CN117045452A

CN117045452A - Medical operation vehicle and control method thereof

Info

Publication number: CN117045452A
Application number: CN202311167524.5A
Authority: CN
Inventors: 张云; 郭永馨; 包瑞; 傅强; 曹江北; 米卫东
Original assignee: First Medical Center of PLA General Hospital
Current assignee: First Medical Center of PLA General Hospital
Priority date: 2023-09-11
Filing date: 2023-09-11
Publication date: 2023-11-14

Abstract

The application discloses a medical operation vehicle and a control method thereof, the medical operation vehicle comprises: a vehicle body; at least one medicine rack and at least one commodity shelf arranged on the vehicle body; the first grabbing mechanism is used for grabbing medicine bottles from the medicine rack, and the second grabbing mechanism is used for being matched with the first grabbing mechanism to open the medicine bottles grabbed by the first grabbing mechanism; the third grabbing mechanism is used for grabbing the injector from the storage rack and is matched with the first grabbing mechanism to obtain medicines from the medicine bottles after the bottles are opened through the injector.

Description

Medical operation vehicle and control method thereof

Technical Field

The application relates to the technical field of medical instruments, in particular to a medical operation vehicle and a control method thereof.

Background

In clinical anesthesia, various equipment aids are required, such as anesthesia machines, monitors, and the like. Of course, there is also an indispensable medicine cart in which various kinds of anesthesia and rescue medicines required for surgical anesthesia are stored. In the morning, anesthesiologists or nurses go to the operating room earlier every day because the various medications required for the first surgical anesthesia are drawn in advance.

The existing commonly used medicine carts are basically only a storage box for classifying and placing medicines, and an anesthesiologist or nurse needs to find the required medicines by himself or herself and then extract the medicines for standby. However, "people are not san xian, are familiar with the ability to have no mistake", and even if careful attention is paid, sometimes the situation that wrong drug is administered by wrong drug withdrawal is unavoidable. In addition, there are cases where an anesthesiologist or nurse gets stuck with a vial or syringe of the medicine during the process of drawing the medicine. This can significantly increase the occupational exposure of medical personnel in the face of certain infectious patients, increasing the risk of infection associated with blood-borne diseases.

Disclosure of Invention

In view of the above-mentioned drawbacks or shortcomings in the prior art, it is desirable to provide a medical operating vehicle and a control method thereof, which can be suitable for various application scenarios, and realize automatic medicine taking and dispensing.

In a first aspect, the present application provides a medical procedure vehicle comprising:

a vehicle body;

at least one medicine rack and at least one commodity shelf arranged on the vehicle body;

the first grabbing mechanism is used for grabbing medicine bottles from the medicine rack, and the second grabbing mechanism is used for being matched with the first grabbing mechanism to open the medicine bottles grabbed by the first grabbing mechanism; the third grabbing mechanism is used for grabbing the injector from the storage rack and is matched with the first grabbing mechanism to obtain medicines from the medicine bottles after the bottles are opened through the injector.

Optionally, the medicine rack is provided with medicine bottles of different specifications and/or different kinds; the first grabbing mechanism comprises a first mechanical arm and a first clamping jaw arranged on the first mechanical arm, and the first clamping jaw is used for grabbing medicine bottles of different specifications and/or different types.

Optionally, the second grabbing mechanism comprises a second mechanical arm and a switching assembly arranged on the second mechanical arm, a first bottle opener and a second bottle opener are arranged on the switching assembly, and the switching assembly is used for switching positions of the first bottle opener and the second bottle opener based on the types of the medicine bottles on the first grabbing mechanism; the first bottle opener is used for opening ampoule bottles of different specifications, and the second bottle opener is used for opening penicillin bottles of different specifications.

Optionally, the third snatchs the mechanism and includes third arm and set up second clamping jaw on the third arm, get needle subassembly, extraction subassembly, the second clamping jaw is used for following snatch the syringe on the supporter, get needle subassembly is used for getting rid of needle lid or syringe needle on the syringe, extraction subassembly is used for through the syringe follow the medicine in the medicine bottle.

Optionally, a collection box is further included, the collection box including one or more of a sharps box, a medical waste box, a waste box.

Optionally, the medicine dispensing device further comprises a medicine dispensing chamber, wherein the medicine dispensing chamber comprises a plurality of medicine dispensing boxes, the first grabbing mechanism comprises a turnover assembly for driving the first clamping jaw to turn over, and the turnover assembly is used for pouring the medicine bottle in the medicine bottle after opening into the medicine dispensing boxes for dispensing;

the third grabbing mechanism is used for extracting medicines from the medicine dispensing box through the syringe.

Optionally, the method further comprises:

a control device arranged on the vehicle body and a display connected with the control device;

the first code scanning device is arranged on the first grabbing mechanism and is used for scanning a bar code on a medicine rack where the medicine bottle is located when the first grabbing mechanism grabs the medicine bottle;

the second code scanning device is arranged on the third grabbing mechanism and is used for scanning the bar code on the storage rack where the syringe is located when the syringe is grabbed by the third grabbing mechanism.

