Infusion injection auxiliary robot and disinfection mechanism

Abstract

The present application relates to the technical field of medical auxiliary apparatuses, and particularly relates to an infusion injection auxiliary robot and a disinfection mechanism. The disinfection mechanism comprises a cotton swab disinfection execution assembly, comprising at least one gripper for grabbing a cotton swab, and a driving source for driving the gripper to move among a material taking station, a material loading station, and a material unloading station; a cotton swab conveying assembly, a discharge end of the cotton swab conveying assembly being located at the material taking station, and the cotton swab conveying assembly being configured to convey the cotton swab to the material taking station; a cotton swab loading assembly, located at the material loading station and being configured to drive the cotton swab located above the cotton swab loading assembly to rotate and ascend on the gripper; a cotton swab unloading assembly, located at the material unloading station and being configured to unload the cotton swab from the gripper; and a disinfection assembly, configured to disinfecting the cotton swab located at the material loading station. The present application has the advantage of being able to solve the disinfection problem of automatic infusion devices.

Description

Infusion and Injection Assist Robot and Disinfection Mechanism Technical Field

[0001] This application relates to the technical field of medical auxiliary equipment, and in particular to an infusion injection auxiliary robot and a disinfection mechanism. Background Technology

[0002] With the continuous development of medical technology, intravenous infusion therapy, as a common and effective treatment method in clinical practice, is widely used in the treatment of various diseases. However, traditional infusion methods mainly rely on manual operation, which has certain limitations in the process.

[0003] To address this issue, automated infusion devices have emerged in recent years. These devices automatically secure the puncture site of the infusion container after it is suspended and automatically insert and remove the puncture needle. When it is necessary to change the infusion container, switching is achieved through structures such as turntables or conveyor belts. Although these automated infusion devices have improved infusion efficiency and reduced the need for manpower to some extent, they still have certain limitations.

[0004] For example, it's common to need to repeatedly flush the tubing with the same bag of fluid. If the sterile cap on the bottle opening is opened, the fluid cannot be used immediately and needs to be sterilized before reuse. Furthermore, during automated infusion, at least two bags of infusion containers are pre-placed into the automatic fluid exchange device. The sterile caps on the bottle openings are pre-opened during placement, causing the waiting time for the second and subsequent bags to far exceed ten minutes. Therefore, solving the sterilization problem of automated infusion devices is crucial. Summary of the Invention

[0005] To address the disinfection issue of automated infusion devices, this application provides an infusion injection auxiliary robot and a disinfection mechanism.

[0006] In a first aspect, this application provides a disinfection mechanism for an infusion injection assistive robot, which adopts the following technical solution:

[0007] An infusion injection assistive robot and a disinfection mechanism, comprising:

[0008] The cotton swab disinfection execution component includes at least one gripper for grasping cotton swabs and a drive source for moving the gripper at a picking station, a loading station and a unloading station.

[0009] The cotton swab delivery component has its discharge end located at the picking station, and is used to deliver cotton swabs to the picking station;

[0010] The cotton swab feeding assembly, located at the feeding station, is used to drive the cotton swabs above it to rotate and rise on the gripper.

[0011] The cotton swab unloading assembly, located at the unloading station, is used to unload cotton swabs from the gripper.

[0012] The disinfection unit is used to disinfect the cotton swabs located at the feeding station.

[0013] In this setup, a cotton swab transport component delivers cotton swabs to the picking station. Then, a cotton swab disinfection component retrieves the swab from the picking station and delivers it to the loading station. At the loading station, the cotton swab loading component rotates and rises. During this process, the disinfection component disinfects the cotton swab and the area around the puncture site. Once the cotton swab reaches a certain height, it contacts the puncture site and, driven by the cotton swab loading component, rotates to wipe and disinfect the puncture site. After disinfection, the cotton swab loading component resets, and then the cotton swab disinfection component moves the cotton swab to the cotton swab unloading component for unloading, before returning to the picking station to retrieve the swab. This process is repeated.

[0014] In one embodiment: the gripper is provided with a C-shaped slot for inserting cotton swabs, and the C-shaped slot is fitted with the cotton swab with a gap; one side of the discharge end of the cotton swab conveying component is open, and the gripper grabs the cotton swab when it moves to the picking station and removes the cotton swab from the opening when it moves out of the picking station.

[0015] With this setup, the structure of the cotton swab disinfection execution component is simple, and the discharge end of the cotton swab delivery component does not require additional auxiliary structures to cooperate with the gripper for grasping. Only one gripper is needed, and its back-and-forth swing can be controlled to grasp the cotton swab.

[0016] In one embodiment: the cotton swab unloading assembly includes a storage box and an unloading component located above the storage box. When the gripper moves to the unloading station, the cotton swab on the gripper is restricted after contacting the unloading component, and the gripper continues to move and separates from the cotton swab.

[0017] This design is simple in structure. By coordinating with the rotation of the gripper, the unloading component blocks the cotton swabs without blocking the gripper, allowing the gripper to separate from the cotton swabs after passing through the unloading component.

