch-over between injection mechanism 3 and suction means 5, effectively reduce the operation in-process from the injection anesthesia to the time spent of sucking between the hair follicle step, improve the efficiency of operation.
In order to further improve the integration level of the hair transplantation robot of the embodiment of the present invention, and further improve the mechanism driving efficiency and the operation efficiency, the injection mechanism 3 and the suction mechanism 5 may be combined into a single structure. Referring to fig. 11, in a preferred embodiment, the anesthetic injection device of the hair transplantation robot includes an injection part 31a, a fixing pipe 32a, and a liquid supply pipe 33, the injection part 31a is an injection needle, and the suction mechanism 5 includes: an injection piece 31a common to the injection mechanism 3; a fixed conduit 32a common to the injection mechanism 3; the separately arranged adsorption pipeline 51, the liquid supply pipeline 33 and the adsorption pipeline 51 can be communicated with the fixed pipeline 32a; and an adsorption module for generating a suction force to suck the hair follicle through the adsorption tube 51 and the injection member 31 a.
By combining the injection mechanism 3 and the suction mechanism 5 into a single structure, the structural compactness of the hair planting robot can be further improved, and the times of repeated positioning of the hair planting robot can be reduced. After the positioning is completed, the fixing pipeline 32a is firstly communicated with the liquid supply pipeline 33, the injection piece 31a can be used for injecting anesthetic, the fixing pipeline 32a is then communicated with the adsorption pipeline 51, and the injection piece 31a can be used for absorbing hair follicles, so that the two steps of injecting anesthetic and absorbing hair follicles in the operation process can be successively completed by the single positioning of the hair transplantation robot, the driving efficiency of the hair transplantation robot is further improved, and the time consumption between the steps from injecting anesthetic to absorbing hair follicles in the operation process is further reduced, and the efficiency of the operation is improved. In particular, the suction module may be a negative pressure vacuum pump capable of providing a negative pressure suction force to suction hair follicles within the scalp of the target person. The injection member 31a is constructed as an injection needle as described in the first embodiment, and has a plurality of injection needles 314 capable of penetrating into the scalp and cutting out the skin tissue containing the hair follicle so that the suction mechanism 5 sucks the hair follicle tissue.
When the injection mechanism 3 and the suction mechanism 5 are combined into a single structure, the pipelines thereof can realize the multiplexing of the injection function and the suction function through a controllable valve structure. Referring to fig. 11, in a preferred embodiment, the hair planting robot further includes a solenoid valve 52, the solenoid valve 52 has a first port, a second port, and a third port, the solenoid valve 52 is used to control the first port to communicate with the second port or the third port only, the fixed pipe 32a communicates with the first port through a hose, the liquid supply pipe 33 communicates with the second port, and the adsorption pipe 51 communicates with the third port. By connecting the liquid supply pipeline 33 and the adsorption pipeline 51 to the fixed pipeline 32a through the electromagnetic valve 52, the structural redundancy can be effectively reduced, the integration level of the injection mechanism 3 is improved, and the operation efficiency of the injection mechanism 3 is improved.
Referring to fig. 12, in particular, the adsorption pipe 51 may be connected to a collection box 53, and the other end of the collection box 53 is connected to a negative pressure pump through a negative pressure pipe 54, so that negative pressure is generated in the adsorption pipe 51 and the collection box 53 to suck hair follicles. A filter layer 55 is arranged in the collecting box body 53 to intercept hair follicles and prevent the hair follicles from being sucked away by the negative pressure pump, so that the hair follicles in the scalp of the person to be injected, which are cut by the injection needle and sucked by the fixing pipe 32a, are left in the collecting box body 53 for subsequent operation.
The above are only a few embodiments of the present invention, and those skilled in the art can make various changes or modifications to the embodiments of the present invention according to the disclosure of the application document. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Claims (15)
1. An anesthetic injection apparatus, comprising:
a fixing mechanism for mounting on a robot arm to be driven by the robot arm;
the first feeding mechanism is arranged on the fixing mechanism;
the injection mechanism is arranged on the first feeding mechanism, and the first feeding mechanism is used for driving the injection mechanism to move;
and the visual control unit is arranged on the fixing mechanism and used for acquiring images and controlling the first feeding mechanism and/or the mechanical arm to move according to the acquired images so as to enable the injection mechanism to reach a target position.
2. The anesthesia injection device of claim 1, wherein the injection mechanism comprises:
an injection member;
the fixed pipeline is fixedly arranged on the first feeding mechanism, and the injection piece is arranged at the distal end of the fixed pipeline;
a liquid supply conduit;
and the liquid supply module is communicated with the liquid supply module through the liquid supply pipeline and is used for conveying anesthetic in the liquid supply module into the injection piece through the liquid supply pipeline and the fixed pipeline.
3. The anesthesia injection device of claim 2, wherein the injection member is an injection needle having a guide section and an injection section, the injection section being disposed at a distal end of the guide section;
the guide section is internally arranged in a through manner so as to enable the anesthetic to flow through, and at least one marking ring is formed on the outer wall surface of the guide section;
the injection section includes a plurality of injection needles formed extending distally from a proximal end of the guide section.
4. The anesthesia injection device of claim 2, wherein the injection member is a syringe tube having an interior wall surface extending therethrough for passage of the anesthetic agent therethrough, the interior wall surface at the distal end of the syringe tube tapering from the proximal end to the distal end toward the axis of the syringe tube.
