Surgical nursing binding device

Abstract

The invention discloses a surgical nursing binding device, belongs to the technical field of medical instruments, and is mainly used for solving the problems that in traditional surgical nursing, manual binding is low in efficiency and uneven in pressure, and existing automatic equipment only supports a single annular mode. According to the device, a vertical moving mechanism with a lifting supporting plate is arranged on a base, and an automatic winding mechanism comprises a linear driver capable of horizontally moving, a moving template with a stroke limiting sensor and a first rotating driver installed on the moving template; the first rotary driver drives the gauze to rotate around the rod by driving the rotary disc, and the control module integrates three binding modes including an annular binding mode, a spiral binding mode and an 8-shaped binding mode. Through multi-degree-of-freedom cooperative movement, the device can automatically complete complex binding operation, efficiency is remarkably improved, the medical care burden is reduced, and the device is particularly suitable for wound nursing of joint parts or limb circumference diameter changes.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and more particularly to a surgical care bandaging device. Background Art

[0002] Wound dressing in surgical care is an important part of postoperative recovery. Traditional bandaging operations rely on medical staff to manually wrap gauze or elastic bandages, which has problems such as low operating efficiency and uneven bandaging pressure. Especially when dealing with large-area injuries or limb stump bandages, medical staff need to maintain a fixed posture for a long time, which can easily lead to loose or overly tight bandages due to fatigue.

[0003] Although the automated bandaging equipment that has appeared in recent years has partially alleviated the intensity of manual labor, it still has many technical defects in clinical applications. In the prior art, conventional automatic bandaging devices mostly use a single-degree-of-freedom rotation structure. For example, the authorized patent with announcement number CN112618172B discloses an automated bandaging device for surgical care. The rotation of the first turntable and the second turntable can replace manual work to wrap the bandage around the patient's wound, and can only achieve circular automatic bandaging. This type of equipment drives the gauze to wrap around the affected area through a rotating arm, and cannot form a spiral or cross-type bandaging path. For wounds that need to be covered layer by layer (such as ulcers in the joint area) or fractures, a single circular bandage is prone to gaps, resulting in the dressing being loosely fixed. Summary of the invention

[0004] An object of the present invention is to provide a surgical care dressing device, comprising: A base, on which a vertical moving mechanism is provided, and an output end of the vertical moving mechanism is provided with a lifting support plate; Automatic winding mechanism, including: A linear drive is arranged on the base, a moving end of the linear drive moves horizontally toward the lifting support plate, and a moving template with a travel limit sensor is arranged on the moving end; A first rotary driver is arranged on the movable template, the axis of the output shaft of the first rotary driver extends in the horizontal direction, a rotating disk is coaxially arranged on the output shaft of the first rotary driver, and a gauze winding rod is arranged on the side of the rotating disk facing the lifting support plate; A control module, which is electrically connected to the linear drive, the first rotary drive, and the travel limit sensor, respectively, and the control module is preset with a ring wrapping mode, a spiral wrapping mode, and an 8-shaped wrapping mode; Among them, in the ring bandaging mode, the rotating disk rotates at a constant speed and the moving template remains stationary; In the spiral wrapping mode, the rotating disk rotates and the moving template moves unidirectionally toward the lifting pallet; In the figure-8 wrapping mode, the control module alternately switches the rotation direction of the rotating disk according to the trigger signal of the stroke limit sensor, and controls the moving template to move back and forth periodically. The stroke length of the reciprocating movement of the moving template matches the time required for the rotating disk to rotate half a circle, forming a cross-winding path.

[0005] Preferably, the automatic winding mechanism further comprises a second rotary driver, which is arranged on the side of the rotating disk facing the lifting support plate, the output shaft of the second rotary driver is horizontally perpendicular to the rotation axis of the rotating disk, and the gauze winding rod is arranged on the output shaft of the second rotary driver along its radial direction; A pressure sensor array is embedded on the surface of the lifting support plate, and the pressure sensor array is electrically connected to the control module; The control module is also preset with a spiral folding bandage mode, and the control module performs the following operations: a. When the pressure sensor array detects that the local pressure value exceeds the set threshold, the control module calculates the pressure gradient according to the distribution position of the pressure sensor array and performs cluster analysis to determine the direction of limb circumference increase; b. Control the second rotary drive to drive the gauze around the rod to deflect 30 to 45 degrees in the direction of increasing the circumference of the limb; c. Reversely adjust the horizontal moving direction of the moving template and simultaneously reverse the rotation direction of the rotating disk; d. Maintain the adjusted moving and rotating directions until the folded bandaging section is completed.

