Automatic instant packaging integrated equipment and method for operation sheet preparation

Abstract

The invention discloses an automatic instant packaging integrated device and method for operation sheet preparation, and the method comprises the following steps: S1, capturing a sheet image, positioning the contour of a hole, and obtaining the coordinates of the hole; s2, according to the contour shape of the hole, a folding mode is matched, and a radial folding path is generated; s3, three-dimensional folding is carried out, flattening downward pressure is applied in a partitioned mode after folding, and vacuum packaging is carried out after sterilization; and S4, establishing a mapping relation library of the hole size, the shape and the folding mode, and dynamically adjusting the distance between the crease and the edge of the notch and the pressure based on a material mechanics model. Through the folding algorithm with the hole of the surgical drape as the core, in combination with image recognition and folding path planning, mechanical damage to the conductive fiber net is avoided, the electromagnetic shielding performance of the surgical drape is reserved, during clinical operation, medical staff can quickly unfold the drape with the hole as the center, extra adjustment and positioning are not needed, and the operation efficiency is improved. The operation preparation efficiency and the operation convenience are obviously improved.

Description

Technical Field

[0001] The present invention relates to the technical field of textile folding, and particularly to an automatic instant encapsulation integrated device and method for preparing surgical drapes. Background Art

[0002] As the core consumable for the sterile barrier in the operating room, surgical drapes need to meet requirements such as waterproofing, liquid absorption, antistatic, and compatibility with precision electronic devices (such as electrosurgical knives and monitors). Traditional drapes mostly adopt single-layer or simple composite structures, such as the combination of non-woven fabric and waterproof film, but their functionality is single and it is difficult to meet the requirements of modern surgeries for the stability of the electromagnetic environment. Especially in scenarios such as cardiovascular surgery and neurosurgery, static electricity accumulation may interfere with the operation of equipment and even pose a fire risk.

[0003] To solve the above problems, a "sandwich structure" surgical drape has been proposed in the prior art. Its typical design includes: an outer waterproof and antistatic film: preventing liquid penetration and reducing surface static electricity; a middle conductive fiber network: by embedding conductive materials such as stainless steel fibers, carbon fibers, or silver-plated fibers, a continuous conductive path is formed to eliminate static electricity and stabilize the electromagnetic field; an inner liquid-absorbing non-woven fabric: absorbing intraoperative exudate and maintaining the dryness of the surgical area. Each layer is thermally pressed and laminated, and theoretically, the compatibility of conductive performance and liquid barrier can be achieved.

[0004] During the folding and encapsulation process of surgical drapes, traditional mechanical pressing and folding are prone to cause physical damage (such as fracture or peeling) to the conductive fiber network, resulting in the interruption of the conductive path and affecting the static electricity elimination effect. At the same time, a hole (incision) needs to be opened in the middle of the surgical drape to expose the surgical area, and the existing folding methods lack consideration for quickly unfolding according to the incision for convenient clinical operation.

[0005] Therefore, it is necessary to improve the deficiencies in the prior art to solve the above problems. Summary of the Invention

[0006] The present invention overcomes the deficiencies of the prior art and provides an automatic instant encapsulation integrated device and method for preparing surgical drapes.

[0007] To achieve the above object, the technical solution adopted by the present invention is: an automatic instant encapsulation method for preparing surgical drapes, applicable to surgical drapes with a hole opened in the middle and having conductive fibers, including the following steps: S1. Real-time capture the drape image, locate the hole contour and obtain the hole coordinates; S2. According to the shape of the hole contour, match the folding mode, and generate a radial folding path with the center of the hole as the origin; S3. Perform three-dimensional folding according to the folding path, apply a flattening downward pressure in zones after folding, and perform vacuum encapsulation after sterilization; S4. Establish a mapping relationship library between hole size, shape and folding mode, support real-time call, and dynamically adjust the distance between the crease and the incision edge and the pressure based on the material mechanics model.

