An autonomous injection device

Abstract

The application discloses an autonomous injection device, which belongs to the technical field of intravenous injection devices in motion and comprises a holding mechanism, a dynamic autonomous positioning mechanism, a blood vessel identification module, an injection mechanism and a pressing mechanism. The holding mechanism comprises a holding plate and a plurality of groups of mechanical arms installed on the holding plate, and the mechanical arms are used for clamping on an arm. The dynamic autonomous positioning mechanism comprises a cover plate installed on the holding plate, a connecting rod assembly installed on the cover plate and a driving assembly installed on the connecting rod assembly. The connecting rod assembly is used for adjusting the relative position of the driving assembly. The blood vessel identification module and the pressing mechanism are both installed on the driving assembly. The blood vessel identification module is used for calculating the distance between a needle cylinder assembly and a blood vessel. The pressing mechanism is used for pressing to realize vein bulging and pressing hemostasis. The injection mechanism can deliver liquid medicine in the injection mechanism to the outside. The device can complete injection in a wearing state and in a motion state, meets the needs of field battle, animal medicine research and the like, and realizes quick replacement between the liquid medicine and the syringe.

Description

Technical Field

[0001] This invention belongs to the technical field of intravenous injection devices during exercise, and more specifically, relates to a self-administering injection device. Background Technology

[0002] Autoinjectors are devices that automatically inject the contents of a syringe into a patient's body. Various systems exist to automatically insert the needle into the patient and infuse the fluid preparation contained in the syringe. Autoinjectors are relatively complex devices, and for safety and reliability, they must meet certain limiting conditions. The robustness of the device, ease of operation, and user convenience are also important factors.

[0003] Currently, related syringes include automatic injectors (CN201380033396.3), which emphasizes that after injection into the human body, the pre-filled syringe will automatically inject the medication. There are also syringes for storing medication (CN201680055020.6). Compact automatic injectors (CN201880065137.1) are single-use automatic injectors used to deliver a fixed amount of medication. These devices have some automatic injection capabilities, but they are not wearable and cannot be worn for automatic injection.

[0004] Therefore, there is currently a lack of wearable devices that can autonomously identify the injection area and drive the syringe to the target point to complete the injection. Summary of the Invention

[0005] 1. The technical problem that the invention aims to solve

[0006] The purpose of this invention is to solve the problem that existing devices lack the ability to perform injections while in motion, which cannot meet the needs of field operations, animal drug research, etc., and the inability to quickly switch between the drug solution and the syringe.

[0007] 2. Technical Solution

[0008] To achieve the above objectives, the technical solution provided by this invention is as follows:

[0009] This invention discloses an autonomous injection device, comprising a clamping mechanism, a dynamic autonomous positioning mechanism, a blood vessel recognition module, an injection mechanism, and a pressing mechanism. The clamping mechanism includes a clamping plate and multiple sets of robotic arms mounted on the clamping plate. The robotic arms are used to clamp onto the arm. The dynamic autonomous positioning mechanism includes a cover plate mounted on the clamping plate, a linkage assembly mounted on the cover plate, and a drive assembly mounted on the linkage assembly. The linkage assembly is used to adjust the relative position of the drive assembly. The injection mechanism includes an injection support plate, an injection motor, a lead screw, a syringe assembly, and a syringe holder. The injection support plate is mounted on the drive assembly. The syringe assembly is mounted on the injection support plate via the syringe holder. The injection support plate has a sliding groove. The syringe holder is driven by the injection motor and the lead screw to slide on the sliding groove. The blood vessel recognition module and the pressing mechanism are both mounted on the drive assembly. The blood vessel recognition module is used to calculate the distance between the syringe assembly and the blood vessel. The pressing mechanism is used to press to achieve venous expansion and hemostasis. The syringe assembly can deliver the internal medication.

[0010] Preferably, the robotic arm includes a first motor, a first flexible link, a second motor, a second flexible link, and strain gauges mounted on the first and second flexible links. Both the first and second flexible links are arc-shaped structures. The first motor is mounted on a clamping plate, and its output shaft drives the first flexible link to rotate. The second motor is mounted on the first flexible link, and its output shaft drives the second flexible link to rotate. The strain gauges are in contact with the arm and are used to detect pressure for feedback adjustment.

