CN118044885A - Intelligent water-light needle injection robot capable of simulating doctor operation - Google Patents
Intelligent water-light needle injection robot capable of simulating doctor operation Download PDFInfo
- Publication number
- CN118044885A CN118044885A CN202410064875.1A CN202410064875A CN118044885A CN 118044885 A CN118044885 A CN 118044885A CN 202410064875 A CN202410064875 A CN 202410064875A CN 118044885 A CN118044885 A CN 118044885A
- Authority
- CN
- China
- Prior art keywords
- injection
- needle
- water
- hydro
- needle injection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000002347 injection Methods 0.000 title claims abstract description 210
- 239000007924 injection Substances 0.000 title claims abstract description 210
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 76
- 230000033001 locomotion Effects 0.000 claims abstract description 36
- 230000000007 visual effect Effects 0.000 claims abstract description 32
- 230000001815 facial effect Effects 0.000 claims description 11
- 210000003484 anatomy Anatomy 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 6
- 238000012377 drug delivery Methods 0.000 claims description 4
- 238000002604 ultrasonography Methods 0.000 claims description 4
- 210000003491 skin Anatomy 0.000 description 14
- 230000003287 optical effect Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000003814 drug Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 102000008186 Collagen Human genes 0.000 description 2
- 108010035532 Collagen Proteins 0.000 description 2
- 229920001436 collagen Polymers 0.000 description 2
- 239000002537 cosmetic Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- RWSXRVCMGQZWBV-WDSKDSINSA-N glutathione Chemical compound OC(=O)[C@@H](N)CCC(=O)N[C@@H](CS)C(=O)NCC(O)=O RWSXRVCMGQZWBV-WDSKDSINSA-N 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 210000004623 platelet-rich plasma Anatomy 0.000 description 2
- KIUKXJAPPMFGSW-DNGZLQJQSA-N (2S,3S,4S,5R,6R)-6-[(2S,3R,4R,5S,6R)-3-Acetamido-2-[(2S,3S,4R,5R,6R)-6-[(2R,3R,4R,5S,6R)-3-acetamido-2,5-dihydroxy-6-(hydroxymethyl)oxan-4-yl]oxy-2-carboxy-4,5-dihydroxyoxan-3-yl]oxy-5-hydroxy-6-(hydroxymethyl)oxan-4-yl]oxy-3,4,5-trihydroxyoxane-2-carboxylic acid Chemical compound CC(=O)N[C@H]1[C@H](O)O[C@H](CO)[C@@H](O)[C@@H]1O[C@H]1[C@H](O)[C@@H](O)[C@H](O[C@H]2[C@@H]([C@@H](O[C@H]3[C@@H]([C@@H](O)[C@H](O)[C@H](O3)C(O)=O)O)[C@H](O)[C@@H](CO)O2)NC(C)=O)[C@@H](C(O)=O)O1 KIUKXJAPPMFGSW-DNGZLQJQSA-N 0.000 description 1
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 208000032544 Cicatrix Diseases 0.000 description 1
- 108010024636 Glutathione Proteins 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 229960005188 collagen Drugs 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 210000004207 dermis Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 229960003180 glutathione Drugs 0.000 description 1
- 229920002674 hyaluronan Polymers 0.000 description 1
- 229960003160 hyaluronic acid Drugs 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000037387 scars Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000007920 subcutaneous administration Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 235000013343 vitamin Nutrition 0.000 description 1
- 229940088594 vitamin Drugs 0.000 description 1
- 229930003231 vitamin Natural products 0.000 description 1
- 239000011782 vitamin Substances 0.000 description 1
Landscapes
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention discloses an intelligent water-light needle injection robot for simulating doctor operation, which comprises a vision system, a control system and a water-light needle injection execution system, wherein the vision system is used for controlling the vision system to control the water-light needle injection execution system to execute water-light needle injection; the visual system is used for acquiring visual information; the control system is used for determining an optimal injection position and a movement path of the hydro-optical needle injection system according to the visual information, and controlling the hydro-optical needle injection execution system to move to the optimal injection position according to the movement path to perform hydro-optical needle injection. The invention can simulate the injection of the water needle by a doctor to a patient, avoid the problems of fatigue and high risk of injection errors caused by traditional repeated operation in the water needle injection operation, improve the safety, the accuracy and the consistency of the water needle injection operation, is convenient and safe to use, is suitable for the operation of the water needle injection of the doctor and can be popularized and applied on a large scale.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to an intelligent water-light needle injection robot for simulating doctor operation.
