Remaining needle limiting and fixing equipment and administration method thereof

Abstract

The invention relates to the technical field of medical equipment, provides indwelling needle limiting and fixing equipment, and aims to ensure that a joint between a venous indwelling needle and a heparin cap is properly fixed in a scene of automatic administration of a mechanical arm and ensure the stability and safety of an infusion system. Comprising a fixed male end and a fixed female end, the fixed male end and the fixed female end are matched to form a limiting channel, and the connector is fixed through the limiting channel. The fixing male end and the fixing female end are arranged to form a limiting part to clamp the joint, so that the joint is fixed, the stability of the position of a heparin cap is ensured when a mechanical arm automatically doses medicine, and the medicine feeding process is smoothly completed.

Description

Technical Field

[0001] The invention belongs to the technical field of medical machinery, and in particular relates to a device for limiting and fixing an indwelling needle and a drug administration method thereof. Background Art

[0002] An IV catheter (also called a peripheral intravenous catheter) is a small plastic tube inserted into a patient's vein to deliver medications, fluids, or to draw blood samples. A heparin cap is a small cap with a heparin solution that is attached to the end of the IV. Heparin is an anticoagulant that prevents blood from clotting inside the catheter and forming clots. When healthcare providers need to administer medication or draw blood through an IV, they open the heparin cap to do so and then put it back on to keep the system closed and sterile.

[0003] In the prior art, when administering medicine through an indwelling needle, medical staff generally administer the medicine manually. With the development of science and technology, in order to reduce manpower consumption, scenarios have emerged where medicine is automatically administered through robotic arms.

[0004] In the scenario of automatic drug administration by robotic arms, especially in the scenario of nuclear medicine administration, the joint between the intravenous indwelling needle and the heparin cap needs to be properly fixed to ensure the stability and safety of drug administration. Unstable joints may cause the following problems: loose joints may cause liquid leakage, affecting the accuracy of infusion dosage; unstable joints may cause blood to coagulate in the area and form thrombi. Therefore, a joint fixing device is needed. Summary of the invention

[0005] The present invention provides an indwelling needle limiting and fixing device and a drug administration method thereof, which solves the technical problem of how to fix the indwelling needle to perform stable and safe drug administration in the scenario of automatic drug administration by a robotic arm.

[0006] The technical solution of the present invention to solve the above technical problem is as follows: it comprises a fixed male end and a fixed female end, the fixed male end and the fixed female end cooperate to form a limiting channel, and the connector is fixed through the limiting channel.

[0007] The beneficial effects of adopting the above technical solution are as follows: the present invention clamps the joint by setting a limit access formed by a fixed male end and a fixed female end to complete the fixation of the joint, so that when the robotic arm automatically administers the drug, the stability of the position of the heparin cap is guaranteed, and the drug feeding process is completed smoothly, which is suitable for nuclear medicine administration.

[0008] Furthermore, the fixed male end is provided with a first limiting groove, and the fixed female end is provided with a second limiting groove, and the first limiting groove and the second limiting groove form the limiting channel by fitting the fixed male end and the fixed female end together.

[0009] The beneficial effect of adopting the above technical solution is as follows: the present invention generates a limiting channel by setting a limiting groove, which facilitates the placement and replacement of the joint and makes the overall joint fixing device more convenient and quick to use.

[0010] Furthermore, the first limiting groove and the second limiting groove are of the same size and shape, and are respectively arranged inside the fixed male end and inside the fixed female end in a mirror image with respect to a vertical plane.

[0011] The beneficial effect of adopting the above technical solution is: the present invention sets the shapes of the two grooves to be the same. Since the channel of the joint has a cylindrical structure, the two grooves of the same shape can facilitate the joint to be smoothly and unobstructedly placed in the limiting groove, thereby achieving the fixation of the joint.

[0012] Furthermore, the above-mentioned joint includes a Y-shaped joint and a straight joint, and the limiting channel is a Y-shaped channel corresponding to the Y-shaped joint; or is a straight channel corresponding to the straight joint.

[0013] The beneficial effect of adopting the above technical solution is that the present invention can set the shape of the corresponding limiting channel based on the existing Y-shaped joint and straight joint, ensuring that it can be applied to joints of various shapes for fixing.

