WO2017067105A1 - 自动定位及伤口保护的全自动注射装置及方法 - Google Patents

自动定位及伤口保护的全自动注射装置及方法 Download PDF

Info

Publication number
WO2017067105A1
WO2017067105A1 PCT/CN2016/071116 CN2016071116W WO2017067105A1 WO 2017067105 A1 WO2017067105 A1 WO 2017067105A1 CN 2016071116 W CN2016071116 W CN 2016071116W WO 2017067105 A1 WO2017067105 A1 WO 2017067105A1
Authority
WO
WIPO (PCT)
Prior art keywords
injection
blood vessel
needle
automatic
syringe
Prior art date
Application number
PCT/CN2016/071116
Other languages
English (en)
French (fr)
Inventor
张贯京
Original Assignee
深圳市前海康启源科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳市前海康启源科技有限公司 filed Critical 深圳市前海康启源科技有限公司
Publication of WO2017067105A1 publication Critical patent/WO2017067105A1/zh

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically

Definitions

  • the invention relates to the field of medical instruments, in particular to a fully automatic injection device and method for automatic positioning and wound protection.
  • the injection device is a drug delivery device by inserting a needle of the injection device into a blood vessel of a patient to inject the drug into the patient.
  • the injection device includes two types, one is a manual injection device, and the other is an automatic injection device.
  • the conventional manual injection device requires manual power to drive, and usually a medical staff performs an injection during the injection.
  • a medical staff performs an injection during the injection.
  • the existing automatic injection device Although the patient can complete the injection by himself, the existing automatic injection device cannot achieve automatic injection and it is difficult to locate the injection position of the blood vessel, and the patient will press different according to the prompt at different stages. Buttons, for example, manually adjust the angle and direction of the injection during the injection.
  • the main object of the present invention is to provide a fully automatic injection device and method for automatic positioning and wound protection, aiming at solving the problem that the existing injection device cannot achieve automatic injection and difficult to locate the blood vessel injection position.
  • the present invention provides a fully automatic injection device for automatic positioning and wound protection, the automatic injection device for automatic positioning and wound protection comprising a controller, a first driving device and a second driving device, The controller is respectively connected to the first driving device and the second driving device;
  • the first driving device is provided with a syringe, a telescopic device and an angle adjusting device, the syringe is connected to the telescopic device and the angle adjusting device, and the syringe is further connected to the liquid medicine container;
  • the controller is configured to control the blood vessel scanner to obtain a three-dimensional image of a venous blood vessel in a human body part;
  • the controller is configured to determine an injection blood vessel and an injection position of the injection blood vessel according to the three-dimensional image of the venous blood vessel;
  • the controller is configured to control the angle adjusting device to adjust an injection direction of a needle of the syringe according to a direction of the injection blood vessel;
  • the controller is configured to control the blood vessel scanner to scan the needle to obtain initial three-dimensional coordinates of the needle;
  • the controller is configured to control the telescopic device to move the needle from the initial three-dimensional coordinate to an injection position of the injection blood vessel, and continue to advance the extension device to a predetermined distance to inject the needle into the injection In the blood vessels;
  • the controller is further configured to control the blood vessel scanner to determine that the needle successfully enters the injection blood vessel to inject a medical solution in the medical liquid container into the injection blood vessel through the needle.
  • the controller is further configured to:
  • a wound protection device in the second drive device is controlled to be attached to the injection site of the injection vessel to protect the wound.
  • the controller determines the injection blood vessel and the injection position according to the three-dimensional image of the venous blood vessel as follows:
  • the distance of the selected one blood vessel is greater than or equal to the length of the needle, and there is no intersection in the selected blood vessel;
  • the starting end of the selected segment of blood vessel is taken as the injection site.
  • the controller controls the blood vessel scanner to determine that the needle successfully enters the injection vessel:
  • the syringe further comprises a syringe, a baffle, and an infusion hose.
  • the needle is fixed to the front end of the syringe
  • the infusion hose is connected to the needle through the syringe
  • the infusion hose is also connected to the liquid medicine container
  • the baffle is disposed, and the telescopic device is connected to the baffle, and the syringe is mounted on a circular groove at an upper end of the angle adjusting device.
  • the needle and the syringe have a detachable structure, and a detachable structure between the infusion hose and the syringe.
  • the present invention also provides a fully automatic injection method for automatic positioning and wound protection, which is applied to a fully automatic injection device for automatic positioning and wound protection
  • the automatic injection device for automatic positioning and wound protection comprises a controller a first driving device and a second driving device, wherein the controller is respectively connected to the first driving device and the second driving device
  • the first driving device is provided with a syringe, a telescopic device and an angle adjusting device, the syringe Connected to the telescopic device and the angle adjusting device, the syringe is further connected to the liquid medicine container
  • the second driving device is provided with a blood vessel scanner
  • the method comprises the following steps:
  • the blood vessel scanner is controlled to determine that the needle successfully enters the injection blood vessel to inject the medical fluid in the medical fluid container through the needle into the injection blood vessel.
  • the automatic injection method for automatic positioning and wound protection further comprises the steps of:
  • a wound protection device in the second drive device is controlled to be attached to the injection site of the injection vessel to protect the wound.
  • the manner of determining the injection blood vessel and the injection position according to the three-dimensional image of the blood vessel is as follows:
  • the distance of the selected one blood vessel is greater than or equal to the length of the needle, and there is no intersection in the selected blood vessel;
  • the starting end of the selected segment of blood vessel is taken as the injection site.
  • the automatic injection device and method for automatic positioning and wound protection of the present invention adopts the above technical solutions, and achieves the following technical effects: fully automatic processing from the needle to the blood vessel to the insertion into the patient's blood vessel And can find the injection position of the blood vessel, save the labor of the medical staff and facilitate the patient, and after the liquid medicine is finished, automatically pull out the needle and protect the wound to ensure the safety of the patient during the injection.
  • Figure 1 is a block diagram showing a preferred embodiment of a fully automatic injection device for automatic positioning and wound protection according to the present invention.
  • FIG. 2 is a schematic plan view showing a preferred embodiment of a syringe in the automatic injection device for automatic positioning and wound protection of the present invention
  • FIG. 3 is a schematic plan view showing a preferred embodiment of the automatic injection device for automatic positioning and wound protection of the present invention
  • FIG. 4 is a schematic structural view of a preferred embodiment of a first driving device in the automatic injection device for automatic positioning and wound protection of the present invention
  • FIG. 5 is a schematic plan view showing a preferred embodiment of an angle adjusting device in a fully automatic injection device for automatic positioning and wound protection according to the present invention
  • FIG. 6 is a schematic structural view of a second embodiment of a second driving device in the automatic injection device for automatic positioning and wound protection of the present invention
  • FIG. 7 is a schematic plan view showing a preferred embodiment of a blood vessel scanned by a blood vessel scanner in the automatic injection device for automatic positioning and wound protection of the present invention
  • Figure 8 is a schematic view showing the insertion of a needle of a syringe into a venous blood vessel in the automatic injection device for automatic positioning and wound protection of the present invention
  • Figure 9 is a flow chart of a preferred embodiment of the automatic injection method for automatic positioning and wound protection of the present invention.
  • FIG. 1 is a schematic structural view of a preferred embodiment of a fully automatic injection device for automatic positioning and wound protection according to the present invention.