[0018] In one embodiment: the cotton swab feeding assembly includes a rotary lifting motor and a cotton swab fixing cylinder mounted on the output shaft of the rotary lifting motor. The cotton swab fixing cylinder has an inner hole that is interference-fitted with the cotton swab, and the opening of the inner hole is funnel-shaped. (It can also be composed of a lifting device and a rotary motor combined.)

[0019] This design, through the interference fit of the inner hole and the gap fit between the C-shaped clip and the cotton swab, allows the cotton swab to rotate within the C-shaped clip when the cotton swab fixing tube moves the cotton swab upward, thereby achieving wiping disinfection.

[0020] In one embodiment: the disinfection assembly includes a disinfection bottle, an ultraviolet germicidal lamp for irradiating the puncture site, and a drive for controlling the spray from the disinfection bottle, wherein the nozzle of the disinfection bottle faces upwards from the loading station.

[0021] Secondly, this application provides an infusion injection assistive robot, which adopts the following technical solution:

[0022] An infusion injection assistive robot, comprising:

[0023] The aforementioned disinfection mechanism is located at the disinfection station;

[0024] An automatic puncture mechanism, located at the puncture station, is used to control the raising and lowering of the puncture needle;

[0025] The transfer mechanism includes a turntable and a power source for driving the turntable to switch infusion containers and to make the infusion containers pass sequentially through the sterilization station and the puncture station.

[0026] With this setup, the transport mechanism drives the infusion container to rotate at each station. When it enters the disinfection station, the disinfection mechanism disinfects the puncture site. After disinfection, it rotates to the puncture station, and the automatic puncture mechanism drives the puncture needle to rise to complete the puncture.

[0027] In one embodiment, the robot further includes a cap removal mechanism for removing a cap-type sterile protective cap, the cap removal mechanism including a cutter-type finger located in front of the puncture station.

[0028] With this setup, when the transfer mechanism moves the infusion container from the disinfection station to the puncture station, if there is still an unremoved cap-type sterile protective cap on the puncture container, the cap-type sterile protective cap will come into contact with the cutter-type finger and remove the cap-type sterile protective cap during the movement of the infusion container.

[0029] In one embodiment, the cap removal mechanism further includes a cutter motor for driving the cutter-type ring to rotate for auxiliary cutting, wherein the direction of rotation of the cutter-type ring driven by the cutter motor is opposite to the direction of rotation of the turntable.

[0030] With this configuration, the cutting motor drives the cutting wrench to rotate. This rotation controls the wrench to avoid opening the protective cap, preventing it from being removed. When cap removal is necessary, the cutting wrench is positioned opposite the direction of movement of the infusion container to cut the cap-type sterile protective cap. Simultaneously, the rotation generates cutting forces at different angles, making the cap-type sterile protective cap easier and faster to remove.

[0031] In one embodiment: the robot further includes a hook device for removing a ring-shaped sterile protective cap, the hook device being located in front of the puncture station, the hook device including a pull ring limiting member, a hook for inserting the ring-shaped sterile protective cap, and a discharge spring for pushing the ring-shaped sterile protective cap out of the hook, the hook being disposed on the pull ring limiting member, and the discharge spring being sleeved on the hook.

[0032] This setup utilizes a turntable to rotate the infusion container. During this rotation, the sterile ring cap on the puncture site inserts into the pull hook. As the turntable continues to rotate, the infusion container separates from the sterile ring cap. During separation, the sterile ring cap compresses the unloading spring. Therefore, after separation, the unloading spring returns to its original position, allowing the sterile ring cap to be pushed out of the pull hook, achieving automatic unloading.

[0033] In one embodiment: the pull ring limiting member is slidably installed in a vertical direction, and the hook device further includes a reset member for providing an upward tendency force to the pull ring limiting member; the robot further includes an obstacle avoidance device for pushing the pull ring limiting member downward, the obstacle avoidance device including an obstacle avoidance drive member mounted on a turntable, and an obstacle avoidance rod controlled by the lifting and lowering of the obstacle avoidance drive member.

[0034] With this setup, when a longer puncture site interferes with the retractor device, or when the ring-shaped sterile protective cap does not need to be removed temporarily, the obstacle avoidance device can be pushed downwards to move it down, thereby avoiding interference or removing the ring-shaped sterile protective cap in advance.

[0035] In one embodiment: a plurality of multifunctional clamps are rotatably mounted on the turntable. Each multifunctional clamp includes a circular clamp body, which has an installation groove for installing a puncture port. The installation groove has an opening on the side wall of the clamp body. The side wall of the turntable has an clearance opening for inserting the puncture port into the multifunctional clamp.

[0036] The clamp body is provided with an elastic pushing component for providing a tendency force to move outward toward the puncture site of the infusion container;

[0037] The clamp body is detachably equipped with a plug-type limiting block for compensating for the size of the puncture site. The plug-type limiting block is slidably installed in the mounting groove. In use, the plug-type limiting block and the elastic pushing component are located on both sides of the puncture site.

