An in-situ electrospinning spray hemostasis robot

Abstract

The application belongs to the technical field of medical equipment and relates to an in-situ electrostatic spinning spraying hemostasis robot. The robot comprises a moving base, a first U-shaped frame is arranged on the moving base and slides transversely, a spraying mechanism is arranged on one side of the first U-shaped frame, a first electric push rod is fixedly installed on the upper end of the first U-shaped frame, a second U-shaped frame is fixed to the top end of the push rod of the first electric push rod, and a disinfecting and hemostatic mechanism is installed on the second U-shaped frame. Through relative movement of the first fixed frame and the second fixed frame, the disinfecting cotton and the hemostatic cotton are quickly switched, then the hemostatic cotton is pressed against the wound to press and hemostasis the wound. The robot can disinfect the wound, then quickly switch the state to hemostasis the wound, and additional disinfection machine is not needed, so that the wound can be more safely treated. Through the spraying mechanism, electrostatic spinning liquid can be sprayed on the wound to form a protective film on the surface of the wound to protect the wound and promote healing of the wound.

Description

Technical Field

[0001] The invention belongs to the technical field of medical equipment and relates to an in-situ electrostatic spinning spray hemostasis robot. Background Art

[0002] In recent years, electrospun fibers and their membranes have attracted considerable attention in wound healing due to their high surface area, high porosity, and controllable morphology. Electrospun membranes physically isolate viruses and bacteria while also being breathable and moisturizing, creating a favorable healing environment for wounds. Furthermore, the diameter of the electrospun fibers and the pore size of the membranes are similar to those of the extracellular matrix, promoting cell growth, accelerating wound healing, and reducing scarring, offering unique advantages in wound dressings.

[0003] On battlefields, at disaster sites, or in extreme circumstances, the harsh environment, inconvenient transportation, or emergency situations can hinder rescue workers from providing timely treatment to the wounded. Disinfection and hemostasis often require the assistance of medical personnel. In the absence of medical personnel, delayed disinfection and hemostasis can lead to infections and worsening of the patient's condition. Currently, mechanical hemostatic devices used in medical practice primarily utilize compression hemostasis, applying pressure to the wound to achieve hemostasis. However, prior to hemostasis, the wound must be disinfected to reduce the risk of infection. Current hemostatic devices lack a disinfecting function. Furthermore, after hemostasis is complete, the wound must be treated with medication to protect it and facilitate healing. This often requires the assistance of medical personnel, and in the absence of rescue personnel, timely treatment is impossible.

[0004] In order to solve the above problems, the present invention proposes an in-situ electrospinning spray hemostasis robot. Summary of the Invention

[0005] In order to solve the problems existing in the background technology, the present invention proposes an in-situ electrospinning spray hemostasis robot.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows:

[0007] A movable seat, on which a first U-shaped frame is laterally slidably provided; a spraying mechanism is provided on one side of the first U-shaped frame;

[0008] A first electric push rod is fixedly mounted on the upper end of the first U-shaped frame, a second U-shaped frame is fixed to the top end of the push rod of the first electric push rod, and a disinfection and hemostasis mechanism is mounted on the second U-shaped frame, the disinfection and hemostasis mechanism comprising a first fixed frame, a second fixed frame, and a diaphragm;

[0009] One side of the diaphragm can be detachably mounted with sterilizing cotton, and the other side of the diaphragm can be detachably mounted with hemostatic cotton; the diaphragm is fixed between the first fixing frame and the second fixing frame; the first fixing frame and the second fixing frame are laterally movable and arranged between the two ends of the second U-shaped frame; the first fixing frame (7) and the second fixing frame move toward or away from each other to drive the diaphragm to fold inside and outside;

[0010] The first fixing frame and the second fixing frame have the same shape; the cross-sectional area of ​​the first fixing frame is larger than the cross-sectional area of ​​the second fixing frame.