[0008] In a preferred embodiment of the present invention, in the step of S1, the draping image needs to be preprocessed after being captured, including grayscale conversion, noise reduction, contrast enhancement and binary segmentation involved; Based on the image segmentation algorithm U-Net, for the preprocessed image segmentation, a hole mask is output, and morphological closing operation is performed on the mask to fill small holes, extract the largest connected contour, and calculate the hole center coordinates: , ; where are the contour pixel coordinates; is the total number of pixels.

[0009] In a preferred embodiment of the present invention, in the step of S2, the hole contour shapes include circular, rectangular and irregular holes involved; the folding modes include spiral radial folding, parallel fan folding and adaptive radial folding involved; The generation of the radial folding path takes the hole center as the origin, and the folding path is generated in the polar coordinate system; The spiral radial folding: ; where is the initial angle; is the angle interval; is the number of folding lines; The folding line equation: a straight line in polar coordinates ; where is the spiral pitch; is the distance from the folding line to the hole center in the polar coordinate system; The parallel fan folding: generate parallel creases along the long side and short side directions, and the spacing is adjusted according to the aspect ratio : ; The folding line equation: a set of parallel lines in the rectangular coordinate system, symmetrically distributed along the x and y axes; The adaptive radial folding: dynamically allocate the folding line density based on the equivalent diameter : ; The folding line angle interval .

[0010] In a preferred embodiment of the present invention, in the step of S3, the partition is divided with the hole center Taking the origin as the origin, calculate any point on the surface of the drape The distance to the center: ; According to the partitioning rule of the said distance : Core area: ; Transition area: ; Peripheral area: ; The smoothing down - pressure applies gradient pressure through partitioning: The said core area: Constant pressure ; The said transition area: Linear pressure transition ; Wherein, , increasing gradually as increases; The said peripheral area: Constant pressure .

[0011] In a preferred embodiment of the present invention, in the step of S3, the smoothing down - pressure applied is corrected according to the material deformation feedback, formula: ; Wherein, is the real - time strain; is the maximum allowable strain of the material; is the preset target pressure value; The maximum allowable pressure of the conductive fiber mesh is determined by the coating adhesion force, formula: ; Wherein, is the coating peeling force; is the contact area.

[0012] In a preferred embodiment of the present invention, in the step of S4, the material mechanical model is the linear elastic model of the drape material: ; Wherein, is the stress; is the elastic modulus; is the strain; Calculate the stress distribution in the crease area through simulation , identify the maximum stress ; The said dynamic adjustment rule includes crease spacing adjustment and smoothing applied pressure adjustment; The said crease spacing adjustment: If , then increase the spacing: ; The said pressure adjustment: Dynamically reduce the target pressure according to the regional pressure formula .

[0013] The present invention provides an automatic instant packaging integrated device for an automatic instant packaging method for preparing surgical drapes, including: a folding table frame, a sterilization cabinet, a packaging table, a transfer robotic arm, and a control system; A three-axis translation mechanism for realizing three-axis movement is installed at the top of the folding table frame, and a folding robotic arm for integrating image capture, folding, and smoothing pressure is installed at the moving end of the three-axis translation mechanism; The sterilization cabinet is used to perform the sterilization operation of the surgical drape by ultraviolet light or high temperature; A conveyor belt is installed at the top of the packaging table, and a vacuum packaging mechanism and a bag mouth packaging mechanism are sequentially installed in the conveying direction at the top of the conveyor belt; The transfer robotic arm is located among the folding table frame, the sterilization cabinet, and the packaging table, and is used to realize the transfer operation of the drape; The control system is used to realize the automatic instant packaging of the surgical drape by using a programmable controller.

[0014] In a preferred embodiment of the present invention, a movable frame is installed at the free end of the folding robotic arm, several negative pressure suction cups are installed on the side surface of the movable frame, and an industrial CCD camera is installed at the bottom.

[0015] In a preferred embodiment of the present invention, the vacuum packaging mechanism includes: a fixed frame fixed at the top of the packaging table, a vacuum pump installed at the top of the fixed frame, and opening and closing doors liftably installed at both ends of the fixed frame.

