A robotic device for applying medicine and stopping bleeding

Abstract

The present invention relates to a robot device for drug application and hemostasis, comprising a mobile support module, a drug release module, a soft adsorption module, a cotton strip fixing module and a hemostatic cotton strip. The soft adsorption module comprises a control component, a vacuum adsorption component and two soft bending components, the soft bending components are symmetrically arranged on both sides of the vacuum adsorption component, the control component is arranged at one end of the vacuum adsorption component, each soft bending component comprises a plurality of air chamber units interconnected, all air chamber units share a bottom plate and side plates on both sides, each air chamber unit is provided with arc-shaped silicone walls on both sides, a silicone top is provided on the top, the upper end of the silicone wall is connected to the silicone top, the lower end of the silicone wall is connected to the silicone wall of the adjacent air chamber unit and a gap is left between the bottom plate. Compared with the prior art, the present invention is conducive to reducing the tediousness and time-consuming of drug application and hemostasis, enhancing accuracy; saving labor costs, and eliminating the risks of blood contact and cross infection between doctors and patients.

Description

Technical Field

[0001] The invention relates to the field of medical robots, and in particular to a robot device used for applying medicines and stopping bleeding. Background Art

[0002] Traditional medicine relies heavily on manually applying medicine or pressing cotton swabs and tampons to stop bleeding, especially in the medical process of venipuncture. After completing the hemostatic bandage, medical staff usually use 2.5% iodine to disinfect the skin and 75% alcohol to deiodine. After drying, hold the needle handle with the right hand, select the insertion angle, and ask the patient to make a fist before inserting the needle to complete the venipuncture. After the venipuncture, since the blood vessels are damaged by the needle puncture after the venipuncture, the patient needs to actively hold the sanitary cotton swab or tampon and continuously press the puncture site to inhibit blood outflow. In this traditional medical activity, at least one medical staff and the patient himself need to actively cooperate to complete the series of operations, which greatly increases the cumbersomeness of the steps. In particular, during the large-scale collective health treatment of various epidemics, this traditional medical method increases the time-consuming medical treatment and the risk of cross-infection between doctors and patients, exposing the limitations of being unsuitable for large-scale patients, long time and low efficiency. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a robot device for drug application and hemostasis, which realizes fully automated drug spraying, disinfection and hemostasis.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] A robot device for drug application and hemostasis, comprising a mobile support module, a drug release module, a soft adsorption module, a tampon fixing module and a hemostatic tampon, wherein the mobile support module comprises a first support rod, the soft adsorption module is connected to the lower end of the first support rod, the drug release module comprises a support frame and a spraying unit located at both ends of the support frame, the middle of the support frame is vertically connected to the middle of the first support rod, and the hemostatic tampon is arranged on the tampon fixing module; the soft adsorption module comprises a control component, a vacuum adsorption component and two soft bending components, the soft bending components are symmetrically arranged on both sides of the vacuum adsorption component, the control component is arranged at one end of the vacuum adsorption component, and is respectively connected to the two soft bending components and the vacuum adsorption component, each soft bending component comprises a plurality of air chamber units interconnected, all air chamber units share a bottom plate and side plates on both sides, arc-shaped silicone walls are arranged on both sides of each air chamber unit, a silicone top is arranged on the top, the upper end of the silicone wall is connected to the silicone top, the lower end of the silicone wall is connected to the silicone wall of the adjacent air chamber unit and a gap is left between the bottom plate.

[0006] Furthermore, the vacuum adsorption assembly includes multiple suction cup units and a common air cavity composed of an upper plate and a lower plate, each suction cup unit includes an adsorption cavity and a silicone sealing ring, one end of the adsorption cavity is connected to the common air cavity, and the other end is connected to the silicone sealing ring, and the common air cavity is also connected to the control assembly.

[0007] Furthermore, the control component includes a micro air pump, a two-position four-way solenoid valve, a first air port, a second air port and a ventilation port. The two-position four-way solenoid valve is respectively connected to the first air port, the second air port, the ventilation port and the micro air pump. The first air port is connected to the air chamber unit of two soft bending components, and the second air port is connected to the vacuum adsorption component.

[0008] Furthermore, the tampon fixing module includes a fixing seat and a tampon adsorption module, and the suction cups of the tampon adsorption module are distributed on the top of the fixing seat.

