CN217853810U - Skin flap massager - Google Patents

Abstract

The utility model relates to a skin flap massager, comprising a massage device, a camera, a laser range finder, and a three-axis mobile platform that drives the massage device, the camera and the laser range finder to move in three directions of X, Y, and Z. And a control device connected in communication with the massage device, camera, laser range finder and three-axis mobile platform; The mouth is connected, the bottom end of the telescopic cup is detachably connected with the spherical massage head, and the massage air pump drives the spherical massage head to move up and down through the telescopic cup to realize skin flap massage. The utility model uses a three-axis moving platform to adjust the position of the massage device, cooperates with a camera, a laser rangefinder and a control device, etc., and can perform intelligent massage after scanning the transplanted part, freeing the hands of medical staff and greatly reducing the work intensity.

Description

A skin flap massager

technical field

The utility model belongs to the field of medical equipment, in particular to a skin flap massager.

Background technique

In the prior art, after skin flap transplantation, patients are prone to venous and vascular crisis, resulting in failure of the operation. Therefore, medical staff often need to massage the patient's skin flap by pressing down 3-5mm on the distal end of the skin flap with fingers, moving to the At the proximal end, change the site and press again, with an interval of 15 minutes each time, to promote blood return and improve the survival rate of the flap. However, experienced medical staff are required to massage, and the duration is long, which wastes manpower.

In this regard, the utility model patent with the application number 202022300355.6 discloses a skin flap massager, which uses a first electric motor, a one-way screw, a moving block, a massage head, a second electric motor, a rotating shaft and a semicircular bump , It simulates the kneading and pressing massage of fingers, and the massage effect is good. People with little experience can also use this massager for skin flap massage, saving trouble and effort.

However, when the massager is used, the medical staff needs to hold it for a long time, and it still cannot liberate their hands. Moreover, the massager has a certain weight. When the medical staff just holds it for a long time, it is easy to cause muscle fatigue. Good for massage recovery.

Utility model content

The purpose of this utility model is to provide a skin flap massager in order to solve the above problems.

The utility model realizes above-mentioned purpose through following technical scheme:

A skin flap massager, comprising a massage device, a camera, a laser range finder, a three-axis mobile platform that drives the massage device, the camera and the laser range finder to move in X, Y, and Z directions, and the massage device , camera, laser rangefinder and the control device for the communication connection of the three-axis mobile platform;

The massage device includes a massage air pump, a telescopic cup and a spherical massage head. The air outlet at the bottom of the massage air pump communicates with the mouth of the telescopic cup. The bottom end of the telescopic cup is detachably connected to the spherical massage head. The massage air pump passes through The telescopic cup drives the spherical massage head to move up and down to achieve skin flap massage;

The control device generates a motion control instruction based on the flap transplantation image collected by the camera and the distance measurement data of the laser range finder, and the three-axis mobile platform drives the massage device at X, Y, Z three directions to move.

As a further optimization solution of the present invention, the three-axis mobile platform includes an X-axis linear guide rail, a Z-axis linear guide rail, and two Y-axis linear guide rails arranged side by side;

The sliding seats on the two Y-axis linear guide rails are respectively connected to the first bracket and the second bracket, one end of the X-axis linear guide rail is fixedly connected to the first bracket, and the other end of the X-axis linear guide rail passes through the hole on the top of the second bracket and Flexible socket with the second bracket;

The Z-axis linear guide rail is fixedly arranged on the sliding seat on the X-axis linear guide rail, and the massage device, the camera, and the laser distance meter are all installed on the Z-axis linear guide rail.

As a further optimization scheme of the present invention, a fastening screw is threaded on the side wall of the second bracket corresponding to the side of the perforation, and one end of the fastening screw extends into the perforation to press against the X-axis linear guide rail, and the perforation The lower surface of the inner cavity is embedded with several balls.