[0016] In a preferred embodiment of the present invention, the bag mouth packaging mechanism includes: several fixed cylinders fixed at the top of the packaging table, a pressing plate sleeved on the tops of the several fixed cylinders, and a hot pressing strip fixed at the bottom of the pressing plate; a servo motor is fixed at the top of the pressing plate, a lead screw is installed at the output end of the servo motor, and the side surface of the lead screw is threadedly connected to the inner side of the fixed cylinder.

[0017] The present invention solves the defects existing in the background technology, and the present invention has the following beneficial effects: (1) The present invention provides an automatic instant packaging method for preparing surgical drapes. Through a folding algorithm centered on the holes of the surgical drape, combined with image recognition and folding path planning, it solves the problems of physical damage to the conductive fiber mesh and stress concentration at the hole edges caused by the lack of targeted avoidance in traditional folding methods. By generating a radial folding path around the hole center, it ensures the minimum safe distance between the crease and the hole edge, and at the same time matches the dynamic folding mode of different hole shapes, avoiding mechanical damage to the conductive fiber mesh and retaining the electromagnetic shielding performance of the surgical drape. During clinical operations, medical staff can quickly unfold the drape centered on the hole without additional positioning adjustment, significantly improving the surgical preparation efficiency and operation convenience.

[0018] (2) In the present invention, the crease spacing and pressure grading are dynamically adjusted based on finite element simulation data, and avoidance constraint rules are incorporated into the polar coordinate path, which not only ensures the continuous conductive path of the conductive fiber network, but also optimizes the encapsulation speed through zonal pressure control, thereby achieving a balance between the protection of conductive fibers and the encapsulation efficiency, and significantly improving the encapsulation quality.

[0019] (3) In the present invention, by combining parametric storage and real-time simulation, the crease spacing and pressure parameters are dynamically corrected to ensure that the stress under different hole conditions is always lower than the material threshold, avoiding the traditional method's dependence on fixed parameters and its difficulty in adapting to the diverse requirements of different hole sizes and shapes, thereby effectively avoiding the risk of coating peeling and ensuring the stability of the conductive path.

[0020] (4) The present invention provides an automated instant encapsulation integrated device for preparing surgical drapes, which integrates a three-axis folding robotic arm, an ultraviolet sterilization module, and a vacuum encapsulation mechanism. Through the collaborative operation of the transfer robotic arm and the control system, it realizes the full-process automation operation of the surgical drape from folding, sterilization to encapsulation. After precisely completing the hole avoidance folding, it immediately performs sterilization and sealed packaging, which not only significantly shortens the preparation cycle, but also reduces the pollution risk caused by manual intervention through a fully enclosed process, thus meeting the clinical requirements of high efficiency and sterility for surgical consumables. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings; Figure 1 It is a schematic diagram of spiral radial folding in the encapsulation method of the preferred embodiment of the present invention; Figure 2 It is a three-dimensional structure diagram of the encapsulation integrated device of the preferred embodiment of the present invention; Figure 3 It is a three-dimensional structure diagram of the folding robotic arm of the preferred embodiment of the present invention; Figure 4 It is a three-dimensional structure diagram of the encapsulation table of the preferred embodiment of the present invention; In the figure: 1. Folding gantry; 11. Three-axis translation mechanism; 12. Folding robotic arm; 121. Movable frame; 122. Negative pressure suction cup; 123. Industrial CCD camera; 2. Sterilizer cabinet; 3. Encapsulation table; 31. Conveyor belt; 32. Vacuum encapsulation mechanism; 321. Fixed frame; 322. Vacuum pump; 323. Opening and closing door; 33. Bag mouth encapsulation mechanism; 331. Fixed cylinder; 332. Pressing plate; 333. Hot pressing strip; 334. Servo motor; 335. Lead screw; 4. Transfer robotic arm. Specific embodiments

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Many specific details are set forth in the following description in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0024] In the description of the present application, unless otherwise specified, the meaning of "several" is two or more. It should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood through specific situations.

