Automatic intravascular injection equipment

Abstract

The present invention provides a pressing device that avoids hand contact, including an injection assembly, an injection needle bending mechanism, an injection needle rotating mechanism, an injection needle delivery mechanism, and a liquid medicine pushing mechanism. The injection assembly includes an injection needle and a syringe, the injection needle and one end of the syringe are connected, the liquid medicine pushing mechanism is connected to the other end of the syringe, the liquid medicine pushing mechanism stores liquid medicine and can push the liquid medicine to the injection needle at a predetermined speed until it is pushed into the blood vessel. The injection needle rotating mechanism includes an injection needle outer sleeve and a rotating assembly, the injection needle rotating mechanism is wrapped around the outside of the syringe, the rotating assembly drives the injection assembly to rotate through the injection needle outer sleeve, the injection needle delivery mechanism clamps the injection assembly and drives the injection assembly to move, so that the injection needle can be inserted into the blood vessel with a reasonable force, and the injection needle bending mechanism is connected to the injection needle outer sleeve near the end of the injection needle to drive the injection needle to bend, so that the injection needle can be accurately inserted into the patient's blood vessel.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an automatic intravascular drug injection device. Background Art

[0002] Retinal vein occlusion (RVO) is a major cause of vision loss in the elderly worldwide. It is characterized by thrombosis in the central or branch vessels of the retinal vein, leading to severe vision loss or even blindness.

[0003] In order to ensure the safety and accuracy of retinal vein occlusion (RVO) surgery, it is very important to provide a device that automatically injects drugs into blood vessels to assist doctors in surgery. Summary of the Invention

[0004] The present invention provides an automatic intravascular drug injection device, which aims to at least solve the problem of stable injection of the injection needle into the retinal blood vessels, improve the positioning accuracy of the injection needle when puncturing the blood vessels, and be able to detect the puncture force of the injection needle in real time, so that the drug can be pushed smoothly at a specified speed.

[0005] In view of this, the present invention proposes an automatic intravascular drug injection device, comprising: an injection assembly, comprising an injection needle and an injection tube, the injection needle being connected to one end of the injection tube; a liquid medicine pushing mechanism, connected to the injection assembly and communicated with the other end of the injection tube; an injection needle rotation mechanism, connected to the injection assembly, comprising an injection needle outer sleeve and a rotation assembly, the injection needle rotation mechanism is wrapped around the outside of the injection tube, and the rotation assembly drives the injection assembly to rotate through the injection needle outer sleeve; an injection needle bending mechanism, arranged on the injection needle rotation mechanism, connected to the end of the injection needle outer sleeve close to the injection needle, to drive the injection needle to bend; an injection needle delivery mechanism, clamping the injection assembly, and driving the injection assembly to move.

[0006] In some optional embodiments, a base is further included, and the injection needle rotation mechanism, the injection needle delivery mechanism and the liquid medicine pushing mechanism are sequentially arranged in the length direction of the base.

[0007] In some optional embodiments, the base includes a support shell and a support plate, and the support shell and the injection needle rotation mechanism are arranged on the support plate; the injection needle rotation mechanism, the injection needle bending mechanism and the injection needle delivery mechanism are arranged inside the support shell, and one end of the injection needle and the injection tube is located outside the support shell, and the drug liquid pushing mechanism passes through the support shell and is connected to the other end of the injection tube.

[0008] In some optional embodiments, the medicine pushing mechanism includes a first three-way valve, a second three-way valve, a medicine injection hose, a pushing assembly, a servo electric rod, an air pressure sensor and a pressure sensor; the first three-way valve, the medicine injection hose, the pushing assembly and the servo electric rod are connected in sequence; the first three-way valve is connected to the injection tube and the medicine injection hose, respectively; the second three-way valve is sleeved on the pushing assembly, the air pressure sensor is arranged on the second three-way valve; the pressure sensor is arranged on the servo electric rod.

[0009] In some optional embodiments, the pushing assembly includes a medicine injection sleeve and an extrusion assembly, and the extrusion assembly can slide in the medicine injection sleeve; the extrusion assembly includes a rubber piston, a sealing ring, a push rod and a push rod joint, and the rubber piston, the push rod and the push rod joint are connected in sequence, and the sealing ring is sleeved on the outside of the rubber piston.

