A transnasal jejunum catheterization robot and system thereof

Abstract

The application discloses a nasal jejunum catheterization robot and a system thereof, and relates to the technical field of medical devices.The robot control box is connected with a nasal jejunum tube at the output end, and one end of the nasal jejunum tube is provided with a robot end part.The inside of the robot end part is provided with a steering assembly, and one end of the steering assembly is mounted with an electromagnetic chuck.The one end of the electromagnetic chuck is connected with one side of the tubular device through magnetic attraction.The input end of the electromagnetic chuck is electrically connected with a wire harness.The one end of the wire harness penetrates through the inside of the nasal jejunum tube and is connected with the inside control end of the robot control box.The robot end part comprises a leather sheath, and a plurality of holes are formed in the outer wall of the leather sheath.A plurality of sensors are mounted in the holes respectively, and the sensors are electrically connected with the wire harness respectively.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a transnasal jejunum intubation robot and system thereof. BACKGROUND

[0002] Nasal jejunum tube is a medical device widely used in the medical field. It is suitable for patients who are fed through the nose and directly enter the duodenum or jejunum, and patients who have normal intestinal function but have gastric emptying disorders.

[0003] Currently, during the treatment of the intestinal tract, tissue damage, intubation failure, and catheter tip ectopia often occur during transnasal jejunum intubation, thereby causing unnecessary secondary injury to the patient. SUMMARY

[0004] The present application aims to provide a transnasal jejunum intubation robot and system thereof to solve the problems raised in the background.

[0005] By adopting the above technical scheme, the function of more safely treating the intestinal tract is realized, which is beneficial to alleviate the pain of the patient.

[0006] In view of the above problems, the technical scheme proposed by the present application is:

[0007] A transnasal jejunum intubation robot, comprising 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, the inside of the robot end is provided with a steering assembly, one end of the steering assembly is installed with an electromagnetic chuck, one end of the electromagnetic chuck is magnetically connected with one side of the tubular device, the input end of the electromagnetic chuck is electrically connected with a wire harness, one end of the wire harness penetrates the inside 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, a plurality of sensors are installed in the inside of the plurality of holes respectively, a plurality of sensors are electrically connected with the wire harness respectively, the steering assembly comprises a cylinder, one side of the cylinder is rotatably connected with a turntable, two sides of the turntable are respectively installed with a support plate, a swing rack is rotatably connected between the two support plates, one side of the swing rack is connected with one side of the electromagnetic chuck, a first micro motor is installed on one side of the outer wall of the support plate, the output end of the first micro motor is in transmission connection with one side of the swing rack, a second micro motor is installed in the inside of the cylinder, the output end of the second micro motor is in transmission connection with the center position of the turntable.

[0008] As a preferred technical scheme of the present application, a plurality of sensors respectively comprise temperature sensors, humidity sensors, pH sensors and pressure sensors.

[0009] As a preferred technical scheme of the present application, the tubular device comprises a device body, one end of the device body is provided with a fixed circular frame, and the inside of the fixed circular frame is provided with a magnetic attraction block.

[0010] As a preferred technical scheme of the present application, a magnetic isolation sheet is arranged between the device body and the magnetic attraction block, and the magnetic isolation sheet is arranged on one side of the inside of the fixed circular frame.

[0011] As a preferred technical scheme of the present application, the first micro motor and the second micro motor are respectively electrically connected with the wire harness.

[0012] As a preferred technical scheme of the present application, a touch screen is embedded on the top surface of the robot control box, and a data port is arranged on one side of the outer wall of the robot control box.

[0013] In another aspect, the present application provides a transnasal jejunum catheterization robot system, the inside of the touch screen is provided with a control system, the inside of the control system is provided with an electromagnetic clamping module, a conveying module, a sensing module and a learning module, and the electromagnetic clamping module, the conveying module, the sensing module and the learning module are connected with each other in signal transmission.

[0014] Compared with the prior art, the present application has the following advantages: by arranging an electromagnetic chuck in the inside of the end portion of the robot, the tubular device can be magnetically attracted and fixed, and by the flexible turning activity of the turning assembly, the end portion of the robot can carry the tubular device to move in multiple directions in the patient's body, at the same time, in cooperation with the installation and use of multiple sensors on the end portion of the robot, the tubular device can be delivered to the accurate position in the patient's body, in this process, the damage to the tubular tissue can be effectively reduced, and the data information in the body can be transmitted in real time through the wire harness, which is beneficial to increase the success rate of catheterization. Through accurate positioning delivery, the condition of ectopia of the catheter tip can be effectively avoided, and the harm to the patient in the treatment process can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 A perspective view of the transnasal jejunum catheterization robot is provided.

[0016] Figure 2 A tubular device expansion diagram of the transnasal jejunum catheterization robot is provided.