Background
The water photo needle is a minimally invasive and minimally painful medical beautifying technology which is used for injecting medical skin beautifying formulas such as hyaluronic acid, repair type collagen, nutrients (vitamins, glutathione, collagen, PRP (Platelet-RICH PLASMA) and the like into the superficial layers or middle layers of the dermis of the face through a vacuum negative pressure instrument, hospitalization is not needed, and comprehensive younger medical beautifying technology without scars is not needed.
Although surgical robots have been widely used in clinical applications, research and development in the medical cosmetic field remains blank. This is due to the large discipline span involved in the manipulation of medical cosmetology, the need for deep understanding of anatomical structures and extensive clinical experience, avoiding the threat of security or aesthetic damage to structures surrounding the cosmetic area. Meanwhile, the traditional surgical robot has the problems that the disassembly and the dressing change are inconvenient, the operation is difficult to operate by hands, the degree of automation is low, the safety and the accuracy are insufficient, and the like. Therefore, an intelligent medical robot represented by hydro-optical needle injection is urgently needed to be studied.
Compared with the traditional manual injection, the hydraulic injection with the surgical robot has incomparable advantages. The automation and the intellectualization of the subcutaneous minimally invasive injection operation can be realized, the injection mode can be designed individually, the operation risk and disputes caused by the uncertain factors such as aesthetic, fatigue, operation experience and the like of doctors are reduced, and the treatment effect is further improved.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, one purpose of the invention is to provide an intelligent water-light needle injection robot for simulating doctor operation, which can simulate doctor to perform water-light needle injection on a patient, avoid the problem of high risk of doctor fatigue and injection error caused by traditional repeated operation in the water-light needle injection operation, improve the safety, accuracy and consistency of the water-light needle injection operation, is convenient and safe to use, is suitable for the operation of medical water-light needle injection, and can be popularized and applied on a large scale.
According to an embodiment of the invention, an intelligent water-light needle injection robot simulating doctor operation comprises: the system comprises a vision system, a control system and a water-light needle injection execution system; the visual system is used for acquiring visual information; the control system is used for determining an optimal injection position and a movement path of the hydro-optical needle injection system according to the visual information, and controlling the hydro-optical needle injection execution system to move to the optimal injection position according to the movement path to perform hydro-optical needle injection.
The intelligent water needle injection robot simulating doctor operation according to the embodiment of the invention comprises the following working processes: firstly, using a vision system to obtain vision information, such as face information of a patient and information of the surrounding environment of the face of the patient, and transmitting the vision information to a control system for processing; the control system determines the optimal injection position and the movement path of the water-light needle injection execution system according to the visual information of the visual system, controls the water-light needle injection execution system to move to the optimal injection position according to the movement path, and automatically performs water-light needle injection on the face of a patient after the water-light needle injection execution system reaches the optimal injection position, so that the water-light needle injection device is safe and convenient to use.
The intelligent hydro-optical needle injection robot simulating doctor operation can simulate a doctor to perform hydro-optical needle injection on a patient, and the problem that doctor fatigue and high risk of injection errors are caused by traditional repeated operation in hydro-optical needle injection operation is avoided; the intelligent water-light needle injection robot simulating doctor operation provided by the embodiment of the invention has the advantages that the standardized operation and the injection mode customized according to patients can greatly improve the safety, the precision and the consistency of the water-light needle injection operation. The intelligent water and light needle injection robot simulating doctor operation is suitable for operation of medical and medical water and light needle injection, and can be popularized and applied on a large scale.