  • the automatic positioning and wound protection automatic injection device 1 comprises a controller 2, a first driving device 10, a second driving device 20, a binding device 30, an input device 40 and a display device 50.
  • the controller 2 establishes electrical connection with the first driving device 10, the second driving device 20, the binding device 30, the input device 40, and the display device 50, respectively.
  • the first driving device 10 is internally provided with a syringe 11, a telescopic device 12 and an angle adjusting device 13.
  • the syringe 11 is connected to the telescopic device 12 and the angle adjusting device 13.
  • the syringe 11 is also connected to the drug solution container 3.
  • the drug solution container 3 is a hanging bottle for the drug solution.
  • the position of the liquid medicine container 3 placed above the syringe 11 is higher than a certain predetermined height (for example, one meter). It should be noted that the liquid chemical container 3 is not mounted on the automatic positioning and wound protection automatic injection device 1, but is separated from the automatic positioning and wound protection automatic injection device 1.
  • Fig. 2 is a plan view showing a preferred embodiment of a syringe in the automatic injection device for automatic positioning and wound protection of the present invention.
  • the syringe 11 includes a needle 110, a syringe 111, a baffle 112, and an infusion hose 113.
  • the needle 110 is fixed to the front end of the syringe 111, and the infusion hose 113 is connected to the needle 110 through the inside of the syringe 111. Further, the infusion hose 113 is further connected to the liquid medicine The container 3 is connected.
  • the end of the barrel 111 is provided with a baffle 112, which can be moved by pushing the baffle 112 to move the needle 110.
  • the needle 110 and the syringe 111 have a detachable structure
  • the infusion hose 113 and the syringe 111 have a detachable structure. That is, the needle 110 and the infusion hose 113 can be removed from the syringe 111 for replacement.
  • the needle 110 is used to puncture a venous blood vessel to be injected and into the venous blood vessel.
  • the syringe 111 is used to fix the needle 110, and when the syringe 111 moves, the needle 110 also moves. In other words, by moving the syringe 111, the needle 110 pierces the venous blood vessel to be injected and enters the venous blood vessel.
  • the syringe 111 has a cylindrical shape.
  • the infusion hose 113 is for injecting the drug solution in the drug solution container 3 into the vein vessel through the needle 3.
  • FIG. 3 is a schematic plan view showing a preferred embodiment of the automatic injection device for automatic positioning and wound protection of the present invention.
  • the first driving device 10 is disposed on a sliding rail 60.
  • a motor for sliding is built in the first driving device 10, and the motor can drive the first driving device 10 to slide on the sliding rail 60.
  • the middle of the slide rail 60 is a hollow belt.
  • the slide rail 60 may not be required, in which case the first drive unit 10 is disposed in a fixed position of the automatic positioning and wound protection automatic injection device 1.
  • FIG. 4 is a schematic structural view of a preferred embodiment of the first driving device in the automatic injection device for automatic positioning and wound protection of the present invention.
  • the first driving device 10 is internally provided with a syringe 11, a telescopic device 12 and an angle adjusting device 13.
  • the telescopic device 12 is coupled to the baffle 112, and when the telescopic device 12 is telescopic, the syringe 11 is also telescopic (eg, moving forward or backward).
  • the needle cylinder 111 is also mounted on the angle adjusting device 13, and the angle adjusting device 13 can be stretched up and down to adjust the tilt angle of the syringe 111 and the horizontal plane (generally the plane of the human body part) (for example, adjusting the needle)
  • the barrel 111 is horizontal to 15 degrees).
  • the angle adjustment device 13 can also be moved left and right inside the first drive device 10 to adjust the position of the syringe 111 in the horizontal plane.
  • the upper end of the adjusting device 13 is further provided with a circular groove 130, and the cylindrical groove 111 is mounted in the circular groove 130, and the cylinder 111 can be in the circular concave The inside of the slot 130 moves.
  • the angle adjusting device 13 can also rotate (clockwise or counterclockwise) to drive the circular groove 130 to rotate, thereby adjusting the direction of the syringe 111.
  • the second driving device 20 includes a blood vessel scanner 22 and a wound protection device 24.
  • the second driving device 20 is disposed on the sliding rail 60.
  • the second driving device 20 has a motor for sliding, and the motor can drive the second driving device 20 to The slide rail 60 slides.
  • the middle of the slide rail 60 is a hollow belt.
  • the slide rail 60 may not be required, in which case the second drive unit 20 is disposed in a fixed position of the automatic positioning and wound protection automatic injection device 1.
  • the blood vessel scanner 22 is configured to scan a human body part to obtain a three-dimensional image of a venous blood vessel in a human body part.
  • the three-dimensional image of the venous blood vessel is also associated with three-dimensional coordinate information of the venous blood vessel.
  • the blood vessel scanner 22 can also scan the needle 110 to obtain the three-dimensional coordinates of the needle 110.
  • the blood vessel scanner 22 may be, but not limited to, a 3D ultrasound scanner, a color ultrasound diagnostic apparatus (for example, a three-dimensional B-mode ultrasound), or an infrared light vessel scanner.
  • a scanner (not shown) of the blood vessel scanner 22 can be mounted on the second driving device 20, and the host device of the blood vessel scanner 22 ( Not shown) placed in a position remote from the automatic positioning and wound protection automatic injection device 1 , the host device of the blood vessel scanner 22 being connected to the scanner and controller 2 via a data line (eg, a USB cable) connection.
  • a data line eg, a USB cable
  • the wound protection device 24 is configured to move the wound protection device 24 to the wound position when the needle 110 pierces the venous blood vessel when the needle 110 is pulled out from the venous blood vessel to stop bleeding of the wound And anti-inflammatory.
  • the wound protection device 24 includes a sterilized medical cotton ball and a medical tape.
  • the automatic positioning and wound protection automatic injection device 1 is placed on a human body part (for example, a human body part such as an arm or a wrist) to automatically search for a venous blood vessel in the human tissue through the blood vessel scanner 22, and automatically put the syringe 11 A needle is inserted into the venous blood vessel, and then the drug solution in the drug solution container 3 is injected into the venous blood vessel.
  • a human body part for example, a human body part such as an arm or a wrist
  • the automatic positioning and wound protection automatic injection device 1 when worn on a human body part (for example, a palm, an arm or a wrist)
  • the binding device 30 binds the body part, and the controller is configured to control the binding device to slow the circulation of blood in the venous blood vessel in the human body part, thereby causing the venous blood vessel to bulge,
  • the venous blood vessels can be more clearly distinguished in the three-dimensional image.
  • the binding device 30 is a closed circle, and the binding device 30 can be worn on an arm or a wrist, and the tightness of the binding device 30 is controlled by adjusting the radius of the closed circle.
  • the binding device 30 may be, but not limited to, a closed rubber band, a closed bandage, a closed inflatable ring, or the like.
  • the controller 2 controls the binding device 30 to control the tightness of the binding device 30.
  • the controller 2 controls the binding device 30 to stop bundling the body part (i.e., increasing the radius of the circle).
  • the binding device 30 can be omitted.
  • the automatic positioning and wound protection automatic injection device 1 when the automatic positioning and wound protection automatic injection device 1 is worn on a human body part (wrist), the automatic positioning and wound protection automatic injection device 1 automatically completes the injection.
  • the controller 2 controls the blood vessel scanner 22 to obtain a three-dimensional image of the internal venous blood vessels of a human body part (for example, the back of the hand).
  • the three-dimensional image of the venous blood vessel is also associated with three-dimensional coordinate information of the venous blood vessel.
  • the blood vessel scanner 22 moves in the slide rail 60 to scan a vein of a human body part in the hollow belt.
  • the human body part 4 includes three venous blood vessels 400, one of which has an intersection 401 with another venous blood vessel 400 (two crosses in the figure) Point 401). It should be noted that whether or not the venous blood vessel 400 can be determined can be determined by the flow of blood in the blood vessel. It should be noted that since the blood vessels are small and hidden deep in the infant (under two years old), it is preferable that the present invention is more suitable for people over two years old, especially adults (groups over 18 years old).
  • the controller 2 determines an injection blood vessel and an injection position of the injection blood vessel based on the three-dimensional image of the venous blood vessel 400.