[0017] Figure 3 A cross-sectional view of the transnasal jejunum catheterization robot is provided.

[0018] Figure 4 A turning assembly diagram of the transnasal jejunum catheterization robot is provided.

[0019] Figure 5A system module block diagram of a nasogastric tube robot is provided.

[0020] In the figure: 100, robot control box; 200, nasogastric tube; 300, robot end; 3001, sheath; 3002, hole; 3003, sensor; 400, tubular device; 4001, device body; 4002, fixed round frame; 4003, magnetic separation sheet; 4004, magnetic 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 chuck; 101, control system; 10101, electromagnetic clamping module; 10102, conveying module; 10103, sensing module; 10104, learning module. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] Embodiment one

[0023] Please refer to Figures 1-4The application provides a technical scheme: a transnasal jejunum catheterization robot and a system thereof, which comprises a robot control box 100 and a tubular device 400, the output end of the robot control box 100 is connected with a nasojejunal tube 200, one end of the nasojejunal tube 200 is provided with a robot end part 300, the inside of the robot end part 300 is provided with a steering assembly 800, one end of the steering assembly 800 is installed with an electromagnetic chuck 900, one end of the electromagnetic chuck 900 is connected with one side of the tubular device 400 in a magnetic way, the input end of the electromagnetic chuck 900 is electrically connected with a wire harness 700, one end of the wire harness 700 penetrates through the inside of the nasojejunal tube 200 and is connected with the inside control end of the robot control box 100, the electromagnetic chuck 900 is arranged in the inside of the robot end part 300, so that the tubular device 400 can be magnetically fixed, and the flexible steering movement of the steering assembly 800 enables the robot end part 300 to carry the tubular device 400 to move in multiple directions in the patient's body, meanwhile, the installation of multiple sensors 3003 on the robot end part 300 enables the tubular device 400 to be delivered to the accurate position in the patient's body, the robot end part 300 comprises a leather sheath 3001, a plurality of holes 3002 are formed in the outer wall of the leather sheath 3001, the plurality of holes 3002 are respectively installed with sensors 3003, and the plurality of sensors 3003 are respectively electrically connected with the wire harness 700, so that the plurality of holes 3002 provide installation positions for the plurality of sensors 3003, thereby ensuring that the leather sheath 3001 is always in a flat state, the steering assembly 800 comprises a cylinder 8001, the cylinder 8001 is rotationally connected with a rotating disc 8002 on one side, the rotating disc 8002 is respectively installed with supporting plates 8003 on both sides, the supporting plates 8003 are rotationally connected with a swing frame 8004 between the two supporting plates 8003, one side of the swing frame 8004 is connected with one side of the electromagnetic chuck 900, the connection and use of the rotating disc 8002 enable the supporting plates 8003 and the swing frame 8004 to rotate in a circle, and the rotational connection of the supporting plates 8003 and the swing frame 8004 enables the swing frame 8004 to adjust the inclination angle between the supporting plates 8003, so as to control the bending adjustment of the tubular device 400 in different directions outside, a first micro motor 8005 is installed on one side of the outer wall of the supporting plate 8003, the output end of the first micro motor 8005 is in transmission connection with one side of the swing frame 8004, a second micro motor 8006 is installed in the inside of the cylinder 8001, and the output end of the second micro motor 8006 is in transmission connection with the center position of the rotating disc 8002, so that the first micro motor 8005 and the second micro motor 8006 provide power for the orientation change of the steering assembly 800.

[0024] Among them, several sensors 3003 respectively include temperature sensors, humidity sensors, pH sensors and pressure sensors, through the cooperation of multiple sensors 3003, so that the robot end 300 has the values of detecting the temperature, humidity, pH and pressure in the patient's body at the same time.

[0025] Among them, the tubular device 400 includes a device body 4001, one end of the device body 4001 is provided with a fixed circular frame 4002, the inside of the fixed circular frame 4002 is provided with a magnetic block 4004, and the installation of the fixed circular frame 4002 is used to provide a position area for the fixation of the magnetic block 4004.

[0026] Among them, the device body 4001 and the magnetic block 4004 are provided with a magnetic separation sheet 4003, the magnetic separation sheet 4003 is located on the inside of the fixed circular frame 4002, and the installation of the magnetic separation sheet 4003 is used to facilitate reducing the interference of the magnetic field of the magnetic block 4004 on the device body 4001.

[0027] Among them, the first micro motor 8005 and the second micro motor 8006 are respectively electrically connected with the wire harness 700, and the electrical connection of the wire harness 700 is convenient for the first micro motor 8005 and the second micro motor 8006 to transport electric energy and control instructions.

