Electric puncture injection device with force feedback function

Abstract

The invention relates to an electric puncture injection device with a force feedback function, belongs to the technical field of medical instruments, and solves the problems that in the prior art, a puncture injection device is poor in puncture injection precision and prone to misoperation. The device comprises an injector, a fixing mechanism, a propelling device, a sensor unit and a driving device, wherein the injector can be fixedly mounted in the fixing mechanism; the fixing mechanism, the sensor unit and the driving device are connected in sequence; the sensor unit and the driving device are connected with an external controller; the propelling device is installed on the injector and used for driving the injector to complete injection or extraction. The functions of automatically monitoring the current puncture angle and evaluating whether puncture is in place or not are achieved, medical staff can quickly and accurately adjust the puncture angle to meet the requirement of the standard puncture angle, and therefore the operation precision is improved, the probability of misoperation is reduced, damage to a patient is avoided, and the safety of the puncture injection device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an electric puncture injection device with a force feedback function. Background Art

[0002] Puncturing human tissue and injecting therapeutic solutions or gases is a common medical method, widely used in scenarios such as preventing diseases, identifying symptoms, and eliminating pain. In the puncture and injection operation, the two key elements of force control and positioning judgment must rely on the practical experience accumulated by doctors or nurses to complete. However, in clinical practice, doctors often fail to accurately puncture the target blood vessels during intravenous injections, resulting in repeated puncture operations, which not only increases the patient's pain, but also easily leads to medical disputes; in addition, for puncture operations that require higher precision, such as eyeball wall puncture, intercostal puncture, and epidural puncture, if the operation is wrong, it is very likely to cause blindness to the patient, and in severe cases, it may even endanger the patient's life. Summary of the invention

[0003] In view of the above analysis, the present invention aims to provide an electric puncture injection device with a force feedback function, so as to solve the problem that the puncture injection device in the prior art has poor puncture injection accuracy and is prone to operating errors.

[0004] The purpose of the present invention is mainly achieved through the following technical solutions: An electric puncture injection device with a force feedback function, comprising a syringe, a fixing mechanism, a propulsion device, a sensor unit and a driving device; The syringe can be fixedly installed in the fixing mechanism, and the specification and model of the syringe can be selected according to actual use requirements; the fixing mechanism, the sensor unit and the driving device are connected in sequence, and the syringe, the fixing mechanism, the sensor unit and the driving device are coaxially arranged; The sensor unit is used to connect with an external controller, and can transmit the syringe force data monitored by the sensor units arranged in different directions to the external controller to solve the current puncture angle of the syringe, so as to judge whether the standard puncture angle requirements are met and whether the medical staff needs to adjust the puncture angle of the syringe; the sensor unit includes a sensor assembly, and the sensor assembly includes a first sensor, a second sensor, a third sensor and a fourth sensor, the first sensor, the second sensor, the third sensor and the fourth sensor are evenly arranged in a circumferential direction along the axis of the sensor bracket, and the connection line between the first sensor and the third sensor is orthogonal to the connection line between the second sensor and the fourth sensor; The driving device can be connected to an external controller, and the external controller controls the action of the driving device to control the syringe to perform a puncture action; The propulsion device is installed on the syringe and is used to drive the syringe to complete the injection or extraction action.

[0005] Furthermore, the first sensor, the second sensor, the third sensor and the fourth sensor are all independently connected to the external controller, the first sensor is used to independently monitor the force when the syringe is tilted toward the first sensor and the instantaneous force of the syringe penetrating human tissue, the second sensor is used to independently monitor the force when the syringe is tilted toward the second sensor and the instantaneous force of the syringe penetrating human tissue, the third sensor is used to independently monitor the force when the syringe is tilted toward the third sensor and the instantaneous force of the syringe penetrating human tissue, and the fourth sensor is used to independently monitor the force when the syringe is tilted toward the fourth sensor and the instantaneous force of the syringe penetrating human tissue.

[0006] Furthermore, the fixing mechanism comprises a fixing sleeve and a fixing bracket, the fixing bracket is provided with a first through hole, and the syringe can penetrate the first through hole; the fixing sleeve is mounted on the fixing bracket, and screwing the fixing sleeve can move the fixing sleeve along the axis of the fixing bracket.

[0007] Furthermore, the fixed bracket includes a bracket seat and a clamping block, one end of the clamping block is fixedly connected to the bracket seat, and the other end is a tightening and fixing end; the fixed sleeve is arranged on multiple clamping blocks and is threadedly connected to multiple clamping blocks. When the fixed sleeve is screwed in the direction close to the bracket seat, the tightening and fixing ends of the multiple clamping blocks can be synchronously moved toward the center of the axis of the fixed bracket, thereby realizing the positioning and clamping of the syringe.