[0006] Preferably, the travel limit sensor is a photoelectric proximity switch, which has two detection positions spaced apart along the direction of movement of the movable template, the two detection positions respectively corresponding to the maximum forward displacement point and the maximum reverse displacement point in the figure-8 wrapping mode, and when the movable template triggers any detection position, the travel limit sensor sends a limit signal to the control module to control the movable template to switch the moving direction.

[0007] Preferably, the plurality of pressure sensors in the pressure sensor array are distributed in a ring shape on the bearing surface of the lifting support plate, and the spacing between adjacent pressure sensors is 5 to 20 mm; In the spiral wrapping mode, the control module is configured to perform the following operations: (a) Establish a plane rectangular coordinate system with the center of the lifting plate as the origin, and store the coordinate position data of each pressure sensor; (b) receiving the digital signals output by each pressure sensor in real time, and processing the digital signals through the analog-to-digital conversion module to obtain the pressure quantization value; (c) comparing each pressure quantization value with a set threshold point by point, and when it is detected that the pressure quantization values ​​of at least three adjacent pressure sensors continuously exceed the set threshold, marking the area as an abnormally high pressure area; (d) Performing gradient field analysis on the pressure sensor data in the abnormally high pressure area: calculating the ratio of the absolute value of the pressure difference between adjacent pressure sensors to the corresponding coordinate spacing, and determining the maximum pressure gradient direction vector; (e) Grouping the pressure sensors in the abnormally high pressure area based on the spatial clustering analysis algorithm, specifically including: Using the quantized pressure value as a weight factor, the weighted centroid position of each sensor coordinate is calculated; According to the vector synthesis result of the center of mass position and the maximum pressure gradient direction vector, a dynamic change trend vector of the limb circumference is generated; (f) According to the dynamic change trend vector of the limb circumference, the vertical moving mechanism is driven to perform compensatory lifting and lowering actions, and the travel speed of the linear drive is adjusted at the same time to keep the gauze winding rod in constant pressure contact with the limb surface.

[0008] Preferably, a torsion spring is provided between the gauze winding rod and the output shaft of the second rotary driver, and the torsion stiffness coefficient of the torsion spring is 0.5-5 N·m / rad.

[0009] Preferably, in the spiral wrapping mode, when the angular velocity of the rotating disk ω≤2 rad / s, the horizontal moving velocity of the moving template and the angular velocity of the rotating disk satisfy the following relationship: Where, v is the moving speed (cm / s), ω is the angular velocity of the rotating disk (rad / s), k=0.1~0.3 cm / (rad·s), and b=0.3~0.4cm / s.

[0010] Preferably, the threshold is set to 2-5 N / cm², and when it is detected that the pressure values ​​of three consecutive pressure sensors in the pressure sensor array exceed the threshold, the spiral fold bandage mode is triggered.

[0011] Preferably, it also includes a tension sensor, which is arranged at the free end of the gauze winding rod and is electrically connected to the control module. The control module is electrically connected to an alarm module. When the tension sensor detects that the tension value exceeds 10 N, the control module starts an emergency stop and sends out an audible and visual alarm. During the emergency stop, the linear drive and the first rotary drive are powered off synchronously.

[0012] Preferably, a curved surface is concavely provided on the surface of the lifting support plate, the curved surface forms a bearing surface, and the curvature radius of the curved surface is 8 to 30 cm; There are symmetrical limb-fixing straps on both sides of the lifting support plate. One end of the limb-fixing strap is hinged to the lifting support plate, and the other end is provided with a Velcro. The present invention has at least the following beneficial effects: First, the present invention realizes the automated operation of three typical bandaging modes through multi-degree-of-freedom coordinated motion, significantly reducing the labor intensity of medical staff. Especially in the figure-8 mode, by accurately matching the rotation cycle and the horizontal movement speed, the cross-wrapping points are evenly distributed, avoiding the problem of uneven pressure caused by traditional manual bandaging.