[0038] This design, through the rotating installation of the multi-functional clamp, allows the puncture port of the infusion container to be locked after being installed on the multi-functional clamp. Furthermore, the elastic push component and the detachable plug-type limiting block design can position various different puncture ports and ensure that the puncture port is well located in the center of the multi-functional clamp, thereby ensuring accurate alignment during disinfection, puncture, and cap removal.

[0039] In one embodiment, the auxiliary robot further includes a scanning head for scanning labels on infusion containers and a rotation source for driving the scanning head to rotate.

[0040] With this setup, the scanning head scans the label on the infusion container to read its information, thereby verifying the accuracy of the container's data and preventing infusion errors. The rotating source design controls the scanning head's oscillation, expanding its scanning range and ensuring that even when the label is misaligned due to container tilting, it can still be scanned. Attached Figure Description

[0041] Figure 1 is a schematic diagram of the overall structure of this embodiment.

[0042] Figure 2 is a structural schematic diagram of the main components in this embodiment.

[0043] Figure 3 is a schematic diagram of the turntable in this embodiment;

[0044] Figure 4 is a schematic diagram of the turntable in this embodiment;

[0045] Figure 5 is a schematic diagram of the multi-functional fixture in this embodiment;

[0046] Figure 6 is a schematic diagram of the structure of the multi-functional clamp in this embodiment;

[0047] Figure 7 is a schematic diagram of the structure of the multi-functional clamp in this embodiment;

[0048] Figure 8 is a schematic diagram of the structure of the multi-functional clamp in this embodiment;

[0049] Figure 9 is a schematic diagram of the disinfection mechanism in this embodiment;

[0050] Figure 10 is a schematic diagram of the disinfection mechanism in this embodiment.

[0051] Figure 11 is a schematic diagram of the cover removal mechanism in this embodiment;

[0052] Figure 12 is a schematic diagram of the cover removal mechanism in this embodiment.

[0053] In the diagram, 10 is the infusion container; 100 is the frame; 200 is the transfer mechanism; 210 is the turntable; 211 is the turntable body; 2111 is the main body; 21111 is the mounting hole; 21112 is the clearance opening; 2112 is the limiting plate; 21121 is the slot; 212 is the multi-functional clamp; 2121 is the clamp body; 21211 is the upper positioning slot; 21212 is the limiting slot; 21213 is the lower positioning slot; 2 1214. Limiting flange; 2122. Elastic pushing assembly; 21221. U-shaped movable bayonet; 21222. Elastic element; 21223. Sliding rod; 2123. Plug-type limiting block; 220. Turntable motor; 300. Automatic puncture mechanism; 310. Puncture needle mounting seat; 320. Puncture electric push rod; 330. Connecting plate; 340. Guide rod; 400. Disinfection mechanism; 410. Cotton swab disinfection execution mechanism. Components; 411. Gripper; 412. Drive source; 420. Cotton swab conveying component; 430. Cotton swab feeding component; 431. Rotary lifting motor; 432. Cotton swab fixing cylinder; 440. Cotton swab unloading component; 441. Unloading part; 442. Storage box; 450. Disinfection component; 451. Disinfection bottle; 452. Drive component; 453. Mounting plate; 454. Adjusting bolt; 455. Ultraviolet germicidal lamp; 50 0. Droplet monitoring module; 600. Scanning mechanism; 610. Scanning head; 620. Rotating source; 700. Interactive terminal; 800. First display screen; 900. Cap removal mechanism; 910. Hook device; 911. Pull ring limiting component; 912. Hook; 913. Unloading spring; 914. Reset component; 920. Removal device; 921. Cutter-type ring; 922. Cutter motor; 930. Obstacle avoidance device. Detailed Implementation

[0054] The present application will be further described in detail below with reference to the accompanying drawings.

[0055] In the description of this application, it should be understood that the terms "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0056] An infusion injection assistive robot, as shown in Figure 1, includes a frame 100, a transfer mechanism 200 for switching infusion containers 10, an automatic puncture mechanism 300 for controlling the puncture needle, a disinfection mechanism 400 for disinfecting the puncture site of the infusion container 10, a drip monitoring module 500 for detecting the dripping status, a scanning mechanism 600 for scanning data of the infusion container 10, a cap removal mechanism 900 for removing the protective cap, and an interactive terminal 700.

[0057] As shown in Figure 2, the transfer mechanism 200 includes a turntable 210 and a power source for driving the turntable 210. In this embodiment, the power source is a turntable motor 220, which is mounted on the frame 100. The rotating shaft of the turntable motor 220 is connected to the turntable 210. An auxiliary positioning bracket is provided on the turntable 210 for hanging the infusion container 10. The structure of the auxiliary positioning bracket is not limited, and no specific structure is shown in this embodiment, as long as it has hooks for hanging.

[0058] Referring to Figure 3, the turntable 210 includes a turntable body 211 and a multi-functional clamp 212.