[0010] In some optional embodiments, the rotating assembly includes a piezoelectric drive motor, a first coupling and a second coupling, the piezoelectric drive motor is connected to the first coupling and the second coupling respectively, the first coupling is connected to the outer sleeve of the injection needle, and the second coupling is connected to the injection needle bending mechanism.

[0011] In some optional embodiments, the injection needle bending mechanism includes a first drive motor, a third coupling, an output shaft, a drive wire, a turntable and a continuum component; the second coupling is connected to the turntable, the first drive motor is arranged on the turntable, the first drive motor is connected to the third coupling, the output shaft is connected to the drive wire, and the drive wire passes through the outer sleeve of the injection needle and is connected to the continuum component.

[0012] In some optional embodiments, a supporting component is further included, one end of which is disposed on the housing of the piezoelectric drive motor, and the other end of which is connected to the outer sleeve of the injection needle via a first bearing.

[0013] In some optional embodiments, the injection needle delivery mechanism includes a fixed base plate, a second drive motor and a bearing seat assembly, the fixed base plate, the second drive motor and the bearing seat assembly are stacked, and the injection tube passes through the bearing seat assembly.

[0014] In some optional embodiments, the bearing seat assembly includes a first bearing seat and a second bearing seat, the first bearing seat and the second bearing seat are arranged in the length direction of the injection tube, the first bearing seat is provided with a first sleeve, and the second bearing seat is provided with a second sleeve.

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

[0016] The automatic intravascular drug injection device provided by the present invention includes an injection assembly, an injection needle bending mechanism, an injection needle rotating mechanism, an injection needle delivery mechanism, and a liquid medicine pushing mechanism. The injection assembly includes an injection needle and a syringe, one end of which is connected to the syringe. The liquid medicine pushing mechanism is connected to the other end of the syringe. The liquid medicine pushing mechanism stores liquid medicine and can smoothly push the liquid medicine through the syringe to the injection needle at a predetermined speed until it is delivered into the patient's body, thereby ensuring stable injection of the liquid medicine into the retinal blood vessels. The injection needle rotating mechanism includes an injection needle outer sleeve and a rotating assembly. The injection needle rotating mechanism is wrapped around the outside of the syringe. The rotating assembly drives the injection assembly to rotate via the injection needle outer sleeve. The injection needle delivery mechanism clamps the injection assembly and drives the injection assembly forward or backward, allowing the injection needle to be inserted into the blood vessel with reasonable force. The injection needle bending mechanism is connected to the injection needle outer sleeve near the end of the injection needle to drive the injection needle to bend, allowing the injection needle to be accurately inserted into the patient's blood vessel, thereby improving the positioning accuracy of the injection needle during intravascular puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments with reference to the following drawings, in which:

[0018] Figure 1 A schematic structural diagram of an automatic intravascular drug injection device according to an embodiment of the present invention is shown;

[0019] Figure 2 Shown Figure 1 A perspective structural diagram of an automatic intravascular drug injection device according to an embodiment of the present invention;

[0020] Figure 3 Shown Figure 1 A schematic diagram of the connection between the injection needle rotation mechanism and the injection assembly of the provided embodiment;

[0021] Figure 4 Shown Figure 1 A schematic diagram of a portion of the structure of the injection assembly of the provided embodiment;

[0022] Figure 5 Shown Figure 1 A schematic diagram of the connection between the injection needle rotation mechanism, the injection assembly, and the injection needle bending mechanism of the provided embodiment from a first viewing angle;

[0023] Figure 6 Shown Figure 1 A schematic diagram of the connection between the injection needle rotation mechanism, the injection assembly, and the injection needle bending mechanism of the provided embodiment from a second viewing angle;

[0024] Figure 7 Shown Figure 1A schematic structural diagram of the first coupling or the second coupling in the injection needle rotation mechanism of the provided embodiment;

[0025] Figure 8 Shown Figure 1 A schematic diagram of the connection structure between the injection needle delivery mechanism and the injection assembly of the provided embodiment;

[0026] Figure 9 Shown Figure 1 A schematic structural diagram of the first bearing seat in the injection needle delivery mechanism of the provided embodiment;