[0025] An automated instant encapsulation method for surgical drapes preparation, applicable to surgical drapes with a hole in the middle and conductive fibers, includes the following steps: S1. Capture the drape image in real time, locate the hole contour and obtain the hole coordinates; S2. According to the shape of the hole contour, match the folding mode, and generate a radial folding path with the hole center as the origin; S3. Perform three-dimensional folding according to the folding path, apply a flattening downward pressure in zones after folding, and perform vacuum encapsulation after sterilization; S4. Establish a mapping relationship library between the hole size, shape and folding mode, support real-time call, and dynamically adjust the distance between the crease and the incision edge and the pressure based on the material mechanics model.

[0026] In this embodiment, in the step of S1, after the draping image is captured, it needs to be preprocessed, including grayscale conversion, noise reduction, contrast enhancement, and binary segmentation.

[0027] Grayscale conversion: Convert the RGB image to a grayscale image to reduce the amount of calculation.

[0028] Noise reduction: Apply a median filter to remove noise. Formula: ; where , is the kernel size.

[0029] Contrast enhancement: Enhance the contrast between the holes and the background through histogram equalization. Formula: ; where is the cumulative distribution function; is the image size; is the number of gray levels.

[0030] Binary segmentation: Use an adaptive threshold method to generate a binary image. Formula: ; where is the between-class variance; is the candidate threshold.

[0031] Furthermore, based on the image segmentation algorithm U-Net, for the segmentation of the preprocessed image, a hole mask is output. The U-Net model is trained using the Dice loss function: ; where is the predicted region; is the true label region; Perform morphological closing operation on the mask (closing operation = dilation * erosion), fill small holes, extract the largest connected contour, and calculate the hole center coordinates (centroid): , ; where is the contour pixel coordinate; is the total number of pixels.

[0032] In this embodiment, in the step of S2, the matching of the folding pattern includes hole shape feature extraction and folding pattern mapping. The folding patterns include spiral radial folding, parallel fan folding, and adaptive radial folding involved; Extract key parameters from the obtained hole contour: Circular hole: radius ; Rectangular hole: length , width and aspect ratio ; Irregular hole: equivalent diameter , where is the hole area; Folding mode mapping rule: circular holes are helically radiated and folded; rectangular holes are parallel fan-folded; irregular holes are adaptively radiated and folded (adjusted based on the equivalent diameter ).

[0033] Furthermore, for the generation of the radial folding path, taking the hole center as the origin, a folding path is generated in the polar coordinate system; Helical radiation folding: ; where is the initial angle; is the angle interval; is the number of folding lines; Folding line equation: a straight line in polar coordinates ; where is the helical pitch (default d = 10 mm); is the distance from the folding line to the hole center in the polar coordinate system; Parallel fan folding: Generate parallel creases along the long side ( ) and the short side ( ), and the spacing is adjusted according to the aspect ratio : ; Folding line equation: a set of parallel lines in the rectangular coordinate system, symmetrically distributed along the x and y axes; Adaptive radiation folding: Dynamically allocate the folding line density based on the equivalent diameter : ; Folding line angle interval .

[0034] Furthermore, the distance constraint for the creases generated by folding is ensured to ensure that all creases are at a distance from the hole edge : .

[0035] Example: Helical radiation folding (as shown in Figure 1 ): The radius of the circular hole , the angle interval , the number of folding lines ; The angle of the 5th folding line: ; The distance from the folding line to the hole edge: .

[0036] In this embodiment, in the step of S3, the partition is divided, taking the hole center as the origin, and calculating any point on the draping surface Distance to the center: ; Partitioning rule according to the distance: Core area: ; Transition area: ; Peripheral area: ; ; The flattening down - pressure applies gradient pressure through partitioning: Core area: Constant pressure (Dynamically adjusted according to the material yield strength); Transition area: Linear pressure transition ; Among them, , increases gradually with increasing; Peripheral area: Constant pressure .