[0011] Preferably, the linkage assembly includes a positioning motor symmetrically arranged on the cover plate, a positioning linkage one driven by the positioning motor, and a positioning linkage two rotatably connected to one end of the positioning linkage one. The drive assembly includes a drive motor, a rotary motor, and a rotary seat. The drive motor is mounted on the positioning linkage two, and the position of the drive motor is affected by the combined action of the two symmetrical positioning linkages two. The rotary motor is mounted on the output shaft of the drive motor through the rotary seat.

[0012] Preferably, the blood vessel recognition module includes a vision camera and an adapter light source. The vision camera is used to capture and calculate the distance between the needle and the vein inside the syringe assembly. The adapter light source can be set with different light sources to display deep blood vessels.

[0013] Preferably, the pressing mechanism includes an electric push rod and a pressure block. The electric push rod is mounted on a rotating base, and the output shaft of the electric push rod drives the pressure block to press the blood vessel.

[0014] Preferably, the syringe assembly includes a drug syringe, a C-shaped clamping claw, a drive pump, and a front needle. The C-shaped clamping claw is mounted on the syringe holder and clamps onto the surface of the drug syringe. The drive pump is used to drive the drug solution in the drug syringe out from the front needle. The drug syringe is parallel to the injection support plate.

[0015] Preferably, the syringe contains a cylindrical shell, a sealing ring, a slider, and an O-ring. The front of the cylindrical shell is connected to a drive pump. The suction tube of the drive pump passes through the sealing ring and extends into the interior of the cylindrical shell. The interior of the cylindrical shell is filled with liquid medicine, which is located in a sealed space formed by the cylindrical shell, the sealing ring, and the slider. The O-ring is used to seal the slider and the cylindrical shell. The rear of the cylindrical shell is provided with a vent hole.

[0016] Preferably, the injection support plate 410 includes a horizontal part and an inclined part, and the drug syringe 441 is mounted on the inclined part. The angle between the horizontal part and the inclined part is 150° to 170°. The inclined part is used to observe the posture and facilitates the installation of the drug syringe 441.

[0017] Preferably, the robotic arms are symmetrically arranged on the clamping plate and stably mounted on the arm in cooperation with each other. The ends of the two flexible connecting rods are provided with buckles that can be stuck together. When the robotic arms are in the clamping state, the buckles on the two flexible connecting rods are engaged with each other.

[0018] Preferably, the rotation angle of motor one is controlled by the feedback of the strain gauge on flexible link one, and the rotation angle of motor two is controlled by the feedback of the strain gauge on flexible link two.

[0019] 3. Beneficial effects

[0020] Compared with the prior art, the technical solution provided by this invention has the following advantages:

[0021] (1) The present invention provides an autonomous injection device that is worn by a human or animal through a clamping mechanism, and further identifies the injection area through a blood vessel recognition module. The injection mechanism performs automatic injection and has reliable and comfortable wear performance. It can be used in human movement, especially in special areas such as field battlefields, and even in some animal experiments. It is capable of long-term injection.

[0022] (2) The present invention provides an autonomous injection device, wherein the driving pump can adjust the injection flow rate and flow velocity to meet various clinical needs.

[0023] (3) An autonomous injection device of the present invention has a blood vessel recognition module that calculates the blood vessel position and a dynamic automatic positioning mechanism that can meet the injection of veins in different positions; at the same time, it can perform intravenous injection on deep blood vessels. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of an autonomous injection device according to the present invention;

[0025] Figure 2 This is an exploded view of an autonomous injection device according to the present invention;

[0026] Figure 3This is a schematic diagram of the structure of a robotic arm in an autonomous injection device according to the present invention;

[0027] Figure 4 This is a schematic diagram of the dynamic autonomous positioning mechanism of an autonomous injection device according to the present invention;

[0028] Figure 5 This is a schematic diagram illustrating the adjustment process of the linkage assembly of an autonomous injection device according to the present invention;

[0029] Figure 6 This is a schematic diagram of the injection mechanism of an autonomous injection device according to the present invention;

[0030] Figure 7 This is a schematic diagram of the pressing mechanism of a self-injection device according to the present invention;

