A stable quantitative injection device for radiopharmaceuticals in nuclear medicine

Abstract

The present invention discloses a stable quantitative injection device for radiopharmaceuticals in nuclear medicine, and belongs to the technical field of medical equipment. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine, comprising a device connecting frame, an electric piston rod is installed inside the device connecting frame, a syringe is installed at the front end of the telescopic frame, and a medical splint is installed above the movable plate. The present invention solves the problem that the injection position of the existing injection device cannot be accurately controlled during actual use, which affects the injection effect. The present invention performs visual detection of the injection position of the arm through a visual detection sensor, judges the position information through a controller module, adjusts the overall device connecting frame and the angles of the telescopic frame and the syringe, so that the injection position and injection angle correspond to the position of the injection needle, thereby performing adaptive adjustment, so as to perform precise operational adjustments for different types of injection positions and injection angles, and improve the injection effect.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, in particular to a stable quantitative injection device for radiopharmaceuticals in nuclear medicine. Background Art

[0002] In existing nuclear medicine, syringes are used to inject drugs into patients. When operating the injection device, the injection time is often long, and the staff may even shake their arms, causing the injection needle to cause secondary damage to the patient.

[0003] Chinese patent publication number CN112972811A discloses a stable quantitative injection device for radiopharmaceuticals in nuclear medicine. The device comprises a main body shell, an injection mechanism disposed within the main body shell, a fixing mechanism fixedly connected to the side of the main body shell, and a cleaning mechanism disposed on the right front portion of the main body shell. The stable quantitative injection device for radiopharmaceuticals in nuclear medicine, through the design and use of the fixing mechanism, allows the needle to maintain a relatively stable injection position relative to the human body during a long injection process, thereby improving the injection effect. A combination of three levels of springs and tubes allows the needle to be ejected quickly and accurately during the injection process, shortening the injection process and improving accuracy. This reduces the probability of medical staff fatigue due to long injection times, making the entire process safer and more reliable. The design and use of a cleaning tray shortens the injection process time.

[0004] During actual use, the injection device of the above patent cannot accurately control the injection position, which affects the injection effect; therefore, it does not meet the existing needs. Therefore, a stable quantitative injection device for radiopharmaceuticals in nuclear medicine is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a stable quantitative injection device for radiopharmaceuticals in nuclear medicine, which solves the problem that the injection device proposed in the above background technology cannot accurately control the injection position during actual use, affecting the injection effect.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: A stable quantitative injection device for radiopharmaceuticals in nuclear medicine, comprising a device connecting frame, an electric piston rod installed inside the device connecting frame, a telescopic frame installed at the lower end of the device connecting frame, an injection tube installed at the front end of the telescopic frame, and a support base installed below the device connecting frame, a movable plate installed at the front end of the support base, a medical splint installed above the movable plate, reduction motors installed on both sides of the medical splint, and the medical splint is used to fix the patient's injection position to adapt to the injection position of the injection tube.

[0007] Preferably, a medicine box is fixedly installed inside the connecting frame of the device, the lower end of the electric piston rod extends to the inside of the medicine box and is sealed with the medicine box, and a heating box is installed on one side of the medicine box. The heating box is used to adjust the external temperature of the medicine box. The temperature of the medicine is adaptively adjusted through the heating box to improve the working effect.

[0008] Preferably, a first electric cylinder is installed between the device connecting frame and the telescopic frame, the two ends of the first electric cylinder are fixedly connected to the device connecting frame and the telescopic frame respectively, a guide rail is provided at the front end of the telescopic frame, and a visual detection sensor is provided at the lower end of the telescopic frame.

[0009] Preferably, an adjusting slide is installed at the rear end of the injection tube, and the adjusting slide is slidably connected to the telescopic frame through a guide track. An electric motor is installed on the outer side of the telescopic frame, and the motor shaft of the electric motor is fixedly connected to a threaded screw. The threaded screw passes through the adjusting slide and is threadedly connected to the adjusting slide. The horizontal position of the adjusting slide is adjusted by the motor, and the distance between the injection tube and the injection needle and the medical splint is adjusted by the first electric cylinder.

[0010] Preferably, an injection needle is provided at the front end of the injection tube, the injection tube is fixedly connected to the adjustment slide, a booster pump is provided inside the injection tube, and the booster pump is connected to the medicine box through a liquid guide hose, and a solenoid valve is provided inside the booster pump. The device connecting frame combines the electric piston rod, the heating box and the medicine box to achieve an integrated connection, and cooperates with the solenoid valve to perform electric switch injection, which is convenient for adjusting the injection speed and quantitative injection.