[0014] Furthermore, a movable connection device is provided between the fixed male end and the fixed female end.

[0015] The beneficial effects of adopting the above technical solution are as follows: in the present invention, the movable connection between the fixed male end and the fixed female end facilitates the placement and replacement of the connector.

[0016] Furthermore, the above-mentioned movable connection device is a male end magnet sheet and a female end magnet sheet, and the male end magnet sheet and the female end magnet sheet are respectively located on the two end surfaces where the fixed male end and the fixed female end are bonded.

[0017] The beneficial effects of adopting the above technical solution are as follows: in the present invention, the adsorption effect of the magnet is utilized to achieve the effect of active connection between the fixed male end and the fixed female end. When the fixed male end and the fixed female end need to be fitted together, the fixed male end is brought close to the fixed female end, and the adsorption effect of the magnet sheet enables the fixed male end to maintain the fitted state.

[0018] Furthermore, the above-mentioned movable connection device is a female end magnet sheet, which is located on the fixed female end and on the end surface where the fixed male end and the fixed female end are bonded together, and the end surface material of the fixed male end where the fixed male end and the fixed female end are bonded together is a ferromagnetic material.

[0019] The beneficial effects of adopting the above technical solution are as follows: in the present invention, the adsorption effect of the magnet is utilized to achieve the effect of the movable connection between the fixed male end and the fixed female end. When the fixed male end and the fixed female end need to be fitted together, the fixed male end is brought close to the fixed female end, and the fixed male end of the ferromagnetic material is adsorbed by the magnet sheet to keep the fixed male end in contact with the fixed female end.

[0020] Furthermore, a positioning device is provided between the fixed male end and the fixed female end.

[0021] The beneficial effects of adopting the above technical solution are as follows: in the present invention, by providing a positioning device, the corresponding positions of the fixed male end and the fixed female end are limited to prevent displacement between the fixed male end and the fixed female end.

[0022] Furthermore, the above-mentioned positioning device includes a guide column and a guide hole, the guide column is arranged on the fixed female end, and is located on the end surface where the fixed male end and the fixed female end are fitted together; the guide hole is arranged on the fixed male end corresponding to the position of the guide column, and is located on the end surface where the fixed male end and the fixed female end are fitted together, and the number of the guide column and the guide hole is multiple.

[0023] The beneficial effect of adopting the above technical solution is: in the present invention, the guide column and the guide hole can not only achieve a positioning effect, but also enhance the fitting strength between the fixed female end and the fixed male end due to the friction generated between the guide column and the guide hole.

[0024] Furthermore, the bottom surface formed by the cooperation between the fixed male end and the fixed female end is parallel to the horizontal plane.

[0025] On the other hand, the present invention also provides a drug administration method based on an indwelling needle limiting and fixing device, which is applicable to a drug administration module, wherein the drug administration module comprises an injection unit for fixing and pushing a syringe for drug administration, a mechanical arm for moving the injection unit, and a camera provided on the injection unit, wherein the camera is used to check and calibrate the alignment state between the injection end of the syringe and the heparin cap, and is characterized in that the method comprises:

[0026] In response to the drug administration instruction fed back by the control panel, the robotic arm drives the injection unit to complete the drug aspiration operation of the corresponding dose, and then reaches the first calibration position, where the injection end of the syringe is located in front of the indwelling needle limit fixing device;

[0027] The image in front of the indwelling needle position-limiting and fixing device currently captured is obtained through the camera, recorded as the first image, and the first image is subjected to grayscale processing and threshold segmentation processing to obtain a second grayscale image containing only the indwelling needle position-limiting and fixing device and the needle tube at the front end of the syringe. This step is used to remove other background images that are not related to the device in the first image and eliminate interference items;

[0028] The preset feature points of the indwelling needle position limiting fixation device in the second grayscale image are extracted by a convolutional network, and the extracted multiple preset feature points are connected based on a Bipartite Matching algorithm to construct a three-dimensional virtual framework of the indwelling needle position limiting fixation device, and the first local structure corresponding to the heparin cap is identified based on the three-dimensional virtual framework;