[0027] Figure 10 Shown Figure 1 A schematic structural diagram of the second bearing seat in the injection needle delivery mechanism of the provided embodiment;

[0028] Figure 11 Shown Figure 1 A schematic structural diagram of the liquid medicine pushing mechanism of the provided embodiment;

[0029] Figure 12 Shown Figure 1 A schematic structural diagram of a pushing component in a liquid medicine pushing mechanism according to the embodiment provided;

[0030] Figure 13 Shown Figure 1 A schematic structural diagram of a push rod joint in a liquid medicine pushing mechanism according to the embodiment provided;

[0031] Figure 14 Shown Figure 1 A schematic structural diagram of the second three-way valve and air pressure sensor in the medicine liquid pushing mechanism of the provided embodiment.

[0032] in, Figures 1 to 14 The corresponding relationship between the reference numerals and component names is as follows:

[0033] 1-base; 11-support plate; 111-third support element; 12-support shell; 2-injection needle bending mechanism; 21-first drive motor; 22-third coupling; 23-output shaft; 24-drive wire; 25-turntable; 26-continuum component; 3-injection needle rotation mechanism; 31-piezoelectric drive motor; 32-first coupling; 38-injection needle outer sleeve; 4-injection needle delivery mechanism; 41-fixed bottom plate; 42-second drive motor; 43-adapter component; 44-bearing seat assembly; 441-first bearing seat; 442-second bearing seat; 443-first sleeve ;444-second sleeve; 5-medicine liquid pushing mechanism; 51-first three-way valve; 52-second three-way valve; 53-medicine injection hose; 54-pushing assembly; 541-medicine injection sleeve; 542-rubber piston; 543-sealing ring; 544-push rod; 545-push rod joint; 55-servo electric lever; 56-air pressure sensor; 57-pressure sensor; 6-injection assembly; 61-injection needle; 62-injection tube; 7-support component; 71-first supporting element; 711-support ring; 72-second supporting element; 721-fixing element; 722-fixing plate; 723-fixing rod. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0036] Retinal vein occlusion (RVO) is a major cause of vision loss in the elderly worldwide. It manifests as blood clots forming in the central or branch vessels of the retinal vein, leading to severe vision loss or even blindness. To ensure the safety and accuracy of RVO surgery, it is crucial to provide a device that automatically injects medication into the blood vessels to assist surgeons during surgery.

[0037] The present invention provides an automatic intravascular drug injection device, which aims to at least solve the problem of stable injection of the injection needle 61 in the retinal blood vessels, improve the positioning accuracy of the injection needle 61 when puncturing the blood vessels, and be able to detect the puncture force of the injection needle 61 in real time, so that the drug can be pushed smoothly at a specified speed.

[0038] The present invention provides an automatic intravascular drug injection device, such as Figure 1 and Figure 2As shown, the automatic intravascular drug injection device includes: an injection needle bending mechanism 2, an injection needle rotating mechanism 3, an injection needle delivery mechanism 4 and an injection assembly 6. The injection assembly 6 includes an injection needle 61 and an injection tube 62, and the injection needle 61 is connected to one end of the injection tube 62. The drug liquid pushing mechanism 5 is connected to the injection assembly 6, and the drug liquid pushing mechanism 5 is connected to the other end of the injection tube 62. The injection needle rotating mechanism 3 is connected to the injection assembly 6, and the injection needle rotating mechanism 3 includes an injection needle outer sleeve 38 and a rotating assembly. The injection needle rotating mechanism 3 is wrapped around the outside of the injection tube 62, and the rotating assembly drives the injection assembly 6 to rotate through the injection needle outer sleeve 38. The injection needle bending mechanism 2 is arranged on the injection needle rotating mechanism 3, and the injection needle bending mechanism 2 is connected to the end of the injection needle outer sleeve 38 near the injection needle 61 to drive the injection needle 61 to bend. The injection needle delivery mechanism 4 clamps the injection assembly 6 and drives the injection assembly 6 to move.