In some embodiments, the hydro-optical needle injection execution system comprises a mobile chassis, a robotic arm, and a hydro-optical needle gun; the control system comprises a force sensor and a robot control box; the mechanical arm is arranged on the movable chassis, the water-light needle gun is arranged at the tail end of the mechanical arm through the force sensor, and the water-light needle gun, the force sensor and the tail end of the mechanical arm are coaxial; the robot control box is arranged in the movable chassis and is used for controlling the movement of the mechanical arm according to the movement path so as to enable the hydro-optical needle gun to move to the optimal injection position.
In some embodiments, the hydro-optical needle gun is mounted on the force sensor by a stationary fixture.
In some embodiments, the fixing clamp is provided with a slot part, and the hydro-optical needle gun is detachably clamped in the slot part.
In some embodiments, the vision system includes an ultrasound scanner and a depth camera; the depth camera is used for providing images so as to obtain relative position information of the water-light needle injection system and the environment and geometric information of the face of a patient according to the images; the ultrasonic scanner is used for manual scanning before operation to acquire and analyze facial anatomy information of a patient.
In some embodiments, the depth camera is fixed to the fixture.
In some embodiments, the upper end of the fixture has a laterally extending camera mount on which the depth camera is secured.
In some embodiments, an automatic mode of operation and a manual mode of operation are included;
Wherein, in the automatic operation mode: firstly, acquiring visual information by using the visual system, and analyzing and determining the optimal injection position and the motion path of the mechanical arm by a remote computer according to the visual information; then, the mechanical arm moves along the planned movement path to enable the water-light needle gun to reach the position above the optimal injection position for parking, and after the arrival of the appointed position is confirmed by combining the information of the depth camera, the mechanical arm starts to slowly move downwards; when the needle array plane at the tail end of the water-light needle gun contacts the skin surface, the force sensor starts to detect a numerical value until the water-light needle gun needle array plane is completely adsorbed on the skin, the water-light needle gun automatically starts to generate negative pressure, and a motor in the water-light needle gun pushes a needle tube piston to move forwards for drug delivery, so that one injection is completed; when one injection is completed, the mechanical arm moves upwards to leave the surface of the skin, and the injection at the next optimal injection position is performed;
In the manual operation mode: and controlling the remote equipment manually to control the intelligent water needle injection robot simulating doctor operation.
In some embodiments, in the automatic operation mode, the acquiring visual information with the visual system specifically includes: scanning the face of the patient by using the ultrasonic scanner to acquire and analyze facial anatomy information of the patient; and processing by using the image provided by the depth camera, and obtaining the relative position information of the hydro-optical needle gun and the environment and the geometric information of the face of the patient by the control system.
In some embodiments, in the manual mode, an injection position is manually selected in place of or in addition to the optimal injection position determined by the control system and movement of the robotic arm is manually controlled.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic diagram of the overall structure of an intelligent water photo-needle injection robot in the invention.
FIG. 2 is a schematic view of a first orientation of the assembly of the fixture and the water needle gun of the present invention.
FIG. 3 is a schematic view of a second orientation of the assembly of the fixture and the water needle gun of the present invention.
FIG. 4 is a schematic view showing a third orientation of the assembly structure of the fixing clamp and the water photo-needle gun in the invention.
Fig. 5 is a fourth schematic view of the assembly structure of the fixing clamp and the hydro-optical needle gun in the invention.
FIG. 6 is a schematic view of a fifth orientation of the assembly of the fixture and the water photo gun of the present invention.
FIG. 7 is a schematic view of a sixth orientation of the assembly of the fixture and the water needle gun of the present invention.
Fig. 8 is a schematic diagram of an operation flow of the intelligent water photo-needle injection robot in the invention.
Reference numerals: an intelligent water optical needle injection robot 1000; a control system 100; a force sensor 101; a robot control box 102; a hydro-optical needle injection execution system 200; a mobile chassis 201; an interface base 2011; a robot arm 202; forearm 2021; a revolute joint 2022; a water photo needle gun 203; a fixing jig 204; camera fixing portion 2041.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
An intelligent hydro-optical needle injection robot 1000 simulating doctor operations according to an embodiment of the present invention is described below with reference to fig. 1 to 8.