[0011] Furthermore, crawlers are installed on both sides of the movable seat.

[0012] Furthermore, a U-shaped slot linear motor is symmetrically mounted on the upper end surface of the movable seat, and the first U-shaped frame is mounted between the two U-shaped slot linear motors.

[0013] Furthermore, the spraying mechanism includes a fixed plate, a second electric push rod, and a spray head;

[0014] The fixing plate is fixed on the first U-shaped frame, the base of the second electric push rod is fixedly mounted on the fixing plate, and the spray head is fixedly mounted on the top end of the push rod of the second electric push rod.

[0015] Furthermore, the nozzle is connected to an electrostatic spinning device.

[0016] Furthermore, the second U-shaped frame is provided with a first driving component for driving the first fixed frame to move laterally; the second U-shaped frame is also provided with a second driving component for driving the second fixed frame to move laterally.

[0017] Furthermore, the first driving assembly includes a first sliding rod, a first threaded rod, a first connecting block, and a first motor;

[0018] The first sliding rod is fixed between the two ends of the second U-shaped frame; the first connecting block is provided with a first sliding hole, the first sliding rod passes through the first sliding hole, and is slidably engaged with the first connecting block;

[0019] The first connecting block is threadedly connected to the first threaded rod; the lower end of the first connecting block is fixedly connected to the first fixing frame;

[0020] The first threaded rod is rotatably arranged between the two ends of the second U-shaped frame; the first motor is drivingly connected to the first threaded rod; and the first motor is fixedly installed on one side of the second U-shaped frame.

[0021] Furthermore, the second driving assembly includes a second sliding rod, a second connecting block, a second threaded rod, and a second motor;

[0022] The second sliding rod is fixedly arranged between the two ends of the second U-shaped frame, and the second connecting block is provided with a second sliding hole, through which the second sliding rod slides and engages with the second connecting block;

[0023] The second connecting block is threadedly connected to the second threaded rod; the second connecting block is fixedly connected to the second fixing frame

[0024] The second threaded rod is rotatably disposed between two ends of the second U-shaped frame;

[0025] The second motor is drivingly connected to the second threaded rod; the second motor is fixed on one side of the second U-shaped frame.

[0026] Furthermore, a fixing rod is fixedly provided on the second fixing frame; one end of the fixing rod is fixedly connected to the second fixing frame, and the other end of the fixing rod is fixedly connected to the second connecting block.

[0027] Furthermore, it also includes a controller, and the first motor, the second motor, the first electric push rod, the second electric push rod, the electrostatic spinning device, and the U-shaped slot linear motor are all electrically connected to the controller.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The relative movement of the first and second fixed frames allows for rapid switching between disinfectant and hemostatic pads. After wiping and disinfecting, the hemostatic pads are pressed against the wound to stop bleeding. The robot can disinfect the wound and then quickly switch between states to stop bleeding, eliminating the need for a separate disinfection machine and facilitating safer wound treatment.

[0030] 2. After hemostasis is completed, use a spraying mechanism to perform electrospinning spraying on the wound. The electrospinning liquid is mixed with liquid medicine. The electrospinning liquid forms a protective film on the surface of the wound, which is beneficial to wound healing. At the same time, due to the unique properties of electrospinning, it is further beneficial to wound recovery.

[0031] 3. The robot can be used in various extreme environments and can effectively solve the shortage of medical staff, so that the wounded can receive timely treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a schematic diagram of the local structure of the present invention.

