Automatic production system of anti-radiation applicator and preparation method of anti-radiation applicator

Abstract

The embodiment of the invention provides an automatic production system of an anti-radiation applicator and a preparation method of the applicator, the automatic production system comprises a main control center module and an integrated system, the integrated system is controlled by the main control center module to perform automatic production action, the integrated system comprises a base and an operation assembly which is fixed to the base and is at least divided into a first cutting area, a medicine spraying area, a hot sewing area and a second cutting area in the first direction. According to the automatic production system part, an integrated automatic integration system is designed, full automation of the processes of cutting, medicine spraying, hot sewing and the like is achieved, manual operation is reduced in the preparation process of the anti-radiation applicator, and the limitation of long-term dependence on the manipulation and experience of technicians is eliminated.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to an automated production system for a radiation protection applicator and a method for preparing the radiation protection applicator. Background Art

[0002] 32 P patch therapy uses the beta rays produced by the decay of the radionuclide phosphorus 32 to cover and target the affected area, thereby inhibiting fibroblast proliferation and vascular proliferation, thereby achieving the purpose of lesion atrophy. This technology is widely used in the treatment of skin lesions such as skin hemangioma, keloid, and hypertrophic scar.

[0003] Current 32 P patch therapy uses a homemade applicator, and the preparation of the applicator is usually done manually by technicians. The whole process not only requires high skills and experience of technicians, but also has many disadvantages, such as insufficient processing accuracy, low production efficiency, low yield rate, serious material waste, and the risk of technicians being exposed to radiation due to the involvement of radioactive drugs in the preparation process. Therefore, an automated solution is urgently needed to improve the preparation efficiency and quality of radiation-proof applicators while avoiding the risk of technicians being exposed to radiation environments for a long time. Summary of the invention

[0004] In order to solve the problems in the related art, the embodiments of the present disclosure provide an automated production system for a radiation protection applicator and a method for preparing the radiation protection applicator to overcome at least one of the many deficiencies in the prior art.

[0005] In a first aspect, an automated production system is provided in an embodiment of the present disclosure for the integrated preparation of radiation protection applicators.

[0006] Specifically, the automated production system comprises:

[0007] Main control center module,

[0008] The integrated system is arranged on one side of the main control center module and is electrically connected to the main control center module so as to be controlled by the main control center module to perform automated production operations, wherein the integrated system includes a base and an operating component fixed on the base and divided into at least a first cutting area, a drug spraying area, a heat stitching area, and a second cutting area along a first direction.

[0009] The operation components include:

[0010] Multifunctional workbench;

[0011] An image acquisition module, located above the multifunctional workbench, is configured to acquire image information parameters of the workpiece to be cut, wherein the image information parameters at least include position information and edge contour information of the workpiece to be cut;

[0012] A cutting module, comprising a first mechanical arm and a cutting unit arranged at the end of the first mechanical arm;

[0013] A second robot arm is movably mounted above the multifunctional workbench along the first direction and is configured to grasp and carry workpieces or materials;

[0014] A drug spraying module is configured to evenly apply drug solution to the cut workpiece;

[0015] The heat-sealing module, including at least a heat-melting unit, is configured to heat-seal the contour edge of the workpiece.

[0016] Furthermore, the image acquisition module is in communication connection with the main control center module, and includes a first slide and a camera.

[0017] The camera is hinged to the bottom end of the first slide, and is used to collect first image information of the workpiece to be cut, and transmit the first image information to the image processing unit;

[0018] The first slide is configured to be suitable for reciprocating along the first direction under the control of the main control center module.

[0019] Further, the cutting module is arranged above the multifunctional workbench and has a second slide seat, and one end of the first mechanical arm is fixedly connected to the bottom of the second slide seat, so that the cutting module is suitable for free displacement between the first cutting area and the second cutting area; and / or,

[0020] The cutting unit is at least one of a precision laser cutter, a precision mechanical cutting device or a water jet cutter.

[0021] Furthermore, the medicine sprinkling module is located in the medicine sprinkling area, and includes a third robotic arm, a metering pump, a liquid storage tube and a micro-injection head, wherein the liquid storage tube is arranged on the main body of the third robotic arm, and the metering pump and the micro-injection head are fixed to the tip of the third robotic arm to form an end effector.

