CN209864892U - Automatic intravenous injection system based on 3D vision guide - Google Patents
Automatic intravenous injection system based on 3D vision guide Download PDFInfo
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- CN209864892U CN209864892U CN201920095786.8U CN201920095786U CN209864892U CN 209864892 U CN209864892 U CN 209864892U CN 201920095786 U CN201920095786 U CN 201920095786U CN 209864892 U CN209864892 U CN 209864892U
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Abstract
The utility model relates to an automatic intravenous route system based on 3D vision guide includes industrial controller, 3D sensor, arm, syringe needle, liquid flow inductor, injection port, injection pipe and conversion equipment, wherein: one end of the injection port is connected with the retention needle, and the other end of the injection port is connected with the injection needle; the sealing position where the injection port is connected with the injection needle is sealed and provided with an easily-penetrated and elastic sealing film; the liquid flow inductor is fixed at the tail end of the mechanical arm, and the upper end of the liquid flow inductor is connected with the medicine tube; the lower end is connected with the injection needle; the medicine injection pipe is connected with a conversion device, and the conversion device is provided with a plurality of medicine injection ports; the sensor is arranged at the tail joint end of the mechanical arm; the 3D sensor, the mechanical arm, the injection needle and the liquid flow sensor are all connected with an industrial controller; the mechanical arm is provided with a preset moving path.
Description
Technical Field
The utility model relates to a medical robot technical field specifically is to relate to an automatic intravenous route system based on 3D vision guide by robot operation.
Background
In the medical field, the use of robots greatly improves the medical effect, and occupies an important position in medical treatment. In general, most surgical robots require remote manipulation by a surgeon for surgery, and in a common surgical scenario assisted by a surgical robot, the surgeon operates a master end of the robot at a position far away from a patient, and controls the movement of surgical instruments of the slave end robot at a surgical site according to a master-slave operation control mode.
In the prior art, a robot can assist a doctor in performing a surgical operation, but cannot completely release the work of the doctor, wherein the doctor needs to manually operate for a large number of operations such as injection, and the workload of the doctor cannot be reduced. There is therefore a need for a robot that can completely replace a doctor in injecting medication.
Disclosure of Invention
The utility model aims at providing an automatic intravenous route system based on 3D vision guide makes its injection port on the 3D vision location patient's health through the robot, utilizes purpose-made injection device to inject the medicine into the patient is internal automatically. The robot can replace doctors to inject medicine, the workload of the doctors is reduced, and radiation and infection of radiation and infection environment can be avoided.
The purpose of the utility model and the technical problem thereof are realized by adopting the following technical scheme. The basis the utility model provides an automatic intravenous route system based on 3D vision guide, including industrial controller 1, 3D sensor 2, arm 3, syringe needle 4, liquid flow inductor 5, injection port 6, injection pipe 8, fixed bolster 9 and conversion equipment 10, wherein: one end of the injection port 6 is connected with the detaining needle, and the other end is connected with the injection needle 4; the sealing position where the injection port 6 is connected with the injection needle 4 is sealed and provided with an easily-penetrated and elastic sealing film; the liquid flow inductor 5 is fixed at the tail end of the mechanical arm 3, and the upper end of the liquid flow inductor 5 is connected with the medicine tube 8; the lower end is connected with the injection needle 4; the medicine injection tube 8 is connected with a conversion device 10, and the conversion device 10 is provided with a plurality of medicine injection ports; the 3D sensor 2 is arranged at the tail joint end of the mechanical arm 3; the 3D sensor 2, the mechanical arm 3, the injection needle 4 and the liquid flow sensor 5 are all connected with the industrial controller 1; the mechanical arm 3 is provided with a preset moving path; the fixed support 9 is detachably fixed on a rail of a sickbed, and is provided with a clamping piece for clamping the injection port 6.
The purpose of the utility model and the technical problem thereof can be further realized by adopting the following technical measures.