[0009] Furthermore, a placement groove is provided on the top of the fixing seat, the hemostatic tampon is placed in the placement groove, and the suction cup of the tampon adsorption module is located in the placement groove.

[0010] Furthermore, the hemostatic tampon includes a surface layer, a tampon layer and a sealing paper. The tampon layer is located at the center of the lower end surface of the surface layer. A glue coating area is also provided on the lower end surface of the surface layer and distributed on both sides of the tampon layer. The sealing paper is located below the tampon layer and has a length less than that of the surface layer. Both ends of the sealing paper are connected to the glue coating area and the middle is covered with the tampon layer.

[0011] Furthermore, the mobile support module also includes a second support rod, a third support rod, a first linear motor and a second linear motor, the first linear motor is installed on the second support rod, one end of the third support rod is connected to the sliding end of the first linear motor, the second linear motor is installed on the third support rod, and the upper end of the first support rod is connected to the sliding end of the second linear motor.

[0012] Furthermore, a lifting unit is provided between the upper end of the first support rod and the sliding end of the second linear motor.

[0013] Furthermore, a hard block is provided on the top of the silica gel.

[0014] Furthermore, a pressure sensor is provided on the bottom plate.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] 1. The present invention uses a robot to realize automated processing through the design of a mobile support module, a drug release module, a soft adsorption module, a tampon fixing module and a hemostatic tampon, which is beneficial to reducing the tediousness and time-consuming of drug application and hemostasis and enhancing accuracy; it saves the manpower cost of medical staff and eliminates the risk of blood contact and cross infection between doctors and patients.

[0017] 2. The soft adsorption module of the present invention is designed to include a control component, a vacuum adsorption component and two soft bending components. The pneumatic principle is used to break the inherent limitations of traditional hard pressure plates or hard smear plates. The soft adsorption module can bend upward and cooperate with the tampon fixing module to peel off the sealing paper of the hemostatic tampon; bending downward can better fit the human arm, greatly increasing the comfort of the user.

[0018] 3. The present invention replaces the traditional tampon stick or sanitary gauze with a newly designed hemostatic tampon, and peels off the sealing paper of the hemostatic tampon on site through the cooperation of the soft adsorption module and the tampon fixing module, which effectively ensures medical hygiene and avoids the invasion of dust or germs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the mobile support module.

[0021] Figure 3 Schematic diagram of the structure of the drug release module.

[0022] Figure 4 This is a structural diagram of the software adsorption module.

[0023] Figure 5 This is a schematic diagram of the decomposition structure of the software adsorption module.

[0024] Figure 6 This is a schematic diagram of the structure of the soft bending component.

[0025] Figure 7 A schematic diagram of the control component.

[0026] Figure 8 A schematic diagram of the structure of a hemostatic tampon.

[0027] Fig. 9 It is a structural schematic diagram of the sliver adsorption module.

[0028] Reference numerals:

[0029] 1. Mobile support module, 11. First support rod, 12. Second support rod, 13. Third support rod, 14. First linear motor, 15. Second linear motor, 16. Lifting unit, 2. Drug release module, 21. Support frame, 21a. Volumetric flask, 21b. Release port, 22. Spraying unit, 3. Soft adsorption module, 31. Soft bending component, 311. Air chamber unit, 31a. Bottom plate, 31b. Side plate, 31c. Silicone wall, 31d. Silicone top, 31e. Hard block, 31f. Pressure sensor, 32. Vacuum adsorption component, 32a. Suction cup unit, 32a-1. Adsorption chamber, 32a-2, silicone sealing ring, 32b, common air chamber, 33, control component, 33a, micro air pump, 33b, four-way solenoid valve, 33c, first air port, 33d, second air port, 33e, ventilation port, 33f, first normally closed solenoid valve, 33g, second normally closed solenoid valve, 4, sliver fixing module, 41, fixing seat, 42, sliver adsorption module, 42a, sliver vacuum pump, 42b, two-position three-way solenoid valve, 42c, sliver normally closed solenoid valve, 42d, sliver adsorption chamber, 5, hemostatic sliver, 51, surface layer, 52, sliver layer, 53, sealing paper, 54, glue coating area. DETAILED DESCRIPTION

[0030] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0031] like Figure 1 As shown, this embodiment provides a robot device for drug application and hemostasis, including a mobile support module 1, a drug release module 2, a soft adsorption module 3, a tampon fixing module 4 and a hemostatic tampon 5.

