Nasal jejunum catheterization robot and system thereof

Abstract

The invention discloses a nasal jejunum catheterization robot and a system thereof, and relates to the technical field of medical instruments, the nasal jejunum catheterization robot comprises a robot control box and a tubular device, the output end of the robot control box is connected with a nasal jejunum tube, one end of the nasal jejunum tube is provided with a robot end part, the robot end part is internally provided with a steering assembly, and the steering assembly is connected with the tubular device. An electromagnetic chuck is installed at one end of the steering assembly, one end of the electromagnetic chuck is connected with one side of the tubular device in a magnetic attraction mode, the input end of the electromagnetic chuck is electrically connected with a wire harness, and one end of the wire harness penetrates through the interior of the nasal jejunum tube and is connected with the internal control end of the robot control box; the robot end comprises a leather sheath, a plurality of holes are formed in the outer wall of the leather sheath, sensors are installed in the holes correspondingly, and the sensors are electrically connected with the wire harness correspondingly.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a transnasal jejunal catheterization robot and a system thereof. Background Art

[0002] The nasojejunal tube is a medical device widely used in the medical field. It is suitable for patients who are fed through the nasogastric tube and directly enter the duodenum or jejunum, and patients with basically normal intestinal function but gastric emptying disorder.

[0003] At present, in the process of intestinal treatment, nasojejunal catheterization tissue damage, catheterization failure, and catheter tip dislocation are prone to occur, causing unnecessary secondary harm to patients. Summary of the invention

[0004] The purpose of the present invention is to provide a transnasal jejunal catheterization robot and a system thereof to solve the problems raised in the above-mentioned background technology.

[0005] By adopting the above technical solution, a safer intestinal treatment function is achieved, which is helpful to alleviate the pain of patients.

[0006] In view of the above problems, the technical solution proposed by the present invention is: A transnasal jejunal catheterization robot comprises a robot control box and a tubular device, wherein an output end of the robot control box is connected to a nasojejunal tube, one end of the nasojejunal tube is provided with a robot end, a steering assembly is provided inside the robot end, an electromagnetic suction cup is installed at one end of the steering assembly, one end of the electromagnetic suction cup is magnetically connected to one side of the tubular device, an input end of the electromagnetic suction cup is electrically connected to a wire harness, one end of the wire harness passes through the interior of the nasojejunal tube and is connected to an internal control end of the robot control box.

[0007] As a preferred technical solution of the present invention, the robot end includes a leather case, the outer wall of the leather case is provided with a plurality of holes, sensors are respectively installed inside the plurality of holes, and the plurality of sensors are respectively electrically connected to the wire harness.

[0008] As a preferred technical solution of the present invention, the plurality of sensors include a temperature sensor, a humidity sensor, a pH sensor and a pressure sensor.

[0009] As a preferred technical solution of the present invention, the tubular device includes a device body, a fixed circular frame is installed at one end of the device body, and a magnetic suction block is installed inside the fixed circular frame.

[0010] As a preferred technical solution of the present invention, a magnetic isolation sheet is provided between the device body and the magnetic attraction block, and the magnetic isolation sheet is located on one side of the inner part of the fixed circular frame.

[0011] As a preferred technical solution of the present invention, the steering assembly includes a cylinder, one side of the cylinder is rotatably connected to a turntable, support plates are respectively installed on both sides of the turntable, a swing frame is rotatably connected between the two support plates, and one side of the swing frame is connected to one side of the electromagnetic suction cup.

[0012] As a preferred technical solution of the present invention, a first micro motor is installed on one side of the outer wall of the support plate, and the output end of the first micro motor is transmission connected to one side of the swing frame. A second micro motor is installed inside the cylinder, and the output end of the second micro motor is transmission connected to the center position of the turntable.

[0013] As a preferred technical solution of the present invention, the first micro motor and the second micro motor are electrically connected to the wire harness respectively.

[0014] As a preferred technical solution of the present invention, a touch screen is embedded in the top surface of the robot control box, and a data port is installed on one side of the outer wall of the robot control box.