[0029] A shape-based image feature extraction algorithm is used to construct a first identification line segment for characterizing the syringe needle tube in the second grayscale image, and the first identification line segment is extended, wherein the extended segment is a dotted line segment, and based on the positional relationship between the dotted line segment and the three-dimensional virtual frame, the position of the robotic arm is finely adjusted so that the dotted line segment intersects with the first local structure, and the dotted line segment is perpendicular to the injection surface in the first local structure, and the injection surface is used to characterize the drug injection end surface of the heparin cap, and the robotic arm is located at the second calibration position;

[0030] In response to the second calibration position instruction, the robotic arm performs the medication needle insertion operation, during which the overlap between the first identification line segment and the dotted line segment is detected in real time by the camera, and in the event of an overlap deviation, the insertion trajectory of the robotic arm is corrected based on the overlap deviation so that the needle on the syringe is slowly inserted into the heparin cap, and then the medicine in the syringe is injected into the Y-shaped three-way connector or the straight connector through the injection unit.

[0031] The beneficial effect of adopting the above technical solution is: in the present invention, the bottom is parallel to the horizontal plane, so as to ensure the stable setting of the overall fixing device.

[0032] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A schematic structural diagram of a fixed male end of Embodiment 1 of the present invention is shown;

[0035] Figure 2 Shows Figure 1 Front view of the diagram;

[0036] Figure 3 Shows Figure 1 Schematic diagram of top view;

[0037] Figure 4 A schematic structural diagram of a fixed female end of Embodiment 1 of the present invention is shown;

[0038] Figure 5 Shows Figure 2 Front view of the diagram;

[0039] Figure 6 Shows Figure 2 Schematic diagram of top view;

[0040] Figure 7 A schematic structural diagram of a fixed female end of Embodiment 2 of the present invention is shown;

[0041] Figure 8 Shows Figure 7 Front view of the diagram;

[0042] Fig. 9 Shows Figure 7 Schematic diagram of top view;

[0043] Fig.10 A schematic structural diagram of a fixed male end of Embodiment 2 of the present invention is shown;

[0044] Fig.11 Shows Fig.10 Front view of the diagram;

[0045] Fig.12 Shows Fig.10 Schematic diagram of top view;

[0046] Figure numerals: 1. Fixed male end; 101. Y-shaped first limiting groove; 102. Straight first limiting groove; 2. Fixed female end; 201. Y-shaped second limiting groove; 202. Straight second limiting groove; 3. Guide column; 4. Guide hole; 5. Female end magnet sheet. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0049] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0050] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0051] The present invention provides a device for limiting and fixing an indwelling needle.

[0052] It comprises a fixed male end 1 and a fixed female end 2, wherein the fixed male end 1 and the fixed female end 2 cooperate to form a limiting channel, and the connector is fixed through the limiting channel.

[0053] Among them, the present invention clamps the connector by setting a limit access formed by a fixed male end 1 and a fixed female end 2 to complete the fixation of the connector, so that when the robot arm automatically administers the drug, the position of the heparin cap is guaranteed to be stable, so that the drug administration process is completed smoothly.

[0054] Among them, in this specific implementation, the fixed male end 1 and the fixed female end 2 can be achieved by the magnet sheet of the present application, or by snap-on connection, or by hinges and buckles, or by adhesion, or by bundling with rubber strips.

[0055] When it is realized by hinges and buckles, the hinge is located on one side of the fixed male end 1 and the fixed female end 2, and is connected to the fixed male end 1 and the fixed female end 2. The buckle is located on the other side of the fixed male end 1 and the fixed female end 2, and the fixed male end 1 and the fixed female end 2 are kept in a fitted state by the buckle.

[0056] Optionally, the fixed male end 1 is provided with a first limiting groove, and the fixed female end 2 is provided with a second limiting groove, and the first limiting groove and the second limiting groove form the limiting channel by fitting the fixed male end 1 and the fixed female end 2 together.

[0057] Among them, the present invention generates a limiting channel by setting a limiting groove, which is convenient for the placement and replacement of the joint and makes the overall joint fixing device more convenient and quick to use.