[0059] As shown in Figure 5, the multi-functional clamp 212 includes a circular clamp body 2121. The clamp body 2121 is provided with an installation groove for installing the puncture site. The installation groove includes an upper positioning groove 21211, a limiting groove 21212, and a lower positioning groove 21213 that are connected to each other along the axis. The upper positioning groove 21211, the limiting groove 21212, and the lower positioning groove 21213 form openings on the side wall of the clamp body 2121, and the ends away from the openings are all designed with arcs, so that the upper positioning groove 21211, the limiting groove 21212, and the lower positioning groove 21213 are U-shaped in general. The arc design can better fit the puncture site.

[0060] The upper positioning groove 21211 and the lower positioning groove 21213 penetrate the upper and lower end faces of the fixture body 2121, respectively. The width of the upper positioning groove 21211 is smaller than that of the lower positioning groove 21213, and the width of the lower positioning groove 21213 is smaller than that of the limiting groove 21212.

[0061] A limiting flange 21214 is formed on the outer wall of the clamp body 2121. The limiting flange 21214 is provided to enable the multi-functional clamp 212 to be axially positioned after it is rotatably mounted on the turntable 210.

[0062] The limiting groove 21212 is used to engage the circular step below the puncture port of single-headed and double-headed infusion containers 10, thereby limiting the vertical position of the infusion container 10. The upper positioning groove 21211 is narrower than the lower positioning groove 21213, allowing the width of the lower positioning groove 21213 to accommodate large-diameter single-headed containers. The upper positioning groove 21211 and the lower positioning groove 21213 are used to engage the puncture port above and below the circular step. After the puncture port is engaged, rotating the multi-functional clamp 212 closes the opening through the inner wall of the turntable 210 used to install the multi-functional clamp 212, thus fixing the puncture port.

[0063] As shown in Figure 6, the clamp body 2121 is provided with an elastic push component 2122 for providing a tendency force to move outward toward the puncture site of the infusion container 10.

[0064] The elastic pushing component 2122 includes a U-shaped movable latch 21221 that is slidably mounted on the clamp body 2121, and an elastic element 21222 for providing a sliding tendency force. The U-shaped opening of the U-shaped movable latch 21221 faces the opening. In this embodiment, a sliding rod 21223 is provided at the bottom of the clamp body 2121. The U-shaped movable latch 21221 is slidably mounted on the sliding rod 21223. The elastic element 21222 is a spring and is sleeved on the sliding rod 21223.

[0065] With the above setup, after the puncture port is inserted into the clamp body, under normal circumstances, the elastic pusher will push the puncture port out of the clamp body 2121. Therefore, after the puncture port is installed, the multi-functional clamp 212 is rotated as a whole. At this time, the puncture port will be pushed against the inner wall of the turntable 210 by the elastic pusher to form a position. In this way, the trend force provided by the elastic pusher 2122 can form a better position. Therefore, it can also achieve a good fixing effect for some puncture ports that have gaps after installation and cannot be fixed.

[0066] As shown in Figures 7 and 8, a plug-type limiting block 2123 for compensating for the size of the puncture site is detachably installed on the clamp body 2121. The plug-type limiting block 2123 is slidably installed on at least one of the upper positioning groove 21211, the limiting groove 21212, and the lower positioning groove 21213. In this embodiment, the plug-type limiting block 2123 is slidably installed on the lower positioning groove 21213. In use, the plug-type limiting block 2123 and the elastic pushing component 2122 are located on both sides of the puncture site.

[0067] The plug-type limiting block 2123 is designed to compensate when positioning the puncture site of the smallest cross-shaped tube opening. Under the action of the elastic pushing component 2122, the plug-type limiting block 2123 abuts against the inner wall of the turntable 210, so that the puncture site can be located in the center of the multi-functional clamp 212, which ensures alignment with the puncture needle and avoids excessive deviation of the puncture site from the puncture needle's puncture path.

[0068] As shown in Figures 3 and 4, the turntable body 211 includes a main body 2111 and a limiting plate 2112. The main body 2111 is provided with mounting holes 21111 for the multi-functional clamp 212 to be inserted in one direction. In this embodiment, four multi-functional clamps 212 are provided, and correspondingly, four mounting holes 21111 are also provided. The four mounting holes 21111 are evenly and equidistantly distributed around the center of the main body 2111.

[0069] The mounting hole 21111 has a clearance opening 21112 on the side wall of the main body 2111 for inserting the puncture port. The limiting plate 2112 is installed on the main body 2111 for axial positioning of the multi-functional clamp 212.

[0070] In addition, since the outer diameters of the different parts of the puncture site are different, the clearance opening 21112 needs to have multiple opening sizes. Therefore, the preferred main body 2111 is a structure formed by stacking at least two discs. That is, the heights of the three slots, namely the upper positioning slot 21211, the limiting slot 21212 and the lower positioning slot 21213, are made of discs with different outer diameters. In this way, clearance openings 21112 with multiple opening sizes can be directly formed.