[0008] Furthermore, the driving device includes a push plate, a push rod, a motor and a housing, and the motor is installed in the housing; the push plate is rotatably connected to the sensor bracket; one end of the push rod is fixedly connected to the push plate, and the other end is connected to the output end of the motor; the motor is used to drive the push plate to move along the axis of the housing, thereby pushing the syringe, the fixing mechanism, the propulsion device and the sensor unit to synchronously displace.

[0009] Furthermore, the propulsion device includes a first propulsion rod and a second propulsion rod, the first propulsion rod is provided with a first card slot, the second propulsion rod is provided with a second card slot, and the first card slot and the second card slot are arranged opposite to each other; after the first propulsion rod and the second propulsion rod are buckled, the first card slot and the second card slot can both be clamped on the tail end disc of the injection rod.

[0010] Furthermore, the propulsion device also includes a first magnet and a second magnet, the first magnet is installed on the first propulsion rod, the second magnet is installed on the second propulsion rod, the first magnet and the second magnet are arranged opposite to each other, and the first propulsion rod and the second propulsion rod can be fixedly installed on the injection rod through the magnetic attraction of the first magnet and the second magnet.

[0011] Furthermore, the sensor unit also includes a sensor bracket, one end of which is connected to the driving device, and the other end of which is mounted with a sensor assembly; the sensor assembly is connected to the syringe via a fixed bracket.

[0012] A puncture angle adjustment method is used to adjust the puncture angle of an electric puncture injection device with a force feedback function. When the needle compresses the tissue but does not penetrate the tissue, it forms a specific puncture angle with the tissue surface. The first sensor, the second sensor, the third sensor and the fourth sensor monitor the force of the needle in different directions, and calculate and analyze the current puncture angle of the syringe according to the following formula, and then adjust the current puncture angle of the syringe to meet the requirements of the standard puncture angle: ; ; ; ; Where: is the external force on the needle tip and; The support force of the skin tissue on the needle tip; is the force monitored by the first sensor; is the force monitored by the second sensor; is the force monitored by the third sensor; is the force monitored by the fourth sensor; is the friction force along the skin surface; is the angle between the needle tip and the normal vector of the skin plane; for In plane The angle between the component force on and the Y axis; is the distance between the needle tip and the bracket seat; is the distance between the sensor component and the center point O.

[0013] The technical solution of the present invention can achieve at least one of the following effects: (1) The present invention provides an electric puncture injection device with a force feedback function, comprising a syringe, a fixing mechanism, a propulsion device, a sensor unit and a driving device; The syringe can be fixedly installed in the fixing mechanism; the fixing mechanism, the sensor unit and the driving device are connected in sequence, and the syringe, the fixing mechanism, the sensor unit and the driving device are coaxially arranged; The sensor unit is used to connect with an external controller, and can transmit the force data of the syringe in different directions monitored by the sensor unit to the external controller, so as to calculate the current puncture angle of the syringe, determine whether the standard puncture angle requirement is met, and simultaneously remind the medical staff to adjust the puncture angle of the syringe; the sensor unit includes a sensor assembly, and the sensor assembly includes a first sensor, a second sensor, a third sensor and a fourth sensor, the first sensor, the second sensor, the third sensor and the fourth sensor are evenly arranged along the circumference of the axis of the sensor bracket, and the connection line between the first sensor and the third sensor is orthogonal to the connection line between the second sensor and the fourth sensor; The driving device can be connected to an external controller, and the external controller controls the action of the driving device to control the syringe to perform a puncture action; The propulsion device is installed on the syringe and is used to drive the syringe to complete the injection or extraction action; the present invention realizes automatic monitoring of the current puncture angle and whether the puncture is in place, which facilitates medical staff to quickly and accurately adjust the puncture angle to meet the requirements of the standard puncture angle, thereby improving the operating accuracy of the puncture injection device, reducing operating errors, avoiding harm to patients, and improving the safety of the use of the puncture injection device.

[0014] (2) The fixing mechanism of the present invention comprises a fixing sleeve and a fixing bracket, wherein the fixing bracket is provided with a first through hole, and the syringe can be inserted into the first through hole; the fixing sleeve is mounted on the fixing bracket and is threadedly connected to the fixing bracket, and the fixing sleeve is screwed to enable the fixing sleeve to move along the axis of the fixing bracket; the fixing bracket comprises a bracket seat and a clamping block, wherein one end of the clamping block is fixedly connected to the bracket seat, and the other end is a tightening and fixing end; a plurality of clamping blocks are provided, and the plurality of clamping blocks are evenly arranged on the bracket seat along the circumferential direction; the fixing sleeve is mounted on the plurality of clamping blocks and is threadedly connected to the plurality of clamping blocks, and when the fixing sleeve is screwed in a direction close to the bracket seat, the tightening and fixing ends of the plurality of clamping blocks can be synchronously moved toward the center of the axis of the fixing bracket, thereby positioning and clamping the syringe, so that the axis of the syringe coincides with the axis of the fixing mechanism, and further, the axis of the syringe can quickly coincide with the axis of the puncture injection device, thereby ensuring that the sensor unit obtains more accurate mechanical data of the syringe, thereby improving the puncture injection accuracy of the puncture injection device and reducing the occurrence of misoperation.