[0032] Mobile support module 1 Figure 2As shown, it includes a first support rod 11, a second support rod 12, a third support rod 13, a first linear motor 14, a second linear motor 15 and a lifting unit 16. The second support rod 12 is used to connect an external robot arm or a moving device. The first linear motor 14 is installed on the second support rod 12, and one end of the third support rod 13 is connected to the sliding end of the first linear motor 14, so that the second support rod 12 and the third support rod 13 are horizontally and vertically connected, so that the third support rod 13 can translate along the axial direction of the second support rod 12. The second linear motor 15 is installed on the third support rod 13, and the upper end of the first support rod 11 is connected to the sliding end of the second linear motor 15 through the lifting unit 16, so that the first support rod 11 and the third support rod 13 are vertically connected in the vertical plane, and the first support rod 11 can translate along the axial direction of the third support rod 13. The lifting unit 16 is provided with a motor and a gear inside, and the first support rod 11 is driven by the motor to move up and down along its own axis. The specific structure of the lifting unit 16 is an existing mature technology, so it will not be expanded.

[0033] Drug release module 2 Figure 3 As shown, it includes a support frame 21 and a spraying unit 22 located at both ends of the support frame 21. The middle of the support frame 21 is vertically connected to the middle of the first support rod 11. Each spraying unit 22 includes a volumetric bottle 21a and a release port 21b, and the volumetric bottle 21a is respectively filled with 2.5% iodine tincture and 75% alcohol deiodine. The release port 21b is controlled by a solenoid valve. When the drug needs to be released to the target injection site, the release port 21b is opened to spray the liquid in the volumetric bottle 21a. The spraying unit 22 and the support frame 21 are detachably connected.

[0034] Software adsorption module 3 Figures 4 to 6 As shown, it includes a control component 33, a vacuum adsorption component 32 and two soft bending components 31. The soft bending components 31 are symmetrically arranged on both sides of the vacuum adsorption component 32. The control component 33 is arranged at one end of the vacuum adsorption component 32 and is respectively connected to the two soft bending components 31 and the vacuum adsorption component 32.

[0035] Each soft bending component 31 includes a plurality of air chamber units 311 that are interconnected. All air chamber units 311 share a bottom plate 31a and side plates 31b at the front and rear sides. Each air chamber unit 311 is provided with arc-shaped silicone walls 31c on both sides and a silicone top 31d on the top. The upper end of the silicone wall 1c is connected to the silicone top 31d, and the lower end of the silicone wall 31c is connected to the silicone wall 31c of the adjacent air chamber unit 311, and a gap is left between the connection and the bottom plate 31a. A hard block 31e is provided on the silicone top 31d, such as hard silicone, hard plastic, etc. Thus, when the air chamber unit 311 is filled with gas, the silicone walls 31c of the two connected air chamber units are pushed up, so that the silicone top 31d of each air chamber unit 311 is separated, and the entire soft bending component 31 is bent downward into a "door" shape to fit the patient's arm; when the air chamber unit 311 is deflated, the silicone top 31d of each air chamber unit 311 closes together under the elasticity of the silicone wall 31c, so that the entire soft bending component 31 is bent upward into a "U" shape. Pressure sensors 31f are also provided at both ends of the bottom plate 31a to monitor the fit with the arm.

[0036] The vacuum adsorption component 32 includes a plurality of suction cup units 32a and a common air cavity 32b composed of an upper side plate and a lower side plate. Each suction cup unit 32a includes an adsorption cavity 32a-1 and a silicone seal ring 32a-2. One end of the adsorption cavity 32a-1 is connected to the common air cavity 32b, and the other end is connected to the silicone seal ring 32a-2. The common air cavity 32b is also connected to the control component 33. The vacuum adsorption component 32 is deformed as the soft bending component 31 is bent, and the deformation amplitude is the same as that of the soft bending component 31.