The automatic intravenous injection system based on 3D vision guidance is described above, wherein the 3D sensor 2 is a binocular stereo scanning sensor composed of a camera and a laser line.
The automatic intravenous injection system based on 3D visual guidance is described, wherein a disinfection tube 7 for inserting an injection needle is arranged on the fixed base of the mechanical arm 3 in the movable range of the mechanical arm.
The automatic intravenous injection system based on 3D vision guidance is described in the foregoing, wherein the injection needle 4 has a valve therein for controlling one-way outflow of liquid, and the on-off state of the valve is controlled by the vision system of the industrial controller 1.
The automatic intravenous injection system based on 3D visual guidance is described, wherein the drug injection tube 8 is provided with a switch for adjusting the flow rate of the liquid and a liquid tank.
The automatic intravenous injection system based on 3D visual guidance, wherein the switching device 10 comprises 5 liquid flow sensors and a liquid storage box, wherein each liquid flow sensor has an inlet connected to a medicine bottle and an outlet connected to the liquid storage box, and the bottom of the liquid storage box is provided with a delivery pipe connected to the medicine injection pipe 8; and the industrial controller receives the sensing information of the 5 liquid flow sensors and controls the valve opening and closing states of the 5 liquid flow sensors.
In the automatic intravenous injection system based on 3D visual guidance, the fixing bracket includes an upper semicircular clamping component and a lower semicircular clamping component connected by a bolt, and a clamping component fixed on the upper clamping component and used for clamping the injection port, wherein the upper clamping component and the lower clamping component are clamped on a rail of the hospital bed.
The purpose of the utility model and solve the technical problem can also be realized by adopting the following technical scheme. According to the utility model provides an injection method of automatic intravenous route system based on 3D vision guide, including following step: firstly, an injection port is arranged on a patient indwelling needle, a fixed bracket is clamped on a blocking frame at the edge of a sickbed, and then the injection port is clamped on the fixed bracket upwards; secondly, setting a running path of the mechanical arm; thirdly, connecting the medicine bottle with a medicine injection port on the conversion device, and controlling the conversion device to start to flow liquid medicine by using a remote controller or pressing a start button by hand; starting the mechanical arm by using an industrial controller, controlling the mechanical arm to move to a set scanning area through a preset path, then controlling a valve of an injection needle to be opened for 3 seconds by a vision system and then closing the valve, controlling a 3D sensor to carry out laser scanning on an injection port by the vision system, transmitting acquired and scanned data information of the injection port to the vision system, carrying out contrastive analysis on the data of the injection port reserved by the vision system, accurately calculating the position coordinate of the injection port, and guiding the injection needle on a mechanical arm to be connected with the injection port; and fourthly, the visual system controls the valve of the injection needle to be opened, the medicine is slowly injected into the human body, meanwhile, the inductor judges whether the injection of the medicine is finished or not by inducing the flow of the medicine, when the injection is finished, the liquid flow inductor sends a signal to the visual system, the visual system analyzes the signal and then guides the mechanical arm to return to the in-situ state according to a set motion track, the injection needle is inserted into the disinfection tube, and the injection port is sealed through an easily-penetrated and elastic sealing film.
