A device for automatically dispensing nuclides by using an XYZ linear module and a dispensing method thereof

Abstract

The application discloses a device and a method for automatically dispensing nuclides by using an XYZ linear module, the device comprising a protective cover, a man-machine interactive interface and a device body, the device body being arranged in the protective cover, the man-machine interactive interface being arranged outside the protective cover, the device body being internally provided with an XYZ linear module and a Z-axis module, and the Z-axis module being provided with a clamping and extracting mechanism at the tail end, the clamping and extracting mechanism being provided with two independent clamps, so that repeated clamping of a piston and a pull rod is avoided, the whole medicine dispensing process can be completed, the steps are simplified, the efficiency is improved, and the error rate is reduced. The whole dispensing process is carried out in the protective cover, a special person is not needed to prepare the medicine, and the person does not need to be exposed to the irradiation environment, so that an intelligent, efficient, energy-saving and safe dispensing method is created.

Description

Technical Field

[0001] This invention belongs to the field of radionuclide liquid dispensing technology, specifically an automatic radionuclide dispensing device and its dispensing method using an XYZ linear module. Background Technology

[0002] With the advancement of medical science and technology, radionuclides have been widely adopted and popularized in medical diagnostic and treatment techniques, especially in large and medium-sized hospitals where their application is indispensable. The radiation caused by radionuclides has led to the increasingly widespread use of radiation protection devices and equipment. Currently, in examinations and treatments, due to the lack of specialized dispensing instruments with good protection and convenient operation on the market, the preparation of drug solutions is mostly done manually in radiation shielding boxes. This generally results in poor protection, short operating distances, and inaccurate measurements, causing operators to suffer large amounts of unnecessary nuclear radiation, which is extremely harmful to the health of medical personnel.

[0003] Currently, most radionuclide dispensing methods on the market use peristaltic pumps. Although these pumps offer precise dispensing, their high cost of consumables limits their practical application. Some methods also utilize robotic arms for radionuclide dispensing, but these arms are complex and expensive, hindering their widespread adoption.

[0004] The XYZ linear module cannot be used directly in automated nuclide dispensing devices due to limitations in the size of the activity meter. Summary of the Invention

[0005] To address the problems existing in the background technology, an automatic nuclide dispensing device and its dispensing method using an XYZ linear module are provided. This invention can reduce the exposure of medical personnel to the irradiation environment, has a simple structure, uses fewer consumables during use, has low dispensing costs, and can reduce the overall size of the device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An automatic radionuclide dispensing device using an XYZ linear module includes a device body and a protective cover. The device body is housed inside the protective cover, which has a movable door. A human-machine interface is located on the outer surface of the protective cover. The device body includes: a base plate, an XYZ linear module, a clamping and extraction mechanism, a protective sleeve for the original solution bottle, a needle fixing assembly for the original solution bottle, a needle fixing assembly for the saline bottle, an activity meter, and a syringe holder. The specific positions and connections are as follows:

[0008] The base plate is located in the middle of the protective cover. The XYZ linear module is fixed above the base plate. The end of the Z-axis module of the XYZ linear module is equipped with a clamping and extraction mechanism. The protective sleeve of the raw liquid bottle is located below the base plate. The base plate has an opening at the position of the raw liquid bottle protective sleeve. The raw liquid bottle needle fixing assembly is installed in the opening of the base plate at the position of the raw liquid bottle protective sleeve. The saline bottle needle fixing assembly is installed on the base plate. The activity meter is located below the base plate. The base plate has an opening at the position of the activity meter. The needle fixing bracket is installed on the base plate. The control system is connected to the human-machine interface and various electrical devices by cables.

[0009] The clamping and extraction mechanism comprises a needle clamp, a pull rod clamp, a gripper cylinder, a linear electric cylinder, and a pen-shaped cylinder. The needle clamp is located on the two movable ends of the gripper cylinder, which is located at the end of the movable rod of the pen-shaped cylinder. The pull rod clamp is located at the end of the telescopic rod of the linear electric cylinder, which is located at the end of the movable rod of the pen-shaped cylinder. The pen-shaped cylinder is fixed to the end of the Z-axis module. A slot is provided in the middle of the pull rod clamp.

[0010] The syringe holder has a syringe position and a needle tip protective sleeve position. The syringe position has a boss, the width of which is smaller than the rolled edge of the syringe outer sleeve, and the boss has a groove. Each syringe position and needle tip protective sleeve position is equipped with a corresponding detection device.