[0037] Control component 33 such as Figure 7 As shown, it includes a micro air pump 33a, a two-position four-way solenoid valve 33b, a first air port 33c, a second air port 33d and a ventilation port 33e. The two-position four-way solenoid valve 33b is connected to the first air port 33c, the second air port 33d, the third air port and the micro air pump 33a respectively. The first air port 33c is connected to the air chamber unit 311 of the two soft bending components 31, the second air port 33d is connected to the vacuum adsorption component 32, and a first normally closed solenoid valve 33f is provided between the second air port 33d and the vacuum adsorption component 32, and a second normally closed solenoid valve 33g is provided on the connecting pipe of the first air port 33c. Thus, the control component 33 can complete the inflation, deflation and pressure maintenance of the vacuum adsorption component 32 and the soft bending component 31.

[0038] The tampon fixing module 4 and the hemostatic tampon 5 can be located together below the soft adsorption module 3 , and the hemostatic tampon 5 is arranged on the tampon fixing module 4 .

[0039] Hemostatic tampons 5 Figure 8As shown, it includes a surface layer 51, a sliver layer 52 and a sealing paper 53. The sliver layer 52 is located at the center of the lower end surface of the surface layer 51, and a glue coating area 54 is also provided on the lower end surface of the surface layer 51, distributed on both sides of the sliver layer 52. The sealing paper 53 is located below the sliver layer 52, and its length is less than that of the surface layer 51. Both ends of the sealing paper 53 are connected to the glue coating area 54, and the middle covers the sliver layer 52.

[0040] The tampon fixing module 4 includes a fixing seat 41 and a tampon adsorption module 42, and the suction cups of the tampon adsorption module 42 are distributed on the top of the fixing seat 41. The top of the fixing seat 41 can also be provided with a placement groove (not shown in the figure), and the hemostatic tampon 5 is placed in the placement groove, and the suction cups of the tampon adsorption module 42 are located in the placement groove. The tampon adsorption module 42 can generally use an existing electronic suction cup. In this embodiment, the tampon adsorption module 42 includes a tampon suction pump 42a, a two-position three-way solenoid valve 42b, a tampon normally closed solenoid valve 42c and a tampon adsorption chamber 42d connected in sequence. When it is necessary to fix the hemostatic tampon 5, the two-position three-way solenoid valve 42b is energized, connecting the tampon normally closed solenoid valve 42c and the tampon vacuum pump 42a. The tampon normally closed solenoid valve 42c is energized to keep the air cavity unobstructed, and the tampon vacuum pump 42a works to extract the air inside the tampon fixing module 4, so that the different air pressures inside and outside form pressure on the tampon, and the tampon normally closed solenoid valve 42c is powered off and closed to maintain pressure. After the software adsorption module 3 completes the stripping and adsorption of the hemostatic tampon 5 packaging, the two-position three-way solenoid valve 42b is powered off, connecting the tampon normally closed solenoid valve 42c and the air release port, and the tampon normally closed solenoid valve 42c is powered on and opened, so that the air pressures inside and outside the tampon fixing module 4 are consistent, and the fixation of the hemostatic tampon 5 is released.

[0041] The working principle of this embodiment is:

[0042] First, after the patient places his arm or back of the hand steadily, he selects the venous puncture site. After completing the target positioning, the soft adsorption module 32 and the drug release module 23 can realize horizontal movement and up and down displacement through the mobile support module 1. While the soft adsorption module 3 and the drug release module 2 are moved, the spray unit 22 is used to release 2.5% iodine for disinfection. At the same time, the cotton strip fixing module 4 works to implement vacuum adsorption and fixation of the hemostatic cotton strip 5. The soft bending component 31 of the soft adsorption module 3 is inflated to expand the air chamber unit 311, and the soft bending component 31 is automatically deformed to transform the upward arc into a straight line, and the vacuum adsorption component 32 is aligned with the hemostatic cotton strip 5 above the cotton strip fixing module 4 through the mobile support module 1. Then, the vacuum adsorption component 32 works to realize vacuum adsorption at both ends of the hemostatic cotton strip 5. Then, the soft bending component 31 is deflated to make it become an arc bent upward, drive the vacuum adsorption component 32 to deform, roll up the two ends of the surface layer 51 of the hemostatic cotton strip 5, and complete the peeling of the sealing paper 53. Finally, the sucked hemostatic cotton strip 5 is moved to the upper part of the target position of the venous puncture, and the spray unit 22 is used to release 75% alcohol deiodination. The soft bending component 31 of the soft adsorption module 3 is inflated to expand the air chamber unit 311, and the soft bending group is automatically deformed, changing the upward arc to a downward arc, and gradually descending to fit the arm. After fitting the arm, according to the data feedback of the pressure sensor 31f, the air volume of the air chamber unit 311 is adjusted to control the degree of deformation, and the fitting of the hemostatic cotton strip 5 to the arm is completed.

