Hemostasis robot for hip bleeding

Abstract

The invention discloses a hip bleeding hemostasis robot, and belongs to the technical field of medical auxiliary instruments, the hip bleeding hemostasis robot comprises an automatic mechanical arm, a bionic finger mechanical arm is arranged on the automatic mechanical arm, a radio frequency ablation mechanism is arranged on the automatic mechanical arm, and the radio frequency ablation mechanism comprises a rotating assembly, an angle adjusting assembly and a radio frequency ablation module; the rotating assembly is connected to the portion, beside the bionic finger mechanical arm, of the automatic mechanical arm, the angle adjusting assembly is arranged on the rotating assembly, the radiofrequency ablation module is detachably connected to the angle adjusting assembly, and a position mounting mechanism for mounting the automatic mechanical arm is arranged at the bottom of the automatic mechanical arm. And the automatic mechanical arm is provided with a positioning system for identifying a bleeding part. In the ablation process, the angle and the position of the radiofrequency ablation module can be driven to change, the radiofrequency ablation device can be attached to the trend of a complex blood vessel, the ablation accuracy is improved, the ablation range is expanded, the hemostasis effect is enhanced, local heat damage is reduced, and surrounding tissue is protected.

Description

Technical Field

[0001] This invention belongs to the field of medical auxiliary device technology, and in particular relates to a robot for stopping bleeding in the buttocks. Background Technology

[0002] The buttocks have a dense network of blood vessels (such as the superior gluteal artery and inferior gluteal artery), which are located deep within the body and intertwine with muscles, bones, and other tissues. Bleeding caused by trauma (such as puncture wounds or lacerations), postoperative complications, or tumor invasion is often sudden and difficult to observe directly.

[0003] If deep bleeding is not controlled in time, it may lead to serious consequences such as hemorrhagic shock and infection. Traditional manual hemostasis is difficult to operate accurately in complex anatomical structures. Especially in emergency or battlefield scenarios, there is an urgent need for automated and precise hemostasis equipment.

[0004] In the field of trauma emergency care, gluteal bleeding presents numerous limitations due to its unique location and complex vascular distribution. Traditional methods combining tourniquets, digital tamponade, and hemostatic powder with prolonged pressure have several drawbacks. Not only is it difficult to accurately locate the bleeding point, but improper operation can also lead to secondary injuries. Furthermore, prolonged pressure can easily cause pressure injuries, affecting the patient's subsequent recovery. In addition, traditional hemostatic devices are inconvenient in terms of fixation and transport, failing to meet the needs of emergency treatment and rapid transport. Summary of the Invention

[0005] This invention provides a robot for stopping bleeding in the buttocks, in order to solve the problems in the prior art.

[0006] The present invention adopts the following technical solution: a robot for stopping bleeding in the buttocks, including an automated robotic arm, on which a bionic finger robotic arm is provided, and a radiofrequency ablation mechanism is provided on the automated robotic arm. The radiofrequency ablation mechanism includes a rotation component, an angle adjustment component, and a radiofrequency ablation module. The rotation component is connected to the automated robotic arm next to the bionic finger robotic arm. The angle adjustment component is disposed on the rotation component. The radiofrequency ablation module is detachably connected to the angle adjustment component. A position mounting mechanism for mounting the automated robotic arm is provided at the bottom of the automated robotic arm. The automated robotic arm is provided with a positioning system for identifying the bleeding site.

[0007] Furthermore, the rotating assembly includes a mounting frame, a rotary motor, a rotary disk, a first gear, a second gear, and a rotating shaft. The mounting frame is connected to the automated robotic arm. The rotary disk has a rotating ring, and the rotary disk is rotatably connected to the bottom of the mounting frame through the rotating ring. The rotary motor is located inside the mounting frame. The first gear is connected to the main shaft of the rotary motor. The rotating shaft is rotatably connected to the mounting frame, and the bottom of the rotating shaft is fixedly connected to the rotary disk. The second gear meshes with the first gear for transmission, and the rotation ratio of the first gear to the second gear is 1:3.

[0008] Furthermore, the angle adjustment assembly includes a fixed frame, an angle adjustment plate, an adjustment motor, an adjustment screw, an adjustment block, and two adjustment plates. The fixed frame is horizontally positioned at the bottom of the rotating disk. The two ends of the adjustment screw are rotatably connected to the fixed frame. The adjustment motor is located on the side wall of the fixed frame, and the main shaft of the adjustment motor is drivenly connected to the adjustment screw. The end of the angle adjustment plate is hinged to the fixed frame. The adjustment block is threadedly connected to the adjustment screw and slides at the bottom of the fixed frame. One end of each of the two adjustment plates is rotatably connected to the two ends of the adjustment block, and the other end of each of the two adjustment plates is rotatably connected to the bottom of the rotating disk.

[0009] Furthermore, the radiofrequency ablation module is connected to the bottom of the angle adjustment plate by several screws; the radiofrequency ablation module has a square structure, including an outer shell, an internal radiofrequency generator, an ablation electrode array, a temperature monitoring system, and a cooling system; the ablation electrode array is distributed in a matrix on the bottom surface of the module, and the electrodes are telescopically adjustable in height; the temperature monitoring system includes multiple temperature sensors distributed around the electrodes; the cooling system consists of circulating water cooling pipes and miniature cooling fans, spirally distributed inside the module; the radiofrequency generator is electrically connected to the ablation electrodes and can generate a radiofrequency current with a frequency of 400-500kHz.

[0010] Furthermore, the position mounting mechanism includes a mounting base and two position mounting components. The mounting base is connected to the bottom of the automated robotic arm, and the mounting base is provided with two sliding grooves. The two position mounting components are slidably connected in the two sliding grooves respectively.