[0022] Furthermore, the third robot arm is a multi-axis industrial robot arm, which is fixed to the side of the multifunctional workbench through a base; and

[0023] It also includes a positioning unit, which is arranged on the third robot arm and is configured to accurately position the end effector.

[0024] Furthermore, the heat stitching module is located in the heat stitching area, and includes a servo motor, a fourth robotic arm, a temperature sensing element and a temperature control system. The servo motor controls the fourth robotic arm to achieve precise movement. The hot melt unit is fixedly installed on the fourth robotic arm, and in response to the temperature signal of the temperature sensing element, the temperature control system adjusts the heat stitching temperature of the hot melt unit in real time.

[0025] Furthermore, the multifunctional workbench at least comprises a first workbench, a second workbench, a third workbench and a fourth workbench, wherein the first workbench, the second workbench, the third workbench and the fourth workbench are respectively located in a first cutting area, a medicine sprinkling area, a heat sewing area and a second cutting area; wherein,

[0026] At least part of the first workbench, the second workbench, the third workbench and the fourth workbench comprises a storage plate uniformly distributed with mesh holes and a negative pressure fan; wherein,

[0027] A tray with edges is placed on the second workbench.

[0028] Furthermore, the integrated system further comprises an isolation cover, wherein the operating components are arranged in the isolation cover, wherein:

[0029] The isolation cover comprises an isolation cover body, and a first wall surface and a second wall surface arranged along a first direction, and a side surface of the isolation cover body is provided with a plurality of closable operation windows; or,

[0030] A lighting system is provided in the isolation cover;

[0031] Alternatively, it further comprises a slide rail, which is arranged in the isolation cover, passing through the first cutting area, the medicine spraying area, the heat sewing area and the second cutting area, wherein one end of the slide rail is fixed to the first wall surface of the isolation cover, and the other end is fixed to the second wall surface of the isolation cover; or,

[0032] The integrated system further comprises a sub-packaging area, which is arranged at the rear of the second cutting area and is configured to place the applicator after the second cutting.

[0033] Furthermore, the main control center module includes an image processing unit and a logic controller, wherein:

[0034] Based on the image information parameters collected by the image acquisition module, the image processing unit uses a convolutional neural network to extract edge features from the obtained image information parameters, and applies a U-Net model to segment the image information, thereby identifying the edge contour of the target area in the image;

[0035] The logic controller is communicatively connected with the cutting module, the second robotic arm, the medicine sprinkling module and the heat sewing module respectively.

[0036] In a second aspect, an embodiment of the present disclosure provides an automated preparation method for a radiation protection applicator, wherein the automated production system described in any one of the aforementioned embodiments is used in the preparation method, and the preparation method specifically comprises the following steps:

[0037] Step S1: Obtain a calibrated workpiece to be cut and place it on a multifunctional workbench;

[0038] Step S2: the main control center module issues a control instruction to control the image acquisition module to acquire image information parameters of the workpiece to be cut, and obtain first characteristic parameters about the workpiece, wherein the first characteristic parameters at least include posture information and edge contour information of the workpiece to be cut;

[0039] Step S3: transmitting the collected first feature parameters to an image processing unit, and the image processing unit performs edge feature extraction and image segmentation on the first feature parameters based on a convolutional neural network U-Net model to identify a first edge contour of a target area;

[0040] Step S4: Based on the identified first edge contour of the target area, the main control center module plans a first cutting path for the workpiece to be cut, and controls the cutting module to perform the first cutting on the workpiece to be cut;

[0041] Step S5: grabbing the workpiece after the first cutting with the help of the second robot arm and moving it to the medicine sprinkling area, and evenly applying the medicine liquid to the workpiece located in the medicine sprinkling area with the medicine sprinkling module;

[0042] Step S6: transporting the coated workpiece to the heat-stitching area for heat-stitching operation, using the servo motor to control the fourth robot arm to achieve precise movement, and using the temperature control system to control the heat-stitching temperature in real time; before the heat-stitching operation, the workpiece is also coated;

[0043] Step S7: The heat-stitched workpiece is transferred to the second cutting area, and the second edge contour of the target area is obtained by using the image acquisition module and the image processing unit, and a corresponding second cutting path is generated, and the cutting module is controlled to cut along the second cutting path to obtain the radiation protection applicator.