  • the manner of determining the injection blood vessel and the injection position according to the three-dimensional image of the venous blood vessel 400 is as follows:
  • the distance of the selected blood vessel is greater than or equal to the length of the needle 110, and there is no intersection in the selected blood vessel;
  • the starting end of the selected segment of blood vessel is taken as the injection site.
  • the controller 2 controls the angle adjustment device 13 to adjust the injection direction of the needle 110 in accordance with the direction of the injection blood vessel.
  • the injection direction is the direction of the needle 110 in the horizontal plane, the direction of the horizontal plane being coincident with the direction of the injection blood vessel, as shown in FIG.
  • the controller 2 controls the blood vessel scanner 22 to scan the needle 110 of the syringe 11 to obtain initial three-dimensional coordinates of the needle 110.
  • the controller 2 controls the telescopic device 12 to move the needle 110 from the initial three-dimensional coordinates to an injection position of the injection blood vessel, and continues to advance the needle 110 by a predetermined distance (for example, 1 cm to 2 cm) A distance between them) thereby injecting the needle 110 into the injection vessel.
  • a predetermined distance for example, 1 cm to 2 cm
  • the controller 2 controls the blood vessel scanner 22 to determine whether the needle 110 successfully enters the injection blood vessel. Specifically, the blood vessel scanner 22 determines the three-dimensional coordinates of the needle 110 inside the human body part in real time, and determines whether the three-dimensional coordinates of the needle 110 inside the human body part are within the injection blood vessel, if the needle 110 The three-dimensional coordinates inside the human body part are within the injection blood vessel, and then the needle injection is determined to be successful. Otherwise, if the three-dimensional coordinates of the needle 110 inside the human body part are not within the position of the injection blood vessel, the needle is determined. The injection failed.
  • the controller 2 determines whether the injection of the medical liquid in the medical solution container 3 is completed. Specifically, the controller 2 can obtain a blood return flow in the needle 110 by scanning the obtained three-dimensional image by the blood vessel scanner 22, and if there is blood backflow in the needle 110, determine the The liquid medicine in the liquid medicine container 3 has been completely injected.
  • the controller 2 controls the expansion device 12 to pull the needle 110 from the injection blood vessel.
  • the controller 2 controls the wound protection device 24 in the second drive device 20 to be attached to the injection site of the injection vessel to protect the wound.
  • the input device 40 is configured to input related parameters to facilitate the controller 2 to control the telescopic device 12, the angle adjusting device 13, the blood vessel scanner 22, and the wound protection device 24.
  • the user inputs, in the input device 40, a propulsion speed (for example, five centimeters per second) for controlling the telescopic device 12, and an injection angle for controlling the angle adjusting device 13 (the injection angle)
  • a propulsion speed for example, five centimeters per second
  • an injection angle for controlling the angle adjusting device 13
  • the angle of inclination of the needle to the surface of the body part for example, an injection angle selected within a range of 15 to 30 degrees).
  • the display device 50 is configured to display a three-dimensional image of the venous blood vessel 400 obtained by the blood vessel scanner 22 scanning.
  • the display device 50 can be remote from the fully automatic injection device 1 for automatic positioning and wound protection.
  • an image data line (for example, an HDMI line, a VGA line, or the like, any suitable image data line) is connected to the controller 2 in the automatic positioning and wound protection automatic injection device 1, at this time, The display device 50 can be separated from the fully automatic injection device 1 for automatic positioning and wound protection.
  • Fig. 9 is a flow chart of a preferred embodiment of the automatic injection method for automatic positioning and wound protection of the present invention.
  • the automatic injection method for automatic positioning and wound protection is applied to the automatic injection device 1 for automatic positioning and wound protection, and includes the following steps S10 to S19.
  • step S10 the controller 2 controls the blood vessel scanner 22 to scan a human body part (for example, the back of the hand) to obtain a three-dimensional image of the venous blood vessel 400 in the human body part.
  • the three-dimensional image of the venous blood vessel 400 is also associated with three-dimensional coordinate information of the venous blood vessel 400.
  • the blood vessel scanner 22 moves in the slide rail 60 to scan a vein 400 of a human body portion in the hollow belt.
  • the human body part 4 includes three venous blood vessels 400, wherein the venous blood vessel 400 has an intersection 401 with the venous blood vessel 400 (there are two intersections 401 in the figure). ).
  • step S11 the controller 2 determines an injection blood vessel and an injection position of the injection blood vessel according to the three-dimensional image of the venous blood vessel 400.
  • the manner of determining the injection blood vessel and the injection position according to the three-dimensional image of the venous blood vessel 400 is as follows:
  • the distance of the selected blood vessel is greater than or equal to the length of the needle 110, and there is no intersection in the selected blood vessel;
  • the starting end of the selected segment of blood vessel is taken as the injection site.
  • step S12 the controller 2 controls the angle adjusting device 13 to adjust the injection direction of the needle 110 according to the direction of the injection blood vessel.
  • the injection direction is the direction of the needle 110 in the horizontal plane, the direction of the horizontal plane being coincident with the direction of the injection blood vessel, as shown in FIG.
  • Step S14 the controller 2 controls the telescopic device 12 to move the needle 110 from the initial three-dimensional coordinates to the injection position of the injection blood vessel, and continues to advance the needle 110 to move a preset distance (for example, 1 cm) A distance of up to 2 cm) thereby injecting the needle 110 into the injection vessel.
  • a preset distance for example, 1 cm
  • step S15 the controller 2 determines, by the blood vessel scanner 22, whether the needle 110 successfully enters the injection blood vessel. Specifically, the blood vessel scanner 22 determines the three-dimensional coordinates of the needle 110 inside the human body part, and determines whether the three-dimensional coordinates of the needle 110 inside the human body part are within the position of the injection blood vessel, if the needle When the three-dimensional coordinates inside the human body part are within the injection blood vessel, it is determined that the needle 110 successfully enters the injection blood vessel, and the flow proceeds to step S16.
  • the controller 2 controls the expansion device 12 to The needle 110 is withdrawn from the injection vessel, after which the flow returns to step S10 (to avoid repeated injections for safety reasons, if the second injection fails, it does not return to step S10).
  • the needle 110 fails to be injected, notifying a designated medical personnel (eg, a nurse) that the process does not need to perform step S19 and return to S10.
  • the controller 2 controls the wound protection device 24 to move to the injection position and affixes a medical tape to protect the wound.
  • step S16 the controller 2 determines whether the injection of the liquid medicine in the liquid medicine container 3 is completed. Specifically, the controller 2 can obtain a blood return in the needle 110 by scanning the obtained three-dimensional image by the blood vessel scanner 22. If there is blood backflow in the needle 110, it is determined that the liquid medicine in the liquid medicine container 3 has completed the injection, and the flow proceeds to step S17. Otherwise, if there is no blood backflow in the needle 110, step S16 is repeated.
  • step S17 the controller 2 controls the telescopic device 12 to extract the needle 110 from the injection blood vessel.
  • step S18 the controller 2 controls the wound protection device 24 in the second driving device 20 to be attached to the injection position of the injection blood vessel to protect the wound. Specifically, when the needle 110 is withdrawn from the injection blood vessel, the wound protection device 24 is moved to a position of the wound when the needle 110 pierces the injection blood vessel to stop bleeding and anti-inflammatory.
  • the steps S16 to S18 may be omitted from the viewpoint of cost saving, that is, the automatic positioning and wound protection automatic injection device 1 may be from the current patient after completing one injection. Dismantle (only the needle 110, the infusion hose 113, and the drug solution container 3 are retained) for use by other patients. That is, when the needle 110 successfully enters the injection vessel, the medical staff removes the automatic positioning and wound protection automatic injection device 1 from the current patient (only the needle 110, the infusion hose 113, and the drug solution are retained). Container 3).