[0011] Furthermore, each of the aforementioned mounting components includes a bidirectional adjusting screw, a turntable, two clamping blocks, and two sliders. The two sliders are slidably connected inside two slide grooves, and the two ends of the bidirectional adjusting screw are rotatably connected to the two sliders. The turntable is located at the end of the bidirectional adjusting screw, and the two clamping blocks are threadedly connected to the two ends of the bidirectional adjusting screw. The clamping blocks are provided with anti-slip textures, and the sidewalls of the slide grooves are provided with a plurality of equally spaced insertion holes. Insertion rods that pass through the sliders are provided in the insertion holes.

[0012] Furthermore, the positioning system is equipped with an infrared thermal imaging sensor, an ultrasonic sensor, a pressure sensor, and an intelligent algorithm fusion module. The infrared thermal imaging sensor is installed at the front end of the automated robotic arm in an array layout to cover the detection area. The ultrasonic sensor is arranged in a ring around the infrared thermal imaging sensor and connected to the robotic arm body through a waterproof interface. The pressure sensor is arranged in a matrix and installed on the palm and fingertips of the bionic finger robotic arm. The intelligent algorithm fusion module is located in the internal control compartment of the automated robotic arm and is electrically connected to the three types of sensors through a data bus. The intelligent algorithm fusion module includes a signal preprocessing unit, a feature extraction unit, a data fusion unit, and a decision output unit.

[0013] Furthermore, the bionic finger robotic arm (11) is equipped with a pressing mechanism, which is a flexible airbag. There are five flexible airbags, and each finger of the bionic finger robotic arm (11) is equipped with a flexible airbag. The flexible airbag is made of medical-grade silicone material and is wrapped around the surface of the bionic finger in a finger sleeve-like structure. The surface of the airbag is covered with a breathable and pressure-reducing material with a microporous structure. Each flexible airbag is equipped with a pressure sensor and a micro electromagnetic valve, and is connected to the air source through an air pressure control system located inside the robotic arm. The air pressure control system includes a micro air pump, an air pressure regulating valve, a pressure monitoring module, and a control circuit, which can automatically adjust the inflation pressure and release frequency according to the bleeding situation.

[0014] Furthermore, the entire automated robotic arm is made of lightweight materials.

[0015] The above-described at least one technical solution adopted in the embodiments of the present invention can achieve the following beneficial effects:

[0016] Firstly, during ablation, the rotating motor drives the first gear to rotate, which in turn drives the second gear to rotate via the rotating shaft. The rotation of the rotating shaft causes the rotating ring on the rotating disk to rotate at the bottom of the mounting frame. The rotation of the rotating disk causes the radiofrequency ablation module to rotate slowly, which has the following advantages: it can conform to complex blood vessel routes, improve ablation accuracy, expand the ablation range, enhance hemostasis, reduce local thermal damage, and protect surrounding tissues.

[0017] Secondly, during the ablation process, when the angle of the radiofrequency ablation module is adjusted, the adjustment motor drives the adjustment screw to rotate on the fixed frame, which in turn drives the adjustment block to slide at the bottom of the rotating disk, thereby causing the angle position of the two adjustment plates to rotate. This allows the angle adjustment plates to rotate and adjust from 0 to 90 degrees on the fixed frame, which has the following advantages: it can accurately adapt to complex blood vessel routes, enhance the operational flexibility in complex scenarios, and expand the ablation coverage area. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0020] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0021] Figure 3 This is a three-dimensional structural diagram of the radiofrequency ablation mechanism in this invention;

[0022] Figure 4 This is a three-dimensional structural diagram of the rotating assembly in this invention;

[0023] Figure 5 This is a three-dimensional structural diagram of the angle adjustment component in this invention;

[0024] Figure 6 This is a three-dimensional structural diagram of the position mounting mechanism in this invention;

[0025] Figure 7 This is a flowchart of the intelligent control system of the present invention.

[0026] Figure label:

[0027] Automatic robotic arm 1, bionic finger robotic arm 11, radiofrequency ablation mechanism 2, rotating assembly 21, mounting frame 211, rotary motor 212, rotating disk 213, first gear 214, second gear 215, rotating shaft 216, rotating ring 217, angle adjustment assembly 22, fixing frame 221, angle adjustment plate 222, adjustment motor 223, adjustment screw 224, adjustment block 225, adjustment plate 226, radiofrequency ablation module 23, position mounting mechanism 3, mounting base 300, position mounting component 30, bidirectional adjustment screw 31, turntable 32, clamping block 33, slider 34, insertion hole 35, insertion rod 36. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0029] The following detailed description, in conjunction with the accompanying drawings, illustrates the technical solution of a buttock bleeding control robot provided by various embodiments of the present invention.

[0030] Referring to Figures 1 to 7, this embodiment of the invention provides a robot for stopping bleeding in the buttocks, including an automated robotic arm 1. The automated robotic arm 1 is equipped with a bionic finger robotic arm 11. The automated robotic arm 1 is equipped with a radiofrequency ablation mechanism 2. The radiofrequency ablation mechanism 2 includes a rotation component 21, an angle adjustment component 22, and a radiofrequency ablation module 23. The rotation component 21 is connected to the automated robotic arm 1 next to the bionic finger robotic arm 11. The angle adjustment component 22 is disposed on the rotation component 21. The radiofrequency ablation module 23 is detachably connected to the angle adjustment component 22. The bottom of the automated robotic arm 1 is equipped with a position mounting mechanism 3 for mounting the robot. The automated robotic arm 1 is equipped with a positioning system for identifying the bleeding site.