[0071] The limiting plate 2112 has multiple slots 21121 that correspond one-to-one with the mounting holes 21111, and the slots 21121 partially overlap with the mounting holes 21111. During installation, the multi-functional clamp 212 is inserted into the mounting holes 21111 from bottom to top, and then the limiting plate 2112 is installed to the bottom of the main body 2111. The multi-functional clamp 212 is axially positioned by the limiting plate 2112, so that the multi-functional clamp 212 can be rotatably installed on the turntable body 211.

[0072] As shown in Figures 1 and 2, the scanning mechanism 600 includes a scanning head 610 for scanning labels on the infusion container 10, and a rotating source 620 for driving the scanning head 610 to rotate. The rotating source 620 is a motor, which is mounted on the frame 100. The scanning head 610 is connected to the rotating shaft of the rotating source 620 via a rotating arm.

[0073] A first display screen 800 is also installed on the frame 100. The first display screen 800 has a built-in processing module and a communication module. The scanning head 610 is connected to the first display screen 800. The communication method can be wired or wireless communication. The scanning information of the scanning head 610 is displayed on the first display screen 800, including infusion information, patient information, and order information. The order information refers to the infusion sequence, which is manually entered by the operator or obtained from the terminal. The information on the terminal can be entered by the operator such as a doctor or nurse.

[0074] As shown in Figure 2, the automatic puncture mechanism 300 corresponds to the puncture station of the transfer mechanism 200 and is used to control the raising and lowering of the puncture needle. It includes a puncture needle mounting seat 310 for detachably mounting the puncture needle and a puncture electric push rod 320 for controlling the movement of the puncture needle mounting seat 310.

[0075] A puncture needle actuator 320 is mounted on the frame 100. The telescopic rod of the puncture needle actuator 320 is connected to a connecting plate 330, which is connected to a puncture needle mounting base 310. A guide rod 340 is also slidably mounted on the frame 100. The guide rod 340 is parallel to the telescopic rod of the puncture needle actuator 320, and one end of the guide rod 340 is connected to the connecting plate 330. The puncture needle mounting base 310 has a mounting groove for the puncture needle to be inserted and engaged. Preferably, a micro switch is provided in the mounting groove of the puncture needle mounting base 310. When the puncture needle is engaged in the mounting groove, the micro switch can be pressed. Correspondingly, the micro switch can be used in conjunction with an indicator light, an alarm, or in linkage with the first display screen 800 and / or the second display screen to make the engagement status of the puncture needle visible.

[0076] The drip monitoring module 500 is located below the automatic puncture mechanism 300, and has a groove for embedding the burette. In addition, a turbidity sensor and a color sensor can also be installed on the frame 100. The turbidity sensor monitors the turbidity of the drip on the infusion tube or the infusion container 10, and outputs abnormal information by detecting turbidity and color.

[0077] As shown in Figures 9 and 10, the disinfection mechanism 400 is located at the disinfection station and includes a cotton swab disinfection execution component 410, a cotton swab transport component 420, a cotton swab feeding component 430, a cotton swab unloading component 440, and a disinfection component 450 installed on the frame 100.

[0078] The cotton swab disinfection execution component 410 includes at least one gripper 411 for grasping cotton swabs, and a drive source 412 for driving the gripper 411 to move at a picking station, a loading station, and a unloading station. In this embodiment, there is only one gripper 411, which has a C-shaped slot for the cotton swab to be inserted. The C-shaped slot and the cotton swab are fitted with a gap. When in use, the cotton swab needs a certain amount of force to be inserted into the C-shaped slot, but after it is inserted, it can slide freely up and down in the C-shaped slot.

[0079] It should be noted that, in addition to the structure described above, when multiple grippers 411 are configured, they can be arranged in a unidirectional rotation configuration instead of the reset design described above. That is, multiple grippers 411 can form a straight line or a cross-shaped structure.

[0080] The cotton swab transport component 420 is located at the material handling station. It only needs to be able to automatically transport cotton swabs to the discharge end. Different structures can be adopted depending on the level of automation. In this embodiment, a spring-driven structure design is used. It adopts a storage shell structure with an arc-shaped channel inside the storage shell for placing cotton swabs. A spring is set at one end of the channel to push the cotton swabs in the channel, so that they move automatically towards the discharge end.

[0081] The cotton swab conveying component 420 has an opening on one side of its discharge end. When the gripper 411 moves to the picking station, it picks up the cotton swab, and when it moves out of the picking station, it removes the cotton swab from the opening.

[0082] The cotton swab feeding assembly 430 is located at the feeding station and is used to drive the cotton swabs above it to rotate and rise on the gripper 411. It includes a rotary lifting motor 431 and a cotton swab fixing cylinder 432 mounted on the output shaft of the rotary lifting motor 431. The cotton swab fixing cylinder 432 has an inner hole that is interference-fitted with the cotton swab, and the opening of the inner hole is funnel-shaped.

[0083] In addition, the cotton swab feeding component 430 can also be replaced by other components to replace the rotary lifting motor 431, as long as it can be lifted and rotated at the same time, such as a combination structure of a lifting device and a rotary motor.