Compared with the prior art, the utility model obvious advantage and beneficial effect have. Borrow by above-mentioned technical scheme, the utility model discloses automatic intravenous route system based on 3D vision guide can reach considerable technical advancement and practicality to have the wide use value in industry, it has following advantage at least:
functionally, the utility model discloses possess locate function and injection function simultaneously, wherein locate function: the positioning function of the vision system is that a camera of a sensor and a laser line are matched with an injection port in a scanning visual field range, scanned data are transmitted to the system to form a 3D point cloud image, the point cloud image of an injection port device is screened out and reserved as a data template, the scanned data image in work is compared with the data template for analysis, the mechanical arm is guided to operate injection operation according with the template requirement, and otherwise, the mechanical arm is scanned again. And (3) injection function: in the controller of the robot, the trajectory of the robot arm may be set by a program for writing the trajectory. The medicine injected is injected into the injection needle through the medicine injection tube, and the injection needle is provided with a valve for controlling the liquid to flow out in a single direction, so that the medicine is prevented from flowing out of the needle after being injected. The switch of the valve is set and controlled by a vision system, the liquid flow sensor is also controlled by the vision system, the vision system sets that the opening and closing of the control valve are carried out for 3 seconds when the mechanical arm stops moving for the first time, air in the injection needle is discharged, the liquid flow sensor does not work at the moment, the system control valve is opened when the mechanical arm stops moving for the second time, the liquid flow sensor starts working, the injection is finished, the sensor sends a signal, the system control valve is closed, and meanwhile, the mechanical arm is guided to return to the original state.
The utility model discloses a laser scanning injection port of sensor, the scanning data transfer who gathers the injection port is to vision system, calculates through the analysis, confirms the accurate position of injection port, and send instruction to arm carries out syringe needle and injection port and links up, injects the medicine in the human body.
The utility model discloses an automatic intravenous route system based on 3D vision guide is accurate location, and full-automatic injection medicine for the patient need not personnel and participates in the operation to adapt to any environment, especially under the environment that has radiation infection, during the injection medicine the utility model discloses can avoid the doctor to get into radiation infection's environment, also alleviateed medical staff's work load simultaneously, improved the efficiency of work.
Drawings
Fig. 1 is a system configuration diagram of the automatic intravenous injection system based on 3D vision guidance of the present invention;
fig. 2 is a schematic structural diagram of a robot arm of the automatic intravenous injection system based on 3D vision guidance according to the present invention;
fig. 3 is a schematic structural diagram of an injection needle of the automatic intravenous injection system based on 3D vision guidance of the present invention;
fig. 4 is a schematic structural diagram of the automatic intravenous injection system conversion device based on 3D vision guidance of the present invention;
fig. 5 is a schematic structural view of a fixing bracket of the automatic intravenous injection system based on 3D vision guidance of the present invention;
fig. 6 is the utility model discloses automatic intravenous route system work flow chart based on 3D vision guide.
[ description of main element symbols ]
1: industrial controller
2: 3D sensor
3: mechanical arm
4: injection needle
5: liquid flow inductor
6: injection port
7: sterilizing tube
8: medicine injection tube
9: fixing support
91: upper clamping component
92: lower clamping component
93: clamping component
94: bed side rail
10: conversion device
Detailed Description
To further illustrate the technical means and effects of the present invention for achieving the predetermined objects, the following detailed description will be given to the embodiments, structures, features and effects of the automatic intravenous injection system based on 3D vision guidance according to the present invention with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1-6, which are schematic structural diagrams of parts of an automatic intravenous injection system based on 3D vision guidance according to the present invention, the automatic intravenous injection system based on 3D vision guidance includes: industrial controller 1, 3D sensor 2, mechanical arm 3, injection needle 4, liquid flow sensor 5, injection port 6, disinfection tube 7, injection tube 8, fixed bracket 9 and conversion device 10. Wherein: one end of the injection port 6 is connected with the detaining needle, the other end is connected with the injection needle 4, and the injection port 6 is sealed by an easily-penetrated and elastic sealing film. The liquid flow inductor 5 is fixed at the tail end of the mechanical arm 3, the upper end of the liquid flow inductor 5 is connected with the medicine tube 8, and the lower end of the liquid flow inductor is connected with the injection needle 4. The 3D sensor 2 is arranged at the tail joint end of the mechanical arm 3, and the mechanical arm 3 is fixed on the base; the fixed support 9 is detachably fixed on a rail of a sickbed, and is provided with a clamping piece for clamping the injection port 6. The drug injection tube 8 is connected to a switching device 10, and the switching device 10 has a plurality of drug injection ports. The 3D sensor 2, the mechanical arm 3, the injection needle 4 and the liquid flow sensor 5 are all connected with the industrial controller 1.