[0015] On the other hand, the present invention provides a system of a transnasal jejunal catheterization robot, wherein a control system is provided inside the touch screen, and an electromagnetic clamping module, a conveying module, a sensing module and a learning module are provided inside the control system, and the electromagnetic clamping module, the conveying module, the sensing module and the learning module are connected to each other through signal transmission.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: by arranging an electromagnetic suction cup inside the end of the robot, the tubular device can be magnetically fixed, and through the flexible reversing activity of the steering component, the end of the robot can carry the tubular device and move in multiple directions in the patient's body. At the same time, with the installation and use of multiple sensors on the end of the robot, the tubular device can be transported to a precise position in the patient's body. In this process, the damage to the tube tissue can be effectively reduced, and the wire harness can transmit the data information in the body in real time, which is conducive to increasing the success rate of catheterization. Through precise fixed-point delivery, the condition of malposition of the catheter tip can be effectively avoided, which is conducive to reducing the harm to the patient during the treatment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A three-dimensional schematic diagram of a transnasal jejunal catheterization robot provided by the present invention; Figure 2 A schematic diagram of the deployment of a tubular device of a transnasal jejunal catheterization robot provided by the present invention; Figure 3 A cross-sectional view of a transnasal jejunal catheterization robot provided by the present invention; Figure 4A schematic diagram of a torsion assembly of a transnasal jejunal catheterization robot provided by the present invention; Figure 5 This is a system module block diagram of a transnasal jejunal catheterization robot provided by the present invention.

[0018] In the figure: 100, robot control box; 200, nasojejunal tube; 300, robot end; 3001, leather case; 3002, hole; 3003, sensor; 400, tubular device; 4001, device body; 4002, fixed round frame; 4003, magnetic isolation sheet; 4004, magnetic suction block; 500, touch screen; 600, data port; 700, wire harness; 800, steering assembly; 8001, cylinder; 8002, turntable; 8003, support plate; 8004, swing frame; 8005, first micro motor; 8006, second micro motor; 900, electromagnetic suction cup; 101, control system; 10101, electromagnetic clamping module; 10102, conveying module; 10103, sensing module; 10104, learning module. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Embodiment 1 See also Figure 1-Figure 4 The present invention provides a technical solution: a nasojejunal catheterization robot and a system thereof, comprising a robot control box 100 and a tubular device 400, wherein the output end of the robot control box 100 is connected to a nasojejunal tube 200, one end of the nasojejunal tube 200 is provided with a robot end 300, a steering assembly 800 is provided inside the robot end 300, an electromagnetic suction cup 900 is installed at one end of the steering assembly 800, one end of the electromagnetic suction cup 900 is magnetically connected to one side of the tubular device 400, an input end of the electromagnetic suction cup 900 is electrically connected to a wire harness 700, and the wire harness 700 is electrically connected to the input end of the electromagnetic suction cup 900. One end of the wiring harness 700 passes through the interior of the nasojejunal tube 200 and is connected to the internal control end of the robot control box 100. By setting an electromagnetic suction cup 900 inside the robot end 300, the tubular device 400 can be magnetically fixed, and through the flexible reversing activity of the steering assembly 800, the robot end 300 can carry the tubular device 400 and move in multiple directions in the patient's body. At the same time, with the installation and use of multiple sensors 3003 on the robot end 300, the tubular device 400 can be transported to a precise position in the patient's body.

[0021] Among them, the robot end 300 includes a leather case 3001, and the outer wall of the leather case 3001 is provided with a plurality of holes 3002, and sensors 3003 are respectively installed inside the plurality of holes 3002, and the plurality of sensors 3003 are respectively electrically connected to the wire harness 700. Through the setting of the plurality of holes 3002, it is possible to provide installation positions for the plurality of sensors 3003, thereby ensuring that the leather case 3001 is always in a flat state.