[0011] The detection device is a proximity switch.

[0012] The base plate is also equipped with a pollution recovery well.

[0013] The needle fixing assembly for the original solution bottle and the needle fixing assembly for the saline bottle are the same needle fixing assembly.

[0014] The method for dispensing nuclides using the aforementioned XYZ linear module automatic dispensing device includes the following steps:

[0015] (1) Gripping the syringe: Based on the feedback from the detection device on the syringe holder, the XYZ linear module moves to the syringe holder from the nearest one where a syringe is detected, and the clamping and extraction mechanism descends. The syringe clamp clamps the outer edge of the syringe and simultaneously engages the piston push-pull handle of the syringe into the pull rod clamp. The XYZ linear module rises and clamps the syringe out of the syringe holder.

[0016] (2) Extracting the original solution: The XYZ linear module moves the syringe above the original solution bottle, then controls the clamping and extraction mechanism to move downwards, inserts the needle into the original solution bottle, and the pull rod clamp lifts the pull rod to extract the original solution. After the extraction is finished, the XYZ linear module lifts the entire syringe upwards.

[0017] (3) Draw saline solution: The XYZ linear module moves the syringe above the saline bottle, inserts the needle into the saline bottle, and the pull rod clamp lifts the pull rod to draw saline solution. After the drawing is finished, the XYZ linear module lifts the entire syringe.

[0018] (4) Put on the needle protective sleeve: The XYZ linear module moves the syringe back to the needle tube fixing frame and inserts the needle tube into the needle protective sleeve to make the needle tube and the needle protective sleeve tightly connected.

[0019] (5) Activity test: The XYZ linear module moves the syringe above the activity meter and uses a pen-shaped electric cylinder to lower the syringe into the activity meter to perform the activity test.

[0020] (6) Determine if it is qualified: Read the result in the activity meter and compare it with the required activity. If the result of the comparison is qualified, proceed to step (7); if it is not qualified, check if the drug is used up; if the drug is not used up, throw the unqualified injection solution along with the syringe into the contamination recovery well for recycling, and return to step (1) to repeat the process of steps (1) to (6); if the drug is used up, end the preparation process.

[0021] (7) The XYZ linear module inserts the syringe into the tungsten gold protective sleeve, and the dispensing is completed.

[0022] As a further optimization, the raw material bottle is equipped with a low liquid level alarm device.

[0023] As a further optimization, the saline bottle is equipped with a low liquid level alarm device.

[0024] The beneficial effects of this invention are:

[0025] 1. This invention can obtain radionuclides from an activity meter for dispensing, control the aspiration of the medicine, and complete the dispensing of radionuclides. All of the above actions are completed automatically. The whole process avoids medical personnel being exposed to the irradiation environment and prevents harm to medical personnel.

[0026] 2. The present invention has a simple structure and low cost of use, which is comparable to the cost of manual packaging and does not require additional consumables.

[0027] 3. This invention can achieve nuclide packaging without the need for a complex multi-axis robot. The XYZ linear module structure used is mature, easy to use, and saves space.

[0028] 4. The XYZ linear module, in conjunction with the pen-shaped cylinder on the clamping and extraction mechanism, enables the syringe to be inserted into the activity meter for activity testing, saving the steps of transferring the syringe from the clamping and extraction mechanism to a designated position, then having it gripped by the mechanism on the activity meter and inserted into the activity meter for activity detection. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the internal structure of the device of the present invention.

[0030] Figure 2 This is a schematic diagram of the clamping and extraction mechanism of the present invention.

[0031] Figure 3 A schematic diagram of a pen-shaped cylinder fixed at the end of the Z-axis module.

[0032] Figure 4 A schematic diagram of the connection structure between the needle clamp and the gripper cylinder.

[0033] Figure 5 This is a schematic diagram of the gripper cylinder.

[0034] Figure 6 This is a schematic diagram of the needle clamp.

[0035] Figure 7 This is a schematic diagram showing the connection between the linear electric cylinder and the tie rod clamp.

[0036] Figure 8 This is a schematic diagram of the structure of a linear electric cylinder.

[0037] Figure 9 This is a schematic diagram of the needle holder of the present invention.

[0038] Figure 10 This is a flowchart of the operating steps for this equipment.