[0031] Figure 8 This is a schematic diagram of the syringe assembly of an autonomous injection device according to the present invention;

[0032] Figure 9 This is a schematic diagram of the structure of a drug syringe for an autonomous injection device according to the present invention;

[0033] Figure 10 This is a schematic diagram of the human body installation of an autonomous injection device according to the present invention;

[0034] Figure 11 This is a schematic diagram of the injection mechanism of another structural form of the autonomous injection device of the present invention;

[0035] Figure 12 This is a schematic diagram of the clamping posture of the clamping mechanism of an autonomous injection device according to the present invention;

[0036] Figure 13 This is a schematic diagram of the engagement of the flexible connecting rod 2 of the autonomous injection device of the present invention.

[0037] Explanation of the labels in the diagram:

[0038] 100. Clamping mechanism; 110. Clamping plate; 120. Robotic arm; 121. Motor 1; 122. Flexible link 1; 123. Motor 2; 124. Flexible link 2; 125. Strain gauge;

[0039] 200. Dynamic autonomous positioning mechanism; 210. Cover plate; 220. Linkage assembly; 221. Positioning motor; 222. Positioning link one; 223. Positioning link two; 230. Drive assembly; 231. Drive motor; 232. Rotary motor; 233. Rotary base;

[0040] 300. Vessel recognition module; 310. Visual camera; 320. Adaptor light source;

[0041] 400. Injection mechanism; 410. Injection support plate; 420. Injection motor; 430. Lead screw; 440. Syringe assembly; 441. Medication syringe; 4411. Cylindrical outer shell; 4412. Sealing ring; 4413. Slider; 4414. O-ring; 4415. Vent hole; 442. C-shaped clamping claw; 443. Drive pump; 444. Front needle; 450. Syringe holder;

[0042] 500. Pressing mechanism; 510. Electric push rod; 520. Pressing block. Detailed Implementation

[0043] To facilitate understanding of the present invention, a more complete description of the invention will be given below with reference to the accompanying drawings, which illustrate several embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the invention will be more thorough and complete.

[0044] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element; the terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0046] Example 1

[0047] See attached document Figures 1-10The autonomous injection device shown in this embodiment includes a clamping mechanism 100, a dynamic autonomous positioning mechanism 200, a blood vessel recognition module 300, an injection mechanism 400, and a pressing mechanism 500. The clamping mechanism 100 includes a clamping plate 110 and multiple sets of robotic arms 120 mounted on the clamping plate 110. The robotic arms 120 are used to clamp onto the arm. The dynamic autonomous positioning mechanism 200 includes a cover plate 210 mounted on the clamping plate 110, a linkage assembly 220 mounted on the cover plate 210, and a drive assembly 230 mounted on the linkage assembly 220. The linkage assembly 220 is used to adjust the relative position of the drive assembly 230. The injection mechanism 400 includes an injection support plate 410 and an injection motor. 420, lead screw 430, needle cylinder assembly 440, and needle cylinder holder 450, injection support plate 410 are mounted on drive assembly 230, needle cylinder assembly 440 is mounted on injection support plate 410 via needle cylinder holder 450, injection support plate 410 is provided with a sliding groove, needle cylinder holder 450 is driven by injection motor 420 to slide on the sliding groove driven by lead screw 430, blood vessel recognition module 300 and pressing mechanism 500 are both mounted on drive assembly 230, blood vessel recognition module 300 is used to calculate the distance between needle cylinder assembly 440 and blood vessel, pressing mechanism 500 is used to press to realize vein expansion and press to stop bleeding, needle cylinder assembly 440 can deliver its internal drug solution.

[0048] It is important to note the diagram showing the clamping state of the clamping mechanism 100 mounted on the arm, as shown below. Figure 12 As shown; the second flexible link is symmetrically designed and can be interlocked with each other, such as... Figure 13 As shown, the structure is not limited to the one illustrated.

[0049] The above design involves wearing the device on a human or animal via a clamping mechanism 100, identifying the injection area via a blood vessel recognition module 300, and then automatically injecting via an injection mechanism 400. It features reliable and comfortable wearability, can be used during human movement, especially in special areas such as field battlefields, and even in some animal experiments, and is capable of long-term injection.