[0037] Furthermore, the applied flattening down - pressure is corrected according to the material deformation feedback (such as strain gauge data), formula: ; Among them, is the real - time strain; is the maximum allowable strain of the material; is the preset target pressure value; The maximum allowable pressure of the conductive fiber mesh is determined by the coating adhesion force, formula: ; Among them, is the coating peeling force; is the contact area; Control logic: If the target pressure value , then it is forced to be reduced to .

[0038] Example: Calculation of the transition area pressure: Suppose , , when : ; Dynamic pressure adjustment: If , and the detected strain , , then: .

[0039] It should be noted that by dynamically adjusting the crease spacing and pressure grading based on finite element simulation data and incorporating avoidance constraint rules into the polar coordinate path, not only the continuous conductive path of the conductive fiber network is ensured, but also the encapsulation speed is optimized through zonal pressure control, thus achieving a balance between conductive fiber protection and encapsulation efficiency and significantly improving the encapsulation quality.

[0040] In this embodiment, in step S4, taking the hole parameters as the index, storing the corresponding folding mode and initial parameters, and establishing a mapping relation table as shown in Table 1; Table 1: Mapping Relation Table

[0041] Establish a linear elastic model of the draping material: ; where is the stress; is the elastic modulus; is the strain; Calculate the stress distribution in the crease area through simulation , and identify the maximum stress ; The dynamic adjustment rule includes crease spacing adjustment and smoothing applied pressure adjustment; Crease spacing adjustment: If (yield strength threshold), then increase the spacing: ; Pressure adjustment: Dynamically reduce the target pressure according to the zonal pressure formula (see the gradient pressure application in step S3) .

[0042] Furthermore, after obtaining the hole parameters, query the mapping table, call the corresponding folding mode and initial parameters, and obtain the finite element simulation results in real time. If it is detected that the stress exceeds the standard, update the parameters. Example: , , , then: .

[0043] It should be noted that by combining parametric storage and real-time simulation, dynamically correcting the crease spacing and pressure parameters, ensuring that the stress under different hole conditions is always lower than the material threshold, avoiding the traditional method's dependence on fixed parameters and its difficulty in adapting to the diverse requirements of different hole sizes and shapes, thus effectively avoiding the risk of coating peeling and ensuring the stability of the conductive path.

[0044] Such as Figure 2As shown in the figure, an automatic instant packaging integrated device for an automatic instant packaging method for preparing surgical drapes includes: a folding table frame 1, a sterilization cabinet 2, a packaging table 3, a transfer robotic arm 4, and a control system; a three-axis translation mechanism 11 for realizing three-axis movement is installed on the top of the folding table frame 1, and a folding robotic arm 12 integrating image capture, folding, and smoothing pressure is installed at the moving end of the three-axis translation mechanism 11; the sterilization cabinet 2 is used for sterilizing the surgical drapes by ultraviolet light or high temperature; a conveyor belt 31 is installed on the top of the packaging table 3, and a vacuum packaging mechanism 32 and a bag mouth packaging mechanism 33 are installed in sequence in the conveying direction on the top of the conveyor belt 31; the transfer robotic arm 4 is located among the folding table frame 1, the sterilization cabinet 2, and the packaging table 3 and is used for realizing the transfer operation of the drapes; the control system is used for realizing the automatic instant packaging of the surgical drapes by using a programmable controller.

[0045] It should be noted that the conveying power of the conveyor belt 31 is driven by a driving source on the packaging table 3. The driving source is specifically a power source that can provide rotational motion to the conveyor belt 31. The realization of the rotary conveying of the conveyor belt 31 can be achieved by technical means well-known to those skilled in the art, so it will not be elaborated here; the sterilization cabinet 2 generates a sterilization medium through ultraviolet lamps or heating elements. Ultraviolet sterilization realizes sterilization by destroying the DNA of microorganisms, and high-temperature sterilization completely inactivates pathogens through hot air circulation; the control system is electrically connected to the three-axis translation mechanism 11, the folding robotic arm 12, the sterilization cabinet 2, the driving source, the vacuum packaging mechanism 32, the bag mouth packaging mechanism 33, and the transfer robotic arm 4 respectively. The control method of the control system and the control circuit for realizing full-automatic instant packaging belong to the prior art and can be realized by programming by those skilled in the art. It is common general knowledge in the art, so the control method and modules of this application will not be explained in detail here and will not be elaborated in detail.