[0039] Specifically, the drug delivery mechanism 5 stores drug solution and pushes it at a predetermined speed through the syringe 62 to the injection needle 61, ultimately delivering it into the patient's body. The needle rotation mechanism 3 rotates the injection assembly 6, while the needle delivery mechanism 4 grips the injection assembly 6, driving it forward or backward, allowing the injection needle 61 to penetrate the blood vessel with reasonable force. The needle bending mechanism 2 is connected to the end of the needle outer sleeve 38 near the injection needle 61, bending the needle 61 so that it can be precisely inserted into the patient's blood vessel.

[0040] In some optional embodiments, such as Figure 1 and Figure 2 As shown, the automatic intravascular drug injection device also includes a base 1, an injection needle rotation mechanism 3, an injection needle delivery mechanism 4 and a drug solution pushing mechanism 5 are sequentially arranged in the length direction of the base 1.

[0041] Specifically, the injection assembly 6 extends in the same direction as the base 1. The injection needle bending mechanism 2, the injection needle rotating mechanism 3, the injection needle delivery mechanism 4, and the liquid medicine pushing mechanism 5 are sequentially connected to the injection assembly 6 along its length.

[0042] Furthermore, the base 1 includes a support shell 12 and a support plate 11, and the support shell 12 and the injection needle rotation mechanism 3 are arranged on the support plate 11; the injection needle rotation mechanism 3, the injection needle bending mechanism 2 and the injection needle delivery mechanism 4 are arranged inside the support shell 12, and one end of the injection needle 61 and the injection tube 62 are located outside the support shell 12, and the liquid pushing mechanism 5 passes through the support shell 12 and is connected to the other end of the injection tube 62.

[0043] Specifically, if Figure 2As shown, the support shell 12 is provided with a accommodating space, the injection needle rotating mechanism 3 and the injection needle delivery mechanism 4 are fixed to the support shell 12, the injection needle 61 is provided on the outside of the support shell 12, and the end portion of the injection tube 62 connected to the injection needle 61 is at least partially provided on the outside of the support shell 12. The portion of the injection tube 62 provided inside the support shell 12 is connected to the injection needle rotating mechanism 3 and the injection needle delivery mechanism 4 in sequence, and the liquid medicine pushing mechanism 5 passes through the support shell 12 and is connected to the end of the injection tube 62 away from the injection needle 61.

[0044] Further, if Figure 1 and Figure 2 As shown, the support plate 11 is provided with a plurality of third support elements 111. Optionally, the plurality of third support elements 111 are sequentially arranged in the longitudinal direction of the support plate 11. Optionally, the support plate 11 includes four third support elements 111, with a preset distance set between each third support element 111. The four third support elements 111 are sequentially arranged in the longitudinal direction of the support plate 11 as a first third support element 111, a second third support element 111, a third third support element 111, and a fourth third support element 111. The support shell 12 is provided between the first third support element 111 and the second third support element 111. The support shell 12 is connected to the first third support element 111 and the second third support element 111, respectively. Optionally, the support shell 12 is bolted to the first third support element 111 and the second third support element 111, respectively. The medicine liquid pushing mechanism 5 is supported by the third third supporting element 111 and the fourth third supporting element 111 . Optionally, the medicine liquid pushing mechanism 5 is connected to the third third supporting element 111 and the fourth third supporting element 111 via bolts.

[0045] In some optional embodiments, such as Figure 11 As shown, the medicine pushing mechanism 5 includes a first three-way valve 51, a second three-way valve 52, a medicine injection hose 53, a pushing assembly 54, a servo electric rod 55, an air pressure sensor 56 and a pressure sensor 57; the first three-way valve 51, the medicine injection hose 53, the pushing assembly 54 and the servo electric rod 55 are connected in sequence; the first three-way valve 51 is connected to the injection tube 62 and the medicine injection hose 53 respectively; the second three-way valve 52 is sleeved on the pushing assembly 54, and the air pressure sensor 56 is arranged on the second three-way valve 52; the pressure sensor 57 is arranged on the servo electric rod 55.

[0046] Specifically, if Figure 11 As shown, the first three-way valve 51 includes three ports, one of which is connected to the injection tube 62, and another port is connected to the injection hose 53 to the drug container, which contains the drug. The push assembly 54 is equipped with the second three-way valve 52, which is equipped with an air pressure sensor 56. The air pressure sensor 56 is used to detect the real-time air pressure and prevent the injection flow rate of the drug from being too high.