[0031] Specifically, the end of the bionic finger robotic arm 11 is made of soft and elastic medical-grade silicone material to simulate the touch and dexterity of a human finger. Driven by a high-precision servo motor, the bionic finger robotic arm 11 can achieve rapid and accurate grasping, pushing, and packing actions. Each finger is equipped with a miniature force feedback sensor, which can accurately sense pressure changes between the finger and tissue, and achieve precise force control through the control system. During gauze packing, the robot can automatically adjust the posture and movement of the bionic finger according to the shape and size of the bleeding cavity, uniformly and tightly packing the hemostatic gauze to the bleeding site to achieve effective compression hemostasis.

[0032] Specifically, the bionic finger robotic arm 11 is equipped with a pressing mechanism, which is a flexible airbag. There are five flexible airbags, one for each finger of the bionic finger robotic arm 11. The flexible airbags are made of medical-grade silicone material with a wall thickness of 0.8-1.2 mm. They are finger-shaped structures that completely wrap around the surface of the bionic finger. The surface of the airbag is covered with a breathable and pressure-reducing material with a 50-80 μm microporous structure. This material is made of medical-grade TPU (thermoplastic polyurethane elastomer) and has good biocompatibility. Each flexible airbag has a high-precision MEMS pressure sensor (accuracy ±0.5 kPa) at its center and two independently controlled miniature solenoid valves around it, one for inflation and one for depressurization. These valves are connected to the air source through a pneumatic control system located inside the robotic arm. The pneumatic control system includes a miniature oil-free air pump (maximum pressure 400 kPa), a precision pressure regulating valve, a digital pressure monitoring module, and a 32-bit control circuit. It can automatically adjust the inflation pressure (range 10-300 kPa) and release frequency (0.1-2 Hz) according to the bleeding situation. When the pressure exceeds the set threshold or the continuous compression time exceeds 30 minutes, the system automatically initiates an intermittent pressure relief program, cycling through a rhythm of 30 seconds of pressure relief followed by 5 seconds of recovery, effectively preventing pressure injuries.

[0033] The bionic finger robotic arm 11 is designed with a quick-disassembly modular structure and has two usage modes: reusable mode.

[0034] The entire finger module is detachable and can be sterilized under high temperature and high pressure (134℃, 2.1 bar, 18 minutes); the silicone material is specially treated to withstand more than 250 sterilization cycles without degradation; the surface is coated with antibacterial nanomaterials, which can effectively resist common pathogens; disposable protective sleeve mode: the robot is equipped with a special medical-grade disposable silicone glove that perfectly matches the bionic finger; the glove is only 0.3mm thick, which does not affect the sensitivity of the tactile sensor; sterile gloves are put on before use and replaced after use to ensure that each operation is sterile; the two modes can be flexibly selected according to clinical needs to meet the disinfection requirements of different scenarios.

[0035] Specifically, the rotating assembly 21 includes a mounting frame 211, a rotary motor 212, a rotating disk 213, a first gear 214, a second gear 215, and a rotating shaft 216. The mounting frame 211 is connected to the automated robotic arm 1. The rotating disk 213 is provided with a rotating ring 217, and the rotating disk 213 is rotatably connected to the bottom of the mounting frame 211 through the rotating ring 217. The rotary motor 212 is located inside the mounting frame 211. The first gear 214 is connected to the main shaft of the rotary motor 212. The rotating shaft 216 is rotatably connected to the mounting frame 211, and the bottom of the rotating shaft 216 is fixedly connected to the rotating disk 213. The second gear 215 meshes with the first gear 214 for transmission, and the rotation ratio of the first gear 214 to the second gear 215 is 1:3. The rotary motor 212 is a high-precision stepper motor with a step angle of 0.9° and an accuracy of 20,000 steps / revolution, ensuring the smoothness and precision of the rotation process. The rotating ring 217 adopts a double-row angular contact ball bearing structure, which has high radial and axial load capacity and can withstand a maximum axial load of 50N. During rotation, the rotating disk 213 rotates slowly, and the speed can be steplessly adjusted within the range of 0.5-5 rpm, allowing for thorough ablation of the wound during the ablation process.

[0036] During ablation, the rotary motor 212 drives the first gear 214 to rotate, which in turn drives the second gear 215 to rotate via the rotating shaft 216. The rotation of the rotating shaft 216 causes the rotating ring 217 on the rotating disk 213 to rotate at the bottom of the mounting frame 211. The rotation of the rotating disk 213 then causes the radiofrequency ablation module 23 to rotate slowly, which has the following advantages:

[0037] Adapting to complex blood vessel pathways improves ablation precision: The blood vessels in the buttocks are intricately distributed and their paths are varied, not perfectly straight lines or planar shapes. The rotary motor 212 drives the radiofrequency ablation module 23 to rotate slowly, allowing the ablation electrode to maintain good contact with the vessel wall as the blood vessels bend and change direction, ensuring that radiofrequency energy is evenly applied to all parts of the vessel. For example, when the bleeding vessels are distributed in a spiral pattern, the rotation of the ablation module allows the electrode to fully cover the ruptured blood vessel, avoiding ablation blind spots and improving the precision and effectiveness of hemostasis.

[0038] The ablation electrodes employ a retractable needle-like design (rather than just surface electrodes). Each electrode is a medical-grade stainless steel needle-like structure with a diameter of 0.8mm and a maximum extension of 530mm. Based on the depth of the bleeding vessel detected by ultrasound, the system automatically calculates and adjusts the electrode extension length. Under intelligent control, the electrode needles can precisely puncture the bleeding vessel location, achieving the following two ablation modes: Intravascular ablation: The electrode needle directly punctures into the bleeding vessel, ablating the vessel wall from the inside; Extravascular ablation: The electrode needle reaches the outer wall of the vessel, performing circumferential ablation on the outside of the vessel.

