Intelligent anorectal drug delivery system

Abstract

The invention relates to the technical field of medical equipment, in particular to an intelligent anorectal drug delivery system. Comprising a conveying pipe, a medicine conveying pipe and a convex-point air bag; comprising a guide tube and an imbedding part for supporting the air bag; a power unit; an image acquisition unit; a resistance acquisition unit; when it is judged that the preset air pressure of the supporting air bag does not meet the supporting preset standard, the preset air pressure of the supporting air bag is reduced; preliminarily judging whether the conveying of the conveying pipe meets a preset standard or not based on the resistance of the power wheel; when it is secondarily judged that conveying of the conveying pipe does not meet the preset standard based on the resistance fluctuation frequency of the power wheel, the driving speed of a first driving motor and the driving speed of a second driving motor are reduced; and the control unit is used for increasing the volume of the bump air bag and judging whether the administration process of the administration part meets the preset administration standard or not according to the target area drug coverage rate when judging that the volume of the bump air bag does not meet the preset standard according to the contact threshold value, so that accurate and quantitative administration of the administration system is realized.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, and in particular to an intelligent anorectal drug delivery system. Background Art

[0002] Anorectal diseases refer to diseases that occur in the anus and large intestine. There are many treatment methods for them, and the fastest and most efficient one is anorectal drug administration. Anorectal drug administration is achieved through a drug delivery device. The principle is to deliver the drug into the intestine through the anus, and then quickly absorb it into the large circulation through the rectal mucosa to exert its efficacy to treat systemic or local diseases. The anorectal drug administration process not only has high requirements for drug administration operation technology, but also needs to consider the patient's comfort during the drug administration process.

[0003] Chinese patent publication number: CN112843444B, discloses an anorectal drug delivery device, wherein the front section of the drug delivery tube is used to be inserted into the anorectal cavity, and the bottom of the drug delivery channel of the front section is closed, and the side wall has a drug delivery hole; the outside of the front section is also fixedly covered with an elastic bullet-shaped hollow elastic sleeve, and the elastic sleeve is fixedly sleeved on the surface of the front section at one end away from the bullet head, and the elastic sleeve bullet head direction is sleeved at the free end of the front section and the free end is integrally embedded in the side wall at the center of the elastic sleeve bullet head; the elastic sleeve is integrally and protrudingly provided with a drug delivery barrel on the side wall facing the drug delivery hole toward one side of the drug delivery hole, one end of the drug delivery barrel is connected to the drug delivery hole, and the other end penetrates the side wall of the elastic sleeve and is used to contact the inner wall of the anorectal cavity, and an annular expansion chamber connected to an inflatable device for accommodating air is formed between the elastic sleeve and the front section of the drug delivery tube. It can be seen that in the above technical scheme, the drug delivery system lacks the function of accurate and quantitative drug delivery, and relies on manual pressing of the inflatable airbag without considering the comfort of the patient during the drug delivery process. Summary of the invention

[0004] To this end, the present invention provides an intelligent anorectal drug delivery system to overcome the problems in the prior art of lack of accurate and quantitative drug delivery functions of drug delivery systems and poor patient comfort during drug delivery.

[0005] To achieve the above object, the present invention provides an intelligent anorectal drug delivery system, comprising:

[0006] Medicine storage bottles;

[0007] The drug delivery part includes a delivery tube with a hollow interior, a plurality of drug delivery tubes that penetrate the interior of the delivery tube and are detachably connected to the drug storage bottle at one end, and a convex air bag arranged at one end of the delivery tube away from the drug storage bottle, which is used to apply the drug to the target area when the delivery tube moves up and down;

[0008] The insertion part is connected to the drug delivery part, and includes a hollow guide tube and a support air bag arranged at equal angles in the circumferential direction on the outer wall of the output end of the guide tube;

[0009] A power unit, which is detachably connected to the input end of the insertion unit, comprises a first concave power wheel and a second concave power wheel, a first driving motor for driving the first concave power wheel, and a second driving motor for driving the second concave power wheel, wherein the first concave power wheel and the second concave power wheel move synchronously toward each other to clamp the conveying tube for movement;