The 3D sensor 2 comprises a camera and a laser line and is arranged on the end joint arm of the mechanical arm 3. The 3D sensor 2 scans the injection port device through the laser line in a scanning area, acquires three-dimensional data information of the injection port, transmits the acquired data to the industrial controller 1 for analysis and calculation, and controls the scanning of the laser line by the industrial controller 1.
The industrial controller 1 comprises a vision system connected to a 3D sensor, a robotic arm, a liquid flow sensor and a needle device. The vision system is used for configuring a numerical value acquisition threshold of a sensor, rapidly comparing, analyzing and calculating scanning data acquired by the sensor and sample data reserved by the system to obtain accurate coordinates of a target, transmitting positioning coordinates to the mechanical arm 3, guiding the mechanical arm 3 to find an injection port 6 according to the positioning coordinates, and controlling an injection needle 4 to perform injection action through a mechanical arm 3 operation stop signal and a signal sent by a liquid flow sensor 5. In the embodiment of the present invention, the model of the industrial controller is AIIS-3410.
The coordinate calculated by the vision system is the position where the injection needle 4 arrives, the position where the injection needle 4 arrives at the injection port 6 is set in the system, the injection port 6 is a circular port, the position where the injection needle arrives is set as the circle center, the vision system calculates the data of the injection port 6 scanned by the 3D sensor 2, and the circle center coordinate of the injection port is calculated when the injection port is identified, so that the specific position of the injection port is obtained.
The mechanical arm 3 has 6 degrees of freedom, the mechanical arm base is fixed, an opening of the mechanical arm base faces to a proper disinfection tube 7 in the moving range of the mechanical arm, and the posture of the mechanical arm for parking is set to be that the injection needle is inserted into the disinfection tube 7. The end of the robot arm 3 is provided with a needle 4 and a liquid flow sensor 5, and the robot arm 3 is connected to the industrial controller 1 via a network cable. The 3D sensor 2 is arranged on the tail arm of the mechanical arm 3, and can flexibly scan. And setting a running path of the mechanical arm by using a controller of the robot, starting running according to the set running path when the mechanical arm obtains the positioning coordinates transmitted by the vision system, finding an injection port, inserting the injection needle into the injection port, and returning to the original position state according to the original path after injection is finished. The utility model discloses the controller of arm can be FANUC controller, and the model is FANUC SYSTEM R-30iB Mate, perhaps is ABB, UR, FANUC, KUKA, DENSO, EPSON, ESTUN, GREE, ZICEN, Anchuan, kawasaki, that intelligence, stanobil etc..
The injection needle 4 is arranged at the tail end of the mechanical arm, a flange of the injection needle is connected with a liquid flow inductor 5, the liquid flow inductor is connected with a medicine injection pipe 8, the medicine injection pipe 8 is provided with a switch and a liquid groove for adjusting the flow rate of liquid, and the medicine injection pipe 8 is connected with a conversion device 10. The injection needle is internally provided with a valve for controlling liquid to flow out in a one-way, the opening and closing state of the valve is controlled by a visual system, when a mechanical arm runs to a scanning area and stops, the visual system controls the valve of the injection needle to be opened for 3 seconds and then closed, the valve is used for discharging air in the injection needle 4 and only a very small amount of liquid flows out of the needle, at the moment, the visual system controls a laser line of a 3D sensor to start scanning, identifying and positioning an injection port 6, the mechanical arm 3 is guided to run to insert the injection needle 4 into the injection port 6, the mechanical arm 3 stops moving and sends a stop signal to the visual system, the visual system controls the valve of the injection needle 4 to be opened and starts injecting liquid medicine, meanwhile, the liquid flow sensor 5 is controlled to start sensing the flowing state of the liquid medicine, when the liquid injection is finished, the liquid flow sensor 5 cannot sense the flow of the medicine, the visual, and simultaneously, the mechanical arm is guided to return to the original position according to the original path.