[0011] Preferably, a second electric cylinder is installed on both sides of the medical splint, and the two ends of the second electric cylinder are fixedly connected to the reduction motor and the medical splint respectively. The reduction motor is used to adjust the position angle of the medical splint, and the second electric cylinder is used to adjust the clamping position of the medical splint, thereby adjusting the position of the injection port. The inner wall of the medical splint is provided with an anti-slip pad, and the medical splint is used to fix the patient's injection position, thereby improving the injection accuracy and stabilizing the position.

[0012] Preferably, a guide plate is installed between the support base and the movable plate, one end of the guide plate is fixedly connected to the movable plate, and the other end of the guide plate extends to the inside of the support base and is slidably connected to the support base, and a third electric cylinder is installed at the rear end of the support base, one end of the third electric cylinder is fixedly connected to the support base, and the other end of the third electric cylinder extends to the outside of the support base and is fixedly connected to the movable plate. During operation, the position stability between the support base and the movable plate is maintained by the guide plate.

[0013] Preferably, a fourth electric cylinder is installed above the middle of the support base, and a support limit frame is installed above the fourth electric cylinder. The support limit frame is fixedly connected to the lower end of the device connecting frame, and both ends of the fourth electric cylinder are rotatably connected to the support limit frame and the support base through connecting ears. The fourth electric cylinder is used to adjust the angle of the device connecting frame as a whole and the telescopic frame and the injection tube so that the injection position and injection angle correspond to the position of the injection needle, thereby performing adaptive adjustment.

[0014] Preferably, a controller module is provided inside the device connection frame, and the input end of the controller module is connected to the output end of the visual detection sensor;

[0015] The visual detection sensor is used to detect the injection position inside the medical splint and provide the position information to the controller module;

[0016] The output end of the controller module is respectively connected to the input ends of the electric piston rod, the motor, the first electric cylinder, the reduction motor, the second electric cylinder, the third electric cylinder and the fourth electric cylinder;

[0017] The motor is used to adjust the horizontal position of the slide plate;

[0018] The first electric cylinder is used to adjust the distance between the injection tube and the injection needle and the medical splint;

[0019] The reduction motor, the second electric cylinder and the third electric cylinder are all used to adjust the position and angle of the medical splint;

[0020] The fourth electric cylinder is used to adjust the angles of the entire device connecting frame, the telescopic frame and the injection tube;

[0021] The controller module is used to judge the detected position information, adjust the injection position according to the position information, and perform adaptive adjustment so that the injection position and injection angle correspond to the position of the injection needle, so as to accurately adjust the injection position and injection angle of different types and improve the injection effect.

[0022] Preferably, a U-shaped guide track is provided on the back of the lower end of the adjusting slide, and the U-shaped guide track is slidably engaged with the telescopic frame.

[0023] A speed sensor is installed on the output shaft of the motor for real-time monitoring of the rotation speed of the threaded screw, and the speed sensor is electrically connected to the controller module (6);

[0024] The controller module calculates the current position information of the injection needle using the following formula:

[0025] d ti=d0+2πr·n·t+d c

[0026] Among them, d ti represents the current moving distance of the injection needle at time i, d0 represents the distance of the injection needle at the starting position, r represents the diameter of the screw, n represents the rotation speed of the screw, t represents the time the injection needle moves on the screw along the guide track, d c Indicates the deviation value between the center position of the guide track and the center position of the injection needle.

[0027] The visual detection sensor detects the injection position inside the medical splint and provides the position information to the controller module, and the controller module uses the position information of the medical splint as the first reference standard position information;

[0028] The controller module compares and calibrates the injection position information of the arm of the medical splint and the current position information of the injection needle, and adjusts the current position information of the injection needle by controlling the motor until the current position information is aligned with the injection position information of the arm of the medical splint;

[0029] The controller module is electrically connected to the first electric cylinder. When the current position information of the injection needle is aligned with the injection position information of the arm of the medical splint, the controller module controls the first electric cylinder to drive and perform the injection action.

