A postoperative flap monitoring and medicine applying massage treatment integrated machine

Abstract

The application discloses a postoperative skin flap monitoring and medicine applying and massaging treatment integrated machine, which comprises a three-axis moving platform, a medicine applying and massaging instrument, a camera and a laser range finder which are installed on the three-axis moving platform, and a controller, wherein the medicine applying and massaging instrument comprises a rotating disc, a wheel frame which is installed at an eccentric position on the bottom of the rotating disc, a massaging wheel which is installed on the wheel frame, and a medicine tank which is arranged on the top of the wheel frame; the rolling direction of the massaging wheel is consistent with the eccentric direction of the wheel frame relative to the rotating disc; the bottom of the medicine tank is communicated with a cover body which is used for releasing medicine; the bottom surface of the cover body is in sliding contact with the top surface of the massaging wheel; and the integrated machine further comprises a temperature monitor. The integrated machine can realize intelligent skin flap temperature monitoring and medicine applying and massaging treatment; the massaging position can be adjusted through rolling according to skin flaps with different sizes and shapes; the massaging resistance is small, the skin flap is not damaged; the medicine applying work is completed at the same time of massaging; the hands of medical staff are completely liberated; and the postoperative nursing efficiency and effect are improved.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, specifically relating to an integrated machine for postoperative skin flap monitoring and medication application massage therapy. Background Technology

[0002] After flap transplantation surgery, patients are prone to venous vascular crisis, which can lead to surgical failure. Therefore, medical staff often need to perform flap massage therapy on patients. They use their fingers to press down 3-5mm on the distal end of the flap, move towards the proximal end, change the location, and press again, or slowly move and press from the distal end of the graft towards the proximal end to promote blood return. This also has a significant effect on improving microcirculatory congestion and increasing the survival rate of the flap. However, this massage requires experienced medical staff and is time-consuming, which is a waste of manpower.

[0003] Chinese utility model patent CN217853810U discloses a skin flap massager, which is a product previously developed by the applicant. It can intelligently massage the transplant site after scanning through a massage device, camera, laser rangefinder, three-axis moving platform and control device, freeing up the hands of medical staff and improving the comfort of massage. It has been promoted and used in hospitals to a certain extent. However, in the actual application of this massager, certain defects were found, namely: (1) The massager cannot adjust the massage position according to skin flaps of different sizes and shapes, that is, it cannot achieve moving massage. If the massage head is dragged directly after touching the skin, it will generate great resistance and easily damage the skin flap. In addition, adjusting the massage area requires adjusting the moving massage direction according to the proximal end position. Since the massage head material is soft and elastic, if it is set to a freely rolling ball in order to move the massage head, the massage head cannot be effectively fixed and cannot achieve stable movement. (2) Sometimes it is necessary to apply some auxiliary drugs to the skin flap during the skin flap massage process. However, the massager cannot perform the drug application function. Medical staff need to apply the drug manually while massaging, which is very troublesome. (3) The massager cannot monitor the temperature of different positions of the skin flap. However, the change in skin temperature is the most sensitive and effective way to judge the blood circulation of the skin flap. Summary of the Invention

[0004] The purpose of this invention is to provide a postoperative flap monitoring and medication application massage therapy integrated machine, which solves the defects of existing flap massagers that cannot adjust the massage position according to flaps of different sizes and shapes, as well as the defects that cannot realize medication application function and cannot monitor flap temperature.

