WO2022104912A1 - 一种自动给药的麻醉机器人 - Google Patents

一种自动给药的麻醉机器人 Download PDF

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Publication number
WO2022104912A1
WO2022104912A1 PCT/CN2020/133094 CN2020133094W WO2022104912A1 WO 2022104912 A1 WO2022104912 A1 WO 2022104912A1 CN 2020133094 W CN2020133094 W CN 2020133094W WO 2022104912 A1 WO2022104912 A1 WO 2022104912A1
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WO
WIPO (PCT)
Prior art keywords
cylinder
syringe
assembly
clamping assembly
needle
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Application number
PCT/CN2020/133094
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English (en)
French (fr)
Inventor
涂建光
成志标
Original Assignee
联赢医疗科技有限公司
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Publication of WO2022104912A1 publication Critical patent/WO2022104912A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
    • A61J1/14—Details; Accessories therefor
    • A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
    • 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 belongs to the technical field of medical robot equipment, in particular to an anesthesia robot for automatic drug delivery.
  • the anesthesia robot uses the Internet, the Internet of Things and AI anesthesia algorithms to automatically detect and calculate the vital signs of patients during the anesthesia process, detect in real time, and control the anesthesia administration through a micro-injection pump.
  • the anesthesiologist needs to manually remove the protective cover of the syringe and the needle of the syringe, install the syringe and the needle of the syringe, and then suck the liquid, and then properly fix the syringe that has sucked the liquid on the syringe pump.
  • the above operations are not only cumbersome, but also increase the workload of the anesthesiologist, easily distract the anesthesiologist's energy, and increase the risk of anesthesia surgery.
  • anesthesia robot for automatic drug delivery, including a control system, an injection assembly and a base;
  • the two sides of the base are respectively provided with a first track and a second track; the control system is fixedly installed on one end of the base;
  • the injection assembly includes a placing assembly, a turning assembly, a first clamping assembly, a second clamping assembly, a third clamping assembly, and a medicine bottle placing assembly;
  • the lower end of the turning assembly is slidably mounted on the second track, the upper end of the turning assembly is fixedly connected to one end of the first clamping assembly through a rotating shaft, and the first clamping assembly can rotate around the central axis of the rotating shaft;
  • the second clamping assembly is fixedly mounted on the base, and the second clamping assembly is arranged on one side of the first clamping assembly;
  • One end of the third clamping assembly is slidably mounted on the first track, and the other end of the third clamping assembly is located above the first clamping assembly and the second clamping assembly;
  • placing components are fixedly mounted on the base, and the placing components are located on the same side of the first clamping component and the second clamping component;
  • the placing component, the first clamping component, the second clamping component and the third clamping component are respectively electrically connected with the control system;
  • the lower end of the medicine bottle placing assembly is fixedly mounted on the base, and the medicine bottle placing assembly is arranged on one side of the third clamping assembly.
  • control system includes a signal collector, a host, an ECG monitor, a muscle relaxation monitor and a BIS anesthesia depth monitor;
  • the signal collector is fixedly installed at one end of the base, and the signal collector is electrically connected with the BIS anesthesia depth monitor;
  • the ECG monitor is fixedly installed on the upper end of the host;
  • the muscle relaxation monitor is fixedly installed on one side of the signal collector and at one end of the base, and the BIS anesthesia depth monitor is fixedly installed on the upper end of the muscle relaxation monitor;
  • the host is fixedly installed on the upper end of the signal collector, and the host is electrically connected with the ECG monitor, the muscle relaxation monitor and the BIS anesthesia depth monitor.
  • the placing assembly includes a first cylinder and a placing plate; one end of the body of the first air cylinder is fixed on the installation plane, and one end of the output shaft of the first air cylinder is fixedly installed on the placing plate;
  • One end of the placing plate is provided with a syringe clamping groove, and the other end of the placing plate is provided with a needle clamping groove; a syringe is clamped on the syringe clamping groove, and a syringe needle is clamped on the needle clamping groove;
  • the first cylinder is electrically connected to the host.
  • the turning assembly includes two sets of first support plates, a first motor, a first rotating shaft and a second air cylinder;
  • a first moving wheel is movably installed at the lower end of the first support plate, a second motor is also fixedly installed at the lower end of the first support plate, and the first moving wheel is drivingly connected with the second motor; a moving wheel can move on the second track;
  • the upper ends of the two sets of first support plates are respectively rotatably connected with both ends of the first rotating shaft;
  • a first motor is fixedly installed on the side of the first support plates away from the first rotating shaft, and the first rotating shaft drively connected with the first motor;
  • One end of the body of the second cylinder is fixedly mounted on the middle section of the first rotating shaft, and one end of the output shaft of the second cylinder is fixedly connected to one end of the first clamping assembly;
  • the first motor, the second cylinder and the second motor are respectively electrically connected with the host.
  • the first clamping assembly includes a first housing, two groups of third cylinders, two groups of fourth cylinders and a micro-injection pump;
  • the upper end and one side end of the first casing are open structures, the other side end of the first casing is fixedly connected to one end of the output shaft of the second cylinder; one end of the body of the third cylinder is fixed is installed on one side end of the first shell which is an open structure;
  • a first moving block is fixedly installed on one end of the body of the fourth cylinder, a fifth motor is further arranged on the first housing, and the first moving block is drivingly connected with the fifth motor;
  • the first moving block is movably clamped on one side of the third cylinder, and is away from the one side end of the first housing which is an open structure;
  • the micro-injection pump is fixedly installed on a side wall of the first housing, and the injection device of the micro-injection pump is drivingly connected with the first moving block;
  • the third air cylinder, the fourth air cylinder, the micro-injection pump and the fifth motor are respectively electrically connected with the host.
  • the second clamping assembly includes a first fixing plate, a third motor, a second fixing plate, two sets of third fixing plates, two sets of fifth cylinders and two sets of sixth cylinders;
  • first fixing plate is fixedly installed on the plane, and one end of the body of the third motor is fixedly installed on the other end of the first fixing plate; the second fixing plate and the output shaft of the third motor One end is connected by transmission; one end of the two sets of the third fixing plates is fixedly installed on the two ends of the second fixing plate respectively;
  • One end of the body of the fifth cylinder is fixedly mounted on the other end of the third fixing plate, and one end of the output shaft of the fifth cylinder is fixedly connected with a needle guard cover block, and the two sets of the needle guard cover block are connected to each other.
  • the contact surface is provided with the same cavity as the needle protective cover;
  • One end of the body of the sixth cylinder is fixedly mounted on the other end of the third fixing plate, and the sixth cylinder is located on the side of the fifth cylinder away from the second fixing plate; the output of the sixth cylinder is One end of the shaft is fixedly connected with a needle bolt clamping block; a cavity identical to that of the needle bolt is opened in the contact surface of the two groups of the needle bolt clamping blocks;
  • the third motor, the fifth cylinder and the sixth cylinder are respectively electrically connected with the host.
  • the third clamping assembly includes a seventh air cylinder, a first connecting plate, a second connecting plate, two groups of eighth air cylinders, two groups of third connection plates, four groups of fourth connection plates, and two groups of ninth air cylinders. , two sets of tenth cylinder and second moving block;
  • One end of the body of the seventh cylinder is fixedly installed on the second moving block;
  • the second moving block is also provided with a fourth motor, and the lower end of the second moving block is rotatably connected with a second moving wheel,
  • the fourth motor is in driving connection with the second moving wheel;
  • the second moving wheel is movably clamped on the first track;
  • One end of the first connecting plate is fixedly mounted on one end of the output shaft of the seventh cylinder, and the other end of the first connecting plate is fixedly connected to the outer wall of one end of the second connecting plate; two sets of the eighth cylinders One end of the main body is fixedly installed on the inner walls of both ends of the second connecting plate;
  • One end of the output shaft of the eighth cylinder is fixedly connected with the third connecting plate; one end of the two sets of the fourth connecting plates is fixedly connected with both ends of the third connecting plate respectively;
  • One end of the body of the ninth cylinder is fixedly installed on the other end of the two groups of the fourth connecting plates, and one end of the output shaft of the ninth cylinder is also fixedly installed with a nipple protection cover block, and the two groups of the nipple protection cover
  • the contact surface of the clamping block is provided with the same cavity as the protective cover of the nipple of the syringe;
  • One end of the body of the tenth cylinder is fixedly installed on the other end of the other two groups of the fourth connecting plates, and one end of the output shaft of the tenth cylinder is also fixedly installed with a needle bolt protection cover block, and the two groups of the needle bolts are also fixedly installed.
  • the contact surface of the protective cover block is provided with the same cavity as the needle protective cover;
  • the seventh cylinder, the eighth cylinder, the ninth cylinder, the tenth cylinder and the fourth motor are respectively electrically connected with the host.