[0034] In the figure: 1. Moving seat; 2. Crawler track; 3. U-groove linear motor; 4. First U-shaped frame; 5. First electric push rod; 6. Second U-shaped frame; 7. First fixed frame; 8. Second fixed frame; 9. Diaphragm; 10. Disinfectant cotton; 11. Hemostatic cotton; 12. First connecting block; 13. First threaded rod; 14. First motor; 15. First slide rod; 16. Second connecting block; 17. Fixed rod; 18. Second threaded rod; 19. Second motor; 20. Second slide rod; 21. Fixed plate; 22. Second electric push rod; 23. Nozzle. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] like Figure 1-Figure 2 As shown, the technical solution adopted by the present invention is as follows: an in-situ electrospinning spray hemostasis robot, comprising a moving seat 1. A crawler 2 is provided on the moving seat 1 to facilitate the movement of the robot on uneven roads on the battlefield. A first U-shaped frame 4 is provided on the moving seat 1 for horizontal sliding. U-shaped slot linear motors 3 are symmetrically installed on the upper end surface of the moving seat 1, and the first U-shaped frame 4 is installed between the two U-shaped slot linear motors 3. The U-shaped slot linear motor 3 moves, driving the first U-shaped frame 4 to move. The U-shaped slot linear motor 3 is a prior art and will not be described in detail here.

[0037] A spraying mechanism is provided on one side of the upper end of the first U-shaped frame 4 .

[0038] The spraying mechanism includes a fixed plate 21, a second electric push rod 22, and a nozzle 23. One end of the fixed plate 21 is fixedly mounted on one side of the upper end of the first U-shaped frame 4. The other end of the fixed plate 21 is fixedly connected to the base of the second electric push rod 22. The nozzle 23 is fixedly mounted on the top of the push rod of the second electric push rod 22. The nozzle 23 is connected to an electrospinning device, which contains an electrospinning solution, to which drugs can be added. The electrospinning device is a prior art, and the specific structure will not be described in detail here.

[0039] When needed, the patient places the injured area on the movable base 1, moves the first U-shaped frame 4 so that the nozzle 23 is directly above the wound, and then activates the second electric push rod 22 to bring the nozzle 23 close to the wound. The electrospinning device is then activated to spray the electrospinning solution through the nozzle 23 onto the patient's wound. The electrospinning solution forms a protective film on the surface of the patient's wound, which not only covers and protects the wound but also accelerates wound healing.

[0040] A first electric push rod 5 is fixedly mounted on the upper end of the first U-shaped frame 4. A second U-shaped frame 6 is fixedly mounted on the top end of the first electric push rod 5. The second U-shaped frame 6 is located below the first U-shaped frame 4. A disinfection and hemostasis mechanism is mounted on the second U-shaped frame 6. The disinfection and hemostasis mechanism comprises a first fixed frame 7, a second fixed frame 8, and a diaphragm 9. The first electric push rod 5 drives the disinfection and hemostasis mechanism up and down, moving it closer to or further away from the wound.

[0041] A diaphragm 9 is fixed between the first and second fixing frames 7 and 8. Sterilizing cotton 10 is mounted on one side of the diaphragm 9, and hemostatic cotton 11 is mounted on the other side. Both the sterilizing cotton 10 and the hemostatic cotton 11 are removable, allowing for easy replacement. The diaphragm 9 is flexible and foldable.

[0042] The first and second fixing frames 7, 8 are arranged to be laterally movable between the ends of the second U-shaped frame 6. The first and second fixing frames 7, 8 have identical triangular shapes. The cross-sectional area of ​​the first fixing frame 7 is larger than that of the second fixing frame 8. The first and second fixing frames 7, 8 can move toward or away from each other. The second fixing frame 8 can pass through the center of the first fixing frame 7.