Optionally, the infusion support is used for fixing an infusion bottle and an infusion tube;

the infusion tube is provided with a dispensing valve, the dispensing valve is provided with a dispensing port matched with the syringe, and the dispensing valve is used for controlling the on and off of the dispensing port or the dripping speed of the infusion tube.

Optionally, a heating device is arranged on the infusion support, and the heating device is used for heating the infusion bottle or the infusion tube.

In a second aspect, the present application provides a control method of a medical manipulator, applied to any one of the medical manipulator, the method comprising:

the first grabbing mechanism grabs the medicine bottles from the medicine rack;

the second grabbing mechanism is matched with the first grabbing mechanism to open the medicine bottle;

a third grabbing mechanism grabs the injector from the storage rack, and a needle cover on the injector is removed through a needle taking assembly on the third grabbing mechanism;

the third grabbing mechanism is matched with the first grabbing mechanism, and medicine is extracted from the medicine bottle through the syringe by using an extraction assembly;

removing the needle head on the syringe after extracting the medicine through a needle extraction assembly on the third grabbing mechanism;

the third grabbing mechanism is used for communicating the syringe with a dispensing opening on the infusion tube, conducting the dispensing opening through a dispensing valve on the infusion tube and inputting medicines in the syringe into the infusion tube.

The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:

the medical operation vehicle provided by the embodiment of the application has various application scenes, for example, when the medical operation vehicle is applied to anesthesia operation, the preparation time of medicines before anesthesia can be reduced; reducing medication errors in clinical anesthesia; reduces iatrogenic injuries caused by drug delivery of anesthesiologists and nurses; providing a storage compartment dedicated to storing medications requiring refrigeration; reducing occupational exposure of anesthesiologists in radiology-diagnosis-surgery rooms, CT-surgery rooms and nuclear magnetic surgery rooms; providing a transfusion stand for heating transfusion and controlling the liquid dropping speed; the digital management of medicines in departments is assisted, and the use and charging conditions of various medicines are accurately recorded; reduces the phenomenon of one medicine for multiple people in clinical anesthesia, and realizes 'one person for one medicine for one tube for one destruction'.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:

fig. 1 is a schematic structural view of a medical manipulator according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a first grabbing mechanism according to an embodiment of the present application;

fig. 3 is a schematic structural view of a first clamping jaw according to an embodiment of the present application;

fig. 4 is a schematic structural view of a second grabbing mechanism according to an embodiment of the present application;

FIG. 5 is a schematic view of a first bottle opener and a second bottle opener according to an embodiment of the present application;

FIG. 6 is a schematic structural view of a second bottle opener according to an embodiment of the present application;

FIG. 7 is a schematic structural view of a sleeve according to an embodiment of the present application;

fig. 8 is a schematic structural view of a third grabbing mechanism according to an embodiment of the present application;

FIG. 9 is a schematic view of a fastener according to an embodiment of the present application;

fig. 10 is a schematic view illustrating a state of a third grabbing mechanism according to an embodiment of the present application;

FIG. 11 is a schematic view of an infusion tube according to an embodiment of the disclosure;

fig. 12 is a schematic structural diagram of a shaking mechanism according to an embodiment of the present application.

In the figure:

100. a vehicle body; 200. a drug rack; 300. a commodity shelf; 400. a medicine bottle; 500. a first grasping mechanism; 600. a second grasping mechanism; 700. a third grasping mechanism; 800. a syringe; 900. a collection box;

410. ampoule bottle; 420. penicillin bottles;

411. a bottle body; 412. nipple; 413. a bottleneck; 421. a bottle cap;

810. a needle cover; 820. a needle; 830. a piston;

510. a first mechanical arm; 520. a first jaw; 530. a first cantilever; 540. a claw portion; 550. a driving member; 560. a flip assembly; 570. an anti-slip pad; 580. a spring;

610. a second mechanical arm; 620. a switching assembly; 630. a first bottle opener; 640. a second bottle opener;

621. a second rotary motor; 622. a second cantilever; 623. a turntable;

631. a first driving motor; 632. a first mount; 633. a clamping mechanism; 634. a first clamping block; 635. a second clamping block; 636. a first pusher; 637. a second pusher; 638. an anti-slip pad; 639. a spring;

6310. a cutting mechanism; 6311. cutting the sheet; 6312. a third pusher; 6313. a spring;

641. a second driving motor; 642. a second mounting base; 643. a screw rod; 644. a slide block; 645. a connection part; 646. a sliding part; 647. a guide rail; 648. a clamping mechanism; 649. a clamping hook; 6410. a fourth pusher; 6411. a spring;

710. a third mechanical arm; 720. a second jaw; 730. a needle taking assembly; 740. an extraction assembly;

731. a clamping piece; 732. clamping teeth; 733. a first telescopic mechanism; 734. a second telescopic mechanism;

741. a third telescopic mechanism; 742. a suction cup;

910. a sharps container; 920. a medical waste box; 930. a waste bin;

210. a dosing chamber; 220. a dispensing box; 230. shaking up the bracket; 240. a dispensing table; 250. a shaking mechanism; 561. a first rotary motor;

110. a control device; 120. a display; 130. the first code scanning device; 140. the second code scanning device; 150. an infusion support; 160. an infusion bottle; 170. an infusion tube; 180. a dispensing valve; 190. a dispensing port; 1010. a holder; 1020. a heating device.