[0044] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0045] The automated production system of the radiation protection applicator disclosed in the present invention can integrate rapid identification, cutting, drug application and suturing, thereby reducing the labor intensity of the operator and greatly improving the processing efficiency of the applicator; the present invention adopts high-precision image recognition technology and precision mechanical control, which can ensure the accuracy and fit of the applicator's appearance size, as well as the consistency and uniformity of the drug solution application; furthermore, the automated production system disclosed in the present invention reduces operational errors caused by human factors and improves the yield rate through fully automatic computer control and robotic arm operation, while avoiding direct contact between the operator and radioactive agents, thereby greatly reducing the risk of radiation exposure.

[0046] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Other features, objectives and advantages of the present disclosure will become more apparent through the following detailed description of non-limiting embodiments in conjunction with the accompanying drawings. In the accompanying drawings:

[0048] Figure 1 A schematic structural diagram of an automated production system according to an embodiment of the present disclosure is shown;

[0049] Figure 2 A schematic diagram showing the internal structure of an automated production system according to an embodiment of the present disclosure is shown;

[0050] Figure 3 A schematic structural diagram of a medicine sprinkling module according to an embodiment of the present disclosure is shown;

[0051] Figure 4 A schematic structural diagram of a heat stitching module according to an embodiment of the present disclosure is shown;

[0052] Figure 5 A flow chart showing an automated method for preparing a radiation protection applicator according to another embodiment of the present disclosure. DETAILED DESCRIPTION

[0053] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, parts not related to the description of the exemplary embodiments are omitted in the accompanying drawings.

[0054] In the present disclosure, it should be understood that terms such as "include" or "have" are intended to indicate the presence of features, numbers, steps, behaviors, components, parts, or a combination thereof disclosed in the present specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or a combination thereof exist or are added.

[0055] It should also be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] As mentioned above, the preparation of existing radiation protection applicators relies on manual operations by technicians, including cutting tablets with scissors, applying medicine with a straw, and suturing with a soldering iron. On the one hand, pure manual operation is inefficient and difficult to meet the needs of treating a large number of patients at the same time; and the cutting size of the patch and the application of the medicine are completely dependent on the technician's experience and skills, which may result in poor dimensional accuracy and consistency of medicine distribution; on the other hand, technicians need to directly contact radioactive agents and there is a risk of radiation.

[0057] To solve the above problems, an embodiment of the present disclosure provides an automated production system for radiation protection applicators. By designing an integrated automatic integration system, the cutting, drug application, heat suturing and other processes are fully automated, the preparation process of the radiation protection applicator reduces manual operations and gets rid of the long-term reliance on the skills and experience of technicians; intelligent image recognition means are used to improve the accuracy of image recognition, thereby ensuring the accuracy of automatic cutting, so that the size of the applicator is more in line with the actual needs of the patient, improving the accuracy of treatment while improving the user experience.

[0058] Figure 1 A schematic structural diagram of an automated production system for a radiation protection applicator according to an embodiment of the present disclosure is shown.

[0059] An automated production system for the integrated preparation of radiation protection applicators. Figure 1 As shown, the automated production system mainly includes two parts: a main control center module 10 and an integrated system 20.

[0060] Among them, the main control center module 10 is electrically connected to the integrated system 20. The main control center module 10 can be one or more electronic components such as application integrated circuits (ASICs), digital signal processors (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), and central processing units (CPUs). Specifically, the main control center module 10 of the present disclosure may include a logic controller and an image processing unit. The logic controller controls the components in the automated production system to operate independently or to cooperate with each other, and the image processing unit uses a multi-layer convolutional neural network in deep learning to process the image to identify the ROI (Region of Interest) of the target area.

[0061] The integrated system 20 is arranged beside the main control center module 10 and is electrically connected to the main control center module 10 so as to be controlled by the main control center module 10 to perform the automated production of the radiation protection applicator. The integrated system 20 disclosed in the present invention is a highly integrated device, and the automated production process reduces the manual operation time and greatly improves the production efficiency. At the same time, the precision manufacturing process, such as automated cutting, precise drug supply, and precision thermal fusion integration, effectively improves the processing accuracy, yield rate, and the therapeutic effect of the prepared applicator.

[0062] like Figure 2 As shown, the integrated system 20 of the present disclosure includes a base 21, a work component 30 fixed on the base 21 and divided into a first cutting area 22, a medicine spraying area 23, a heat stitching area 24, and a second cutting area 25 along a first direction (e.g., X-axis direction). The work component 30 of the present disclosure can be understood as a functional element capable of performing at least one or more work actions, such as a multi-functional workbench, a robotic arm, a camera, a laser cutter, a glue dropper, a hot melt gun, etc.