[0013] Second, during the spiral bandaging process of the present invention, when abnormal local pressure is detected, the system automatically adjusts the angle of the gauze around the rod and reverses the direction of movement / rotation, so that the gauze bypasses the area of ​​circumference mutation in an inclined folding manner, avoiding the problem of blood circulation obstruction caused by pressure concentration in traditional devices. In addition, cluster analysis is used to accurately identify the direction of circumference change, ensuring the positioning accuracy of the folding action, which is suitable for complex clinical scenarios such as edematous limbs or swollen joints.

[0014] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A side view of the surgical care dressing device according to one of the technical solutions of the present invention; Figure 2 Another side view of the surgical care dressing device according to one of the technical solutions of the present invention; Figure 3 A top view of the surgical care dressing device according to one of the technical solutions of the present invention; Figure 4 for Figure 3 A magnified view of structure A.

[0016] The marks in the drawings are as follows: 1. Base; 2. Vertical moving mechanism; 3. Lifting support plate; 4. Linear drive; 5. Moving template; 6. First rotary drive; 7. Rotating disk; 8. Second rotary drive; 9. Gauze winding rod; 10. Automatic winding mechanism; 11. Travel limit sensor; 12. Tension sensor; 13. Pressure sensor array; 14. Fixed limb strap. DETAILED DESCRIPTION

[0017] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0018] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the orientation or positional relationship indicated by the terms is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0019] like Figures 1 to 4 As shown, the present invention provides a surgical care dressing device, comprising: A base 1 is provided with a vertical moving mechanism 2, and a lifting support plate 3 is provided at the output end of the vertical moving mechanism 2; specifically, a plurality of universal wheels with foot brakes are provided at the bottom of the base 1 for conveniently controlling the movement and fixation of the device; the vertical moving mechanism 2 can adopt a screw nut mechanism, an electric push rod, and a linear hydraulic cylinder to drive the lifting support plate 3 to move up and down in the vertical direction, so as to adjust the initial height of the lifting support plate 3 so that it can adapt to different bandaging requirements; the surface of the lifting support plate 3 is provided with an arc-shaped cushion for supporting the patient's limbs; The automatic winding mechanism 10 comprises: A linear drive 4 is arranged on the base 1, and the moving end of the linear drive 4 moves horizontally toward the lifting support plate 3, and the moving end is provided with a moving template 5 with a travel limit sensor 11; specifically, the linear drive 4 can be a linear drive component such as an electric push rod, a linear hydraulic steel, etc., the fixed end of the linear drive 4 can be fixedly arranged on the surface of the base 1 by bolts or welding, the moving end of the linear drive 4 is fixedly connected to the moving template 5 by welding or screwing, and the bottom of the moving template 5 can be slidably arranged on the base 1 by a horizontally arranged slide rail and a slider (the upper end is fixedly connected to the bottom of the moving template 5) slidably arranged on the slide rail, so that the linear drive 4 can more smoothly drive the moving template 5 to move horizontally toward the lifting support plate 3, so as to adjust the distance of the gauze winding rod 9 described below to the patient's limb, and the travel limit sensor 11 is used to accurately detect the position of the moving template 5; A first rotary driver 6 is provided on the movable template 5, the axis of the output shaft of the first rotary driver 6 extends in the horizontal direction, a rotating disk 7 is coaxially provided on the output shaft of the first rotary driver 6, and a gauze winding rod 9 is provided on the side of the rotating disk 7 facing the lifting support plate 3; specifically, the first rotary driver 6 can be a rotary cylinder, a rotary oil cylinder or a rotary motor, and the first rotary driver 6 is used to drive the rotating disk 7 to rotate, and then drive the gauze winding rod 9 to rotate, so as to realize that the gauze located on the gauze winding rod 9 is unfolded and wound around the patient's limb, and a limit baffle is provided on the free end of the gauze winding rod 9 for fixing the gauze roll; A control module, which is electrically connected to the linear drive 4, the first rotary drive 6, and the travel limit sensor 11, respectively. The control module is preset with a ring-shaped bandaging mode, a spiral bandaging mode, and an 8-shaped bandaging mode; Wherein, in the annular bandaging mode, the rotating disk 7 rotates at a constant speed, and the movable template 5 remains stationary; In the spiral wrapping mode, the rotating disk 7 rotates and the movable template 5 moves unidirectionally toward the lifting support plate 3; In the figure-8 bandaging mode, the control module alternately switches the rotation direction of the rotating disk 7 according to the trigger signal of the stroke limit sensor 11, and controls the movable template 5 to move back and forth periodically. The stroke length of the reciprocating movement of the movable template 5 matches the time required for the rotating disk 7 to rotate half a circle, forming a cross-winding path; specifically, the control module can be integrated into the interior of the base 1, using a PLC controller, and is electrically connected to the vertical moving mechanism 2, the linear drive 4, the first rotary drive 6 and the stroke limit sensor 11. The control panel can be arranged on the side of the base 1, including a mode selection button, a speed adjustment knob and an emergency stop switch.