[0050] The syringe holder 450 is driven by the injection motor 420 and the lead screw 430 to slide on the slide groove, realizing the needle insertion process in medicine. Before the needle is inserted, the blood vessel recognition module 300 will identify the blood vessel, calculate the distance between the injection needle and the vein, and further control the movement distance of the syringe holder 450. After the injection is completed, the pressing mechanism 500 will work to stop the bleeding.

[0051] The robotic arm 120 in this embodiment includes a motor 121, a flexible link 122, a motor 123, a flexible link 124, and strain gauges 125 mounted on the flexible links 122 and 124. Both the flexible links 122 and 124 are arc-shaped structures. The motor 121 is mounted on the clamping plate 110, and its output shaft drives the flexible link 122 to rotate. The motor 123 is mounted on the flexible link 122, and its output shaft drives the flexible link 124 to rotate. The strain gauges are in contact with the arm and are used to detect pressure for feedback adjustment.

[0052] In this design, during operation, motor 121 drives flexible link 122 to rotate, making it fit against the arm. Then, motor 223 drives flexible link 224 to rotate, also making it fit against the arm, thus achieving a tight embrace of the arm.

[0053] The linkage assembly 220 in this embodiment includes a positioning motor 221 symmetrically arranged on the cover plate 210, a positioning link 222 driven by the positioning motor 221, and a positioning link 223 rotatably connected to one end of the positioning link 222. The drive assembly 230 includes a drive motor 231, a rotary motor 232, and a rotary seat 233. The drive motor 231 is mounted on the positioning link 223, and the position of the drive motor 231 is affected by the combined action of the two symmetrical positioning links 223. The rotary motor 232 is mounted on the output shaft of the drive motor 231 through the rotary seat 233. This structure is used to adjust the position of the injection mechanism 400 so that it is directly above the blood vessel, and so that the needle tube assembly 440 can be inserted into the blood vessel when it is working. In the working process of the linkage assembly 220, the positioning motor 221 drives the positioning link to rotate, realizing the swing and adjusting the position.

[0054] The aforementioned drive motor 231 is used to control the rotation of the rotating seat 233, that is, the angle of rotation, so that the needle can be inserted into the center surface of the blood vessel within the needle tube assembly 440, thus avoiding needle insertion failure.

[0055] The blood vessel recognition module 300 in this embodiment includes a vision camera 310 and an adapter light source 320. The vision camera 310 is used to capture and calculate the distance between the needle tip and the vein in the needle tube assembly 440. The adapter light source 320 can be set with different light sources to display deep blood vessels. The vision camera 310 can be two miniature cameras. By acquiring image information through binoculars, the distance between the tip of the injection mechanism 400 and the blood vessel is calculated. At the same time, the adapter light source 320 is provided to meet the needs of use at night and in places with no light or low light. The light source can be an LED light strip or an infrared light. The light source selection is used in conjunction with the camera and has multiple working modes: basic mode, green light mode, optimized mode, blue light mode, red light mode, purple light mode, and depth recognition mode. The device will intelligently select the mode according to the usage environment.

[0056] Its imaging principle: Taking infrared light as an example, it utilizes the principle that hemoglobin in blood absorbs near-infrared light more strongly than other tissues. A CCD image sensor senses the reflected infrared light, and digital image processing displays the outline of the blood vessels. Images captured by cameras at different locations are reconstructed in 3D. Binocular vision is a well-known technology, allowing the distribution of deep blood vessels to be obtained. The system locates suitable blood vessels for puncture and calculates their relative three-dimensional spatial orientation. The blood vessel recognition module 300 includes a vision camera 310. Through the swinging of the linkage assembly 220, the vision camera can construct a model of the blood vessel, thus determining its position and depth. When the vision camera is positioned directly above the blood vessel, the direction for needle injection can be determined. When the vision camera is positioned to the left or right, the depth of the blood vessel and its angle with the injection mechanism 400 can be determined, facilitating subsequent adjustment of the rotation angle of the rotary motor 232 to meet the injection angle requirements.

[0057] The pressing mechanism 500 in this embodiment includes an electric push rod 510 and a pressing block 520. The electric push rod 510 is mounted on the rotating seat 233. The output shaft of the electric push rod 510 drives the pressing block 520 to press the blood vessel, thereby causing the vein to swell. After the injection is completed, it can also move to the injection site and press down to avoid bleeding.