[0015] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components; Figure 1 This is a schematic structural diagram of the puncture injection device according to Example 1 of the present invention; Figure 2 This is a schematic diagram of the structure of the syringe according to Example 1 of the present invention; Figure 3 An exploded view of the fixing mechanism of Example 1 of the present invention; Figure 4 This is a schematic structural diagram of a fixing bracket according to Embodiment 1 of the present invention; Figure 5 This is a schematic structural diagram of a sensor unit according to Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the structure of the sensor bracket according to Example 1 of the present invention; Figure 7 An exploded view of a driving device according to Embodiment 1 of the present invention; Figure 8 An exploded view of a propulsion device according to Embodiment 1 of the present invention; Fig. 9 This is a schematic diagram of the structure of the protective shell of Example 1 of the present invention; Fig.10 This is a force analysis diagram of the needle before piercing the tissue according to Example 2 of the present invention; Fig.11 This is a flow chart of puncture injection or extraction according to Example 3 of the present invention.

[0017] Reference numerals: 1. Syringe; 11. Needle; 12. Injection cannula; 13. Injection rod; 2. fixing mechanism; 21. fixing sleeve; 22. fixing bracket; 221. bracket seat; 222. clamping block; 3. Protective shell; 31. Second avoidance slot; 4. Propulsion device; 41. First propulsion rod; 411. First slot; 42. Second propulsion rod; 421. Second slot; 43. First magnet; 44. Second magnet; 5. sensor unit; 51. sensor assembly; 52. sensor bracket; 521. first avoidance slot; 53. hinge; 6. driving device; 61. push plate; 62. limit rod; 63. linear bearing; 64. push rod; 65. motor; 66. housing; 7. Cables. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0019] Example 1

[0020] A specific embodiment of the present invention discloses an electric puncture injection device with force feedback function, such as Figure 1 As shown, it includes a syringe 1, a fixing mechanism 2, a propulsion device 4, a sensor unit 5, a driving device 6 and a cable 7. The syringe 1 can be fixedly installed in the fixing mechanism 2, the axis of the syringe 1 is coaxial with the axis of the fixing mechanism 2, and the syringe 1 is used for puncture injection; the fixing mechanism 2 is installed on the sensor unit 5, the axis of the fixing mechanism 2 is coaxial with the axis of the sensor unit 5, and the sensor unit 5 is used to monitor the force data of the syringe 1 in different directions; the cable 7 is used to connect the sensor unit 5 with an external controller to transmit the force data of the syringe 1 in different directions monitored by the sensor unit 5 to the external controller; the cable 7 is also used to connect the external controller with the driving device 6 to transmit the control instructions of the external controller to the driving device 6 to control the displacement of the syringe 1; the sensor unit 5 is connected to the driving device 6, and the axis of the sensor unit 5 is coaxial with the axis of the driving device 6, and the driving device 6 is used to drive the syringe 1 to move to control the syringe 1 to complete the puncture action; the propulsion device 4 is installed on the syringe 1, and when the syringe 1 is punctured in place, the propulsion device 4 is driven to make the syringe 1 complete the injection or extraction action; When in use, the syringe 1 is clamped onto the fixing mechanism 2, and the syringe 1 is placed against human tissue. The sensor unit 5 monitors the forces of the syringe 1 in different directions and transmits the data to the external controller. The external controller calculates the current posture of the syringe 1 (i.e., the current puncture angle) according to the forces of the syringe 1 in different directions, and determines whether it meets the standard puncture angle requirements, and simultaneously reminds the medical staff to adjust the puncture angle of the syringe 1 in time. When the current puncture angle of the syringe 1 meets the standard puncture angle requirements, the external controller controls the drive device 6 to drive the syringe 1 to move. Since the syringe 1 will penetrate into different tissues of the human body during displacement, the sensor unit 5 can synchronously monitor the instantaneous force changes of the syringe 1, and transmit the data to the external controller, and control the drive device 6 through the external controller to stop driving the syringe 1 to move. At this time, the syringe 1 moves into place, that is, the syringe 1 is punctured into place, and the syringe 1 completes the puncture action. After the syringe 1 is punctured into place, the propulsion device 4 is driven to enable the syringe 1 to complete the injection or extraction action. Compared with the prior art, the puncture injection device described in this embodiment can automatically monitor the current puncture angle and whether the puncture is in place, which facilitates medical staff to quickly and accurately adjust the puncture angle to meet the requirements of the standard puncture angle, thereby improving the operating accuracy of the puncture injection device, reducing operating errors, avoiding harm to patients, and improving the safety of the use of the puncture injection device.

[0021] Preferably, the external controller is a computer.

[0022] Preferably, if Figure 2 As shown, the syringe 1 includes a needle 11, an injection sleeve 12 and an injection rod 13; the syringe 1 adopts a universal syringe in the prior art, and the syringe model can be selected according to actual use requirements.