[0039] The attached diagram is labeled as follows: XYZ linear module 1, clamping and extraction mechanism 2, needle clamp 2-1, pull rod clamp 2-2, gripper cylinder 2-3, linear electric cylinder 2-4, pen-shaped cylinder 2-5, activity meter monitoring well 2-6, syringe 3, tungsten gold protective sleeve 4, activity meter 5, saline bottle needle fixing assembly 6, concentrate bottle needle fixing assembly 7, concentrate bottle protective sleeve 8, base plate 9, needle fixing bracket 10, and contamination recovery well 11. Detailed Implementation

[0040] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0041] Example 1

[0042] This embodiment is an example of the automatic nuclide dispensing device for the XYZ linear module described in this invention.

[0043] like Figures 1 to 3As shown, the device of the present invention includes a device body and a protective cover. The device body is disposed inside the protective cover, and the protective cover is provided with a movable door. The human-machine interface is disposed on the outer surface of the protective cover. The device body includes an XYZ linear module 1, a clamping and extraction mechanism 2, a raw liquid bottle protective sleeve 8, a base plate 9, a raw liquid bottle needle fixing assembly 7, a saline bottle needle fixing assembly 6, an activity meter 5, a needle tube fixing bracket 10, and a contamination recovery well 11.

[0044] The base plate 9 is located in the middle inside the protective cover. The XYZ linear module 1 is fixed above the base plate 9, serving as the main mechanism for gripping motion; the clamping and extraction mechanism 2 is installed at the end of the Z-axis module of the XYZ linear module 1.

[0045] The clamping and extraction mechanism 2 consists of a syringe clamp 2-1, a pull rod clamp 2-2, a gripper cylinder 2-3, and a linear electric cylinder 2-4. The syringe clamp 2-1 is located on the two movable ends of the gripper cylinder 2-3, which is located at the end of the movable rod of the pen-shaped cylinder 2-5. The pull rod clamp 2-2 is located at the end of the telescopic rod of the linear electric cylinder 2-4, which is located at the end of the movable rod of the pen-shaped cylinder 2-5, which is fixed to the end of the Z-axis module. A slot is provided in the middle of the pull rod clamp 2-2. This allows for the placement of syringes and the extraction of medication. The stock solution bottle protective sleeve 8 is located below the base plate 9, and the saline bottle needle fixing assembly 6 is located on the base plate 9 for fixing the saline bottle. The base plate 9 also has a tungsten gold protective sleeve 4 for storing syringes 3 containing prepared radionuclide reagents. The base plate 9 is also equipped with a syringe holder 10, which has syringe positions and needle protection sleeve positions. Each syringe position and needle protection sleeve position is equipped with a proximity switch to detect whether a syringe is placed in the syringe position or whether a needle protection sleeve is present in the needle protection sleeve position. During activity meter testing, the XYZ linear module 1 lowers the syringe 3 into the activity meter 5 below the base plate 9. Above the saline bottle and the concentrate bottle, there are saline bottle needle fixing components 6 and 7, respectively, to fix the bottle body when the syringe is pulled out during saline or concentrate extraction.

[0046] The tungsten gold protective sleeve is designed to block radiation during subsequent use by medical personnel. It should be understood that even without the tungsten gold protective sleeve, this invention already achieves the goal of avoiding direct exposure to the radiation environment during the preparation of the mixture. The tungsten gold protective sleeve is located on the base plate, inside the movable door.

[0047] Example 2

[0048] This embodiment describes a method for dispensing nuclides using the aforementioned XYZ linear module automatic dispensing device, including the following steps:

[0049] The nurse first places the syringe, needle protective cover, tungsten gold protective cover, concentrate bottle, and saline bottle into their corresponding positions. After confirming that the placement is complete, the nurse inputs the dosage, activity information, and syringe model through the human-computer interaction interface.

[0050] The control system calculates the required volume of the stock solution and the saline solution based on the input information. Then, based on the calculated volume of the stock solution and the saline solution, it obtains the cross-sectional area of ​​the syringe according to the syringe model or directly inputs the cross-sectional area of ​​the syringe. Then, according to the formula: volume = cross-sectional area * height, the height is the distance the syringe piston is pulled. The distance the syringe piston is pulled is controlled by the linear electric cylinder 7 to raise the height.