[0046] Specifically, a complete automated processing device is formed by the folding gantry 1, the sterilization cabinet 2, the packaging table 3, the transfer robotic arm 4 and the control system. The folding robotic arm 12 realizes spatial positioning through the three-axis translation mechanism 11. After real-time image capture and processing by the control system, it can automatically fold the surgical drape according to the folding path. After completing folding, pressing and smoothing, by controlling the transfer robotic arm 4, the folded surgical drape is placed inside the sterilization cabinet 2, sterilized by the sterilization cabinet 2. After sterilization, the air pressure balance device in the cabinet ensures that the cabinet door opens smoothly. Again, through the transfer robotic arm 4, the sterilized surgical drape is quickly placed in the packaging bag and transported to the top of the conveyor belt 31 on the packaging table 3. The conveyor belt 31 transports it to the vacuum packaging mechanism 32 to evacuate the inside to a relative vacuum, and the bag mouth of the packaging bag is sealed by the bag mouth sealing mechanism 33, thereby realizing the full-process automation operation of the surgical drape from folding, sterilization to packaging. After precisely completing the hole avoidance folding, sterilization and sealing packaging are carried out immediately, which not only greatly shortens the preparation cycle, but also reduces the pollution risk caused by manual intervention through the fully enclosed process, thus meeting the high-efficiency and aseptic clinical requirements of surgical consumables.

[0047] In a possible design, the three-axis translation mechanism 11 specifically includes: an X-axis translation component that drives the folding robotic arm 12 to translate in the X-axis direction, a Y-axis translation component that drives the X-axis translation component and the folding robotic arm 12 to translate in the Y-axis direction, and a Z-axis translation component that drives the X-axis translation component, the Y-axis translation component and the folding robotic arm 12 to translate in the Z-axis direction; wherein, the Y-axis translation component is vertically arranged perpendicular to the X-axis translation component in the vertical direction and perpendicular to the Z-axis translation component in the plane direction. The driving principles of the X-axis translation component, the Y-axis translation component and the Z-axis translation component are the same, and each at least includes: a support plate for connection and support, a power source for providing driving force, a limiting member for limiting the translation path, and a translation plate driven to move. The specific structure is a mechanical structure in the prior art that can convert rotational motion into linear motion and belongs to the common knowledge in the field. Therefore, the application does not explain the control method and structure in detail here and will not elaborate further.

[0048] As Figure 3 shown, in some embodiments, a movable frame 121 is installed at the free end of the folding robotic arm 12, and a number of negative pressure suction cups 122 are installed on the side of the movable frame 121, and an industrial CCD camera 123 is installed at the bottom.

[0049] It should be noted that one end of a number of negative pressure suction cups 122 is externally connected to a vacuum extraction device, and the vacuum extraction device forms a negative pressure, so that when the negative pressure suction cups 122 contact the surgical drape, the air pressure difference between the two is increased for adsorption, realizing the grasping and fixing of the drape, avoiding material deformation caused by mechanical clamping, and facilitating the folding operation; the industrial CCD camera 123 is used for image capture, can real-time obtain information such as the position and shape of the surgical drape, and transmit this information to the control system. The control system controls the folding robotic arm 12 to perform precise folding and smoothing pressing actions according to the image information, ensuring that the surgical drape can be accurately folded in a predetermined manner, improving the folding accuracy and efficiency.

[0050] As Figure 4 shown, in some embodiments, the vacuum packaging mechanism 32 includes: a fixed frame 321 fixed on the top of the packaging table 3, a vacuum pump 322 installed on the top of the fixed frame 321, and opening and closing doors 323 liftably installed at both ends of the fixed frame 321.