5. The anesthetic injection apparatus of claim 2, wherein the liquid supply module comprises:
the accommodating box body is provided with an accommodating cavity for accommodating the anesthetic;
the hydraulic pump is arranged in the accommodating cavity, and the liquid supply pipeline can be communicated with the hydraulic pump.
6. The anesthesia injection device of claim 2, wherein the liquid supply module comprises:
an accommodation box body;
the liquid injection plate is arranged inside the containing box body, a containing cavity for containing the anesthetic is formed by the liquid injection plate and the inner wall of the containing box body, and the liquid supply pipeline is communicated with the containing cavity;
and the driver is used for pushing the liquid injection plate to move in the accommodating box body so as to compress the accommodating cavity and inject the anesthetic into the liquid supply pipeline.
7. The anesthesia injection device of claim 1, wherein said securing mechanism comprises a securing member, an upper end of said securing member being fixedly connected to said robotic arm, a lower end of said securing member forming a slide track;
the first feed mechanism includes:
a drive member;
the sliding piece is arranged on the sliding rail and connected with the driving piece, and the injection mechanism is fixedly arranged on the sliding piece, so that the driving piece can drive the injection mechanism to reach the target position.
8. The anesthesia injection device of claim 2, wherein the visual control unit comprises:
a controller;
the vision module is arranged on the fixing mechanism and is in signal connection with the controller, and the injection piece is located in a vision information acquisition range of the vision module, so that the controller controls the mechanical arm and/or the first feeding mechanism to move according to the position of the injection piece.
9. An automatic control method of an anesthetic injection apparatus, comprising the steps of:
acquiring RGB data and point cloud data of a target to be injected through a vision module;
generating a three-dimensional model of the target to be injected by using the RGB data and the point cloud data;
planning at least one target position on the three-dimensional model of the target to be injected;
the controller controls the first feeding mechanism to drive the injection piece to reach the target position.
10. The automatic control method for an anesthetic injection apparatus as set forth in claim 9, wherein the injection member is an injection needle; when the controller controls the first feeding mechanism to drive the injection piece to reach the target position, the method comprises the following steps:
determining the relative position between the distal end of the injection needle and the target to be injected through the vision module;
when the distal end of the injection needle does not contact the target to be injected, controlling the first feeding mechanism and enabling the injection needle to move at a first speed until the distal end of the injection needle contacts the target to be injected;
when the far end of the injection needle contacts the target to be injected, the first feeding mechanism is controlled, the injection needle moves at a second speed, the injection needle enters the target to be injected, and anesthetic is injected into the target to be injected through the injection needle after the position of the marking ring of the injection needle is flush with the surface of the target to be injected.
11. The method of automatically controlling an anesthetic injection apparatus as set forth in claim 9, wherein the injection member is a syringe; when the controller controls the first feeding mechanism to drive the injection piece to reach the target position, the method comprises the following steps:
determining, by the vision module, a relative position between a distal end of the syringe and the target to be injected;
when the distal end of the injection tube does not contact the object to be injected, the first feeding mechanism is controlled and the injection tube is moved at a first speed, and anesthetic is injected to the object to be injected through the injection tube after the distal end of the injection tube contacts the object to be injected.
12. A hair-planting robot comprising an aspiration mechanism and an anesthetic injection device according to any one of claims 1 to 8, the aspiration mechanism being provided on the fixing mechanism for circularly cutting and aspirating a hair follicle.
13. A hair transplant robot as claimed in claim 12 comprising a second feeding mechanism provided on said fixing mechanism, said suction mechanism being provided on said second feeding mechanism for driving said suction mechanism.
14. A hair transplant robot as claimed in claim 12 wherein said anesthetic injecting means comprises an injection member, a fixing tube and a liquid supply tube, said injection member is an injection needle, said sucking means comprises:
the injection member;
the fixed pipe;
the liquid supply pipeline and the adsorption pipeline can be communicated with the fixed pipeline;
and the adsorption module is used for generating suction so as to suck hair follicles through the adsorption pipeline and the injection needle head.
15. A hair transplant robot according to claim 14 further comprising a solenoid valve having a first port, a second port, and a third port, wherein the solenoid valve is configured to control the communication between the first port and the second port or the third port, the fixed pipe is in communication with the first port, the liquid supply pipe is in communication with the second port, and the suction pipe is in communication with the third port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211505129.9A CN115721811A (en) | 2022-11-28 | 2022-11-28 | Anesthesia injection device, automatic control method thereof and hair transplantation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211505129.9A CN115721811A (en) | 2022-11-28 | 2022-11-28 | Anesthesia injection device, automatic control method thereof and hair transplantation robot |
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| CN115721811A true CN115721811A (en) | 2023-03-03 |
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| CN202211505129.9A Pending CN115721811A (en) | 2022-11-28 | 2022-11-28 | Anesthesia injection device, automatic control method thereof and hair transplantation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117297784A (en) * | 2023-09-21 | 2023-12-29 | 北京碧莲盛不剃发植发医疗美容门诊部有限责任公司 | Operating manipulator of hair-shaving-free hair-planting and hair-pushing instrument and control method thereof |
-
2022
- 2022-11-28 CN CN202211505129.9A patent/CN115721811A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117297784A (en) * | 2023-09-21 | 2023-12-29 | 北京碧莲盛不剃发植发医疗美容门诊部有限责任公司 | Operating manipulator of hair-shaving-free hair-planting and hair-pushing instrument and control method thereof |
| CN117297784B (en) * | 2023-09-21 | 2024-04-16 | 北京碧莲盛不剃发植发医疗美容门诊部有限责任公司 | Operating manipulator of hair-shaving-free hair-planting and hair-pushing instrument and control method thereof |
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