  • the medicine bottle placing assembly includes an eleventh cylinder, a fifth connecting plate and a medicine bottle placing rack; one end of the body of the eleventh cylinder is fixedly installed on the plane, and one end of the output shaft of the eleventh cylinder is is fixedly connected with one end of the fifth connecting plate; the other end of the fifth connecting plate is fixedly connected with one end of the medicine bottle placing rack;
  • the other end of the vial placement rack is linearly arrayed with several groups of vial placement slots; the included angle formed by the vial placement slots and the vial placement rack is an obtuse angle.
  • a first syringe block is fixedly connected to one end of the output shaft of the third cylinder, and a cavity identical to the syringe is opened in the contact surface of the two sets of the first syringe blocks.
  • a second syringe clamping block is fixedly connected to one end of the output shaft of the fourth cylinder, and a cavity that is the same as the piston handle is opened in the contact surface of the two sets of the second syringe clamping blocks.
  • the third clamping assembly includes an eighth cylinder, and the central axis of the syringe clamping groove and the needle clamping groove is parallel to the central axis of the output shaft of the eighth cylinder.
  • the flipping assembly is moved through the first moving wheel to the point where the needle of the syringe is aligned with the bottle mouth of the medicine bottle that stores the medicine to be sucked in the medicine bottle placement groove; start the second air cylinder again , until the syringe needle just enters the medicine bottle, start the fifth motor, make the first moving block on the first housing away from the third cylinder, make the syringe piston handle away from the first syringe block, and the liquid medicine is sucked into the syringe needle In the cylinder, there is no need to manually pump the liquid medicine.
  • FIG. 1 shows a schematic structural diagram of an anesthesia robot for automatic drug delivery according to an embodiment of the present invention
  • FIG. 2 shows a schematic structural diagram of a syringe with a protective cover according to an embodiment of the present invention
  • Figure 3 shows a schematic structural diagram of a syringe needle with a protective cover according to an embodiment of the present invention
  • FIG. 4 shows a schematic structural diagram of a placement component according to an embodiment of the present invention
  • FIG. 5 shows a schematic structural diagram of a flipping assembly according to an embodiment of the present invention
  • FIG. 6 shows a top view of the first clamping assembly according to the embodiment of the present invention.
  • FIG. 7 shows a schematic cross-sectional structure diagram of a first clamping assembly according to an embodiment of the present invention
  • FIG. 8 shows a schematic structural diagram of a second clamping assembly according to an embodiment of the present invention.
  • FIG. 9 shows a schematic cross-sectional structure diagram of a second clamping assembly according to an embodiment of the present invention.
  • FIG. 10 shows a schematic structural diagram of a third clamping assembly according to an embodiment of the present invention.
  • FIG. 11 shows a schematic structural diagram of a medicine bottle placement assembly according to an embodiment of the present invention.
  • Placement assembly 101, First cylinder; 102, Syringe slot; 103, Needle slot; 104, Placement plate; 2, Turning assembly; 201, First support plate; 202, First motor; 203 204, the second cylinder; 205, the second motor; 206, the first moving wheel; 3, the first clamping assembly; 301, the first housing; 302, the third cylinder; 303, the fourth cylinder 304, the first syringe block; 305, the second syringe block; 306, the microinjection pump; 307, the first moving block; 308, the fifth motor; 4, the second clamping assembly; 401, the first fixing plate ; 402, the third motor; 403, the second fixing plate; 404, the third fixing plate; 405, the fifth cylinder; 406, the sixth cylinder; 407, the needle protection cover block; 408, the needle bolt block; 5, 501, the seventh cylinder; 502, the first connecting plate; 503, the second connecting plate; 504, the eighth cylinder; 505, the third
  • the embodiment of the present invention provides an anesthesia robot for automatic drug delivery, including a control system, an injection assembly and a base 16;
  • the control system includes a signal collector 11, a host 12, an ECG monitor 13, a muscle relaxation monitor 14 and a BIS anesthesia depth monitor 15;
  • the signal collector 11 is fixedly installed at one end of the base 16, the signal collector 11 is used to collect the patient's EEG signal, and the signal collector 11 is electrically connected to the BIS anesthesia depth monitor 15;
  • the ECG monitor 13 is fixedly installed on the upper end of the host 12, and the ECG monitor 13 is used to observe changes in the patient's ECG;
  • the muscle relaxation monitor 14 is fixedly installed on one side of the signal collector 11 and is located at one end of the base 16.
  • the muscle relaxation monitor 14 is used to monitor the efficacy of the muscle relaxant and guide the rational application of the muscle relaxant during anesthesia. It can ensure the requirements of muscle relaxation in different stages of anesthesia, help the anesthesiologist to grasp the timing of intubation and extubation, and reduce the incidence of residual effect of postoperative muscle relaxants.
  • the BIS anesthesia depth monitor 15 is fixedly installed on the upper end of the muscle relaxation monitor 14, and the BIS anesthesia depth monitor 15 is used to monitor the anesthesia depth.
  • the host 12 is fixedly installed on the upper end of the signal collector 11, and the host 12 is electrically connected with the ECG monitor 13, the muscle relaxation monitor 14 and the BIS anesthesia depth monitor 15; the host is used for collecting and Process EEG signals.
  • the monitoring of anesthesia depth is EEG bispectral index monitoring, and the normal value ranges from 0 to 100.
  • the BIS value is 85 to 100
  • 65 to 85 is a sedation state
  • 40 to 65 is a sedative state.
  • Anesthesia state, below 40 may show burst suppression, that is, too deep anesthesia state.
  • the BIS anesthesia depth monitor 15 can transmit accurate data to the host 12, which controls the injection assembly for drug infusion.
  • control system can use a closed-loop controlled infusion system of model YFAR-1.
  • the injection assembly includes a placing assembly 1, a turning assembly 2, a first clamping assembly 3, a second clamping assembly 4, a third clamping assembly 5, a vial placing assembly 6, a first track 7 and a second track 8, Exemplarily, as shown in Figure 1;
  • the first rail 7 and the second rail 8 are fixedly mounted on two side walls of the base 16 respectively.
  • the lower end of the turning assembly 2 is slidably mounted on the second rail 8, and the upper end of the turning assembly 2 is provided with a rotating shaft, which can rotate along the central axis at the upper end of the turning assembly 2;
  • One end of the first clamping assembly 3 is fixedly connected, so that the first clamping assembly 3 can rotate with the rotating shaft, and the first clamping assembly 3 is used to clamp the syringe.
  • the upper end of the second clamping assembly 4 is disposed at the other end of the first clamping assembly 3; when the first clamping assembly 3 does not rotate with the rotating shaft, the first clamping assembly 3
  • the central axis coincides with the central axis of the upper end of the second clamping assembly 4; the lower end of the second clamping assembly 4 is fixedly mounted on the base 16, and the second clamping assembly 4 is used to clamp the syringe needle .
  • placing components 1 are fixedly mounted on the base 16, and the placing components 1 are located on the same side of the first clamping component 3 and the second clamping component 4; A syringe 9 and a syringe needle 10 are mounted on the ends, respectively.
  • the lower end of the third clamping assembly 5 is slidably mounted on the first rail 7 , and the other end of the third clamping assembly 5 is located above the first clamping assembly 3 and the second clamping assembly 4 ;
  • the third clamping assembly 5 is used to transfer the syringe 9 installed on the placing assembly 1 into the first clamping assembly 3, while transferring the syringe needle 10 installed on the placing assembly 1 to the into the second clamping assembly 4 .
  • the medicine bottle placing assembly 6 is arranged on one side of the third clamping assembly 5, the lower end of the medicine bottle placing assembly 6 is fixedly mounted on the base 16, and the other end of the medicine bottle placing assembly 6 is clamped.
  • a medicine bottle storing the medicinal liquid to be sucked is connected, and is used to provide the medicinal liquid to be suctioned for the assembled syringe.
  • the placing assembly 1 , the first clamping assembly 3 , the second clamping assembly 4 and the third clamping assembly 5 are respectively electrically connected to the host 12 .
  • the third clamping assembly 5 moves along the first track 7, and transfers the syringe 9 and the syringe needle 10 on the placing assembly 1 to the first clamping assembly 3 and the first clamping assembly 3 and the first In the two clamping assemblies 4, after the first clamping assembly 3 and the second clamping assembly 4 clamp the syringe 9 and the syringe needle 10 on the placing assembly 1, the third clamping assembly 5.
  • the second clamping assembly 4 can hold the syringe needle 10 is screwed on the injection end of the syringe 9; the turning assembly 2 can move along the second track 8, and align the needle of the assembled syringe in the first clamping assembly 3 with the medicine bottle
  • the placing assembly 6 is snapped with one end of the vial that stores the medicinal liquid to be pumped, and the flipping assembly 2 pushes the first clamping assembly 3 horizontally, so that the assembled syringe in the first clamping assembly 3 is completely closed.
  • the needle is inserted into the liquid medicine bottle to be sucked, and the assembled syringe is sucked by the first clamping assembly 3 to suck the medicinal liquid.
  • the vertical direction is upward, and the air in the syringe is exhausted through the first clamping assembly 3 .
  • the syringe 9 includes a syringe nipple protective cover 901, a syringe nipple 902, a syringe 903, a piston shaft 904 and a piston handle 905, exemplarily, as shown in FIG. 2; the syringe nipple protective cover 901 is snapped on the syringe.
  • One end of the nipple 902 and the other end of the syringe nipple 902 are fixedly connected with the syringe 903 ; the syringe nipple 902 is also provided with external threads.
  • One end of the piston shaft 904 movably passes through the syringe 903 , and the other end of the piston shaft 904 is fixedly connected with the piston handle 905 .
  • the syringe needle 10 includes a needle protective cover 1001, a needle 1002, a needle plug 1003 and a needle plug protective cover 1004, exemplarily, as shown in FIG. 3; one end of the needle plug 1003 is fixedly connected to the needle 1002, so The needle protection cover 1001 is fixedly clamped to the end of the needle plug 1003 where the needle head 1002 is provided; the needle plug protection cover 1004 is fixedly clamped to the other end of the needle plug 1003; The inner thread matched with the outer thread provided on the syringe nipple 902 , the syringe nipple 902 can be screwed on the inside of the needle plug 1003 .
  • the placement assembly 1 includes a first air cylinder 101 and a placement plate 104, exemplarily, as shown in FIG. 4 .
  • One end of the body of the first air cylinder 101 is fixedly installed on the base 16, and one end of the output shaft of the first air cylinder 101 is fixedly installed on the placing plate 104; the first air cylinder 101 is used to adjust the placing plate The height of 104 in the plane; one end of the placement plate 104 is provided with a syringe clip slot 102, and the other end of the placement plate 104 is provided with a needle clip slot 103; the syringe clip slot 102 is used for clipping the syringe 9, The needle clip slot 103 is used for clipping the syringe needle 10 .
  • the syringe clip slot 102 coincides with the central axis of the needle clip slot 103; there is no need to remove the protective cover with the syringe 9 and the syringe needle 10, just snap the syringe 9 and the syringe needle 10 to the syringe clip slot 102. and the needle card slot 103.
  • the turning assembly 2 includes two sets of first support plates 201 , a first motor 202 , a first rotating shaft 203 and a second air cylinder 204 , for example, as shown in FIG. 5 ; the lower end of the first support plate 201 is movably installed There is a first moving wheel 206, a second motor 205 is also fixedly installed on the lower end of the first support plate 201, and the first moving wheel 206 is drivingly connected with the second motor 205; the first moving wheel 206 can be move on the second track 8 ; the upper ends of the two sets of the first support plates 201 are respectively rotatably connected to both ends of the first shaft 203 ; the first support plates 201 are far away from the first shaft 203 A first motor 202 is fixedly installed on one side, and the first rotating shaft 203 is drivingly connected with the first motor 202; one end of the body of the second cylinder 204 is fixedly installed on the middle section of the first rotating shaft 203, and the One end of the output shaft of the second cylinder
  • the first motor 202 , the second cylinder 204 and the second motor 205 are respectively electrically connected to the host 12 .
  • the first clamping assembly 3 includes a first housing 301, two groups of third air cylinders 302, two groups of fourth air cylinders 303 and a micro-injection pump 306, exemplarily, as shown in FIG. 6 and FIG. 7;
  • the upper end and one side end of a casing 301 are open structures, and the other side end of the first casing 301 is fixedly connected to one end of the output shaft of the second cylinder 204 ; one end of the body of the third cylinder 302 It is fixedly installed on one end of the first housing 301 which is an open structure, and one end of the output shaft of the third cylinder 302 is fixedly connected with a first syringe block 304.
  • the same cavity as the syringe barrel 903 is opened in the contact surface; the first syringe clamping block 304 is used for clamping the syringe 903 and the syringe nipple 902 .
  • a first moving block 307 is fixedly installed on one end of the body of the fourth cylinder 303 , and a fifth motor 308 is also provided on the first housing 301 , and the first moving block 307 is connected to the fifth motor 308 in a driving manner. .
  • the first moving block 307 is movably clamped on one side of the third cylinder 302, and is away from the first casing 301 on the side of the open structure; one end of the output shaft of the fourth cylinder 303 is fixed A second syringe block 305 is connected, and the contact surface of the two sets of second syringe blocks 305 is provided with the same cavity as the piston handle 905; the second syringe block 305 is used for clamping
  • the piston handle 905 is described.
  • the syringe 9 can be fixed in the first clamping assembly 3 by the first syringe clamping block 304 and the second syringe clamping block 305 .
  • the micro-injection pump 306 is fixedly installed on a side wall of the first housing 301, the micro-injection pump 306 is electrically connected with the host 12, and the micro-injection pump 306 further includes a bolus device, so The host 12 is used to control the bolus injection device of the microinjection pump 306 to inject the medicinal liquid into the human vein uniformly, continuously and quantitatively.
  • the bolus device of the micro-injection pump 306 is connected to the first moving block 307 in a driving manner; the fifth motor 308 controls the first moving block 307 to approach the first syringe block 304, and the micro-injection pump 306 injects The device controls the first moving block 307 to move away from the first syringe blocking block 304 .
  • the micro syringe pump 306 can be a KL-6050T constant speed syringe pump.
  • the third air cylinder 302 , the fourth air cylinder 303 , the micro-injection pump 306 and the fifth motor 308 are respectively electrically connected to the host 12 .
  • the second clamping assembly 4 includes a first fixing plate 401, a third motor 402, a second fixing plate 403, two sets of third fixing plates 404, two sets of fifth cylinders 405 and two sets of sixth cylinders 406, for example 9 and 10; one end of the first fixing plate 401 is fixedly installed on the plane, and one end of the body of the third motor 402 is fixedly installed at the other end of the first fixing plate 401;
  • the second fixing plate 403 is drivingly connected with one end of the output shaft of the third motor 402 ; one end of the two sets of the third fixing plates 404 is fixedly installed on both ends of the second fixing plate 403 respectively.
  • One end of the body of the fifth air cylinder 405 is fixedly installed on the other end of the third fixing plate 404, and one end of the output shaft of the fifth air cylinder 405 is fixedly connected with a needle protection cover block 407, and two sets of the needle protection
  • the same cavity as the needle protective cover 1001 is formed in the contact surface of the cover blocking block 407 ; the needle protective cover blocking block 407 is used for snapping the needle protective cover 1001 .
  • One end of the body of the sixth cylinder 406 is fixedly mounted on the other end of the third fixing plate 404 and the sixth cylinder 406 is located on the side of the fifth cylinder 405 away from the second fixing plate 403; the One end of the output shaft of the sixth air cylinder 406 is fixedly connected with a pin-bolt clamping block 408; the contact surfaces of the two groups of the pin-bolt clamping blocks 408 are provided with the same cavity as the pin-bolt 1003, and the pin-bolt clamping blocks 408 is used for clamping the needle plug 1003 .
  • the third motor 402 , the fifth cylinder 405 and the sixth cylinder 406 are respectively electrically connected to the host 12 .
  • the third clamping assembly 5 includes a seventh cylinder 501, a first connecting plate 502, a second connecting plate 503, two sets of eighth cylinders 504, two sets of third connecting plates 505, four sets of fourth connecting plates 506, two sets of A group of ninth cylinders 507, a group of tenth cylinders 508, and a second moving block 5011 are exemplary, as shown in FIG. 10;
  • One end of the body of the seventh air cylinder 501 is fixedly installed on the second moving block 5011; the second moving block 5011 is also provided with a fourth motor 5012, and the lower end of the second moving block 5011 is rotatably connected with the second moving block 5011.
  • Two moving wheels 5013 , the fourth motor 5012 is drivingly connected with the second moving wheel 5013 ; the second moving wheel 5013 is movably clamped on the first track 7 .
  • One end of the first connecting plate 502 is fixedly mounted on one end of the output shaft of the seventh cylinder 501, and the other end of the first connecting plate 502 is fixedly connected to the outer wall of one end of the second connecting plate 503;
  • One end of the body of the eighth cylinder 504 is fixedly mounted on the inner walls of both ends of the second connecting plate 503 .
  • One end of the output shaft of the eighth cylinder 504 is fixedly connected to the third connecting plate 505 , and the central axis of the output shaft of the eighth cylinder 504 is connected to the central axis of the syringe retaining slot 102 and the needle retaining slot 103 parallel.
  • One end of the two groups of the fourth connecting plates 506 is fixedly connected to two ends of the third connecting plate 505 respectively.
  • One end of the body of the ninth air cylinder 507 is fixedly installed on the other end of the two groups of the fourth connecting plates 506, and one end of the output shaft of the ninth air cylinder 507 is also fixedly installed with a nipple protection cover block 509.
  • the contact surface of the nipple protective cover blocking block 509 is provided with the same cavity as the syringe nipple protective cover 901 , and the nipple protective cover blocking block 509 is used for clamping the syringe nipple protective cover 901 .
  • One end of the main body of the tenth cylinder 508 is fixedly installed on the other end of the other two groups of the fourth connecting plates 506 , and one end of the output shaft of the tenth cylinder 508 is also fixedly installed with a pin-bolt protection cover block 5010 .
  • the same cavity as that of the needle plug protection cover 1004 is formed in the contact surface of the needle plug protection cover block 5010 , and the needle plug protection cover block 5010 is used for clamping the needle plug protection cover 1004 .
  • the seventh cylinder 501 , the eighth cylinder 504 , the ninth cylinder 507 , the tenth cylinder 508 and the fourth motor 5012 are respectively electrically connected to the host 12 .
  • the medicine bottle placing assembly 6 includes an eleventh air cylinder 601, a fifth connecting plate 602 and a medicine bottle placing rack 603, as shown in Fig. 101 for example; one end of the body of the eleventh air cylinder 601 is fixedly installed on the In the first track 7, one end of the output shaft of the eleventh cylinder 601 is fixedly connected to one end of the fifth connecting plate 602; Fixed connection at one end.
  • the other end of the medicine bottle placing rack 603 is linearly arrayed with several groups of medicine bottle placing slots 604, and the medicine bottle placing slots 604 are used for snapping the medicine bottles storing the medicinal liquid to be pumped; the medicine bottle placing slots 604
  • the angle formed with the medicine bottle placement rack 603 is an obtuse angle, so that the height of the bottle mouth of the medicine bottle storing the medicine to be pumped is lower than the height of the bottom of the bottle, which is conducive to the suction of the medicine liquid by the assembled syringe.
  • the third clamping assembly 5 moves along the first track 7 through the second moving block 5011, so that the nipple protective cover blocking block 509 and the needle plug protective cover blocking block 5010 are respectively located in the syringe clip slot 102 and the needle clip slot 103.
  • the seventh cylinder 501 is activated, and one end of the output shaft of the seventh cylinder 501 is shortened, so that the nipple protection cover block 509 and the needle plug protection cover block 5010 are located on both sides of the syringe 9 and the syringe needle 10 respectively.
  • the seventh air cylinder 501 is activated, and one end of the output shaft of the seventh air cylinder 501 is extended, so that the syringe 9 and the syringe needle 10 are separated from the placement assembly 1; the second moving block 5011 is activated, so that the syringe 9 and the syringe needle 10 are located in the first clamping assembly 3 directly above.
  • the third air cylinder 302 is activated, so that the output shaft of the third air cylinder 302 is extended until the two sets of first syringe blocks 304 completely clamp the syringes 903, so that the syringes 903 are located in the two sets of first syringe blocks 304 In the formed cavity, the syringe 903 is fixed.
  • the eighth cylinder 504 is activated to shorten the output shaft of the eighth cylinder 504.
  • the protective cover 901 and the needle plug protective cover 1004 clamped by the two sets of needle plug protective cover blocks 5010 are respectively detached from the syringe nipple 902 and the needle plug 1003 without manual removal.
  • the sixth air cylinder 406 Activate the sixth air cylinder 406 to shorten the output shaft of the sixth air cylinder 406, so that the needle bolt block 408 releases the clamping of the needle bolt 1003; activate the second air cylinder 204 again, so that the first housing 301 is kept away from the first fixing plate 401 That is, the needle protective cover blocking block 407 makes the needle protective cover 1001 disengage from the needle 1002 until the first clamping assembly 3 and the second clamping assembly 4 do not interfere with each other.
  • the second motor 205 is activated, so that the turning assembly 2 is moved through the first moving wheel 206 to the position where the needle 1002 is aligned with the bottle mouth of the medicine bottle that stores the medicine to be sucked in the medicine bottle placing groove 604;
  • the fifth motor 308 is activated, so that the first moving block 307 is kept away from the third cylinder 302 on the first housing 301, and the piston handle 905 is kept away from the first syringe block 304,
  • the medicinal liquid is sucked into the syringe barrel 903 without artificially sucking the medicinal liquid; after the suction is completed, the second air cylinder 204 is activated to keep the needle 1002 away from the medicine bottle placement assembly 6 until they do not interfere with each other.
  • the first motor 202 is activated, so that the first rotating shaft 203 rotates 90° clockwise, so that the needle cylinder 903 is parallel to the direction of gravity.

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Abstract

一种自动给药的麻醉机器人，包括控制系统、注射组件和底座（16）；底座（16）的两侧分别设置有第一轨道（7）和第二轨道（8）；控制系统固定安装在底座（16）的一端；注射组件包括放置组件（1）、翻转组件（2）、第一夹持组件（3）、第二夹持组件（4）、第三夹持组件（5）、药瓶放置组件（6）；放置组件（1）、第一夹持组件（3）、第二夹持组件（4）和第三夹持组件（5）分别与控制系统电性连接；药瓶放置组件（6）的下端固定安装在底座（16）上，且药瓶放置组件（6）设置在第三夹持组件（5）的一侧。利用自动给药的麻醉机器人，无需麻醉医生手动组装注射器（9）并固定在注射泵上，减少了麻醉医师的工作量，减少了麻醉手术的风险。

Description

一种自动给药的麻醉机器人 技术领域
本发明属于医用机器人设备技术领域，特别涉及一种自动给药的麻醉机器人。
背景技术
随着医学发展和社会进步，越来越多的临床医学需要麻醉科参与支撑，由麻醉科主导的舒适医疗理念深入人心。由于长期不受重视，中国的麻醉医师极度匮乏，因此，为了解决麻醉专业人才的短缺，以及辅助麻醉医师进行麻醉工作，麻醉机器人应运而生。
麻醉机器人采用互联网、物联网和AI麻醉算法，自动检测患者麻醉过程中的生命体征指标进行计算，实时检测并通过微量注射泵控制麻醉给药。
但是在麻醉机器人工作前，需要麻醉医师手动拆卸注射器与注射器针头的防护盖，并安装注射器与注射器针头，然后抽吸药液，再将抽吸好药液的注射器妥当的固定在注射泵上。上述操作不仅步骤繁琐，还增加了麻醉医师的工作量，容易分散麻醉医师的精力，提高了麻醉手术的风险。
发明内容
针对上述问题，本发明提出了一种自动给药的麻醉机器人，包括控制系统、注射组件和底座；
所述底座的两侧分别设置有第一轨道和第二轨道；所述控制系统固定安装在所述底座的一端；
所述注射组件包括放置组件、翻转组件、第一夹持组件、第二夹持组件、第三夹持组件、药瓶放置组件；
所述翻转组件的下端滑动安装在第二轨道上，所述翻转组件的上端通过转轴和所述第一夹持组件的一端固定连接，所述第一夹持组件可绕转轴的中轴线转动；
所述第二夹持组件固定安装在所述底座上，且所述第二夹持组件设置在所述第一夹持组件一侧；
所述第三夹持组件的一端滑动安装在第一轨道上，所述第三夹持组件的另一端位于所述第一夹持组件和所述第二夹持组件的上方；
若干组所述放置组件固定安装所述底座上，且所述放置组件位于所述第一夹持组件和所述第二夹持组件的同一侧；
所述放置组件、第一夹持组件、第二夹持组件和第三夹持组件分别与所述控制系统电性连接；
所述药瓶放置组件的下端固定安装在底座上，且所述药瓶放置组件设置在所述第三夹持组件的一侧。
进一步的，所述控制系统包括信号采集器、主机、心电监护仪、肌松监测仪和BIS麻醉深度监护仪；
所述信号采集器固定安装在所述底座的一端，所述信号采集器与所述BIS麻醉深度监护仪电性连接；
所述心电监护仪固定安装在所述主机的上端；
所述肌松监测仪固定安装在所述信号采集器的一侧且位于底座的一端，所述BIS麻醉深度监护仪固定安装在所述肌松监测仪的上端；
所述主机固定安装在所述信号采集器的上端，所述主机与心电监护仪、肌松监测仪和BIS麻醉深度监护仪电性连接。
进一步的，所述放置组件包括第一气缸和放置板；所述第一气缸的本体一端固定安装平面上，所述第一气缸的输出轴一端固定安装在所述放置板上；
所述放置板上的一端设置有注射器卡槽，所述放置板的另一端设置有针头卡槽；所述注射器卡槽上卡接有注射器，所述针头卡槽上卡接有注射器针头；
所述第一气缸与所述主机电性连接。
进一步的，所述翻转组件包括两组第一支撑板、第一电机、第一转轴和第二气缸；
所述第一支撑板的下端活动安装有第一移动轮，所述第一支撑板的下端还固定安装有第二电机，所述第一移动轮与所述第二电机传动连接；所 述第一移动轮可在所述第二轨道上移动；
两组所述第一支撑板的上端分别与所述第一转轴的两端转动连接；所述第一支撑板远离所述第一转轴的一侧固定安装有第一电机，所述第一转轴与所述第一电机传动连接；
所述第二气缸的本体一端固定安装在所述第一转轴的中间段，所述第二气缸的输出轴一端与所述第一夹持组件的一端固定连接；
所述第一电机、第二气缸和第二电机分别与所述主机电性连接。
进一步的，所述第一夹持组件包括第一壳体、两组第三气缸、两组第四气缸和微量注射泵；
所述第一壳体的上端和一侧端为开放式结构，所述第一壳体的另一侧端与所述第二气缸的输出轴一端固定连接；所述第三气缸的本体一端固定安装在所述第一壳体为开放式结构的一侧端；
所述第四气缸的本体一端固定安装有第一移动块，所述第一壳体上还设置有第五电机，所述第一移动块与所述第五电机传动连接；
所述第一移动块活动卡接在所述第三气缸的一侧，且远离所述第一壳体为开放式结构的一侧端；
所述微量注射泵固定安装在所述第一壳体的一侧壁上，所述微量注射泵的推注装置与所述第一移动块传动连接；
所述第三气缸、第四气缸、微量注射泵和第五电机分别与所述主机电性连接。
进一步的，所述第二夹持组件包括第一固定板、第三电机、第二固定板、两组第三固定板、两组第五气缸和两组第六气缸；
所述第一固定板的一端固定安装在平面上，所述第三电机的本体一端固定安装在所述第一固定板的另一端；所述第二固定板与所述第三电机的输出轴一端传动连接；两组所述第三固定板的一端分别固定安装在所述第二固定板的两端；
所述第五气缸的本体一端固定安装在所述第三固定板的另一端，所述第五气缸的输出轴的一端固定连接有针头防护盖卡块，两组所述针头防护 盖卡块相接触的面内开设有与针头防护盖相同的型腔；
所述第六气缸的本体一端固定安装在所述第三固定板的另一端且所述第六气缸位于所述第五气缸远离所述第二固定板的一侧；所述第六气缸的输出轴一端固定连接有针栓卡块；两组所述针栓卡块相接触的面内开设有与针栓相同的型腔；
所述第三电机、第五气缸和第六气缸分别与所述主机电性连接。
进一步的，所述第三夹持组件包括第七气缸、第一连接板、第二连接板、两组第八气缸、两组第三连接板、四组第四连接板、两组第九气缸、两组第十气缸和第二移动块；
所述第七气缸的本体一端固定安装在所述、第二移动块上；所述第二移动块上还设置有第四电机，所述第二移动块的下端转动连接有第二移动轮，所述第四电机与所述第二移动轮传动连接；所述第二移动轮活动卡接在所述第一轨道上；
所述第一连接板的一端固定安装在所述第七气缸的输出轴一端，所述第一连接板的另一端与所述第二连接板的一端外壁固定连接；两组所述第八气缸的本体一端固定安装在所述第二连接板的两端内壁上；
所述第八气缸的输出轴一端与所述第三连接板固定连接；两组所述第四连接板的一端分别与所述第三连接板的两端固定连接；
所述第九气缸的本体一端固定安装在其中两组所述第四连接板的另一端，所述第九气缸的输出轴一端还固定安装有乳头防护盖卡块，两组所述乳头防护盖卡块的接触面内设置有与注射器乳头防护盖相同的型腔；
所述第十气缸的本体一端固定安装在另外两组所述第四连接板的另一端，所述第十气缸的输出轴一端还固定安装有针栓防护盖卡块，两组所述针栓防护盖卡块的接触面内开设有与针头防护盖相同的型腔；
所述第七气缸、第八气缸、第九气缸、第十气缸和第四电机分别与所述主机电性连接。
进一步的，所述药瓶放置组件包括第十一气缸、第五连接板和药瓶放置架；所述第十一气缸的本体一端固定安装在平面上，所述第十一气缸的 输出轴一端与所述第五连接板的一端固定连接；所述第五连接板的另一端与所述药瓶放置架的一端固定连接；
所述药瓶放置架的另一端线性阵列有若干组药瓶放置槽；所述药瓶放置槽与所述药瓶放置架形成的夹角为钝角。
进一步的，所述第三气缸的输出轴一端固定连接有第一注射器卡块，两组所述第一注射器卡块相接触的面内开设有与针筒相同的型腔。
进一步的，所述第四气缸的输出轴一端固定连接有第二注射器卡块，两组所述第二注射器卡块相接触的面内开设有与活塞柄相同的型腔。
进一步的，所述注射器卡槽与所述针头卡槽的中轴线重合；
所述第三夹持组件包括第八气缸，所述注射器卡槽与所述针头卡槽的中轴线与所述第八气缸输出轴的中轴线平行。
本发明的有益效果：
1、无需费力的拆除注射器和注射器针头的防护盖，只需将注射器和注射器针头分别卡接在注射器卡槽和针头卡槽上即可。
2、在针筒、活塞柄、针头防护盖以及针栓完全固定后，启动第八气缸，使得第八气缸的输出轴缩短，两组乳头防护盖卡块夹住的注射器乳头防护盖与两组针栓防护盖卡块夹住的注射器针栓防护盖分别从注射器乳头和注射器针栓上脱离，无需人为拆除。
3、启动第二气缸，使得第二气缸的输出轴伸长，使得第一壳体远离第一转轴，即针筒在第一注射器卡块和第二注射器卡块的夹持下向针栓靠近，直至注射器乳头螺接入针栓内，无需人为安装固定。
4、注射器组装完毕后，通过启动第二电机，使得翻转组件通过第一移动轮移动至注射器针头对准药瓶放置槽内的储存了待吸取药液的药水瓶瓶口；再次启动第二气缸，直至注射器针头刚刚进入药水瓶内，启动第五电机，使得第一移动块在第一壳体上远离第三气缸，使得注射器活塞柄远离第一注射器卡块，药液被抽吸入注射器针筒内，无需人为抽吸药液。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其 他优点可通过在说明书、权利要求书以及附图中所指出的结构来实现和获得。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了本发明实施例的一种自动给药的麻醉机器人的结构示意图；
图2示出了本发明实施例的带防护盖的注射器的结构示意图；
图3示出了本发明实施例的带防护盖的注射器针头的结构示意图；
图4示出了本发明实施例的放置组件的结构示意图；
图5示出了本发明实施例的翻转组件的结构示意图；
图6示出了本发明实施例的第一夹持组件的俯视图；
图7示出了本发明实施例的第一夹持组件的剖视结构示意图；
图8示出了本发明实施例的第二夹持组件的结构示意图；
图9示出了本发明实施例的第二夹持组件的剖视结构示意图；
图10示出了本发明实施例的第三夹持组件的结构示意图；
图11示出了本发明实施例的药瓶放置组件的结构示意图。
图中：1、放置组件；101、第一气缸；102、注射器卡槽；103、针头卡槽；104、放置板；2、翻转组件；201、第一支撑板；202、第一电机；203、第一转轴；204、第二气缸；205、第二电机；206、第一移动轮；3、第一夹持组件；301、第一壳体；302、第三气缸；303、第四气缸；304、第一注射器卡块；305、第二注射器卡块；306、微量注射泵；307、第一移动块；308、第五电机；4、第二夹持组件；401、第一固定板；402、第三电机；403、第二固定板；404、第三固定板；405、第五气缸；406、第六气缸；407、针头防护盖卡块；408、针栓卡块；5、第三夹持组件；501、第七气缸；502、第一连接板；503、第二连接板；504、第八气缸；505、第三连接板；506、第四连接板；507、第九气缸；508、第十气缸；509、 乳头防护盖卡块；5010、针栓防护盖卡块；5011、第二移动块；5012、第四电机；5013、第二移动轮；6、药瓶放置组件；601、第十一气缸；602、第五连接板；603、药瓶放置架；604、药瓶放置槽；7、第一轨道；8、第二轨道；9、注射器；901、注射器乳头防护盖；902、注射器乳头；903、针筒；904、活塞轴；905、活塞柄；10、注射器针头；1001、针头防护盖；1002、针头；1003、针栓；1004、针栓防护盖；11、信号采集器；12、主机；13、心电监护仪；14、肌松监测仪；15、BIS麻醉深度监护仪；16、底座。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地说明，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例提供了一种自动给药的麻醉机器人，包括控制系统、注射组件和底座16；
所述控制系统包括信号采集器11、主机12、心电监护仪13、肌松监测仪14和BIS麻醉深度监护仪15；
所述信号采集器11固定安装在所述底座16的一端，所述信号采集器11用于采集患者脑电信号，所述信号采集器11与所述BIS麻醉深度监护仪15电性连接；
所述心电监护仪13固定安装在所述主机12的上端，所述心电监护仪13用于观察患者心电变化；
所述肌松监测仪14固定安装在所述信号采集器11的一侧且位于底座16的一端，所述肌松监测仪14用于监测肌松药效，指导麻醉期间肌松药的合理应用，可以保证麻醉不同阶段的肌松要求，有利于麻醉医师把握插管和拔管的时机，并减少术后肌松药残余作用的发生率。
所述BIS麻醉深度监护仪15固定安装在所述肌松监测仪14的上端， 所述BIS麻醉深度监护仪15用于监测麻醉深度。
所述主机12固定安装在所述信号采集器11的上端，所述主机12与心电监护仪13、肌松监测仪14和BIS麻醉深度监护仪15电性连接；所述主机用于收集和处理脑电信号。
示例性的，麻醉深度监测为脑电双频指数监测，正常值范围在0至100之间，正常人在清醒状态时，BIS值为85至100,65至85为镇静状态，40至65为麻醉状态，低于40可能呈现爆发抑制，即为过深麻醉状态。BIS麻醉深度监护仪15能将准确的数据传输到主机12中，所述主机12控制注射组件进行药物输注。
示例性的，所述控制系统可采用型号为YFAR-1的闭环把控输注系统。
所述注射组件包括放置组件1、翻转组件2、第一夹持组件3、第二夹持组件4、第三夹持组件5、药瓶放置组件6、第一轨道7和第二轨道8，示例性的，如图1所示；
所述第一轨道7和第二轨道8分别固定安装在所述底座16的两侧壁上。
所述翻转组件2的下端滑动安装在第二轨道8上，所述翻转组件2的上端设置有转轴，所述转轴可在所述翻转组件2的上端沿中轴线转动；所述转轴的一端与所述第一夹持组件3的一端固定连接，使得所述第一夹持组件3可随所述转轴转动，所述第一夹持组件3用于夹持注射器。
所述第二夹持组件4的上端设置在所述第一夹持组件3的另一端；在所述第一夹持组件3未随所述转轴转动时，所述第一夹持组件3的中轴线与所述第二夹持组件4上端的中轴线重合；所述第二夹持组件4的下端固定安装在所述底座16上，所述第二夹持组件4用于夹持注射器针头。
若干组所述放置组件1固定安装所述底座16上，且所述放置组件1位于所述第一夹持组件3和所述第二夹持组件4的同一侧；所述放置组件1的两端分别安装有注射器9和注射器针头10。
所述第三夹持组件5的下端滑动安装在所述第一轨道7上，所述第三夹持组件5的另一端位于所述第一夹持组件3和第二夹持组件4的上方；所述第三夹持组件5用于将所述放置组件1上安装的注射器9转移至所述 第一夹持组件3内，同时将所述放置组件1上安装的注射器针头10转移至所述第二夹持组件4内。
所述药瓶放置组件6设置在所述第三夹持组件5的一侧，所述药瓶放置组件6的下端固定安装在所述底座16上，所述药瓶放置组件6的另一端卡接有存储了待抽吸药液的药水瓶，用于为组装完毕的注射器提供抽吸的药液。所述放置组件1、第一夹持组件3、第二夹持组件4和第三夹持组件5分别与所述主机12电性连接。
示例性的，所述第三夹持组件5沿所述第一轨道7移动，并将所述放置组件1上的注射器9及注射器针头10转移至所述第一夹持组件3和所述第二夹持组件4内，待所述第一夹持组件3和所述第二夹持组件4夹紧所述放置组件1上的所述注射器9及注射器针头10，所述第三夹持组件5配合所述第一夹持组件3和所述第二夹持组件4将所述放置组件1上的注射器9及注射器针头10进行组装；所述第二夹持组件4可将所述注射器针头10螺接在所述注射器9的注射端；所述翻转组件2可沿所述第二轨道8移动，并将所述第一夹持组件3内组装完毕的注射器的针头对准所述药瓶放置组件6卡接有存储了待抽吸药液的药水瓶的一端，所述翻转组件2水平推动所述第一夹持组件3，使得所述第一夹持组件3内组装完毕的注射器的针头插入待抽吸药液的药水瓶内，通过所述第一夹持组件3使组装完毕的注射器抽吸药液，抽吸完毕后，所述翻转组件2的转轴转动，使注射器的针头在竖直方向上朝向上方，再通过所述第一夹持组件3排出注射器内的空气。
所述注射器9包括注射器乳头防护盖901、注射器乳头902、针筒903、活塞轴904和活塞柄905，示例性的，如图2所示；所述注射器乳头防护盖901卡接在所述注射器乳头902的一端，所述注射器乳头902的另一端与所述针筒903固定连接；所述注射器乳头902上还设置有外螺纹。
所述活塞轴904的一端活动贯穿所述针筒903，所述活塞轴904的另一端与所述活塞柄905固定连接。
所述注射器针头10包括针头防护盖1001、针头1002、针栓1003和针 栓防护盖1004，示例性的，如图3所示；所述针栓1003的一端与所述针头1002固定连接，所述针头防护盖1001与所述针栓1003设置有针头1002的一端固定卡接；所述针栓防护盖1004固定卡接在所述针栓1003的另一端；所述针栓1003的内部设置有与所述注射器乳头902上设置的外螺纹相配合的内螺纹，所述注射器乳头902可螺接在所述针栓1003的内部。
所述放置组件1包括第一气缸101和放置板104，示例性的，如图4所示。所述第一气缸101的本体一端固定安装所述底座16上，所述第一气缸101的输出轴一端固定安装在所述放置板104上；所述第一气缸101用于调节所述放置板104在平面内的高度；所述放置板104上的一端设置有注射器卡槽102，所述放置板104的另一端设置有针头卡槽103；所述注射器卡槽102用于卡接注射器9，所述针头卡槽103用于卡接注射器针头10。所述注射器卡槽102与所述针头卡槽103的中轴线重合；无需费力的拆除带注射器9和注射器针头10的防护盖，只需将注射器9和注射器针头10分别卡接在注射器卡槽102和针头卡槽103上即可。
所述翻转组件2包括两组第一支撑板201、第一电机202、第一转轴203和第二气缸204，示例性的，如图5所示；所述第一支撑板201的下端活动安装有第一移动轮206，所述第一支撑板201的下端还固定安装有第二电机205，所述第一移动轮206与所述第二电机205传动连接；所述第一移动轮206可在所述第二轨道8上移动；两组所述第一支撑板201的上端分别与所述第一转轴203的两端转动连接；所述第一支撑板201远离所述第一转轴203的一侧固定安装有第一电机202，所述第一转轴203与所述第一电机202传动连接；所述第二气缸204的本体一端固定安装在所述第一转轴203的中间段，所述第二气缸204的输出轴一端与所述第一夹持组件3的一端固定连接。
所述第一电机202、第二气缸204和第二电机205分别与所述主机12电性连接。
所述第一夹持组件3包括第一壳体301、两组第三气缸302、两组第四气缸303和微量注射泵306，示例性的，如图6和图7所示；所述第一壳体 301的上端和一侧端为开放式结构，所述第一壳体301的另一侧端与所述第二气缸204的输出轴一端固定连接；所述第三气缸302的本体一端固定安装在所述第一壳体301为开放式结构的一侧端，所述第三气缸302的输出轴一端固定连接有第一注射器卡块304，两组所述第一注射器卡块304相接触的面内开设有与所述注射器针筒903相同的型腔；所述第一注射器卡块304用于卡接所述针筒903和所述注射器乳头902。
所述第四气缸303的本体一端固定安装有第一移动块307，所述第一壳体301上还设置有第五电机308，所述第一移动块307与所述第五电机308传动连接。
所述第一移动块307活动卡接在所述第三气缸302的一侧，且远离所述第一壳体301为开放式结构的一侧端；所述第四气缸303的输出轴一端固定连接有第二注射器卡块305，两组所述第二注射器卡块305相接触的面内开设有与所述活塞柄905相同的型腔；所述第二注射器卡块305用于卡接所述活塞柄905。
通过第一注射器卡块304与第二注射器卡块305使得注射器9可固定在第一夹持组件3内。
所述微量注射泵306固定安装在所述第一壳体301的一侧壁上，所述微量注射泵306与所述主机12电性连接，所述微量注射泵306还包括推注装置，所述主机12用于控制所述微量注射泵306的推注装置将药液均匀、持续、定量地注入人体静脉中。
所述微量注射泵306的推注装置与所述第一移动块307传动连接；所述第五电机308控制第一移动块307靠近第一注射器卡块304，所述微量注射泵306的推注装置控制第一移动块307远离第一注射器卡块304。
示例性的，所述微量注射泵306可采用KL-6050T恒速注射泵。
所述第三气缸302、第四气缸303、微量注射泵306和第五电机308分别与所述主机12电性连接。
所述第二夹持组件4包括第一固定板401、第三电机402、第二固定板403、两组第三固定板404、两组第五气缸405和两组第六气缸406，示例 性的，如图9和图10所示；所述第一固定板401的一端固定安装在平面上，所述第三电机402的本体一端固定安装在所述第一固定板401的另一端；所述第二固定板403与所述第三电机402的输出轴一端传动连接；两组所述第三固定板404的一端分别固定安装在所述第二固定板403的两端。
所述第五气缸405的本体一端固定安装在所述第三固定板404的另一端，所述第五气缸405的输出轴的一端固定连接有针头防护盖卡块407，两组所述针头防护盖卡块407相接触的面内开设有与所述针头防护盖1001相同的型腔；所述针头防护盖卡块407用于卡接所述针头防护盖1001。
所述第六气缸406的本体一端固定安装在所述第三固定板404的另一端且所述第六气缸406位于所述第五气缸405远离所述第二固定板403的一侧；所述第六气缸406的输出轴一端固定连接有针栓卡块408；两组所述针栓卡块408相接触的面内开设有与所述针栓1003相同的型腔，所述针栓卡块408用于卡接所述针栓1003。
所述第三电机402、第五气缸405和第六气缸406分别与所述主机12电性连接。
所述第三夹持组件5包括第七气缸501、第一连接板502、第二连接板503、两组第八气缸504、两组第三连接板505、四组第四连接板506、两组第九气缸507、两组第十气缸508和第二移动块5011，示例性的，如图10所示；
所述第七气缸501的本体一端固定安装在所述第二移动块5011上；所述第二移动块5011上还设置有第四电机5012，所述第二移动块5011的下端转动连接有第二移动轮5013，所述第四电机5012与所述第二移动轮5013传动连接；所述第二移动轮5013活动卡接在所述第一轨道7上。
所述第一连接板502的一端固定安装在所述第七气缸501的输出轴一端，所述第一连接板502的另一端与所述第二连接板503的一端外壁固定连接；两组所述第八气缸504的本体一端固定安装在所述第二连接板503的两端内壁上。
所述第八气缸504的输出轴一端与所述第三连接板505固定连接，且 所述第八气缸504输出轴的中轴线与所述注射器卡槽102和所述针头卡槽103的中轴线平行。
两组所述第四连接板506的一端分别与所述第三连接板505的两端固定连接。
所述第九气缸507的本体一端固定安装在其中两组所述第四连接板506的另一端，所述第九气缸507的输出轴一端还固定安装有乳头防护盖卡块509，两组所述乳头防护盖卡块509的接触面内设置有与所述注射器乳头防护盖901相同的型腔，所述乳头防护盖卡块509用于卡接所述注射器乳头防护盖901。
所述第十气缸508的本体一端固定安装在另外两组所述第四连接板506的另一端，所述第十气缸508的输出轴一端还固定安装有针栓防护盖卡块5010，两组所述针栓防护盖卡块5010的接触面内开设有与所述针栓防护盖1004相同的型腔，所述针栓防护盖卡块5010用于卡接所述针栓防护盖1004。
所述第七气缸501、第八气缸504、第九气缸507、第十气缸508和第四电机5012分别与所述主机12电性连接。
所述药瓶放置组件6包括第十一气缸601、第五连接板602和药瓶放置架603，示例性的，如图101所示；所述第十一气缸601的本体一端固定安装在所述第一轨道7内，所述第十一气缸601的输出轴一端与所述第五连接板602的一端固定连接；所述第五连接板602的另一端与所述药瓶放置架603的一端固定连接。
所述药瓶放置架603的另一端线性阵列有若干组药瓶放置槽604，所述药瓶放置槽604用于卡接存储了待抽吸药液的药水瓶；所述药瓶放置槽604与所述药瓶放置架603形成的夹角为钝角，使得存储了待抽吸药液的药水瓶的瓶口高度低于瓶底的高度，有利于药液被组装完毕的注射器抽吸。
利用本发明提供的一种自动给药的麻醉机器人，其工作原理如下：
所述第三夹持组件5通过第二移动块5011沿所述第一轨道7移动，使乳头防护盖卡块509与针栓防护盖卡块5010分别位于注射器卡槽102和针头卡槽103的上方；启动第七气缸501，第七气缸501的输出轴一端缩短， 使乳头防护盖卡块509与针栓防护盖卡块5010分别位于注射器9和注射器针头10的两侧。
通过两组第八气缸504调整乳头防护盖卡块509与针栓防护盖卡块5010之间的水平距离以及启动第九气缸507，使得所述乳头防护盖卡块509夹住注射器9，同时启动第十气缸508，使得针栓防护盖卡块5010夹住注射器针头10。
之后启动第七气缸501，第七气缸501的输出轴一端伸长，使注射器9与注射器针头10脱离放置组件1；启动第二移动块5011，使注射器9与注射器针头10位于第一夹持组件3的正上方。
再次启动第七气缸501，使得注射器9的针筒903与活塞柄905位于两组第一注射器卡块304与第二注射器卡块305之间，使得注射器针头10的针头防护盖1001和针栓1003位于两组针头防护盖卡块407与针栓卡块408之间。
此时，启动第三气缸302，使得第三气缸302的输出轴伸长，直至两组第一注射器卡块304将针筒903完全夹住，使得针筒903位于两组第一注射器卡块304形成的型腔之中，使针筒903固定。
启动第四气缸303，使得第四气缸303的输出轴伸长，直至两组第四气缸303将活塞柄905完全夹住，使得活塞柄905位于两组第二注射器卡块305形成的型腔之中，使活塞柄905固定。
启动第五气缸405，使得第五气缸405的输出轴伸长，直至两组针头防护盖卡块407将针头防护盖1001完全夹住，使得针头防护盖1001位于两组针头防护盖卡块407形成的型腔之中，使得针头防护盖1001固定。
启动第六气缸406，使得第六气缸406的输出轴伸长，直至两组针栓卡块408将针栓1003完全夹住，使得针栓1003位于两组针栓卡块408形成的空腔之中，使得针栓1003固定。
在针筒903、活塞柄905、针头防护盖1001以及针栓1003完全固定后，启动第八气缸504，使得第八气缸504的输出轴缩短，两组乳头防护盖卡块509夹住的注射器乳头防护盖901与两组针栓防护盖卡块5010夹住的针栓 防护盖1004分别从注射器乳头902和针栓1003上脱离，无需人为拆除。
再次启动第七气缸501，使得第七气缸501的输出轴伸长，使得乳头防护盖卡块509与针栓防护盖卡块5010位于第一夹持组件3与第二夹持组件4的上方，且互不干涉。
启动第三电机402，使得第二固定板403在沿第三电机402的输出轴的中轴线转动，即针头防护盖1001与针栓1003在针头防护盖卡块407和针栓卡块408的夹持下转动。
启动第二气缸204，使得第二气缸204的输出轴伸长，使得第一壳体301远离第一转轴203，即针筒903在第一注射器卡块304和第二注射器卡块305的夹持下向针栓1003靠近，直至注射器乳头902螺接入针栓1003内，无需人为安装固定。
启动第六气缸406，使第六气缸406的输出轴缩短，使得针栓卡块408解除对针栓1003的夹持；再次启动第二气缸204，使得第一壳体301远离第一固定板401，即针头防护盖卡块407使得针头防护盖1001从针头1002上脱离直至第一夹持组件3与第二夹持组件4互不干涉。
注射器组装完毕后，通过启动第二电机205，使得翻转组件2通过第一移动轮206移动至针头1002对准药瓶放置槽604内的储存了待吸取药液的药水瓶瓶口；再次启动第二气缸204，直至针头1002刚刚进入药水瓶内，启动第五电机308，使得第一移动块307在第一壳体301上远离第三气缸302，使得活塞柄905远离第一注射器卡块304，药液被抽吸入注射器针筒903内，无需人为抽吸药液；吸取完毕后，启动第二气缸204，使得针头1002远离药瓶放置组件6直至互不干涉。
此时启动第一电机202，使得第一转轴203顺时针转动90°，使得针筒903与重力方向平行。
启动微量注射泵306的推注装置，直至针筒903内的空气被排净，人工接入微量注射泵306的延长管即可启动控制系统；通过控制系统进行自动给药，减轻了麻醉医师的工作量。
尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术 人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (11)

1.一种自动给药的麻醉机器人，其特征在于：包括控制系统、注射组件和底座(16)；所述底座(16)的两侧分别设置有第一轨道(7)和第二轨道(8)；所述控制系统固定安装在所述底座(16)的一端；
所述注射组件包括放置组件(1)、翻转组件(2)、第一夹持组件(3)、第二夹持组件(4)、第三夹持组件(5)、药瓶放置组件(6)；
所述翻转组件(2)的下端滑动安装在第二轨道(8)上，所述翻转组件(2)的上端通过转轴和所述第一夹持组件(3)的一端固定连接，所述第一夹持组件(3)可绕转轴的中轴线转动；
所述第二夹持组件(4)固定安装在所述底座(16)上，且所述第二夹持组件(4)设置在所述第一夹持组件(3)一侧；
所述第三夹持组件(5)的一端滑动安装在第一轨道(7)上，所述第三夹持组件(5)的另一端位于所述第一夹持组件(3)和所述第二夹持组件(4)的上方；
若干组所述放置组件(1)固定安装所述底座(16)上，且所述放置组件(1)位于所述第一夹持组件(3)和所述第二夹持组件(4)的同一侧；
所述放置组件(1)、第一夹持组件(3)、第二夹持组件(4)和第三夹持组件(5)分别与所述控制系统电性连接；
所述药瓶放置组件(6)的下端固定安装在底座(16)上，且所述药瓶放置组件(6)设置在所述第三夹持组件(5)的一侧。
根据权利要求1所述的一种自动给药的麻醉机器人，其特征在于：所述控制系统包括信号采集器(11)、主机(12)、心电监护仪(13)、肌松监测仪(14)和BIS麻醉深度监护仪(15)；
所述信号采集器(11)固定安装在所述底座(16)的一端，所述信号采集器(11)与所述BIS麻醉深度监护仪(15)电性连接；
所述心电监护仪(13)固定安装在所述主机(12)的上端；
所述肌松监测仪(14)固定安装在所述信号采集器(11)的一侧且位于底座(16)的一端，所述BIS麻醉深度监护仪(15)固定安装在所述肌松监测仪(14)的上端；
所述主机(12)固定安装在所述信号采集器(11)的上端，所述主机(12)与心电监护仪(13)、肌松监测仪(14)和BIS麻醉深度监护仪(15)电性连接。
根据权利要求2所述的一种自动给药的麻醉机器人，其特征在于：所述放置组件(1) 包括第一气缸(101)和放置板(104)；所述第一气缸(101)的本体一端固定安装平面上，所述第一气缸(101)的输出轴一端固定安装在所述放置板(104)上；
所述放置板(104)上的一端设置有注射器卡槽(102)，所述放置板(104)的另一端设置有针头卡槽(103)；所述注射器卡槽(102)上卡接有注射器(9)，所述针头卡槽(103)上卡接有注射器针头；
所述第一气缸(101)与所述主机(12)电性连接。
根据权利要求2所述的一种自动给药的麻醉机器人，其特征在于：所述翻转组件(2)包括两组第一支撑板(201)、第一电机(202)、第一转轴(203)和第二气缸(204)；所述第一支撑板(201)的下端活动安装有第一移动轮(206)，所述第一支撑板(201)的下端还固定安装有第二电机(205)，所述第一移动轮(206)与所述第二电机(205)传动连接；所述第一移动轮(206)可在所述第二轨道(8)上移动；
两组所述第一支撑板(201)的上端分别与所述第一转轴(203)的两端转动连接；所述第一支撑板(201)远离所述第一转轴(203)的一侧固定安装有第一电机(202)，所述第一转轴(203)与所述第一电机(202)传动连接；
所述第二气缸(204)的本体一端固定安装在所述第一转轴(203)的中间段，所述第二气缸(204)的输出轴一端与所述第一夹持组件(3)的一端固定连接；
所述第一电机(202)、第二气缸(204)和第二电机(205)分别与所述主机(12)电性连接。
根据权利要求4所述的一种自动给药的麻醉机器人，其特征在于：所述第一夹持组件(3)包括第一壳体(301)、两组第三气缸(302)、两组第四气缸(303)和微量注射泵(306)；
所述第一壳体(301)的上端和一侧端为开放式结构，所述第一壳体(301)的另一侧端与所述第二气缸(204)的输出轴一端固定连接；所述第三气缸(302)的本体一端固定安装在所述第一壳体(301)为开放式结构的一侧端；
所述第四气缸(303)的本体一端固定安装有第一移动块(307)，所述第一壳体(301)上还设置有第五电机(308)，所述第一移动块(307)与所述第五电机(308)传动连接；
所述第一移动块(307)活动卡接在所述第三气缸(302)的一侧，且远离所述第一壳体(301)为开放式结构的一侧端；
所述微量注射泵(306)固定安装在所述第一壳体(301)的一侧壁上，所述微量注射泵 (306)的推注装置与所述第一移动块(307)传动连接；
所述第三气缸(302)、第四气缸(303)、微量注射泵(306)和第五电机(308)分别与所述主机(12)电性连接。
根据权利要求2所述的一种自动给药的麻醉机器人，其特征在于：所述第二夹持组件(4)包括第一固定板(401)、第三电机(402)、第二固定板(403)、两组第三固定板(404)、两组第五气缸(405)和两组第六气缸(406)；
所述第一固定板(401)的一端固定安装在平面上，所述第三电机(402)的本体一端固定安装在所述第一固定板(401)的另一端；所述第二固定板(403)与所述第三电机(402)的输出轴一端传动连接；两组所述第三固定板(404)的一端分别固定安装在所述第二固定板(403)的两端；
所述第五气缸(405)的本体一端固定安装在所述第三固定板(404)的另一端，所述第五气缸(405)的输出轴的一端固定连接有针头防护盖卡块(407)，两组所述针头防护盖卡块(407)相接触的面内开设有与针头防护盖相同的型腔；
所述第六气缸(406)的本体一端固定安装在所述第三固定板(404)的另一端且所述第六气缸(406)位于所述第五气缸(405)远离所述第二固定板(403)的一侧；所述第六气缸(406)的输出轴一端固定连接有针栓卡块(408)；两组所述针栓卡块(408)相接触的面内开设有与针栓相同的型腔；
所述第三电机(402)、第五气缸(405)和第六气缸(406)分别与所述主机(12)电性连接。
根据权利要求6所述的一种自动给药的麻醉机器人，其特征在于：所述第三夹持组件(5)包括第七气缸(501)、第一连接板(502)、第二连接板(503)、两组第八气缸(504)、两组第三连接板(505)、四组第四连接板(506)、两组第九气缸(507)、两组第十气缸(508)和第二移动块(5011)；
所述第七气缸(501)的本体一端固定安装在所述、第二移动块(5011)上；所述第二移动块(5011)上还设置有第四电机(5012)，所述第二移动块(5011)的下端转动连接有第二移动轮(5013)，所述第四电机(5012)与所述第二移动轮(5013)传动连接；所述第二移动轮(5013)活动卡接在所述第一轨道(7)上；
所述第一连接板(502)的一端固定安装在所述第七气缸(501)的输出轴一端，所述第一连接板(502)的另一端与所述第二连接板(503)的一端外壁固定连接；两组所述第八气缸(504)的本体一端固定安装在所述第二连接板(503)的两端内壁上；
所述第八气缸(504)的输出轴一端与所述第三连接板(505)固定连接；两组所述第四连接板(506)的一端分别与所述第三连接板(505)的两端固定连接；
所述第九气缸(507)的本体一端固定安装在其中两组所述第四连接板(506)的另一端，所述第九气缸(507)的输出轴一端还固定安装有乳头防护盖卡块(509)，两组所述乳头防护盖卡块(509)的接触面内设置有与注射器乳头防护盖相同的型腔；
所述第十气缸(508)的本体一端固定安装在另外两组所述第四连接板(506)的另一端，所述第十气缸(508)的输出轴一端还固定安装有针栓防护盖卡块(5010)，两组所述针栓防护盖卡块(5010)的接触面内开设有与针头防护盖相同的型腔；
所述第七气缸(501)、第八气缸(504)、第九气缸(507)、第十气缸(508)和第四电机(5012)分别与所述主机(12)电性连接。
根据权利要求1所述的一种自动给药的麻醉机器人，其特征在于：
所述药瓶放置组件(6)包括第十一气缸(601)、第五连接板(602)和药瓶放置架(603)；所述第十一气缸(601)的本体一端固定安装在平面上，所述第十一气缸(601)的输出轴一端与所述第五连接板(602)的一端固定连接；所述第五连接板(602)的另一端与所述药瓶放置架(603)的一端固定连接；
所述药瓶放置架(603)的另一端线性阵列有若干组药瓶放置槽(604)；所述药瓶放置槽(604)与所述药瓶放置架(603)形成的夹角为钝角。
根据权利要求5所述的一种自动给药的麻醉机器人，其特征在于：所述第三气缸(302)的输出轴一端固定连接有第一注射器卡块(304)，两组所述第一注射器卡块(304)相接触的面内开设有与针筒相同的型腔。
根据权利要求9所述的一种自动给药的麻醉机器人，其特征在于：所述第四气缸(303)的输出轴一端固定连接有第二注射器卡块(305)，两组所述第二注射器卡块(305)相接触的面内开设有与活塞柄相同的型腔。
根据权利要求3所述的一种自动给药的麻醉机器人，其特征在于：所述注射器卡槽(102)与所述针头卡槽(103)的中轴线重合；
所述第三夹持组件(5)包括第八气缸(504)，所述注射器卡槽(102)与所述针头卡槽(103)的中轴线与所述第八气缸(504)输出轴的中轴线平行。
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