WO2019085279A1 - Robot de notification de perfusion basé sur un balayage de tube goutte-à-goutte - Google Patents

Robot de notification de perfusion basé sur un balayage de tube goutte-à-goutte Download PDF

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Publication number
WO2019085279A1
WO2019085279A1 PCT/CN2018/073188 CN2018073188W WO2019085279A1 WO 2019085279 A1 WO2019085279 A1 WO 2019085279A1 CN 2018073188 W CN2018073188 W CN 2018073188W WO 2019085279 A1 WO2019085279 A1 WO 2019085279A1
Authority
WO
WIPO (PCT)
Prior art keywords
infrared
infusion
dropper
scanning
alarm robot
Prior art date
Application number
PCT/CN2018/073188
Other languages
English (en)
Chinese (zh)
Inventor
张贯京
葛新科
王海荣
高伟明
张红治
Original Assignee
深圳市前海安测信息技术有限公司
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 深圳市前海安测信息技术有限公司 filed Critical 深圳市前海安测信息技术有限公司
Publication of WO2019085279A1 publication Critical patent/WO2019085279A1/fr

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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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
    • A61M5/1684—Monitoring, detecting, signalling or eliminating infusion flow anomalies by detecting the amount of infusate remaining, e.g. signalling end of infusion
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1415—Stands, brackets or the like for supporting infusion accessories
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1417—Holders or handles for hanging up infusion containers
    • 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
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16886—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body for measuring fluid flow rate, i.e. flowmeters
    • A61M5/1689—Drip counters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/18—General characteristics of the apparatus with alarm
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3331—Pressure; Flow
    • A61M2205/3334—Measuring or controlling the flow rate
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3546—Range
    • A61M2205/3553—Range remote, e.g. between patient's home and doctor's office
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/82—Internal energy supply devices
    • A61M2205/8206—Internal energy supply devices battery-operated

Definitions

  • the invention relates to the field of medical robots, and in particular to an infusion alarm robot based on a scanning dropper.
  • infusions For inpatients, in many cases, multiple infusions are required. If the infusion volume is large, the nurse needs to go to and from the pharmacy and the patient's ward. At the same time, the infusion needs to be completed for a long time (for example, 1 hour). When the infusion is completed, if the patient's blood is returned to the infusion device without timely treatment, the patient may be injured.
  • the main object of the present invention is to provide an infusion alarm robot based on a scanning dropper, which aims to solve the technical problem that the prior art cannot use the robot to notify the patient of the infusion completion in time.
  • the present invention provides an infusion alarm robot based on a scanning dropper, the infusion alarm robot comprising a hook, a horizontal support rod, a vertical support rod, a base and an infrared detecting device, the hook being suspended at the level One end of the support rod, the top end of the vertical support rod is connected to an intermediate position of the horizontal support rod, the bottom of the support rod is disposed at a position above the base, and the infrared detecting device is disposed on the vertical support rod
  • the hook is used to suspend the liquid medicine bottle and the infusion set:
  • the base includes a processing unit and a communication unit, the processing unit is disposed in the base, and the communication unit is disposed on a sidewall of the infusion alarm robot based on the scanning dropper;
  • the processing unit is connected to the infrared detecting device and the communication unit;
  • the infrared detecting device is configured to perform infrared scanning on a dropper in the infusion set;
  • the processing unit is configured to control the communication unit to send the notification information to the nurse client when the received signal in the infrared detecting device does not exhibit intermittent fluctuations within a preset time.
  • the infrared detecting device comprises a plurality of infrared emitters and a plurality of infrared receivers, wherein one infrared emitter corresponds to one infrared receiver, and infrared rays emitted by one infrared emitter are received by a corresponding one of the infrared receivers.
  • the infrared detecting device has a square structure
  • the infrared emitter is disposed in a left side wall of the infrared detecting device
  • the infrared receiver is disposed in a right side wall of the infrared detecting device.
  • the base further comprises a radar device connected to the processing unit, the radar device is disposed on an outer surface of the top of the scan dropper based infusion alarm robot, and the radar device is configured to monitor the dropper based on the scan The infusion alerts the obstacle in front of the robot and prompts the infusion-inducing robot based on the scanning dropper to bypass the monitored obstacle.
  • a radar device connected to the processing unit, the radar device is disposed on an outer surface of the top of the scan dropper based infusion alarm robot, and the radar device is configured to monitor the dropper based on the scan The infusion alerts the obstacle in front of the robot and prompts the infusion-inducing robot based on the scanning dropper to bypass the monitored obstacle.
  • the base further comprises an infusion bottle storage box and a battery, wherein the infusion bottle storage box and the battery are disposed on a sidewall of the scanning dropper-based infusion alarm robot, wherein the infusion bottle storage box is used for storing the patient Infusion bottle to be infused.
  • the bottom of the base further comprises a driving device connected to the processing unit, and the driving device is provided with a plurality of pulleys for driving the pulley to rotate.
  • the driving device is an AC asynchronous motor, a switched reluctance motor, a brushless DC motor or a permanent magnet synchronous motor.
  • the vertical support rod comprises a circular inner tube and a circular outer tube, wherein a circular inner tube is disposed inside the circular outer tube, and the circular inner tube is expanded and contracted in a circular outer tube
  • the circular inner tube is fixed by a wedge.
  • the infusion alarm robot based on the scanning dropper adopts the above technical solution, and the technical effect is that the infusion alarm robot can avoid the patient's blood returning to the infusion device after the patient's infusion is completed, because the blood is not returned to the infusion device. Causes damage to the patient.
  • Figure 1 is a schematic view of a preferred embodiment of the infusion alarm robot of the present invention
  • FIG. 2 is a schematic view showing a preferred embodiment of an infusion alarm robot hanging liquid medicine bottle and an infusion set according to the present invention
  • Figure 3 is a schematic view of a preferred embodiment of the bottom of the infusion alarm robot of the present invention.
  • FIG. 4 is a schematic structural view of an infrared detecting device in the infusion alarm robot of the present invention.
  • Fig. 5 is a structural schematic view showing the placement of a dropper in the infrared detecting device of the infusion alarm robot of the present invention.
  • FIG. 1 is a schematic view showing a preferred embodiment of the infusion alarm robot of the present invention
  • FIG. 2 is a schematic view showing a preferred embodiment of the infusion alarm robot hanging liquid medicine bottle and the infusion set according to the present invention
  • FIG. 4 is a schematic structural view of an infrared detecting device of the infusion alarm robot of the present invention
  • FIG. 5 is a schematic structural view of the infrared detecting device of the infusion alarm robot of the present invention. .
  • the infusion alarm robot 100 includes a hook 1, a horizontal support rod 2, a vertical support rod 3, a base 4, and an infrared detecting device 5.
  • the hook 1 is suspended from one end of the horizontal support rod 2 (the hook 1 is suspended from the right end in FIG. 2 as an example), and the top end of the vertical support rod 3 is connected to the horizontal support rod.
  • the intermediate position of 2 ie, the vertical support rod 3 is connected to the horizontal support rod 2 to form a T-shaped structure
  • the bottom of the support rod 3 is disposed above the base 4, and the infrared detecting device 5 is further It is disposed on the vertical support rod 3.
  • the vertical support bar 3 is of a retractable structure.
  • the vertical support bar 3 is a dynamic lifting column structure (for example, a pneumatic automatic lifting column, a hydraulic lifting column, an electromechanical lifting column, and the like).
  • a circular outer tube and a circular inner tube may be employed.
  • the vertical support rod 3 includes a circular inner tube and a circular outer tube, wherein the circular shape An inner tube is disposed inside the circular outer tube, the circular inner tube is telescoped in a circular outer tube, and the circular inner tube passes through a wedge (for example, a circular outer tube has a round hole, and the circular hole is provided with a hole The nut is fixed by a nut that is in contact with the circular inner tube to fix the circular inner tube.
  • the hook 1 is used to suspend a liquid medicine bottle 7 (i.e., an infusion bottle containing a medical liquid), and an infusion set 6 is connected to the liquid medicine bottle 7.
  • the infusion set 6 includes an infusion tube 61, a dropper 62, an infusion rate adjuster 63, and a needle 64.
  • the tip end of the infusion tube 61 is inserted into the liquid medicine bottle 7, and the infusion tube 61 is divided into two sections by the drop tube 62.
  • the infusion regulator 63 is disposed on the infusion tube 61 for adjusting the infusion rate.
  • the infusion set 6 is prior art and will not be described herein.
  • the base 4 includes a radar device 41, a display screen 42, an infusion bottle storage box 43, and a battery 44.
  • the top of the infusion alarm robot 100 has a hemispherical shape, and the radar device 41 is disposed on the outer surface of the top of the infusion alarm robot 100.
  • the display screen 42, the infusion bottle storage box 43 and the battery 44 are all disposed on the side wall of the infusion alarm robot 100.
  • the radar device 41 is used to monitor obstacles (eg, walls, stairs, etc.) located in front of the infusion alarm robot 100 and to prompt the infusion alarm robot 100 to bypass the monitored obstacle.
  • the radar device 41 monitors an obstacle located in front of the infusion alarm robot 100 by means of infrared ranging.
  • the display screen 42 is used to display information such as an electronic prescription of a patient.
  • the infusion bottle storage box 43 stores an infusion bottle (ie, an infusion bottle containing a medical solution) to be infused by the patient.
  • the battery 44 is used to provide power to the infusion alarm robot 100. In this embodiment, the battery 44 is a rechargeable battery.
  • the bottom of the base 4 further includes a driving device 45 (for example, various types of prior art driving motors such as an AC asynchronous motor, a switched reluctance motor, a brushless DC motor, and a permanent magnet synchronous motor), as shown in the figure. 4 is shown.
  • the drive unit 45 is provided with a plurality of pulleys 450 (for example, four pulleys 450 in FIG. 5).
  • the driving device 45 is used to drive the pulley 450 to rotate.
  • the pulley 450 is a universal wheel.
  • the infrared detecting device 5 is provided with a plurality of infrared emitters 51 (illustrated by 12 in FIG. 5 as an example) and a plurality of infrared receivers 52 (12 in FIG. 5).
  • an infrared emitter 51 corresponds to an infrared receiver 52, and infrared rays emitted from an infrared emitter 51 are received by a corresponding one of the infrared receivers 52.
  • the infrared detecting device 5 has a square structure, the infrared emitter 51 is disposed in a left side wall of the infrared detecting device 5, and the infrared receiver 52 is disposed in the infrared detecting device 5. Inside the right side wall.
  • the infrared detecting device 5 is used for infrared scanning of the dropper 62 in the infusion set 7. Specifically, when the dropper 64 is located inside the infrared detecting device 5, it can be determined whether or not there is a liquid drop in the drip tube 64 by detecting the infrared signal of the infrared receiver 52. Specifically, when the liquid drop is dropped in the dropper 64, since the chemical liquid is a liquid, the infrared light is refracted when it is irradiated onto the liquid droplet, and the infrared light signal received by the infrared receiver 52 is weakened.
  • the liquid medicine in the dropper 64 is intermittently dropped (for example, a drop of the liquid medicine falls within 0.1 second to 1 second), at least one or more infrared light receivers 52 of the infrared detecting device 5 receive the signal intermittently. Sexual weakness (0.1 seconds to 1 second).
  • the received signal on at least one or more of the infrared light-receiving devices 52 in the infrared detecting device 5 is intermittently attenuated, it indicates that the drug drop is dropped in the dropper 64.
  • there is no intermittent decrease in the received signal on the infrared light receiver 52 in the infrared detecting device 5 it indicates that the liquid medicine bottle 7 has no liquid medicine.
  • the scanning dropper-based infusion alarm robot 100 further includes, but is not limited to, a storage unit, a processing unit, and a communication unit (provided inside the base 4, not labeled in the drawings).
  • the storage unit may be a read only storage unit ROM, an electrically erasable storage unit EEPROM, a flash storage unit FLASH or a solid hard disk.
  • the processing unit may be a central processing unit (CPU), a microcontroller (MCU), a data processing chip, or an information processing unit having a data processing function.
  • the vertical support bar 3 since the vertical support bar 3 has a circular tubular structure, the vertical support bar 3 includes a wire (not shown) connecting the base 4 and the infrared detecting device 5, that is, the processing unit 402 and The infrared detecting device 5 is connected, and controls the infrared detecting device 5 to execute a corresponding instruction (for example, an instruction to emit infrared light or the like).
  • the communication unit is a wireless communication interface with remote wireless communication functions, for example, a communication interface supporting communication technologies such as GSM, GPRS, WCDMA, CDMA, TD-SCDMA, WiMAX, TD-LTE, and FDD-LTE.
  • the communication unit 403 is configured to send notification information to the nurse client in time after the medicine liquid in the infusion bottle is finished.
  • the working principle of the scanning dropper-based infusion alarm robot 100 is as follows: (1) The processing unit controls the driving device 45 to move to the patient according to a preset planning route according to the ward information on the patient's electronic medicine order. Position the ward and infuse the patient. It should be noted that during the movement of the infusion alarm robot 100, the surrounding obstacles are monitored by the radar device 41 and moved around the obstacle. When the infusion alarm robot 100 reaches the patient's ward, the nurse inserts through the needle 64 into the patient's blood vessel and infusions the patient. (2) The processing unit controls the infrared light emitter 51 of the infrared detecting device 5 to generate infrared light and irradiate the dropper 64 with infrared light.
  • the processing unit acquires a received signal in each of the infrared receivers 52 on the infrared detecting device 5. (4) When all the received signals in the infrared receiver 52 do not appear intermittent (between 0.1 seconds and 1 second) within a preset time (within 1 minute), the processing unit controls the communication unit to send a notification message to Nurse client.
  • the liquid drop is dropped in the dropper 64, since the chemical liquid is a liquid, the infrared light is refracted when it is irradiated onto the liquid droplet, and the infrared light signal received by the infrared receiver 52 is weakened.
  • the liquid medicine in the dropper 64 is intermittently dropped (for example, a drop of the liquid medicine falls within 0.1 second to 1 second), at least one or more infrared light receivers 52 of the infrared detecting device 5 receive the signal intermittently. Sexual weakness (0.1 seconds to 1 second).
  • the received signal on at least one or more of the infrared light-receiving devices 52 in the infrared detecting device 5 is intermittently attenuated, it indicates that the drug drop is dropped in the dropper 64.
  • the notification information includes, but is not limited to, a patient name, patient ward information, and prompt information (eg, the patient has completed the infusion, please handle it in time).
  • the infusion alarm robot 100 is used to infuse the patient, which can prevent the patient's blood from flowing back to the infusion set 6 after the patient's infusion is completed, because the treatment is not processed in time (for example, replacing the infusion bottle 7 or pulling out the needle 64). The patient's injury.
  • the infusion alarm robot based on the scanning dropper adopts the above technical solution, and the technical effect is that the infusion alarm robot can avoid the patient's blood returning to the infusion device after the patient's infusion is completed, because the blood is not returned to the infusion device. Causes damage to the patient.

Abstract

Un robot de notification de perfusion (100) basé sur le balayage d'un tube de goutte-à-goutte (62), comprenant un crochet (1), une tige de support horizontale (2), une tige de support verticale (3), une base (4), et un dispositif de détection infrarouge (5). Le crochet (1) est suspendu à une extrémité de la tige de support horizontale (2). La partie supérieure de la tige de support verticale (3) est reliée au milieu de la tige de support horizontale (2). Une partie inférieure de la tige de support verticale (3) est disposée au-dessus de la base (4). Le dispositif de détection infrarouge (5) est disposé sur de la tige de support verticale (3). Le crochet (1) est utilisé pour suspendre une bouteille de médicament liquide (7) et un appareil de perfusion (61). La base (4) comprend une unité de traitement et une unité de communication. L'unité de traitement est disposée à l'intérieur de la base (4). L'unité de communication est disposée sur une paroi latérale du robot de notification de perfusion (100) sur la base d'un balayage de tube de goutte-à-goutte (62). L'unité de traitement est connectée au dispositif de détection infrarouge (5) et à l'unité de communication.
PCT/CN2018/073188 2017-11-03 2018-01-18 Robot de notification de perfusion basé sur un balayage de tube goutte-à-goutte WO2019085279A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711071400.1A CN107715239A (zh) 2017-11-03 2017-11-03 基于扫描滴管的输液报警机器人
CN201711071400.1 2017-11-03

Publications (1)

Publication Number Publication Date
WO2019085279A1 true WO2019085279A1 (fr) 2019-05-09

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WO (1) WO2019085279A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113664851A (zh) * 2021-09-07 2021-11-19 光华临港工程应用技术研发(上海)有限公司 一种便于消毒的手术室器械用护士机器人

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107875478A (zh) * 2017-11-03 2018-04-06 深圳市前海安测信息技术有限公司 基于红外扫描的输液报警机器人控制系统及方法

Citations (3)

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Publication number Priority date Publication date Assignee Title
US5088990A (en) * 1989-08-30 1992-02-18 Hivale Ronald S I.V. alert system
CN106474589A (zh) * 2015-08-26 2017-03-08 史树元 一种输液泵系统
CN206391273U (zh) * 2016-07-19 2017-08-11 北京大学深圳医院 一种肿瘤科专用输液架

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5088990A (en) * 1989-08-30 1992-02-18 Hivale Ronald S I.V. alert system
CN106474589A (zh) * 2015-08-26 2017-03-08 史树元 一种输液泵系统
CN206391273U (zh) * 2016-07-19 2017-08-11 北京大学深圳医院 一种肿瘤科专用输液架

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113664851A (zh) * 2021-09-07 2021-11-19 光华临港工程应用技术研发(上海)有限公司 一种便于消毒的手术室器械用护士机器人

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