[0047] In some optional embodiments, such as Figure 11 、 Figure 12 、 Figure 13 and Figure 14 As shown, the pushing assembly 54 includes a medicine injection sleeve 541 and an extrusion assembly, which can slide inside the medicine injection sleeve 541; the extrusion assembly includes a rubber piston 542, a sealing ring 543, a push rod 544 and a push rod joint 545, the rubber piston 542, the push rod 544 and the push rod joint 545 are connected in sequence, and the sealing ring 543 is sleeved on the outside of the rubber piston 542.

[0048] Specifically, the servo cylinder 57 is connected to the push rod joint 545. A retaining spring is provided at the end of the push rod 544 to limit its movement. A gas-liquid mixture, such as silicone oil, is disposed between the push rod 544 and the rubber piston 542. The servo cylinder 57 pushes the push rod 544 forward via the push rod joint 545. The silicone oil or other gas-liquid mixture acts as a buffer, and the push rod 544 pushes the rubber piston 542 forward. The rubber piston 542 squeezes the air, pushing the liquid medicine in the medicine container through the syringe 62 and ejected from the injection needle 61, thus completing the automatic injection process.

[0049] In some optional embodiments, such as Figure 3 、 Figure 5 、 Figure 6 and Figure 7 As shown, the rotating assembly includes a piezoelectric drive motor 31, a first coupling 32 and a second coupling. The piezoelectric drive motor 31 is connected to the first coupling 32 and the second coupling respectively. The first coupling 32 is connected to the injection needle outer sleeve 38, and the second coupling is connected to the injection needle bending mechanism 2.

[0050] Specifically, in the length direction of the injection tube 62, the first coupling 32 and the second coupling are arranged back to back on the piezoelectric drive motor 31, and the outer sleeve of the injection tube 62 is provided with an injection needle outer sleeve 38. The injection needle outer sleeve 38 passes through the first coupling 32, the piezoelectric drive motor 31 and the second coupling. The piezoelectric drive motor 31 is connected to the injection needle outer sleeve 38 through the first coupling 32, and the piezoelectric drive motor 31 drives the injection needle outer sleeve 38 and the injection tube 62 to rotate.

[0051] In some optional embodiments, such as Figure 5As shown, the injection needle bending mechanism 2 includes a first drive motor 21, a third coupling 22, an output shaft 23, a drive wire 24, a turntable 25 and a continuous body component 26; the second coupling is connected to the turntable 25, the first drive motor 21 is arranged on the turntable 25, the first drive motor 21 is connected to the third coupling 22, the output shaft 23 is connected to the drive wire 24, and the drive wire 24 passes through the injection needle outer sleeve 38 and is connected to the continuous body component 26.

[0052] Specifically, the piezoelectric drive motor 31 drives the turntable 25 to rotate via a second coupling. The first drive motor 21 is connected to the output shaft 23 via a third coupling 22. The output shaft 23 is connected to the drive wire 24. The drive wire 24 passes through a small hole in the needle outer sleeve 38 and remains fixed in shape within the needle outer sleeve 38. The first drive motor 21 is mounted on the turntable 25. When the turntable 25 rotates, the first drive motor 21 rotates with the turntable 25. During rotation, the first drive motor 21 changes position and angle, thus affecting the length of the drive wire 24, causing the drive wire 24 to extend and contract. This change in the length of the drive wire 24 causes the continuous body 26 to bend, thereby bending the injection needle 61 near the continuous body 26. This allows the injection needle to be precisely inserted into the patient's blood vessel, improving the positioning accuracy of the injection needle 61 during intravascular puncture. Multiple FBG gratings are installed at the end of the injection tube 62 to detect the tiny puncture force of the injection needle 61. Optionally, three FBG gratings are installed at the end of the injection tube 62.

[0053] In some optional embodiments, a support component 7 is further included, one end of the support component 7 is disposed on the housing of the piezoelectric drive motor 31, and the other end of the support component 7 is connected to the injection needle outer sleeve 38 through a first bearing.