[0023] Preferably, if Figure 3 As shown, the fixing mechanism 2 includes a fixing sleeve 21 and a fixing bracket 22. The fixing bracket 22 is provided with a first through hole, and the syringe 1 can be inserted into the first through hole; the fixing sleeve 21 is sleeved on the fixing bracket 22 and is threadedly connected with the fixing bracket 22. By screwing the fixing sleeve 21, the fixing sleeve 21 is moved along the axis of the fixing bracket 22, so as to control the diameter change of the first through hole, and then the fixing bracket 22 and the injection sleeve 12 are quickly clamped or loosened. When the fixing bracket 22 clamps the syringe 1, the axis of the syringe 1 can also be coaxial with the axis of the fixing bracket 22, so that the axis of the syringe 1 can quickly coincide with the axis of the puncture injection device, thereby ensuring that the sensor unit 5 obtains more accurate mechanical data of the syringe 1, thereby improving the puncture injection accuracy of the puncture injection device to reduce the occurrence of misoperation.

[0024] Preferably, the axial cross-section of the inner cavity of the fixing sleeve 21 is conical in shape, and an internal thread is provided on the inner wall of the fixing sleeve 21, so that the syringe 1 can be quickly positioned by rotating the fixing sleeve 21 and fixedly connected to the fixing bracket 22, so as to improve the assembly efficiency of the puncture injection device.

[0025] Preferably, if Figure 4 As shown, the fixed bracket 22 includes a bracket seat 221 and a clamping block 222, and the outer circumference of the clamping block 222 is provided with an external thread; one end of the clamping block 222 is fixedly connected to the bracket seat 221, and the other end is a tightening and fixing end; a plurality of clamping blocks 222 are provided, and an avoidance gap is provided between two adjacent clamping blocks 222; the fixed sleeve 21 is sleeved on the plurality of clamping blocks 222 and is threadedly connected with the plurality of clamping blocks 222. When the fixed sleeve 21 is screwed in the direction close to the bracket seat 221, the tightening and fixing ends of the plurality of clamping blocks 222 can be synchronously moved in the direction close to the axis of the fixed bracket 22, that is, the tightening and fixing ends of the plurality of clamping blocks 222 are controlled to shrink, so that the diameter of the first through hole becomes smaller, thereby clamping the injection sleeve 12, and fixing the syringe 1 on the fixing mechanism 2, so as to realize the quick fixed connection between the syringe 1 and the fixing mechanism 2, and improve the installation and fixing efficiency of the syringe 1.

[0026] Preferably, the plurality of clamping blocks 222 are evenly arranged on the bracket seat 221 on a circumference. When the fixing sleeve 21 is screwed in a direction close to the bracket seat 221, the tightening and fixing ends of the plurality of clamping blocks 222 can be synchronously moved in a direction close to the axis of the fixing bracket 22, so that the plurality of clamping blocks 222 can synchronously clamp the syringe 1 and can synchronously quickly position the syringe 1, so that the axis of the syringe 1 coincides with the axis of the fixing mechanism 2, and then the axis of the syringe 1 can quickly coincide with the axis of the puncture injection device, thereby ensuring that the sensor unit 5 obtains more accurate mechanical data of the syringe 1, thereby improving the puncture injection accuracy of the puncture injection device to reduce the occurrence of misoperation.

[0027] Preferably, if Figure 5As shown, the sensor unit 5 includes a sensor component 51 and a sensor bracket 52, one end of the sensor bracket 52 is connected to the driving device 6, and the other end is installed with the sensor component 51; the sensor component 51 is connected to the fixed bracket 22, so that the sensor component 51 is connected to the syringe 1, and the axis of the sensor bracket 52 is coaxial with the axis of the fixed bracket 22, and the sensor component 51 is used to monitor the forces of the syringe 1 in different directions; the sensor component 51 is also connected to the external controller through the cable 7, so as to transmit the monitored force data of the syringe 1 in different directions to the external controller, so as to realize automatic monitoring of the current puncture angle of the syringe 1 and whether the puncture is in place, which is convenient for medical staff to quickly and accurately adjust the puncture angle to meet the requirements of the standard puncture angle, improve the operating accuracy of the puncture injection device, reduce operating errors, avoid harm to patients, and improve the safety of the use of the puncture injection device.