As a further optimization scheme of the present utility model, the camera and the laser range finder are fixed on the lower surface of the mounting plate, and the top of the mounting plate is fixedly connected to the sliding seat on the Z-axis linear guide rail through an L-shaped bracket. It is fixedly connected with the mounting plate on one side through the ring plate.

As a further optimization solution of the present invention, an annular heating lamp is provided on the lower surface of the ring plate, and the annular heating lamp adopts an infrared heating lamp tube and is connected to a temperature controller.

As a further optimization solution of the present utility model, a protective cover is provided between the annular heating lamp and the telescopic cup, and the top end of the protective cover is fixedly connected with the ring plate.

As a further optimization solution of the utility model, the telescopic cup is made of silica gel material.

As a further optimization solution of the present utility model, the control device includes a control panel, a single-chip microcomputer arranged inside the control panel, and an image recognition module for analyzing and processing the images of the flap transplantation.

The beneficial effects of the utility model are:

1) The utility model uses a three-axis moving platform to adjust the position of the massage device, and cooperates with a camera, a laser rangefinder and a control device, etc., to scan and massage the transplanted part intelligently, freeing the hands of the medical staff and greatly reducing the work intensity;

2) The utility model uses a massage air pump, a telescopic cup and a spherical massage head to massage the transplanted part, which can control the massage force and make the massage more comfortable, avoiding the low massage comfort and low massage force caused by the direct pressing of the hard massage head in the prior art. Difficult to control and other issues.

3) The utility model arranges an annular infrared heating lamp tube on the outside of the top of the massage head, and the heating temperature is controllable, which can not only provide illumination for the massage part, but also heat the massage part below to achieve the effect of infrared irradiation physiotherapy;

4) The utility model can adjust the distance between two Y-axis linear guide rails, the adjustment structure is simple and convenient, and it can be applied to different installation spaces.

Description of drawings

Fig. 1 is the overall front view of the utility model.

Fig. 2 is a side view of the second bracket of the present invention.

Fig. 3 is a structural schematic diagram of the massage device of the present invention.

In the figure: 1. massage device; 11. massage air pump; 12. telescopic cup; 13. spherical massage head; 2. camera; 3. laser range finder; 4. three-axis moving platform; 41. X-axis linear guide rail; 42 , Z-axis linear guide rail; 43, Y-axis linear guide rail; 44, first bracket; 45, second bracket; 46, fastening screw; 47, perforation; 48, ball; 5, control device; 6, mounting plate; 7 , Ring plate; 8, Ring heating lamp; 9, Protective cover.

Detailed ways

The application will be described in further detail below in conjunction with the accompanying drawings. It is necessary to point out that the following specific embodiments are only used to further illustrate the application, and cannot be interpreted as limiting the protection scope of the application. The above application content makes some non-essential improvements and adjustments to this application.

In describing the present invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal" , "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, rather than indicating Or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as limiting the utility model; in the description of the utility model, unless otherwise stated, "plurality", "Several" means two or more.

Example 1

As shown in Figures 1-3, a skin flap massager includes a massage device 1, a camera 2, and a laser range finder 3, and drives the massage device 1, camera 2, and laser range finder 3 in X, Y, and Z A three-axis mobile platform 4 that moves in three directions, and a control device 5 that communicates with the massage device 1, the camera 2, the laser range finder 3 and the three-axis mobile platform 4;

Described massage device 1 comprises massage air pump 11, telescopic cup 12 and spherical massage head 13, and the gas outlet at the bottom of described massage air pump 11 is communicated with the mouth of cup of telescopic cup 12, and the bottom end of described telescopic cup 12 and spherical massage head 13 can Disconnect the connection, the massage air pump 11 drives the spherical massage head 13 to move up and down through the telescopic cup 12, to realize skin flap massage, and the telescopic cup 12 is made of silica gel material;