[0022] Among them, several sensors 3003 include temperature sensors, humidity sensors, pH sensors and pressure sensors. Through the division of labor and cooperation of multiple sensors 3003, the robot end 300 is capable of detecting the temperature, humidity, pH and pressure values ​​in the patient's body at the same time.

[0023] The tubular device 400 includes a device body 4001, a fixed circular frame 4002 is installed at one end of the device body 4001, and a magnetic block 4004 is installed inside the fixed circular frame 4002. The fixed circular frame 4002 is installed and used to provide a position area for fixing the magnetic block 4004.

[0024] Among them, a magnetic isolation sheet 4003 is provided between the device body 4001 and the magnetic attraction block 4004. The magnetic isolation sheet 4003 is located on the inner side of the fixed circular frame 4002. By installing and using the magnetic isolation sheet 4003, it is convenient to reduce the interference of the magnetic field of the magnetic attraction block 4004 on the device body 4001.

[0025] Among them, the steering assembly 800 includes a cylinder 8001, one side of the cylinder 8001 is rotatably connected to a turntable 8002, and support plates 8003 are respectively installed on both sides of the turntable 8002. A swing frame 8004 is rotatably connected between the two support plates 8003. One side of the swing frame 8004 is connected to one side of the electromagnetic suction cup 900. Through the connection and use of the turntable 8002, it can drive the support plate 8003 and the swing frame 8004 to rotate in a circle, and then through the rotatable connection between the support plate 8003 and the swing frame 8004, the swing frame 8004 can adjust the inclination between the support plates 8003, thereby controlling the bending adjustment of different directions of the outside of the tubular device 400.

[0026] Among them, a first micro motor 8005 is installed on one side of the outer wall of the support plate 8003, and the output end of the first micro motor 8005 is transmission connected to one side of the swing frame 8004. A second micro motor 8006 is installed inside the cylinder 8001, and the output end of the second micro motor 8006 is transmission connected to the center position of the turntable 8002. Through the coordinated use of the first micro motor 8005 and the second micro motor 8006, they provide power for the azimuth change of the steering assembly 800.

[0027] The first micro motor 8005 and the second micro motor 8006 are electrically connected to the wire harness 700 , respectively. The electrical connection of the wire harness 700 facilitates the transmission of electrical energy and control instructions to the first micro motor 8005 and the second micro motor 8006 .

[0028] Among them, a touch screen 500 is embedded in the top surface of the robot control box 100, and a data port 600 is installed on one side of the outer wall of the robot control box 100. The installation and use of the touch screen 500 makes the control of the robot more convenient. At the same time, the installation of the data port 600 is beneficial to the external computer, so that it can supply different data, thereby improving the learning and recognition ability of the robot.

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Embodiment 2 See also Figure 1-Figure 5 The present invention provides a technical solution: a system of a transnasal jejunal catheterization robot, wherein a control system 101 is provided inside the touch screen 500, and an electromagnetic clamping module 10101, a conveying module 10102, a sensing module 10103 and a learning module 10104 are provided inside the control system 101, and the electromagnetic clamping module 10101, the conveying module 10102, the sensing module 10103 and the learning module 10104 are connected to each other for signal transmission.

[0031] Specifically, the working principle of the transnasal jejunal catheterization robot and its system is as follows: when in use, first, by controlling the touch screen 500 and outputting preliminary instructions, the electromagnetic suction cup 900 completes the magnetic suction action on the magnetic suction block 4004 at one end of the tubular device 400, and then the tubular device 400 is carried into the patient's body by the robot end 300, and the first micro motor 8005 and the second micro motor 8006 are controlled to operate, so that they respectively control the rotation and inclination adjustment of the swing frame 8004, so as to prompt the steering assembly 800 to complete the bending in the specified direction until it meets the curvature of the patient's intestine. At the same time, through the setting of multiple holes 3002, it can provide installation positions for multiple sensors 3003, thereby ensuring that the leather case 3001 is always in The robot end 300 is in a flat state, and through the division of labor and cooperation of multiple sensors 3003, the robot end 300 can simultaneously detect the temperature, humidity, pH and pressure values ​​in the patient's body. Secondly, the robot control box 100 continuously pushes the nasojejunal tube 200 into the patient's body, so that the robot end 300 can transport the tubular device 400 to the precise position in the patient's body, and use the wire harness 700 signal transmission to enable the touch screen 500 to save and record relevant data, which is conducive to the control system 101 to perform modular information conversion. While making action feedback, it is also conducive to the intelligent system to perform auxiliary control to achieve precise operation. The intelligent system has a learning function and can supply data to an external computer through the data port 600 to make its recognition ability more accurate.

