WO2017067106A1 - 自动定位的注射装置及方法 - Google Patents

自动定位的注射装置及方法 Download PDF

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Publication number
WO2017067106A1
WO2017067106A1 PCT/CN2016/071117 CN2016071117W WO2017067106A1 WO 2017067106 A1 WO2017067106 A1 WO 2017067106A1 CN 2016071117 W CN2016071117 W CN 2016071117W WO 2017067106 A1 WO2017067106 A1 WO 2017067106A1
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WO
WIPO (PCT)
Prior art keywords
blood vessel
injection
needle
syringe
controller
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Application number
PCT/CN2016/071117
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English (en)
French (fr)
Inventor
张贯京
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深圳市前海康启源科技有限公司
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Publication of WO2017067106A1 publication Critical patent/WO2017067106A1/zh

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Classifications

    • 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
    • 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
    • A61M5/42—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 having means for desensitising skin, for protruding skin to facilitate piercing, or for locating point where body is to be pierced

Definitions

  • the invention relates to the field of medical instruments, and in particular to an automatic positioning injection device and method.
  • 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 traditional injection device requires a person to find the injection position.
  • the injection position sought is inevitably erroneous and causes medical risks.
  • a primary object of the present invention is to provide an automatic positioning injection device and method for solving the problem that an existing injection device requires manual search for a blood vessel injection position.
  • the present invention provides an automatic positioning injection device including a controller, a mobile device, a driving device and a binding device, the controller and the mobile device and the driving device respectively And the binding device connection;
  • the mobile device is provided with a syringe, an ejection device and an angle adjusting device, and the syringe is connected to the ejection device and the angle adjusting device;
  • the controller is configured to control the binding device to cause a venous blood vessel of a human body part to protrude on a skin surface;
  • the controller is configured to control the blood vessel scanner to obtain coordinate information of the convex venous blood vessel;
  • the controller is configured to determine an injection blood vessel and an injection position of the injection blood vessel according to coordinate information of the convex 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 configured to obtain initial three-dimensional coordinates of the needle from the mobile device
  • the controller configured to control the moving device to move the needle from the initial three-dimensional coordinates to an injection position of the injection blood vessel;
  • the controller is configured to control the ejection device to generate an ejection force to eject the syringe to insert a needle of the syringe into the injection blood vessel.
  • the controller is further configured to: control a wound protection device in the driving device to be attached to an injection position of the injection blood vessel to protect the wound.
  • the controller determines the injection blood vessel and the injection position according to the coordinate information of the convex 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 injection direction of the needle is the direction of the needle in the horizontal plane of the moving device, and the direction of the horizontal plane coincides with the direction of the injection blood vessel.
  • the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe,
  • the infusion hose is also connected to the liquid medicine container, the end of the syringe is provided with the baffle, the ejection device is connected with the baffle, and the syringe is arranged on the upper end of the angle adjusting device Groove.
  • the needle and the syringe have a detachable structure
  • the infusion hose and the syringe have a detachable structure
  • the present invention also provides an automatic positioning injection method for use in an automatic positioning injection device, the automatic positioning injection device comprising a controller, a mobile device, a driving device and a binding device, respectively Connected to the mobile device, the driving device and the binding device, the mobile device is provided with a syringe, an ejection device and an angle adjusting device, the syringe is connected to the ejection device and the angle adjusting device, and the driving device is provided with a blood vessel scanning Instrument, the method includes the following steps:
  • Controlling the ejection device to generate an ejection force to eject the syringe to insert a needle of the syringe into the injection vessel.
  • the automatic positioning injection method further comprises the steps of:
  • a wound protection device in the drive device is controlled to be attached to an 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 coordinate information of the convex venous 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 injection direction is a direction of the needle in a horizontal plane of the moving device, the direction of the horizontal plane being consistent with the direction of the injection blood vessel.