[0063] For example, the operation assembly 30 of the present disclosure may include: a multifunctional workbench 31, an image acquisition module 32, a cutting module 33, a second mechanical arm 34, a spraying module 35, a heat sewing module 36 and other components.

[0064] A multifunctional workbench 31 is installed above the base 21 and is adapted to each functional area of ​​the integrated system 20. Preferably, the multifunctional workbench 31 includes a first workbench 310, which is arranged in the first cutting area 22, a second workbench 311, which is arranged in the medicine sprinkling area 23, a third workbench 312, which is arranged in the heat stitching area 24, and a fourth workbench 313, which is arranged in the second cutting area 25. In order to facilitate the fixed positioning of the workpiece to be processed, at least part of the multifunctional workbench 31 of the present invention is configured with a positioning device (not shown in the figure), which includes a storage plate evenly distributed with mesh holes and a negative pressure fan connected to the storage plate, and a negative pressure is formed at the bottom of the storage plate by the negative pressure fan to adsorb and fix the workpiece to be processed. Further, the positioning device can be selectively arranged on the first workbench, the third workbench and the fourth workbench.

[0065] The image acquisition module 32 is electrically connected to the image processing unit in the main control center module 10 for communication. The image information parameters acquired by the image acquisition module 32 are fed back to the image processing unit. After being processed by the deep learning algorithm, the image information parameters of the workpiece to be measured can be identified as the ROI of the target area.

[0066] According to one embodiment of the present disclosure, the image acquisition module 32 may include a camera 320 and a first slide 321. The camera 320 may be a CMOS high-speed camera and is hinged to the bottom of the first slide 321. The first slide 321 may reciprocate along a first direction, and the camera 320 may be configured to rotate within a certain range relative to the first slide 321, so that the image acquisition module 32 can meet the image acquisition requirements of multiple positions and different angles.

[0067] The image acquisition module 32 is used to acquire the first image information of the workpiece to be processed on the multifunctional workbench 31, and transmit the acquired first image information to the image processing unit of the main control center module 10. The image processing unit uses an image processing algorithm, such as a U-Net image segmentation network, to extract information from the target area to obtain information such as the position and edge contour of the workpiece to be processed. The logic control unit in the main control center module 10 automatically plans a cutting path based on the position and edge contour information of the workpiece to be processed identified and extracted by the image processing unit, and sends the execution instruction information containing the cutting path to the cutting module 33, so that the cutting module 33 automatically executes the cutting task according to the instruction.

[0068] The cutting module 33 includes a second slide 330, a first mechanical arm 331 and a shearing unit 332 arranged at the end of the first mechanical arm 331. The first mechanical arm 331 is fixedly connected to the bottom of the second slide 330 and suspended above the multifunctional workbench 31 through the second slide 330. The second slide 330 is configured to be able to move back and forth in a straight line along the first direction, so that the cutting module 33 is suitable for free movement in the first cutting area 22 and the second cutting area 25. The present disclosure exemplarily illustrates that the cutting operation of the first cutting area and the second cutting area is realized by setting a set of cutting equipment. It should be understood by ordinary technicians in this field that according to actual production needs, the same or different cutting equipment can be set in the first cutting area and the second cutting area to perform cutting operations on the workpiece to be processed, and the present disclosure does not make any special restrictions here. Moreover, it should be understood that under the cooperative control of the main control center module, the action of the second slide of the present disclosure and the action of the first slide should not interfere with each other, and the movement of one does not affect the normal operation of the other.

[0069] Preferably, the cutting unit 332 of the present disclosure can be selected from a laser cutter, a precision mechanical cutting device, a water jet cutter or other precision cutting equipment. More preferably, the cutting unit 332 can use a precision laser cutter, which has the advantages of rapid response and high-precision processing, and can accurately cut along the ROI boundary, ensuring the maximum similarity between the cut ROI shape and the original scar shape, while ensuring that the drug cost in the ROI area is not destroyed, which helps to improve the effect of the patch treatment.