[0058] The needle assembly 440 of this embodiment includes a drug syringe 441, a C-shaped clamping claw 442, a drive pump 443, and a front needle 444. The C-shaped clamping claw 442 is mounted on the syringe holder 450 and is clamped on the surface of the drug syringe 441. The drive pump 443 is used to drive the drug in the drug syringe 441 out from the front needle 444. The drug syringe 441 is parallel to the injection support plate 410.

[0059] The syringe 441 of this embodiment is composed of a cylindrical shell 4411, a sealing ring 4412, a slider 4413, and an O-ring 4414. The front part of the cylindrical shell 4411 is connected to the drive pump 443. The suction tube of the drive pump 443 passes through the sealing ring 4412 and extends into the interior of the cylindrical shell 4411. The interior of the cylindrical shell 4411 is filled with liquid medicine, which is located in the sealed space formed by the cylindrical shell 4411, the sealing ring 4412, and the slider 4413. The O-ring 4414 is used to seal the slider 4413 and the cylindrical shell 4411. The rear part of the cylindrical shell 4411 is provided with a vent 4415. The drive pump 443 can adjust the injection flow rate and flow speed to meet various clinical needs.

[0060] It should be noted that the structure of a drug syringe is not singular; it can be another type of structure, such as... Figure 11As shown: The slider 4413 is equipped with an electric push rod. The electric push rod pushes the slider 4413 to slide and squeeze the medicine liquid inside the outer shell 4411. In this structure, the drive pump 443 can be replaced with a solenoid valve. After the solenoid valve is opened, the electric push rod works to push the medicine liquid for injection. After the injection is completed, the solenoid valve can be closed.

[0061] The structure of the syringe 441 is not limited to the above-mentioned form. It can be another form in which an electric actuator is provided at the rear end of its cylindrical outer shell 4411 to drive the slider 4413 to move, thereby realizing the needle insertion operation. In this form, the drive pump 443 can be removed.

[0062] The injection support plate 410 in this embodiment includes a horizontal part and an inclined part. The drug syringe 441 is mounted on the inclined part. The angle between the horizontal part and the inclined part is 150° to 170°. The inclined part is used to observe the posture and facilitates the installation of the drug syringe 441.

[0063] In this embodiment, the robotic arm 120 is symmetrically arranged on the clamping plate 110 and is stably installed on the arm in cooperation with each other. The ends of the flexible connecting rods 124 are provided with buckles that can be glued to each other. When the robotic arm 120 is in the clamping state, the buckles on the two flexible connecting rods 124 are engaged with each other, making the connection tighter.

[0064] In this embodiment, the rotation angle of motor 121 is controlled by the feedback of strain gauge 125 on flexible link 122, and the rotation angle of motor 123 is controlled by the feedback of strain gauge 125 on flexible link 124, for comfortable wear.

[0065] The above-mentioned equipment has an injection area including but not limited to veins, muscles and other tissues. The drug syringe 441 needle assembly has a quick docking function to meet the needs of changing different drugs.