[0020] In the above technical solution, gauze is wound on the winding rod, and the control module is electrically connected with the linear driver 4, the first rotary driver 6, and the travel limit sensor 11 to ensure normal signal transmission. The relevant parameters of the annular bandage mode, the spiral bandage mode, and the 8-shaped bandage mode are preset in the control module. The patient's injured limb is placed on the lifting support plate 3, the vertical moving mechanism 2 is started, and the lifting support plate 3 is adjusted to align the gauze winding rod 9 with the starting position of the bandage, and the end of the gauze is fixed to the surface of the limb. The medical staff selects different bandage modes according to the patient's bandaged limb. When the ring bandage mode is selected, the control module performs the following steps: The control module controls the first rotary driver 6 to start, and drives the rotating disk 7 to rotate clockwise at a constant speed, driving the gauze winding rod 9 to rotate around the limb at a constant speed. At this time, the linear driver 4 remains stationary, and the moving template 5 does not produce horizontal displacement, forming a multi-layer coaxial annular bandaging layer; When the spiral wrapping mode is selected, the control module performs the following steps: The control module controls the first rotary driver 6 and the linear driver 4 to start synchronously. When the rotating disk 7 continues to rotate unidirectionally, the movable template 5 moves horizontally in the direction of the lifting support plate 3 at a constant speed (e.g., 2 mm / s). The displacement direction of the movable template 5 matches the rotation direction of the rotating disk 7, so that the gauze is wound around the limb in an inclined spiral trajectory, and adjacent spiral circles overlap by 1 / 3 of the width. When the travel limit sensor 11 detects that the movable template 5 reaches the preset end point, the winding is automatically stopped. When the figure-8 bandaging mode is selected, the control module performs the following steps: The control module controls the first rotary driver 6 to start and rotate alternately forward and reverse (switching direction every half a circle), and at the same time, the linear driver 4 drives the movable template 5 to move back and forth. The rotating disk 7 takes 0.5 seconds to rotate half a circle (180°), and the movable template 5 completes a reciprocating motion of 10 mm stroke in the same time. When the movable template 5 reaches the left limit position, the stroke limit sensor 11 triggers the rotating disk 7 to rotate counterclockwise, and the movable template 5 moves to the right. The gauze winding rod 9 forms a cross 8-shaped winding path under the composite movement of rotation and horizontal displacement, which is particularly suitable for bandaging joints. This device realizes the automated operation of three typical bandaging modes through multi-degree-of-freedom coordinated motion, significantly reducing the labor intensity of medical staff. Especially in the figure-8 mode, by precisely matching the rotation cycle and the horizontal movement speed, it ensures that the cross-wrapping points are evenly distributed, avoiding the problem of uneven pressure caused by traditional manual bandaging.