[0010] An image acquisition unit is arranged at one end of the delivery tube away from the power unit, and is used to acquire image information of the target area, including a transmission line running through the interior of the delivery tube, one end of the transmission line is connected to the display screen, and a camera is arranged at the end of the transmission line away from the display screen, and a plurality of lighting lamps surrounding the outer wall of the camera at equal angles;

[0011] A resistance acquisition unit, which is connected to the insertion part and the power part, and is used to obtain the squeezing force of the anus on the support airbag and the resistance of the power wheel;

[0012] A control unit, which is respectively connected to the image acquisition unit, the resistance acquisition unit, the insertion part, the power part and the drug delivery part, and is used to reduce the preset air pressure of the support airbag according to the difference between the anal squeezing force and the preset squeezing force when it is determined that the preset air pressure of the support airbag does not meet the preset support standard according to the anal squeezing force; to preliminarily determine whether the delivery of the delivery tube meets the preset standard according to the resistance of the power wheel; to reduce the driving speed of the first drive motor and the second drive motor when it is secondarily determined that the delivery of the delivery tube does not meet the preset standard based on the resistance fluctuation frequency of the power wheel within a preset time period; to increase the volume of the convex airbag when it is determined that the volume of the convex airbag does not meet the preset standard according to the contact threshold; and to determine whether the drug delivery process of the drug delivery part meets the preset drug delivery standard according to the target area drug coverage rate.

[0013] Furthermore, the control unit determines whether the preset air pressure of the support airbag meets the preset support standard according to the anal squeezing force, wherein:

[0014] If the anus squeezing force is less than the preset squeezing force, the control unit determines that the preset air pressure of the support airbag meets the preset support standard and completes the support of the anus according to the current air pressure value;

[0015] If the anus squeezing force is greater than or equal to the preset squeezing force, the control unit determines that the preset air pressure of the support airbag does not meet the preset support standard and reduces the preset air pressure of the support airbag according to the difference between the anus squeezing force and the preset squeezing force.

[0016] Furthermore, the reduction range of the preset air pressure of the support airbag is positively correlated with the squeezing force difference, wherein the squeezing force difference is the difference between the anus squeezing force and the preset squeezing force.

[0017] Furthermore, the control unit preliminarily determines whether the delivery of the delivery pipe meets the preset standard according to the resistance of the power wheel, wherein:

[0018] If the resistance of the power wheel is less than the first preset driving evaluation value, the control unit preliminarily determines that the delivery of the delivery pipe meets the preset standard, and completes the delivery of the delivery pipe according to the current delivery parameters;

[0019] If the resistance of the power wheel is greater than or equal to the first preset pressure evaluation value and less than the second preset pressure evaluation value, the control unit preliminarily determines whether the delivery of the delivery pipe meets the preset standard and secondarily determines whether the delivery of the delivery pipe meets the preset standard based on the frequency of resistance fluctuation of the power wheel within a preset time period;

[0020] If the resistance of the power wheel is greater than or equal to the second preset pressure evaluation value, the control unit preliminarily determines that the delivery of the delivery pipe does not meet the preset standard and stops introducing the input pipe and then retracts the input pipe by a preset distance.

[0021] Furthermore, the control unit determines whether the delivery of the delivery pipe meets the preset standard based on the resistance fluctuation frequency of the power wheel within a preset time period.

[0022] If the resistance fluctuation frequency of the power wheel is less than the preset fluctuation frequency threshold, the control unit determines for the second time that the delivery of the delivery pipe meets the preset standard, and completes the delivery of the delivery pipe according to the current parameters;

[0023] If the resistance fluctuation frequency of the power wheel is greater than or equal to the preset fluctuation frequency threshold, the control unit determines for the second time that the delivery of the delivery pipe does not meet the preset standard, and reduces the driving speed of the first drive motor and the second drive motor by the same amplitude according to the difference between the resistance fluctuation frequency of the power wheel and the preset fluctuation frequency threshold.

[0024] Furthermore, the control unit is provided with several speed reduction methods for reducing the driving speeds of the first driving motor and the second driving motor, and each speed reduction method reduces the driving speeds of the first driving motor and the second driving motor by a different degree.

[0025] Furthermore, in response to the contact characteristic value being less than the contact threshold, the control unit determines that the volume of the bump airbag does not meet a preset standard and increases the bump airbag volume according to the difference between the contact threshold and the contact characteristic value.