Detailed Description

The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

Referring to fig. 1 in detail, the present application provides a medical operation vehicle, which includes:

a vehicle body 100; in the application, the vehicle body 100 can be arranged in a layered and partitioned mode, the middle area can be an operation area of the first grabbing mechanism 500, the second grabbing mechanism 600 and the third grabbing mechanism 700, the middle area can be also provided with a waste collection box 900, and the two side areas are respectively provided with a storage rack 300 and a medicine rack 200; the upper layer of the vehicle body 100 is provided with each grabbing mechanism and a transmission mechanism for driving the grabbing mechanisms to move, the lower layer of the vehicle body 100 can be provided with a control device 110 and the like, and the surface of the vehicle body 100 is provided with a display 120, an infusion support 150 and the like. A sterilizing mechanism may be provided in the vehicle body 100 to sterilize various instruments. In addition, a storage compartment for refrigerated storage of the pharmaceutical product may be provided.

At least one medicine rack 200 and at least one shelf 300 provided on the vehicle body 100; different kinds of medicines are placed on the medicine rack 200, and the different kinds of medicines can be contained in different kinds of medicine bottles 400 or medicine bottles 400 with different specifications. In some embodiments, the number of medicine racks 200 is plural, and the same kind of medicine is placed on each medicine rack 200. The rack 300 can be used for placing syringes 800 of different specifications.

In the embodiment of the present application, the types of the medicine bottle 400 include an ampoule bottle 410 and a penicillin bottle 420, the ampoule bottle 410 is an article for containing injection, and the top is melt-sealed with high temperature treatment. The penicillin bottle 420 can be used for filling powder, the powder can be dissolved by liquid such as normal saline, and the sealing of the penicillin bottle 420 is generally realized by adopting the cooperation of a rubber plug and an aluminum cover. The ampoule bottle 410 and the penicillin bottle 420 can be 1ml, 2ml, 5ml, 10ml, 20ml and the like, and the medical operation vehicle provided by the application can be suitable for different types of medicine bottles 400 and medicine bottles 400 with different specifications.

A first gripping mechanism 500, a second gripping mechanism 600 and a third gripping mechanism 700 provided on the vehicle body 100, the first gripping mechanism 500 being used for gripping the medicine bottle 400 from the medicine rack 200, the second gripping mechanism 600 being used for cooperating with the first gripping mechanism 500 to open the medicine bottle 400 gripped by the first gripping mechanism 500; the third gripping mechanism 700 is used for gripping the syringe 800 from the rack 300 and for cooperating with the first gripping mechanism 500 to obtain a medicine from the opened medicine bottle 400 through the syringe 800.

As shown in fig. 2-3, the first gripping mechanism 500 includes a first mechanical arm 510 and a first gripping jaw 520 disposed on the first mechanical arm 510, where the first gripping jaw 520 is used to grip different specifications and/or different kinds of medicine bottles 400. The first clamping jaw 520 comprises a first cantilever arm 530 arranged on the first mechanical arm 510, two claw parts 540 arranged on the first cantilever arm 530, and two driving members 550 for driving the claw parts 540 to move; the two claw portions 540 are provided with anti-slip pads 570 on opposite sides, respectively, and the claw portions 540 are used for clamping the body 411 of the medicine bottle 400. The anti-slip pad 570 may be made of rubber, so that friction is increased, and the medicine bottle 400 is protected from breakage due to the flexibility.

The first cantilever 530 and the two claw portions 540 are all horizontally arranged, so that the first clamping jaw 520 can horizontally arrange the medicine bottle 400 after clamping the medicine bottle 400, the claw portions 540 are hinged with the first cantilever 530, and the capturing relative movement can be driven by the driving piece 550 arranged on the first cantilever 530, so that the two claw portions 540 are opened or clamped. The driving member 550 may be a hydraulic member, an air pressure member, or other movement mechanisms in the prior art, in addition, a spring 580 is sleeved on the driving member 550, one end of the spring 580 is pressed on the first cantilever 530, and the other end is pressed on the claw 540, so that the clamping force between the clamping jaw and the medicine bottle 400 can be adjusted, and the medicine bottle 400 is dropped or the medicine bottle 400 is crushed.