In the embodiment of the present invention, the conversion device 10 is connected to the drug injection tube 8, and there are 5 openings for connecting the drug bottle, that is, the conversion device 10 includes 5 liquid flow sensors and a liquid storage box, wherein each liquid flow sensor inlet is connected to one drug bottle, the outlet is connected to the liquid storage box, and the bottom of the liquid storage box is provided with a delivery tube connected to the drug injection tube 8. The utility model discloses conversion equipment 10 is connected with industrial controller 1, industrial controller 1 receives the response information of 5 liquid flow sensors to control 5 liquid flow sensors's valve on-off state. When the initial state is completely closed, a start button is arranged on the conversion device 10, the start button is pressed, the valve of the first liquid flow sensor is opened, liquid flows out, when the liquid flow sensor cannot sense that liquid flows, a signal is sent to the industrial controller, the industrial controller opens the valve of the second liquid flow sensor, and the like, the close button on the device is pressed, and the valves of the 5 liquid flow sensors are completely closed. The trouble of changing the medicine of a plurality of medicine bottles is avoided.
The injection port device is a device which is embedded and inosculated with the injection needle, and the shape of the injection port device is similar to a large-size plate of a connector at one end of an indwelling needle. In the embodiment of the present invention, the fixing bracket includes two upper and lower semicircular clamping members connected by a bolt and a clamping member 93 fixed on the upper clamping member 91, wherein the upper and lower clamping members are clamped on the rail of the hospital bed. The injection port can be clamped on the fixed support through the clamping part 93 and can also be taken off, one end of the injection port device is connected with the remaining needle, the other end of the injection port device is connected with the injection needle, and the sealing position of the injection port is provided with an easily-penetrated and elastic sealing film to prevent the injection port from being incapable of being sealed after the injection needle is pulled out.
The utility model discloses include following step during automatic intravenous route system injection based on 3D vision guide: firstly, an injection port is arranged on a patient indwelling needle, a fixed bracket is clamped on a blocking frame at the edge of a sickbed, and then the injection port is clamped on the fixed bracket upwards; and secondly, setting the running path of the mechanical arm in advance, setting the running path only once, and not setting the running path any more afterwards. Inserting a medicine bottle into a medicine injection port on the conversion device, pressing a start button by a remote controller or a hand to control the start of flowing of liquid medicine, starting a mechanical arm by an industrial controller, controlling the mechanical arm to move to a set scanning area through a preset path by the industrial controller, then controlling a valve of an injection needle to be opened for 3 seconds and then closing the valve, controlling a 3D sensor by a vision system to carry out laser scanning on the injection port, transmitting data information of the acquired and scanned injection port to the vision system, carrying out contrastive analysis on the data of the injection port reserved by the vision system, accurately calculating the position coordinate of the injection port, and guiding an injection needle on a mechanical arm to be connected with the injection port; and thirdly, the visual system controls the valve of the injection needle to be opened, the medicine is slowly injected into the human body like infusion, meanwhile, the sensor judges whether the medicine is injected or not by sensing the flow of the medicine, the injection is finished, the liquid flow sensor sends a signal to the visual system, the visual system guides the mechanical arm to return to a home position state according to a set motion track after analyzing the signal, the injection needle is inserted into the disinfection tube, and the injection port is sealed by an elastic sealing film which is easy to penetrate.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention has been disclosed with the preferred embodiment, it is not limited to the present invention, and any skilled person in the art can make modifications or changes equivalent to the equivalent embodiment of the above embodiments without departing from the scope of the present invention, but all the modifications, changes and modifications of the above embodiments by the technical spirit of the present invention are within the scope of the present invention.