The control device 5 generates a motion control instruction based on the flap transplantation image collected by the camera 2 and the distance measurement data of the laser range finder 3, and the three-axis mobile platform 4 drives the massager according to the motion control instruction. The device 1 moves in three directions of X, Y, and Z. The control device 5 includes a control panel, a single-chip microcomputer arranged inside the control panel, and an image recognition module for analyzing and processing the images of the flap transplantation. The control panel Can be installed on the second support 45, the single-chip microcomputer can adopt STM32F030F4P6 type single-chip microcomputer;

The three-axis mobile platform 4 includes an X-axis linear guide rail 41, a Z-axis linear guide rail 42, and two Y-axis linear guide rails 43 arranged side by side;

The sliding seats on the two Y-axis linear guide rails 43 are respectively connected to the first bracket 44 and the second bracket 45, one end of the X-axis linear guide rail 41 is fixedly connected to the first bracket 44, and the other end of the X-axis linear guide rail 41 runs through the second bracket 45. The perforation 47 on the top of the second bracket 45 is movably socketed with the second bracket 45;

The Z-axis linear guide rail 42 is fixedly arranged on the sliding seat on the X-axis linear guide rail 41, and the massage device 1, the camera 2, and the laser distance meter 3 are all installed on the Z-axis linear guide rail 42;

A fastening screw 46 is threaded on the side wall of the second bracket 45 corresponding to one side of the perforation 47, and one end of the fastening screw 46 extends into the perforation 47 to press against the X-axis linear guide rail 41, and the inner cavity of the perforation 47 Several balls 48 are embedded on the lower surface.

The camera 2 and the laser range finder 3 are fixed on the lower surface of the mounting plate 6, the top of the mounting plate 6 is fixedly connected to the sliding seat on the Z-axis linear guide rail 42 through an L-shaped bracket, and the outside of the massage device 1 is passed through a ring plate 7 is fixedly connected with the mounting plate 6 on one side.

It should be noted that before the entire device is used, the width of the entire three-axis mobile platform 4 can be adjusted, that is, the actual length of the X-axis linear guide rail 41 can be adjusted to adapt to the patient's upper body width or leg width, or to adapt to Beds of different widths under the patient;

Specifically, loosen the fastening screw 46, move the second bracket 45 and the Y-axis linear guide rail 43 below, so that the distance between the first bracket 44 and the second bracket 45 is adjusted to a suitable value, and then tighten the fastening screw 46, that is The second bracket 45 and the X-axis linear guide rail 41 can be fixed, that is, the distance between the two Y-axis linear guide rails 43 can be adjusted;

When the whole device is in use, start the whole device through the control panel, the single-chip microcomputer controls the linear guide rails in three directions, and drives the camera 2 to collect images of the flap transplantation site, and the collected images are sent to the image recognition module, which recognizes the flap based on the image The algorithm analyzes the contour of the flap transplantation (this image recognition technology is an existing mature technology, such as various robots based on visual navigation, etc., the details will not be elaborated here), to generate motion control instructions, and the X-axis is controlled by the single-chip microcomputer The linear guide rail 41 and the Y-axis linear guide rail 43 drive the massage device 1 to perform mobile massage in a two-dimensional plane;

Simultaneously, the distance of the massage site is collected by the laser range finder 3, and the collected data is sent to the single-chip microcomputer, and the Z-axis linear guide rail 42 is controlled by the single-chip microcomputer to drive the massage device 1 to move up and down, so that the spherical massage head 13 is positioned at a suitable distance above the transplanted site;

Finally, the massage air pump 11 is a dual-purpose air pump for filling and inhaling, which is controlled by a single-chip microcomputer. Long, that is to drive the spherical massage head 13 to move down to compress the transplanted part, otherwise when inhaling, the telescopic cup 12 shrinks and drives the spherical massage head 13 to move up, and the massage work is realized in turn; by controlling the air intake in the telescopic cup 12, that is, the gas pressure , the telescopic length of the telescopic cup 12 can be adjusted, so as to realize the control of massage intensity;

The massage head is set in a spherical shape, which can easily fit the skin on the curved surface, and with the linear guide rail, it is not only convenient for vertical massage, but also for side massage.