[0070] According to an embodiment of the present disclosure, the second robot arm 34 may be configured to be movably mounted above the multifunctional workbench 31 along a first direction, and used for grasping and carrying workpieces or materials to be processed. Figure 2 As shown, the second robot arm 34 is suspended above the multifunctional workbench through the third slide 340, and a gripping mechanism 341 is installed at the distal end of the second robot arm 34. Preferably, the gripping mechanism 341 can be a vacuum adsorption device. The present disclosure automatically grips and transports the workpiece to be processed between the first workbench 310, the second workbench 311, the third workbench 312 and the fourth workbench 313 through the second robot arm 34.

[0071] The medicine sprinkling module 35 disposed in the medicine sprinkling area 23 is as follows: Figure 3 As shown, the medicine sprinkling module 35 includes a third mechanical arm 350, a metering pump 351, a liquid storage tube 352, a micro-liquid injection head 353 and a positioning unit 354, and the liquid storage tube 351, the metering pump 351 and the micro-liquid injection head 353 are connected in sequence. Figure 2 and 3 As shown, the liquid storage tube 352 is arranged on the main body of the third mechanical arm 350, and the metering pump 351, the micro-liquid injection head 353 and the positioning unit 354 are fixedly installed at the end of the third mechanical arm 350 to form an end effector. The end effector obtains the position signal of the positioning unit 354 in real time, and at the same time receives the medicine spraying instruction issued by the main control center module 10, and evenly applies the medicine liquid to the target medicine spraying area according to the preset path. In this process, according to the position signal fed back in real time by the positioning unit 354, the path of the target medicine spraying area is corrected online to ensure the consistency and uniformity of the medicine spraying.

[0072] Preferably, the third robot arm is a multi-axis industrial robot arm and is fixed to the side of the multifunctional workbench through a base 355 , specifically located on one side of the second workbench 311 in the medicine sprinkling area 23 .

[0073] Furthermore, the micro-injection head 353 can be a rubber-tipped dropper with scale lines, a micro-spray system or a micro-injection needle, etc., so as to achieve more precise control of liquid medicine application.

[0074] In order to ensure accurate positioning of the end effector during operation, the positioning unit 354 of the present disclosure may be composed of a processor and an infrared positioning device, wherein the processor is communicatively connected to the main control center module 10 for sending positioning detection signals.

[0075] In addition, a tray 356 with edges, such as a high-edge circular tray, is provided in the second workbench 311 in the spraying area 23 to prevent the liquid medicine from accidentally spilling onto the workbench or overflowing.

[0076] According to an embodiment of the present disclosure, Figure 4 As shown, the heat-stitching module 36 includes a hot-melt unit 360, a servo motor 361, a fourth robot arm 362, a temperature sensing element and a temperature control system.

[0077] The servo motor 361 is electrically connected to the fourth mechanical arm 362, and is used to control the precise movement of the fourth mechanical arm 362. The hot melt unit 360 is fixedly mounted on the fourth mechanical arm 362, and the temperature sensing element is used to detect the real-time temperature of the hot melt unit 360, and feed back the detected temperature signal to the temperature control system, and the temperature control system compares the obtained temperature value with the preset temperature threshold, controls and adjusts the heat sewing temperature of the hot melt unit 360 within a suitable temperature range to avoid overheating or insufficient fusion.

[0078] Preferably, the hot melt unit 360 of the present disclosure may be a hot melt gun, an electric soldering iron, etc. In addition, in addition to hot melt processing, the present disclosure may also use ultrasonic welding technology and cold pressure bonding technology to achieve sealing and suturing of the applicator. The present disclosure does not impose any particular limitation on this.

[0079] like Figure 2 As shown, according to another embodiment of the present disclosure, the integrated system of the present disclosure may further include a packaging area 26, which is arranged at the rear of the second cutting area. Accordingly, a fifth workbench 314 is provided in the packaging area 26 for placing the workpiece after the second cutting.

[0080] In addition, the integrated system may also include a material placement area (not shown in the figure), which may be used to place and store film materials for preparing radiation protection applicators, such as transparent film materials, etc. According to actual production needs, the main control center module 10 may send a control instruction to control the second robot arm 34 to grab the film material placed in the placement area and move it to the heat stitching area 24.

[0081] Refer to Figure 1 The integrated system 20 of the present disclosure may further include an isolation cover 201, in which the operating component 30 is accommodated to isolate the operating component 30 from the external environment.

