High-efficiency enema instrument based on underactuated manipulator
A manipulator, underactuated technology, applied in the field of medical devices and robots, which can solve the problems of easily causing complications and low enema efficiency.
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[0084] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0085] refer to figure 1 , a high-efficiency enema apparatus based on an underactuated manipulator of the present invention is composed of a dispensing system and a massage system. The two cooperate with each other to realize efficient enema operation. The dispensing system is placed at a specific position in the room, and the massage system is moved and the height of the massage ball 46 is adjusted by the operator according to the specific conditions of the patient.
[0086] The dispensing system consists of a counterweight cabinet 1, a tool box and an enema tube;
[0087] The toolbox is composed of a housing 2, a constant temperature system, a drug injection system, a flow control system, a drug mixing system, a first pipeline, a s...
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