[0043] When one side of the sterilizing pad 10 is located outside the diaphragm 9, the hemostatic pad 11 is located inside the diaphragm 9, allowing the wound to be wiped and disinfected. To stop bleeding from a wound, the first and second fixed frames 7 and 8 are moved toward each other, bringing them closer together. The diaphragm 9, sterilizing pad 10, and hemostatic pad 11 fold. As the first and second fixed frames 7 and 8 move toward each other, the first fixed frame 7 passes through the second fixed frame 8, placing the hemostatic pad 11 outside the diaphragm 9 and the sterilizing pad 10 inside the diaphragm 9. Then, the first and second fixed frames 7 and 8 gradually move away from each other, gradually unfolding the diaphragm 9, sterilizing pad 10, and hemostatic pad 11 until they are fully unfolded. At this point, the hemostatic pad 11 is located outside the diaphragm 9. The hemostatic pad 11 is then brought close to the wound and pressed against it to stop bleeding. The first fixing frame 7 and the second fixing frame 8 move toward or away from each other to drive the diaphragm 9 to fold inside and outside.

[0044] The second U-shaped frame 6 is provided with a first driving assembly for driving the first fixed frame 7 to move laterally, and is also provided with a second driving assembly for driving the second fixed frame 8 to move laterally.

[0045] The first driving assembly includes a first sliding rod 15, a first threaded rod 13, a first connecting block 12, and a first motor 14. The first driving assembly is located above the disinfection and hemostasis mechanism.

[0046] A first sliding rod 15 is fixedly disposed between the two ends of the second U-shaped frame 6. A first sliding hole is defined in the first connecting block 12, through which the first sliding rod 15 passes. The first sliding rod 15 slides in engagement with the first connecting block 12. A first threaded rod 13 is rotatably disposed at the lower end of the second U-shaped frame 6. A first motor 14 is drive-connected to the first threaded rod 13. The first motor 14 is fixedly mounted on one side of the second U-shaped frame 6. The first connecting block 12 is threadedly connected to the first threaded rod 13. The first connecting block 12 is fixedly connected to the first fixed frame 7.

[0047] The first motor 14 works to drive the first threaded rod 13 to rotate, thereby causing the first connecting block 12 to move laterally along the first sliding rod 15. The first connecting block 12 drives the first fixing frame 7 to move laterally.

[0048] The second driving assembly includes a second sliding rod 20, a second connecting block 16, a second threaded rod 18, and a second motor 19. The second driving assembly passes through the first fixing frame 7 and the second fixing frame 8.

[0049] The second sliding rod 20 is fixedly arranged between the two ends of the second U-shaped frame 6, and a second sliding hole is provided on the second connecting block 16. The second sliding rod 20 passes through the second sliding hole and slides with the second connecting block 16. The second threaded rod 18 is rotatably arranged between the two ends of the second U-shaped frame 6. The second motor 19 is drive-connected to the second threaded rod 18, and the second motor 19 is fixedly mounted on one side of the second U-shaped frame 6. The second connecting block 16 is threadedly connected to the second threaded rod 18. A fixing rod 17 is fixedly arranged on the second fixed frame 8. One end of the fixing rod 17 is fixedly connected to the second fixed frame 8, and the second connecting block 16 is fixedly connected to the other end of the fixing rod 17. It is better to have multiple fixing rods 17 to provide stable support for the second connecting block 16. In this embodiment, there are three fixing rods 17, and the three fixing rods 17 correspond one-to-one to the three borders of the second fixed frame 8.

[0050] The first sliding rod 15 , the first threaded rod 13 , the second sliding rod 20 , and the second threaded rod 18 are arranged parallel to each other.

[0051] The second motor 19 works to drive the second threaded rod 18 to rotate, so that the second connecting block 16 moves laterally along the second sliding rod 20, thereby causing the second fixing frame 8 to move laterally.

[0052] The robot further includes a controller, and the first motor 14 , the second motor 19 , the first electric push rod 5 , the second electric push rod 22 , the electrostatic spinning device, and the U-shaped slot linear motor 3 are all electrically connected to the controller.

[0053] Working principle: In the initial state, the disinfection cotton 10 is located outside the diaphragm 9, and the first electric push rod 5 is in a retracted state, that is, the disinfection and hemostasis mechanism is away from the movable seat 1.