[0082] The isolation cover 201 includes an isolation cover body 2010 and a first wall 2011 and a second wall 2012 arranged vertically and spaced apart along a first direction, and a plurality of closable operating windows 2013 are provided on one side of the isolation cover body 2010. Exemplarily, each working area is provided with a corresponding operating window 2013, for example, 10 closable operating windows 2013 are provided, so as to facilitate the operator to observe and perform auxiliary operations.

[0083] Preferably, the isolation cover 201 can be made of transparent glass or transparent acrylic material.

[0084] According to an embodiment of the present disclosure, a lighting system is disposed in the isolation cover 201 and is disposed on the isolation cover body 2010 and / or the first and second walls 2011 and 2012;

[0085] In addition, at least one slide rail 202 is provided in the isolation cover 201 of the present disclosure, and the slide rail 202 is provided to pass through the first cutting area 22, the medicine spraying area 23, the heat stitching area 24, the second cutting area 25 and the packaging area 26. One end of the slide rail 202 is fixed to the first wall surface 2011 of the isolation cover 201, and the other end is fixed to the second wall surface 2012 of the isolation cover 201, and is configured to be suitable for controlling the first slide 321, the second slide 330 and the third slide 340 to slide freely between multiple workbenches along the first direction to achieve the operation purpose under the control command.

[0086] Another embodiment of the present disclosure also provides an automated preparation method for an anti-radiation applicator, in which the automated production system described in the aforementioned embodiment is adopted. The preparation method includes the following steps: placing workpieces to be cut, image acquisition and processing, first precision cutting, drug spraying, lamination, heat stitching, second precision cutting, and packaging.

[0087] Specifically, the preparation method may include the following steps:

[0088] Step S1: Obtain the calibrated workpiece to be cut and place it on the multifunctional workbench; in this step, first, the operator or technician determines the lesion area of ​​the patient, and uses the material to be cut, such as cellophane, to stick on the patient's skin lesion to outline and calibrate the lesion to obtain the calibrated workpiece to be cut. In this process, in order to obtain a more accurate lesion edge contour, the lesion contour can be identified and calibrated based on image recognition technology, and the present disclosure does not impose any special restrictions on this.

[0089] The operator can place one or more calibrated workpieces to be cut on the first workbench in the multi-functional workbench. After they are placed stably, the main control center module can start the negative pressure fan installed under the first workbench to adsorb and fix the workpieces to be cut.

[0090] Step S2: The main control center module issues a control instruction to control the image acquisition module to collect image information parameters of the workpiece to be cut placed on the first workbench, and obtain first characteristic parameters about the workpiece, wherein the first characteristic parameters at least include posture information and edge contour information of the workpiece to be cut; the posture information may include the coordinates of each workpiece to be cut on the first workbench, and the edge contour information includes parameters such as the area, shape, and edge features of the workpiece to be cut.

[0091] Step S3: The collected first characteristic parameter is transmitted to the image processing unit. The image processing unit performs edge feature extraction and image segmentation on the first characteristic parameter based on the convolutional neural network U-Net model to identify the first edge contour of the target area.

[0092] Specifically, the image processing unit uses a convolutional neural network in deep learning to extract features from the image, and applies a U-Net model to finely segment the image to identify the first edge contour of the target area in the image; in this process, a large number of labeled scar images are required to train the network so that it can identify ROIs of different qualities and shapes. In this way, the automated production system can quickly process the images captured by the image acquisition module, quickly identify the ROI, and pass the recognition results to the next stage. In addition, in order to further improve the accuracy of ROI recognition, the calculation model can also be combined with the Canny or Sober operator optimization model algorithm to further accurately determine the ROI edge.

[0093] Step S4: Based on the identified first edge contour of the target area, the main control center module plans a first cutting path for the workpiece to be cut, controls the second slide to move and position, and at the same time, the first robot arm moves toward the workpiece to be cut on the first workbench, so that the shearing unit (such as a laser cutter) in the cutting module performs the first precision cutting on the workpiece to be cut;

[0094] Step S5: After the first cutting is completed, the workpiece after the first cutting is grabbed and transported to the second workbench in the spraying area by means of the second robot arm, and placed in a circular tray with an edge, and the workpiece in the tray is evenly coated with liquid medicine by using the spraying module;

[0095] Among them, the main control center module accurately calculates the amount of liquid medicine required for the workpiece to be applied based on the first characteristic parameter obtained by identification, transmits the liquid medicine to be applied to the micro-injection head through the liquid storage tube, and accurately controls the amount of liquid medicine delivered through the metering pump to achieve accurate drug supply. During the drug application process, the positioning unit set at the end of the third mechanical arm is used to position the end effector in real time and correct the drug application path online to ensure the consistency and uniformity of the drug spray and the therapeutic effect of the applicator.