[0039] Expanding the ablation range and enhancing hemostasis: The slowly rotating radiofrequency ablation module 23 can expand the ablation coverage to a certain extent, allowing more vascular tissue to be affected by the thermal effect, accelerating the denaturation and coagulation of vascular wall proteins, forming a more extensive and robust thrombus, thereby enhancing the hemostasis effect. This characteristic of expanding the ablation range is particularly important for larger blood vessels or larger bleeding areas, helping to quickly close the blood vessel and reduce the amount and duration of bleeding.

[0040] Reducing local thermal damage and protecting surrounding tissues: If the ablation module remains stationary, energy will concentrate in a localized area, easily leading to excessively high temperatures and causing excessive thermal damage, affecting surrounding healthy tissues such as muscles and nerves. Slow rotation, however, allows the radiofrequency energy to be distributed more evenly, avoiding excessive local energy concentration and ensuring the heat is evenly distributed within a certain range. This ensures the effectiveness of vascular ablation while reducing the risk of thermal damage to surrounding tissues, minimizing postoperative complications, and promoting patient recovery.

[0041] Real-time angle adjustment to adapt to changes in anatomical structure: During ablation, the patient's position may change due to emergency procedures or movement, leading to changes in the position and angle of the blood vessels in the buttocks. The slow rotation function of the radiofrequency ablation module 23 allows the robot to adjust the angle of the ablation electrode in a timely manner based on real-time monitored blood vessel position information, always maintaining the optimal relative position with the blood vessel. Even under complex anatomical structures and dynamic changes, the accuracy and effectiveness of the ablation operation can be ensured.

[0042] Specifically, the angle adjustment assembly 22 includes a fixed frame 221, an angle adjustment plate 222, an adjustment motor 223, an adjustment screw 224, an adjustment block 225, and two adjustment plates 226. The fixed frame 221 is horizontally disposed at the bottom of the rotating disk 213. The two ends of the adjustment screw 224 are rotatably connected to the fixed frame 221. The adjustment motor 223 is located on the side wall of the fixed frame 221, and the main shaft of the adjustment motor 223 is drivenly connected to the adjustment screw 224. The end of the angle adjustment plate 222 is hinged to the fixed frame 221. The adjustment block 225 is threadedly connected to the adjustment screw 224 and slides at the bottom of the fixed frame 221. One end of each of the two adjustment plates 226 is rotatably connected to the two ends of the adjustment block 225, and the other end of each of the two adjustment plates 226 is rotatably connected to the bottom of the rotating disk 213. The adjusting motor 223 is a high-precision micro servo motor with a torque of 2.5 N·m and an angle resolution of 0.1°; the adjusting lead screw 224 is a bidirectional ball screw with a pitch of 2 mm and a self-locking function to ensure the stability of angle adjustment; the adjusting block 225 is made of aerospace-grade aluminum alloy with a hard anodized surface and a clearance of less than 0.01 mm with the lead screw to ensure adjustment accuracy; the two adjusting plates 226 are made of carbon fiber composite material with a thickness of only 3 mm, but with a tensile strength of over 500 MPa.

[0043] During the ablation process, when adjusting the angle of the radiofrequency ablation module 23, the adjusting motor 223 drives the adjusting screw 224 to rotate on the fixed frame 221. This causes the adjusting block 225 to slide on the bottom of the rotating disk 213, thereby rotating the angle positions of the two adjusting plates 226. This allows the angle of the angle adjusting plate 222 to be adjusted from 0 to 90 degrees on the fixed frame 221 with an accuracy of ±0.5°, which has the following advantages:

[0044] Precisely adaptable to complex blood vessel trajectories: Due to the human anatomy, the blood vessels in the buttocks are complexly distributed and have varied trajectories, potentially exhibiting irregular shapes such as bends and oblique runs. Adjusting motor 223 drives the lead screw to rotate, allowing the angle adjustment plate 222 to rotate flexibly from 0 to 90 degrees. This enables the radiofrequency ablation module 23 to precisely fit blood vessels with different trajectories. For example, when facing a ruptured blood vessel tilted at 45 degrees, the adjustment plate 226 can rotate to the corresponding angle, ensuring the ablation electrode is perpendicular to the blood vessel wall. This allows the radiofrequency energy to be applied evenly to the bleeding site, improving the accuracy and effectiveness of hemostasis and preventing incomplete hemostasis or damage to surrounding normal tissue due to angle deviations.

[0045] The electrodes within the radiofrequency ablation module 23 are indeed retractable radiofrequency needles, not surface electrodes. Each radiofrequency needle uses a special alloy material (nickel-titanium shape memory alloy outer layer, platinum-iridium alloy needle tip), possessing excellent puncture capability and conductivity. For different bleeding conditions, the system provides three ablation modes: surface ablation: the needle tip extends only 0.2mm, suitable for superficial bleeding; vessel wall ablation: the needle tip extends 5-15mm, precisely positioned on the bleeding vessel wall; intravascular ablation: the needle tip extends 15-30mm, directly entering the vessel lumen, suitable for bleeding from larger vessels. The system automatically calculates the bleeding location and depth based on ultrasound and infrared imaging data, selecting the most suitable ablation mode and needle tip extension length. The radiofrequency needle can be precisely punctured under the protection of the electrode sheath, which then retracts to expose the radiofrequency needle for ablation.