[0026] Furthermore, the contact characteristic value is the ratio of the number of pixels whose grayscale is greater than or equal to a preset grayscale threshold to the total number of pixels in the target area image.

[0027] Furthermore, the control unit determines whether the drug administration process of the drug administration part meets the preset drug administration standard according to the drug coverage rate of the target area, wherein:

[0028] If the target area drug coverage is less than the first preset coverage, the control unit determines that the drug administration process of the drug administration unit does not meet the preset drug administration standard, and increases the drug administration rate of the drug delivery tube according to the difference between the target area drug coverage and the first preset coverage;

[0029] If the target area drug coverage is greater than or equal to the first preset coverage and less than the second preset coverage, the control unit determines that the drug administration process of the drug administration part meets the preset drug administration standard and continues to administer the drug according to the current parameters;

[0030] If the target area drug coverage is greater than or equal to the second preset coverage, the control unit determines that the drug administration process of the drug administration part does not meet the preset drug administration standard, and reduces the upper and lower drug application strokes of the delivery tube according to the difference between the second preset coverage and the target area drug coverage;

[0031] The target area drug coverage is obtained by the image acquisition unit.

[0032] Furthermore, the control unit is provided with several reduction methods for reducing the upper and lower medicine coating strokes of the conveying tube, and each reduction method has a different reduction range for the upper and lower medicine coating strokes of the conveying tube.

[0033] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention realizes automatic introduction of the drug delivery device by setting up a power unit. During the introduction process, the control unit utilizes the anal squeezing force collected by the resistance collection unit, the resistance of the power wheel, the resistance fluctuation frequency of the power wheel and the motor driving rate to achieve accurate delivery of the delivery tube to the target area. During the drug delivery process, the control unit ensures that the drug is evenly applied to the target area based on the contact characteristic value and the drug coverage rate of the target area, thereby improving the accuracy of drug delivery.

[0034] Furthermore, the present invention determines whether the preset air pressure of the support airbag meets the preset support standard according to the anal squeezing force through the control unit, and dynamically adjusts the air pressure of the support airbag to ensure that the patient is supported during the treatment process while avoiding discomfort or injury caused by excessive support force, thereby improving comfort.

[0035] Furthermore, the present invention realizes precise control of the reduction range of the preset air pressure of the support airbag by setting the reduction range of the preset air pressure of the support airbag to be positively correlated with the extrusion force difference.

[0036] Furthermore, the present invention realizes real-time monitoring of the conveying process by setting a control unit to preliminarily determine whether the conveying of the conveying pipe meets the preset standard according to the resistance of the power wheel.

[0037] Furthermore, the present invention improves the accuracy of delivery by arranging a control unit to secondarily determine whether the delivery of the delivery pipe meets the preset standard based on the resistance fluctuation frequency of the power wheel within a preset time period.

[0038] Furthermore, the present invention provides a control unit with several speed reduction methods for reducing the driving speeds of the first driving motor and the second driving motor, and each speed reduction method reduces the driving speeds of the first driving motor and the second driving motor by a different amount, thereby achieving precise control of the reduction amount of the driving speed.

[0039] Furthermore, the present invention quantifies the evaluation criteria of the volume of the convex point airbag by setting the contact characteristic value, thereby improving the objectivity of the judgment.

[0040] Furthermore, the present invention sets a control unit to determine whether the drug administration process of the drug administration part meets the preset drug administration standard according to the drug coverage rate of the target area, thereby ensuring that the drug accurately covers the area that needs to be treated, thereby improving the treatment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the structure of an anorectal drug delivery device according to an embodiment of the present invention;

[0042] Figure 2 A flow chart of an embodiment of the present invention for determining whether the preset air pressure of the support airbag meets the preset support standard;

[0043] Figure 3 A flowchart of an embodiment of the present invention for preliminarily determining whether the delivery of the delivery pipe meets the preset standard;

[0044] Figure 4 A flow chart of a second determination of whether the delivery of the delivery pipe meets a preset standard according to an embodiment of the present invention;

[0045] In the figure: 1. medicine storage bottle; 2. medicine delivery part; 21. delivery tube; 22. medicine delivery tube; 23. convex airbag; 3. insertion part; 31. guide tube; 32. support airbag; 4. power part; 41. first concave power wheel; 42. second concave power wheel; 43. first drive motor; 44. second drive motor; 5. image acquisition unit; 51. transmission line; 52. display screen; 53. camera; 54. lighting lamp. DETAILED DESCRIPTION

[0046] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with 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.