As shown in Figure 3, the lower surface of the ring plate 7 is provided with a ring-shaped heating lamp 8, the ring-shaped heating lamp 8 adopts an infrared heating lamp tube and is connected to a temperature controller. A protective cover 9 is provided, and the top end of the protective cover 9 is fixedly connected with the ring plate 7 .

It should be noted that during massage, the infrared heating lamp can be turned on through the single-chip microcomputer, and the thermostat can control the constant temperature of the infrared heating lamp. Heating to achieve the effect of infrared radiation therapy, the distance between the infrared heating lamp and the skin can be 40-60cm;

In addition, in order to avoid the influence of the infrared heating lamp tube on the telescopic cup 12, a protective cover 9 is arranged between the two.

The above-mentioned embodiments only express several implementations of the utility model, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the utility model. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims (8)

1. The utility model provides a skin flap massage appearance which characterized in that: the massage device comprises a massage device (1), a camera (2), a laser range finder (3), a three-axis moving platform (4) for driving the massage device (1), the camera (2) and the laser range finder (3) to move in X, Y, Z, and a control device (5) in communication connection with the massage device (1), the camera (2), the laser range finder (3) and the three-axis moving platform (4);

the massage device (1) comprises a massage air pump (11), a telescopic cup (12) and a spherical massage head (13), an air outlet at the bottom of the massage air pump (11) is communicated with a cup opening of the telescopic cup (12), the bottom end of the telescopic cup (12) is detachably connected with the spherical massage head (13), and the massage air pump (11) drives the spherical massage head (13) to move up and down through the telescopic cup (12) so as to realize flap massage;

the control device (5) generates a motion control command based on a skin flap transplantation image acquired by the camera (2) and distance measurement data of the laser distance meter (3), and the three-axis moving platform (4) drives the massage device (1) to move in the X, Y, Z three directions according to the motion control command.

2. The flap massager of claim 1, wherein: the three-axis moving platform (4) comprises an X-axis linear guide rail (41), a Z-axis linear guide rail (42) and two parallel Y-axis linear guide rails (43);

the sliding seats on the two Y-axis linear guide rails (43) are respectively connected with a first support (44) and a second support (45), one end of the X-axis linear guide rail (41) is fixedly connected with the first support (44), and the other end of the X-axis linear guide rail (41) penetrates through a through hole (47) in the top of the second support (45) and is movably sleeved with the second support (45);

z axle linear guide (42) are fixed and are set up on the slide on X axle linear guide (41), and massage device (1), camera (2), laser range finder (3) all install on Z axle linear guide (42).

3. The flap massager of claim 2, wherein: and a fastening screw (46) is connected to the side wall of the second support (45) corresponding to one side of the through hole (47) in a threaded manner, one end of the fastening screw (46) extends into the through hole (47) to be pressed against the X-axis linear guide rail (41), and a plurality of balls (48) are embedded in the lower surface of the inner cavity of the through hole (47).

4. The flap massager of claim 2, wherein: camera (2), laser range finder (3) are fixed in mounting panel (6) lower surface, slide fixed connection on L type support and Z axle linear guide (42) is passed through on mounting panel (6) top, massage device (1) outside is through mounting panel (6) fixed connection of crown plate (7) and one side.

5. The flap massager of claim 4, wherein: the lower surface of the ring plate (7) is provided with an annular heating lamp (8), and the annular heating lamp (8) adopts an infrared heating lamp tube and is connected with a temperature controller.

6. The flap massager of claim 5, wherein: a protective cover (9) is arranged between the annular heating lamp (8) and the telescopic cup (12), and the top end of the protective cover (9) is fixedly connected with the annular plate (7).

7. The flap massager of claim 1, wherein: the telescopic cup (12) is made of a silica gel material.

8. The flap massager of claim 1, wherein: the control device (5) comprises a control panel, a single chip microcomputer arranged in the control panel and an image recognition module used for analyzing and processing the flap transplantation image.

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