[0051] It should be noted that a sealing strip is provided at the bottom of the opening and closing door 323 and contacts the top of the conveyor belt 31. The lifting installation method of the opening and closing door 323 is a mechanical mechanism that can convert rotational motion into linear lifting motion transmission, which is a general standard part or a component known to those skilled in the art. Its structure and principle can be known by those skilled in the art through technical manuals or by conventional experimental methods, and will not be elaborated in detail here.

[0052] Specifically, when the conveyor belt 31 conveys the sterilized surgical drape placed inside the packaging bag into the fixed frame 321, the fixed frame 321 on both sides is sealed with the conveyor belt 31 by lifting the opening and closing door 323. The vacuum pump 322 is started to extract the air in the closed space, so that the air in the packaging bag reaches a preset negative pressure value, reducing the possibility of bacterial growth and prolonging the storage time of the surgical drape. After the packaging is completed, the opening and closing door 323 rises, and the conveyor belt 31 continues to convey the packaged drape forward to enter the next packaging link.

[0053] In some embodiments, the bag mouth packaging mechanism 33 includes: a number of fixed cylinders 331 fixed on the top of the packaging table 3, a pressing plate 332 sleeved on the top of the number of fixed cylinders 331, and a hot pressing strip 333 fixed on the bottom of the pressing plate 332; a servo motor 334 is fixed on the top of the pressing plate 332, a lead screw 335 is installed at the output end of the servo motor 334, and the side of the lead screw 335 is threadedly connected to the inner side of the fixed cylinder 331.

[0054] It should be noted that the hot pressing strip 333 is heated by means of heat radiation or heat conduction, and the hot pressing strip 333 is located on the top of the conveyor belt 31.

[0055] Specifically, after the bag mouth of the evacuated packaging bag is conveyed to the bottom of the hot pressing strip 333 by the conveyor belt 31, the servo motor 334 is controlled to drive the lead screw 335 to rotate. Since the lead screw 335 is threadedly connected to the inner side of the fixed cylinder 331, the rotational movement of the lead screw 335 will be converted into a linear downward movement of the pressing plate 332, causing the pressing plate 332 to drive the hot pressing strip 333 to move downward. After the bottom of the hot pressing strip 333 contacts the bag mouth of the packaging bag, the bag mouth is sealed by heating and applying pressure, completing the bag mouth packaging operation, thereby realizing the packaging operation.

[0056] Based on the ideal embodiments of the present invention as an inspiration, through the above description, for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0057] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automated instant encapsulation method for preparing surgical drapes, applicable to surgical drapes with a hole in the middle and conductive fibers, characterized in that, It includes the following steps: S1. Capture the draping image in real time, locate the hole contour and obtain the hole coordinates; S2. According to the hole contour shape, match the folding pattern, and take the hole center as the origin to generate a radial folding path; S3. Perform three-dimensional folding according to the folding path, apply a flattening downward pressure in zones after folding, and perform vacuum packaging after sterilization; S4. Establish a mapping relationship library between the hole size, shape and folding pattern, support real-time call, and dynamically adjust the distance between the crease and the incision edge and the pressure based on the material mechanics model.

2. An automated instant encapsulation method for preparing surgical drapes according to claim 1, characterized in that: In the step of S1, the captured draping image needs to be preprocessed, including grayscale conversion, noise reduction, contrast enhancement and binary segmentation involved; Based on the image segmentation algorithm U-Net, segment the preprocessed image, output the hole mask, perform morphological closing operation on the mask, fill small holes, extract the largest connected contour, and calculate the hole center coordinates: , ; wherein, are the contour pixel coordinates; is the total number of pixels.