[0028] Preferably, the sensor assembly 51 includes a first sensor, a second sensor, a third sensor and a fourth sensor, and the first sensor, the second sensor, the third sensor and the fourth sensor are evenly arranged along the circumference of the axis of the sensor bracket 52, so that the line between the first sensor and the third sensor and the line between the second sensor and the fourth sensor are orthogonal; the first sensor, the second sensor, the third sensor and the fourth sensor are independently connected to an external controller, so that the first sensor, the second sensor, the third sensor and the fourth sensor are arranged in parallel, the first sensor is used to independently monitor the force when the syringe 1 is tilted toward the first sensor and the instantaneous force of the syringe 1 in the process of penetrating human tissue, the second sensor is used to independently monitor the force when the syringe 1 is tilted toward the second sensor and the instantaneous force of the syringe 1 in the process of penetrating human tissue, and the third sensor is used to independently monitor the force when the syringe 1 is tilted toward the second sensor and the instantaneous force of the syringe 1 in the process of penetrating human tissue. The fourth sensor is used to independently monitor the force when the syringe 1 is tilted toward the fourth sensor and the instantaneous force when the syringe 1 penetrates the human tissue, so as to realize the monitoring of the force conditions in different directions when the syringe 1 is puncturing and the instantaneous force conditions when the syringe 1 penetrates the human tissue, and transmit the force data of the syringe 1 during puncture to the external controller through the cable 7, and the external controller feeds back the current puncture angle of the syringe 1 and whether the puncture is in place in real time, so as to realize automatic monitoring of the current puncture angle of the syringe 1 and whether the puncture is in place, facilitate medical staff to quickly and accurately adjust the puncture angle to meet the requirements of the standard puncture angle, improve the operation accuracy of the puncture injection device, reduce operation errors, avoid harm to patients, and also improve the safety of the use of the puncture injection device.

[0029] Preferably, if Figure 6As shown, the sensor bracket 52 is provided with a second through hole and a first avoidance slot 521, the second through hole is coaxially arranged with the first through hole, and the second through hole is used to penetrate the syringe 1; the first avoidance slot 521 is used to install the propulsion device 4 and avoid when pushing the propulsion device 4 to move, so as to facilitate the installation of the propulsion device 4 and push the propulsion device 4 to move.

[0030] Preferably, the sensor unit 5 further includes a hinge 53 , and the sensor bracket 52 is rotatably connected to the driving device 6 via the hinge 53 , thereby facilitating the assembly of the syringe 1 .

[0031] Preferably, if Figure 7 As shown, the driving device 6 includes a push plate 61, a push rod 64, a motor 65 and a shell 66, wherein the motor 65 is installed in the shell 66, and the shell 66 can not only protect the structure installed on its inner wall, but also facilitate the medical staff to hold it; the push plate 61 is rotatably connected to the sensor bracket 52 through a hinge 53; one end of the push rod 64 is fixedly connected to the push plate 61, and the other end is connected to the output end of the motor 65; the motor 65 is used to drive the push plate 61 to move along the axis of the shell 66, thereby driving the push plate 61 to move along the axis of the shell 66, and then pushing the syringe 1, the fixing mechanism 2, the propulsion device 4 and the sensor unit 5 to synchronously displace, so as to realize the displacement control of the syringe 1.

[0032] Preferably, the axis of the push rod 64 is coaxial with the axis of the syringe 1, so that the syringe 1 will not deflect during displacement to prevent puncture errors, and can ensure that the sensor unit 5 obtains more accurate mechanical data of the syringe 1, thereby improving the accuracy of the puncture injection device in the puncture injection operation.

[0033] Preferably, the driving device 6 also includes a limit rod 62 and a linear bearing 63, the linear bearing 63 is mounted on the housing 66, and the axis of the linear bearing 63 is parallel to the axis of the housing 66; one end of the limit rod 62 is fixedly connected to the push plate 61, and the other end is inserted into the linear bearing 63 and can slide along the axis of the linear bearing 63, the limit rod 62 is used to limit the circular rotation of the push plate 61, thereby ensuring that the syringe 1 can move along the axis of the push rod 64, and further ensuring that the sensor unit 5 obtains more accurate mechanical data of the syringe 1, thereby improving the accuracy of the puncture injection device in the puncture injection operation.

[0034] Preferably, the shell 66 is provided with a cable through-hole for passing the cable 7 , which can prevent the cable 7 from being hooked with foreign objects, avoid damage to the cable 7 and the sensor assembly 51 , and ensure the accuracy of data transmitted by the cable 7 .

[0035] Preferably, the cable 7 includes a sensor data cable and a motor data cable, one end of the sensor data cable is connected to the sensor assembly 51, and the other end is connected to the external controller, the sensor data cable is used to transmit the monitored force data of the syringe 1 to the external controller, and the external controller solves and analyzes the force of the syringe 1 to determine whether the current puncture angle of the syringe 1 meets the standard puncture angle and whether the syringe 1 is punctured in place; one end of the motor data cable is connected to the motor 65, and the other end is connected to the external controller, the motor data cable is used to transmit the control instructions of the external controller to the motor 65 to control the start and stop of the motor 65, and then control the displacement of the syringe 1.