[0066] The above-described embodiments are merely illustrative of certain implementations of the present invention, and are described in a relatively specific and detailed manner. However, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements are all within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A self-injection device, characterized in that: The system includes a clamping mechanism (100), a dynamic autonomous positioning mechanism (200), a blood vessel recognition module (300), an injection mechanism (400), and a pressing mechanism (500). The clamping mechanism (100) includes a clamping plate (110) and multiple sets of robotic arms (120) mounted on the clamping plate (110). The robotic arms (120) are used to clamp onto the arm. The dynamic autonomous positioning mechanism (200) includes a cover plate (210) mounted on the clamping plate (110), a linkage assembly (220) mounted on the cover plate (210), and a drive assembly (230) mounted on the linkage assembly (220). The linkage assembly (220) is used to adjust the relative position of the drive assembly (230). The injection mechanism (400) includes an injection support plate (410), an injection motor (420), and a lead screw (500). 430), a needle tube assembly (440) and a needle tube holder (450), the injection support plate (410) is mounted on the drive assembly (230), the needle tube assembly (440) is mounted on the injection support plate (410) via the needle tube holder (450), the injection support plate (410) is provided with a sliding groove, the needle tube holder (450) is driven by the lead screw (430) of the injection motor (420) to slide on the sliding groove, the blood vessel recognition module (300) and the pressing mechanism (500) are both mounted on the drive assembly (230), the blood vessel recognition module (300) is used to calculate the distance between the needle tube assembly (440) and the blood vessel, the pressing mechanism (500) is used to press to realize vein swelling and press to stop bleeding, and the needle tube assembly (440) delivers the drug solution inside it out; The robotic arm (120) includes a motor (121), a flexible link (122), a motor (123), a flexible link (124), and strain gauges (125) mounted on the flexible link (122) and the flexible link (124). The flexible link (122) and the flexible link (124) are both arc-shaped structures. The motor (121) is mounted on the clamping plate (110), and its output shaft drives the flexible link (122) to rotate. The motor (123) is mounted on the flexible link (122), and its output shaft drives the flexible link (124) to rotate. The strain gauges are in contact with the arm and are used to detect pressure for feedback adjustment. The linkage assembly (220) includes a positioning motor (221) symmetrically arranged on the cover plate (210), a positioning linkage one (222) driven by the positioning motor (221), and a positioning linkage two (223) rotatably connected to one end of the positioning linkage one (222). The drive assembly (230) includes a drive motor (231), a rotary motor (232), and a rotary seat (233). The drive motor (231) is mounted on the positioning linkage two (223). The position of the drive motor (231) is affected by the two symmetrical positioning linkages two (223). The rotary motor (232) is mounted on the output shaft of the drive motor (231) through the rotary seat (233). The blood vessel recognition module (300) includes a vision camera (310) for capturing and calculating the distance between the needle and the vein in the needle tube assembly (440); The pressing mechanism (500) includes an electric push rod (510) and a pressure block (520). The electric push rod (510) is mounted on a rotating seat (233). The output shaft of the electric push rod (510) drives the pressure block (520) to press the blood vessel. The robotic arms (120) are symmetrically arranged on the clamping plate (110) and are stably installed on the arm in cooperation with each other; The rotation angle of the first motor (121) is controlled by the feedback of the strain gauge (125) on the first flexible link (122), and the rotation angle of the second motor (123) is controlled by the feedback of the strain gauge (125) on the second flexible link (124).

2. The self-injection device according to claim 1, characterized in that: The blood vessel recognition module (300) includes an adapter light source (320), which is configured with different light sources to display deep blood vessels.

3. The self-injection device according to claim 1, characterized in that: The needle assembly (440) includes a drug syringe (441), a C-shaped clamping claw (442), a drive pump (443), and a front needle (444). The C-shaped clamping claw (442) is mounted on a syringe holder (450) and is clamped on the surface of the drug syringe (441). The drive pump (443) is used to drive the drug in the drug syringe (441) out from the front needle (444). The drug syringe (441) is parallel to the injection support plate (410).

4. The self-injection device according to claim 3, characterized in that: The syringe (441) is composed of a cylindrical shell (4411), a sealing ring (4412), a slider (4413), and an O-ring (4414). The front of the cylindrical shell (4411) is connected to a drive pump (443). The suction tube of the drive pump (443) passes through the sealing ring (4412) and extends into the interior of the cylindrical shell (4411). The interior of the cylindrical shell (4411) is filled with liquid medicine. The liquid medicine is located in the sealed space formed by the cylindrical shell (4411), the sealing ring (4412), and the slider (4413). The O-ring (4414) is used to seal the slider (4413) and the cylindrical shell (4411). The rear of the cylindrical shell (4411) is provided with a vent hole (4415).

5. The self-injection device according to claim 3, characterized in that: The injection support plate (410) includes a horizontal part and an inclined part. The drug syringe (441) is mounted on the inclined part. The angle between the horizontal part and the inclined part is 150°~170°. The inclined part is used to observe the posture and facilitates the installation of the drug syringe (441).

6. The self-injection device according to claim 1, characterized in that: The ends of the flexible link two (124) are provided with buckles that can be stuck together. When the robotic arm (120) is in a clamping state, the buckles on the two flexible links two (124) are engaged with each other.

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