[0030] Preferably, the visual detection sensor is used to detect the injection position of the arm inside the medical splint and provide the injection position information of the arm to the controller module, including:

[0031] collecting original image information near the medical splint in real time, filtering the original image information to remove original images with substandard image clarity, blurred positions, and unqualified angles, to obtain a first processed image;

[0032] Performing image noise reduction, image enhancement, and grayscale processing on the first processed image to obtain a preprocessed image, and performing image segmentation and feature extraction on the preprocessed image to obtain an image to be analyzed;

[0033] The injection position information of the arm of the medical splint is obtained based on the image to be analyzed, the current position information of the injection needle and the injection position information of the arm of the medical splint are compared on the same plane dimension, and the deviation value between the current position of the injection needle and the injection position information of the arm of the medical splint is calculated using the following formula:

[0034]

[0035] in, is the deviation between the current position of the injection needle and the injection position information of the medical splint arm, x1 is the horizontal coordinate value of the current position of the injection needle, y1 is the vertical coordinate value of the current position of the injection needle, x2 is the horizontal coordinate value of the injection position information of the medical splint arm, and y2 is the vertical coordinate value of the injection position information of the medical splint arm;

[0036] When the deviation between the current position of the injection needle and the injection position information of the arm of the medical splint is greater than a preset deviation threshold, the controller module determines that the position of the injection needle needs to be adjusted, and the controller module controls the motor to move, driving the injection needle to adjust its position along the length direction of the screw rod;

[0037] When the injection needle reaches a new position, the above steps are repeated to recalculate the deviation value between the current position of the injection needle and the injection position information of the arm of the medical splint at the new position until the above deviation value meets the preset deviation threshold.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. When using the injection device of the present invention, the user places the arm that needs injection in the medical splint, visually detects the injection position of the arm through the visual detection sensor, determines the position information through the controller module, adjusts the horizontal position of the adjustment slide through the motor, adjusts the distance between the injection tube and the injection needle and the medical splint through the first electric cylinder, adjusts the position and angle of the medical splint through the reduction motor, the second electric cylinder and the third electric cylinder, and adjusts the angle of the entire device connecting frame and the telescopic frame and the injection tube through the fourth electric cylinder, so that the injection position and injection angle correspond to the position of the injection needle, thereby performing adaptive adjustment, so as to accurately adjust different types of injection positions and injection angles and improve the injection effect.

[0040] 2. The device connecting frame of the present invention combines the electric piston rod, the heating box and the medicine box to achieve an integrated connection, and cooperates with the solenoid valve to perform electric switch injection, which facilitates the adjustment of the injection speed and quantitative injection. The temperature of the medicine is adaptively adjusted through the heating box to improve the working effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is an axonometric view of the present invention from the front;

[0042] Figure 2 is an axonometric view of the present invention from the side;

[0043] Figure 3 For the present invention Figure 2 A partial enlarged view of area A in the middle;

[0044] Figure 4 is an axonometric view of the present invention from the rear;

[0045] Figure 5 This is an axonometric view of the medical splint of the present invention after adjustment;

[0046] Figure 6 This is a principle block diagram of the present invention.

[0047] In the figure: 1. Device connecting frame; 101. Electric piston rod; 102. Heating box; 103. Medicine box; 2. Telescopic frame; 201. Motor; 202. First electric cylinder; 203. Visual detection sensor; 204. Lead screw; 3. Syringe; 301. Injection needle; 302. Adjustment slide; 303-Guide rail; 4. Medical splint; 401. Reducer motor; 402. Second electric cylinder; 403. Anti-slip pad; 5. Support base; 501. Moving plate; 502. Guide plate; 503. Third electric cylinder; 504. Fourth electric cylinder; 505. Support limit frame; 6. Controller module. DETAILED DESCRIPTION

[0048] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0049] In order to solve the problem that the injection position cannot be accurately controlled during actual use of the existing injection device, which affects the injection effect, please refer to Figure 1 、 Figure 5 - Figure 6 , this embodiment provides the following technical solutions:

[0050] A stable quantitative injection device for radiopharmaceuticals in nuclear medicine comprises a device connecting frame 1, an electric piston rod 101 being installed inside the device connecting frame 1, a telescopic frame 2 being installed at the lower end of the device connecting frame 1, an injection tube 3 being installed at the front end of the telescopic frame 2, and a support base 5 being installed below the device connecting frame 1, a movable plate 501 being installed at the front end of the support base 5, a medical splint 4 being installed above the movable plate 501, reduction motors 401 being installed on both sides of the medical splint 4, and the medical splint 4 being used to fix the patient's injection position to adapt to the injection position of the injection tube 3.