[0036] Preferably, if Figure 8 As shown, the propulsion device 4 includes a first propulsion rod 41 and a second propulsion rod 42. The first propulsion rod 41 is provided with a first clamping groove 411, and the second propulsion rod 42 is provided with a second clamping groove 421. The first clamping groove 411 and the second clamping groove 421 are arranged opposite to each other. When the first propulsion rod 41 and the second propulsion rod 42 are buckled, the first clamping groove 411 and the second clamping groove 421 can be clamped on the tail end disk of the injection rod 13. When the syringe 1 is moved into place, the propulsion device 4 is pushed to drive the injection rod 13 to move, thereby completing the injection or extraction action.

[0037] Preferably, the propulsion device 4 also includes a first magnet 43 and a second magnet 44, the first magnet 43 is installed on the first propulsion rod 41, and the second magnet 44 is installed on the second propulsion rod 42. The first magnet 43 and the second magnet 44 are arranged opposite to each other. When the first propulsion rod 41 and the second propulsion rod 42 are buckled, the first propulsion rod 41 and the second propulsion rod 42 can be conveniently and quickly fixed on the injection rod 13 through the magnetic attraction of the first magnet 43 and the second magnet 44, thereby improving the convenience of using the puncture injection device.

[0038] Preferably, the puncture injection device also includes a protective shell 3, which is sleeved on the sensor unit 5 and fixedly connected to the sensor bracket 52. The protective shell 3 is used to protect the sensor assembly 51 from damage by foreign objects, which can not only improve the use accuracy of the sensor assembly 51, but also improve the service life of the puncture injection device; the inner wall of the protective shell 3 maintains a certain gap with the fixing mechanism 2 and the sensor assembly 51, thereby leaving room for movement for the syringe 1, the first sensor, the second sensor, the third sensor and the fourth sensor, so that the first sensor, the second sensor, the third sensor and the fourth sensor can more accurately monitor the force data of the syringe 1 in different directions.

[0039] Preferably, if Fig. 9As shown, the protective shell 3 is provided with a second avoidance slot 31, and the second avoidance slot 31 is arranged opposite to the first avoidance slot 521. The second avoidance slot 31 is used for installing the propulsion device 4 and avoiding when pushing the propulsion device 4 to move, so as to facilitate the installation of the propulsion device 4 and push the propulsion device 4 to move.

[0040] Preferably, there is a certain gap between the first avoidance slot 521 and the second avoidance slot 31 and the first push rod 41 and the second push rod 42, so as to avoid the propulsion device 4 from colliding with the first avoidance slot 521 and the second avoidance slot 31 when the syringe 1 is injected or extracted, thereby avoiding the syringe 1 from generating excess force, affecting the monitoring accuracy of the sensor assembly 51, and then improving the use accuracy of the puncture injection device.

[0041] Example 2

[0042] In another specific embodiment of the present invention, a method for adjusting the puncture angle of the puncture injection device of embodiment 1 is disclosed. When the needle 11 presses the tissue but does not penetrate into the tissue, it forms a specific puncture angle with the tissue surface, such as Fig.10 As shown, the force applied to the needle 11 at different positions is monitored by the first sensor, the second sensor, the third sensor and the fourth sensor, and the current puncture angle of the syringe 1 is calculated and analyzed according to formula (1), formula (2), formula (3) and formula (4), and then the holding angle of the puncture injection device is manually adjusted, that is, the current puncture angle of the syringe 1 is adjusted, and the current puncture angle of the syringe 1 meets the requirements of the standard puncture angle: Formula (1) Formula (2) Formula (3) Formula (4) Where: is the external force on the needle tip of the needle 11 and; The supporting force of the skin tissue on the needle tip of the needle 11; is the force monitored by the first sensor; is the force monitored by the second sensor; is the force monitored by the third sensor; is the force monitored by the fourth sensor; is the friction force along the skin surface; is the angle between the needle 11 and the normal vector of the skin plane; for In plane The angle between the component force on and the Y axis; is the distance between the needle tip of the needle 11 and the support seat 221; is the distance between the sensor component 51 and the center point O.

[0043] Example 3

[0044] In another specific embodiment of the present invention, a puncture injection method of the puncture injection device of embodiment 1 is disclosed, such as Fig.11 As shown, the following steps are included: Step S1: assembling a puncture injection device; Specifically, the hinge 53 is opened, and the syringe 1 is inserted into the second through hole on the sensor bracket 52 and the first through hole on the fixing bracket 22 in sequence; The fixing sleeve 21 is screwed toward the sensor bracket 52 to reduce the diameter of the first through hole, thereby clamping the injection sleeve 12, fixing the syringe 1 on the fixing mechanism 2, and fastening the hinge 53. At this time, the syringe 1, the fixing mechanism 2, the sensor unit 5 and the driving device 6 are all on the same axis. The first push rod 41 and the second push rod 42 are passed through the second avoidance slot 31 on the protective shell 3 and the first avoidance slot 521 on the sensor bracket 52, and the first push rod 41 and the second push rod 42 are buckled on the tail end disk of the injection rod 13, and the first push rod 41 and the second push rod 42 are fixedly installed on the injection rod 13 through the magnetic attraction of the first magnet 43 and the second magnet 44, so as to quickly complete the organization of the puncture injection device.