[0084] The cotton swab unloading assembly 440 is located at the unloading station and is used to unload cotton swabs from the gripper 411. It includes a storage box 442 and an unloading component 441 located above the storage box 442. Both the storage box 442 and the unloading component 441 are mounted on the frame 100. The unloading component 441 consists of two parallel blocking plates, through which the gripper 411 can pass. When the gripper 411 moves to the unloading station, the cotton swab on the gripper 411 is restricted after contacting the unloading component 441, and the gripper 411 continues to move and separates from the cotton swab.

[0085] The disinfection assembly 450 is used to disinfect cotton swabs located at the loading station. It includes a disinfection bottle 451 and a drive unit 452 for controlling the spray of the disinfection bottle 451. The drive unit 452 is mounted on the frame 100 and is an electromagnetic push rod. A mounting plate 453 is mounted on its movable rod. The disinfection bottle 451 is mounted on the mounting plate 453 by snap-fit. The nozzle of the disinfection bottle 451 faces upwards from the loading station.

[0086] The disinfection bottle 451 adopts a press-type structure. The press head at its upper end abuts against an adjusting bolt 454 on the frame 100. When the mounting plate 453 is moved by the electromagnetic push rod, the disinfection bottle 451 is moved along with it. During the movement of the disinfection bottle 451, the press head of the disinfection bottle 451 is restricted, thereby forming a pressing effect, so that the disinfection bottle 451 sprays disinfection.

[0087] In addition, the disinfection component 450 can also be equipped with an ultraviolet germicidal lamp 455 to achieve better disinfection through two methods.

[0088] As shown in Figures 11 and 12, the cap removal mechanism 900 includes a removal device 920 for removing cap-type sterile protective caps, a hook device 910 for removing ring-type sterile protective caps, and an obstacle avoidance device 930.

[0089] The removal device 920 includes a cutting wrench 921 and a cutting motor 922 for driving the cutting wrench 921 to rotate for auxiliary cutting. The cutting motor 922 is mounted on the frame 100. The direction of rotation of the cutting wrench 921 driven by the cutting motor 922 is opposite to the direction of rotation of the turntable 210. The cutting wrench 921 is located in front of the piercing station.

[0090] When the transfer mechanism 200 moves the infusion container 10 from the disinfection station to the puncture station, if there is still an unremoved cap-type sterile protective cap on the puncture container, the cap-type sterile protective cap will come into contact with the cutter-type ring 921 and remove the cap-type sterile protective cap during the movement of the infusion container 10.

[0091] The hook device 910 is located in front of the puncture station. The hook device 910 includes a pull ring limiting member 911, a hook 912 for inserting a ring-type sterile protective cap, and a discharge spring 913 for pushing the ring-type sterile protective cap out of the hook 912.

[0092] The pull ring limiting member 911 is slidably mounted on the frame 100 in the vertical direction. The hook device 910 also includes a reset member 914 for providing an upward tendency force to the pull ring limiting member 911. The hook 912 is provided on the pull ring limiting member 911. In this embodiment, it adopts an integrated design. The unloading spring 913 is sleeved on the hook 912.

[0093] The obstacle avoidance device 930 is used to push the pull ring limit member 911 downward. The obstacle avoidance device 930 includes an obstacle avoidance drive member installed on the turntable 210 and an obstacle avoidance rod controlled by the lifting and lowering of the obstacle avoidance drive member. The obstacle avoidance drive member can be a cylinder, an electromagnetic push rod, etc. The end of the obstacle avoidance rod is hammer-shaped, and its lower end has rounded corners or chamfers.

[0094] As shown in Figure 1, the interactive terminal 700 is used to verify patient or nurse information. Patient information can be verified by one or more methods, such as scanning a code, pressing a button, or using voice interaction. Preferably, it is equipped with a second display screen to enable better interactive effects.

[0095] The interactive terminal 700 is preferably detachably mounted on the frame 100, allowing it to be easily removed for operation when scanning is required. The interactive terminal 700 can be a standalone terminal device or a mobile device such as a mobile phone or tablet.

[0096] When in use, the interactive terminal 700 obtains patient information through scanning, buttons and voice, and then verifies the information of the infusion container 10 identified by the scanning mechanism 600 with the patient information. After verification and matching, the transfer mechanism 200 controls the transfer mechanism to transfer the infusion container 10 to the puncture station in sequence according to the order of the priority information in the patient information.

[0097] Specifically, the methods for assisting with intravenous infusion include the following steps:

[0098] S1. Obtain patient information through interactive terminal 700. The patient information includes name, infusion information and order information. Among them, the infusion information includes infusion type, infusion volume, infusion time and infusion rate.

[0099] Patient information can be obtained directly from the hospital's system. In addition to the information mentioned above, information such as the patient's allergies and past infusion problems can also be obtained.

[0100] S2. The first display screen 800 obtains patient information sent by the interactive terminal 700 and controls the transport mechanism 200 to rotate to obtain information from the infusion container 10.