[0047] It should be pointed out that the data in this embodiment are obtained by comprehensive analysis and evaluation of the historical test data and the corresponding historical test results of the system of the present invention in the three months before the current test. It can be understood by those skilled in the art that the determination method of the system of the present invention for the above-mentioned single parameter can be to select the value with the highest proportion as the preset standard parameter according to the data distribution, use weighted summation to use the obtained value as the preset standard parameter, substitute each historical data into a specific formula and use the value obtained by the formula as the preset standard parameter or other selection methods, as long as the system of the present invention can clearly define the different specific situations in the single determination process through the obtained values.

[0048] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0049] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, they are respectively a schematic diagram of the structure of the anorectal drug delivery device according to an embodiment of the present invention; a flowchart of the embodiment of the present invention for determining whether the preset air pressure of the support airbag meets the preset support standard; a flowchart of the embodiment of the present invention for preliminarily determining whether the delivery of the delivery tube meets the preset standard; and a flowchart of the embodiment of the present invention for secondary determining whether the delivery of the delivery tube meets the preset standard.

[0050] The intelligent anorectal drug delivery system according to the embodiment of the present invention comprises:

[0051] Medicine storage bottle 1;

[0052] The drug delivery part 2 includes a delivery tube 21 with a hollow interior, a plurality of drug delivery tubes 22 that penetrate the interior of the delivery tube 21 and are detachably connected to the drug storage bottle 1 at one end, and a convex point air bag 23 that is provided with a plurality of convex points on the surface of the end of the delivery tube 21 away from the drug storage bottle 1, which is used to apply the drug to the target area when the delivery tube 21 moves up and down;

[0053] The insertion part 3 is connected to the drug delivery part 2, and includes a hollow guide tube 31 and a support air bag 32 arranged at equal angles in the circumferential direction on the outer wall of the output end of the guide tube 31;

[0054] The power part 4 is detachably connected to the input end of the insertion part 3, and includes a first concave power wheel 41 and a second concave power wheel 42, a first driving motor 43 for driving the first concave power wheel 41, and a second driving motor 44 for driving the second concave power wheel 42, wherein the first concave power wheel 41 and the second concave power wheel 42 move synchronously toward each other to clamp the conveying tube 21 and move;

[0055] An image acquisition unit 5, which is arranged inside the delivery tube 21 and is used to acquire image information of the target area, comprises a transmission line 51 running through the delivery tube 21, one end of the transmission line 51 is connected to a display screen 52, a camera 53 is arranged at the end of the transmission line 51 away from the display screen 52, and a plurality of lighting lamps 54 surrounding the outer wall of the camera 53 at equal angles;

[0056] A resistance acquisition unit, which is connected to the insertion part 3 and the power part 4, and is used to obtain the squeezing force of the anus on the support airbag 32 and the resistance of the power wheel;

[0057] A control unit, which is connected to the image acquisition unit 5, the resistance acquisition unit, the insertion part 3, the power part 4 and the medication part 2, is used to reduce the preset air pressure of the support airbag 32 according to the difference between the anal squeezing force and the preset squeezing force when it is determined that the preset air pressure of the support airbag 32 does not meet the preset support standard according to the anal squeezing force; to preliminarily determine whether the delivery of the delivery tube 21 meets the preset standard according to the resistance of the power wheel; to reduce the driving speed of the first drive motor 43 and the second drive motor 44 when it is secondarily determined that the delivery of the delivery tube 21 does not meet the preset standard based on the resistance fluctuation frequency of the power wheel within a preset time period; to increase the volume of the convex point airbag 23 when it is determined that the volume of the convex point airbag 23 does not meet the preset standard according to the contact threshold; and to determine whether the medication process of the medication part 2 meets the preset medication standard according to the target area drug coverage rate.

[0058] Specifically, the control unit determines whether the preset air pressure of the support airbag 32, 25 kPa, meets the preset support standard according to the anal squeezing force, wherein:

[0059] If the anus squeezing force is less than the preset squeezing force of 18.67 kPa, the control unit determines that the preset air pressure of the support airbag 32 meets the preset support standard and completes the support of the anus according to the current air pressure value;

[0060] If the anus squeezing force is greater than or equal to the preset squeezing force, the control unit determines that the preset air pressure of the support airbag 32 does not meet the preset support standard and reduces the preset air pressure of the support airbag 32 according to the difference between the anus squeezing force and the preset squeezing force.