  • the automatic positioning injection device and method of the present invention adopts the above technical solutions, and achieves the following technical effects: realizing automatic injection of the injection position of the blood vessel, facilitating medical personnel and patients, and inserting in the needle After the blood vessel, a wound-fitting operation is performed at the injection site to protect the wound, ensuring patient safety during the injection.
  • Figure 1 is a block diagram showing a preferred embodiment of an automatic positioning injection device of the present invention.
  • FIG. 2 is a schematic plan view showing a preferred embodiment of a syringe in the automatic positioning injection device of the present invention
  • FIG. 3 is a schematic plan view showing a preferred embodiment of the automatic positioning injection device of the present invention.
  • FIG. 4 is a schematic structural view of a preferred embodiment of a mobile device in an automatic positioning injection device of the present invention
  • FIG. 5 is a schematic plan view showing a preferred embodiment of an angle adjusting device in an automatic positioning injection device according to the present invention
  • FIG. 6 is a schematic structural view of a preferred embodiment of a driving device in an automatic positioning injection device according to 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 positioning injection device of the present invention
  • Figure 8 is a schematic view of the needle of the syringe inserted into the venous blood vessel in the automatic positioning injection device of the present invention
  • Figure 9 is a flow chart of a preferred embodiment of the automatic positioning injection method of the present invention.
  • FIG. 1 is a schematic structural view of a preferred embodiment of an automatic positioning injection device of the present invention.
  • the automatically positioned injection device 1 includes a controller 2, a mobile device 10, a drive device 20, a binding device 30, an input device 40, and a display device 50.
  • the controller 2 establishes electrical connection with the mobile device 10, the driving device 20, the binding device 30, the input device 40, and the display device 50, respectively.
  • the mobile device 10 includes a syringe 11, an ejection device 12, and an angle adjustment device 13.
  • the syringe 11 is connected to the ejection device 12 and the angle adjustment 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).
  • the liquid chemical container 3 is not mounted on the automatically positioned injection device 1, but is separated from the automatically positioned injection device 1.
  • the mobile device 10 is a three-dimensional coordinate device that can locate three-dimensional coordinates of all components in the mobile device 10 (for example, three-dimensional coordinates are obtained by means of ray scanning).
  • Fig. 2 is a schematic plan view showing a preferred embodiment of the syringe in the automatic positioning injection device 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 positioning injection device of the present invention.
  • the mobile device 10 is disposed on a slide rail 60 in which a motor for sliding is built in, and the motor can drive the mobile device 10 to slide on the slide rail 60.
  • the middle of the slide rail 60 is a hollow belt.
  • FIG. 4 is a schematic structural view of a preferred embodiment of the mobile device in the automatic positioning injection device of the present invention.
  • the mobile device 10 is internally provided with a syringe 11, an ejection device 12 and an angle adjusting device 13.
  • the ejection device 12 is coupled to the baffle 112.
  • the ejection device 12 has a spring built-in device.
  • the ejection device 12 includes a button (not shown) that exerts an impulse on the flapper 112 when the patient or medical staff presses a button, causing the syringe 111 to eject and insert the needle 110 In the blood vessels to complete the injection.
  • the needle cylinder 111 is also 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 syringe 111 and the water level to 15 degrees). Furthermore, the angle adjustment device 13 can also be moved left and right inside the mobile device 10 to adjust the position of the syringe 111 in the horizontal plane. Further, as shown in FIG. 5, 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 driving device 20 includes a blood vessel scanner 22 and a wound protection device 24. As shown in FIG. 3 and FIG. 6 , the driving device 20 is disposed on the sliding rail 60.
  • the driving device 20 has a motor for sliding, and the motor can drive the driving device 20 on the sliding rail 60. slide.
  • the middle of the slide rail 60 is a hollow belt. When the automatically positioned injection device 1 is placed on a human body part, the hollow belt can contact the skin surface of the human body part.