3. An automated instant encapsulation method for preparing surgical drapes according to claim 1, characterized in that: In the step of S2, the hole contour shapes include circular, rectangular and irregular holes involved; the folding patterns include spiral radial folding, parallel fan folding and adaptive radial folding involved; The generation of the radial folding path takes the center of the hole as the origin, and generates the folding path in the polar coordinate system; The spiral radiation folding: ; wherein, is the initial angle; is the angle interval; is the number of folding lines; Folding line equation: straight line in polar coordinates ; where is the helix pitch; is the distance from the folding line to the center of the hole in the polar coordinate system; The parallel fan-fold: generate parallel creases along the long side and the short side, and the spacing is adjusted according to the aspect ratio Adjustment: ； Folding line equation: A group of parallel lines in the rectangular coordinate system, symmetrically distributed along the x and y axes; The adaptive radiation folding: Based on the equivalent diameter Dynamically allocate the folding line density: ； Folding line angle interval .

4. An automated instant encapsulation method for preparing surgical drapes according to claim 1, characterized in that: In the step of S3, the partition is divided with the center of the hole as the origin, and the distance from any point on the draping surface to the center is calculated: ； According to the described distance Partition rule: Core area: ; Transition region: ; Peripheral region: ; The flattening downward pressure is applied with gradient pressure by zones: The core area: constant pressure ; The said transition zone: linear pressure transition ; wherein , increases gradually with the increase The peripheral region: constant pressure .

5. An automated instant encapsulation method for preparing surgical drapes according to claim 1, characterized in that: In the step of S3, correct the applied flattening downward pressure according to the material deformation feedback, formula: ; wherein, is the real-time strain; is the maximum allowable strain of the material; is the preset target pressure value; Maximum allowable pressure of the conductive fiber mesh Determined by the coating adhesion, formula: ; wherein, is the coating peel strength; is the contact area.

6. An automated instant encapsulation method for preparing surgical drapes according to claim 1, characterized in that: In the step of S4, the material mechanics model is the linear elastic model of the draping material: ; wherein, is stress; is elastic modulus; is strain; Calculate the stress distribution in the crease area through simulation , and identify the maximum stress ; The dynamic adjustment rules include crease spacing adjustment and flattening applied pressure adjustment; The crease spacing adjustment: If , then increase the spacing: ； The pressure adjustment: Dynamically reduce the target pressure according to the regional pressure formula .

7. An automatic instant encapsulation integrated device for the automatic instant encapsulation method for preparing surgical drapes according to any one of claims 1-6, characterized in that, It includes: A folding gantry, a sterilization cabinet, a packaging table, a transfer robotic arm and a control system; At the top of the folding gantry, a three-axis translation mechanism for realizing three-axis movement is installed, and at the moving end of the three-axis translation mechanism, a folding robotic arm for integrating image capture, folding and flattening pressure application is installed; The sterilization cabinet is used to sterilize the surgical drape by ultraviolet light or high temperature; At the top of the packaging table, a conveyor belt is installed, and a vacuum packaging mechanism and a bag mouth packaging mechanism are installed in sequence along the conveying direction at the top of the conveyor belt; The transfer robotic arm is located among the folding gantry, the sterilization cabinet and the packaging table, and is used to realize the transfer operation of the drape; The control system is used to realize the automatic instant packaging of the surgical drape by using a programmable controller.

8. The automated instant packaging integrated device for the automated instant packaging method for preparing surgical drapes according to claim 7, characterized in that: At the free end of the folding robotic arm, a movable frame is installed, several negative pressure suction cups are installed on the side of the movable frame, and an industrial CCD camera is installed at the bottom.

9. The automated instant packaging integrated device for the automated instant packaging method for preparing surgical drapes according to claim 7, characterized in that: The vacuum packaging mechanism includes: a fixed frame fixed on the top of the packaging table, a vacuum pump installed on the top of the fixed frame, and opening and closing doors installed at both ends of the fixed frame in a lifting manner.

10. The automatic instant packaging integrated device for the automatic instant packaging method for preparing surgical drapes according to claim 7, characterized in that: The bag mouth packaging mechanism includes: several fixed cylinders fixed on the top of the packaging table, a pressing plate sleeved on the top of several fixed cylinders, and a hot pressing strip fixed at the bottom of the pressing plate; a servo motor is fixed on the top of the pressing plate, a lead screw is installed at the output end of the servo motor, and the side of the lead screw is threadedly connected to the inner side of the fixed cylinder.

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