[0096] Step S6: After the drug spraying is completed, the main control center module controls the second robot arm to move the workpiece sprayed with drugs to the heat stitching area for heat stitching operation. Before the workpiece sprayed with drugs is moved to the third workbench in the heat stitching area, it also includes the step of placing a layer of the first film to be heat stitched on the surface of the third workbench, for example, using the second robot arm to grab a first film material and place it on the surface of the third workbench, and then placing the workpiece sprayed with drugs on the surface of the first film. Optionally, the negative pressure fan is started to provide negative pressure adsorption force for the third workbench to ensure the positioning and fixation of the first film and the workpiece thereon; after this step, a second film material is placed on the upper surface of the workpiece sprayed with drugs, so as to form a sandwich structure of the first film-drug sprayed workpiece-second film.

[0097] The servo motor is used to control the fourth robotic arm to achieve precise movement along a predetermined suturing path so as to perform heat suturing on the sandwich structure. During this process, the heat suturing temperature is adjusted in real time with the help of a temperature control system to avoid overheating or overcooling of the heat suturing temperature, which would affect the heat suturing effect.

[0098] Step S7: Use the second robotic arm to transfer the heat-stitched workpiece to the fourth workbench in the second cutting area, start the negative pressure fan to fix the workpiece to be cut for the second time, use the image acquisition module and the image processing unit to obtain the second edge contour of the target area for the second cutting, and generate the corresponding second cutting path, and control the cutting module to cut along the second cutting path to obtain the radiation protection applicator.

[0099] Step S8: The heat-seamed radiation protection applicators are transferred to the fifth workbench in the packaging area for unified collection and management.

[0100] The automated preparation method disclosed herein adopts automated control for the entire preparation process of the radiation protection applicator, and the various execution components coordinate with each other to ensure that the entire preparation process is smooth and synchronous, thereby achieving the goals of improving production efficiency, reducing production costs, meeting diverse market demands, reducing nuclear radiation hazards, and improving yield rates.

[0101] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present disclosure 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 inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other.

Claims

1. An automated production system for radiation protection applicators, characterized in that: include: Main control center module, The integrated system is arranged on one side of the main control center module and is electrically connected to the main control center module so as to be controlled by the main control center module to perform automated production operations, wherein the integrated system includes a base and an operating component fixed on the base and divided into at least a first cutting area, a drug spraying area, a heat stitching area, and a second cutting area along a first direction. The operation components include: Multifunctional workbench; An image acquisition module, located above the multifunctional workbench, is configured to acquire image information parameters of the workpiece to be cut, wherein the image information parameters at least include position information and edge contour information of the workpiece to be cut; A cutting module, comprising a first mechanical arm and a cutting unit arranged at the end of the first mechanical arm; A second robot arm is movably mounted above the multifunctional workbench along the first direction and is configured to grasp and carry workpieces or materials; A drug spraying module is configured to evenly apply drug solution to the cut workpiece; The heat-sealing module, including at least a heat-melting unit, is configured to heat-seal the contour edge of the workpiece.

2. The automated production system according to claim 1, characterized in that: The image acquisition module is in communication with the main control center module and includes a first slide and a camera. The camera is hinged to the bottom of the first slide, and is used to collect first image information of the workpiece to be cut, and transmit the first image information to the image processing unit; The first slide is configured to be suitable for reciprocating along the first direction under the control of the main control center module.

3. The automated production system according to claim 1 or 2, characterized in that: The cutting module is arranged above the multifunctional workbench and has a second slide seat, one end of the first mechanical arm is fixedly connected to the bottom of the second slide seat, so that the cutting module is suitable for free displacement between the first cutting area and the second cutting area; and / or, The cutting unit is at least one of a precision laser cutter, a precision mechanical cutting device or a water jet cutter.