[0046] The radiofrequency ablation design employs a fully automated operation mode, with the entire process completed by a robotic intelligent control system, requiring no direct human intervention. Specifically:

[0047] After accurately locating the bleeding point, the system automatically plans a radiofrequency ablation strategy, including the extension length, angle, power setting, and ablation time of the electrode needle. Under the command of the control system, the radiofrequency ablation module 23 automatically adjusts its angle and position, and the electrode needle is precisely extended and punctured to the preset depth. During the ablation process, the system monitors tissue impedance and temperature changes in real time, dynamically adjusting the power output and ablation time to ensure hemostasis while minimizing damage to surrounding tissues.

[0048] To ensure safety, the system is equipped with a triple protection mechanism: real-time image monitoring: the ultrasound sensor continuously monitors the position of the electrode needle and its relationship with the blood vessel; temperature limit protection: once the safe temperature threshold is exceeded, the energy output is immediately interrupted; emergency manual intervention: although it is an automatic operation, it is equipped with an emergency stop button and a remote monitoring interface, allowing medical staff to take over or interrupt the operation when necessary. This automated design is particularly suitable for emergency scenarios, allowing the robot to autonomously perform precise hemostasis while medical staff focus on other treatment tasks.

[0049] Intravascular ablation technology is feasible in this design, and its implementation is based on the following technical foundations:

[0050] First, endovascular ablation of the buttocks is similar in principle to cardiac radiofrequency ablation and varicose vein radiofrequency closure, and has been successfully applied in clinical practice. The electrode needle used in this design has a diameter of only 0.8 mm, which is much smaller than conventional vascular interventional catheters (1.5-2.5 mm), allowing it to be safely inserted into blood vessels with a diameter of 2 mm or more.

[0051] Secondly, to address the positioning challenges in intravascular ablation, the system employs real-time ultrasound guidance technology, providing sub-millimeter precision needle tip positioning to ensure the electrode needle accurately enters the target blood vessel rather than accidentally entering surrounding tissue. This is similar to ultrasound-guided vascular puncture, but with higher precision and lower risk.

[0052] To prevent the risk of embolism that may be caused by intravascular ablation, the electrode needle is specially designed: the tip is a spherical micro-convex structure (0.85mm in diameter) to prevent puncturing the distal blood vessel wall; the needle body is coated with a hydrophilic coating to reduce the risk of thrombus formation; the ablation temperature is precisely controlled in the range of 65-75℃, which is sufficient to coagulate proteins and seal blood vessels without causing vaporization and carbonization.

[0053] In practical applications, the system intelligently determines whether endovascular ablation is suitable based on the vessel diameter, bleeding status, and anatomical location. For vessels with a diameter less than 2 mm, the system automatically selects external ablation; for larger vessels (2-8 mm), endovascular ablation is prioritized to achieve better hemostasis. For very large vessel injuries (>8 mm), the system will issue an alarm, indicating the need for surgical intervention.

[0054] This intelligent ablation method selection, combined with a precise positioning system and automated operation, enables this design to provide a safe and effective hemostasis solution in complex buttock bleeding scenarios, making it particularly suitable for emergency and battlefield medical environments.

[0055] Enhancing operational flexibility in complex scenarios: In emergency situations, patient positions may be difficult to maintain due to various factors, and the bleeding in the buttocks can be complex and variable. This angle adjustment design gives the radiofrequency ablation module 23 strong flexibility. Regardless of the patient's posture or the specific location of the bleeding point, the appropriate ablation angle can be found by rotating the adjustment plate 226. For example, if a patient experiences bleeding in the buttocks while lying on their side, the adjustment plate 226 can quickly rotate to adjust the module's angle to adapt to the blood vessel position under the patient's current position, ensuring smooth ablation operations and greatly improving the robot's applicability in complex environments.

[0056] Expanded ablation coverage: The 0-90 degree angle adjustment range allows the radiofrequency ablation module 23 to be repositioned within a larger space, effectively expanding the ablation coverage area. For cases of large-area bleeding or damage to multiple blood vessels, the angle can be adjusted to ablate bleeding points in different directions sequentially, eliminating the need for frequent changes in device position or patient positioning. This improves hemostasis efficiency and reduces complications caused by prolonged exposure to bleeding risks.

[0057] Reduced repetitive procedures and lower patient risks: Precise and flexible angle adjustment allows the radiofrequency ablation module 23 to accurately target bleeding vessels with a single adjustment, reducing the need for repeated ablation procedures due to improper angle. Repetitive procedures not only prolong treatment time but may also increase the risk of thermal damage to surrounding tissues. Efficient angle adjustment reduces the likelihood of complications such as infection and tissue necrosis, creating favorable conditions for subsequent patient recovery.

[0058] Specifically, the bottom of the radiofrequency ablation module 23 and the angle adjustment plate 222 are connected by several screws, allowing for the disassembly and replacement of the radiofrequency ablation module 23. The radiofrequency ablation module 23 has a square structure, measuring 40mm × 40mm × 15mm, and includes an aerospace-grade aluminum alloy shell, an internal radiofrequency generator, an ablation electrode array, a temperature monitoring system, and a cooling system. The ablation electrode array consists of 16 independently controlled gold-plated electrode needles arranged in a 4×4 matrix on the bottom surface of the module. Each electrode needle has a diameter of 0.8mm and can be adjusted in height within a range of 0-5mm with an extension / retraction accuracy of 0.1mm. The temperature monitoring system includes 20 high-precision thermistor temperature sensors distributed around the electrodes, with a temperature measurement range of 0-150℃ and an accuracy of ±0.2℃. The cooling system consists of a miniature closed-loop circulating water cooling pipe and two 15mm diameter... It consists of miniature cooling fans, with cooling pipes spirally distributed inside the module, covering an area of ​​over 85%, and a maximum fan speed of 15,000 rpm; the radio frequency generator is electrically connected to the ablation electrode, adopts a high-frequency oscillation circuit design, and can generate radio frequency current with a frequency of 450-480kHz and adjustable power (5-50W), with a power control accuracy of 0.5W.