It should be noted that, in the embodiment of the present application, the first mechanical arm 510, the second mechanical arm 610, and the third mechanical arm 710 may implement six degrees of freedom movement, a moving track for driving each mechanical arm to move along a horizontal plane is provided on the vehicle body 100, in addition, a lifting cylinder is provided on the mechanical arm, the mechanical arm may implement up-and-down movement by the lifting cylinder, a base on the mechanical arm may implement a rotation movement, and in addition, a movable part is provided at each joint position on each mechanical arm, so as to implement rotation at the joint position; the robotic arm may also employ a variety of different movable components known in the art, as the present application is not limited in this regard.

As shown in fig. 4, the second grabbing mechanism 600 includes a second mechanical arm 610 and a switching assembly 620 disposed on the second mechanical arm 610, wherein a first bottle opener 630 and a second bottle opener 640 are disposed on the switching assembly 620, and the switching assembly 620 is configured to switch positions of the first bottle opener 630 and the second bottle opener 640 based on a type 400 of the medicine bottle on the first grabbing mechanism 500; the first bottle opener 630 is used for opening ampoule bottles 410 with different specifications, and the second bottle opener 640 is used for opening penicillin bottles 420 with different specifications.

In this embodiment, as shown in fig. 5, the switching component 620 includes:

a second rotary motor 621 provided on the second robot arm 610, and a second cantilever 622 connected to an output shaft of the second rotary motor 621, the second rotary motor 621 being configured to drive the second cantilever 622 to rotate about an axial direction thereof.

A turntable 623 disposed on the second cantilever 622, the first bottle opener 630 and the second bottle opener 640 being disposed symmetrically on the turntable 623 with respect to the second cantilever 622.

In the embodiment of the present application, the second cantilever 622 is disposed in a vertical direction, the second cantilever 622 is rotatably connected with the second mechanical arm 610, the second rotary motor 621 is fixedly disposed on the second cantilever 622, the second cantilever 622 is driven to rotate by the second rotary motor 621, the turntable 623 is disposed at the lower end of the second cantilever 622, and the turntable is rotated 180 ° each time by the second rotary motor 621, so that the turntable 623 is converted from the first bottle opener 630 to the second bottle opener 640 facing the medicine bottle 400.

Wherein, the first bottle opener 630 is used for opening ampoule bottles 410 with different specifications, and the first bottle opener 630 comprises:

a first driving motor 631 provided on the dial 623; the first driving motor 631 may be fixed above the turn plate 623.

The first driving motor 631 is used for driving the first mounting seat 632 to rotate around the axis thereof; the first mounting seat 632 is cylindrical and is disposed below the turntable 623, the turntable 623 is provided with a through hole for the output shaft of the first driving motor 631 to pass through, and a bearing may be disposed in the through hole. The first mounting seat 632 can prevent the fine broken glass, the medicine bottle 400, etc. from splashing, and can also prevent the opened bottle cap 421, etc. from splashing.

An adjustable clamping mechanism 633 disposed inside the first mount 632, the clamping mechanism 633 being configured to clamp the nipple 412 of the ampoule 410; optionally, the clamping mechanism 633 includes a first clamping block 634, a first pusher 636 that drives the first clamping block 634 in motion by a second clamping block 635, and a second pusher 637 that drives the second clamping block 635 in motion.

It will be appreciated that in embodiments of the present application, the clamping mechanism 633 may also include a plurality of clamping blocks, with two clamping blocks being illustrated in embodiments of the present application, and three, four, six, or more clamping blocks may be provided as desired in other embodiments. The plurality of gripping portions are circumferentially arrayed about the axis of the first mount 632.

The first clamping block 634 and the second clamping block 635 are symmetrically arranged about the axis of the first mounting seat 632, an included angle is formed between the axes of the first clamping block 634 and the second clamping block 635 and the first mounting seat 632, and anti-slip pads 638 are respectively arranged on opposite sides of the first clamping block 634 and the second clamping block 635; the first clamping block 634 is hinged to the first pushing member 636 and the first mounting seat 632, and the second clamping block 635 is hinged to the first pushing member 636 and the first mounting seat 632. By adjusting the position of the clamping mechanism 633 with the first pusher 636 and the second pusher 637, different models of vials 400 may be accommodated.

The first pushing member 636 may adopt a hydraulic or pneumatic mechanism, one end of the first pushing member 636 is hinged to the mounting seat, the other end is hinged to the first clamping block 634, in addition, a spring 639 is sleeved on the first pushing member 636, one end of the spring 639 presses on the first supporting seat, and the other end presses on the first clamping block 634, so that the clamping force between the clamping block and the nipple 412 can be adjusted, and the nipple 412 is dropped or the nipple 412 is crushed. The first clamp block 634 may be arc-shaped to adapt to the arc-shaped surface of the nipple 412, and the first clamp block 634 is provided with a non-slip pad 638 at a side close to the nipple 412 for reducing the pressure on the ampoule 410, and thus, the ampoule 410 can be conveniently fixed.