[0061] Specifically, the reduction amplitude of the preset air pressure of the support airbag 32 is positively correlated with the extrusion pressure difference, wherein the positive correlation is, for example, a linear positive correlation or a nonlinear positive correlation, and the linear slope of the linear positive correlation is not specifically limited. It can be understood that the greater the extrusion pressure difference, the greater the reduction amplitude of the preset air pressure of the support airbag 32;

[0062] The squeezing force difference is the difference between the anus squeezing force and the preset squeezing force.

[0063] Specifically, the control unit preliminarily determines whether the delivery of the delivery pipe 21 meets the preset standard according to the resistance of the power wheel, wherein:

[0064] If the resistance of the power wheel is less than the first preset driving evaluation value 0.38N, the control unit preliminarily determines that the transportation of the delivery pipe 21 meets the preset standard, and completes the transportation of the delivery pipe 21 according to the current transportation parameters;

[0065] If the resistance of the power wheel is greater than or equal to the first preset pressure evaluation value and less than the second preset pressure evaluation value 0.56N, the control unit preliminarily determines that the delivery of the delivery pipe 21 meets the preset standard and secondarily determines whether the delivery of the delivery pipe 21 meets the preset standard based on the frequency of resistance fluctuation of the power wheel within a preset time period of 10s;

[0066] If the resistance of the power wheel is greater than or equal to the second preset pressure evaluation value, the control unit preliminarily determines that the delivery of the delivery pipe 21 does not meet the preset standard and stops introducing the input pipe and then retracts the input pipe by a preset distance of 0.5 cm.

[0067] Specifically, the control unit determines whether the delivery of the delivery pipe 21 meets the preset standard based on the resistance fluctuation frequency of the power wheel within the preset time period 10s.

[0068] If the resistance fluctuation frequency of the power wheel is less than the preset fluctuation frequency threshold of 2 times / second, the control unit determines for the second time that the delivery of the delivery pipe 21 meets the preset standard, and completes the delivery of the delivery pipe 21 according to the current parameters;

[0069] If the resistance fluctuation frequency of the power wheel is greater than or equal to the preset fluctuation frequency threshold, the control unit determines for the second time that the delivery of the delivery pipe 21 does not meet the preset standard, and reduces the driving speed of the first drive motor 43 and the second drive motor 44 by the same magnitude according to the difference between the resistance fluctuation frequency of the power wheel and the preset fluctuation frequency threshold.

[0070] Specifically, the control unit is provided with several speed reduction modes for reducing the driving speeds of the first driving motor 43 and the second driving motor 44, wherein:

[0071] If the fluctuation frequency difference is less than the first preset fluctuation frequency difference of 3 times / second, the control unit uses the first preset driving speed adjustment coefficient of 0.98 to reduce the driving speeds of the first driving motor 43 and the second driving motor 44 by the same magnitude;

[0072] If the fluctuation frequency difference is greater than or equal to the first preset fluctuation frequency difference and less than the second preset fluctuation frequency difference of 4 times / second, the control unit uses the second preset driving speed adjustment coefficient of 0.96 to reduce the driving speeds of the first driving motor 43 and the second driving motor 44 by the same magnitude;

[0073] If the fluctuation frequency difference is greater than or equal to the second preset fluctuation frequency difference, the control unit uses a third preset driving speed adjustment coefficient of 0.94 to reduce the driving speeds of the first driving motor 43 and the second driving motor 44 by the same magnitude;

[0074] The fluctuation frequency difference is the difference between the power fluctuation frequency of the power wheel and the preset fluctuation frequency threshold.

[0075] Specifically, in response to the contact characteristic value being less than the contact threshold value 0.27, the control unit determines that the volume of the bump airbag 23 does not meet the preset standard and increases the volume of the bump airbag 23 according to the difference between the contact threshold value and the contact characteristic value.

[0076] Specifically, the contact feature value is the ratio of the number of pixels whose grayscale is greater than or equal to a preset grayscale threshold of 0.63 to the total number of pixels in the target area image.