Claims (7)
1. An automatic intravenous injection system based on 3D visual guidance, characterized in that: including industrial controller (1), 3D sensor (2), arm (3), syringe needle (4), liquid flow inductor (5), injection port (6), injection pipe (8), fixed bolster (9) and conversion equipment (10), wherein: one end of the injection port (6) is connected with the retention needle, and the other end of the injection port is connected with the injection needle (4);
the sealing position where the injection port (6) is connected with the injection needle (4) is sealed and provided with an easily-penetrated and elastic sealing film;
the liquid flow inductor (5) is fixed at the tail end of the mechanical arm (3), and the upper end of the liquid flow inductor (5) is connected with the medicine tube (8); the lower end is connected with an injection needle (4);
the medicine injection pipe (8) is connected with a conversion device (10), and the conversion device (10) is provided with a plurality of medicine injection ports;
the 3D sensor (2) is arranged at the tail joint end of the mechanical arm (3);
the 3D sensor (2), the mechanical arm (3), the injection needle (4) and the liquid flow sensor (5) are all connected with the industrial controller (1);
the mechanical arm (3) is provided with a preset moving path;
the fixed support (9) is detachably connected to a rail of a sickbed, and a clamping piece for clamping the injection port (6) is arranged on the fixed support.
2. The 3D vision guidance-based automatic intravenous injection system of claim 1, wherein: the 3D sensor (2) is a binocular stereo scanning sensor composed of a camera and a laser line.
3. The 3D vision guidance-based automatic intravenous injection system of claim 1, wherein: wherein a disinfection tube (7) for inserting the injection needle is arranged in the movable range of the mechanical arm on the fixed base of the mechanical arm (3).
4. The 3D vision guidance-based automatic intravenous injection system of claim 1, wherein: wherein the injection needle (4) is internally provided with a valve for controlling the unidirectional outflow of the liquid, and the opening and closing state of the valve is controlled by a visual system of the industrial controller (1).
5. The 3D vision guidance-based automatic intravenous injection system of claim 1, wherein: wherein the drug injection tube (8) is provided with a switch for adjusting the flow rate of liquid and a liquid groove.
6. The 3D vision guidance-based automatic intravenous injection system of claim 1, wherein: the conversion device (10) comprises 5 liquid flow inductors and a liquid storage box, wherein the inlet of each liquid flow inductor is connected with a medicine bottle, the outlet of each liquid flow inductor is connected with the liquid storage box, and the bottom of the liquid storage box is provided with a conveying pipe connected with a medicine injection pipe (8); and the industrial controller (1) receives the sensing information of the 5 liquid flow sensors and controls the valve opening and closing states of the 5 liquid flow sensors.
7. The 3D vision guidance-based automatic intravenous injection system of claim 1, wherein: the fixed support comprises an upper semicircular clamping part and a lower semicircular clamping part which are connected through a bolt, and a clamping part which is fixed on the upper clamping part and used for clamping the injection port, wherein the upper clamping part and the lower clamping part are clamped on a rail of a sickbed.
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| CN201920095786.8U CN209864892U (en) | 2019-01-21 | 2019-01-21 | Automatic intravenous injection system based on 3D vision guide |
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| CN201920095786.8U CN209864892U (en) | 2019-01-21 | 2019-01-21 | Automatic intravenous injection system based on 3D vision guide |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109498914A (en) * | 2019-01-21 | 2019-03-22 | 河南埃尔森智能科技有限公司 | A kind of automatic intravenous injection system and its injecting method based on 3D vision guide |
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2019
- 2019-01-21 CN CN201920095786.8U patent/CN209864892U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109498914A (en) * | 2019-01-21 | 2019-03-22 | 河南埃尔森智能科技有限公司 | A kind of automatic intravenous injection system and its injecting method based on 3D vision guide |
| CN109498914B (en) * | 2019-01-21 | 2024-05-24 | 河南埃尔森智能科技有限公司 | Automatic intravenous injection system based on 3D vision guidance and injection method thereof |
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