[0045] Step S2: adjusting the puncture angle of the puncture injection device and performing puncture; Specifically, the needle 11 of the syringe 1 is brought into contact with human tissue and the puncture angle is adjusted. When the current puncture angle of the syringe 1 meets the standard puncture angle requirement, the external controller controls the drive device 6 to drive the syringe 1 to move and complete the puncture action. Furthermore, the puncture angle adjustment specifically includes: the first sensor independently monitors the force when the syringe 1 is tilted toward the first sensor and transmits the force data to the external controller, the second sensor independently monitors the force when the syringe 1 is tilted toward the second sensor and transmits the force data to the external controller, the third sensor independently monitors the force when the syringe 1 is tilted toward the third sensor and transmits the force data to the external controller, and the fourth sensor independently monitors the force when the syringe 1 is tilted toward the fourth sensor and transmits the force data to the external controller; the external controller performs calculation and analysis based on the force data of the syringe 1 at different positions monitored by the first sensor, the second sensor, the third sensor and the fourth sensor to determine whether the current puncture angle of the syringe 1 meets the standard puncture angle requirements, and simultaneously reminds medical staff to adjust the puncture angle of the syringe 1 in time; Furthermore, the first sensor, the second sensor, the third sensor and the fourth sensor can independently monitor the instantaneous force of the syringe 1 when penetrating the human tissue, and transmit the force data of the syringe 1 during puncture to the external controller through the cable 7, and the external controller controls the driving device 6 to drive the syringe 1 to move and puncture, and judge whether the syringe 1 has punctured in place; When the needle 11 compresses the tissue but does not penetrate the tissue, a specific puncture angle is formed with the tissue surface. The current puncture angle of the syringe 1 is calculated and analyzed according to the force applied to the needle 11 at different positions according to formula (1), formula (2), formula (3) and formula (4) in Example 2. When the first sensor, the second sensor, the third sensor and / or the fourth sensor detects the instantaneous force change of the syringe 1 or the puncture reaches the specified depth, the needle 11 reaches the target point, and the external controller controls the driving device 6 to stop driving the syringe 1 to move. At this time, the syringe 1 moves into place to complete the puncture action; Step S3: injecting or extracting liquid; Specifically, after the syringe 1 is punctured into place, the driving device 4 drives the injection rod 13 to move to complete the injection or extraction of liquid.

[0046] It should be noted that for operations that do not require high puncture and injection accuracy, such as intramuscular injection, subcutaneous injection, etc., the puncture and injection device can be held by hand for operation; for operations that require high puncture and injection accuracy, such as intercostal puncture, epidural puncture, etc., the puncture and injection device can be installed on a robotic arm for operation and operated through the robotic arm.

[0047] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An electric puncture injection device with force feedback function, characterized in that: It comprises a syringe (1), a fixing mechanism (2), a propulsion device (4), a sensor unit (5) and a driving device (6); The syringe (1) can be fixedly installed in the fixing mechanism (2), and the specifications and models of the syringe (1) can be selected according to actual use requirements; the fixing mechanism (2), the sensor unit (5) and the driving device (6) are connected in sequence, and the syringe (1), the fixing mechanism (2), the sensor unit (5) and the driving device (6) are coaxially arranged; The sensor unit (5) is used to connect to an external controller, and can transmit the force data of the syringe (1) monitored by the sensor units (5) arranged in different directions to the external controller, so as to calculate the current puncture angle of the syringe (1), thereby judging whether the standard puncture angle requirement is met, and whether the medical staff needs to adjust the puncture angle of the syringe (1); the sensor unit (5) comprises a sensor assembly (51), the sensor assembly (51) comprises a first sensor, a second sensor, a third sensor and a fourth sensor, the first sensor, the second sensor, the third sensor and the fourth sensor are evenly arranged in a circumferential direction along the axis of the sensor bracket (52), and the connection line between the first sensor and the third sensor is orthogonal to the connection line between the second sensor and the fourth sensor; The driving device (6) can be connected to an external controller, and the external controller controls the action of the driving device (6) to control the syringe (1) to perform a puncture action; The propulsion device (4) is mounted on the syringe (1) and is used to drive the syringe (1) to complete an injection or extraction action.

2. The electric puncture injection device with force feedback function according to claim 1, characterized in that: The first sensor, the second sensor, the third sensor and the fourth sensor are all independently connected to the external controller. The first sensor is used to independently monitor the force applied when the syringe (1) is tilted toward the first sensor and the instantaneous force applied when the syringe (1) penetrates into human tissue. The second sensor is used to independently monitor the force applied when the syringe (1) is tilted toward the second sensor and the instantaneous force applied when the syringe (1) penetrates into human tissue. The third sensor is used to independently monitor the force applied when the syringe (1) is tilted toward the third sensor and the instantaneous force applied when the syringe (1) penetrates into human tissue. The fourth sensor is used to independently monitor the force applied when the syringe (1) is tilted toward the fourth sensor and the instantaneous force applied when the syringe (1) penetrates into human tissue.