[0077] Specifically, the control unit determines whether the drug administration process of the drug administration part 2 meets the preset drug administration standard according to the drug coverage rate of the target area, wherein:

[0078] If the target area drug coverage is less than the first preset coverage 0.76, the control unit determines that the drug administration process of the drug administration part 2 does not meet the preset drug administration standard, and increases the drug administration rate of the drug delivery tube 22 according to the difference between the target area drug coverage and the first preset coverage;

[0079] If the target area drug coverage is greater than or equal to the first preset coverage and less than the second preset coverage of 0.89, the control unit determines that the drug administration process of the drug administration part 2 meets the preset drug administration standard and continues to administer the drug according to the current parameters;

[0080] If the target area drug coverage is greater than or equal to the second preset coverage, the control unit determines that the drug administration process of the drug administration part 2 does not meet the preset drug administration standard, and reduces the upper and lower drug application strokes of the delivery tube 21 according to the difference between the second preset coverage and the target area drug coverage;

[0081] The target area drug coverage is obtained by the image acquisition unit 5 .

[0082] Specifically, the control unit is provided with several reduction methods for reducing the upper and lower drug coating stroke of the delivery tube 21, wherein the coverage difference is the difference between the second preset coverage rate and the drug coverage rate of the target area, and the positive correlation is, for example, a linear positive correlation or a nonlinear positive correlation. The linear slope of the linear positive correlation is not specifically limited. It can be understood that the larger the coverage difference is, the greater the reduction amplitude of the upper and lower drug coating stroke of the delivery tube 21 by the control unit.

[0083] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent anorectal drug delivery system, characterized in that: include: Medicine storage bottles; The drug delivery part includes a delivery tube with a hollow interior, a plurality of drug delivery tubes that penetrate the interior of the delivery tube and are detachably connected to the drug storage bottle at one end, and a convex air bag arranged at one end of the delivery tube away from the drug storage bottle, which is used to apply the drug to the target area when the delivery tube moves up and down; The insertion part is connected to the drug delivery part, and includes a hollow guide tube and a support air bag arranged at equal angles in the circumferential direction on the outer wall of the output end of the guide tube; A power unit, which is detachably connected to the input end of the insertion unit, comprises a first concave power wheel and a second concave power wheel, a first driving motor for driving the first concave power wheel, and a second driving motor for driving the second concave power wheel, wherein the first concave power wheel and the second concave power wheel move synchronously toward each other to clamp the conveying tube for movement; An image acquisition unit is arranged at one end of the delivery tube away from the power unit, and is used to acquire image information of the target area, including a transmission line running through the interior of the delivery tube, one end of the transmission line is connected to the display screen, and a camera is arranged at the end of the transmission line away from the display screen, and a plurality of lighting lamps surrounding the outer wall of the camera at equal angles; A resistance acquisition unit, which is connected to the insertion part and the power part, and is used to obtain the squeezing force of the anus on the support airbag and the resistance of the power wheel; A control unit, which is respectively connected to the image acquisition unit, the resistance acquisition unit, the insertion part, the power part and the drug delivery part, and is used to reduce the preset air pressure of the support airbag according to the difference between the anal squeezing force and the preset squeezing force when it is determined that the preset air pressure of the support airbag does not meet the preset support standard according to the anal squeezing force; to preliminarily determine whether the delivery of the delivery tube meets the preset standard according to the resistance of the power wheel; to reduce the driving speed of the first drive motor and the second drive motor when it is secondarily determined that the delivery of the delivery tube does not meet the preset standard based on the resistance fluctuation frequency of the power wheel within a preset time period; to increase the volume of the convex airbag when it is determined that the volume of the convex airbag does not meet the preset standard according to the contact threshold; and to determine whether the drug delivery process of the drug delivery part meets the preset drug delivery standard according to the target area drug coverage rate.

2. The intelligent anorectal drug delivery system according to claim 1, characterized in that: The control unit determines whether the preset air pressure of the support airbag meets the preset support standard according to the anal squeezing force, wherein: If the anus squeezing force is less than the preset squeezing force, the control unit determines that the preset air pressure of the support airbag meets the preset support standard and completes the support of the anus according to the current air pressure value; If the anus squeezing force is greater than or equal to the preset squeezing force, the control unit determines that the preset air pressure of the support airbag does not meet the preset support standard and reduces the preset air pressure of the support airbag according to the difference between the anus squeezing force and the preset squeezing force.