An intelligent water needle injection robot 1000 simulating doctor operations according to an embodiment of the present invention includes a vision system, a control system 100, and a water needle injection execution system 200; the visual system is used for acquiring visual information; the control system 100 is used for determining an optimal injection position and a movement path of the hydro-needle injection execution system 200 according to the visual information, and controlling the hydro-needle injection execution system 200 to move to the optimal injection position according to the movement path for hydro-needle injection.
Specifically, the vision system is used for obtaining visual information. It should be explained that the vision system may obtain the facial information of the patient and the environmental information around the patient's face, and may transmit the obtained information to the control system 100 for processing.
The control system 100 is used for determining an optimal injection position and a movement path of the hydro-needle injection execution system 200 according to the visual information, and controlling the hydro-needle injection execution system 200 to move to the optimal injection position according to the movement path for hydro-needle injection. It should be explained that, the control system 100 can acquire and analyze the facial anatomy information of the patient according to the facial information of the patient obtained by the vision system, so as to determine the optimal injection position, thereby improving the accuracy and safety of the hydro-optical needle injection operation; the control system 100 can also determine the motion path of the hydro-optical needle injection execution system 200 according to the information of the surrounding environment of the face of the patient and the optimal injection position, so that the hydro-optical needle injection execution system 200 cannot touch the obstacle and the body of the patient in the moving process, and the safety in use is ensured; the control system 100 is used for controlling the water-light needle injection execution system 200 to perform water-light needle injection on patients, so that the injection effect of different patients can be guaranteed to reach a good level, the problem that the injection effect is not ideal due to factors such as fatigue of doctors is avoided, and good consistency is achieved.
The working process of the intelligent water needle injection robot 1000 simulating doctor operation according to the embodiment of the invention is as follows: first, the vision system is used to obtain vision information, such as face information of a patient and information of the surrounding environment of the face of the patient, and the vision information is transmitted to the control system 100 for processing; the control system 100 determines the optimal injection position and the movement path of the water-light needle injection execution system 200 according to the vision information of the vision system, controls the water-light needle injection execution system 200 to move to the optimal injection position according to the movement path, and automatically performs water-light needle injection on the face of a patient after the water-light needle injection execution system 200 reaches the optimal injection position, so that the use is safe and convenient.
In summary, the intelligent hydro-optical needle injection robot 1000 simulating doctor operation in the embodiment of the invention can simulate the doctor to perform hydro-optical needle injection on a patient, so that the problems of fatigue of the doctor and high risk of injection errors caused by traditional repeated operation in hydro-optical needle injection operation are avoided; the standardized operation of the intelligent water-light needle injection robot 1000 simulating doctor operation and the injection mode customized according to patients can greatly improve the safety, the accuracy and the consistency of the water-light needle injection operation. The intelligent water and light needle injection robot 1000 simulating doctor operation is suitable for operation of medical water and light needle injection, and can be popularized and applied on a large scale.
In some embodiments, the hydro-needle injection performance system 200 includes a mobile chassis 201, a robotic arm 202, and a hydro-needle gun 203; the control system 100 includes a force sensor 101 and a robot control box 102; the mechanical arm 202 is arranged on the mobile chassis 201, the water needle gun 203 is arranged at the tail end of the mechanical arm 202 through the force sensor 101, and the water needle gun 203, the force sensor 101 and the tail end of the mechanical arm 202 are coaxial; the robot control box 102 is provided in the moving chassis 201 for controlling the movement of the robot arm 202 according to a motion path to move the hydro-optical needle gun 203 to an optimal injection position.