In the present application, the second clamping block 635 has the same structure as the first clamping block 634, the second pushing member 637 has the same structure as the first pushing member 636, and the first clamping block 634 and the second clamping block 635 can be pushed to move relatively by the first pushing member 636 and the second pushing member 637, so as to clamp and loosen the nipple 412.

An adjustable cutting mechanism 6310 disposed inside the first mount 632, the cutting mechanism 6310 being configured to cut a neck 413 of the ampoule 410. The cutting mechanism 6310 includes at least one cutting blade 6311 and a third pusher 6312 that drives the cutting blade 6311 in a direction perpendicular to the axis of the first mount 632. The number of cutting blades 6311 may be one or distributed in a circumferential array about the axis of the first mount 632.

In the application, a circle of scratches is formed on the ampoule bottle 410 under the action of the cutting blades 6311, so that different rotation angles can be set according to different numbers of the cutting blades 6311, and of course, the use effect of the scratches formed on the bottle neck 413 can not be affected by multiple or fewer rotations of the first driving motor 631, and only a reasonable range is required to be controlled.

The third pushing member 6312 may be a hydraulic or pneumatic mechanism, and a spring is sleeved on the third pushing member 6312, so that the pressure between the cutting piece 6311 and the bottleneck 413 of the medicine bottle 400 can be adjusted by the third pushing member 6313, so as to prevent the medicine bottle 400 from being broken, and improve the cutting effect. By adjusting the position of the cutting mechanism 6310 with the third pusher 6312, different models of vials 400 may be accommodated.

In the embodiment of the present application, the second mechanical arm 610 drives the first bottle opener 630 to move above the clamped ampoule bottle 410 on the first clamping jaw 520, and the alignment between the medicine bottle 400 and the first bottle opener 630 is realized through the up-down relative movement between the second mechanical arm 610 and the first mechanical arm 510. Before the first clamp block 634 and the second clamp block 635 clamp the medicine bottle 400, the cutting mechanism 6310 is retracted, preventing the medicine bottle 400 from contacting the medicine bottle 400 during movement to the clamp mechanism 633, thereby causing the medicine bottle 400 to be scratched during movement, and further breaking the medicine bottle 400, etc. When the clamping mechanism 633 clamps the nipple 412, a control signal is sent to the cutting mechanism 6310, the cutting mechanism 6310 carries along the direction of the ampoule 400, the first driving motor 631 drives the first mounting seat 632 to rotate, the cutting mechanism 6310 also rotates the ampoule 400 while the first mounting seat 632 rotates, and simultaneously, the clamping mechanism 633 clamps the nipple 412 to rotate, so as to realize twisting off of the nipple 412, and the body 411 of the ampoule 410 is clamped by the first clamping jaw 520 in the twisting off process. In this embodiment of the present application, the first bottle opener 630 may rotate by 60 °, 90 °, half-turn, one or more turns, so as to enable the bottle 400 to be broken by screwing, which is not limited in this application.

After breaking the nipple 412 of the ampoule 410, the first mechanical arm 510 grips the body 411 of the drug vial 400 by the first grip jaw 520 and moves away from this position to enter the next operation position. The nipple 412 is clamped by the first clamp block 634 and the second clamp block 635 before the first clamp jaw 520 is moved away from the vial 400, and the first clamp block 634 and the second clamp block 635 are reset outwardly after the first clamp jaw 520 is moved away from the vial 400, the cutting mechanism 6310 is reset outwardly, and the nipple 412 is dropped into the waste bin 930 below.

Optionally, as shown in fig. 5 and fig. 6, the second bottle opener 640 is configured to open penicillin bottles 420 with different specifications, and the second bottle opener 640 includes:

a second driving motor 641 provided on the turn plate 623; the second driving motor 641 may be fixed above the turn plate 623.

The second driving motor 641 is fixedly connected with an output shaft of the second driving motor 641 and is used for driving the screw 643 to rotate around the axis of the screw 643; the screw 643 is disposed along a vertical direction, a through hole for the output shaft of the second driving motor 641 to pass through is disposed on the turntable 623, and a bearing may be disposed in the through hole, and the screw 643 extends below the turntable 623.

A second mount 642 provided on the turntable 623, the second mount 642 including a slider 644 for converting a rotational motion of the screw 643 into a linear motion, the slider 644 including a connection portion 645 rotatably fitted to the screw 643 and a sliding portion 646 provided outside the slider 644, the turntable 623 being provided with a guide rail 647 fitted to the sliding portion 646; the second mount 642 is provided with the below of carousel 623, the second mount 642 is circular structure, the slider 644 sets up at the top of second mount 642, connecting portion 645 sets up the center of slider 644, connecting portion 645 be with lead screw 643 pair of lead screw 643 complex, sliding portion 646 is for setting up a plurality of recesses of slider 644 surface, carousel 623 fixed surface is provided with the sleeve, the sleeve is inside to be provided with a plurality of guide rails 647, as shown in fig. 7, through inserting guide rail 647 in the recess, can change the gyration motion of first lead screw into the upper and lower rectilinear motion of slider 644, second mount 642.