3. The intelligent anorectal drug delivery system according to claim 2, characterized in that: The reduction range of the preset air pressure of the support airbag is positively correlated with the extrusion force difference, wherein the extrusion force difference is the difference between the anus extrusion force and the preset extrusion force.

4. The intelligent anorectal drug delivery system according to claim 3, characterized in that: The control unit preliminarily determines whether the delivery of the delivery pipe meets the preset standard according to the resistance of the power wheel, wherein: If the resistance of the power wheel is less than the first preset driving evaluation value, the control unit preliminarily determines that the delivery of the delivery pipe meets the preset standard, and completes the delivery of the delivery pipe according to the current delivery parameters; If the resistance of the power wheel is greater than or equal to the first preset pressure evaluation value and less than the second preset pressure evaluation value, the control unit preliminarily determines whether the delivery of the delivery pipe meets the preset standard and secondarily determines whether the delivery of the delivery pipe meets the preset standard based on the frequency of resistance fluctuation of the power wheel within a preset time period; If the resistance of the power wheel is greater than or equal to the second preset pressure evaluation value, the control unit preliminarily determines that the delivery of the delivery pipe does not meet the preset standard and stops introducing the input pipe and then retracts the input pipe by a preset distance.

5. The intelligent anorectal drug delivery system according to claim 4, characterized in that: The control unit determines whether the delivery of the delivery pipe meets the preset standard based on the resistance fluctuation frequency of the power wheel within a preset time period. If the resistance fluctuation frequency of the power wheel is less than the preset fluctuation frequency threshold, the control unit determines for the second time that the delivery of the delivery pipe meets the preset standard, and completes the delivery of the delivery pipe according to the current parameters; If the resistance fluctuation frequency of the power wheel is greater than or equal to the preset fluctuation frequency threshold, the control unit determines for the second time that the delivery of the delivery pipe does not meet the preset standard, and reduces the driving speed of the first drive motor and the second drive motor by the same amplitude according to the difference between the resistance fluctuation frequency of the power wheel and the preset fluctuation frequency threshold.

6. The intelligent anorectal drug delivery system according to claim 5, characterized in that: The control unit is provided with several speed reduction modes for reducing the driving speeds of the first driving motor and the second driving motor, and each speed reduction mode reduces the driving speeds of the first driving motor and the second driving motor by a different degree.

7. The intelligent anorectal drug delivery system according to claim 6, characterized in that: In response to the contact characteristic value being less than the contact threshold, the control unit determines that the volume of the convex point airbag does not meet a preset standard and increases the volume of the convex point airbag according to the difference between the contact threshold and the contact characteristic value.

8. The intelligent anorectal drug delivery system according to claim 7, characterized in that: The contact characteristic value is the ratio of the number of pixels whose grayscale is greater than or equal to a preset grayscale threshold to the total number of pixels in the target area image.

9. The intelligent anorectal drug delivery system according to claim 8, characterized in that: The control unit determines whether the drug administration process of the drug administration part meets the preset drug administration standard according to the drug coverage rate of the target area, wherein: If the target area drug coverage is less than the first preset coverage, the control unit determines that the drug administration process of the drug administration unit does not meet the preset drug administration standard, and increases the drug administration rate of the drug delivery tube according to the difference between the target area drug coverage and the first preset coverage; If the target area drug coverage is greater than or equal to the first preset coverage and less than the second preset coverage, the control unit determines that the drug administration process of the drug administration part meets the preset drug administration standard and continues to administer the drug according to the current parameters; If the target area drug coverage is greater than or equal to the second preset coverage, the control unit determines that the drug administration process of the drug administration part does not meet the preset drug administration standard, and reduces the upper and lower drug application strokes of the delivery tube according to the difference between the second preset coverage and the target area drug coverage; The target area drug coverage is obtained by the image acquisition unit.

10. The intelligent anorectal drug delivery system according to claim 9, characterized in that: The control unit is provided with several reduction methods for reducing the upper and lower medicine coating strokes of the conveying tube, and each reduction method has a different reduction range for the upper and lower medicine coating strokes of the conveying tube.

Images