[0054] Specifically, the supporting component 7 includes a first supporting element 71 and a second supporting element 72. A supporting ring 711 is provided at one end of the first supporting element 71. The other end of the first supporting element 71 is connected to one end of the second supporting element 72. A fixing element 721 is provided at one end of the second supporting element 72 away from the first supporting element 71. The fixing element 721 includes a fixing plate 722 and a fixing rod 723. The fixing plate 722 is provided with multiple fixing rods 723. The second supporting element 72 is connected to the housing of the piezoelectric drive motor 31 through the fixing element 721.

[0055] Furthermore, the second support element 72 is connected to the fixing plate 722. The housing of the piezoelectric drive motor 31 is provided with a plurality of fixing holes. The fixing rods 723 of the fixing element 721 are respectively connected to the fixing holes, so that the support component 7 is fixed to the housing of the piezoelectric drive motor 31. The injection tube 62 of the injection assembly 6 passes through the support ring 711, so that the support component 7 supports the injection assembly 6.

[0056] In some optional embodiments, such as Figure 8 、 Figure 9 and Figure 10 As shown, the injection needle delivery mechanism 4 includes a fixed base plate 41, a second drive motor 42, a transition component 43 and a bearing seat assembly 44. The fixed base plate 41, the second drive motor 42, the transition component 43 and the bearing seat assembly 44 are stacked, and the injection tube 62 passes through the bearing seat assembly 44.

[0057] Specifically, the second drive motor 42 is a piezoelectric linear drive motor. The injection needle outer sleeve 38 passes through the piezoelectric rotary drive motor. The motor shaft is hollow. The injection tube 62 extends from the injection needle outer sleeve 38 and is fixed to two bearing seat assemblies 44 to prevent the injection tube 62 from rotating and generating torque. The bearing seat assembly 44 clamps the injection tube 62. The bearing seat assembly 44 is fixed to the adapter component 43 by screws. The adapter component 43 is fixed to the linear drive platform of the piezoelectric linear drive motor by screws. The piezoelectric linear drive motor is connected to the fixed base plate 41 by screws. When the piezoelectric linear drive motor is in operation, the linear drive platform of the piezoelectric linear drive motor moves forward, driving the adapter component 43 and the bearing seat assembly 44 forward, realizing the forward push of the injection tube 62 and completing the forward delivery of the injection needle 61. The adapter component 43 is an adapter plate.

[0058] In some optional embodiments, such as Figure 8 、 Figure 9 and Figure 10 As shown, the bearing seat assembly 44 includes a first bearing seat 441 and a second bearing seat 442. The first bearing seat 441 and the second bearing seat 442 are arranged in the length direction of the injection tube 62. The first bearing seat 441 is provided with a first sleeve 443, and the second bearing seat 442 is provided with a second sleeve 444.

[0059] Specifically, the injection needle outer sleeve 38 passes through the piezoelectric rotary drive motor, and the injection tube 62 extends from the injection needle outer sleeve 38 and is fixed to two bearing seats 44, preventing the injection tube 62 from rotating and generating torque. The first bearing seat 441 and the second bearing seat 442 clamp the injection tube 62 and are fixed to the adapter plate 43 via screws. The adapter plate 43 is fixed to the linear drive platform of the piezoelectric linear drive motor via screws, and the piezoelectric linear drive motor is connected to the fixed base plate 41 via screws. When the piezoelectric linear drive motor is in operation, the linear drive platform moves forward, driving the adapter plate 43 and the first and second bearing seats 441, 442 forward, pushing the injection tube 62 forward and completing the forward delivery of the injection needle 61.