[0059] The working principle of the radiofrequency ablation module 23 is as follows:

[0060] Energy conduction mechanism: Radiofrequency current enters the tissue through electrodes, causing intracellular water molecules to oscillate at high speeds, generating heat through friction. When the temperature reaches 60-80℃, the blood vessel wall proteins denature and coagulate, forming a thrombus that seals the blood vessel. The entire process typically lasts 30-120 seconds, automatically adjusting according to the blood vessel diameter and the amount of bleeding.

[0061] Angle Adjustment Collaborative Working Mode: After the positioning system determines the angle of the bleeding vessel, the robotic arm drives the ablation electrode to rotate to the target angle with an accuracy of ±0.5°. The electrode tip remains perpendicular to the vessel wall to ensure uniform energy distribution and improve ablation efficiency. During ablation, the system continuously adjusts the electrode position through closed-loop feedback to ensure optimal contact at all times.

[0062] Real-time feedback adjustment: A temperature sensor monitors tissue temperature in real time, with a data sampling frequency of 10Hz, and feeds the data back to the control system. If the temperature exceeds 85℃, the system will automatically reduce power or activate the cooling system within 0.2 seconds. If the impedance abnormally increases (exceeding 150% of the baseline value), indicating tissue carbonization, the system will immediately stop output within 0.1 seconds, adjust the electrode position, and restart ablation. The cooling system can reduce the electrode temperature from 85℃ to 40℃ within 5 seconds, effectively preventing the spread of thermal damage.

[0063] Specifically, the positioning mounting mechanism 3 includes a mounting base 300 and two positioning mounting components 30. The mounting base 300 is connected to the bottom of the automated robotic arm 1. The mounting base 300 has two sliding grooves, and the two positioning mounting components 30 are slidably connected in the two sliding grooves respectively. Each positioning mounting component 30 includes a bidirectional adjusting screw 31, a turntable 32, two clamping blocks 33, and two sliders 34. The two sliders 34 are slidably connected in the two sliding grooves respectively. The two ends of the bidirectional adjusting screw 31 are rotatably connected to the two sliders 34. The turntable 32 is located at the end of the bidirectional adjusting screw 31. The two clamping blocks 33 are threaded to the two ends of the bidirectional adjusting screw 31 respectively. The clamping blocks 33 have anti-slip textures. The sidewall of the sliding groove has several equally spaced insertion holes 35. The insertion holes 35 have access holes through which the sliders 34 pass. The connector 36; during use, the distance between the two mounting parts 30 can be adjusted according to the installation position requirements, and the connector 36 is inserted into the connector hole 35 and the slider 34 to fix the mounting part 30. The anti-slip texture adopts a honeycomb design with a depth of 0.5mm, which can increase the friction coefficient by more than 40% and effectively prevent the clamping block 33 from slipping.

[0064] During robot installation, the rotating disc separates the two clamping blocks 33. The two clamping blocks 33 are then placed at the desired clamping position. Rotating the two turntables 32 causes the corresponding bidirectional adjusting screws 31 to rotate on the two sliders 34, bringing the two clamping blocks 33 closer together and clamping them securely in the desired position. This allows for quick and secure attachment of the robot to clothing, stretchers, or other fixed objects on a patient's hip, facilitating use at emergency sites and during transport. The clamping force reaches 80N, sufficient to ensure the robot's stability in bumpy environments.

[0065] Specifically, the positioning system is equipped with an infrared thermal imaging sensor, an ultrasonic sensor, a pressure sensor, and an intelligent algorithm fusion module. The infrared thermal imaging sensor, installed at the front end of the automated robotic arm, is a FLIR Boson series sensor with a temperature resolution of 0.05℃ and a spatial resolution of 640×480 pixels, arranged in an array to cover a 15cm×12cm detection area. The ultrasonic sensors, arranged around the infrared thermal imaging sensor, are SensComp600 series sensors with an operating frequency of 5-12MHz, arranged in a ring of 8 probes, with a scanning depth of up to 10cm and an accuracy of ±1mm, connected to the robotic arm body via an IP68 waterproof interface. The pressure sensors are TE ConnectivityFlexiForce series sensors with a sensitivity of 0.1N / cm², arranged in a 6×6 matrix of 36 probes. A number of sensing points are installed on the palm and fingertips of the bionic finger robotic arm. The intelligent algorithm fusion module is located in the internal control cabin of the automated robotic arm and uses a high-performance embedded processor (2.4GHz, 8 cores). It is electrically connected to three types of sensors through a high-speed data bus. The intelligent algorithm fusion module includes a signal preprocessing unit, a feature extraction unit, a data fusion unit, and a decision output unit. It uses deep learning and Kalman filtering algorithms to achieve multi-source data fusion with a processing latency of less than 50ms.

[0066] The infrared thermal imaging sensor is installed on the top front end of the automated robotic arm 1 in an embedded structure, exposed through a protective lens; the ultrasonic sensor is distributed around the infrared sensor in a ring array (8 probes), integrated with the front end shell of the robotic arm 1; the pressure sensor is directly integrated on the surface of the bionic finger 11, especially the fingertip and palm; the intelligent algorithm fusion module is located inside the main control compartment of the robotic arm 1, and is installed on a printed circuit board along with other electronic components.