The mobile chassis 201 can facilitate the intelligent water needle injection robot 1000 operated by the simulated doctor to move on the ground, so that the intelligent water needle injection robot 1000 operated by the simulated doctor in the embodiment is positioned at a proper position, so as to prepare for the water needle injection operation. The mechanical arm 202 is a six-degree-of-freedom mechanical arm and is formed by connecting a plurality of small arms 2021 and a plurality of rotary joints 2022, so that the mechanical arm is flexible and reliable, and the normal operation of the hydro-optical needle injection operation can be ensured; the mechanical arm 202 is fixed with the interface base 2011 on the mobile chassis 201 through a rotating joint 2022 on a small arm 2021, and is firmly and reliably connected; the robot control box 102 may control the movement of the robot arm 202 according to the motion path to move the hydro-optical needle gun 203 to an optimal injection position. The force sensor 101 is used for detecting whether the needle array plane at the tail end of the water needle gun 203 is completely contacted with the skin surface during the movement of the mechanical arm 202, specifically, when the needle array plane at the tail end of the water needle gun 203 is contacted with the skin surface, the force sensor 101 starts to detect a numerical value until the needle array plane of the water needle gun 203 is completely adsorbed on the skin surface, and then the needle array plane at the tail end of the water needle gun 203 is considered to be completely contacted with the skin surface, so that all the needles in the water needle gun 203 can enter the skin to perform water needle injection. When the needle array plane at the tail end of the water optical needle gun 203 is completely attached to the surface of the skin at the optimal injection position, the water optical needle gun 203 automatically starts to generate negative pressure, and a motor in the water optical needle gun 203 pushes a needle tube piston to move forwards for drug delivery, so that one injection is completed; when an injection is completed, the robotic arm 202 moves upward away from the skin surface to perform the injection at the next optimal injection site.
The intelligent water needle injection robot 1000 simulating doctor operation in the embodiment has the advantages of unique design, simple structure and convenient and safe use.
In some embodiments, a plurality of universal wheels are arranged at the bottom of the movable chassis 201, so that the intelligent water photo-needle injection robot 1000 can conveniently move to a proper position on the ground, and a locking mechanism is arranged on the universal wheels, so that the intelligent water photo-needle injection robot 1000 can be prevented from moving during injection, and the safety of the intelligent water photo-needle injection robot 1000 is guaranteed.
In some embodiments, the hydro-optical needle gun 203 is mounted on the force sensor 101 by a stationary fixture 204.
Specifically, as shown in fig. 2 to 7, the fixing clamp 204 may be fixed to the force sensor 101 by bolting, so that the connection is firm and reliable.
In some embodiments, the fixing clamp 204 is provided with a slot part, the water optical needle gun 203 is detachably clamped in the slot part, and the fixing is reliable and convenient for disassembling and changing the medicine of the water optical needle gun 203.
In some embodiments, the vision system includes an ultrasound scanner and a depth camera; the depth camera is used for providing images so that the control system 100 obtains relative position information of the hydro-optical needle injection system and the environment and geometric information of the face of the patient according to the images; ultrasound scanners are used for pre-operative manual scanning in order to control the system 100 to acquire and analyze facial anatomy information of a patient. In this way, the control system 100 determines the optimal injection position and the movement path of the hydro-needle injection execution system 200 according to the visual system visual information, so that the mechanical arm 202, the hydro-needle gun 203 and other components do not touch the obstacle and the patient body during the movement.
In some embodiments, the depth camera is fixed on the fixing clamp 204, so that the depth camera can move along with the fixing clamp 204, and can conveniently shoot a three-dimensional image of the surrounding environment of the face of the patient, so that the specific distance of the face of the patient can be known, the safety of the intelligent water needle injection robot 1000 during injection is ensured, and the precision of water needle injection is improved.
In some embodiments, the upper end of the stationary fixture 204 has a laterally extending camera mount 2041, and a depth camera is mounted on the camera mount 2041 so that the depth camera can follow the movement of the stationary fixture 204 and so that the depth camera can conveniently capture three-dimensional images of the surrounding environment of the patient's face and facilitate observation of the water needle injection process.
In some embodiments, an automatic mode of operation and a manual mode of operation are included.
Wherein, in the automatic operation mode: firstly, visual information is acquired by utilizing a visual system, and a remote computer analyzes and determines an optimal injection position and a movement path of the mechanical arm 202 according to the visual information; then, the mechanical arm 202 moves along the planned movement path to enable the hydro-optical needle gun 203 to reach the position above the optimal injection position for parking, and after the hydro-optical needle gun reaches the designated position through confirmation of the information of the depth camera, the hydro-optical needle gun starts to slowly move downwards; when the needle array plane at the tail end of the water needle gun 203 contacts the skin surface, the force sensor 101 starts to detect a numerical value until the water needle gun 203 completely adsorbs the needle array plane on the skin, the water needle gun 203 automatically starts to generate negative pressure, and a motor in the water needle gun 203 pushes a needle tube piston to move forwards for drug delivery, so that one injection is completed; when an injection is completed, the robotic arm 202 moves upward away from the skin surface to perform the injection at the next optimal injection site.