[0054] During use, the robot moves to the side of the injured person via the crawler 2. The injured person places the injured arm or leg on the moving seat 1. The U-shaped slot linear motor 3 is then activated, causing the first U-shaped frame 4 to drive the disinfection and hemostasis mechanism to move in the direction close to the wound, so that the disinfection and hemostasis mechanism is directly above the wound. The U-shaped slot linear motor 3 is turned off, and the first electric push rod 5 is activated, causing the second U-shaped frame 6 to move downward, thereby bringing the disinfection and hemostasis mechanism close to the wound and bringing the disinfection cotton 10 into contact with the wound. The first electric push rod 5 is then turned off, and the U-shaped slot linear motor 3 is activated, causing the U-shaped slot linear motor 3 to drive the first U-shaped frame 4 to move back and forth, thereby causing the disinfection cotton 10 to move back and forth to wipe and disinfect the wound.

[0055] After wiping and disinfection are complete, the U-groove linear motor 3 is turned off, causing the first U-shaped frame 4 to remain stationary. The first electric push rod 5 is then activated, causing the disinfection and hemostasis mechanism to move upward a certain distance, disengaging the disinfection cotton pads 10 from the wound and maintaining a certain distance from the wound. The first motor 14 and the second motor 19 are then activated. The first motor 14 rotates the first threaded rod 13, causing the first connecting block 12 to move along the first slide bar 15, which in turn drives the first fixed frame 7 to move. The second motor 19 rotates the second threaded rod 18, causing the second connecting block 16 to move along the second slide bar 20, thereby moving the second fixed frame 8. Initially, the first and second fixed frames 7 and 8 move toward each other, gradually approaching each other, causing the diaphragm 9, disinfection cotton pads 10, and hemostatic cotton pads 11 to fold. As the first and second fixed frames 7 and 8 move, the second fixed frame 8 passes through the first fixed frame 7, causing the hemostatic cotton pads 11 to be positioned outside the diaphragm 9 and the disinfection cotton pads 10 to be positioned inside the diaphragm 9. The first and second fixed frames 7 and 8 then move away from each other, folding and gradually unfolding the membrane 9, disinfectant pads 10, and hemostatic pads 11. This continues until the membrane 9, disinfectant pads 10, and hemostatic pads 11 are fully unfolded. The first and second motors 14 and 19 are then turned off, and the first electric push rod 5 is activated, causing the disinfectant hemostatic mechanism to move downward, pressing the hemostatic pads 11 against the wound to stop bleeding. The first electric push rod 5 is then turned off. Once hemostasis is complete, the first electric push rod 5 is activated to disengage the disinfectant hemostatic mechanism from the wound.

[0056] Then start the U-groove linear motor 3, so that the first U-shaped frame 4 drives the nozzle 23 to move above the wound, and stop the U-groove linear motor 3. Start the second electric push rod 22, so that the nozzle 23 moves downward close to the wound and has a certain distance from the wound, and then stop the second electric push rod 22. Start the electrospinning device, so that the electrospinning liquid in the electrospinning device is sprayed onto the wound of the wounded through the nozzle 23. Start the second electric push rod 22 and move the nozzle 23 upward to the initial position. The electrospinning liquid will form a protective film on the patient's wound, which has a protective effect on the wound and can promote wound healing.