[0101] The acquired patient information can be directly displayed on the first display screen 800 for nurses and patients to view and verify. Furthermore, it should be noted that in addition to acquiring information by controlling the rotation of the transport mechanism 200, it can also be acquired by controlling the rotation of the scanning head 610.

[0102] S3. Verify whether the information of the infusion container 10 and the infusion information match through the first display screen 800.

[0103] If a match is verified, the first display screen 800 controls the transfer mechanism 200 to rotate based on the sequence information, transferring the infusion container 10 corresponding to the first sequence to the puncture station;

[0104] If a mismatch is found, a match error warning will be sent.

[0105] During this step, the verification process can be directly displayed on the first display screen 800. For example, if the verification is correct, a checkmark will be placed or the text will turn green. If the verification is incorrect, an X will be placed or the text will turn red. This allows nurses and patients to directly check the matching status and correct errors through the first display screen 800.

[0106] S4. Receive the dripping information obtained by the dripping monitoring module 500 through the first display screen 800. The dripping information includes dripping speed, dripping time and dripping volume.

[0107] The drip information can be displayed on the first display screen 800 and / or the second display screen.

[0108] S5. Determine whether the dripping speed is within the preset range of the infusion speed through the first display screen 800. If not, send adjustment information; if so, send a stop dripping signal when the infusion volume and / or infusion time is reached based on the dripping information.

[0109] In this step, the preset infusion rate in the patient information is usually a range value. Drip control is divided into manual and automatic depending on the controller. Manual control uses the controller built into the drip tube, while automatic control uses an electronically controlled controller on the auxiliary device. However, since the infusion container 10 needs to be removed for purposes such as going to the toilet or walking, the cost of an electronically controlled controller is relatively high, so manual control is used in most cases. Manual control has lower accuracy, and some patients may adjust it themselves. Therefore, monitoring the drip rate can provide a reference for these patients and prevent unexpected situations.

[0110] S6. After the first display screen 800 obtains the stop drip signal, it sends a verification signal to the interactive terminal 700. After receiving the verification signal, the interactive terminal 700 re-obtains the patient information and sends it to the first display screen 800.

[0111] S7. The first display screen 800 compares the newly acquired patient information with the previous patient information. If not, a matching error warning is sent. If yes, the automatic puncture mechanism 300 is started, the puncture needle is pulled out downwards, and the transfer mechanism 200 is rotated based on the sequence information to transfer the next corresponding infusion container 10 to the puncture station. Then, the automatic puncture mechanism 300 is started and steps S4-S7 are repeated.

[0112] Information is checked before each infusion to prevent multiple people from removing the infusion container and accidentally hanging it incorrectly. This allows for timely detection and adjustment, avoiding medical accidents.

[0113] During steps S8 and S4-S5, the interactive terminal 700 periodically sends abnormal verification information and receives feedback information, including infusion comfort and allergy information.

[0114] If the feedback message indicates abnormal infusion comfort, then a message to reduce the drip rate will be sent.

[0115] If the feedback information is an allergy message, a danger warning and a stop-drip signal will be sent.

[0116] During steps S9 and S4-S5, when the interactive terminal 700 and / or the first display screen 800 acquire the fluid replacement information, the automatic puncture mechanism 300 is activated, the puncture needle is pulled out downwards, and the transfer mechanism 200 is rotated based on the sequence information to transfer the next corresponding infusion container 10 to the puncture station. Then, the automatic puncture mechanism 300 is activated and steps S4-S7 are repeated.

[0117] The information on fluid replacement can be obtained by scanning through the nurse or patient-medical staff interactive terminal 700, or by inputting or triggering a button on the interactive terminal 700 and the first display screen 800, or by setting a separate button on the device.

[0118] In steps S10, S3, S7 and S9, the infusion container 10 corresponding to the sequence information is moved to the puncture station to obtain the cap removal information. If the cap removal operation is required, the obstacle avoidance device 930 is activated to raise the hook device 910 and the cutter motor 922 is activated to remove the cap.

[0119] In this embodiment, the obstacle avoidance device is set to the extended state by default, meaning it retracts after activation. Conversely, it can also be set to be in the retracted state by default. In this case, it will be activated when the information obtained indicates that the cap does not need to be removed. When the cutter motor 922 is not activated, the cutter-type lever 921 will not cut the bottle cap, thus avoiding it.

[0120] The aforementioned information on removing the cover is obtained through a sensor installed on the frame 100, such as an infrared sensor. When the distance is less than a preset distance, it indicates that the cover needs to be removed.

[0121] In this step, the system automatically monitors the infusion process in real time. For example, it can collect the customer's status by displaying text confirmation on a second screen or by issuing voice inquiries at regular intervals through a voice interaction module. If the collected feedback indicates that the infusion is too fast and causing discomfort, it can remind the customer to slow down the infusion rate. Furthermore, if symptoms such as fever, rash, hemolysis, or shock occur, the system can detect them promptly and stop the infusion.