[0051] In addition, a first electric cylinder 202 is installed between the device connecting frame 1 and the telescopic frame 2. The two ends of the first electric cylinder 202 are fixedly connected to the device connecting frame 1 and the telescopic frame 2 respectively. A guide rail is provided at the front end of the telescopic frame 2, and a visual detection sensor 203 is provided at the lower end of the telescopic frame 2. When the injection device is in use, the user places the arm that needs injection in the medical splint 4, and the injection position of the arm is visually detected by the visual detection sensor 203, and the position information is judged by the controller module 6.

[0052] In addition, a controller module 6 is provided inside the device connection frame 1, and the input end of the controller module 6 is connected to the output end of the visual detection sensor 203;

[0053] In addition, an adjusting slide 302 is installed at the rear end of the injection tube 3, and the adjusting slide 302 is slidably connected to the telescopic frame 2 through a guide track. An electric motor 201 is installed on the outer side of the telescopic frame 2. The motor shaft of the electric motor 201 is fixedly connected to a threaded screw 204. The threaded screw 204 passes through the adjusting slide 302 and is threadedly connected to the adjusting slide 302. The horizontal position of the adjusting slide 302 is adjusted by the motor 201, and the distance between the injection tube 3 and the injection needle 301 and the medical splint 4 is adjusted by the first electric cylinder 202.

[0054] In addition, a fourth electric cylinder 504 is installed above the middle of the support base 5, and a support limit frame 505 is installed above the fourth electric cylinder 504. The support limit frame 505 is fixedly connected to the lower end of the device connecting frame 1, and both ends of the fourth electric cylinder 504 are rotatably connected to the support limit frame 505 and the support base 5 through connecting ears. The fourth electric cylinder 504 is used to adjust the angles of the device connecting frame 1 as a whole and the telescopic frame 2 and the injection tube 3, so that the injection position and injection angle correspond to the position of the injection needle 301, thereby performing adaptive adjustment.

[0055] The visual detection sensor 203 is used to detect the injection position inside the medical splint 4 and provide the position information to the controller module 6;

[0056] The output end of the controller module 6 is respectively connected to the input ends of the electric piston rod 101, the motor 201, the first electric cylinder 202, the reduction motor 401, the second electric cylinder 402, the third electric cylinder 503 and the fourth electric cylinder 504;

[0057] The motor 201 is used to adjust the horizontal position of the slide plate 302;

[0058] The first electric cylinder 202 is used to adjust the distance between the injection tube 3 and the injection needle 301 and the medical splint 4;

[0059] The reduction motor 401, the second electric cylinder 402 and the third electric cylinder 503 are all used to adjust the position and angle of the medical splint 4;

[0060] The fourth electric cylinder 504 is used to adjust the angles of the entire device connecting frame 1, the telescopic frame 2, and the injection tube 3;

[0061] The controller module 6 is used to judge the detected position information, adjust the injection position according to the position information, and perform adaptive adjustment so that the injection position and injection angle correspond to the position of the injection needle 301, so as to accurately adjust the injection position and injection angle of different types and improve the injection effect.

[0062] Specifically, when the injection device is in use, the user places the arm that needs injection in the medical splint 4, visually detects the injection position of the arm through the visual detection sensor 203, judges the position information through the controller module 6, adjusts the horizontal position of the adjustment slide 302 through the motor 201, adjusts the distance between the injection tube 3 and the injection needle 301 and the medical splint 4 through the first electric cylinder 202, adjusts the position and angle of the medical splint 4 through the reduction motor 401, the second electric cylinder 402 and the third electric cylinder 503, and adjusts the angle of the device connecting frame 1 as a whole and the telescopic frame 2 and the injection tube 3 through the fourth electric cylinder 504, so that the injection position and injection angle correspond to the position of the injection needle 301, thereby performing adaptive adjustment, so as to accurately adjust different types of injection positions and injection angles, thereby improving the injection effect.

[0063] Preferably, a U-shaped guide rail 303 is provided on the back of the lower end of the adjusting slide 302, and the U-shaped guide rail 303 is slidably engaged with the telescopic frame 2.

[0064] A speed sensor is installed on the output shaft of the motor 201 for real-time monitoring of the rotation speed of the threaded screw 204. The speed sensor is electrically connected to the controller module 6.