[0051] (1) Gripping the syringe: Based on the feedback from the detection device on the syringe holder 10, the XYZ linear module 1 grabs the syringe with needle from the nearest syringe position where a syringe is detected. The gripper cylinder 2-3 controls the opening and closing of the gripper fixture, so that the outer edge of the syringe 3 is clamped by the gripper fixture, and the pull rod cap on the syringe is inserted into the pull rod clamp 2-2.

[0052] (2) Extraction of raw solution: The XYZ linear module 1 moves the syringe 3 above the raw solution bottle, and then moves the clamping and extraction mechanism 2 downward to insert the needle into the raw solution bottle. The linear electric cylinder 2-4 drives the pull rod clamp 2-2 to rise and extract the raw solution. After the extraction is completed, the Z-axis module on the XYZ linear module 1 rises to lift the entire syringe, completing the raw solution extraction process.

[0053] (3) Draw saline solution: XYZ linear module 1 moves the syringe to the top of the saline bottle, and then the clamping and extraction mechanism moves downward to insert the needle into the saline bottle. Linear electric cylinder 2-4 drives the pull rod clamp 2-2 to rise and draw saline solution. After the extraction is completed, XYZ linear module 1 lifts the syringe to complete the saline solution drawing.

[0054] (4) Put on the needle protective cover: XYZ linear module 1 moves the syringe back to the needle tube fixing frame, obtains the nearest needle protective cover position based on the detection result on the needle protective cover position, lowers the clamping and extraction mechanism 2, inserts the needle into the needle protective cover, so that the needle tube and the needle protective cover are tightly connected, and then the XYZ linear module 1 is driven to rise as a whole to complete the action of putting on the needle protective cover.

[0055] (5) Activity Testing: The XYZ linear module 1 moves the syringe 3 above the activity meter 5. The clamping and extraction mechanism 2 at the end of the Z-axis module directly inserts the syringe 3 into the activity meter test well. The descent process is divided into two stages: one stage is completed by the Z-axis module, and the other stage is completed by the pen-shaped cylinder 2-5 in the clamping and extraction mechanism 2. This action overcomes the difficulty of a small and deep test well. After completing the activity test, it rises back to its original position along the same path, completing the activity test.

[0056] (6) Determine if it is qualified: Read the result in the activity meter and compare it with the required activity. If the result of the comparison is qualified, proceed to step (7); if it is not qualified (this situation is relatively rare), it will be directly thrown into the pollution recovery well, and then the process will be repeated from step (1).

[0057] (7) XYZ linear module 1 controls the clamping and extraction mechanism 2 to clamp the syringe 3 and put it into the tungsten gold protective sleeve, and the dispensing is completed.

[0058] Medical staff opened the movable door of the heated chamber and took out the medicine, which was protected by a tungsten gold protective sleeve, for later use.

[0059] The concentrate bottle and saline bottle are equipped with concentrate and saline level alarm devices, respectively. When the level alarm is triggered, the dispensing process ends.

Claims

1. An automatic nuclide dispensing device using an XYZ linear module, comprising a device body and a protective cover, wherein the device body is disposed inside the protective cover, the protective cover is provided with a movable door, and a human-machine interface is disposed on the outer surface of the protective cover, characterized in that... The device body includes: a base plate (9), an XYZ linear module (1), a clamping and extraction mechanism (2), a raw liquid bottle protective sleeve (8), a raw liquid bottle needle fixing assembly (7), a saline bottle needle fixing assembly (6), an activity meter (12), and a needle holder (10). The specific positions and connections are as follows: the base plate (9) is located in the middle of the protective cover, the XYZ linear module (1) is fixed above the base plate (9), the end of the Z-axis module of the XYZ linear module (1) is provided with a clamping and extraction mechanism (2), the raw liquid bottle protective sleeve (8) is located below the base plate (9), the base plate (9) has an opening at the position of the raw liquid bottle protective sleeve (8), the raw liquid bottle needle fixing assembly (7) is set on the opening at the position of the raw liquid bottle protective sleeve (8), the saline bottle needle fixing assembly (6) is set on the base plate (9), and the activity meter (12) and the needle holder (10) are respectively located on the base plate (9). The activity meter (5) is located below the base plate (9), and the base plate (9) has a hole at the position of the activity meter (5). The needle tube fixing bracket (10) is located on the base plate (9). The clamping and extraction mechanism (2) consists of a needle tube clamp (2-1), a pull rod clamp (2-2), a gripper cylinder (2-3), a linear electric cylinder (2-4), and a pen-shaped cylinder (2-5). The needle tube clamp (2-1) is located on the two movable ends of the gripper cylinder (2-3), and the gripper cylinder (2-3) is located at the end of the movable rod of the pen-shaped cylinder (2-5). The pull rod clamp (2-2) is located at the end of the telescopic rod of the linear electric cylinder (2-4), and the linear electric cylinder (2-4) is located at the end of the movable rod of the pen-shaped cylinder (2-5). The pen-shaped cylinder (2-5) is fixed at the end of the Z-axis module. A slot is provided in the middle of the pull rod clamp (2-2). The syringe holder (10) is provided with a syringe position and a needle protection sleeve position. A boss is provided on the syringe position. The width of the boss is smaller than the rolled edge of the syringe outer sleeve. A groove is provided on the boss. A detection device is provided on each syringe position and needle protection sleeve position. The detection device is a proximity switch. The original liquid bottle needle fixing assembly (7) is used to fix the original liquid bottle body when extracting the original liquid; The saline bottle needle fixing assembly (6) is used to fix the saline bottle body when drawing saline; The XYZ linear module is used to directly insert the syringe (3) into the activity meter test well by the clamping and extraction mechanism (2) at the end of the Z-axis module during activity testing. The descent process is divided into two stages: one stage is completed by the Z-axis module, and the other stage is completed by the pen-shaped cylinder (2-5) in the clamping and extraction mechanism (2).