[0058] Optionally, the first limiting groove and the second limiting groove have the same size and shape, and are respectively arranged inside the fixed male end 1 and inside the fixed female end 2 in a mirror image with respect to a vertical plane.

[0059] Among them, the present invention sets the shapes of the two grooves to be the same. Since the channel of the joint presents a cylindrical structure, the two grooves of the same shape can facilitate the joint to be smoothly and unobstructedly placed in the limiting groove, thereby achieving the fixation of the joint.

[0060] Among them, in this specific embodiment, the first limiting groove and the second limiting groove can also have different shapes, the limiting channel part of the second limiting groove can be larger than the limiting channel part of the first limiting groove, and the material of the fixed female end 2 can be set to soft plastic. Since the second limiting groove is set on the fixed female end 2, the joint can be pressed into the second limiting groove formed by soft plastic, so that the second limiting groove can naturally form a local clamping effect on the joint, thereby improving the fixing effect of the joint.

[0061] Optionally, a movable connection device is further provided between the fixed male end 1 and the fixed female end 2 .

[0062] Among them, in the present invention, the movable connection between the fixed male end 1 and the fixed female end 2 facilitates the placement and replacement of the connector.

[0063] Optionally, the movable connection device is a male end magnet sheet and a female end magnet sheet 5, and the male end magnet sheet and the female end magnet sheet 5 are respectively located on two end surfaces where the fixed male end 1 and the fixed female end 2 are bonded.

[0064] Among them, in the present invention, the adsorption effect of the magnet is utilized to achieve the effect of active connection between the fixed male end 1 and the fixed female end 2. When the fixed male end 1 and the fixed female end 2 need to be fitted together, the fixed male end 1 is brought close to the fixed female end 2, and the adsorption effect of the magnet sheet enables the fixed male end 1 to maintain the fitted state.

[0065] Optionally, the movable connection device is a female end magnet sheet 5, which is located on the fixed female end 2 and on the end surface where the fixed male end 1 and the fixed female end 2 are bonded together, and the end surface material of the fixed male end 1 where the fixed male end 1 and the fixed female end 2 are bonded together is a ferromagnetic material.

[0066] Among them, in the present invention, the adsorption effect of the magnet is utilized to achieve the effect of active connection between the fixed male end 1 and the fixed female end 2. When the fixed male end 1 and the fixed female end 2 need to be fitted together, the fixed male end 1 is brought close to the fixed female end 2, and the fixed male end 1 of the ferromagnetic material is adsorbed by the magnet sheet, so that the fixed male end 1 remains in contact with the fixed female end 2.

[0067] Optionally, a positioning device is further provided between the fixed male end 1 and the fixed female end 2 .

[0068] Among them, in the present invention, by providing a positioning device, the corresponding positions of the fixed male end 1 and the fixed female end 2 are limited to prevent displacement between the fixed male end 1 and the fixed female end 2.

[0069] Optionally, the positioning device includes a guide column 3 and a guide hole 4, wherein the guide column 3 is arranged on the fixed female end 2 and is located on the end surface where the fixed male end 1 and the fixed female end 2 are fitted together; the guide hole 4 is arranged on the fixed male end 1 corresponding to the position of the guide column 3 and is located on the end surface where the fixed male end 1 and the fixed female end 2 are fitted together, and the number of the guide column 3 and the guide hole 4 is multiple.

[0070] Among them, in the present invention, the guide column 3 and the guide hole 4 can not only achieve a positioning effect, but also enhance the fitting strength between the fixed female end 2 and the fixed male end 1 due to the friction generated between the guide column 3 and the guide hole 4.

[0071] Optionally, a bottom surface formed by the fixed male end 1 and the fixed female end 2 is parallel to a horizontal plane.

[0072] Among them, in the present invention, the bottom is parallel to the horizontal plane to ensure the stable setting of the overall fixing device.

[0073] Embodiment 1:

[0074] like Figure 1-Figure 6 As shown, on the basis of the above technical solution, the connector of this embodiment 1 is a Y-shaped connector, and the limiting channel is a Y-shaped channel corresponding to the Y-shaped connector.