[0021] In another technical solution, the automatic winding mechanism 10 also includes a second rotary drive 8, which is arranged on the side of the rotating disk 7 facing the lifting support plate 3, the output shaft of the second rotary drive 8 is horizontally perpendicular to the rotation axis of the rotating disk 7, and the gauze winding rod 9 is radially arranged on the output shaft of the second rotary drive 8; specifically, the second rotary drive 8 can be a rotary cylinder, a rotary oil cylinder or a rotary motor, the output shaft of the second rotary drive 8 can extend in the horizontal direction, the second rotary drive 8 is used to drive the gauze winding rod 9 to rotate, and the free end of the gauze winding rod 9 can be provided with a flexible chuck for adapting to gauze rolls of different specifications. A pressure sensor array 13 is embedded on the surface of the lifting support plate 3, and the pressure sensor array 13 is electrically connected to the control module; specifically, a pressure sensor array 13 (composed of thin film pressure sensors distributed in a 4×6 array) is embedded inside the arc-shaped soft cushion of the lifting support plate 3, and the spacing between each pressure sensor can be 20 mm, which is used to detect the pressure distribution on the surface of the limb in real time. The pressure sensor array 13 can be connected to the control module through a signal line, and the control module has a built-in data processing unit, which can execute pressure gradient calculation and cluster analysis algorithms; The control module is also preset with a spiral folding bandage mode, and the control module performs the following operations: a. When the pressure sensor array 13 detects that the local pressure value exceeds the set threshold, the control module calculates the pressure gradient according to the distribution position of the pressure sensor array 13 and performs cluster analysis to determine the direction of limb circumference increase; b. Control the second rotary drive 8 to drive the gauze around the rod 9 to deflect 30 to 45 degrees in the direction of increasing the circumference of the limb; c. Reversely adjust the horizontal moving direction of the movable template 5 and simultaneously reverse the rotation direction of the rotating disk 7; d. Maintain the adjusted moving direction and rotation direction until the folding bandage section is completed; specifically, when three consecutive sensor detection values ​​in a certain area exceed the set threshold, the control module executes the following steps: determine the direction of increase in the circumference of the limb to be folded back (for example, increase in the circumference of the left side of the limb) based on the pressure gradient and clustering results; control the second rotary driver 8 to start and drive the gauze winding rod 9 to deflect 35° in the direction of increase in the circumference of the limb, so that the gauze winding axis forms an inclined contact surface with the surface of the limb to reduce the subsequent winding pressure; the moving template 5 of the linear driver 4 switches from the original forward direction (such as rightward) to reverse movement (leftward), and the speed is reduced to 70% of the original speed; the first rotary driver 6 switches from clockwise rotation to counterclockwise rotation, and the rotation speed is maintained at 15 rpm; maintain the adjusted movement direction and rotation direction until the pressure sensor array 13 detects that the pressure value in the overpressure area falls below the threshold, and the bandage of the reverse segment is completed; the control module automatically resets the angle of the second rotary driver 8 to 0°, and restores the original movement direction of the linear driver 4 and the original rotation direction of the first rotary driver 6, and continues to perform spiral bandage, maintaining the adjusted movement direction and rotation direction, and adjusting the coordination of the speed of the moving template 5 and the deflection angle of the second rotary driver 8 through the PID algorithm, maintaining the gauze tension fluctuation ≤10%, until the spiral reverse bandage of the limb is completed, spiral reverse bandage. During the spiral bandage process, when a local pressure abnormality is detected, the system automatically adjusts the angle of the gauze winding rod 9 and reverses the movement / rotation direction, so that the gauze bypasses the circumference mutation area in an inclined reverse manner, avoiding the problem of blood circulation obstruction caused by pressure concentration in traditional devices. In addition, the direction of circumference change is accurately identified through cluster analysis to ensure the positioning accuracy of the reverse action, which is suitable for complex clinical scenarios such as edematous limbs or swollen joints.