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Vascular Medicine (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

一种自动定位及伤口保护的全自动注射装置（1）及方法，该方法包括步骤：获得人体部位内静脉血管（400）的三维图像（S10）；根据静脉血管（400）的三维图像确定注射血管及注射位置（S11）；根据注射血管的走向调整注射器（11）的针头（110）的注射方向（S12）；控制血管扫描仪（22）对针头（110）进行扫描，以获得该针头（110）的初始三维坐标（S13）；控制伸缩装置（12）将针头（110）从初始三维坐标移动至该注射血管的注射位置，并继续推进针头（110）移动预设距离以将针头（110）注射到该注射血管中（S14）；控制血管扫描仪（22）判定针头（110）成功进入注射血管，以将药液容器（3）中的药液通过针头（110）注射到注射血管（S15）。该全自动注射装置（1）及方法能够找准血管（400）的注射位置并实现注射全自动化，方便了患者及医务人员。

Description

自动定位及伤口保护的全自动注射装置及方法
技术领域
本发明涉及医疗器械领域，尤其涉及一种自动定位及伤口保护的全自动注射装置及方法。
背景技术
注射装置为药物输送装置，使用方法为将注射装置的针头插入患者的血管内以将药物注射到患者体内。所述注射装置包括两类，一类为手动注射装置，另一类为自动注射装置。
其中，传统的手动注射装置需要手动力来驱动，且在注射期间通常是医务人员来执行注射。例如，对于没有医务知识的患者来说，若采用传统的手动注射装置为自己注射，难度高且容易出错。
而对于现有的自动注射装置，尽管患者可以自己完成注射，然而，现有的自动注射装置无法做到全自动注射且难以找准血管的注射位置，在不同的阶段患者会根据提示按下不同的按钮，例如，在注射期间手动调整注射角度及方向等操作。
发明内容
本发明的主要目的在于提供一种自动定位及伤口保护的全自动注射装置及方法，旨在解决现有的注射装置无法实现全自动注射及难以找准血管注射位置的问题。
为实现上述目的，本发明提供了一种自动定位及伤口保护的全自动注射装置，所述自动定位及伤口保护的全自动注射装置包括控制器、第一驱动装置及第二驱动装置，所述控制器分别与所述第一驱动装置及第二驱动装置连接；
所述第一驱动装置上设置注射器、伸缩装置及角度调整装置，所述注射器与所述伸缩装置及角度调整装置连接，所述注射器还与所述药液容器连接；
所述第二驱动装置上设置血管扫描仪；
所述控制器，用于控制所述血管扫描仪以获得人体部位内静脉血管的三维图像；
所述控制器，用于根据所述静脉血管的三维图像确定注射血管及该注射血管的注射位置；
所述控制器，用于控制所述角度调整装置以根据所述注射血管的走向调整所述注射器的针头的注射方向；
所述控制器，用于控制所述血管扫描仪对所述针头进行扫描，以获得该针头的初始三维坐标；
所述控制器，用于控制所述伸缩装置将所述针头从所述初始三维坐标移动至该注射血管的注射位置，并继续推进所述伸缩装置预设距离以将所述针头注射到该注射血管中；及
所述控制器，还用于控制所述血管扫描仪判定所述针头成功进入所述注射血管，以将所述药液容器中的药液通过所述针头注射到所述注射血管。
优选的，所述控制器还用于：
当所述针头成功进入至所述注射血管，判断所述药液容器中的药液注射是否完成；
当所述药液容器中的药液已经完成注射时，控制所述伸缩装置以从所述注射血管中拔出所述针头；及
控制所述第二驱动装置中的伤口保护装置贴合到所述注射血管的注射位置以保护伤口。
优选的，所述控制器根据所述静脉血管的三维图像确定注射血管及注射位置的方式如下：
根据所述静脉血管的三维图像中静脉血管的三维坐标信息计算每条静脉血管的粗细程度；
选择最粗的静脉血管作为注射血管；
根据所述静脉血管的三维图像中静脉血管的三维坐标信息计算出静脉血管的交叉点；
在所述注射血管中任意选取一段血管，该选取的一段血管的距离大于或等于所述针头的长度，且该选取的一段血管中没有交叉点；及
将该选取的一段血管的起始端作为注射位置。
优选的，所述控制器控制所述血管扫描仪判定所述针头成功进入所述注射血管的方式为：
通过所述血管扫描仪确定所述针头在人体部位内部的三维坐标；
若所述针头在人体部位内部的三维坐标在所述注射血管的位置内，确定所述针头成功进入所述注射血管。
优选的，所述注射器还包括针筒、挡板、输液软管。
优选的，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接，所述针筒架设于所述角度调整装置上端的圆形凹槽。
优选的，所述针头与所述针筒之间为可拆卸式的结构，以及所述输液软管与所述针筒之间为可拆卸式的结构。
另一方面，本发明还提供一种自动定位及伤口保护的全自动注射方法，应用于自动定位及伤口保护的全自动注射装置中，所述自动定位及伤口保护的全自动注射装置包括控制器、第一驱动装置及第二驱动装置，所述控制器分别与所述第一驱动装置及第二驱动装置连接，所述第一驱动装置上设置注射器、伸缩装置及角度调整装置，所述注射器与所述伸缩装置及角度调整装置连接，所述注射器还与所述药液容器连接，所述第二驱动装置上设置血管扫描仪，该方法包括如下步骤：
控制所述血管扫描仪以获得人体部位内血管的三维图像；
根据所述血管的三维图像确定注射血管及该注射血管的注射位置；
控制所述角度调整装置以根据所述注射血管的走向调整所述注射器的针头的注射方向；
控制所述血管扫描仪对所述针头进行扫描，以获得该针头的初始三维坐标；
控制所述伸缩装置将所述针头从所述初始三维坐标移动至该注射血管的注射位置，并继续推进所述伸缩装置预设距离以将所述针头注射到该注射血管中；及
控制所述血管扫描仪判定所述针头成功进入所述注射血管，以将所述药液容器中的药液通过所述针头注射到所述注射血管。
优选的，所述自动定位及伤口保护的全自动注射方法还包括步骤：
当所述针头成功进入至所述注射血管，判断所述药液容器中的药液注射是否完成；
当所述药液容器中的药液已经完成注射时，控制所述伸缩装置以从所述注射血管中拔出所述针头；及
控制所述第二驱动装置中的伤口保护装置贴合到所述注射血管的注射位置以保护伤口。
优选的，所述根据所述血管的三维图像确定注射血管及注射位置的方式如下：
根据所述血管的三维图像中血管的三维坐标信息计算每条血管的粗细程度；
选择最粗的静脉血管作为注射血管；
根据所述血管的三维图像中血管的三维坐标信息计算出血管的交叉点；
在所述注射血管中任意选取一段血管，该选取的一段血管的距离大于或等于所述针头的长度，且该选取的一段血管中没有交叉点；及
将该选取的一段血管的起始端作为注射位置。
相较于现有技术，本发明所述自动定位及伤口保护的全自动注射装置及方法采用了上述技术方案，达到了如下技术效果：做到从针头寻找血管到插入患者血管全过程的全自动化且能找准血管的注射位置，节约了医务人员的人力也方便了患者，且药液完成注射后，自动拔出针头并保护伤口，确保注射期间患者的安全。
附图说明
图1是本发明自动定位及伤口保护的全自动注射装置较佳实施例的架构示意图。
图2是本发明自动定位及伤口保护的全自动注射装置中注射器的较佳实施例的平面结构示意图；
图3是本发明自动定位及伤口保护的全自动注射装置较佳实施例的平面结构示意图；