[0043] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A robot device for applying medicine and stopping bleeding, characterized in that: The invention comprises a movable support module (1), a drug release module (2), a soft adsorption module (3), a tampon fixing module (4) and a hemostatic tampon (5), wherein the movable support module (1) comprises a first support rod (11), the soft adsorption module (3) is connected to the lower end of the first support rod (11), the drug release module (2) comprises a support frame (21) and a spraying unit (22) located at both ends of the support frame (21), the middle of the support frame (21) and the middle of the first support rod (11) are vertically connected, and the hemostatic tampon (5) is arranged on the tampon fixing module (4); the soft adsorption module (3) comprises a control component (33), a vacuum adsorption component (32) and two soft bending components (31), and the soft bending components ( 31) are symmetrically arranged on both sides of the vacuum adsorption component (32), the control component (33) is arranged at one end of the vacuum adsorption component (32), and is respectively connected to the two soft bending components (31) and the vacuum adsorption component (32), each soft bending component (31) includes a plurality of air chamber units (311) that are interconnected, all the air chamber units (311) share a bottom plate (31a) and side plates (31b) on both sides, each air chamber unit (311) is provided with arc-shaped silicone walls (31c) on both sides, and a silicone top (31d) is provided on the top, the upper end of the silicone wall (31c) is connected to the silicone top (31d), and the lower end of the silicone wall (31c) is connected to the silicone wall (31c) of the adjacent air chamber unit (311) and a gap is left between the silicone wall (31c) and the bottom plate (31a); The vacuum adsorption component (32) comprises a plurality of suction cup units (32a) and a common air cavity (32b) composed of an upper side plate and a lower side plate, each suction cup unit (32a) comprises an adsorption cavity (32a-1) and a silicone sealing ring (32a-2), one end of the adsorption cavity (32a-1) is connected to the common air cavity (32b), and the other end is connected to the silicone sealing ring (32a-2), and the common air cavity (32b) is also connected to the control component (33); The control component (33) comprises a micro air pump (33a), a two-position four-way solenoid valve (33b), a first air port (33c), a second air port (33d) and a ventilation port (33e); the two-position four-way solenoid valve (33b) is respectively connected to the first air port (33c), the second air port (33d), the ventilation port (33e) and the micro air pump (33a); the first air port (33c) is connected to the air chamber units (311) of the two soft bending components (31); and the second air port (33d) is connected to the vacuum adsorption component (32); The hemostatic tampon (5) comprises a surface layer (51), a tampon layer (52) and a sealing paper (53); the tampon layer (52) is located at the center of the lower end surface of the surface layer (51); a glue coating area (54) is also provided on the lower end surface of the surface layer (51) and distributed on both sides of the tampon layer (52); the sealing paper (53) is located below the tampon layer (52) and has a length shorter than that of the surface layer (51); the two ends of the sealing paper (53) are connected to the glue coating area (54) and the middle part covers the tampon layer (52); The mobile support module (1) further comprises a second support rod (12), a third support rod (13), a first linear motor (14) and a second linear motor (15), wherein the first linear motor (14) is mounted on the second support rod (12), one end of the third support rod (13) is connected to the sliding end of the first linear motor (14), the second linear motor (15) is mounted on the third support rod (13), and the upper end of the first support rod (11) is connected to the sliding end of the second linear motor (15); A lifting unit (16) is provided between the upper end of the first support rod (11) and the sliding end of the second linear motor (15); A hard block (31e) is provided on the silica gel top (31d); The bottom plate (31a) is provided with a pressure sensor (31f).

2. A robot device for applying medicine and stopping bleeding according to claim 1, characterized in that: The tampon fixing module (4) comprises a fixing seat (41) and a tampon adsorption module (42), and the suction cups of the tampon adsorption module (42) are distributed on the top of the fixing seat (41).

3. A robot device for applying medicine and stopping bleeding according to claim 2, characterized in that: The top of the fixing seat (41) is provided with a placement groove, the hemostatic tampon (5) is placed in the placement groove, and the suction cup of the tampon adsorption module (42) is located in the placement groove.

Images