[0122] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A disinfection mechanism for an infusion injection assistive robot, characterized in that, include: The swab disinfection execution component (410) includes at least one gripper (411) for gripping swabs and a drive source (412) for moving the gripper (411) at a picking station, a loading station and a unloading station. The cotton swab delivery assembly (420) has its discharge end located at the picking station, and is used to deliver cotton swabs to the picking station; The cotton swab feeding assembly (430) is located at the feeding station and is used to drive the cotton swabs located above it to rotate and rise on the gripper (411); The cotton swab unloading assembly (440) is located at the unloading station and is used to unload cotton swabs from the gripper (411); Disinfection component (450) is used to disinfect cotton swabs located at the loading station.

2. The disinfection mechanism (400) of the infusion injection assistive robot according to claim 1, characterized in that: The gripper (411) is provided with a C-shaped slot for inserting cotton swabs, and the C-shaped slot is fitted with the cotton swab with a gap; one side of the discharge end of the cotton swab conveying component (420) is open, and the gripper (411) grabs the cotton swab when it moves to the picking station and removes the cotton swab from the opening when it moves out of the picking station. The cotton swab unloading assembly (440) includes a storage box (442) and an unloading component (441) located above the storage box (442). When the gripper (411) moves to the unloading station, the cotton swab on the gripper (411) is restricted after contacting the unloading component (441), and the gripper (411) continues to move and separates from the cotton swab.

3. The disinfection mechanism (400) of the infusion injection assistive robot according to claim 2, characterized in that: The cotton swab feeding assembly (430) includes a rotary lifting motor (431) and a cotton swab fixing cylinder (432) mounted on the output shaft of the rotary lifting motor (431). The cotton swab fixing cylinder (432) is provided with an inner hole that is interference-fitted with the cotton swab, and the opening of the inner hole is funnel-shaped. The disinfection assembly (450) includes a disinfection bottle (451), an ultraviolet germicidal lamp (455) for irradiating the puncture site, and a drive unit (452) for controlling the spray of the disinfection bottle (451), wherein the nozzle of the disinfection bottle (451) faces upwards from the loading station.

4. An infusion injection assistive robot, characterized in that, include: The disinfection mechanism (400) according to any one of claims 1-3 is located at the disinfection station; An automatic puncture mechanism (300), located at the puncture station, is used to control the raising and lowering of the puncture needle; The transfer mechanism (200) includes a turntable (210) and a power source for driving the turntable (210) to switch infusion containers (10) and to pass the infusion containers (10) sequentially through the disinfection station and the puncture station.

5. The infusion and injection assistive robot according to claim 4, characterized in that: The robot also includes a removal device (920) for removing a cap-type sterile protective cap, the removal device (920) including a cutter-type finger (921) located in front of the puncture station.

6. The infusion and injection assistive robot according to claim 5, characterized in that: The removal device (920) also includes a cutter motor (922) for driving the cutter-type finger (921) to rotate for auxiliary cutting. The direction of rotation of the cutter-type finger (921) driven by the cutter motor (922) is opposite to the direction of rotation of the turntable (210).

7. The infusion and injection assistive robot according to claim 4, 5, or 6, characterized in that: The robot also includes a hook device (910) for removing a ring-shaped sterile protective cap. The hook device (910) is located in front of the puncture station. The hook device (910) includes a pull ring limiting member (911), a hook (912) for inserting the ring-shaped sterile protective cap, and a discharge spring (913) for pushing the ring-shaped sterile protective cap out of the hook (912). The hook (912) is located on the pull ring limiting member (911), and the discharge spring (913) is sleeved on the hook (912).

8. The infusion and injection assistive robot according to claim 6, characterized in that: The pull ring limiting member (911) is slidably installed in the vertical direction, and the hook device (910) further includes a reset member (914) for providing an upward tendency force for the pull ring limiting member (911); the robot also includes an obstacle avoidance device (930) for pushing the pull ring limiting member (911) downward, the obstacle avoidance device (930) includes an obstacle avoidance drive member installed on the turntable (210), and an obstacle avoidance rod controlled by the lifting and lowering of the obstacle avoidance drive member.

9. The infusion and injection assistive robot according to claim 4, characterized in that: Multiple multi-functional clamps (212) are rotatably mounted on the turntable (210). Each multi-functional clamp (212) includes a circular clamp body (2121). The clamp body (2121) is provided with an installation groove for installing a puncture port. The installation groove forms an opening on the side wall of the clamp body (2121). The side wall of the turntable (210) is provided with an avoidance opening (21112) for inserting the puncture port into the multi-functional clamp (212). The clamp body (2121) is provided with an elastic push component (2122) for providing a tendency force to move outward to the puncture port of the infusion container (10). The clamp body (2121) is detachably equipped with a plug-type limiting block (2123) for compensating for the size of the puncture site. The plug-type limiting block (2123) is slidably installed in the mounting groove. In use, the plug-type limiting block (2123) and the elastic pushing component (2122) are located on both sides of the puncture site.

10. The infusion and injection assistive robot according to claim 4, characterized in that: The auxiliary robot also includes a scanning head (610) for scanning labels on infusion containers (10) and a rotating source (620) for driving the scanning head (610) to rotate.

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