An adjustable clamping mechanism 648 is disposed inside the second mounting seat 642, and the clamping mechanism 648 is configured to be clamped between the bottle cap 421 and the bottle body 411 of the penicillin bottle 420.

The clamping mechanism 648 includes at least one hook 649 and a fourth pusher 6410 that drives the hook 649 in a direction perpendicular to the axis of the second mount 642. The number of hooks 649 may be two or more and distributed in a circumferential array about the axis of the second mount 642. The fourth pusher 6410 may be a hydraulic or pneumatic mechanism, and may also be provided with a spring 6411 to adjust the pressure between the hook 649 and the neck 413 of the vial 400 to prevent crushing of the vial 400. By adjusting the position of the clamping mechanism 648 via the third pusher 6312, different types of vials 400 may be accommodated.

In the embodiment of the present application, the second mechanical arm 610 drives the second bottle opener 640 to move above the clipped penicillin bottle 420 on the first clamping jaw 520, and the alignment between the medicine bottle 400 and the second bottle opener 640 is realized through the up-down relative movement between the second mechanical arm 610 and the first mechanical arm 510. During the rising process of the medicine bottle 400, the spring provided on the third pushing member 6312 may compress the hook 649 along with the movement of the bottle cap 421, and when reaching the position of the bottle neck 413, may relax, so that the hook 649 is clamped under the bottle cap 421. The second driving motor 641 drives the screw 643 to rotate, so that the second mounting seat 642 moves up and down, and the clamping hook 649 drives the bottle cap 421 of the penicillin bottle 420 to be separated from the bottle body 411. The first mechanical arm 510 is moved from this position to enter the next operating position by the first clamping jaw 520 clamping the body 411 of the vial 400. After the first jaw 520 has moved away from the vial 400, the jaw outwardly resets the cap 421 and falls into the waste bin 930 below.

As shown in fig. 8, the third grabbing mechanism 700 includes a third mechanical arm 710, and a second clamping jaw 720, a needle taking assembly 730 and an extracting assembly 740 disposed on the third mechanical arm 710, where the second clamping jaw 720 is used for grabbing the syringe 800 from the rack 300, the needle taking assembly 730 is used for removing the needle cover 810 or the needle 820 on the syringe 800, and the extracting assembly 740 is used for extracting the medicine from the medicine bottle 400 through the syringe 800. The second clamping jaw 720 has the same structure as the first clamping jaw 520, and the present application is not described herein.

Wherein, as shown in fig. 9, the needle extractor comprises:

a clamping member 731 disposed below the second clamping jaw 720, the clamping member 731 including two clamping teeth 732 disposed at intervals;

a first telescopic mechanism 733 and a second telescopic mechanism 734 provided on the third mechanical arm 710, the clamping teeth 732 being fixedly connected to the first telescopic mechanism 733, the second telescopic mechanism 734 being fixedly connected to the first telescopic mechanism 733, the first telescopic mechanism 733 being adapted to drive the clamping member 731 to move relative to the syringe 800 to insert the needle cover 810 or the needle 820 into the space between the clamping teeth 732; the second telescopic mechanism 734 is used to drive the first telescopic mechanism 733 and the clamping member 731 to move in the up-down direction to remove the needle cover 810 or the needle 820 from the syringe 800.

As shown in fig. 10, the first telescopic mechanism 733 is disposed along a horizontal direction, the second telescopic mechanism 734 is disposed along a vertical direction, the first telescopic mechanism 733 and the second telescopic mechanism 734 may be a stepper motor, a cylinder, a hydraulic cylinder, etc., and the clamping member 731 is driven to move along the horizontal direction by the first telescopic mechanism 733, so that the clamping member 731 is inserted into the needle cover 810 or the root of the needle 820; by driving the gripping member 731 downward by the second retracting mechanism 734, the needle cover 810 or the needle 820 may be driven downward by the gripping member 731, thereby allowing the needle cover 810 or the needle 820 to be peeled off from the syringe 800.

The drawing assembly 740 comprises a third telescopic mechanism 741 arranged on the third mechanical arm 710, and a sucker 742 is arranged at the bottom of the third telescopic mechanism 741, and the sucker 742 is used for sucking a piston 830 of the syringe 800 on the third grabbing mechanism 700. In the embodiment of the present application, the third driving mechanism is disposed along the vertical direction, and the third driving mechanism may use an air cylinder or a hydraulic cylinder, and the third driving mechanism drives the suction cup 742 to move along the vertical direction, where a vacuum suction hole is disposed on the suction cup 742 to suck the piston 830 on the injector 800, so as to implement the drawing function.