[0067] Infrared thermal imaging sensors: Due to differences in metabolism and blood flow, normal human tissue and bleeding sites generate different levels of thermal radiation. Infrared thermal imaging sensors detect the infrared radiation emitted by objects, convert it into electrical signals, and then process and convert these signals to generate thermal images. When bleeding occurs in the buttocks, the temperature of the bleeding area will be 0.5-2.0°C higher than the surrounding normal tissue due to blood seepage and accelerated local metabolism. This abnormal temperature area appears in the thermal image, helping the robot quickly identify and initially delineate the approximate extent of the bleeding. The system can also analyze temperature gradient changes to infer the amount and rate of bleeding.

[0068] Ultrasonic Sensor: When the ultrasonic sensor is working, it emits high-frequency ultrasonic waves into the tissue of the human buttocks. During propagation, the ultrasonic waves encounter tissue interfaces of different densities, resulting in reflection, refraction, and scattering. The reflected ultrasonic waves are received by the sensor. Based on the time difference between emission and reception, combined with the speed of propagation of ultrasonic waves in human tissue (approximately 1540 m / s), the depth and location information of the tissue interface can be calculated. By processing and analyzing a large number of reflected signals, two-dimensional or three-dimensional images of the subcutaneous vascular structure can be constructed, thereby accurately determining the specific location, direction, and diameter of bleeding vessels. The system can identify vessels with a minimum diameter of 0.5 mm and a depth of up to 8 cm.

[0069] Pressure Sensor: A pressure sensor is positioned at the point of contact between the robot and the patient's buttocks. When bleeding occurs, the outflowing blood creates pressure changes in the surrounding tissue, which are transmitted to the pressure sensor. The pressure sensor converts the sensed pressure signal into an electrical signal. By monitoring and analyzing this signal in real time, the pressure distribution at the bleeding site is determined, aiding in pinpointing the exact location of the bleeding point. This is particularly important in situations where determining the bleeding location is difficult due to external pressure or other factors. The sensor has a sampling frequency of 100Hz and can detect minute pressure changes as small as 0.05 N / cm².

[0070] Intelligent Algorithm Fusion Module: The data collected by the three types of sensors mentioned above have different characteristics and information dimensions. The intelligent algorithm fusion module integrates and analyzes the approximate range data provided by the infrared thermal imaging sensor, the precise vascular structure data acquired by the ultrasound sensor, and the pressure change data fed back by the pressure sensor through specific data processing algorithms and machine learning models. The algorithm first preprocesses the data to remove noise and interference, and then aligns and fuses the data from different sources spatially and temporally through feature extraction and matching operations. Ultimately, it achieves millimeter-level precise localization of the bleeding location, providing accurate target locations for subsequent hemostasis operations such as radiofrequency ablation and gauze packing. The system employs adaptive thresholding and deep learning methods, achieving a bleeding point localization accuracy of ±2mm.

[0071] The buttock bleeding control robot of this invention adopts a fully automatic operation mode, which can complete the entire process from bleeding identification to hemostasis without human intervention. The specific workflow is as follows: After the robot is placed in the patient's buttock area, the positioning system first automatically starts the scanning process, which takes only 5-8 seconds. The infrared thermal imaging sensor quickly identifies the possible bleeding area, and the ultrasonic sensor and pressure sensor further confirm the location of the bleeding point. The intelligent algorithm fusion module processes the multi-sensor data in real time. After determining the precise location of the bleeding point, the automatic robotic arm adjusts to the optimal working posture. The spatial positioning accuracy of the positioning system can reach ±2mm. Subsequently, the system automatically selects a hemostasis strategy according to the bleeding situation: For small blood vessel bleeding (diameter <2mm), the bionic finger robotic arm automatically performs precise pressing operation, and the flexible airbag automatically adjusts the pressure (range 50-200kPa) and pressing time (usually 10-30 minutes) according to the preset program; For larger blood vessel bleeding (diameter 2-8mm), the radiofrequency ablation mechanism automatically adjusts the rotation angle and tilt angle to accurately target the bleeding blood vessel for ablation and hemostasis. The entire process is monitored by the robot's built-in control system and does not require manual intervention. For bleeding from excessively large blood vessels (>8mm), the system will issue an alarm indicating the need for surgical intervention. The robot also has the ability to monitor blood flow in real time, detecting changes in blood flow velocity using ultrasonic Doppler technology. It can automatically assess the effectiveness of hemostasis and adjust the hemostasis strategy or issue an alarm to prompt medical personnel to intervene if necessary. In emergencies, the system is also equipped with an emergency braking function, which can completely stop all movements within 0.3 seconds.

[0072] Specifically, the automated robotic arm 1 is constructed entirely of lightweight materials. It utilizes high-strength aluminum alloy (7075-T6 grade) and carbon fiber composite materials (tensile strength >3500MPa), significantly reducing weight while maintaining structural strength, with the overall weight controlled to within 8.5kg. Its compact size (400mm×300mm×200mm in folded state) facilitates portability and operation, without hindering patient transport. Furthermore, the robot is equipped with a portable lithium polymer power supply (10000mAh capacity), providing 4-6 hours of continuous operation, fully meeting the needs of prolonged emergency care and transport. The robot employs a modular design, allowing for rapid disassembly and assembly of key functional units within 30 seconds, facilitating maintenance and replacement.

[0073] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

[0074] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A robot for stopping bleeding in the buttocks, characterized in that, The system includes an automated robotic arm (1), on which a bionic finger robotic arm (11) is provided. The automated robotic arm (1) is provided with a radiofrequency ablation mechanism (2). The radiofrequency ablation mechanism (2) includes a rotation component (21), an angle adjustment component (22), and a radiofrequency ablation module (23). The rotation component (21) is connected to the automated robotic arm (1) next to the bionic finger robotic arm (11). The angle adjustment component (22) is set on the rotation component (21). The radiofrequency ablation module (23) is detachably connected to the angle adjustment component (22). The bottom of the automated robotic arm (1) is provided with a position mounting mechanism (3) for mounting thereon. The automated robotic arm (1) is provided with a positioning system for identifying bleeding sites.