2. The automatic nuclide dispensing device using an XYZ linear module according to claim 1, characterized in that, The base plate is also equipped with a pollution recovery well (11).

3. The automatic nuclide dispensing device using an XYZ linear module according to claim 1, characterized in that, The original solution bottle needle fixing assembly (7) and the saline bottle needle fixing assembly (6) are the same needle fixing assembly.

4. The method for dispensing nuclides using the XYZ linear module automatic dispensing device as described in claim 1, characterized in that, Includes the following steps: (1) Gripping the syringe: Based on the feedback from the detection device on the syringe holder, the XYZ linear module (1) moves to the syringe holder (10) where the syringe is detected, and lowers the clamping and extraction mechanism (2). The syringe clamp (2-1) clamps the outer edge of the syringe (3) and simultaneously inserts the piston push-pull handle of the syringe (3) into the pull rod clamp (2-2). The XYZ linear module (1) is raised to clamp the syringe out of the syringe holder (10). (2) Extracting the original liquid: The XYZ linear module (1) moves the syringe (3) above the original liquid bottle, and then controls the clamping extraction mechanism (2) to move downward, inserting the needle into the original liquid bottle. The pull rod clamp (2-2) lifts the pull rod to extract the original liquid. After the extraction is finished, the XYZ linear module (1) lifts the entire syringe (3) upward. (3) Draw saline: The XYZ linear module (1) moves the syringe (3) above the saline bottle, inserts the needle into the saline bottle, and the lever clamp (2-2) lifts the lever to draw saline. After the draw is finished, the XYZ linear module (1) lifts the entire syringe. (4) Put on the needle protective cover: The XYZ linear module moves the syringe back to the needle tube fixing frame. Based on the detection result on the needle protective cover position, it obtains the nearest needle protective cover position, lowers the clamping and extraction mechanism, inserts the needle into the needle protective cover, so that the syringe and the needle protective cover are tightly connected. Then, the XYZ linear module 1 is driven to rise as a whole to complete the action of putting on the needle protective cover. (5) Testing activity: The XYZ linear module (1) moves the syringe (3) above the activity meter (5), and the clamping and extraction mechanism (2) at the end of the Z-axis module directly puts the syringe (3) into the activity meter test well. Its descent process is divided into two parts: one part is completed by the Z-axis module, and the other part is completed by the pen-shaped cylinder (2-5) in the clamping and extraction mechanism (2). (6) Determine if it is qualified: Read the result in the activity meter and compare it with the required activity. If the result of the comparison is qualified, proceed to step (7); if it is not qualified, check if the drug is used up; if the drug is not used up, throw the unqualified injection solution along with the syringe (3) into the contamination recovery well (11) for recovery, and return to (1) to repeat the process of steps (1) to (6); if the drug is used up, end the preparation process. (7) XYZ linear module (1) Place the syringe (3) into the tungsten gold protective sleeve (4) set on the base plate (9) to complete the disassembly.

Images