4. The automated production system according to claim 1 or 2, characterized in that: The medicine sprinkling module is located in the medicine sprinkling area, and includes a third robotic arm, a metering pump, a liquid storage tube and a micro-injection head, wherein the liquid storage tube is arranged on the main body of the third robotic arm, and the metering pump and the micro-injection head are fixed to the end of the third robotic arm to form an end effector.

5. The automated production system according to claim 4, characterized in that: in, The third robot arm is a multi-axis industrial robot arm, which is fixed to the side of the multifunctional workbench through a base; and, It also includes a positioning unit, which is arranged on the third robot arm and is configured to accurately position the end effector.

6. The automated production system according to claim 1 or 2, characterized in that: The heat stitching module is located in the heat stitching area and also includes a servo motor, a fourth robotic arm, a temperature sensing element and a temperature control system. The servo motor controls the fourth robotic arm to achieve precise movement. The hot melt unit is fixedly mounted on the fourth robotic arm and responds to the temperature signal of the temperature sensing element. The temperature control system adjusts the heat stitching temperature of the hot melt unit in real time.

7. The automated production system according to claim 1, characterized in that: The multifunctional workbench at least comprises a first workbench, a second workbench, a third workbench and a fourth workbench, wherein the first workbench, the second workbench, the third workbench and the fourth workbench are respectively arranged in a first cutting area, a medicine sprinkling area, a heat stitching area and a second cutting area; wherein, At least part of the first workbench, the second workbench, the third workbench and the fourth workbench comprises a storage plate uniformly distributed with mesh holes and a negative pressure fan; wherein, A tray with edges is placed on the second workbench.

8. The automated production system according to claim 1, characterized in that: The integrated system further comprises an isolation cover, wherein the operating assembly is arranged in the isolation cover, wherein: The isolation cover comprises an isolation cover body, and a first wall surface and a second wall surface arranged along a first direction, and a side surface of the isolation cover body is provided with a plurality of closable operation windows; or, A lighting system is provided in the isolation cover; or, It also includes a slide rail, which is arranged in the isolation cover, passing through the first cutting area, the medicine spraying area, the heat sewing area and the second cutting area, wherein one end of the slide rail is fixed to the first wall surface of the isolation cover, and the other end is fixed to the second wall surface of the isolation cover; or The integrated system further comprises a sub-packaging area, which is arranged at the rear of the second cutting area and is configured to place the applicator after the second cutting.

9. The automated production system according to claim 1, characterized in that: The main control center module includes an image processing unit and a logic controller, wherein: Based on the image information parameters collected by the image acquisition module, the image processing unit uses a convolutional neural network to extract edge features from the obtained image information parameters, and applies a U-Net model to segment the image information, thereby identifying the edge contour of the target area in the image; The logic controller is communicatively connected with the cutting module, the second robotic arm, the medicine sprinkling module and the heat sewing module respectively.

10. A method for preparing a radiation protection applicator, characterized in that: The following steps are involved: Step S1: Obtain a calibrated workpiece to be cut and place it on a multifunctional workbench; Step S2: the main control center module issues a control instruction to control the image acquisition module to acquire image information parameters of the workpiece to be cut, and obtain first characteristic parameters about the workpiece, wherein the first characteristic parameters at least include posture information and edge contour information of the workpiece to be cut; Step S3: transmitting the collected first feature parameters to an image processing unit, and the image processing unit performs edge feature extraction and image segmentation on the first feature parameters based on a convolutional neural network U-Net model to identify a first edge contour of a target area; Step S4: Based on the identified first edge contour of the target area, the main control center module plans a first cutting path for the workpiece to be cut, and controls the cutting module to perform the first cutting on the workpiece to be cut; Step S5: grabbing the workpiece after the first cutting with the help of the second robot arm and moving it to the medicine sprinkling area, and evenly applying the medicine liquid to the workpiece located in the medicine sprinkling area with the medicine sprinkling module; Step S6: The workpiece after the coating is moved to the heat-stitching area for heat-stitching operation, and the fourth robot arm is controlled by the servo motor to achieve precise movement, and the heat-stitching temperature is controlled in real time by the temperature control system; wherein, Before the heat-sealing operation, the step of laminating the workpiece is also included; Step S7: The heat-stitched workpiece is transferred to the second cutting area, and the second edge contour of the target area is obtained by using the image acquisition module and the image processing unit, and a corresponding second cutting path is generated, and the cutting module is controlled to cut along the second cutting path to obtain the radiation protection applicator.

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