[0057] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An in-situ electrospinning spray hemostasis robot, characterized in that: include: A movable seat (1), wherein a first U-shaped frame (4) is provided on the movable seat (1) for transverse sliding; a spraying mechanism is provided on one side of the first U-shaped frame (4); A first electric push rod (5) is fixedly mounted on the upper end of the first U-shaped frame (4); a second U-shaped frame (6) is fixed to the top end of the push rod of the first electric push rod (5); a disinfection and hemostasis mechanism is mounted on the second U-shaped frame (6); the disinfection and hemostasis mechanism comprises a first fixed frame (7), a second fixed frame (8), and a diaphragm (9); One side of the diaphragm (9) is detachably mounted with sterilizing cotton (10), and the other side of the diaphragm (9) is detachably mounted with hemostatic cotton (11); the diaphragm (9) is fixed between the first fixed frame (7) and the second fixed frame (8); the first fixed frame (7) and the second fixed frame (8) are both laterally movable and arranged between the two ends of the second U-shaped frame (6); the first fixed frame (7) and the second fixed frame (8) move toward or away from each other to drive the diaphragm (9) to fold inside and outside; The first fixing frame (7) and the second fixing frame (8) have the same shape; the cross-sectional area of ​​the first fixing frame (7) is larger than the cross-sectional area of ​​the second fixing frame (8); The second U-shaped frame (6) is provided with a first driving component for driving the first fixed frame (7) to move laterally; the second U-shaped frame (6) is also provided with a second driving component for driving the second fixed frame (8) to move laterally; The first driving assembly comprises a first sliding rod (15), a first threaded rod (13), a first connecting block (12), and a first motor (14); The first sliding rod (15) is fixed between the two ends of the second U-shaped frame (6); a first sliding hole is opened on the first connecting block (12); the first sliding rod (15) passes through the first sliding hole and slides with the first connecting block (12); The first connecting block (12) is threadedly connected to the first threaded rod (13); the lower end of the first connecting block (12) is fixedly connected to the first fixing frame (7); The first threaded rod (13) is rotatably arranged between the two ends of the second U-shaped frame (6); the first motor (14) is drivingly connected to the first threaded rod (13); the first motor (14) is fixedly mounted on one side of the second U-shaped frame (6); The second driving assembly includes a second sliding rod (20), a second connecting block (16), a second threaded rod (18), and a second motor (19); The second sliding rod (20) is fixedly arranged between the two ends of the second U-shaped frame (6), and a second sliding hole is opened on the second connecting block (16). The second sliding rod (20) slides and cooperates with the second connecting block (16) through the second sliding hole. The second connecting block (16) is threadedly connected to the second threaded rod (18); the second connecting block (16) is fixedly connected to the second fixing frame (8); The second threaded rod (18) is rotatably arranged between the two ends of the second U-shaped frame (6); the second motor (19) is drivingly connected to the second threaded rod (18); and the second motor (19) is fixed on one side of the second U-shaped frame (6).

2. The in-situ electrospinning spray hemostasis robot according to claim 1, characterized in that: Tracks (2) are installed on both sides of the movable seat (1).

3. The in-situ electrospinning spray hemostasis robot according to claim 1, characterized in that: A U-shaped slot type linear motor (3) is symmetrically mounted on the upper end surface of the movable seat (1), and a first U-shaped frame (4) is mounted between the two U-shaped slot type linear motors (3).

4. The in-situ electrospinning spray hemostasis robot according to claim 1, characterized in that: The spraying mechanism comprises a fixed plate (21), a second electric push rod (22), and a spray head (23); the fixed plate (21) is fixedly mounted on the first U-shaped frame (4), the base of the second electric push rod (22) is fixedly mounted on the fixed plate (21), and the spray head (23) is fixedly mounted on the top end of the second electric push rod (22).

5. The in-situ electrospinning spray hemostasis robot according to claim 4, characterized in that: The nozzle (23) is connected to an electrostatic spinning device.

6. The in-situ electrospinning spray hemostasis robot according to claim 1, characterized in that: A fixing rod (17) is fixedly provided on the second fixing frame (8); one end of the fixing rod (17) is fixedly connected to the second fixing frame (8), and the other end of the fixing rod (17) is fixedly connected to the second connecting block (16).

7. The in-situ electrospinning spray hemostasis robot according to claim 1, characterized in that: It also includes a controller, and the first motor (14), the second motor (19), the first electric push rod (5), the second electric push rod (22), the electrostatic spinning device, and the U-shaped slot linear motor (3) are all electrically connected to the controller.

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