[0065] The controller module 6 calculates the current position information of the injection needle 301 using the following formula:

[0066] d ti =d0+2πr·n·t+d c

[0067] Among them, d ti represents the current moving distance of the injection needle 301 at time i, d0 represents the distance of the injection needle 301 at the starting position, r represents the diameter of the threaded screw 204, n represents the rotation speed of the threaded screw 204, t represents the time the injection needle 301 moves on the threaded screw 204 along the guide track 303, and d cIndicates the deviation value between the center position of the guide track 303 and the center position of the injection needle 301;

[0068] The visual detection sensor 203 detects the injection position inside the medical splint 4 and provides the position information to the controller module 6. The controller module 6 uses the position information of the medical splint 4 as the first reference standard position information;

[0069] The controller module 6 compares and calibrates the injection position information of the arm of the medical splint 4 and the current position information of the injection needle 301, and adjusts the current position information of the injection needle 301 by controlling the motor 201 until the current position information of the injection needle 301 is aligned with the injection position information of the arm of the medical splint 4;

[0070] The controller module 3 is electrically connected to the first electric cylinder 202 . When the current position information of the injection needle 301 is aligned with the injection position information of the arm of the medical splint 4 , the controller module controls the first electric cylinder 202 to drive and perform the injection action.

[0071] The principle and effect of the above technical solution are as follows: the U-shaped guide rail 303 can ensure the position stability between the adjustment slide 302 and the telescopic frame 2 during the sliding process, and prevent the position of the adjustment slide 302 from shaking up and down. By installing a speed sensor on the output shaft of the motor 201, the movement of the motor 201 can be detected in real time. Based on the relative movement, combined with the diameter and movement time of the threaded screw 204, the movement distance value of the injection needle 301 can be accurately determined. The movement distance value of the injection needle 301 is then compared with the injection position information of the arm of the medical splint 4 to determine whether it is aligned. Only when the alignment is ensured will the injection be started, which can greatly improve the efficiency and accuracy of the injection.

[0072] Preferably, the visual detection sensor 203 is used to detect the injection position of the arm inside the medical splint 4 and provide the injection position information of the arm to the controller module 6, including:

[0073] Real-time collection of original image information near the medical splint 4, filtering the original image information to remove original images with substandard image clarity, blurred positions, and unqualified angles, to obtain a first processed image;

[0074] Performing image noise reduction, image enhancement, and grayscale processing on the first processed image to obtain a preprocessed image, and performing image segmentation and feature extraction on the preprocessed image to obtain an image to be analyzed;

[0075] The injection position information of the arm of the medical splint 4 is obtained based on the image to be analyzed, and the current position information of the injection needle 301 is compared with the injection position information of the arm of the medical splint 4 on the same plane dimension. The deviation value between the current position of the injection needle 301 and the injection position information of the arm of the medical splint 4 is calculated using the following formula:

[0076]

[0077] in, is the deviation value between the current position of the injection needle 301 and the injection position information of the arm of the medical splint 4, x1 is the horizontal coordinate value of the current position of the injection needle 301, y1 is the vertical coordinate value of the current position of the injection needle 301, x2 is the horizontal coordinate value of the injection position information of the arm of the medical splint 4, and y2 is the vertical coordinate value of the injection position information of the arm of the medical splint 4;

[0078] When the deviation between the current position of the injection needle 301 and the injection position information of the arm of the medical splint 4 is greater than a preset deviation threshold, the controller module 3 determines that the position of the injection needle 301 needs to be adjusted, and the controller module controls the motor 201 to move, driving the injection needle 301 to adjust its position along the length direction of the screw rod 204;

[0079] When the injection needle 301 reaches a new position, the above steps are repeated to recalculate the deviation between the current position of the injection needle 301 and the injection position information of the arm of the medical splint 4 at the new position until the deviation meets the preset deviation threshold.