[0005] The present invention achieves the above objectives through the following technical solutions:

[0006] A postoperative flap monitoring and medication application massage therapy integrated machine, the integrated machine includes a three-axis moving platform, a medication application massager, a camera and a laser rangefinder installed on the three-axis moving platform, and a controller;

[0007] The medicated massage device includes a rotating disk connected to a three-axis moving platform, a wheel frame installed at an eccentric position at the bottom of the rotating disk, a massage wheel movably mounted on the wheel frame, and a medicine container located at the top of the wheel frame. The rolling direction of the massage wheel is consistent with the eccentric direction of the wheel frame relative to the rotating disk. The bottom of the medicine container is connected to a cover for releasing medicine. The bottom surface of the cover slides in contact with the top surface of the massage wheel. The controller is configured to: control the three-axis moving platform to first move the medicated massage device so that the massage wheel contacts a designated position on the skin flap surface and generates compression deformation, and then move the medicated massage device so that the massage wheel rolls along the skin flap surface toward the proximal end of the human body. During the rolling of the massage wheel, the medicine in the medicine container is released through the cover onto the wheel surface of the massage wheel and applied to the skin flap surface.

[0008] The integrated device also includes a temperature monitor installed on the three-axis moving platform for monitoring and displaying the skin flap temperature.

[0009] A further improvement is that the three-axis moving platform includes a support frame, a first lead screw and a guide rod disposed on the support frame along the X-axis, a first motor driving the first lead screw to rotate, a slide rail movably disposed on the first lead screw via a threaded sleeve and slidingly engaged with the guide rod, a second lead screw disposed on the slide rail along the Y-axis, a second motor driving the second lead screw to rotate, a connecting plate movably disposed on the second lead screw via a threaded sleeve and slidingly engaged with the slide rail, and a telescopic rod disposed at the bottom of the connecting plate along the Z-axis, the output end of which is connected to the medicated massage device;

[0010] The X-axis, Y-axis, and Z-axis are three mutually perpendicular directions in three-dimensional space.

[0011] A further improvement is that the rotating disk is equipped with a coil spring, which is used to keep the wheel frame and massage wheel stationary in the fixed eccentric direction of the rotating disk when no external force is applied.

[0012] A further improvement is that the massage wheel consists of an axle and a bladder fitted onto the axle. The bladder is a wheel-shaped material made of non-stretchable material and is filled with a liquid medium. The axle is a hollow structure with connecting holes at the center of the axle end and on the axle surface. A cylinder is provided on the side of the wheel frame, and a piston disc is provided inside the cylinder. The piston disc divides the cylinder into two independent areas. One area is connected to the inside of the axle and the inside of the bladder through the connecting hole. The other area is provided with a spring for pushing the piston disc to squeeze the liquid medium, so that the bladder has elasticity.

[0013] A further improvement is that a threaded rod is threadedly connected to the end of the cylinder. One end of the threaded rod extends out of the cylinder and is equipped with an adjustment knob, while the other end is located inside the cylinder and abuts against the spring. The pushing force of the spring on the piston disc can be adjusted by rotating the threaded rod.

[0014] A further improvement is that a distance sensor for monitoring the distance between the piston disc and the end of the cylinder is provided inside the cylinder, and the controller is further configured to:

[0015] During the rolling of the massage roller, the real-time distance value monitored by the distance sensor is acquired and compared with the initial distance value before the massage roller rolls. When the real-time distance value is greater than the initial distance value, the three-axis moving platform is controlled to move the medicated massager away from the skin flap. When the real-time distance value is less than the initial distance value, the three-axis moving platform is controlled to move the medicated massager closer to the skin flap, so as to keep the compression deformation of the cyst constant.

[0016] A further improvement is that the bottom surface of the cover is a concave shape that matches the surface of the massage wheel, and several micro-holes are provided on the concave surface. Protruding edges that contact the surface of the massage wheel are formed on both sides of the concave surface, so that a gap is formed between the non-edge position of the concave surface and the surface of the massage wheel.

[0017] A further improvement is that the all-in-one machine also includes a limb pad located below the three-axis moving platform.

[0018] A further improvement is that the massage roller is provided with a protective shell.

[0019] The beneficial effects of this invention are as follows:

[0020] (1) This all-in-one machine can realize intelligent skin flap temperature monitoring and drug application massage treatment. It can adjust the massage position by rolling according to skin flaps of different sizes and shapes. The massage resistance is small and will not damage the skin flap. The drug application work is completed at the same time as the massage, which completely frees the hands of medical staff and improves the efficiency and effect of postoperative care.