[0028] Among them, the top surface of the robot control box 100 is embedded with a touch screen 500, and the outer wall of the robot control box 100 is provided with a data port 600, the installation of the touch screen 500 makes the control of the robot more convenient, and the installation of the data port 600 is beneficial to the external computer, which can supply different data, thereby improving the learning and recognition ability of the robot.

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0030] Embodiment two

[0031] Please refer to Figures 1-5 The present application provides a technical solution: a transnasal jejunum catheterization robot system, the inside of the touch screen 500 is provided with a control system 101, the inside of 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, and the electromagnetic clamping module 10101, the conveying module 10102, the sensing module 10103 and the learning module 10104 are connected with each other in signal transmission.

[0032] Specifically, the working principle of the nasal jejunum intubation robot and its system: in use, first, by operating the touch screen 500 and outputting the 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, then the robot end 300 carries the tubular device 400 into the patient's body, and by operating the first micro motor 8005 and the second micro motor 8006, the swing frame 8004 is controlled to rotate and the inclination is adjusted, so that the steering assembly 800 completes the bending of the specified direction until it meets the bending degree of the patient's intestinal tract, at the same time, the multiple holes 3002 are arranged to provide installation positions for the multiple sensors 3003, so as to ensure that the leather sheath 3001 is always in a flat state, and the multiple sensors 3003 work together to enable the robot end 300 to detect the temperature, humidity, pH value and pressure in the patient's body, secondly, the robot control box 100 continuously pushes the nasal jejunum tube 200 into the patient's body, so that the robot end 300 can deliver the tubular device 400 to the precise position in the patient's body, and the wire harness 700 signal transmission is used to enable the touch screen 500 to save and record relevant data, so as to facilitate the modular information conversion of the control system 101, and at the same time, the action feedback is also conducive to the auxiliary control of the intelligent system, so as to achieve precise operation, the intelligent system has learning function, can supply data through the data port 600 external computer, and let its recognition ability more accurate.

Claims

1. A transnasal jejunal feeding tube robot, comprising: The application relates to a robot control box (100) and a tubular device (400), an output end of the robot control box (100) is connected with a nasojejunal tube (200), one end of the nasojejunal tube (200) is provided with a robot end part (300), the inside of the robot end part (300) is provided with a steering assembly (800), one end of the steering assembly (800) is mounted with an electromagnetic suction disc (900), one end of the electromagnetic suction disc (900) is magnetically connected with one side of the tubular device (400), the input end of the electromagnetic suction disc (900) is electrically connected with a wire harness (700), one end of the wire harness (700) penetrates the inside of the nasojejunal tube (200) and is connected with the inside control end of the robot control box (100), the robot end part (300) comprises a leather sheath (3001), a plurality of holes (3002) are formed in the outer wall of the leather sheath (3001), a plurality of sensors (3003) are mounted in the holes (3002) respectively, the sensors (3003) are electrically connected with the wire harness (700) respectively, the steering assembly (800) comprises a cylinder (8001), one side of the cylinder (8001) is rotationally connected with a rotating disc (8002), the rotating disc (8002) is provided with a support plate (8003) on each side, a swing frame (8004) is rotationally connected between the support plates (8003), one side of the swing frame (8004) is connected with one side of the electromagnetic suction disc (900), a first micro motor (8005) is mounted on one side of the outer wall of the support plate (8003), the output end of the first micro motor (8005) is in transmission connection with one side of the swing frame (8004), a second micro motor (8006) is mounted in the inside of the cylinder (8001), the output end of the second micro motor (8006) is in transmission connection with the center position of the rotating disc (8002).

2. The nasojejunal tube placement robot of claim 1, wherein, The sensors (3003) respectively comprise temperature sensors, humidity sensors, pH sensors and pressure sensors.

3. The nasojejunal tube placement robot of claim 1, wherein, The tubular device (400) comprises a device body (4001), one end of the device body (4001) is mounted with a fixed circular frame (4002), the inside of the fixed circular frame (4002) is mounted with a magnetic suction block (4004).

4. The nasojejunal tube placement robot of claim 3, wherein, A magnetic separation sheet (4003) is arranged between the device body (4001) and the magnetic suction block (4004), and the magnetic separation sheet (4003) is located on one side of the inside of the fixed circular frame (4002).

5. The nasojejunal tube placement robot of claim 1, wherein, The first micro motor (8005) and the second micro motor (8006) are electrically connected with the wire harness (700).

6. The nasojejunal tube placement robot of claim 1, wherein, A touch screen (500) is embedded and mounted on the top surface of the robot control box (100), and a data port (600) is mounted on one side of the outer wall of the robot control box (100).

7. The system for applying to the nasojejunal feeding robot of claim 6, wherein, The inside of the touch screen (500) is provided with a control system (101), the inside of 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), and the electromagnetic clamping module (10101), the conveying module (10102), the sensing module (10103) and the learning module (10104) are connected with each other in signal transmission.

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