[0075] The installation process of the Y-shaped connector is as follows:

[0076] First, the fixed male end 1 is provided with a Y-shaped first limiting groove 101, and the fixed female end 2 is provided with a Y-shaped second limiting groove 201. The Y-shaped first limiting groove 101 and the second limiting groove are both Y-shaped, and are used to form a Y-shaped channel. The Y-shaped first limiting groove 101 and the Y-shaped second limiting groove 201 are the same in size and shape, and are respectively arranged inside the fixed male end 1 and inside the fixed female end 2 in a mirror image with a vertical plane. Since the outer surface of the Y-shaped connector presents a double-cylindrical structure, the two grooves of the same shape are just located at the diameter position of the cylinder, which can facilitate the connector to be smoothly and unobstructedly placed in the limiting groove, thereby realizing the placement of the Y-shaped connector.

[0077] After the Y-shaped connector is placed, the fixed male end 1 and the fixed female end 2 are brought close together for bonding. The fixed female end 2 is provided with a female end magnet sheet 5, which is located on the end surface where the fixed male end 1 and the fixed female end 2 are bonded. The material of the fixed male end 1 is a ferromagnetic material. It can be iron, stainless steel, etc. The fixed male end 1 is adsorbed by the female end magnet sheet 5 to complete the clamping and fixing of the Y-shaped connector. Then, a guide column 3 and a guide hole 4 are provided between the fixed male end 1 and the fixed female end 2. The guide column 3 is provided on the fixed female end 2, and is located on the end surface where the fixed male end 1 and the fixed female end 2 are bonded; the guide hole 4 is provided on the fixed male end 1 corresponding to the position of the guide column 3, and is located on the end surface where the fixed male end 1 and the fixed female end 2 are bonded. The number of the guide column 3 and the guide hole 4 is two. When the fixed male end 1 and the fixed female end 2 are close to each other for fitting, the guide column 3 enters the guide hole 4, which not only plays a role in positioning the fixed male end 1 and the fixed female end 2, but also enhances the fitting strength between the fixed female end 2 and the fixed male end 1 due to the friction generated between the guide column 3 and the guide hole 4.

[0078] When replacing the Y-shaped connector, since the fixed male end 1 and the fixed female end 2 are fixed by magnetism, the fixed male end 1 and the fixed female end 2 are directly separated by external force, the Y-shaped connector clamped in the Y-shaped channel is taken out, and then the new Y-shaped connector is put into the Y-shaped channel to complete the replacement of the Y-shaped connector.

[0079] Embodiment 2:

[0080] like Figure 7-Figure 12 As shown, on the basis of the above technical solution, the joint of this embodiment 2 is a straight joint, and the limiting channel is a straight channel corresponding to the straight joint.

[0081] The installation process for the straight connector is as follows:

[0082] First, the fixed male end 1 is provided with a straight first limiting groove 102, and the fixed female end 2 is provided with a straight second limiting groove 202. The straight first limiting groove 102 and the second limiting groove are both straight and used to form a straight channel. The straight first limiting groove 102 and the straight second limiting groove 202 are the same in size and shape, and are respectively arranged inside the fixed male end 1 and inside the fixed female end 2 in a mirror image with the vertical plane. Since the outer surface of the straight connector presents a double-branched cylindrical structure, the two grooves of the same shape are just located at the diameter position of the cylinder, which can facilitate the connector to be smoothly and unobstructedly placed in the limiting groove, thereby realizing the placement of the straight connector.

[0083] After the straight connector is placed, the fixed male end 1 and the fixed female end 2 are brought close together for bonding. The fixed female end 2 is provided with a female end magnet sheet 5, and is located on the end surface where the fixed male end 1 and the fixed female end 2 are bonded. The material of the fixed male end 1 is a ferromagnetic material. It can be iron, stainless steel, etc. The fixed male end 1 is adsorbed by the female end magnet sheet 5 to complete the clamping and fixing of the straight connector. Then, a guide column 3 and a guide hole 4 are provided between the fixed male end 1 and the fixed female end 2. The guide column 3 is provided on the fixed female end 2, and is located on the end surface where the fixed male end 1 and the fixed female end 2 are bonded; the guide hole 4 is provided on the fixed male end 1 corresponding to the position of the guide column 3, and is located on the end surface where the fixed male end 1 and the fixed female end 2 are bonded. The number of the guide column 3 and the guide hole 4 is two. When the fixed male end 1 and the fixed female end 2 are close to each other for fitting, the guide column 3 enters the guide hole 4, which not only plays a role in positioning the fixed male end 1 and the fixed female end 2, but also enhances the fitting strength between the fixed female end 2 and the fixed male end 1 due to the friction generated between the guide column 3 and the guide hole 4.