[0060] In the present invention, the term "plurality" refers to at least two or more than two, unless otherwise specified. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean fixed, removable, or integral; and "connected" can mean directly or indirectly through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0061] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0062] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An automatic intravascular drug injection device, characterized in that: include: An injection assembly (6) comprising an injection needle (61) and an injection tube (62), wherein one end of the injection needle (61) is connected to one end of the injection tube (62); The liquid medicine pushing mechanism (5) is connected to the injection assembly (6) and communicated with the other end of the injection tube (62), and includes a first three-way valve (51), a second three-way valve (52), a medicine injection hose (53), a pushing assembly (54), a servo electric rod (55), an air pressure sensor (56) and a pressure sensor (57); the first three-way valve (51), the medicine injection hose (53), the pushing assembly (54) and the servo electric rod (55) are connected in sequence; the first three-way valve (51) is connected to the injection tube (62) and the medicine injection hose (53) respectively; the second three-way valve (52) is sleeved on the pushing assembly (5 4), the air pressure sensor (56) is arranged on the second three-way valve (52); the pressure sensor (57) is arranged on the servo electric rod (55); the pushing assembly (54) includes a drug injection sleeve (541) and an extrusion assembly, and the extrusion assembly can slide in the drug injection sleeve (541); the extrusion assembly includes a rubber piston (542), a sealing ring (543), a push rod (544) and a push rod joint (545), the rubber piston (542), the push rod (544) and the push rod joint (545) are connected in sequence, and the sealing ring (543) is sleeved on the outside of the rubber piston (542); An injection needle rotating mechanism (3) is connected to the injection assembly (6), comprising an injection needle outer sleeve (38) and a rotating assembly, wherein the injection needle rotating mechanism (3) is wrapped around the outside of the injection tube (62), and the rotating assembly drives the injection assembly (6) to rotate via the injection needle outer sleeve (38); An injection needle bending mechanism (2) is arranged on the injection needle rotating mechanism (3) and is connected to the end of the injection needle outer sleeve (38) close to the injection needle (61) to drive the injection needle (61) to bend. The injection needle bending mechanism (2) includes a first drive motor (21), a third coupling (22), an output shaft (23), a drive wire (24), a turntable (25) and a continuous body component (26); the second coupling is connected to the turntable (25), the first drive motor (21) is arranged on the turntable (25), the first drive motor (21) is connected to the third coupling (22), the output shaft (23) is connected to the drive wire (24), and the drive wire (24) passes through the injection needle outer sleeve (38) and is connected to the continuous body component (26); The injection needle delivery mechanism (4) clamps the injection assembly (6) and drives the injection assembly (6) to move.

2. The automatic intravascular drug injection device according to claim 1, characterized in that: It also includes a base (1), wherein the injection needle rotating mechanism (3), the injection needle delivery mechanism (4) and the liquid medicine pushing mechanism (5) are sequentially arranged in the length direction of the base (1).

3. The automatic intravascular drug injection device according to claim 2, characterized in that: The base (1) comprises a support shell (12) and a support plate (11), and the support shell (12) and the injection needle rotation mechanism (3) are arranged on the support plate (11); The injection needle rotating mechanism (3), the injection needle bending mechanism (2) and the injection needle delivery mechanism (4) are arranged inside the support shell (12), one end of the injection needle (61) and the injection tube (62) are located outside the support shell (12), and the drug liquid pushing mechanism (5) passes through the support shell (12) and is connected to the other end of the injection tube (62).

4. The automatic intravascular drug injection device according to claim 1, characterized in that: The rotating assembly includes a piezoelectric drive motor (31), a first coupling (32) and a second coupling, wherein the piezoelectric drive motor (31) is connected to the first coupling (32) and the second coupling respectively, the first coupling (32) is connected to the injection needle outer sleeve (38), and the second coupling is connected to the injection needle bending mechanism (2).

5. The automatic intravascular drug injection device according to claim 4, characterized in that: It also includes a support component (7), one end of which is arranged on the housing of the piezoelectric drive motor (31), and the other end of which is connected to the injection needle outer sleeve (38) via a first bearing.

6. The automatic intravascular drug injection device according to claim 1, characterized in that: The injection needle delivery mechanism (4) includes a fixed base plate (41), a second drive motor (42), a transition component (43) and a bearing seat assembly (44); the fixed base plate (41), the second drive motor (42), the transition component (43) and the bearing seat assembly (44) are stacked, and the injection tube (62) passes through the bearing seat assembly (44).

7. The automatic intravascular drug injection device according to claim 6, characterized in that: The bearing seat assembly (44) includes a first bearing seat (441) and a second bearing seat (442), wherein the first bearing seat (441) and the second bearing seat (442) are arranged in the length direction of the injection tube (62), the first bearing seat (441) is provided with a first sleeve (443), and the second bearing seat (442) is provided with a second sleeve (444).

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