Novel enema instrument based on underactuated manipulator

Abstract

The invention discloses a novel enema instrument based on an underactuated manipulator. The high-efficiency enema instrument comprises a medicine dispensing system and a massaging system, wherein themedicine dispensing system comprises a counter weight cabinet, a tool kit and an enema tube; the massaging system comprises a configuring bracket and the underactuated manipulator. A constant-temperature system, a medicine injecting system, a medicine mixing system and a flow control system are mounted in the tool kit, so that the parameters including the temperature, the concentration, the flow capacity, the flow rate and the like of enema fluid are in an optimal control range, damage to a patient is reduced, and the risk of initiating complications is reduced; through the underactuated manipulator, the problem that when a patient lies flat, the height of the abdomen is irregularly changed, and the massaging track is difficult to plan is solved; and through the massaging of the manipulator, the retaining time of the enema fluid in the body of the patient can be prolonged, the mixing speed and the sufficient degree of the enema fluid and excrement and urine are accelerated, after enemais performed once, the clean degree of intestinal tracts is greatly improved, the enema frequency required by cleaning the intestinal tracts is reduced, and the enema efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of medical instruments and robots, and in particular relates to a novel enema instrument based on an underactuated manipulator. Background technique [0002] A cleansing enema is an important step before a bowel exam or bowel surgery. Failure to clear the bowel may easily lead to inaccurate bowel examination results, or the occurrence of defecation during the operation. [0003] Most hospitals in our country still use artificial enema when implementing clean enema. The artificial enema process is loaded down with trivial details, causes the work intensity of medical personnel to be big. Artificial enema relies on the patient's walking to drive intestinal peristalsis to achieve the mixing of enema liquid and feces. It takes a long time to mix the two evenly, resulting in low enema efficiency; at the same time, artificial enema is not effective in cleaning the intestinal tract. It is necessary to carry out ...

AI Technical Summary

Problems solved by technology

[0013] The technical problem to be solved by the present invention is to overcome the problems of low enema efficiency and easy complications caused by artificial enema and existing enema equipment, and provide a new enema instrument that can improve enema efficiency and reduce the risk of complications

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