[0021] (2) The massage rollers in this all-in-one machine are eccentrically set, which enables rolling in any direction. The wheel-shaped bladder with elasticity provided by springs is used for squeezing massage. Compared with the elastic ball-shaped massage head, it is easier to install and fix, and the movement stability is greatly improved. The elasticity is more quantifiable and intuitive, which makes it easier to control the massage intensity.

[0022] (3) During the rolling massage, the massage roller of the all-in-one machine can adaptively adjust the pressing depth of the massage roller to keep the compression deformation of the bladder (i.e. the pressing force) constant, thus avoiding excessive pressing and insufficient pressing. Attached Figure Description

[0023] Figure 1 This is a side view of the all-in-one machine of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of a three-axis moving platform;

[0025] Figure 3 This is a schematic diagram of the wheel frame and massage wheels;

[0026] Figure 4 This is a schematic diagram of the structure of the cover;

[0027] In the diagram: 1. Camera; 2. Laser rangefinder; 3. Controller; 4. Rotary disc; 5. Wheel frame; 501. Cylinder; 502. Piston disc; 503. Spring; 504. Threaded rod; 505. Adjustment knob; 506. Distance sensor; 6. Massage wheel; 601. Wheel axle; 602. Bag; 603. Connecting hole; 7. Medicine container; 8. Cover; 801. Concave surface; 802. Micropore; 803. Protruding edge; 9. Temperature monitor; 10. Support frame; 11. First lead screw; 12. Guide rod; 13. First motor; 14. Slide rail; 15. Second lead screw; 16. Second motor; 17. Connecting plate; 18. Telescopic rod; 19. Limb pad; 20. Protective shell. Detailed Implementation

[0028] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0029] Combination Figure 1-4 As shown, a postoperative flap monitoring and medication application massage therapy integrated machine includes a three-axis moving platform, a medication application massager, a camera 1, and a laser rangefinder 2 mounted on the three-axis moving platform, and a controller 3; the three-axis moving platform is used to drive the X, Y, and Z axes, the medication application massager is used to apply medication and massage the flap position, the camera 1 is used to acquire flap transplantation images, the laser rangefinder 2 is used for distance measurement, and the controller 3 controls the movement of the three-axis moving platform based on the results of the camera 1 and the laser rangefinder 2.

[0030] The medicated massage device includes a rotating disk 4 connected to a three-axis moving platform, a wheel frame 5 mounted at an eccentric position on the bottom of the rotating disk 4, a massage wheel 6 movably mounted on the wheel frame 5, and a medicine container 7 located on top of the wheel frame 5. The rolling direction of the massage wheel 6 is consistent with the eccentric direction of the wheel frame 5 relative to the rotating disk 4. The bottom of the medicine container 7 is connected to a cover 8 for releasing medicine. The bottom surface of the cover 8 slides in contact with the top surface of the massage wheel 6. The controller 3 is configured to: control the three-axis moving platform to first move the medicated massage device so that the massage wheel 6 contacts a designated position (far end) on the skin flap surface and generates a squeezing deformation, so that the skin flap is pressed down by 3-5mm; then move the medicated massage device to make the massage wheel 6 move along the skin flap surface. The massage roller 6 rolls towards the proximal end of the body (during the movement of the massage device, regardless of the direction of movement, the massage roller 6 will always be dragged behind the rotating disc 4, ensuring that the rolling direction of the massage roller 6 coincides with the direction of the movement path), achieving a moving massage, promoting blood return. Furthermore, during the rolling of the massage roller 6, the medication in the medication container 7 is released through the cover 8 onto the surface of the massage roller 6 and applied to the skin flap surface, completing the medication application process simultaneously with the massage. This completely frees up the hands of medical staff, improving the efficiency and effectiveness of postoperative care. In addition, the integrated machine also includes a temperature monitor 9 mounted on a three-axis moving platform to monitor and display the skin flap temperature to determine the skin flap's blood circulation, thus avoiding excessive or insufficient pressure.