[0084] When replacing the straight connector, since the fixed male end 1 and the fixed female end 2 are fixed by magnetism, the fixed male end 1 and the fixed female end 2 are directly separated by external force, the straight connector clamped in the straight channel is taken out, and then the new straight connector is placed in the straight channel to complete the replacement of the straight connector.

[0085] Embodiment 3:

[0086] This embodiment is based on Embodiment 2 and is used to provide a drug administration method based on an indwelling needle limiting and fixing device, which is applicable to a drug administration module, wherein the drug administration module comprises an injection unit for fixing and pushing a syringe for drug administration, a mechanical arm for moving the injection unit, and a camera provided on the injection unit, wherein the camera is used to check and calibrate the alignment state between the injection end of the syringe and the heparin cap, and is characterized in that the method comprises:

[0087] In response to the drug administration instruction fed back by the control panel, the robotic arm drives the injection unit to complete the drug aspiration operation of the corresponding dose, and then reaches the first calibration position, where the injection end of the syringe is located in front of the indwelling needle limit fixing device;

[0088] The image in front of the indwelling needle position-limiting and fixing device currently captured is obtained through the camera, recorded as the first image, and the first image is subjected to grayscale processing and threshold segmentation processing to obtain a second grayscale image containing only the indwelling needle position-limiting and fixing device and the needle tube at the front end of the syringe. This step is used to remove other background images that are not related to the device in the first image and eliminate interference items;

[0089] The preset feature points of the indwelling needle position limiting and fixing device in the second grayscale image are extracted by a convolutional network, and the extracted multiple preset feature points are connected based on a Bipartite Matching algorithm to construct a three-dimensional virtual framework of the indwelling needle position limiting and fixing device, and the first local structure corresponding to the heparin cap is identified based on the three-dimensional virtual framework;

[0090] A shape-based image feature extraction algorithm is used to construct a first identification line segment for characterizing the syringe needle tube in the second grayscale image, and the first identification line segment is extended, wherein the extended segment is a dotted line segment, and based on the positional relationship between the dotted line segment and the three-dimensional virtual frame, the position of the robotic arm is finely adjusted so that the dotted line segment intersects with the first local structure, and the dotted line segment is perpendicular to the injection surface in the first local structure, and the injection surface is used to characterize the drug injection end surface of the heparin cap, and the robotic arm is located at the second calibration position;

[0091] In response to the second calibration position instruction, the robotic arm performs the drug administration needle insertion operation, during which the overlap between the first identification line segment and the dotted line segment is detected in real time by the camera, and in the event of an overlap deviation, the insertion trajectory of the robotic arm is corrected based on the overlap deviation, so that the needle on the syringe is slowly inserted into the heparin cap, and then the medicine in the syringe is injected into the Y-shaped three-way connector or the straight connector through the injection unit, wherein the Y-shaped three-way connector is adapted to the Y-shaped first limiting groove 101, and the straight connector is adapted to the straight first limiting groove 102.

[0092] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

Claims

1. A device for limiting and fixing an indwelling needle, It is characterized in that It comprises a fixed male end and a fixed female end, wherein the fixed male end and the fixed female end cooperate to form a limiting channel, and the joint is fixed through the limiting channel.

2. A device for limiting and fixing an indwelling needle according to claim 1, It is characterized in that The fixed male end is provided with a first limiting groove, and the fixed female end is provided with a second limiting groove. By fitting the fixed male end and the fixed female end together, the first limiting groove and the second limiting groove form the limiting channel.