2. The robot for stopping bleeding in the buttocks according to claim 1, characterized in that: The rotating assembly (21) includes a mounting frame (211), a rotary motor (212), a rotating disk (213), a first gear (214), a second gear (215), and a rotating shaft (216). The mounting frame (211) is connected to the automatic robotic arm (1). The rotating disk (213) is provided with a rotating ring (217). The rotating disk (213) is rotatably connected to the bottom of the mounting frame (211) through the rotating ring (217). The rotary motor (212) is located inside the mounting frame (211). The first gear (214) is connected to the main shaft of the rotary motor (212). The rotating shaft (216) is rotatably connected to the mounting frame (211). The bottom of the rotating shaft (216) is fixedly connected to the rotating disk (213). The second gear (215) meshes with the first gear (214) for transmission. The rotation ratio of the first gear (214) and the second gear (215) is 1:

3.

3. The robot for stopping bleeding in the buttocks according to claim 2, characterized in that: The angle adjustment assembly (22) includes a fixed frame (221), an angle adjustment plate (222), an adjustment motor (223), an adjustment screw (224), an adjustment block (225), and two adjustment plates (226). The fixed frame (221) is horizontally positioned at the bottom of the rotating disk (213). The two ends of the adjustment screw (224) are rotatably connected to the fixed frame (221). The adjustment motor (223) is located on the side wall of the fixed frame (221) and the adjustment motor (224) is positioned on the side wall of the fixed frame (225). 3) The main shaft is connected to the adjusting screw (224) for transmission. The end of the angle adjusting plate (222) is hinged to the fixed frame (221). The adjusting block (225) is threaded to the adjusting screw (224). The adjusting block (225) slides at the bottom of the fixed frame (221). One end of the two adjusting plates (226) is rotatably connected to the two ends of the adjusting block (225). The other end of the two adjusting plates (226) is rotatably connected to the bottom of the rotating disk (213).

4. The robot for stopping bleeding in the buttocks according to claim 3, characterized in that: The radio frequency ablation module (23) is connected to the bottom of the angle adjustment plate (222) by several screws; the radio frequency ablation module (23) has a square structure, including an outer shell, an internal radio frequency generator, an ablation electrode array, a temperature monitoring system, and a cooling system; the ablation electrode array is distributed in a matrix on the bottom surface of the module, and the electrodes can be extended and retracted to adjust their height; the temperature monitoring system includes multiple temperature sensors distributed around the electrodes; the cooling system consists of circulating water cooling pipes and miniature cooling fans, which are spirally distributed inside the module; the radio frequency generator is electrically connected to the ablation electrodes and can generate a radio frequency current with a frequency of 400-500kHz.

5. The robot for stopping bleeding in the buttocks according to claim 1, characterized in that: The position mounting mechanism (3) includes a mounting base (300) and two position mounting parts (30). The mounting base (300) is connected to the bottom of the automatic robotic arm (1). The mounting base (300) is provided with two sliding grooves, and the two position mounting parts (30) are slidably connected in the two sliding grooves respectively.

6. A buttock bleeding control robot according to claim 5, characterized in that: Each of the aforementioned mounting components (30) includes a bidirectional adjusting screw (31), a turntable (32), two clamping blocks (33), and two sliders (34). The two sliders (34) are slidably connected inside the two slide grooves respectively. The two ends of the bidirectional adjusting screw (31) are rotatably connected to the two sliders (34). The turntable (32) is located at the end of the bidirectional adjusting screw (31). The two clamping blocks (33) are threadedly connected to the two ends of the bidirectional adjusting screw (31). The clamping blocks (33) are provided with anti-slip textures. The sidewall of the slide groove is provided with several equally spaced insertion holes (35). The insertion holes (35) are provided with insertion rods (36) that pass through the sliders (34).

7. The robot for stopping bleeding in the buttocks according to claim 1, characterized in that: The positioning system is equipped with an infrared thermal imaging sensor, an ultrasonic sensor, a pressure sensor, and an intelligent algorithm fusion module. The infrared thermal imaging sensor is installed at the front end of the automated robotic arm in an array to cover the detection area. The ultrasonic sensor is arranged in a ring around the infrared thermal imaging sensor and connected to the robotic arm body through a waterproof interface. The pressure sensor is arranged in a matrix on the palm and fingertips of the bionic finger robotic arm. The intelligent algorithm fusion module is located in the internal control compartment of the automated robotic arm and is electrically connected to the three types of sensors via a data bus. The intelligent algorithm fusion module includes a signal preprocessing unit, a feature extraction unit, a data fusion unit, and a decision output unit.

8. The robot for stopping bleeding in the buttocks according to claim 1, characterized in that: The bionic finger robotic arm (11) is equipped with a pressing mechanism, which is a flexible airbag. There are five flexible airbags, and each finger of the bionic finger robotic arm (11) is equipped with a flexible airbag. The flexible airbag is made of medical-grade silicone material and is wrapped around the surface of the bionic finger in a finger sleeve-like structure. The surface of the airbag is covered with a breathable and pressure-reducing material with a microporous structure. Each flexible airbag is equipped with a pressure sensor and a micro electromagnetic valve, and is connected to the air source through an air pressure control system located inside the robotic arm. The air pressure control system includes a micro air pump, an air pressure regulating valve, a pressure monitoring module, and a control circuit, which can automatically adjust the inflation pressure and release frequency according to the bleeding situation.

9. A hemostatic robot for posterior bleeding according to claim 1, characterized in that: The automated robotic arm (1) is made of lightweight materials.

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