The medical manipulator in the embodiment of the present application further comprises a collection box 900, and the collection box 900 includes one or more of a sharps box 910, a medical waste box 920 and a waste box 930.

For example, sharps container 910 may be used to hold needle 820, and third grasping mechanism 700 may be moved over sharps container 910 and may drop directly into sharps container 910 after withdrawal of needle 820 from syringe 800; the medical waste box 920 may be used to contain medical waste such as a syringe 800, a medicine bottle 400, medicine, etc. after use; the waste bin 930 may be used for a bottle cap 421 of a Cheng Fangxi forest bottle 420, a nipple 412 of an ampoule bottle 410, etc., and the second grabbing mechanism 600 may be moved above the waste bin 930, and after opening, the waste may be directly dropped into the waste bin 930.

In an embodiment of the present application, please continue to refer to fig. 1, the medical manipulator further includes:

a control device 110 provided on the vehicle body 100, and a display 120 connected to the control device 110; the display 120 may be used to make drug selections and the like, and may also be used to display the course of operation.

The first code scanning device 130 is arranged on the first grabbing mechanism 500, and the first code scanning device 130 is used for scanning a bar code on the medicine rack 200 where the medicine bottle 400 is located when the first grabbing mechanism 500 grabs the medicine bottle 400; alternatively, the first code scanning device 130 may directly scan the bar code on the medicine bottle 400, which is not limited in this aspect of the present application, and the selected medicine may be confirmed by scanning the bar code.

The second code scanning device 140 is disposed on the third grabbing mechanism 700, and the second code scanning device 140 is configured to scan a bar code on the rack 300 where the syringe 800 is located when the third grabbing mechanism 700 grabs the syringe 800, and can confirm the selected syringe 800 by scanning.

In addition, referring to fig. 1 and 11, the medical operation vehicle further includes an infusion support 150, where the infusion support 150 is used to fix an infusion bottle 160 and an infusion tube 170; the automatic dispensing valve 180 is arranged on the infusion tube 170, a dispensing port 190 matched with the injector 800 is arranged on the dispensing valve 180, the dispensing valve 180 is three-way, on one hand, the infusion bottle 160 and the infusion tube 170 are communicated, on the other hand, the dispensing port 190 and the infusion tube 170 can be communicated, and the dispensing valve 180 is used for controlling the on and off of the dispensing port 190 or the dripping speed of the infusion tube 170.

The infusion support 150 is further provided with a fixer 1010 for fixing the position of the dispensing port 190, so as to facilitate the insertion of the syringe 800 into the dispensing port 190. The retainer 1010 may be a magnetic retainer 1010 that may enable automatic actuation of the dispensing valve 180 to prevent sliding of the dispensing port 190 from affecting the interface of the syringe 800 with the dispensing port 190. In the embodiment of the present application, the syringe 800 after sucking the medicine may be directly docked with the dispensing port 190 through the second grabbing mechanism 600, and in other embodiments, the present application may also be operated manually, which is not limited thereto.

Optionally, a heating device 1020 is disposed on the infusion support 150, and the heating device 1020 is used for heating the infusion bottle 160 or the infusion tube 170. The heating device 1020 may be a heating plate or a heating box, and the infusion bottle 160 and the infusion plate may be heated by being close to the heating device 1020.

Based on the same inventive concept, the application provides a control method of a medical operation vehicle, which is applied to the medical operation vehicle, and the method comprises the following steps:

the first gripping mechanism 500 grips the medicine bottle 400 from the medicine rack 200;

the second grabbing mechanism 600 cooperates with the first grabbing mechanism 500 to open the medicine bottle 400;

a third grabbing mechanism 700 grabs the syringe 800 from the storage rack 300, and the needle cover 810 on the syringe 800 is removed through the needle taking assembly 730 on the third grabbing mechanism 700;

the third gripping mechanism 700 cooperates with the first gripping mechanism 500 to withdraw the drug from the vial 400 through the syringe 800 using the withdrawal assembly 740;

removing needle 820 from syringe 800 after drawing the drug by needle extraction assembly 730 on third grasping mechanism 700;

the third grabbing mechanism 700 communicates the syringe 800 with the dispensing port 190 on the infusion tube 170, and conducts the dispensing port 190 through the dispensing valve 180 on the infusion tube 170, and inputs the medicine in the syringe 800 into the infusion tube 170.

In another embodiment of the present application, as shown in fig. 1 and 2, the medical manipulator further comprises a dispensing chamber 210, the dispensing chamber 210 comprises a plurality of dispensing boxes 220, the first grabbing mechanism 500 comprises a turnover assembly for driving the first clamping jaw 520 to turn over, and the turnover assembly is used for pouring the medicines in the medicine bottle 400 after opening into the dispensing boxes 220 for dispensing; the third grasping mechanism 700 is used to withdraw a drug from within the cartridge 220 via the syringe 800.