In manual mode of operation: the remote device is manually manipulated to manipulate the intelligent water needle injection robot 1000 simulating doctor operations.
Specifically, the intelligent water and light needle injection robot 1000 simulating doctor operation in the embodiment of the invention can be switched between an automatic operation mode and a manual operation mode, and can be switched to the manual operation mode when a problem requiring doctor judgment or emergency occurs, and in the manual operation mode, a doctor can use a demonstrator, a remote control handle and other devices to control the intelligent water and light needle injection robot 1000 simulating doctor operation, so that the problems in water and light needle injection operation are flexibly solved, and the safety of the water and light needle injection operation is ensured.
In some embodiments, in the automatic mode of operation, the obtaining visual information using the vision system specifically includes: scanning the face of the patient by using an ultrasonic scanner, and acquiring and analyzing facial anatomy information of the patient; and using the images provided by the depth camera, the control system 100 performs processing to obtain relative positional information of the hydro-optical needle gun 203 to the environment and geometric information of the patient's face.
Specifically, the ultrasonic scanner is used for scanning the face of the patient before the operation, acquiring and analyzing facial anatomy structure information of the patient, and is independently arranged outside the mechanical arm 202, so that the load of the mechanical arm 202 can be reduced, the energy consumption of the mechanical arm 202 is reduced, and the mechanical arm 202 moves more flexibly; the depth camera can provide the relative position information of the water needle gun 203 and the environment and the geometric information of the face of the patient, and the depth camera is arranged at the camera fixing part 2041 of the fixing clamp 204 and moves together with the water needle gun 203 and the fixing clamp 204, so that the working condition and the working environment of the water needle gun 203 can be intuitively seen, and the safety is higher.
In some embodiments, in manual mode, the injection position is manually selected in place of the optimal injection position determined by the control system 100 or the optimal injection position determined by the control system 100 is manually adjusted and the movement of the robotic arm 202 is manually controlled. The safety of the water injection is ensured, the probability of medical accidents is reduced, and the injection mode is more flexible.
As shown in fig. 8, the following describes the operation of the intelligent water needle injection robot 1000 simulating doctor operation according to an embodiment of the present invention: when an operation is started, firstly, preparing operation equipment, carrying out full-face anesthesia on a patient, scanning the face of the patient by using an ultrasonic scanner, acquiring and analyzing facial anatomy information of the patient, transmitting the information to a control system 100 so as to carry out a hydro-optical needle injection operation, then moving an intelligent hydro-optical needle injection robot 1000 to a proper position, detecting the position of the face by using a vision system by using the intelligent hydro-optical needle injection robot 1000, and if the position of the face is not detected, giving an alarm to a doctor by using the intelligent hydro-optical needle injection robot 1000, wherein the doctor can select to carry out manual operation or enable the intelligent hydro-optical needle injection robot 1000 to be repositioned and to carry out visual identification; until the intelligent water photo needle injection robot 1000 detects the face position; after the intelligent water optical needle injection robot 1000 detects the face position, the detected face is subjected to region segmentation, an optimal injection position is selected, and an injection path is planned; then the mechanical arm 202 moves above the area to be injected and detects the area to be injected, if the area to be injected can not be injected, the intelligent water-light needle injection robot 1000 can give an alarm, and a doctor can choose to perform manual operation or make the intelligent water-light needle injection robot 1000 re-detect the area to be injected again until the area to be injected is detected and water-light needle injection operation can be performed; when the intelligent hydro-optical needle injection robot 1000 detects that the region to be injected can be injected, the hydro-optical needle gun 203 moves towards the region to be injected, after a predetermined distance is moved, whether the needle array plane of the hydro-optical needle gun 203 reaches a position suitable for injection or not can be detected according to the indication of the force sensor 101 and the picture of the depth camera, namely, four sides of the quadrilateral needle array plane of the hydro-optical needle gun 203 are completely adsorbed on the face of a patient; when detecting that the water needle gun 203 does not reach the proper position, the intelligent water needle injection robot 1000 can give an alarm, a doctor can choose to perform manual operation, or the intelligent water needle injection robot 1000 can readjust the position of the water needle gun 203 until the water needle gun 203 is at the proper position, then the