[0031] Preferably, the three-axis moving platform of the present invention includes a support frame 10, a first lead screw 11 and a guide rod 12 disposed on the support frame 10 along the X-axis direction, a first motor 13 driving the first lead screw 11 to rotate, a slide rail 14 movably disposed on the first lead screw 11 via a threaded sleeve and slidingly engaged with the guide rod 12, a second lead screw 15 disposed on the slide rail 14 along the Y-axis direction, a second motor 16 driving the second lead screw 15 to rotate, a connecting plate 17 movably disposed on the second lead screw 15 via a threaded sleeve and slidingly engaged with the slide rail 14, and a telescopic rod 18 disposed at the bottom of the connecting plate 17 along the Z-axis direction, the output end of the telescopic rod 18 being connected to the medicated massage device; wherein, the X-axis direction, the Y-axis direction, and the Z-axis direction are three mutually perpendicular directions in three-dimensional space. The first motor 13 drives the first lead screw 11 to rotate, which enables the slide rail 14 to move the medicated massager along the X-axis. The second motor 16 drives the second lead screw 15 to rotate, which enables the connecting plate 17 to move the medicated massager along the Y-axis. The extension and retraction of the telescopic rod 18 enables the medicated massager to move along the Z-axis.

[0032] Preferably, the rotating disk 4 of the present invention is provided with a coil spring (not shown in the figure) to keep the wheel frame 5 and the massage wheel 6 stationary in the fixed eccentric direction of the rotating disk 4 when no external force is applied. In this way, the position of the massage wheel 6 is determined before massage, which facilitates the positioning of the massage position.

[0033] Preferably, in this invention, the massage roller 6 consists of a wheel axle 601 and a bladder 602 sleeved on the wheel axle 601. The bladder 602 is a wheel-shaped material made of a non-stretchable material (generally, it does not need to be stretched under extrusion pressure), such as PA film or PET film, and is filled with a liquid medium. The wheel axle 601 is a hollow structure, and a connecting hole 603 is provided at the center position of the end of the wheel axle 601 and at the axle surface. A cylinder 501 is provided on the side of the wheel frame 5, and a piston disc 502 is provided inside the cylinder 501. The piston disc 502 divides the inside of the cylinder 501 into two independent areas, one of which is connected by the connecting hole 603. 03 is connected to the inside of the wheel axle 601 and the inside of the bladder 602, so that the liquid medium inside the bladder 602 can flow into this area. Another area is provided with a spring 503 for pushing the piston disc 502 to squeeze the liquid medium, so that the bladder 602 has elasticity. That is, when the bladder 602 comes into contact with the skin flap and is squeezed and deformed, it will push the spring 503 to generate a certain compression. The elastic force of the spring 503 is transferred to the surface of the bladder 602 through the liquid medium, so that it has the same elastic effect as the elastic massage ball. Moreover, the elasticity corresponds to the compression of the spring 503, which is more quantitative and intuitive, and facilitates the control of massage intensity.

[0034] Preferably, in this invention, a threaded rod 504 is threadedly connected to the end of the cylinder 501. One end of the threaded rod 504 extends out of the cylinder 501 and is provided with an adjustment knob 505, while the other end is located inside the cylinder 501 and abuts against the spring member 503. By rotating the threaded rod 504, the pushing force of the spring member 503 on the piston disc 502 can be adjusted, thereby realizing the control of the massage intensity. For example, if the threaded rod 504 rotates and moves closer to the piston disc 502, the compression of the spring member 503 will increase, and the bladder 602 will appear "harder". Under the same compression deformation, the massage intensity will be greater.