[0080] The principle and effect of the above technical solution are as follows: the visual detection sensor 203 can collect the injection position information of the arm inside the medical splint 4 in real time, and by processing the collected pictures, screen out the images to be analyzed that can be further analyzed. The images to be analyzed need to be able to accurately present the injection position information of the arm inside the medical splint 4. On this premise, the current position information of the injection needle 301 is compared with the injection position information of the arm of the medical splint 4 on the same plane dimension to determine the deviation value between the two. Generally, if the deviation is within the expected range, the injection can be implemented. If it exceeds the reasonable range, it will affect the injection effect. Therefore, the deviation value is determined by comparing the positions of the two. If the deviation is The value exceeds the preset deviation threshold. If it exceeds, it is necessary to further adjust the injection position information of the injection needle 301 or the arm of the medical splint 4. Since the injection position of the arm of the medical splint 4 is generally subjective, it is more reliable to adjust the position information of the injection needle 301. The controller module 6 controls the movement of the motor 201 to drive the injection needle 301 to adjust its position along the length direction of the screw rod 204. During this process, a comparison and analysis is performed again in real time until the deviation value between the current position of the injection needle 301 and the injection position information of the arm of the medical splint 4 at the new position meets the preset deviation range. This regulation is more intelligent and can also ensure the reliability and accuracy of the injection position, thereby improving the injection effect.

[0081] In order to solve the problem that the existing injection device has poor functionality during actual use, resulting in poor injection effect, please refer to Figure 1 - Figure 4 , this embodiment provides the following technical solutions:

[0082] A medicine box 103 is fixedly installed inside the device connecting frame 1, and the lower end of the electric piston rod 101 extends to the inside of the medicine box 103 and is sealed with the medicine box 103. A heating box 102 is installed on one side of the medicine box 103. The heating box 102 is used to adjust the external temperature of the medicine box 103. The temperature of the medicine is adaptively adjusted through the heating box 102 to improve the working effect.

[0083] In addition, an injection needle 301 is provided at the front end of the injection tube 3, the injection tube 3 is fixedly connected to the adjustment slide 302, a booster pump is provided inside the injection tube 3, and the booster pump is connected to the medicine box 103 through a liquid guide hose, and a solenoid valve is provided inside the booster pump. The device connecting frame 1 combines the electric piston rod 101, the heating box 102 and the medicine box 103 to achieve an integrated connection, and cooperates with the solenoid valve to perform electric switch injection, which is convenient for adjusting the injection speed and quantitative injection.

[0084] In addition, a second electric cylinder 402 is installed on both sides of the medical splint 4. The two ends of the second electric cylinder 402 are fixedly connected to the reduction motor 401 and the medical splint 4 respectively. The reduction motor 401 is used to adjust the position angle of the medical splint 4, and the second electric cylinder 402 is used to adjust the clamping position of the medical splint 4, thereby adjusting the position of the injection port. The inner wall of the medical splint 4 is provided with an anti-slip pad 403. The medical splint 4 is used to fix the patient's injection position, thereby improving the injection accuracy and stabilizing the position.

[0085] In addition, a guide plate 502 is installed between the support base 5 and the movable plate 501, one end of the guide plate 502 is fixedly connected to the movable plate 501, and the other end of the guide plate 502 extends to the inside of the support base 5 and is slidably connected to the support base 5, and a third electric cylinder 503 is installed at the rear end of the support base 5, one end of the third electric cylinder 503 is fixedly connected to the support base 5, and the other end of the third electric cylinder 503 extends to the outside of the support base 5 and is fixedly connected to the movable plate 501. During operation, the position stability between the support base 5 and the movable plate 501 is maintained by the guide plate 502.

[0086] Specifically, the device connecting frame 1 combines the electric piston rod 101, the heating box 102 and the medicine box 103 to achieve an integrated connection. During operation, the position stability between the support base 5 and the movable plate 501 is maintained by the guide plate 502, and the solenoid valve is cooperated to perform electric switch injection, which facilitates the adjustment of the injection speed and quantitative injection. The temperature of the medicine is adaptively adjusted through the heating box 102 to improve the working effect.

[0087] Working principle: When in use, the user places the arm that needs injection in the medical splint 4, and visually detects the injection position of the arm through the visual detection sensor 203. The injection position of the patient is fixed by the medical splint 4, thereby improving the injection accuracy and stabilizing the position. The position information is judged by the controller module 6, and the horizontal position of the adjustment slide 302 is adjusted by the motor 201. The distance between the injection tube 3 and the injection needle 301 and the medical splint 4 is adjusted by the first electric cylinder 202. The position and angle of the medical splint 4 are adjusted by the reduction motor 401, the second electric cylinder 402 and the third electric cylinder 503. During operation, the support base 5 is kept at the same level as the guide plate 502. The position stability between the movable plates 501 is maintained, and the angles of the device connecting frame 1 as a whole and the telescopic frame 2 and the injection tube 3 are adjusted by the fourth electric cylinder 504, so that the injection position and injection angle correspond to the position of the injection needle 301, thereby performing adaptive adjustment, so as to accurately adjust the injection positions and injection angles of different types to improve the injection effect. The device connecting frame 1 combines the electric piston rod 101, the heating box 102 and the medicine box 103 to achieve an integrated connection, and cooperates with the solenoid valve for electric switch injection, which is convenient for adjusting the injection speed and quantitative injection work, and the temperature of the medicine is adaptively adjusted through the heating box 102 to improve the working effect.