3. A device for limiting and fixing an indwelling needle according to claim 2, It is characterized in that The first limiting groove and the second limiting groove have the same size and shape, and are respectively arranged inside the fixed male end and inside the fixed female end in a mirror image with respect to a vertical plane.

4. The indwelling needle position limiting and fixing device according to claim 1, It is characterized in that The joint includes a Y-shaped joint and a straight joint, and the limiting channel is a Y-shaped channel corresponding to the Y-shaped joint; or is a straight channel corresponding to the straight joint.

5. The indwelling needle position limiting and fixing device according to claim 1, It is characterized in that A movable connection device is also provided between the fixed male end and the fixed female end.

6. The indwelling needle position limiting and fixing device according to claim 5, It is characterized in that The movable connection device is a male end magnet sheet and a female end magnet sheet, and the male end magnet sheet and the female end magnet sheet are respectively located on two end surfaces where the fixed male end and the fixed female end are bonded.

7. The indwelling needle position limiting and fixing device according to claim 5, It is characterized in that The movable connection device is a female end magnet sheet, which is located on the fixed female end and on the end surface where the fixed male end and the fixed female end are bonded together. The end surface material of the fixed male end where the fixed male end and the fixed female end are bonded together is a ferromagnetic material.

8. The indwelling needle position limiting and fixing device according to claim 1, It is characterized in that A positioning device is also provided between the fixed male end and the fixed female end; Wherein, the positioning device includes a guide column and a guide hole, the guide column is arranged on the fixed female end and is located on the end surface where the fixed male end and the fixed female end are fitted together; the guide hole is arranged on the fixed male end corresponding to the position of the guide column and is located on the end surface where the fixed male end and the fixed female end are fitted together, and the number of the guide column and the guide hole is multiple.

9. The indwelling needle position limiting and fixing device according to claim 1, It is characterized in that The bottom surface formed by the cooperation of the fixed male end and the fixed female end is parallel to the horizontal plane.

10. A drug administration method according to the indwelling needle limiting and fixing device according to any one of claims 1 to 9, which is applicable to a drug administration module, wherein the drug administration module comprises an injection unit for fixing and pushing a syringe for drug administration, a mechanical arm for moving the injection unit, and a camera provided on the injection unit, wherein the camera is used to check and calibrate the alignment state between the injection end of the syringe and the heparin cap, It is characterized in that The method comprises: In response to the drug administration instruction fed back by the control panel, the robotic arm drives the injection unit to complete the drug aspiration operation of the corresponding dose, and then reaches the first calibration position, where the injection end of the syringe is located in front of the indwelling needle limit fixing device; The front image of the indwelling needle position-limiting and fixing device currently captured is obtained through the camera, recorded as a first image, and the first image is subjected to grayscale processing and threshold segmentation processing to obtain a second grayscale image that only includes the indwelling needle position-limiting and fixing device and the needle tube at the front end of the syringe; The preset feature points of the indwelling needle position limiting and fixing device in the second grayscale image are extracted by a convolutional network, and the multiple extracted preset feature points are connected based on the Bipartite Matching algorithm to construct a three-dimensional virtual framework of the indwelling needle position limiting and fixing device, and the first local structure corresponding to the heparin cap is identified based on the three-dimensional virtual framework; A shape-based image feature extraction algorithm is used to construct a first identification line segment for characterizing the syringe needle tube in the second grayscale image, and the first identification line segment is extended, wherein the extended segment is a dotted line segment, and based on the positional relationship between the dotted line segment and the three-dimensional virtual frame, the position of the robotic arm is finely adjusted so that the dotted line segment intersects with the first local structure, and the dotted line segment is perpendicular to the injection surface in the first local structure, and the injection surface is used to characterize the drug injection end surface of the heparin cap, and the robotic arm is located at the second calibration position; In response to the second calibration position instruction, the robotic arm performs the medication needle insertion operation, during which the overlap between the first identification line segment and the dotted line segment is detected in real time by the camera, and in the event of an overlap deviation, the insertion trajectory of the robotic arm is corrected based on the overlap deviation so that the needle on the syringe is slowly inserted into the heparin cap, and then the medicine in the syringe is injected into the Y-shaped three-way connector or the straight connector through the injection unit.

Images