[0035] During the rolling of the massage roller 6, the three-axis moving platform drives the medicated massager to move proximally and horizontally. Therefore, when encountering uneven skin flap surfaces or bony protrusions, the massage intensity may increase or decrease, affecting the massage effect and potentially damaging the skin flap. To address this issue, the present invention includes a distance sensor 506 inside the cylinder 501 for monitoring the distance between the piston disc 502 and the end of the cylinder 501. The controller 3 is further configured as follows:

[0036] During the rolling of the massage roller 6, the real-time distance value monitored by the distance sensor 506 is acquired and compared with the initial distance value before the massage roller 6 rolls. When the real-time distance value is greater than the initial distance value, it indicates that the deformation of the massage roller 6 has increased, and the piston plate 502 is pushed upward. At this time, the three-axis moving platform is controlled to move the medicated massager away from the skin flap, reducing the deformation of the massage roller 6. When the real-time distance value is less than the initial distance value, it indicates that the deformation of the massage roller 6 has decreased, and the piston plate 502 is pushed downward. At this time, the three-axis moving platform is controlled to move the medicated massager closer to the skin flap, increasing the deformation of the massage roller 6, thereby keeping the compression deformation of the bladder 602 constant.

[0037] Preferably, in this invention, the bottom surface of the cover 8 is a concave surface 801 that matches the surface of the massage roller 6, and a plurality of micro-holes 802 are formed on the concave surface 801. Protruding edges 803 that contact the surface of the massage roller 6 are formed on both sides of the concave surface 801, creating a gap between the non-edge portion of the concave surface 801 and the surface of the massage roller 6. The medication slowly passes through the micro-holes 802 to the gap and is applied to the surface of the massage roller 6. The rotation of the roller allows the medication to be applied to the skin flap surface. Additionally, an appropriate amount of medication can be added during the massage process to prevent spillage.

[0038] Preferably, the all-in-one machine of the present invention also includes a limb pad 19 located below the three-axis moving platform. The limb pad 19 may be provided with grooves to facilitate the placement of the upper and lower limbs and prevent displacement during massage. In the present invention, the massage rollers 6 are provided with a protective shell 20 for protection.

[0039] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, 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 all fall within the scope of protection of the present invention.

Claims

1. A postoperative flap monitoring and medication application massage therapy integrated machine, the integrated machine comprising a three-axis moving platform, and a medication application massager, a camera (1) and a laser rangefinder (2) mounted on the three-axis moving platform, and a controller (3), characterized in that: The medicated massage device includes a rotating disk (4) connected to a three-axis moving platform, a wheel frame (5) mounted at an eccentric position at the bottom of the rotating disk (4), a massage wheel (6) movably mounted on the wheel frame (5), and a medicine container (7) located on the top of the wheel frame (5). The rolling direction of the massage wheel (6) is consistent with the eccentric direction of the wheel frame (5) relative to the rotating disk (4). The bottom of the medicine container (7) is connected to a cover (8) for releasing medicine. The bottom surface of the cover (8) slides in contact with the top surface of the massage wheel (6). The controller (3) is configured to: control The three-axis moving platform first drives the medicine application massager to move so that the massage wheel (6) contacts the designated position on the skin flap surface and generates compression deformation. Then, it drives the medicine application massager to move so that the massage wheel (6) rolls along the skin flap surface toward the proximal end of the human body. During the movement of the medicine application massager, no matter what the direction of movement is, the massage wheel (6) will drag behind the rotating disk (4) so ​​that the rolling direction of the massage wheel (6) coincides with the direction of the movement path. During the rolling of the massage wheel (6), the medicine in the medicine tank (7) is released through the cover (8) onto the wheel surface of the massage wheel (6) and applied to the skin flap surface. The integrated machine also includes a temperature monitor (9) installed on the three-axis moving platform for monitoring and displaying the skin flap temperature.