[0088] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0089] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine, comprising a device connection frame (1), characterized in that: An electric piston rod (101) is installed inside the device connecting frame (1), a telescopic frame (2) is installed at the lower end of the device connecting frame (1), an injection tube (3) is installed at the front end of the telescopic frame (2), and a support base (5) is installed below the device connecting frame (1), a movable plate (501) is installed at the front end of the support base (5), a medical splint (4) is installed above the movable plate (501), and reduction motors (401) are installed on both sides of the medical splint (4), and the medical splint (4) is used to fix the patient's injection position to adapt to the injection position of the injection tube (3).

2. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine according to claim 1, characterized in that: A medicine box (103) is fixedly installed inside the device connection frame (1), and the lower end of the electric piston rod (101) extends into the inside of the medicine box (103) and is sealed with the medicine box (103). A heating box (102) is installed on one side of the medicine box (103), and the heating box (102) is used to adjust the external temperature of the medicine box (103).

3. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine according to claim 1, characterized in that: A first electric cylinder (202) is installed between the device connection frame (1) and the telescopic frame (2); two ends of the first electric cylinder (202) are respectively fixedly connected to the device connection frame (1) and the telescopic frame (2); a guide rail is provided at the front end of the telescopic frame (2); and a visual detection sensor (203) is provided at the lower end of the telescopic frame (2).

4. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine according to claim 3, characterized in that: An adjusting slide plate (302) is installed at the rear end of the injection tube (3), and the adjusting slide plate (302) is slidably connected to the telescopic frame (2) via a guide track (303). An electric motor (201) is installed on one side of the outside of the telescopic frame (2), and a threaded screw (204) is fixedly connected to the motor shaft of the electric motor (201), and the threaded screw (204) passes through the adjusting slide plate (302) and is threadedly connected to the adjusting slide plate (302).

5. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine according to claim 4, characterized in that: The front end of the injection tube (3) is provided with an injection needle (301), the injection tube (3) is fixedly connected to the adjustment slide (302), a booster pump is provided inside the injection tube (3), and the booster pump is connected to the medicine box (103) through a liquid guiding hose, and a solenoid valve is provided inside the booster pump.

6. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine according to claim 5, characterized in that: A second electric cylinder (402) is installed on both sides of the medical splint (4), and the two ends of the second electric cylinder (402) are respectively fixedly connected to the reduction motor (401) and the medical splint (4), the reduction motor (401) is used to adjust the position angle of the medical splint (4), and the second electric cylinder (402) is used to adjust the clamping position of the medical splint (4), thereby adjusting the injection port position, and the inner wall of the medical splint (4) is provided with an anti-slip pad (403).

7. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine according to claim 6, characterized in that: A guide plate (502) is installed between the support base (5) and the movable plate (501), one end of the guide plate (502) is fixedly connected to the movable plate (501), and the other end of the guide plate (502) extends to the inside of the support base (5) and is slidably connected to the support base (5); a third electric cylinder (503) is installed at the rear end of the support base (5), one end of the third electric cylinder (503) is fixedly connected to the support base (5), and the other end of the third electric cylinder (503) extends to the outside of the support base (5) and is fixedly connected to the movable plate (501); a fourth electric cylinder (504) is installed above the middle of the support base (5), and a support limit frame (505) is installed above the fourth electric cylinder (504); the support limit frame (505) is fixedly connected to the lower end of the device connection frame (1), and both ends of the fourth electric cylinder (504) are rotatably connected to the support limit frame (505) and the support base (5) through connecting ears.

8. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine according to claim 7, characterized in that: A controller module (6) is disposed inside the device connection frame (1), and an input end of the controller module (6) is connected to an output end of a visual detection sensor (203); The visual detection sensor (203) is used to detect the injection position inside the medical splint (4) and provide the position information to the controller module (6); The output end of the controller module (6) is respectively connected to the input ends of the electric piston rod (101), the motor (201), the first electric cylinder (202), the reduction motor (401), the second electric cylinder (402), the third electric cylinder (503) and the fourth electric cylinder (504); The motor (201) is used to adjust the horizontal position of the adjustment slide plate (302); The first electric cylinder (202) is used to adjust the distance between the injection tube (3) and the injection needle (301) and the medical splint (4); The reduction motor (401), the second electric cylinder (402) and the third electric cylinder (503) are all used to adjust the position and angle of the medical splint (4); The fourth electric cylinder (504) is used to adjust the angles of the entire device connecting frame (1) and the telescopic frame (2) and the injection tube (3); The controller module (6) is used to judge the detected position information, adjust the injection position of the device according to the position information, and perform adaptive adjustment.

9. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine according to claim 8, characterized in that: A U-shaped guide track (303) is provided on the back of the lower end of the adjusting slide plate (302), and the U-shaped guide track (303) is slidably engaged with the telescopic frame (2); A rotation speed sensor is installed on the output shaft of the motor (201) for real-time monitoring of the rotation speed of the threaded screw (204), and the rotation speed sensor is electrically connected to the controller module (6); The controller module (6) calculates the current position information of the injection needle (301) by the following formula: d ti =d0+2πr·n·t+d c Among them, d ti represents the current moving distance value of the injection needle (301) at time i, d0 represents the distance of the injection needle (301) at the starting position, r represents the diameter of the threaded screw (204), n represents the rotation speed of the threaded screw (204), t represents the time for the injection needle (301) to move on the threaded screw (204) along the guide track (303), and d c Indicates the deviation value of the center position of the guide track (303) from the center position of the injection needle (301); The visual detection sensor (203) detects the injection position inside the medical splint (4) and provides the position information to the controller module (6), and the controller module (6) uses the position information of the medical splint (4) as the first reference standard position information; The controller module (6) compares and calibrates the injection position information of the arm of the medical splint (4) and the current position information of the injection needle (301), and adjusts the current position information of the injection needle (301) by controlling the motor (201) until it is aligned with the injection position information of the arm of the medical splint (4); The controller module (3) is electrically connected to the first electric cylinder (202), and when the current position information of the injection needle (301) is aligned with the injection position information of the arm of the medical splint (4), the controller module (6) controls the first electric cylinder (202) to drive and implement the injection action.

10. A stable quantitative injection device for radiopharmaceuticals in nuclear medicine according to claim 9, characterized in that: The visual detection sensor (203) is used to detect the injection position of the arm inside the medical splint (4) and provide the injection position information of the arm to the controller module (6), including: Collecting original image information near the medical splint (4) in real time, filtering out original images with substandard image clarity, blurred positions and unqualified angles by screening the original image information, and obtaining a first processed image; By performing image denoising, image enhancement and grayscale processing on the first processed image, a preprocessed image is obtained, and by performing image segmentation and feature extraction on the preprocessed image, an image to be analyzed is obtained; The injection position information of the arm of the medical splint (4) is obtained based on the image to be analyzed, the current position information of the injection needle (301) is compared with the injection position information of the arm of the medical splint (4) in the same plane dimension, and the deviation value between the current position of the injection needle (301) and the injection position information of the arm of the medical splint (4) is calculated by the following formula: in, is the deviation value between the current position of the injection needle (301) and the injection position information of the arm of the medical splint (4), x1 is the horizontal coordinate value of the current position of the injection needle (301), y1 is the vertical coordinate value of the current position of the injection needle (301), x2 is the horizontal coordinate value of the injection position information of the arm of the medical splint (4), and y2 is the vertical coordinate value of the injection position information of the arm of the medical splint (4); When the deviation value between the current position of the injection needle (301) and the injection position information of the arm of the medical splint (4) is greater than a preset deviation threshold, the controller module (3) determines that the position of the injection needle (301) needs to be adjusted, and the controller module (6) controls the motor (201) to move, driving the injection needle (301) to adjust its position along the length direction of the threaded screw (204); When the injection needle (301) reaches a new position, the above steps are repeated to recalculate the deviation value between the current position of the injection needle (301) at the new position and the injection position information of the arm of the medical splint (4) until the above deviation value meets the preset deviation threshold.

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