Claims

1. A transnasal jejunal catheterization robot, characterized in that: The invention comprises a robot control box (100) and a tubular device (400), wherein the output end of the robot control box (100) is connected to a nasojejunal tube (200), one end of the nasojejunal tube (200) is provided with a robot end (300), a steering assembly (800) is provided inside the robot end (300), an electromagnetic suction cup (900) is installed at one end of the steering assembly (800), one end of the electromagnetic suction cup (900) is magnetically connected to one side of the tubular device (400), the input end of the electromagnetic suction cup (900) is electrically connected to a wire harness (700), one end of the wire harness (700) passes through the inside of the nasojejunal tube (200) and is connected to the internal control end of the robot control box (100).

2. The nasojejunal catheterization robot according to claim 1, characterized in that: The robot end (300) comprises a leather case (3001), the outer wall of the leather case (3001) is provided with a plurality of holes (3002), sensors (3003) are respectively installed inside the plurality of holes (3002), and the plurality of sensors (3003) are respectively electrically connected to the wire harness (700).

3. The nasojejunal catheterization robot according to claim 2, characterized in that: The plurality of sensors (3003) include a temperature sensor, a humidity sensor, a pH sensor and a pressure sensor.

4. The transnasal jejunal catheterization robot according to claim 1, characterized in that: The tubular device (400) comprises a device body (4001), one end of the device body (4001) is mounted with a fixed circular frame (4002), and a magnetic attraction block (4004) is mounted inside the fixed circular frame (4002).

5. The transnasal jejunal catheterization robot according to claim 4, characterized in that: A magnetic isolation sheet (4003) is provided between the device body (4001) and the magnetic attraction block (4004), and the magnetic isolation sheet (4003) is located on one side of the interior of the fixed circular frame (4002).

6. The transnasal jejunal catheterization robot according to claim 1, characterized in that: The steering assembly (800) comprises a cylinder (8001), one side of the cylinder (8001) is rotatably connected to a turntable (8002), support plates (8003) are respectively installed on both sides of the turntable (8002), a swing frame (8004) is rotatably connected between the two support plates (8003), and one side of the swing frame (8004) is connected to one side of the electromagnetic suction cup (900).

7. The transnasal jejunal catheterization robot according to claim 6, characterized in that: A first micro motor (8005) is installed on one side of the outer wall of the support plate (8003), and the output end of the first micro motor (8005) is transmission-connected to one side of the swing frame (8004). A second micro motor (8006) is installed inside the cylinder (8001), and the output end of the second micro motor (8006) is transmission-connected to the center position of the turntable (8002).

8. The transnasal jejunal catheterization robot according to claim 7, characterized in that: The first micro motor (8005) and the second micro motor (8006) are electrically connected to the wire harness (700) respectively.

9. The transnasal jejunal catheterization robot according to claim 1, characterized in that: A touch screen (500) is embedded and installed on the top surface of the robot control box (100), and a data port (600) is installed on one side of the outer wall of the robot control box (100).

10. A system applied to the nasojejunal catheterization robot according to claim 9, characterized in that: The touch screen (500) is provided with a control system (101) inside, and the control system (101) is provided with an electromagnetic clamping module (10101), a conveying module (10102), a sensing module (10103) and a learning module (10104) inside, and the electromagnetic clamping module (10101), the conveying module (10102), the sensing module (10103) and the learning module (10104) are connected to each other for signal transmission.

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