water needle gun 203 generates negative pressure and pushes liquid medicine; after the sufficient amount of liquid medicine is pushed in, the needle array plane of the hydro-optical needle gun 203 leaves the face of the patient to a safe position, and one injection is completed; after one injection is completed, the intelligent water optical needle injection robot 1000 can detect whether an injection area exists, and when the intelligent water optical needle injection robot 1000 detects that the injection area exists, the intelligent water optical needle injection robot 1000 can read in a next injection position path and detect whether the injection path is normal; when the intelligent water optical needle injection robot 1000 detects that the injection path is normal, the mechanical arm 202 moves to the upper surface of the area to be injected to perform the next injection; when the injection route is detected to be abnormal, an alarm is given, and a doctor can choose to perform manual operation or enable the intelligent water optical needle injection robot 1000 to read in the next injection route again, and the route is detected again; when there is no non-injected area, the hydro-optical needle injection operation is completed.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An intelligent hydro-optical needle injection robot for simulating doctor operation, comprising: the system comprises a vision system, a control system and a water-light needle injection execution system; the visual system is used for acquiring visual information; the control system is used for determining an optimal injection position and a movement path of the hydro-optical needle injection system according to the visual information, and controlling the hydro-optical needle injection execution system to move to the optimal injection position according to the movement path to perform hydro-optical needle injection.
2. The intelligent hydro-needle injection robot simulating doctor operations of claim 1, wherein the hydro-needle injection execution system comprises a mobile chassis, a robotic arm, and a hydro-needle gun; the control system comprises a force sensor and a robot control box; the mechanical arm is arranged on the movable chassis, the water-light needle gun is arranged at the tail end of the mechanical arm through the force sensor, and the water-light needle gun, the force sensor and the tail end of the mechanical arm are coaxial; the robot control box is arranged in the movable chassis and is used for controlling the movement of the mechanical arm according to the movement path so as to enable the hydro-optical needle gun to move to the optimal injection position.
3. The intelligent hydro-optical needle injection robot simulating doctor operations of claim 2, wherein the hydro-optical needle gun is mounted on the force sensor by a stationary fixture.
4. The intelligent hydro-optical needle injection robot simulating doctor operations according to claim 3, wherein the fixing clamp is provided with a slot part, and the hydro-optical needle gun is detachably clamped in the slot part.
5. The intelligent hydro-optical needle injection robot simulating doctor operations of claim 3, wherein the vision system comprises an ultrasound scanner and a depth camera; the depth camera is used for providing images so as to obtain relative position information of the water-light needle injection system and the environment and geometric information of the face of a patient according to the images; the ultrasonic scanner is used for manual scanning before operation to acquire and analyze facial anatomy information of a patient.
6. The intelligent hydro-optical needle injection robot simulating doctor operations of claim 5, wherein the depth camera is fixed to the fixture.
7. The intelligent water needle injection robot simulating doctor operations of claim 6, wherein the upper end of the fixture has a laterally extending camera mount, the depth camera being secured to the camera mount.
8. The intelligent water needle injection robot simulating doctor operations of claim 5, comprising an automatic mode of operation and a manual mode of operation;
Wherein, in the automatic operation mode: firstly, acquiring visual information by using the visual system, and analyzing and determining the optimal injection position and the motion path of the mechanical arm by a remote computer according to the visual information; then, the mechanical arm moves along the planned movement path to enable the water-light needle gun to reach the position above the optimal injection position for parking, and after the arrival of the appointed position is confirmed by combining the information of the depth camera, the mechanical arm starts to slowly move downwards; when the needle array plane at the tail end of the water-light needle gun contacts the skin surface, the force sensor starts to detect a numerical value until the water-light needle gun needle array plane is completely adsorbed on the skin, the water-light needle gun automatically starts to generate negative pressure, and a motor in the water-light needle gun pushes a needle tube piston to move forwards for drug delivery, so that one injection is completed; when one injection is completed, the mechanical arm moves upwards to leave the surface of the skin, and the injection at the next optimal injection position is performed;
In the manual operation mode: and controlling the remote equipment manually to control the intelligent water needle injection robot simulating doctor operation.