  • the blood vessel scanner 22 is configured to scan a human body part to obtain three-dimensional coordinate information of a venous blood vessel of a human body part.
  • 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 driving device 20, and the host device of the blood vessel scanner 22 (not shown)
  • the host device of the blood vessel scanner 22 is placed in communication with the scanner and controller 2 via a data line (for example, a USB cable) at a position away from the automatically positioned injection device 1.
  • a data line for example, a USB cable
  • the wound protection device 24 is configured to move the wound protection device 24 to a wound position when the needle 110 pierces the venous blood vessel to stop bleeding and anti-inflammatory.
  • the wound protection device 24 includes a sterilized medical tape.
  • the automatically positioned 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 insert the needle of the syringe 11 into the body.
  • a human body part for example, a human body part such as an arm or a wrist
  • the drug solution in the drug solution container 3 is then injected into the venous blood vessel.
  • the binding device 30 when the automatically positioned injection device 1 is worn on a human body part (for example, a palm, an arm or a wrist), the binding device 30 binds the human body part, and the controller is used to control the
  • the binding device 30 is configured to slow the circulation of blood in the venous blood vessels in the human body part, thereby causing the venous blood vessels to bulge, and thus, the venous blood vessels can be more clearly distinguished.
  • 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 automatically positioned injection device 1 when the automatically positioned injection device 1 is worn on a human body part (wrist), the automatically positioned injection device 1 automatically completes the injection.
  • the controller 2 controls the binding device 30 to cause a venous blood vessel of a human body part to bulge on the surface of the skin.
  • a venous blood vessel of a human body part may not be able to bulge the blood vessels, and therefore, the present invention is more suitable for adulthood. People (groups over 18 years old).
  • the controller 2 controls the blood vessel scanner 22 to obtain coordinate information of the convex vein. Specifically, the blood vessel scanner 22 moves in the slide rail 60 to scan the raised venous blood vessels in the hollow belt. As shown in FIG. 7, after scanning by the blood vessel scanner 22, the human body part 4 includes three convex venous blood vessels 400, one of which has a venous blood vessel 400 intersecting another convex venous blood vessel 400. Point 401 (there are two intersections 401 in the figure).
  • the controller 2 determines an injection blood vessel and an injection position of the injection blood vessel based on coordinate information of the convex venous blood vessel 400.
  • the manner of determining the injection blood vessel and the injection position according to the coordinate information of the convex 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, as shown in Fig. 8, the direction of the horizontal plane coincides with the direction of the injection blood vessel.
  • the controller 2 obtains the initial three-dimensional coordinates of the needle 110 from the mobile device 10.
  • the controller 2 controls the mobile device 10 to move the needle 110 from the initial three-dimensional coordinates to an injection position of the injection vessel.
  • the controller 2 controls the ejection device 12 to generate an ejection force to eject the syringe 11 to insert the needle 110 of the syringe 11 into the injection blood vessel. Specifically, the controller 2 controls a button on the ejection device 12 to eject the syringe 11 so that the needle 110 is inserted into the injection vein to complete the injection.
  • the controller 2 controls the wound protection device 24 in the 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 mobile device 10, the ejection device 12, the angle adjusting device 13, the blood vessel scanner 22, and the wound protection device 24.
  • the user inputs an injection angle for controlling the angle adjusting device 13 in the input device 40 (the injection angle is an inclination angle of the needle and the surface of the human body part, for example, ranging from 15 degrees to 30 degrees) Set an injection angle).
  • the display device 50 is configured to display three-dimensional coordinate information and an image of the venous blood vessel 400 obtained by the blood vessel scanner 22.
  • the display device 50 can be remote from the automatically positioned injection device 1.
  • 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 automatically positioned injection device 1. At this time, the display device 50 can Separated from the automatically positioned injection device 1.
  • Figure 9 is a flow chart of a preferred embodiment of the automatic positioning injection method of the present invention.
  • the automatic positioning injection method is applied to the automatic positioning injection device 1, and includes the following steps S10 to S17.
  • step S10 the controller 2 controls the binding device 30 to cause the venous blood vessels of the human body part to bulge on the skin surface.
  • the binding device 30 since the blood vessels are small and hidden deep in the infant (under two years old), even if the binding device 30 is used, the skin surface may not be able to bulge the blood vessels, and therefore, the present invention is more suitable for adulthood. People (groups over 18 years old).
  • step S11 the controller 2 controls the blood vessel scanner 22 to obtain coordinate information of the convex vein.
  • the blood vessel scanner 22 moves in the slide rail 60 to scan the raised venous blood vessels in the hollow belt.
  • the human body part 4 includes three convex venous blood vessels 400, one of which has a venous blood vessel 400 intersecting another convex venous blood vessel 400. Point 401 (there are two intersections 401 in the figure).
  • step S12 the controller 2 determines the injection blood vessel and the injection position of the injection blood vessel according to the coordinate information of the convex venous blood vessel 400.
  • the manner of determining the injection blood vessel and the injection position according to the coordinate information of the convex 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 S13 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 of the moving device 1, as shown in Fig. 8, the direction of the horizontal plane coincides with the direction of the injection blood vessel.
  • step S14 the controller 2 obtains the initial three-dimensional coordinates of the needle 110 from the mobile device 10.
  • step S15 the controller 2 controls the mobile device 10 to move the needle 110 from the initial three-dimensional coordinates to the injection position of the injection blood vessel.
  • step S16 the controller 2 controls the ejection device 12 to generate an ejection force to eject the syringe 11 to insert the needle 110 of the syringe 11 into the injection blood vessel. Specifically, the controller 2 controls a button on the ejection device 12 to eject the syringe 11 so that the needle 110 is inserted into the injection vein to complete the injection.
  • step S17 the controller 2 controls the wound protection device 24 in the driving device 20 to be attached to the injection position of the injection blood vessel to protect the wound.

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  • Health & Medical Sciences (AREA)
  • Vascular Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Anesthesiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
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  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Dermatology (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

一种自动定位的注射装置（1）及方法，该方法包括步骤：控制捆绑装置（30）以使人体部位的静脉血管（400）在皮肤表面凸起（S10）；获得凸起的静脉血管（400）的坐标信息（S11）；根据凸起的静脉血管（400）的坐标信息确定注射血管及该注射血管的注射位置（S12）；控制角度调整装置（13）以根据注射血管的走向调整注射器（11）的针头（110）的注射方向（S13）；从移动装置（10）获得针头（110）的初始三维坐标（S14）；控制移动装置（10）将针头（110）从初始三维坐标移动至注射血管的注射位置（S15）；控制弹射装置（12）弹射注射器（11）以将注射器（11）的针头（110）插入至注射血管（S16）。该注射装置（1）和方法能够找准血管（400）的注射位置，方便了患者及医务人员，且在针头（110）插入血管（400）后，在注射位置进行伤口贴合操作以保护伤口，确保注射期间患者的安全。

Description

自动定位的注射装置及方法
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的注射装置及方法。
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。
其中，传统的注射装置需要人来寻找注射位置，对于没有医务知识的患者来说，若采用传统的注射装置为自己注射时，所寻找的注射位置难免出错并造成医疗隐患。
发明内容
本发明的主要目的在于提供一种自动定位的注射装置及方法，旨在解决现有的注射装置需要人工查找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的注射装置，所述自动定位的注射装置包括控制器、移动装置、驱动装置及捆绑装置，所述控制器分别与所述移动装置、驱动装置及捆绑装置连接；
所述移动装置上设置注射器、弹射装置及角度调整装置，所述注射器与所述弹射装置及角度调整装置连接；
所述驱动装置上设置血管扫描仪；
所述控制器，用于控制所述捆绑装置以使人体部位的静脉血管在皮肤表面凸起；
所述控制器，用于控制所述血管扫描仪以获得所述凸起的静脉血管的坐标信息；
所述控制器，用于根据所述凸起的静脉血管的坐标信息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，用于从所述移动装置获得该针头的初始三维坐标；
所述控制器，用于控制所述移动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；及
所述控制器，用于控制所述弹射装置产生弹射力弹射所述注射器以将所述注射器的针头插入至所述注射血管。
优选的，所述控制器还用于：控制所述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凸起的静脉血管的坐标信息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；
根据所述凸起的静脉血管的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，所述针头的注射方向为所述针头在所述移动装置的水平面的方向，该水平面的方向与所述注射血管的走向一致。
优选的，所述注射器还包括针筒、挡板、输液软管，其中，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，所述弹射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，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的注射方法，应用于自动定位的注射装置中，所述自动定位的注射装置包括控制器、移动装置、驱动装置及捆绑装置，所述控制器分别与所述移动装置、驱动装置及捆绑装置连接，所述移动装置上设置注射器、弹射装置及角度调整装置，所述注射器与所述弹射装置及角度调整装置连接，所述驱动装置上设置血管扫描仪，该方法包括如下步骤：
控制所述捆绑装置以使人体部位的静脉血管在皮肤表面凸起；
控制所述血管扫描仪以获得所述凸起的静脉血管的坐标信息；
根据所述凸起的静脉血管的坐标信息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；
从所述移动装置获得该针头的初始三维坐标；
控制所述移动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；及
控制所述弹射装置产生弹射力弹射所述注射器以将所述注射器的针头插入至所述注射血管。
优选的，所述自动定位的注射方法还包括步骤：
控制所述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，所述根据所述凸起的静脉血管的坐标信息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；
根据所述凸起的静脉血管的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，所述注射方向为所述针头在所述移动装置的水平面的方向，该水平面的方向与所述注射血管的走向一致。
相较于现有技术，本发明所述自动定位的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：实现自动找准血管的注射位置，方便了医务人员及患者，且在针头插入血管后，在所述注射位置进行伤口贴合操作以保护伤口，确保注射期间患者的安全。
附图说明
图1是本发明自动定位的注射装置较佳实施例的架构示意图。
图2是本发明自动定位的注射装置中注射器的较佳实施例的平面结构示意图；
图3是本发明自动定位的注射装置较佳实施例的平面结构示意图；
图4是本发明自动定位的注射装置中移动装置较佳实施例的结构示意图；
图5是本发明自动定位的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是本发明自动定位的注射装置中驱动装置较佳实施例的结构示意图；
图7是本发明自动定位的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是本发明自动定位的注射装置中注射器的针头插入静脉血管时的示意图；
图9是本发明自动定位的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是本发明自动定位的注射装置较佳实施例的架构示意图。
所述自动定位的注射装置1包括控制器2、移动装置10、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分别与所述移动装置10、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。
所述移动装置10包括注射器11、弹射装置12及角度调整装置13。所述注射器11与所述弹射装置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的注射装置1上，而是与所述自动定位的注射装置1分离。具体地说，所述移动装置10为三维坐标仪，可以定位所述移动装置10内所有部件的三维坐标（例如，通过光线扫描的方式获得三维坐标）。
如图2所示，图2是本发明自动定位的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是本发明自动定位的注射装置较佳实施例的平面结构示意图。
所述移动装置10设置于滑轨60上，所述移动装置10中内置用于滑动的电机，该电机可以驱动所述移动装置10在所述滑轨60上滑动。所述滑轨60中间为镂空带，当所述自动定位的注射装置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。
进一步地，如图4所示，图4是本发明自动定位的注射装置中移动装置较佳实施例的结构示意图。
所述移动装置10内部设置有注射器11、弹射装置12及角度调整装置13。所述弹射装置12与所述挡板112连接。所述弹射装置12内置弹簧的装置。所述弹射装置12包括按钮（未示出），当患者或医务人员按下按钮时，所述弹簧产生冲力作用于所述挡板112，使得所述针筒111弹射出去，并将针头110插入血管中以完成注射。所述针筒111还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还可以在所述移动装置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，在所述驱动装置20中，所述驱动装置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，所述驱动装置20设置于滑轨60上，所述驱动装置20中内置用于滑动的电机，该电机可以驱动所述驱动装置20在所述滑轨60上滑动。所述滑轨60中间为镂空带，当所述自动定位的注射装置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。
所述血管扫描仪22用于对人体部位进行扫描，以获得人体部位静脉血管的三维坐标信息。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的注射装置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胶带。
所述自动定位的注射装置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。
在本实施例中，当所述自动定位的注射装置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30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，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）。
此外，如图1所示，当所述自动定位的注射装置1佩戴于人体部位（手腕）上时，所述自动定位的注射装置1自动完成注射。
具体地说，所述控制器2控制所述捆绑装置30以使人体部位的静脉血管在皮肤表面凸起。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，即便采用所述捆绑装置30，也可能无法使得皮肤表面凸起静脉血管，因此，本发明更适用于成年人（18岁以上的群体）。
所述控制器2控制所述血管扫描仪22以获得所述凸起的静脉血管的坐标信息。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所述凸起的静脉血管。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中包括三条凸起的静脉血管400，其中一条凸起的静脉血管400与另一条凸起的静脉血管400有交叉点401（图中有两个交叉点401）。
所述控制器2根据所述凸起的静脉血管400的坐标信息确定注射血管及该注射血管的注射位置。
所述根据所述凸起的静脉血管400的坐标信息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；
根据所述凸起的静脉血管400的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，如图8所示，该水平面的方向与所述注射血管的走向一致。
所述控制器2从所述移动装置10获得该针头110的初始三维坐标。
所述控制器2控制所述移动装置10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。
所述控制器2控制所述弹射装置12产生弹射力弹射所述注射器11以将所述注射器11的针头110插入至所述注射血管。具体地说，所述控制器2控制所述弹射装置12上的按钮，将所述注射器11弹射出去使得针头110插入所述注射静脉，完成注射。
所述控制器2控制所述驱动装置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控制所述移动装置10、所述弹射装置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的三维坐标信息及图像。在其它实施例中，所述显示装置50可以远离所述自动定位的注射装置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）与所述自动定位的注射装置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的注射装置1分离。
如图9所示，图9是本发明自动定位的注射方法较佳实施例的流程图。在本实施例中，所述自动定位的注射方法应用于自动定位的注射装置1中，包括如下步骤S10至步骤S17。
步骤S10，所述控制器2控制所述捆绑装置30以使人体部位的静脉血管在皮肤表面凸起。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，即便采用所述捆绑装置30，也可能无法使得皮肤表面凸起静脉血管，因此，本发明更适用于成年人（18岁以上的群体）。
步骤S11，所述控制器2控制所述血管扫描仪22以获得所述凸起的静脉血管的坐标信息。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所述凸起的静脉血管。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中包括三条凸起的静脉血管400，其中一条凸起的静脉血管400与另一条凸起的静脉血管400有交叉点401（图中有两个交叉点401）。
步骤S12，所述控制器2根据所述凸起的静脉血管400的坐标信息确定注射血管及该注射血管的注射位置。
所述根据所述凸起的静脉血管400的坐标信息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；
根据所述凸起的静脉血管400的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。
步骤S13，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在所述移动装置1的水平面的方向，如图8所示，该水平面的方向与所述注射血管的走向一致。
步骤S14，所述控制器2从所述移动装置10获得该针头110的初始三维坐标。
步骤S15，所述控制器2控制所述移动装置10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。
步骤S16，所述控制器2控制所述弹射装置12产生弹射力弹射所述注射器11以将所述注射器11的针头110插入至所述注射血管。具体地说，所述控制器2控制所述弹射装置12上的按钮，将所述注射器11弹射出去使得针头110插入所述注射静脉，完成注射。
步骤S17，所述控制器2控制所述驱动装置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。
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. 一种自动定位的注射装置，其特征在于，所述自动定位的注射装置包括控制器、移动装置、驱动装置及捆绑装置，所述控制器分别与所述移动装置、驱动装置及捆绑装置连接；
    所述移动装置上设置注射器、弹射装置及角度调整装置，所述注射器与所述弹射装置及角度调整装置连接；
    所述驱动装置上设置血管扫描仪；
    所述控制器，用于控制所述捆绑装置以使人体部位的静脉血管在皮肤表面凸起；
    所述控制器，用于控制所述血管扫描仪以获得所述凸起的静脉血管的坐标信息；
    所述控制器，用于根据所述凸起的静脉血管的坐标信息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，用于从所述移动装置获得该针头的初始三维坐标；
    所述控制器，用于控制所述移动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；及
    所述控制器，用于控制所述弹射装置产生弹射力弹射所述注射器以将所述注射器的针头插入至所述注射血管。
  2. 如权利要求1所述的自动定位的注射装置，其特征在于，所述控制器还用于：控制所述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所述的自动定位的注射装置，其特征在于，所述控制器根据所述凸起的静脉血管的坐标信息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；
    根据所述凸起的静脉血管的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所述的自动定位的注射装置，其特征在于，所述针头的注射方向为所述针头在所述移动装置的水平面的方向，该水平面的方向与所述注射血管的走向一致。
  5. 如权利要求1所述的自动定位的注射装置，其特征在于，所述注射器还包括针筒、挡板、输液软管，其中，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，所述弹射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。
  6. 如权利要求5所述的自动定位的注射装置，其特征在于，所述针头与所述针筒之间为可拆卸式的结构，所述输液软管与所述针筒之间为可拆卸式的结构。
  7. 一种自动定位的注射方法，应用于自动定位的注射装置中，其特征在于，所述自动定位的注射装置包括控制器、移动装置、驱动装置及捆绑装置，所述控制器分别与所述移动装置、驱动装置及捆绑装置连接，所述移动装置上设置注射器、弹射装置及角度调整装置，所述注射器与所述弹射装置及角度调整装置连接，所述驱动装置上设置血管扫描仪，该方法包括如下步骤：
    控制所述捆绑装置以使人体部位的静脉血管在皮肤表面凸起；
    控制所述血管扫描仪以获得所述凸起的静脉血管的坐标信息；
    根据所述凸起的静脉血管的坐标信息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；
    从所述移动装置获得该针头的初始三维坐标；
    控制所述移动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；及
    控制所述弹射装置产生弹射力弹射所述注射器以将所述注射器的针头插入至所述注射血管。
  8. 如权利要求7所述的自动定位的注射方法，其特征在于，所述自动定位的注射方法还包括步骤：
    控制所述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。
  9. 如权利要求7所述的自动定位的注射方法，其特征在于，所述根据所述凸起的静脉血管的坐标信息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；
    根据所述凸起的静脉血管的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。
  10. 如权利要求7所述的自动定位的注射方法，其特征在于，所述注射方向为所述针头在所述移动装置的水平面的方向，该水平面的方向与所述注射血管的走向一致。
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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
CN109452960B (zh) * 2018-12-11 2024-01-23 北京润美玉之光医疗美容门诊部 一种用于线雕整形手术的控制系统
CN113633853A (zh) * 2021-07-07 2021-11-12 复旦大学附属中山医院 一种动脉注射抽吸装置系统
CN115154772B (zh) * 2022-08-12 2023-05-19 中国人民解放军总医院第五医学中心 一种内分泌临床用的注射定位装置

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