The turnover assembly comprises a first rotary motor 561 arranged on the first mechanical arm 510, an output shaft of the first rotary motor 561 is fixedly connected with the first cantilever 530, and the first rotary motor 561 is used for driving the first cantilever 530 to rotate around an axis thereof.

The first cantilever 530 is horizontally disposed, and the first rotary motor 561 is used to drive the first cantilever 530 to select around a horizontal axis, so that the first clamping jaw 520 is turned over, and the medicine in the medicine bottle 400 can be poured into the medicine dispensing box 220. The medicine dispensing cartridge 220 contains physiological saline and the like, and may be diluted with powder, injection, or the like, for example, 100ml, 250ml, or 500ml physiological saline. Other liquids can be arranged in the dispensing box 220 according to different application scenes to dispense powder.

As shown in fig. 12, a shaking support 230 is disposed in the dispensing chamber 210, the dispensing box 220 is disposed on a dispensing table 240 on the shaking support 230, and the shaking support 230 is shaken by a shaking mechanism 250 to shake the medicines in the dispensing box 220. The shaking mechanism 250 may be a hydraulic or pneumatic mechanism, and is hinged to one side of the dispensing table 240, the dispensing table 240 is hinged to the shaking support 230, and the shaking mechanism 250 stretches and contracts to enable the dispensing table 240 to shake up and down at a position hinged to the shaking support 230, so that a shaking function is achieved.

In this embodiment, the control method specifically corresponds to the medical operation vehicle, and includes:

the first grabbing mechanism 500 is used for pouring the medicines in the medicine bottle 400 after the bottle opening into the medicine dispensing box and uniformly shaking the medicines by the uniformly shaking mechanism;

the third grasping mechanism 700 draws medicine from the medication cassette through the syringe 800 using an extraction assembly 740;

The medical operation vehicle provided by the application has various application scenes, for example, when the medical operation vehicle is applied to anesthesia operation, the preparation time of medicines before anesthesia can be reduced; reducing medication errors in clinical anesthesia; reduces iatrogenic injuries caused by drug delivery of anesthesiologists and nurses; providing a storage compartment dedicated to storing medications requiring refrigeration; reducing occupational exposure of anesthesiologists in radiology-diagnosis-surgery rooms, CT-surgery rooms and nuclear magnetic surgery rooms; providing a transfusion stand for heating transfusion and controlling the liquid dropping speed; the digital management of medicines in departments is assisted, and the use and charging conditions of various medicines are accurately recorded; reduces the phenomenon of one medicine for multiple people in clinical anesthesia, and realizes 'one person for one medicine for one tube for one destruction'.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Unless defined otherwise, 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 pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the application. Terms such as "disposed" or the like as used herein may refer to either one element being directly attached to another element or one element being attached to another element through an intermediate member. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present application has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the application to the embodiments described. Those skilled in the art will appreciate that many variations and modifications are possible in light of the teachings of the application, which variations and modifications are within the scope of the application as claimed.

Claims

1. A medical manipulator, comprising:

a vehicle body;

2. The medical handling vehicle according to claim 1, wherein the drug rack is provided with different specifications and/or different kinds of drug vials; the first grabbing mechanism comprises a first mechanical arm and a first clamping jaw arranged on the first mechanical arm, and the first clamping jaw is used for grabbing medicine bottles of different specifications and/or different types.

3. The medical procedure cart according to claim 2, wherein the second gripping mechanism comprises a second mechanical arm and a switching assembly provided on the second mechanical arm, the switching assembly being provided with a first bottle opener and a second bottle opener, the switching assembly being adapted to switch the positions of the first bottle opener and the second bottle opener based on the type of the bottle on the first gripping mechanism; the first bottle opener is used for opening ampoule bottles of different specifications, and the second bottle opener is used for opening penicillin bottles of different specifications.

4. A medical procedure vehicle according to claim 3 in which the third gripping means comprises a third mechanical arm, a second jaw provided on the third mechanical arm for gripping a syringe from the carrier, a needle extraction assembly for removing a needle cover or needle from the syringe, and an extraction assembly for extracting a drug from the vial by the syringe.

5. The medical procedure cart of claim 1, further comprising a collection box comprising one or more of a sharps box, a medical waste box, and a waste box.

6. The medical procedure cart according to claim 4, further comprising a dispensing chamber including a plurality of dispensing cartridges, the first grasping mechanism including a flip assembly for driving the first jaw to flip, the flip assembly for pouring vials within the opened vials into the dispensing cartridges for dispensing;

7. The medical procedure cart of claim 1, further comprising:

8. The medical procedure cart according to claim 1, further comprising an infusion support for securing an infusion bottle and an infusion tube;

9. The medical manipulator of claim 8, wherein the infusion support is provided with a heating device for heating the infusion bottle or the infusion tube.

10. A control method of a medical manipulator as claimed in any one of claims 1 to 9, the method comprising:

the first grabbing mechanism grabs the medicine bottles from the medicine rack;