图4是本发明自动定位及伤口保护的全自动注射装置中第一驱动装置较佳实施例的结构示意图；
图5是本发明自动定位及伤口保护的全自动注射装置中角度调整装置较佳实施例的平面结构示意图；
图6是本发明自动定位及伤口保护的全自动注射装置中第二驱动装置较佳实施例的结构示意图；
图7是本发明自动定位及伤口保护的全自动注射装置中血管扫描仪所扫描的血管较佳实施例的平面结构示意图；
图8是本发明自动定位及伤口保护的全自动注射装置中注射器的针头插入静脉血管时的示意图；
图9是本发明自动定位及伤口保护的全自动注射方法较佳实施例的流程图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
为更进一步阐述本发明为达成上述目的所采取的技术手段及功效，以下结合附图及较佳实施例，对本发明的具体实施方式、结构、特征及其功效进行细说明。应当理解，本发明所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
如图1所示，图1是本发明自动定位及伤口保护的全自动注射装置较佳实施例的架构示意图。
所述自动定位及伤口保护的全自动注射装置1包括控制器2、第一驱动装置10、第二驱动装置20、捆绑装置30、输入装置40及显示装置50。所述控制器2分别与所述第一驱动装置10、第二驱动装置20、捆绑装置30、输入装置40及显示装置50建立电连接。
所述第一驱动装置10内部设置注射器11、伸缩装置12及角度调整装置13。所述注射器11与所述伸缩装置12及角度调整装置13连接。所述注射器11还与药液容器3连接。所述药液容器3为装药液的吊瓶。一般而言，所述药液容器3比所述注射器11放置的位置高于一定的预设高度（例如，一米）。需要说明的是，所述药液容器3并没有安装于所述自动定位及伤口保护的全自动注射装置1上，而是与所述自动定位及伤口保护的全自动注射装置1分离。
如图2所示，图2是本发明自动定位及伤口保护的全自动注射装置中注射器的较佳实施例的平面结构示意图。
所述注射器11包括针头110、针筒111、挡板112及输液软管113。所述针头110固定于所述针筒111的前端，所述输液软管113穿过所述针筒111内部连接到所述针头110，进一步地，所述输液软管113还与所述药液容器3连接。所述针筒111的末端设置有挡板112，通过推动所述挡板112可以移动所述针筒111，进而移动所述针头110。需要说明的是，所述针头110与所述针筒111之间为可拆卸式的结构，所述输液软管113与所述针筒111之间为可拆卸式的结构。也就是说，所述针头110及所述输液软管113可以从所述针筒111中取出，以便于更换。
所述针头110用于刺破所需注射的静脉血管并进入该静脉血管。
所述针筒111用于固定所述针头110，当所述针筒111移动时，所述针头110也移动。换句话说，通过移动所述针筒111，使得所述针头110刺破所需注射的静脉血管并进入所述静脉血管。所述针筒111为圆柱形的形状。
所述输液软管113用于将药液容器3中的药液通过所述针头3注射到所述静脉血管中。
如图3所示，图3是本发明自动定位及伤口保护的全自动注射装置较佳实施例的平面结构示意图。
所述第一驱动装置10设置于滑轨60上，所述第一驱动装置10中内置用于滑动的电机，该电机可以驱动所述第一驱动装置10在所述滑轨60上滑动。所述滑轨60中间为镂空带，当所述自动定位及伤口保护的全自动注射装置1放置于人体部位上时，从所述镂空带可以接触到人体部位的皮肤表面。在其它实施例中，可以不需要所述滑轨60，在此种情况下，所述第一驱动装置10设置于所述自动定位及伤口保护的全自动注射装置1的一个固定位置。
进一步地，如图4所示，图4是本发明自动定位及伤口保护的全自动注射装置中第一驱动装置较佳实施例的结构示意图。
所述第一驱动装置10内部设置有注射器11、伸缩装置12及角度调整装置13。所述伸缩装置12与所述挡板112连接，当所述伸缩装置12伸缩时，所述注射器11也伸缩（例如，向前移动或向后移动）。所述针筒111还架设于所述角度调整装置13上，该角度调整装置13可以上下伸缩，以调整针筒111与水平面（一般指人体部位的平面）的倾斜角度（例如，调整所述针筒111与水平面至15度）。此外，所述角度调整装置13还可以在所述第一驱动装置10内部左右移动，以调整所述针筒111在水平面的位置。进一步地，如图5所示，所述调整装置13上端还设置圆形凹槽130，所述圆形凹槽130内架设所述针筒111，所述针筒111可以在所述圆形凹槽130内移动。所述角度调整装置13还可以旋转（顺时针旋转或逆时针旋转），以带动所述圆形凹槽130旋转，从而调整针筒111的方向。
进一步地，结合图1所示，在所述第二驱动装置20中，所述第二驱动装置20包括血管扫描仪22及伤口保护装置24。如图3及图6所示，所述第二驱动装置20设置于滑轨60上，所述第二驱动装置20中内置用于滑动的电机，该电机可以驱动所述第二驱动装置20在所述滑轨60上滑动。所述滑轨60中间为镂空带，当所述自动定位及伤口保护的全自动注射装置1放置于人体部位上时，从所述镂空带可以接触到人体部位的皮肤表面。在其它实施例中，可以不需要所述滑轨60，在此种情况下，所述第二驱动装置20设置于所述自动定位及伤口保护的全自动注射装置1的一个固定位置。
所述血管扫描仪22用于对人体部位进行扫描，以获得人体部位内静脉血管的三维图像。所述静脉血管的三维图像还关联有静脉血管的三维坐标信息。进一步地，所述血管扫描仪22还可以对所述针头110进行扫描以得到所述针头110的三维坐标。在本实施例中，所述血管扫描仪22可以是，但不限于，3D超声扫描仪、彩色超声诊断仪（例如，三维B超）或红外光血管扫描仪等设备。此外，若所述血管扫描仪22体积庞大，可以将所述血管扫描仪22的扫描器（未示出）安装于所述第二驱动装置20上，而所述血管扫描仪22的主机设备（未示出）放置于远离所述自动定位及伤口保护的全自动注射装置1的位置，所述血管扫描仪22的主机设备通过数据线（例如，USB线）与所述扫描器及控制器2连接。
所述伤口保护装置24用于当把所述针头110从静脉血管中拔出时，移动所述伤口保护装置24至所述针头110刺破所述静脉血管时的伤口位置，以对伤口进行止血及消炎。在本实施例中，所述伤口保护装置24上包括消毒后的医用棉球及医用胶带。
所述自动定位及伤口保护的全自动注射装置1放置于人体部位（例如，手臂或手腕等人体部位）上以通过所述血管扫描仪22自动寻找人体组织中的静脉血管，并自动将注射器11的针头插入到所述静脉血管中，之后将所述药液容器3中的药液注射到所述静脉血管中。
进一步地，为了更明显地在所述三维图像中分辨出静脉血管，在本实施例中，当所述自动定位及伤口保护的全自动注射装置1佩戴于人体部位（例如，手掌、手臂或手腕处）上时，所述捆绑装置30捆绑所述人体部位，所述控制器用于控制所述捆绑装置以减缓所述人体部位中静脉血管内血液的流通，从而使得所述静脉血管凸起，如此一来，在所述三维图像中能够更明显地分辨出静脉血管。所述捆绑装置30为一封闭式圆圈，该捆绑装置30的可以佩戴于手臂或手腕上，并通过调节所述封闭式圆圈的半径来控制所述捆绑装置30的松紧度。在本实施例中，所述捆绑装置30可以是，但不限于，封闭式橡皮筋、封闭式绷带、封闭式充气圈等。所述控制器2控制所述捆绑装置30，以控制所述捆绑装置30的松紧度。当所述针头110进入所述静脉血管后，所述控制器2控制所述捆绑装置30，以停止对所述人体部位进行捆绑（即增大所述圆圈的半径）。在其它实施例中，所述捆绑装置30可以省略。
此外，如图1所示，当所述自动定位及伤口保护的全自动注射装置1佩戴于人体部位（手腕）上时，所述自动定位及伤口保护的全自动注射装置1自动完成注射。
具体地说，所述控制器2控制所述血管扫描仪22以获得人体部位（例如，手背）内静脉血管的三维图像。所述静脉血管的三维图像还关联有静脉血管的三维坐标信息。具体地说，所述血管扫描仪22在所述滑轨60中移动，在扫描所述镂空带中人体部位的静脉血管。如图7所示，经过所述血管扫描仪22扫描后，所述人体部位4中包括三条静脉血管400，其中一条静脉血管400与另一条静脉血管400有交叉点401（图中有两个交叉点401）。需要说明的是，可以通过血管中血液的流向判断是否为静脉血管400。需要说明的是，由于婴儿（两岁以下）的人群中，血管小且隐藏的深，因此优选地，本发明更适用于两岁以上的人群，尤其是成年人（18岁以上的群体）。
所述控制器2根据所述静脉血管400的三维图像确定注射血管及该注射血管的注射位置。
所述根据所述静脉血管400的三维图像确定注射血管及注射位置的方式如下：
根据所述静脉血管400的三维坐标信息计算每条静脉血管400的粗细程度；
选择最粗的静脉血管400作为注射血管；
根据所述静脉血管400的三维坐标信息计算出静脉血管400的交叉点；
在所述注射血管中任意选取一段血管，该选取的一段血管的距离大于或等于所述针头110的长度，且该选取的一段血管中没有交叉点；
将该选取的一段血管的起始端作为注射位置。
所述控制器2控制所述角度调整装置13以根据所述注射血管的走向调整所述针头110的注射方向。具体地说，所述注射方向为所述针头110在水平面的方向，该水平面的方向与所述注射血管的走向一致，如图8所示。
所述控制器2控制所述血管扫描仪22对所述注射器11的针头110进行扫描，以获得该针头110的初始三维坐标。
所述控制器2控制所述伸缩装置12将所述针头110从所述初始三维坐标移动至该注射血管的注射位置，并继续推进所述针头110移动预设距离（例如，1厘米至2厘米之间的一个距离）从而将所述针头110注射到该注射血管中。
所述控制器2控制所述血管扫描仪22以判断所述针头110是否成功进入所述注射血管。具体地说，通过所述血管扫描仪22实时确定所述针头110在人体部位内部的三维坐标，判断所述针头110在人体部位内部的三维坐标是否在所述注射血管内，若所述针头110在人体部位内部的三维坐标在所述注射血管内，则确定所述针头注射成功，否则，若所述针头110在人体部位内部的三维坐标不在所述注射血管的位置内，则确定所述针头注射失败。
所述控制器2判断所述药液容器3中的药液注射是否完成。具体地说，所述控制器2可以通过所述血管扫描仪22对所述针头扫描所得的三维图像得出所述针头110中是否有血液回流，若所述针头110中有血液回流，确定所述药液容器3中的药液已经完成注射。
当所述药液容器3中的药液已经完成注射时，所述控制器2控制所述伸缩装置12以从所述注射血管中拔出所述针头110。
所述控制器2控制所述第二驱动装置20中的伤口保护装置24贴合到所述注射血管的注射位置以保护伤口。
此外，所述输入装置40用于输入相关参数，以利于所述控制器2控制所述伸缩装置12、角度调整装置13、血管扫描仪22及伤口保护装置24。具体地说，用户在所述输入装置40中输入用于控制所述伸缩装置12的推进速度（例如，五厘米/秒）、用于控制所述角度调整装置13的注射角度（所述注射角度为针头与人体部位表面的倾斜角度，例如，15度到30度范围内选定的一个注射角度）。
所述显示装置50用于显示所述血管扫描仪22扫描所获得的静脉血管400的三维图像。在其它实施例中，所述显示装置50可以远离所述自动定位及伤口保护的全自动注射装置1。具体地说，通过一条图像数据线（例如，HDMI线、VGA线等任意合适的图像数据线）与所述自动定位及伤口保护的全自动注射装置1中的控制器2连接，此时，所述显示装置50可以与所述自动定位及伤口保护的全自动注射装置1分离。
如图9所示，图9是本发明自动定位及伤口保护的全自动注射方法较佳实施例的流程图。在本实施例中，所述自动定位及伤口保护的全自动注射方法应用于自动定位及伤口保护的全自动注射装置1中，包括如下步骤S10至步骤S19。
步骤S10，所述控制器2控制所述血管扫描仪22对人体部位（例如，手背）进行扫描以获得人体部位内静脉血管400的三维图像。所述静脉血管400的三维图像还关联有静脉血管400的三维坐标信息。具体地说，所述血管扫描仪22在所述滑轨60中移动，在扫描所述镂空带中人体部位的静脉血管400。如图7所示，经过所述血管扫描仪22扫描后，所述人体部位4中包括三条静脉血管400，其中，静脉血管400与静脉血管400有交叉点401（图中有两个交叉点401）。
步骤S11，所述控制器2根据所述静脉血管400的三维图像确定注射血管及该注射血管的注射位置。
所述根据所述静脉血管400的三维图像确定注射血管及注射位置的方式如下：
根据静脉血管400的三维坐标信息计算每条静脉血管400的粗细程度；
选择最粗的静脉血管400作为注射血管；
根据静脉血管400的三维坐标计算出静脉血管400的交叉点；
在所述注射血管中任意选取一段血管，该选取的一段血管的距离大于或等于所述针头110的长度，且该选取的一段血管中没有交叉点；
将该选取的一段血管的起始端作为注射位置。
步骤S12，所述控制器2控制所述角度调整装置13以根据所述注射血管的走向调整所述针头110的注射方向。具体地说，所述注射方向为所述针头110在水平面的方向，该水平面的方向与所述注射血管的走向一致，如图8所示。
步骤S13，所述控制器2控制所述血管扫描仪22对所述注射器11的针头110进行扫描，以获得该针头110的初始三维坐标。
步骤S14，所述控制器2控制所述伸缩装置12将所述针头110从所述初始三维坐标移动至该注射血管的注射位置，并继续推进所述针头110移动预设距离（例如，1厘米至2厘米之间的一个距离）从而将所述针头110注射到该注射血管中。
步骤S15，所述控制器2通过所述血管扫描仪22判断所述针头110是否成功进入所述注射血管。具体地说，通过所述血管扫描仪22确定所述针头110在人体部位内部的三维坐标，判断所述针头110在人体部位内部的三维坐标是否在所述注射血管的位置内，若所述针头110在人体部位内部的三维坐标在所述注射血管内，则确定所述针头110成功进入所述注射血管，流程进入步骤S16。否则，若所述针头110在人体部位内部的三维坐标不在所述注射血管的位置内，则确定所述针头110注射失败，流程执行步骤S19，所述控制器2控制所述伸缩装置12以从所述注射血管中拔出所述针头110，之后流程返回步骤S10（为了安全起见避免一再重复注射，若第二次注射失败，则不返回步骤S10）。在其它实施例中，所述针头110注射失败，通知指定医务人员（例如，护士），流程不需要执行步骤S19及返回至S10。此外，所述针头110成功进入所述注射血管后，所述控制器2控制所述伤口保护装置24移动至所述注射位置，并粘贴医用胶布，以保护伤口。
步骤S16，所述控制器2判断所述药液容器3中的药液注射是否完成。具体地说，所述控制器2可以通过所述血管扫描仪22对所述针头扫描所得的三维图像得出所述针头110中是否有血液回流。若所述针头110中有血液回流，确定所述药液容器3中的药液已经完成注射，流程进入步骤S17。否则，若所述针头110中没有血液回流，重复执行步骤S16。
步骤S17，所述控制器2控制所述伸缩装置12以从所述注射血管中拔出所述针头110。
步骤S18，所述控制器2控制所述第二驱动装置20中的伤口保护装置24贴合到所述注射血管的注射位置以保护伤口。具体地说，当从所述注射血管中拔出所述针头110时，移动所述伤口保护装置24至所述针头110刺破所述注射血管时的伤口位置，以对伤口进行止血及消炎。
在其它实施例中，从节约成本的角度考虑，所述步骤S16至S18可以省略，也就是说，所述自动定位及伤口保护的全自动注射装置1在完成一次注射后，可以从当前患者身上拆除（仅保留所述针头110、输液软管113及药液容器3），以给其它患者使用。也就是说，当所述针头110成功进入所述注射血管，医务人员从当前患者拆除所述自动定位及伤口保护的全自动注射装置1（仅保留所述针头110、输液软管113及药液容器3）。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效功能变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种自动定位及伤口保护的全自动注射装置，其特征在于，所述自动定位及伤口保护的全自动注射装置包括控制器、第一驱动装置及第二驱动装置，所述控制器分别与所述第一驱动装置及第二驱动装置连接；
    所述第一驱动装置上设置注射器、伸缩装置及角度调整装置，所述注射器与所述伸缩装置及角度调整装置连接，所述注射器还与所述药液容器连接；
    所述第二驱动装置上设置血管扫描仪；
    所述控制器，用于控制所述血管扫描仪以获得人体部位内静脉血管的三维图像；
    所述控制器，用于根据所述静脉血管的三维图像确定注射血管及该注射血管的注射位置；
    所述控制器，用于控制所述角度调整装置以根据所述注射血管的走向调整所述注射器的针头的注射方向；
    所述控制器，用于控制所述血管扫描仪对所述针头进行扫描，以获得该针头的初始三维坐标；
    所述控制器，用于控制所述伸缩装置将所述针头从所述初始三维坐标移动至该注射血管的注射位置，并继续推进所述伸缩装置预设距离以将所述针头注射到该注射血管中；及
    所述控制器，还用于控制所述血管扫描仪判定所述针头成功进入所述注射血管，以将所述药液容器中的药液通过所述针头注射到所述注射血管。
  2. 如权利要求1所述的自动定位及伤口保护的全自动注射装置，其特征在于，所述控制器还用于：
    当所述针头成功进入至所述注射血管，判断所述药液容器中的药液注射是否完成；
    当所述药液容器中的药液已经完成注射时，控制所述伸缩装置以从所述注射血管中拔出所述针头；及
    控制所述第二驱动装置中的伤口保护装置贴合到所述注射血管的注射位置以保护伤口。
  3. 如权利要求1所述的自动定位及伤口保护的全自动注射装置，其特征在于，所述控制器根据所述静脉血管的三维图像确定注射血管及注射位置的方式如下：
    根据所述静脉血管的三维图像中静脉血管的三维坐标信息计算每条静脉血管的粗细程度；
    选择最粗的静脉血管作为注射血管；
    根据所述静脉血管的三维图像中静脉血管的三维坐标信息计算出静脉血管的交叉点；
    在所述注射血管中任意选取一段血管，该选取的一段血管的距离大于或等于所述针头的长度，且该选取的一段血管中没有交叉点；及
    将该选取的一段血管的起始端作为注射位置。
  4. 如权利要求1所述的自动定位及伤口保护的全自动注射装置，其特征在于，所述控制器控制所述血管扫描仪判定所述针头成功进入所述注射血管的方式为：
    通过所述血管扫描仪确定所述针头在人体部位内部的三维坐标；
    若所述针头在人体部位内部的三维坐标在所述注射血管的位置内，确定所述针头成功进入所述注射血管。
  5. 如权利要求1所述的自动定位及伤口保护的全自动注射装置，其特征在于，所述注射器还包括针筒、挡板、输液软管。
  6. 如权利要求5所述的自动定位及伤口保护的全自动注射装置，其特征在于，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接，所述针筒架设于所述角度调整装置上端的圆形凹槽。
  7. 如权利要求5所述的自动定位及伤口保护的全自动注射装置，其特征在于，所述针头与所述针筒之间为可拆卸式的结构，以及所述输液软管与所述针筒之间为可拆卸式的结构。
  8. 一种自动定位及伤口保护的全自动注射方法，应用于自动定位及伤口保护的全自动注射装置中，其特征在于，所述自动定位及伤口保护的全自动注射装置包括控制器、第一驱动装置及第二驱动装置，所述控制器分别与所述第一驱动装置及第二驱动装置连接，所述第一驱动装置上设置注射器、伸缩装置及角度调整装置，所述注射器与所述伸缩装置及角度调整装置连接，所述注射器还与所述药液容器连接，所述第二驱动装置上设置血管扫描仪，该方法包括如下步骤：
    控制所述血管扫描仪以获得人体部位内血管的三维图像；
    根据所述血管的三维图像确定注射血管及该注射血管的注射位置；
    控制所述角度调整装置以根据所述注射血管的走向调整所述注射器的针头的注射方向；
    控制所述血管扫描仪对所述针头进行扫描，以获得该针头的初始三维坐标；
    控制所述伸缩装置将所述针头从所述初始三维坐标移动至该注射血管的注射位置，并继续推进所述伸缩装置预设距离以将所述针头注射到该注射血管中；及
    控制所述血管扫描仪判定所述针头成功进入所述注射血管，以将所述药液容器中的药液通过所述针头注射到所述注射血管。
  9. 如权利要求8所述的自动定位及伤口保护的全自动注射方法，其特征在于，所述自动定位及伤口保护的全自动注射方法还包括步骤：
    当所述针头成功进入至所述注射血管，判断所述药液容器中的药液注射是否完成；
    当所述药液容器中的药液已经完成注射时，控制所述伸缩装置以从所述注射血管中拔出所述针头；及
    控制所述第二驱动装置中的伤口保护装置贴合到所述注射血管的注射位置以保护伤口。
  10. 如权利要求8所述的自动定位及伤口保护的全自动注射方法，其特征在于，所述根据所述血管的三维图像确定注射血管及注射位置的方式如下：
    根据所述血管的三维图像中血管的三维坐标信息计算每条血管的粗细程度；
    选择最粗的静脉血管作为注射血管；
    根据所述血管的三维图像中血管的三维坐标信息计算出血管的交叉点；
    在所述注射血管中任意选取一段血管，该选取的一段血管的距离大于或等于所述针头的长度，且该选取的一段血管中没有交叉点；及
    将该选取的一段血管的起始端作为注射位置。
PCT/CN2016/071116 2015-10-21 2016-01-16 自动定位及伤口保护的全自动注射装置及方法 WO2017067105A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510686300.4 2015-10-21
CN201510686300.4A CN105327429A (zh) 2015-10-21 2015-10-21 自动定位及伤口保护的全自动注射装置及方法

Publications (1)

Publication Number Publication Date
WO2017067105A1 true WO2017067105A1 (zh) 2017-04-27

Family

ID=55278325

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/071116 WO2017067105A1 (zh) 2015-10-21 2016-01-16 自动定位及伤口保护的全自动注射装置及方法

Country Status (2)

Country Link
CN (1) CN105327429A (zh)
WO (1) WO2017067105A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111558108A (zh) * 2019-02-15 2020-08-21 华中科技大学同济医学院附属协和医院 一种自动皮试注射仪

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205163829U (zh) * 2015-10-21 2016-04-20 深圳市前海康启源科技有限公司 自动扫描血管的全自动注射装置
CN105536093B (zh) * 2016-03-10 2019-05-03 京东方科技集团股份有限公司 智能输液系统以及使用智能输液系统的输液方法
CN110811910B (zh) * 2019-12-02 2021-11-12 余丽君 一种能够快速更换插头减轻劳动强度的注射装置
CN113577458A (zh) * 2021-07-14 2021-11-02 深圳市罗湖医院集团 自动注射方法、装置、电子设备和存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060020211A1 (en) * 2004-07-09 2006-01-26 Tadahiko Tokumoto And Aloka Co., Ltd. Puncture adapter for use in ultrasonic diagnosis
CN101175520A (zh) * 2005-05-18 2008-05-07 皇家飞利浦电子股份有限公司 套管插入系统
CN103028185A (zh) * 2011-09-30 2013-04-10 Ge医疗系统环球技术有限公司 基于实时容积超声波的自动血管介入装置、系统、及方法
CN103976778A (zh) * 2014-05-26 2014-08-13 王燕青 一种全自动静脉穿刺机械手臂及其使用方法
CN104523230A (zh) * 2014-12-29 2015-04-22 华中科技大学 一种静脉穿刺针头位置定位的装置
CN104605917A (zh) * 2014-12-24 2015-05-13 沈阳东软医疗系统有限公司 一种智能穿刺方法和装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2448303Y (zh) * 2000-09-28 2001-09-19 邸若谷 Ct引导下自动定位穿刺器
JP2005529630A (ja) * 2001-11-08 2005-10-06 ザ ジョンズ ホプキンズ ユニバーシティ 画像サーボに基づき蛍光透視法によりターゲティングを行うロボットのためのシステムおよび方法
CN101632596A (zh) * 2008-07-25 2010-01-27 哈尔滨理工大学 前列腺穿刺活检机器人
CN101803952A (zh) * 2010-03-05 2010-08-18 南开大学 Ct图像导航脊柱微创手术机器人运动控制系统
CN102018497A (zh) * 2010-12-30 2011-04-20 广州宝胆医疗器械科技有限公司 一种表层血管显示仪
CN102429640A (zh) * 2011-08-16 2012-05-02 谢幼宸 便携式血管显示灯
CN204181629U (zh) * 2014-10-30 2015-03-04 付营 一种超声定位自动采血设备

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060020211A1 (en) * 2004-07-09 2006-01-26 Tadahiko Tokumoto And Aloka Co., Ltd. Puncture adapter for use in ultrasonic diagnosis
CN101175520A (zh) * 2005-05-18 2008-05-07 皇家飞利浦电子股份有限公司 套管插入系统
CN103028185A (zh) * 2011-09-30 2013-04-10 Ge医疗系统环球技术有限公司 基于实时容积超声波的自动血管介入装置、系统、及方法
CN103976778A (zh) * 2014-05-26 2014-08-13 王燕青 一种全自动静脉穿刺机械手臂及其使用方法
CN104605917A (zh) * 2014-12-24 2015-05-13 沈阳东软医疗系统有限公司 一种智能穿刺方法和装置
CN104523230A (zh) * 2014-12-29 2015-04-22 华中科技大学 一种静脉穿刺针头位置定位的装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111558108A (zh) * 2019-02-15 2020-08-21 华中科技大学同济医学院附属协和医院 一种自动皮试注射仪
CN111558108B (zh) * 2019-02-15 2024-04-30 华中科技大学同济医学院附属协和医院 一种自动皮试注射仪

Also Published As

Publication number Publication date
CN105327429A (zh) 2016-02-17

Similar Documents

Publication Publication Date Title
WO2017067105A1 (zh) 自动定位及伤口保护的全自动注射装置及方法
CN106580344B (zh) 静脉采血机器人和应用该机器人的静脉采血方法
WO2017067057A1 (zh) 自动扫描血管的全自动注射装置
WO2017067055A1 (zh) 自动定位及弹射功能的注射装置
CN109157227A (zh) 采血输液机器人及控制方法
WO2003070092A1 (en) Apparatus and method for locating vessels in a living body
WO2017067106A1 (zh) 自动定位的注射装置及方法
CN205126477U (zh) 一种用于口腔和牙齿治疗的机器人系统
CN111529833A (zh) 一种便于固定静脉无创穿刺的装置
CN204562101U (zh) 便携式静脉投影显像装置
CN111760124A (zh) 药物注射用电动抽液器
CN212574896U (zh) 一种可视表层血管穿刺辅助装置
WO2019231099A1 (en) Syringe grip
WO2022220332A1 (ko) 카테터 튜브내에 혈전 형성 및 누수 방지를 위한 정맥용 튜브 카테터
WO2022104912A1 (zh) 一种自动给药的麻醉机器人
CN213347300U (zh) 一种一次性无线可视给药吸引型气管插管
CN209611156U (zh) 采血输液机器人
CN206499514U (zh) 一种麻醉穿刺针
CN213374432U (zh) 一种用于消化内镜下的药物注射治疗分段注射器
CN216394034U (zh) 便携式血管显像仪
CN215023949U (zh) 一种手术室护理用输液防渗漏装置
WO2021182710A1 (ko) 실린더 펌프
CN214911663U (zh) 一种安全性高的手术室护理用具
CN219070559U (zh) 一种超声引导下穿刺针联合药物注射盥洗一体化连接装置
CN217409449U (zh) 中心静脉置管自动密封与防滑脱保护套

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16856553

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16856553

Country of ref document: EP

Kind code of ref document: A1