9. The intelligent hydro-optical needle injection robot for simulating doctor operations of claim 8, wherein in the automatic run mode, the obtaining visual information with the vision system specifically comprises: scanning the face of the patient by using the ultrasonic scanner to acquire and analyze facial anatomy information of the patient; and processing by using the image provided by the depth camera, and obtaining the relative position information of the hydro-optical needle gun and the environment and the geometric information of the face of the patient by the control system.
10. The intelligent hydro-optical needle injection robot of claim 8, wherein in the manual mode, an injection position is manually selected in place of or in addition to the optimal injection position determined by the control system and movement of the robotic arm is manually controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410064875.1A CN118044885A (en) | 2024-01-16 | 2024-01-16 | Intelligent water-light needle injection robot capable of simulating doctor operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410064875.1A CN118044885A (en) | 2024-01-16 | 2024-01-16 | Intelligent water-light needle injection robot capable of simulating doctor operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118044885A true CN118044885A (en) | 2024-05-17 |
Family
ID=91051173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410064875.1A Pending CN118044885A (en) | 2024-01-16 | 2024-01-16 | Intelligent water-light needle injection robot capable of simulating doctor operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118044885A (en) |
-
2024
- 2024-01-16 CN CN202410064875.1A patent/CN118044885A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Balter et al. | Adaptive kinematic control of a robotic venipuncture device based on stereo vision, ultrasound, and force guidance | |
| US11751782B2 (en) | Systems and methods for autonomous intravenous needle insertion | |
| CN110051436B (en) | Automated cooperative work assembly and application thereof in surgical instrument | |
| CN109549705B (en) | Surgical robot system and application method thereof | |
| CN113164117A (en) | Ultrasound guided alignment and insertion of percutaneous cannula instrument | |
| Balter et al. | The system design and evaluation of a 7-DOF image-guided venipuncture robot | |
| US20110264078A1 (en) | Ring form surgical effector | |
| KR20200078422A (en) | System and method for master/tool matching and control for intuitive movement | |
| EP2654593B1 (en) | Systems for autonomous intravenous needle insertion | |
| CN117770979A (en) | Collision avoidance during controlled movement of movable arm of image acquisition device and steerable device | |
| CN109549706B (en) | Surgical operation auxiliary system and application method thereof | |
| US20220401178A1 (en) | Robotic surgical navigation using a proprioceptive digital surgical stereoscopic camera system | |
| CN104771232A (en) | Electromagnetic positioning system and selection method for three-dimensional image view angle of electromagnetic positioning system | |
| Zhang et al. | A handheld master controller for robot-assisted microsurgery | |
| CN114521965A (en) | Surgical instrument replacement robot, surgical robot system, and surgical instrument replacement system | |
| CN209826968U (en) | Surgical robot system | |
| CN118044885A (en) | Intelligent water-light needle injection robot capable of simulating doctor operation | |
| CN202761317U (en) | Ultrasound system for early diagnosis and treatment of ischemic cardiomyopathy | |
| CN204671279U (en) | A kind of electromagnetic locator | |
| Awang et al. | Robotic neurosurgery: a preliminary study using an active vision-guided robotic arm for bone drilling and endoscopic manoeuvres | |
| CN115429438A (en) | Supporting device fixed point follow-up adjusting system and surgical robot system | |
| Lin et al. | Design of a Multi-data fusion intelligent venipuncture blood sampling robot | |
| WO2020150165A1 (en) | System and method for automated docking | |
| Tianmiao et al. | An internet robot assistant tele-neurosurgery system case | |
| CN211512044U (en) | Optical tracking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination |