WO2022104914A1 - 一种监测麻醉深度的麻醉机器人 - Google Patents

一种监测麻醉深度的麻醉机器人 Download PDF

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Publication number
WO2022104914A1
WO2022104914A1 PCT/CN2020/133096 CN2020133096W WO2022104914A1 WO 2022104914 A1 WO2022104914 A1 WO 2022104914A1 CN 2020133096 W CN2020133096 W CN 2020133096W WO 2022104914 A1 WO2022104914 A1 WO 2022104914A1
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WO
WIPO (PCT)
Prior art keywords
motor
anesthesia
monitoring
connecting block
cylinder
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PCT/CN2020/133096
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English (en)
French (fr)
Inventor
涂建光
成志标
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联赢医疗科技有限公司
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Publication of WO2022104914A1 publication Critical patent/WO2022104914A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4821—Determining level or depth of anaesthesia
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens

Definitions

  • the invention belongs to the technical field of medical robot equipment, and particularly relates to an anesthesia robot for monitoring anesthesia depth.
  • Anesthesia robot also known as anesthesia automatic closed-loop feedback drug delivery system, is an automatic anesthesia system based on clinical anesthesia system and closed-loop intravenous drug delivery that quantitatively detects levels of consciousness, pain and vital signs.
  • the existing anesthesia robot monitors the anesthesia depth through the BIS sedation anesthesia depth monitor.
  • the anesthesiologist needs to manually disinfect the patient's forehead, and then manually attach electrodes to the patient's forehead, which is cumbersome to operate.
  • BIS technology is based on database analysis, and the collected data comes from the adult population and limited types of drugs, which is not suitable for infants and young children; therefore, the single use of the BIS sedation and anesthesia depth monitor to monitor the depth of anesthesia has limitations.
  • anesthesia robot for monitoring the depth of anesthesia, including a monitoring table, a monitoring system, a movable component, an adjustment component, a photographing component, a base and a patch component;
  • the monitoring platform is installed above the base, and the monitoring system is located on one side of the monitoring platform;
  • the movable component is arranged on one side of the monitoring platform; the adjustment component is arranged on one end of the movable component, the photographing component is installed on the adjustment component, and the photographing component is located on the side of the monitoring platform. above; the patch assembly is fixedly installed at one end of the monitoring table, and is located above the monitoring table;
  • the monitoring system includes a display, a BIS monitoring system, a host and a signal collector;
  • the movable component and the adjustment component are signally connected to the host; the shooting component is connected to the display; the patch component is connected to the signal collector; the signal collector is connected to the BIS monitoring system, the BIS monitoring system Connect with the host signal.
  • the side wall of the monitoring platform is provided with a track, and the track is connected end to end on the monitoring platform, and the track is provided with a first groove, a second groove and a third groove;
  • the second groove is arranged at the upper and lower ends of the track; the second groove is connected end to end in the track; a rack is provided on the inner side wall of the second groove close to the outer wall of the monitoring platform , the rack is connected end to end along the inner side wall of the second groove;
  • the first groove is arranged on the side of the second groove close to the side wall of the monitoring platform, and the first groove is arranged on the upper and lower ends of the track;
  • the orbits are connected end to end;
  • the third groove is arranged on the side of the second groove away from the side wall of the monitoring platform, and the third groove is arranged on the upper and lower ends of the track;
  • the orbits are connected end to end.
  • the movable assembly includes four groups of first guide rods, four groups of second guide rods and a first housing;
  • the first housing can be clamped in the track; a first motor is arranged inside the first housing, and one end of the output shaft of the first motor penetrates the first housing and is located in the first motor. the outside of the casing; one end of the output shaft of the first motor is drivingly connected with a spur gear, and the spur gear meshes with the rack provided on the side wall of the second groove; the first motor and the host signal connection;
  • the four sets of the first guide rods and the four sets of the second guide rods are all located on the outer wall of the first housing, and the two sets of the first guide rods and the two sets of the second guide rods are located on the outer wall of the first housing.
  • the first guide rod is movably clamped in the first groove
  • the second guide rod is movably clamped in the third groove
  • the first guide rod When the spur gear and the second guide rod rotate on the rack in the second groove, the first housing is kept in a stable state.
  • first guide rod and the second guide rod are further provided with guide wheels, and the guide wheels can be movably clamped in the first groove and the third groove.
  • the adjustment assembly includes a first cylinder, a second motor, a first connecting rod, a second cylinder, a third motor and a first connecting block;
  • One end of the body of the first cylinder is fixedly connected to one end of the first housing through the first connecting block; one end of the output shaft of the first cylinder is fixedly connected to one end of the body of the second motor; the The first cylinder is used to control the height of the second motor, and the first cylinder is signally connected to the host;
  • One end of the output shaft of the second motor is drivingly connected with one end of the first connecting rod, and the second motor is used to control the rotation angle of the first connecting rod along the central axis of the second motor; the The second motor is signally connected to the host;
  • the other end of the first connecting rod is fixedly connected to one end of the body of the second cylinder, and one end of the output shaft of the second cylinder is fixedly connected to one end of the body of the third motor; Host signal connection.
  • the shooting assembly includes a second connecting block, a camera and a lifting plate;
  • One end of the shown second connection block is drivingly connected with one end of the output shaft of the third motor, so that the second connection block can rotate along the central axis of the output shaft of the third motor;
  • the second connection block A group of first through holes are opened on the upper part, and the camera can move through the first through holes opened on the second connection block;
  • the camera is used to photograph the anesthesia block area of the patient, and transmit the image to the display Inside, the camera is signal-connected with the host and the display;
  • the second connecting block further defines four groups of second through holes around the first through holes, and the lifting plate can move through the second through holes.
  • the second connecting block is also provided with several groups of fourth cylinders, and several groups of the fourth cylinders are located between the first through hole and the second through hole, and the body of the fourth cylinder is One end is fixedly connected with the second connecting block, one end of the output shaft of the fourth cylinder is fixedly connected with one end of the lifting plate, the fourth cylinder controls the lifting plate to move through the second through hole; the The fourth cylinder is signally connected to the host.
  • the shooting assembly further includes a third connecting block and a fourth connecting block; the fourth connecting block is fixedly connected with the other end of the lifting plate, and an elastic cable tie is arranged on the fourth connecting block, so The elastic tie is used to fix the anesthesia blocking area of the patient; the fourth connection block is also provided with a third air cylinder, and one end of the body of the third air cylinder is fixedly connected to the fourth connection block, and the third air cylinder is fixedly connected to the fourth connection block.
  • One end of the output shaft of the air cylinder is fixedly connected with the third connection block, and the third connection block is movably clamped on the lifting plate; the third air cylinder can control the connection between the third connection block and the fourth connection block The distance between the blocks, the third cylinder is signally connected to the host through an air pump.
  • a camera hole is also opened on the third connection block, and the camera hole coincides with the central axis of the camera.
  • the patch assembly includes a fourth motor, a second connecting rod, a fifth air cylinder, a fifth connecting block, a sixth connecting block, a seventh connecting block, an electrode sheet, a storage box, an output pipe, a sixth air cylinder, a fifth motor, a protective cover, a rotating block, a liquid storage cavity, a second housing and a solenoid valve;
  • One end of the second casing is fixedly installed on one end of the monitoring platform, the fourth motor is fixedly installed in the second casing, a cavity is provided in the second casing, and the fourth motor is fixedly installed in the second casing.
  • One end of the output shaft is located in the cavity;
  • the middle section of the second connecting rod is drivingly connected with one end of the output shaft of the fourth motor, and the two ends of the second connecting rod are respectively symmetrical with respect to the central axis of the output shaft of the fourth motor;
  • the fifth The cylinder is fixedly installed on one end of the second connecting rod;
  • the output end of the fifth cylinder is fixedly connected with the seventh connecting block;
  • the two ends of the seventh connecting block are respectively connected with one end of the two sixth connecting blocks hinged, the other end of the sixth connecting block is hinged with one end of the fifth connecting block;
  • Electrodes sheets are elastically connected to the fifth connection block and the seventh connection block through springs; the electrode sheets are signally connected to the BIS monitoring system;
  • the sixth cylinder is fixedly installed on the other end of the second connecting rod, and one end of the body of the fifth motor is fixedly connected to the output end of the sixth cylinder; the protective cover is connected to the output of the fifth motor One end of the shaft is fixedly connected by a rotating bearing; a liquid storage cavity is arranged in the protective cover, the liquid storage cavity is communicated with the output pipe, and the output pipe is communicated with the storage tank through a solenoid valve;
  • One end of the rotating block is drivingly connected with one end of the output shaft of the fifth motor, several groups of through holes are formed on the rotating block, and the other end of the rotating block is provided with gauze.
  • Control the moving component through the host adjust the component so that the photographing component is located in the anesthesia block area of the patient, and then control the photographing component through the host computer to control the dermatoglyphics of the patient's anesthesia block area before and after anesthesia.
  • the state is photographed, and then the image is transmitted to the display through the shooting component.
  • the host processes and compares the dermatoglyphic state before and after anesthesia, and the real-time comparison of the image and the processing result is provided by the display for the anesthesiologist to observe.
  • the dermatoglyphic state determines the depth of anesthesia the patient is in.
  • the third motor is controlled by the host to adjust the angle of the shooting assembly, so that the shooting assembly can adapt to different body positions of the patient.
  • FIG. 1 shows a schematic structural diagram of an anesthesia robot for monitoring anesthesia depth according to an embodiment of the present invention
  • FIG. 2 shows a schematic cross-sectional structure diagram of a monitoring platform according to an embodiment of the present invention
  • FIG. 3 shows a schematic cross-sectional structure diagram of a moving assembly according to an embodiment of the present invention
  • FIG. 4 shows a schematic structural diagram of an adjustment assembly according to an embodiment of the present invention
  • FIG. 5 shows a schematic structural diagram of a photographing assembly according to an embodiment of the present invention
  • FIG. 6 shows a schematic diagram of content displayed by a display according to an embodiment of the present invention.
  • FIG. 7 shows a schematic structural diagram of a patch assembly according to an embodiment of the present invention.
  • An embodiment of the present invention provides an anesthesia robot for monitoring anesthesia depth, including a monitoring table 1, a monitoring system and a base 13, as shown in FIG. 1 , for example;
  • the monitoring table 1 is installed above the base 13 through several groups of support columns 2, and the monitoring table 1 is used to place a patient; a side of the monitoring table 1 is provided with a movable component 3, and the movable component 3 can be Move along the side wall of the monitoring platform 1; one end of the movable component 3 is provided with an adjustment component 4, and a photographing component 5 is installed on the adjusting component 4, and the photographing component 5 is located above the monitoring platform 1; The movable component 3 and the adjustment component 4 are used to adjust the position of the photographing component 5 above the monitoring table 1 and the photographing angle of the photographing component 5, and the photographing component 5 is used to photograph the anesthesia block area of the patient. dermatoglyphic image.
  • the patch assembly 38 is fixedly installed at one end of the monitoring table 1 , and the patch assembly 38 is used for automatically applying an electrode patch to the head of the patient placed on the monitoring table 1 .
  • the monitoring system is located at one side of the monitoring table 1 and at one end of the base 13 .
  • the monitoring system includes a display 6 , a BIS monitoring system 7 , a host 8 and a signal collector 10 .
  • the display 6 is used for displaying the dermatoglyphic image of the anesthesia block area of the patient transmitted by the photographing component 5 .
  • the movable component 3 and the adjustment component 4 are connected with the host 8 by signal; the shooting component 5 is connected with the display 6 by signal; the patch component 38 is connected with the signal collector 10 by signal; the signal collector 10 is connected with the BIS monitoring system 7 signal connection, the BIS monitoring system 7 is connected with the host 8 signal.
  • the host 8 is used to collect and process EEG signals on the one hand, and on the other hand, is used to control the movement track of the movable component 3, the adjustment component 4 and the photographing component 5, and to control the patch component 38 to automatically clean the forehead for the patient. and apply electrode pads to the patient's forehead.
  • the BIS monitoring system 7 is used to monitor the depth of anesthesia of the patient; the BIS monitoring system 7 can transmit the monitored accurate data to the host 8, and the host 8 controls the microinjection pump 11 for drug infusion.
  • the display 6 is connected to the photographing component 5 in a signal connection, and the display 6 is used for receiving an image photographed by the photographing component 5 and displaying the received image.
  • the signal collector 10 is used to collect the EEG signal of the patient, and transmit the signal to the host 8, and the host 8 processes the signal.
  • the monitoring system may further include an electrocardiogram monitor 9 , a microinjection pump 11 and a muscle relaxation monitor 12 .
  • the muscle relaxation monitor 12 is used to monitor the efficacy of the muscle relaxant, guide the rational application of the muscle relaxant during anesthesia, ensure the muscle relaxation requirements in different stages of anesthesia, help the anesthesiologist grasp the timing of intubation and extubation, and reduce Incidence of residual effect of postoperative muscle relaxants.
  • the microinjection pump 11 continuously and quantitatively injects the medicinal liquid into the human vein under the control of the host 8 .
  • the ECG monitor 9 is used to observe the changes of the patient's ECG.
  • the ECG monitor 9 can be an ECG monitor with a model of ETComm HC-201
  • the microinjection pump 11 can be a microinjection pump with a model of ZS100
  • the muscle relaxation monitor 12 can be a Veryark-TOF type. Muscle Relaxation Monitor.
  • a rail 17 is provided on the side wall of the monitoring table 1, and the rail 17 is connected end to end on the monitoring table 1.
  • the rail is provided with a first groove 14, a second groove 15 and a third groove.
  • slot 16 exemplary, as shown in FIG. 2;
  • the second grooves 15 are arranged at the upper and lower ends of the track 17; the second grooves 15 are connected end to end in the track 17; the second grooves 15 are close to the inner side of the outer wall of the monitoring platform 1
  • a rack is arranged on the wall, and the rack is connected end to end along the inner side wall of the second groove 15;
  • the first groove 14 is disposed on the side of the second groove 15 close to the side wall of the monitoring table 1, and the first groove 14 is disposed on the upper and lower ends of the rail 17;
  • a groove 14 is connected end to end in the rail 17;
  • the third groove 16 is disposed on the side of the second groove 15 away from the side wall of the monitoring table 1, and the third groove 16 is disposed on the upper and lower ends of the rail 17;
  • the three grooves 16 are connected end to end in the track 17;
  • the movable assembly 3 includes four groups of first guide rods 18 , four groups of second guide rods 19 and a first housing 23 , as shown in FIG. 3 , for example;
  • the first housing 23 can be clamped in the rail 17; a first motor 20 is disposed inside the first housing 23, and one end of the output shaft of the first motor 20 penetrates the first housing 23 is located outside the first housing 23; one end of the output shaft of the first motor 20 is drivingly connected with a spur gear 22, and the spur gear 22 is in phase with the rack provided on the side wall of the second groove 15. Engaged; the first motor 20 is signally connected to the host 8 .
  • the four sets of the first guide rods 18 and the four sets of the second guide rods 19 are all located on the outer wall of the first housing 23 , and the two sets of the first guide rods 18 and the two sets of the second guide rods
  • the rods 19 are located on both sides of the spur gear 22, the first guide rod 18 can be movably clamped in the first groove 14, and the second guide rod 19 can be movably clamped in the third groove In the groove 16, the first guide rod 18 and the second guide rod 19 keep the first housing 23 stable when the spur gear 22 rotates on the rack in the second groove 15 state;
  • the top ends of the first guide rod 18 and the second guide rod 19 are also provided with guide wheels 21 , and the guide wheels 21 can be movably clamped in the first groove 14 and the third groove 16 ;
  • the guide wheel 21 is used to reduce the frictional resistance of the first guide rod 18 and the second guide rod 19 in the first groove 14 and the third groove 16, so that the movable The assembly 3 moves smoothly within the rail 17 .
  • the adjustment assembly 4 includes a first air cylinder 24, a second motor 25, a first connecting rod 26, a second air cylinder 27, a third motor 28 and a first connecting block 29, as shown in FIG. 4;
  • One end of the body of the first cylinder 24 is fixedly connected to one end of the first housing 23 through the first connecting block 29 ; one end of the output shaft of the first cylinder 24 is connected to one end of the body of the second motor 25 Fixed connection; the first cylinder 24 is used to control the height of the second motor 25, and the first cylinder 24 is signally connected to the host 8;
  • One end of the output shaft of the second motor 25 is drivingly connected with one end of the first connecting rod 26 , and the second motor 25 is used to control the first connecting rod 26 to rotate along the central axis of the second motor 25 . angle; the second motor 25 is signally connected to the host 8;
  • the other end of the first connecting rod 26 is fixedly connected to one end of the body of the second cylinder 27, and one end of the output shaft of the second cylinder 27 is fixedly connected to one end of the body of the third motor 28, so that the first The three motors 28 can move in the direction of the central axis of the output shaft of the second cylinder 27 ; the second cylinder 27 is signally connected to the host 8 .
  • the photographing assembly 5 includes a second connecting block 30, a camera 31, a third connecting block 32, a fourth connecting block 34 and a lifting plate 36, as shown in FIG. 5;
  • One end of the shown second connection block 30 is drivingly connected with one end of the output shaft of the third motor 28, so that the second connection block 30 can rotate along the central axis of the output shaft of the third motor 28;
  • the second connecting block 30 is provided with a group of first through holes, and the camera 31 can move through the first through holes opened on the second connecting block 30; the camera 31 is used to photograph the anesthesia block area of the patient, The image is transmitted to the display 6 , and the camera 31 is signally connected to the host 8 and the display 6 .
  • the second connecting block 30 further defines four groups of second through holes around the first through holes, and the lifting plate 36 can move through the second through holes.
  • the second connecting block 30 is also provided with several groups of fourth cylinders 37 , and several groups of the fourth cylinders are located between the first through hole and the second through hole.
  • the body of the fourth cylinder 37 One end is fixedly connected to the second connecting block 30 , one end of the output shaft of the fourth cylinder 37 is fixedly connected to one end of the lifting plate 36 , and the fourth cylinder 37 controls the lifting plate 36 to move through the second Through holes; the fourth cylinder 37 is signally connected to the host 8 .
  • the fourth connecting block 34 is fixedly connected with the other end of the lifting plate 36, and an elastic tie 35 is arranged on the fourth connecting block 34, and the elastic tie 35 is used to fix the anesthesia blocking area of the patient;
  • the fourth connection block 34 is also provided with a third cylinder 33 , one end of the body of the third cylinder 33 is fixedly connected to the fourth connection block 34 , and one end of the output shaft of the third cylinder 33 is connected to the first cylinder 33 .
  • the three connecting blocks 32 are fixedly connected, and the third connecting block 32 is movably clamped on the lifting plate 36 ; the third air cylinder 33 can control the distance between the third connecting block 32 and the fourth connecting block 34
  • the third air cylinder 33 is signally connected to the host 8 through an air pump; the third connection block 32 is also provided with a camera hole, and the camera hole coincides with the central axis of the camera 31 .
  • the photographing component 5 takes pictures and samples the anesthesia blocking area of the patient through the camera 31 before the patient is injected with anesthesia. After the patient is injected with the anesthetic, the camera 31 takes a real-time photograph of the anesthesia blocking area of the patient. Sampling, the sampling process is continuous, exemplary, as shown in FIG. 6 .
  • a is the distance between the two adjacent skin grooves in the anesthesia block area of the patient before the injection of anesthetics
  • b is the distance between the adjacent two skin grooves in the anesthesia block area of the patient after the injection of the anesthetic
  • the host 8 By comparing the distances between the two adjacent skin grooves in the two images, the change ratio b/a of the distance between the two adjacent skin grooves is obtained, and the distance between the two adjacent skin grooves is calculated.
  • the distance change ratio b/a and the two images are displayed on the display 6 for the anesthesiologist to observe, so as to judge the depth of anesthesia of the patient.
  • the display 6 is signally connected to the host 8 .
  • the patient's dermatoglyphics can be observed to the naked eye, the skin lines are stretched and relaxed, the anesthesia-blocked area is more obvious than the non-blocked area, the blocked area has wide, flat and loose skin lines, and the wrinkles change after relaxation. Shallow, unblocked areas have deep, fine lines and wrinkles. Therefore, this method can make up for the limitation of BIS technology for monitoring the depth of anesthesia.
  • the patch assembly 38 includes a fourth motor 39, a second connecting rod 40, a fifth air cylinder 41, a fifth connecting block 42, a sixth connecting block 43, a seventh connecting block 44, an electrode sheet 45, a storage box 46, an output
  • the pipe 47 , the sixth cylinder 48 , the fifth motor 49 , the protective cover 50 , the rotating block 51 , the liquid storage cavity 52 , the second housing 54 and the solenoid valve 56 are exemplarily shown in FIG. 7 .
  • One end of the second casing 54 is fixedly installed on one end of the monitoring table 1 , the fourth motor 39 is fixedly installed in the second casing 54 , and a space is provided in the second casing 54 . cavity, one end of the output shaft of the fourth motor 39 is located in the cavity;
  • the middle section of the second connecting rod 40 is drivingly connected with one end of the output shaft of the fourth motor 39 , and the two ends of the second connecting rod 40 are respectively symmetrical about the central axis of the output shaft of the fourth motor 39 ;
  • the fifth cylinder 41 is fixedly installed at one end of the second connecting rod 40; the output end of the fifth cylinder 41 is fixedly connected to the seventh connecting block 44;
  • One end of the sixth connecting block 43 is hinged, and the other end of the sixth connecting block 43 is hinged with one end of the fifth connecting block 42;
  • Electrodes sheets 45 are elastically connected to the fifth connection block 42 and the seventh connection block 44 through springs 55; the electrode sheets 45 are signally connected to the BIS monitoring system 7;
  • the sixth cylinder 48 is fixedly installed on the other end of the second connecting rod 40, and one end of the body of the fifth motor 49 is fixedly connected to the output end of the sixth cylinder 48; the protective cover 50 is connected to the One end of the output shaft of the fifth motor 49 is fixedly connected by a rotating bearing; the protective cover 50 is provided with a liquid storage cavity 52, and the liquid storage cavity 52 is communicated with the output pipe 47, and the output pipe 47 is electromagnetically connected.
  • the valve 56 communicates with the storage tank 46 .
  • the protective cover 50 is used to cover the patient's forehead, and the storage box 46 is used to store alcohol for cleaning and disinfection;
  • One end of the rotating block 51 is drivingly connected to one end of the output shaft of the fifth motor 49 , the rotating block 51 is provided with several groups of through holes, and the other end of the rotating block 51 is provided with gauze 53 , so that the storage box The alcohol in 46 can be immersed into the gauze 53 through the liquid storage cavity 52 .
  • the shield 50 covers the patient's forehead through the sixth air cylinder 48 in the patch assembly 38, and the output tube 47 is used for liquid storage.
  • the cavity 52 is supplemented with alcohol, and the gauze 53 is soaked; the fifth motor 49 is started again to automatically clean the patient's forehead; after cleaning, the fourth motor 39 is started to make the fifth connecting block 42, the sixth connecting block 43 and the
  • the seventh connecting block 44 is located above the patient's forehead, and the height of the seventh connecting block 44 is adjusted through the fifth air cylinder 41, so that the fifth connecting block 42, the sixth connecting block 43 and the seventh connecting block 44 can be adapted to patients with different head circumferences , the electrode sheet 45 can automatically and effectively fit on the patient's forehead.
  • the BIS monitoring system 7 transmits the monitoring data to the host 8, and the host 8 performs data transmission through the signal collector 10, the electrocardiogram monitor and the muscle relaxation monitor 12. Collect, process, and finally control the microinjection pump 11 to carry out quantitative, continuous and stable infusion to the patient.
  • the first motor 20 is controlled by the host 8 to move the shooting assembly 5 along the track 17 to a position close to the patient; and the host 8 controls the first cylinder 24, the second motor 25 and the second cylinder 27 to make the shooting
  • the assembly 5 is further close to the anesthesia blocking area of the patient;
  • the third motor 28 is controlled by the host 8 to adjust the angle of the shooting assembly 5, so that the shooting assembly 5 is adapted to the different body positions of the patient; at this time, the patient
  • the anesthesia blocking area is fixed on the fourth connecting block 34 by the elastic cable tie 35, the third air cylinder 33 is controlled by the host 8, and the distance between the third connecting block 32 and the fourth connecting block 34 is adjusted.
  • the distance between the camera 31 and the anesthesia block area of the patient is adjusted by the host computer 8 by controlling the fourth cylinder 37.
  • the camera 31 Before the patient injects anesthesia, the camera 31 takes pictures and samples the anesthesia blocking area of the patient. After the patient injects anesthesia, the camera 31 takes pictures and samples the anesthesia blocking area of the patient in real time. The results of the shooting after anesthesia injection are output, and the real-time comparison before and after anesthesia is performed for the anesthesiologist to observe, so as to judge the depth of anesthesia in the patient.
  • the third motor 28 is controlled by the host 8 to adjust the angle of the photographing assembly 5 so that the photographing assembly 5 can adapt to different body positions of patients.
  • the main unit 8 is used to control the movable assembly 3 and adjust the assembly 4 so that the photographing unit 5 is located in the anesthesia block area of the patient, and then the photographing unit 5 is controlled by the host computer 8 to control the dermatoglyphics of the patient's anesthesia block area before anesthesia.
  • the host computer 8 takes pictures with the state after anesthesia, then transmit the image to the display 6 through the shooting component 5, the host 8 processes and compares the dermatoglyphic state before and after anesthesia, and uses the display 6 to compare the real-time image and the processing result for the anesthesiologist to observe. , the anesthesiologist can judge the depth of anesthesia of the patient according to the dermatoglyphic state before and after anesthesia.
  • the forehead part of the patient is automatically cleaned by the patch assembly 38, and the electrode sheet can be automatically and effectively attached to the forehead of the patient.

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Abstract

一种监测麻醉深度的麻醉机器人，包括监测台(1)、监测系统、活动组件(3)、调整组件(4)、拍摄组件(5)、底座(13)和贴片组件(38)；活动组件(3)设置在监测台(1)的一侧；调整组件(4)设置在活动组件(3)的一端，拍摄组件(5)安装在调整组件(4)上，且拍摄组件(5)位于监测台(1)的上方；贴片组件(38)固定安装在监测台(1)的一端，且位于监测台(1)的上方；监测系统包括显示器(6)、BIS监测系统(7)、主机(8)和信号采集器(10)。拍摄组件(5)将图像传输到显示器(6)，主机(8)对麻醉前后的皮纹状态进行处理比对，之后通过显示器(6)将图像与处理结果供麻醉医师观察，麻醉医师可根据麻醉前后的皮纹状态判断患者所处的麻醉深度。

Description

一种监测麻醉深度的麻醉机器人 技术领域
本发明属于医用机器人设备技术领域，特别涉及一种监测麻醉深度的麻醉机器人。
背景技术
麻醉机器人，也叫麻醉自动闭环反馈给药系统，是基于临床麻醉系统及定量检测意识、疼痛以及生命体征水平的闭环静脉给药的自动麻醉系统。
现有的麻醉机器人通过BIS镇静麻醉深度监测仪来监测麻醉深度。BIS镇静麻醉深度检测仪在使用时需要麻醉医师手动为患者前额消毒，然后手动给患者的前额位置贴上电极片，操作繁琐。
另外，BIS技术是基于数据库分析的形式，采集的数据来源于成人群体和有限药物种类，不适用于婴幼儿；因此，单一的使用BIS镇静麻醉深度监测仪来监测麻醉深度具有局限性。
发明内容
针对上述问题，本发明提出了一种监测麻醉深度的麻醉机器人，包括监测台、监测系统、活动组件、调整组件、拍摄组件、底座和贴片组件；
所述监测台安装在所述底座的上方，所述监测系统位于所述监测台的一侧；
所述活动组件设置在所述监测台的一侧；所述调整组件设置在所述活动组件的一端，所述拍摄组件安装在所述调整组件上，且所述拍摄组件位于所述监测台的上方；所述贴片组件固定安装在所述监测台的一端，且位于所述监测台的上方；
所述监测系统包括显示器、BIS监测系统、主机和信号采集器；
所述活动组件、调整组件与主机信号连接；所述拍摄组件与显示器信号连接；所述贴片组件和信号采集器信号连接；所述信号采集器与BIS监测系统信号连接，所述BIS监测系统与主机信号连接。
进一步的，所述监测台的侧壁上设置有轨道，且所述轨道在所述监测 台上首尾相连，所述轨道上设置有第一凹槽、第二凹槽和第三凹槽；
所述第二凹槽设置在所述轨道的上下两端；所述第二凹槽在所述轨道内首尾相连；所述第二凹槽靠近所述监测台外壁的内侧壁上设置有齿条，所述齿条沿所述第二凹槽的内侧壁首尾相连；
所述第一凹槽设置在所述第二凹槽靠近所述监测台侧壁的一侧，且所述第一凹槽设置在所述轨道的上下两端；所述第一凹槽在所述轨道内首尾相连；
所述第三凹槽设置在所述第二凹槽远离所述监测台侧壁的一侧，且所述第三凹槽设置在所述轨道的上下两端；所述第三凹槽在所述轨道内首尾相连。
进一步的，所述活动组件包括四组第一导向杆、四组第二导向杆和第一壳体；
所述第一壳体可卡接在所述轨道内；所述第一壳体的内部设置有第一电机，所述第一电机的输出轴一端贯穿所述第一壳体位于所述第一壳体的外部；所述第一电机的输出轴一端传动连接有直齿轮，所述直齿轮与所述第二凹槽侧壁上设置的齿条相啮合；所述第一电机与所述主机信号连接；
四组所述第一导向杆和四组所述第二导向杆均位于所述第一壳体的外壁上，且两组所述第一导向杆和两组所述第二导向杆位于所述直齿轮的两侧，所述第一导向杆可活动卡接在所述第一凹槽内，所述第二导向杆可活动卡接在所述第三凹槽内，所述第一导向杆和所述第二导向杆使所述直齿轮在所述第二凹槽内的齿条上转动时，所述第一壳体保持稳定状态。
进一步的，所述第一导向杆和所述第二导向杆的顶端还设置有导向轮，所述导向轮可活动卡接在所述第一凹槽与所述第三凹槽内。
进一步的，所述调整组件包括第一气缸、第二电机、第一连接杆、第二气缸、第三电机和第一连接块；
所述第一气缸的本体一端通过所述第一连接块和所述第一壳体的一端固定连接；所述第一气缸的输出轴一端与所述第二电机的本体一端固定连接；所述第一气缸用于控制所述第二电机的高度，所述第一气缸与所述主 机信号连接；
所述第二电机的输出轴一端与所述第一连接杆的一端传动连接，所述第二电机用于控制所述第一连接杆沿所述第二电机的中轴线旋转的角度；所述第二电机与所述主机信号连接；
所述第一连接杆的另一端与所述第二气缸的本体一端固定连接，所述第二气缸的输出轴一端与所述第三电机的本体一端固定连接；所述第二气缸与所述主机信号连接。
进一步的，所述拍摄组件包括第二连接块、摄像头和升降板；
所示第二连接块的一端与所述第三电机的输出轴一端传动连接，使得所述第二连接块可沿所述第三电机的输出轴的中轴线上转动；所述第二连接块上开设有一组第一通孔，所述摄像头可活动贯穿所述第二连接块上开设的第一通孔；所述摄像头用于拍摄患者的麻醉阻滞区域，并将图像传输至所述显示器内，所述摄像头与所述主机和所述显示器信号连接；
所述第二连接块在所述第一通孔的周围还开设有四组第二通孔，所述升降板可活动贯穿所述第二通孔。
进一步的，所述第二连接块上还设置有若干组第四气缸，若干组所述第四气缸位于所述第一通孔与所述第二通孔之间，所述第四气缸的本体一端与所述第二连接块固定连接，所述第四气缸的输出轴一端与所述升降板一端固定连接，所述第四气缸控制所述升降板活动贯穿所述第二通孔；所述第四气缸与所述主机信号连接。
进一步的，所述拍摄组件还包括第三连接块和第四连接块；所述第四连接块与所述升降板的另一端固定连接，所述第四连接块上设置有弹力扎带，所述弹力扎带用于固定患者的麻醉阻滞区域；所述第四连接块上还设置有第三气缸，所述第三气缸的本体一端与所述第四连接块固定连接，所述第三气缸的输出轴一端与所述第三连接块固定连接，所述第三连接块活动卡接在所述升降板上；所述第三气缸可控制所述第三连接块与所述第四连接块之间的距离，所述第三气缸通过气泵与所述主机信号连接。
进一步的，所述第三连接块上还开设有摄像孔，所述摄像孔与所述摄 像头的中轴线重合。
进一步的，所述贴片组件包括第四电机、第二连接杆、第五气缸、第五连接块、第六连接块、第七连接块、电极片、存储箱、输出管、第六气缸、第五电机、防护罩、旋转块、储液空腔、第二壳体和电磁阀；
所述第二壳体的一端固定安装在所述监测台的一端上，所述第四电机固定安装在所述第二壳体内，所述第二壳体内设置有空腔，所述第四电机的输出轴一端位于空腔内；
所述第二连接杆的中间段与所述第四电机的输出轴一端传动连接，所述第二连接杆的两端分别关于所述第四电机的输出轴的中轴线对称；所述第五气缸固定安装在第二连接杆的一端；所述第五气缸的输出端与所述第七连接块固定连接；所述第七连接块的两端分别与两块所述第六连接块的一端铰接，所述第六连接块的另一端与所述第五连接块的一端铰接；
若干组所述电极片通过弹簧与所述第五连接块和第七连接块弹性连接；所述电极片与所述BIS监测系统信号连接；
所述第六气缸固定安装在所述第二连接杆的另一端，所述第五电机的本体一端与所述第六气缸的输出端固定连接；所述防护罩与所述第五电机的输出轴一端通过转动轴承固定连接；所述防护罩内设置有储液空腔，所述储液空腔与所述输出管连通，所述输出管通过电磁阀与所述存储箱连通；
所述旋转块的一端与所述第五电机的输出轴一端传动连接，所述旋转块上开设有若干组贯穿孔，所述旋转块的另一端设置有纱布。
本发明的有益效果：
1、通过贴片组件内的第六气缸使得防护罩罩住患者的前额，通过输出管为储液空腔补充酒精，将纱布浸湿；再启动第五电机，为患者的前额部分进行自动清洁。
2、启动第五电机，为患者的前额部分进行自动清洁；清洁完毕后，启动第四电机使得第五连接块、第六连接块和第七连接块位于患者前额的上方，通过第五气缸调节第七连接块的高度，使得第五连接块、第六连接块和第七连接块能适应不同头围的患者，电极片能自动有效的贴合在患者前 额。
3、通过主机控制所述活动组件、调整组件使所述拍摄组件位于患者的麻醉阻滞区，再通过主机控制所述拍摄组件对患者的麻醉阻滞区的皮纹在麻醉前和麻醉后的状态进行拍照，之后通过拍摄组件将图像传输到显示器，主机对麻醉前后的皮纹状态进行处理比对，通过显示器将实时比对的图像与处理结果供麻醉医师观察，麻醉医师可根据麻醉前后的皮纹状态判断患者所处的麻醉深度。
4、通过主机控制第三电机，调整所述拍摄组件的角度，使所述拍摄组件适应患者不同的体位。
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一种监测麻醉深度的麻醉机器人的结构示意图；
图2示出了根据本发明实施例的监测台的剖视结构示意图；
图3示出了根据本发明实施例的移动组件的剖视结构示意图；
图4示出了根据本发明实施例的调整组件的结构示意图；
图5示出了根据本发明实施例的拍摄组件的结构示意图；
图6示出了根据本发明实施例的显示器显示的内容示意图；
图7示出了根据本发明实施例的贴片组件的结构示意图。
图中：1、监测台；2、支撑柱；3、活动组件；4、调整组件；5、拍摄组件；6、显示器；7、BIS监测系统；8、主机；9、心电监护仪；10、信号 采集器；11、微量注射泵；12、肌肉松弛监测仪；13、底座；14、第一凹槽；15、第二凹槽；16、第三凹槽；17、轨道；18、第一导向杆；19、第二导向杆；20、第一电机；21、导向轮；22、直齿轮；23、第一壳体；24、第一气缸；25、第二电机；26、第一连接杆；27、第二气缸；28、第三电机；29、第一连接块；30、第二连接块；31、摄像头；32、第三连接块；33、第三气缸；34、第四连接块；35、弹力扎带；36、升降板；37、第四气缸；38、贴片组件；39、第四电机；40、第二连接杆；41、第五气缸；42、第五连接块；43、第六连接块；44、第七连接块；45、电极片；46、存储箱；47、输出管；48、第六气缸；49、第五电机；50、防护罩；51、旋转块；52、储液空腔；53、纱布；54、第二壳体；55、弹簧；56、电磁阀。
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监测麻醉深度的麻醉机器人，包括监测台1、监测系统和底座13，示例性的，如图1所示；
所述监测台1通过若干组支撑柱2安装在所述底座13的上方，所述监测台1用于安置患者；所述监测台1的一侧设置有活动组件3，所述活动组件3可沿所述监测台1的侧壁移动；所述活动组件3的一端设置有调整组件4，所述调整组件4上安装有拍摄组件5，且所述拍摄组件5位于监测台1的上方；所述活动组件3与所述调整组件4用于调整所述拍摄组件5在所述监测台1上方的位置以及所述拍摄组件5的拍摄角度，所述拍摄组件5用于拍摄患者麻醉阻滞区域的皮纹图像。
所述贴片组件38固定安装在所述监测台1的一端，所述贴片组件38用于为置于监测台1的患者头部自动贴电极片。
所述监测系统位于所述监测台1的一侧，且位于底座13的一端。
所述监测系统包括显示器6、BIS监测系统7、主机8和信号采集器10。
所述显示器6用于对所述拍摄组件5传输的患者麻醉阻滞区域的皮纹图像进行显示。
所述活动组件3、调整组件4与主机8信号连接；所述拍摄组件5与显示器6信号连接；所述贴片组件38和信号采集器10信号连接；所述信号采集器10与BIS监测系统7信号连接，所述BIS监测系统7与主机8信号连接。
所述主机8一方面用于收集和处理脑电信号，另一方面用于控制所述活动组件3、调整组件4和拍摄组件5的运动轨迹，以及控制贴片组件38进行自动为患者清洁前额和为患者前额贴上电极片。
所述BIS监测系统7用于监测患者的麻醉深度；所述BIS监测系统7能将监测的准确数据传输到主机8中，由主机8控制微量注射泵11进行药物输注。
所述显示器6与所述拍摄组件5信号连接，所述显示器6用于接收所述拍摄组件5拍摄的图像，并对接收到的图像进行显示。
所述信号采集器10用于采集患者的脑电信号，并将该信号传输至所述主机8中，由所述主机8对该信号进行处理。
所述监测系统还可包括心电监护仪9、微量注射泵11和肌肉松弛监测仪12。
所述肌肉松弛监测仪12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。
所述微量注射泵11在主机8的控制下，将药液持续、定量地注入人体静脉中。
所述心电监护仪9用于观察患者心电变化。
示例性的，心电监护仪9可采用型号为ETComm HC-201的心电监测仪，微量注射泵11可采用型号为ZS100的微量注射泵，肌肉松弛监测仪12 可采用型号为Veryark-TOF型肌松监测仪。
所述监测台1的侧壁上设置有轨道17，且所述轨道17在所述监测台1上首尾相连，所述轨道上设置有第一凹槽14、第二凹槽15和第三凹槽16，示例性的，如图2所示；
所述第二凹槽15设置在所述轨道17的上下两端；所述第二凹槽15在所述轨道17内首尾相连；所述第二凹槽15靠近所述监测台1外壁的内侧壁上设置有齿条，所述齿条沿所述第二凹槽15的内侧壁首尾相连；
所述第一凹槽14设置在所述第二凹槽15靠近所述监测台1侧壁的一侧，且所述第一凹槽14设置在所述轨道17的上下两端；所述第一凹槽14在所述轨道17内首尾相连；
所述第三凹槽16设置在所述第二凹槽15远离所述监测台1侧壁的一侧，且所述第三凹槽16设置在所述轨道17的上下两端；所述第三凹槽16在所述轨道17内首尾相连；
所述活动组件3包括四组第一导向杆18、四组第二导向杆19和第一壳体23，示例性的，如图3所示；
所述第一壳体23可卡接在所述轨道17内；所述第一壳体23的内部设置有第一电机20，所述第一电机20的输出轴一端贯穿所述第一壳体23位于所述第一壳体23的外部；所述第一电机20的输出轴一端传动连接有直齿轮22，所述直齿轮22与所述第二凹槽15侧壁上设置的齿条相啮合；所述第一电机20与所述主机8信号连接。
四组所述第一导向杆18和四组所述第二导向杆19均位于所述第一壳体23的外壁上，且两组所述第一导向杆18和两组所述第二导向杆19位于所述直齿轮22的两侧，所述第一导向杆18可活动卡接在所述第一凹槽14内，所述第二导向杆19可活动卡接在所述第三凹槽16内，所述第一导向杆18和所述第二导向杆19使所述直齿轮22在所述第二凹槽15内的齿条上转动时，所述第一壳体23保持稳定状态；
所述第一导向杆18和所述第二导向杆19的顶端还设置有导向轮21，所述导向轮21可活动卡接在所述第一凹槽14与所述第三凹槽16内；所述 导向轮21用于减小所述第一导向杆18和所述第二导向杆19在所述第一凹槽14和所述第三凹槽16内的摩擦阻力，使所述活动组件3在所述轨道17内顺畅的移动。
所述调整组件4包括第一气缸24、第二电机25、第一连接杆26、第二气缸27、第三电机28和第一连接块29，示例性的，如图4所示；
所述第一气缸24的本体一端通过所述第一连接块29和所述第一壳体23的一端固定连接；所述第一气缸24的输出轴一端与所述第二电机25的本体一端固定连接；所述第一气缸24用于控制所述第二电机25的高度，所述第一气缸24与所述主机8信号连接；
所述第二电机25的输出轴一端与所述第一连接杆26的一端传动连接，所述第二电机25用于控制所述第一连接杆26沿所述第二电机25的中轴线旋转的角度；所述第二电机25与所述主机8信号连接；
所述第一连接杆26的另一端与所述第二气缸27的本体一端固定连接，所述第二气缸27的输出轴一端与所述第三电机28的本体一端固定连接，使得所述第三电机28可在所述第二气缸27输出轴的中轴线方向上移动；所述第二气缸27与所述主机8信号连接。
所述拍摄组件5包括第二连接块30、摄像头31、第三连接块32、第四连接块34和升降板36，示例性的，如图5所示；
所示第二连接块30的一端与所述第三电机28的输出轴一端传动连接，使得所述第二连接块30可沿所述第三电机28的输出轴的中轴线上转动；所述第二连接块30上开设有一组第一通孔，所述摄像头31可活动贯穿所述第二连接块30上开设的第一通孔；所述摄像头31用于拍摄患者的麻醉阻滞区域，并将图像传输至所述显示器6内，所述摄像头31与所述主机8和所述显示器6信号连接。
所述第二连接块30在所述第一通孔的周围还开设有四组第二通孔，所述升降板36可活动贯穿所述第二通孔。
所述第二连接块30上还设置有若干组第四气缸37，若干组所述第四气缸位于所述第一通孔与所述第二通孔之间，所述第四气缸37的本体一端与 所述第二连接块30固定连接，所述第四气缸37的输出轴一端与所述升降板36一端固定连接，所述第四气缸37控制所述升降板36活动贯穿所述第二通孔；所述第四气缸37与所述主机8信号连接。
所述第四连接块34与所述升降板36的另一端固定连接，所述第四连接块34上设置有弹力扎带35，所述弹力扎带35用于固定患者的麻醉阻滞区域；所述第四连接块34上还设置有第三气缸33，所述第三气缸33的本体一端与所述第四连接块34固定连接，所述第三气缸33的输出轴一端与所述第三连接块32固定连接，所述第三连接块32活动卡接在所述升降板36上；所述第三气缸33可控制所述第三连接块32与所述第四连接块34之间的距离，所述第三气缸33通过气泵与所述主机8信号连接；所述第三连接块32上还开设有摄像孔，所述摄像孔与所述摄像头31的中轴线重合。
所述拍摄组件5在患者注射麻醉药之前，通过所述摄像头31对患者的麻醉阻滞区域进行拍照取样，在患者注射麻醉药之后，所述摄像头31对患者的麻醉阻滞区域进行实时的拍照取样，取样过程是持续的，示例性的，如图6所示。
图中，a为注射麻醉药之前患者麻醉阻滞区域的相邻两个皮沟之间的距离，b为注射麻醉药之后患者麻醉阻滞区域的相邻两个皮沟之间的距离；主机8通过将两张图像中的相邻两个皮沟之间的距离进行对比，得到相邻两个皮沟之间的距离变化比例值b/a，将所述相邻两个皮沟之间的距离变化比例值b/a以及两张图像通过显示器6显示，供麻醉医师观察，以此来判断患者的麻醉深度。所述显示器6与主机8信号连接。
示例性的，麻醉用药后，肉眼可观看到患者皮纹明显扩张，皮肤纹路舒展松弛，麻醉阻滞区域与非阻滞区域比较明显，被阻滞的区域皮纹宽平松弛，皱纹舒张后变浅，未被阻滞的区域皮肤纹路深而细并皱折多。因此该方法可弥补BIS技术进行麻醉深度监测的局限性。
所述贴片组件38包括第四电机39、第二连接杆40、第五气缸41、第五连接块42、第六连接块43、第七连接块44、电极片45、存储箱46、输出管47、第六气缸48、第五电机49、防护罩50、旋转块51、储液空腔52、 第二壳体54和电磁阀56，示例性的，如图7所示。
所述第二壳体54的一端固定安装在所述监测台1的一端上，所述第四电机39固定安装在所述第二壳体54内，所述第二壳体54内设置有空腔，所述第四电机39的输出轴一端位于空腔内；
所述第二连接杆40的中间段与所述第四电机39的输出轴一端传动连接，所述第二连接杆40的两端分别关于所述第四电机39的输出轴的中轴线对称；所述第五气缸41固定安装在第二连接杆40的一端；所述第五气缸41的输出端与所述第七连接块44固定连接；所述第七连接块44的两端分别与两块所述第六连接块43的一端铰接，所述第六连接块43的另一端与所述第五连接块42的一端铰接；
若干组所述电极片45通过弹簧55与所述第五连接块42和第七连接块44弹性连接；所述电极片45与BIS监测系统7信号连接；
通过所述第五气缸41、第五连接块42、第六连接块43和第七连接块44的连接关系，使得若干组电极片45能适应不同头围的患者，再通过弹簧55使得电极片45能紧密贴合患者的头部。
所述第六气缸48固定安装在所述第二连接杆40的另一端，所述第五电机49的本体一端与所述第六气缸48的输出端固定连接；所述防护罩50与所述第五电机49的输出轴一端通过转动轴承固定连接；所述防护罩50内设置有储液空腔52，所述储液空腔52与所述输出管47连通，所述输出管47通过电磁阀56与所述存储箱46连通。
所述防护罩50用于遮住患者的前额部分，所述存储箱46用于储存清洗消毒的酒精；
所述旋转块51的一端与所述第五电机49的输出轴一端传动连接，所述旋转块51上开设有若干组贯穿孔，所述旋转块51的另一端设置有纱布53，使得存储箱46内的酒精能通过储液空腔52浸入到纱布53中。
利用本发明提供的一种监测麻醉深度的麻醉机器人，其工作原理如下：
将患者置于监测台1上，使患者的头部位于第二壳体54内，通过贴片组件38内的第六气缸48使得防护罩50罩住患者的前额，通过输出管47 为储液空腔52补充酒精，将纱布53浸湿；再启动第五电机49，为患者的前额部分进行自动清洁；清洁完毕后，启动第四电机39使得第五连接块42、第六连接块43和第七连接块44位于患者前额的上方，通过第五气缸41调节第七连接块44的高度，使得第五连接块42、第六连接块43和第七连接块44能适应不同头围的患者，电极片45能自动有效的贴合在患者前额。
之后使用麻醉深度监测系统为患者进行麻醉深度监测，所述BIS监测系统7将监测数据传输至主机8中，主机8通过信号采集器10、心电监测仪和肌肉松弛监测仪12传输的数据进行收集、处理，最后控制微量注射泵11对患者进行定量、持续、稳定的输液。
同时，通过主机8控制第一电机20，使所述拍摄组件5沿轨道17移动至靠近患者的位置；再通过主机8控制第一气缸24、第二电机25和第二气缸27使得所述拍摄组件5进一步的靠近患者的麻醉阻滞区域；此时，通过主机8控制第三电机28，调整所述拍摄组件5的角度，使所述拍摄组件5适应患者不同的体位；此时，将患者的麻醉阻滞区域利用弹力扎带35固定在所述第四连接块34上，通过所述主机8控制所述第三气缸33，调整第三连接块32与所述第四连接块34之间的距离，以适应不同的患者；之后通过主机8控制所述第四气缸37来调整所述摄像头31与患者麻醉阻滞区域之间的距离。
在患者注射麻醉药之前，摄像头31对患者的麻醉阻滞区域进行拍照取样，在患者注射麻醉药之后，摄像头31对患者的麻醉阻滞区域实时进行拍照取样，通过显示器6将麻醉药注射之前与麻醉注射后的拍摄的结果输出，进行麻醉之前与麻醉之后的实时对比，供麻醉医师观察，以此来判断患者所处的麻醉深度。
通过主机8控制第三电机28，调整所述拍摄组件5的角度，使所述拍摄组件5能适应患者不同的体位。
通过主机8控制所述活动组件3、调整组件4使所述拍摄组件5位于患者的麻醉阻滞区，再通过主机8控制所述拍摄组件5对患者的麻醉阻滞区的皮纹在麻醉前和麻醉后的状态进行拍照，之后通过拍摄组件5将图像传 输到显示器6，主机8对麻醉前后的皮纹状态进行处理比对，通过显示器6将实时比对的图像与处理结果供麻醉医师观察，麻醉医师可根据麻醉前后的皮纹状态判断患者所处的麻醉深度。
通过贴片组件38为患者的前额部分进行自动清洁，并能将电极片自动有效的贴合在患者前额。
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 (10)

1.一种监测麻醉深度的麻醉机器人，其特征在于：包括监测台(1)、监测系统、活动组件(3)、调整组件(4)、拍摄组件(5)、底座(13)和贴片组件(38)；
所述监测台(1)安装在所述底座(13)的上方，所述监测系统位于所述监测台(1)的一侧；
所述活动组件(3)设置在所述监测台(1)的一侧；所述调整组件(4)设置在所述活动组件(3)的一端，所述拍摄组件(5)安装在所述调整组件(4)上，且所述拍摄组件(5)位于所述监测台(1)的上方；所述贴片组件(38)固定安装在所述监测台(1)的一端，且位于所述监测台(1)的上方；
所述监测系统包括显示器(6)、BIS监测系统(7)、主机(8)和信号采集器(10)；所述活动组件(3)、调整组件(4)与主机(8)信号连接；所述拍摄组件(5)与显示器(6)信号连接；所述贴片组件(38)和信号采集器(10)信号连接；所述信号采集器(10)与BIS监测系统(7)信号连接，所述BIS监测系统(7)与主机(8)信号连接。
根据权利要求1所述的一种监测麻醉深度的麻醉机器人，其特征在于：所述监测台(1)的侧壁上设置有轨道(17)，且所述轨道(17)在所述监测台(1)上首尾相连，所述轨道上设置有第一凹槽(14)、第二凹槽(15)和第三凹槽(16)；
所述第二凹槽(15)设置在所述轨道(17)的上下两端；所述第二凹槽(15)在所述轨道(17)内首尾相连；所述第二凹槽(15)靠近所述监测台(1)外壁的内侧壁上设置有齿条，所述齿条沿所述第二凹槽(15)的内侧壁首尾相连；
所述第一凹槽(14)设置在所述第二凹槽(15)靠近所述监测台(1)侧壁的一侧，且所述第一凹槽(14)设置在所述轨道(17)的上下两端；所述第一凹槽(14)在所述轨道(17)内首尾相连；
所述第三凹槽(16)设置在所述第二凹槽(15)远离所述监测台(1)侧壁的一侧，且所述第三凹槽(16)设置在所述轨道(17)的上下两端；所述第三凹槽(16)在所述轨道(17)内首尾相连。
根据权利要求2所述的一种监测麻醉深度的麻醉机器人，其特征在于：所述活动组件(3)包括四组第一导向杆(18)、四组第二导向杆(19)和第一壳体(23)；
所述第一壳体(23)可卡接在所述轨道(17)内；所述第一壳体(23)的内部设置有第一电机(20)，所述第一电机(20)的输出轴一端贯穿所述第一壳体(23)位于所述第 一壳体(23)的外部；所述第一电机(20)的输出轴一端传动连接有直齿轮(22)，所述直齿轮(22)与所述第二凹槽(15)侧壁上设置的齿条相啮合；所述第一电机(20)与所述主机(8)信号连接；
四组所述第一导向杆(18)和四组所述第二导向杆(19)均位于所述第一壳体(23)的外壁上，且两组所述第一导向杆(18)和两组所述第二导向杆(19)位于所述直齿轮(22)的两侧，所述第一导向杆(18)可活动卡接在所述第一凹槽(14)内，所述第二导向杆(19)可活动卡接在所述第三凹槽(16)内，所述第一导向杆(18)和所述第二导向杆(19)使所述直齿轮(22)在所述第二凹槽(15)内的齿条上转动时，所述第一壳体(23)保持稳定状态。
根据权利要求3所述的一种监测麻醉深度的麻醉机器人，其特征在于：所述第一导向杆(18)和所述第二导向杆(19)的顶端还设置有导向轮(21)，所述导向轮(21)可活动卡接在所述第一凹槽(14)与所述第三凹槽(16)内。
根据权利要求3所述的一种监测麻醉深度的麻醉机器人，其特征在于：所述调整组件(4)包括第一气缸(24)、第二电机(25)、第一连接杆(26)、第二气缸(27)、第三电机(28)和第一连接块(29)；
所述第一气缸(24)的本体一端通过所述第一连接块(29)和所述第一壳体(23)的一端固定连接；所述第一气缸(24)的输出轴一端与所述第二电机(25)的本体一端固定连接；所述第一气缸(24)用于控制所述第二电机(25)的高度，所述第一气缸(24)与所述主机(8)信号连接；
所述第二电机(25)的输出轴一端与所述第一连接杆(26)的一端传动连接，所述第二电机(25)用于控制所述第一连接杆(26)沿所述第二电机(25)的中轴线旋转的角度；所述第二电机(25)与所述主机(8)信号连接；
所述第一连接杆(26)的另一端与所述第二气缸(27)的本体一端固定连接，所述第二气缸(27)的输出轴一端与所述第三电机(28)的本体一端固定连接；所述第二气缸(27)与所述主机(8)信号连接。
根据权利要求5所述的一种监测麻醉深度的麻醉机器人，其特征在于：所述拍摄组件(5)包括第二连接块(30)、摄像头(31)和升降板(36)；
所示第二连接块(30)的一端与所述第三电机(28)的输出轴一端传动连接，使得所述第二连接块(30)可沿所述第三电机(28)的输出轴的中轴线上转动；所述第二连接块(30)上开设有一组第一通孔，所述摄像头(31)可活动贯穿所述第二连接块(30)上 开设的第一通孔；所述摄像头(31)用于拍摄患者的麻醉阻滞区域，并将图像传输至所述显示器(6)内，所述摄像头(31)与所述主机(8)和所述显示器(6)信号连接；所述第二连接块(30)在所述第一通孔的周围还开设有四组第二通孔，所述升降板(36)可活动贯穿所述第二通孔。
根据权利要求6所述的一种监测麻醉深度的麻醉机器人，其特征在于：所述第二连接块(30)上还设置有若干组第四气缸(37)，若干组所述第四气缸位于所述第一通孔与所述第二通孔之间，所述第四气缸(37)的本体一端与所述第二连接块(30)固定连接，所述第四气缸(37)的输出轴一端与所述升降板(36)一端固定连接，所述第四气缸(37)控制所述升降板(36)活动贯穿所述第二通孔；所述第四气缸(37)与所述主机(8)信号连接。
根据权利要求7所述的一种监测麻醉深度的麻醉机器人，其特征在于：所述拍摄组件(5)还包括第三连接块(32)和第四连接块(34)；所述第四连接块(34)与所述升降板(36)的另一端固定连接，所述第四连接块(34)上设置有弹力扎带(35)，所述弹力扎带(35)用于固定患者的麻醉阻滞区域；所述第四连接块(34)上还设置有第三气缸(33)，所述第三气缸(33)的本体一端与所述第四连接块(34)固定连接，所述第三气缸(33)的输出轴一端与所述第三连接块(32)固定连接，所述第三连接块(32)活动卡接在所述升降板(36)上；所述第三气缸(33)可控制所述第三连接块(32)与所述第四连接块(34)之间的距离，所述第三气缸(33)通过气泵与所述主机(8)信号连接。
根据权利要求8所述的一种监测麻醉深度的麻醉机器人，其特征在于：所述第三连接块(32)上还开设有摄像孔，所述摄像孔与所述摄像头(31)的中轴线重合。
根据权利要求1所述的一种监测麻醉深度的麻醉机器人，其特征在于：所述贴片组件(38)包括第四电机(39)、第二连接杆(40)、第五气缸(41)、第五连接块(42)、第六连接块(43)、第七连接块(44)、电极片(45)、存储箱(46)、输出管(47)、第六气缸(48)、第五电机(49)、防护罩(50)、旋转块(51)、储液空腔(52)、第二壳体(54)和电磁阀(56)；
所述第二壳体(54)的一端固定安装在所述监测台(1)的一端上，所述第四电机(39)固定安装在所述第二壳体(54)内，所述第二壳体(54)内设置有空腔，所述第四电机(39)的输出轴一端位于空腔内；
所述第二连接杆(40)的中间段与所述第四电机(39)的输出轴一端传动连接，所述第 二连接杆(40)的两端分别关于所述第四电机(39)的输出轴的中轴线对称；所述第五气缸(41)固定安装在第二连接杆(40)的一端；所述第五气缸(41)的输出端与所述第七连接块(44)固定连接；所述第七连接块(44)的两端分别与两块所述第六连接块(43)的一端铰接，所述第六连接块(43)的另一端与所述第五连接块(42)的一端铰接；
若干组所述电极片(45)通过弹簧(55)与所述第五连接块(42)和第七连接块(44)弹性连接；所述电极片(45)与所述BIS监测系统(7)信号连接；
所述第六气缸(48)固定安装在所述第二连接杆(40)的另一端，所述第五电机(49)的本体一端与所述第六气缸(48)的输出端固定连接；所述防护罩(50)与所述第五电机(49)的输出轴一端通过转动轴承固定连接；所述防护罩(50)内设置有储液空腔(52)，所述储液空腔(52)与所述输出管(47)连通，所述输出管(47)通过电磁阀(56)与所述存储箱(46)连通；
所述旋转块(51)的一端与所述第五电机(49)的输出轴一端传动连接，所述旋转块(51)上开设有若干组贯穿孔，所述旋转块(51)的另一端设置有纱布(53)。
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