3. The electric puncture injection device with force feedback function according to claim 2, characterized in that: The fixing mechanism (2) comprises a fixing sleeve (21) and a fixing bracket (22); the fixing bracket (22) is provided with a first through hole, and the syringe (1) can be inserted into the first through hole; the fixing sleeve (21) is sleeved on the fixing bracket (22); and the fixing sleeve (21) can be screwed to move the fixing sleeve (21) along the axis of the fixing bracket (22).

4. The electric puncture injection device with force feedback function according to claim 3, characterized in that: The fixed bracket (22) comprises a bracket seat (221) and a clamping block (222); one end of the clamping block (222) is fixedly connected to the bracket seat (221), and the other end is a tightening and fixing end; the fixed sleeve (21) is sleeved on a plurality of the clamping blocks (222) and is threadedly connected to the plurality of the clamping blocks (222); when the fixed sleeve (21) is screwed in a direction close to the bracket seat (221), the tightening and fixing ends of the plurality of the clamping blocks (222) can be synchronously moved toward the center of the axis of the fixed bracket (22), thereby realizing the positioning and clamping of the syringe (1).

5. The electric puncture injection device with force feedback function according to claim 4, characterized in that: The driving device (6) comprises a push plate (61), a push rod (64), a motor (65) and a housing (66), wherein the motor (65) is mounted in the housing (66); the push plate (61) is rotatably connected to the sensor bracket (52); one end of the push rod (64) is fixedly connected to the push plate (61), and the other end is connected to the output end of the motor (65); the motor (65) is used to drive the push plate (61) to move along the axis of the housing (66), thereby pushing the syringe (1), the fixing mechanism (2), the propulsion device (4) and the sensor unit (5) to move synchronously.

6. According to claim 5, an electric puncture injection device with a force feedback function, the driving device (6) further comprises a limit rod (62) and a linear bearing (63), the linear bearing (63) is mounted on the housing (66), and the axis of the linear bearing (63) is parallel to the axis of the housing (66); one end of the limit rod (62) is fixedly connected to the push plate (61), and the other end is inserted into the linear bearing (63) and can slide along the axis of the linear bearing (63), and the limit rod (62) is used to limit the circular rotation of the push plate (61).

7. The electric puncture injection device with force feedback function according to claim 6, characterized in that: The propulsion device (4) comprises a first propulsion rod (41) and a second propulsion rod (42); the first propulsion rod (41) is provided with a first clamping groove (411), the second propulsion rod (42) is provided with a second clamping groove (421), and the first clamping groove (411) and the second clamping groove (421) are arranged opposite to each other; after the first propulsion rod (41) and the second propulsion rod (42) are buckled together, the first clamping groove (411) and the second clamping groove (421) can both be clamped on the rear end disc of the injection rod (13).

8. The electric puncture injection device with force feedback function according to claim 7, characterized in that: The propulsion device (4) further comprises a first magnet (43) and a second magnet (44); the first magnet (43) is mounted on the first propulsion rod (41), and the second magnet (44) is mounted on the second propulsion rod (42); the first magnet (43) and the second magnet (44) are arranged opposite to each other, and the first propulsion rod (41) and the second propulsion rod (42) can be fixedly mounted on the injection rod (13) by the magnetic attraction of the first magnet (43) and the second magnet (44).

9. The electric puncture injection device with force feedback function according to claim 8, characterized in that: The sensor unit (5) further comprises a sensor bracket (52), one end of the sensor bracket (52) being connected to the drive device (6), and the other end of the sensor bracket (52) being mounted with a sensor assembly (51); the sensor assembly (51) being connected to the syringe (1) via a fixing bracket (22).

10. A method for adjusting a puncture angle, characterized in that: Used to adjust the puncture angle of the electric puncture injection device with force feedback function according to any one of claims 1 to 9, When the needle (11) compresses the tissue but has not yet penetrated the tissue, a specific puncture angle is formed with the tissue surface. The force applied to the needle (11) in different directions is monitored by the first sensor, the second sensor, the third sensor, and the fourth sensor. The current puncture angle of the syringe (1) is analyzed and calculated according to the following formula. The current puncture angle of the syringe (1) is then adjusted to meet the requirements of the standard puncture angle: ； ； ； ； Where: is the external force and applied to the needle tip of the needle (11); The supporting force of the skin tissue on the needle tip of the needle (11); is the force monitored by the first sensor; is the force monitored by the second sensor; is the force monitored by the third sensor; is the force monitored by the fourth sensor; is the friction force along the skin surface; is the angle between the needle (11) and the normal vector of the skin plane; for In plane The angle between the component force on and the Y axis; is the distance between the needle tip of the needle (11) and the support seat (221); is the distance between the sensor assembly (51) and the center point O.

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