2. The postoperative flap monitoring and medication application massage integrated machine according to claim 1, characterized in that, The three-axis moving platform includes a support frame (10), a first lead screw (11) and a guide rod (12) disposed on the support frame (10) along the X-axis direction, a first motor (13) driving the first lead screw (11) to rotate, a slide rail (14) movably disposed on the first lead screw (11) through a threaded sleeve and slidingly engaged with the guide rod (12), a second lead screw (15) disposed on the slide rail (14) along the Y-axis direction, a second motor (16) driving the second lead screw (15) to rotate, a connecting plate (17) movably disposed on the second lead screw (15) through a threaded sleeve and slidingly engaged with the slide rail (14), and a telescopic rod (18) disposed at the bottom of the connecting plate (17) along the Z-axis direction. The output end of the telescopic rod (18) is connected to the medicated massage device. The X-axis, Y-axis, and Z-axis are three mutually perpendicular directions in three-dimensional space.

3. The postoperative flap monitoring and medication application massage integrated machine according to claim 1, characterized in that, The rotating disk (4) is equipped with a coil spring, which is used to keep the wheel frame (5) and massage wheel (6) stationary in the fixed eccentric direction of the rotating disk (4) when no external force is applied.

4. The postoperative flap monitoring and medication application massage integrated machine according to claim 3, characterized in that, The massage wheel (6) consists of a wheel axle (601) and a bladder (602) sleeved on the wheel axle (601). The bladder (602) is a wheel-shaped material made of non-stretchable material and is filled with a liquid medium. The wheel axle (601) is a hollow structure and has a connecting hole (603) at the center of the end of the wheel axle (601) and at the axial surface. The wheel frame (5) has a cylinder (501) on its side. The cylinder (501) has a piston disc (502) inside. The piston disc (502) divides the inside of the cylinder (501) into two independent areas. One area is connected to the inside of the wheel axle (601) and the inside of the bladder (602) through the connecting hole (603). The other area has a spring (503) for pushing the piston disc (502) to squeeze the liquid medium so that the bladder (602) is elastic.

5. The postoperative flap monitoring and medication application massage integrated machine according to claim 4, characterized in that, The end of the cylinder (501) is threadedly connected to a threaded rod (504). One end of the threaded rod (504) extends out of the cylinder (501) and is provided with an adjustment knob (505). The other end is located inside the cylinder (501) and abuts against the spring (503). By rotating the threaded rod (504), the pushing force of the spring (503) on the piston disc (502) can be adjusted.

6. The postoperative flap monitoring and medication application massage integrated machine according to claim 4, characterized in that, The cylinder (501) is provided with a distance sensor (506) for monitoring the distance between the piston disc (502) and the end of the cylinder (501), and the controller (3) is further configured to: During the rolling of the massage roller (6), the real-time distance value monitored by the distance sensor (506) is obtained and compared with the initial distance value before the massage roller (6) rolls. When the real-time distance value is greater than the initial distance value, the three-axis moving platform is controlled to move the medicated massager away from the skin flap. When the real-time distance value is less than the initial distance value, the three-axis moving platform is controlled to move the medicated massager closer to the skin flap so that the compression deformation of the cyst (602) remains constant.

7. The postoperative flap monitoring and medication application massage integrated machine according to claim 1, characterized in that, The bottom surface of the cover (8) is a concave surface (801) that matches the surface of the massage wheel (6), and several micro holes (802) are provided on the concave surface (801). Protruding edges (803) that contact the surface of the massage wheel (6) are formed on both sides of the concave surface (801), so that a gap is formed between the non-edge position of the concave surface (801) and the surface of the massage wheel (6).

8. The postoperative flap monitoring and medication application massage integrated machine according to claim 1, characterized in that, The all-in-one machine also includes a limb pad (19) located below the three-axis moving platform.

9. The postoperative flap monitoring and medication application massage integrated machine according to claim 1, characterized in that, The massage roller (6) is provided with a protective shell (20).

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