[0022] In another technical solution, the travel limit sensor 11 is a photoelectric proximity switch, which is arranged with two detection positions at intervals along the moving direction of the moving template 5, and the two detection positions correspond to the maximum forward displacement point and the maximum reverse displacement point in the 8-shaped wrapping mode, respectively. When the moving template 5 triggers any detection position, the travel limit sensor 11 sends a limit signal to the control module to control the moving template 5 to switch the moving direction; specifically, the moving template 5 is provided with a pair of metal trigger pieces matching the photoelectric proximity switch, and the two photoelectric proximity switches serve as the maximum forward displacement point (right limit position) and the maximum reverse displacement point (left limit position), respectively. The detection surfaces of the two proximity switches are aligned with the metal trigger pieces on the side of the moving template 5, and the spacing is set to 50 mm (adjustable) according to the travel requirements of the 8-shaped wrapping. The photoelectric proximity switch adopts a diffuse reflection sensor with a built-in red LED light source and a photosensitive receiver, and the detection distance is 5 mm. When the trigger piece of the moving template 5 enters the sensor detection range, the sensor outputs a high-level signal to the control module in the 8-shaped wrapping mode, and the control module performs the following actions: Initialization stage: the movable template 5 is reset to the left limit position (triggering the left proximity switch), the first rotary driver 6 is set to rotate clockwise, the control module records the initial position of the movable template 5, and sets the reciprocating travel to 50 mm (i.e., the distance between the two proximity switches); Forward movement stage: the linear drive 4 drives the moving template 5 to move rightward at a speed V1 (e.g., 10 mm / s), and at the same time, the first rotary drive 6 rotates clockwise at a speed ω1 (e.g., 120 rad / s). When the trigger plate reaches the right limit position, the right proximity switch is triggered and sends a limit signal to the control module; Direction switching stage: After the control module receives the right limit signal, it immediately executes: a. The linear drive 4 decelerates to a stop and switches the moving direction to the left (speed V2 = 10 mm / s); b. The first rotary driver 6 decelerates to a stop and switches the rotation direction to counterclockwise (speed ω2 = 120 rad / s); Reverse movement stage: during the leftward movement of the moving template 5, the first rotary driver 6 continues to rotate counterclockwise. When the trigger sheet triggers the left proximity switch, the above direction switching logic is repeated to form a periodic reciprocating motion. This device ensures the precise switching of the mobile template 5 in the figure-8 mode through the coordination of a high-response photoelectric proximity switch and real-time motion control. By matching the moving speed and the rotation speed, the gauze winding trajectory forms evenly distributed figure-8 intersections on the surface of the limb. This device is particularly suitable for parts that require multi-directional fixation, such as the elbow joint and the knee joint, and can significantly improve the firmness and comfort of the bandage.

[0023] In another technical solution, a plurality of pressure sensors in the pressure sensor array 13 are distributed in a ring shape on the bearing surface of the lifting support plate 3, and the spacing between adjacent pressure sensors is 5 to 20 mm; specifically, the pressure sensor array 13 can be evenly distributed in 3 circles along the circumference, with multiple sensors in each circle, and the center spacing between adjacent sensors can be 20 mm. The model of the pressure sensor is Tekscan 5101 (sampling frequency 50 Hz, response time 5 ms); In the spiral wrapping mode, the control module is configured to perform the following operations: (a) establishing a plane rectangular coordinate system with the center of the lifting support plate 3 as the origin, and storing the coordinate position data of each pressure sensor; (b) receiving the digital signals output by each pressure sensor in real time, and processing the digital signals through the analog-to-digital conversion module to obtain the pressure quantization value; (c) comparing each pressure quantization value with a set threshold point by point, and when it is detected that the pressure quantization values ​​of at least three adjacent pressure sensors continuously exceed the set threshold, marking the area as an abnormally high pressure area; (d) Performing gradient field analysis on the pressure sensor data in the abnormally high pressure area: calculating the ratio of the absolute value of the pressure difference between adjacent pressure sensors to the corresponding coordinate spacing, and determining the maximum pressure gradient direction vector; (e) Grouping the pressure sensors in the abnormally high pressure area based on the spatial clustering analysis algorithm, specifically including: Using the quantized pressure value as a weight factor, the weighted centroid position of each sensor coordinate is calculated; According to the vector synthesis result of the center of mass position and the maximum pressure gradient direction vector, a dynamic change trend vector of the limb circumference is generated; (f) according to the dynamic change trend vector of the limb circumference, the vertical moving mechanism 2 is driven to perform a compensatory lifting action, and the travel speed of the linear drive 4 is adjusted at the same time, so that the gauze winding rod 9 maintains a constant pressure contact with the limb surface; Specifically, when the device enters the spiral folding bandaging mode, the control module operates according to the following steps: Step (a): Coordinate system establishment and sensor calibration With the center of the lifting plate 3 as the origin O, a plane rectangular coordinate system is established (the X-axis is parallel to the horizontal axis of the lifting plate 3, and the Y-axis is perpendicular to the X-axis). The pressure sensor array 13 is distributed in a ring shape, and each pressure sensor determines its rectangular coordinate position through polar coordinate conversion. For example, the coordinates of the i-th sensor are: (x i ,yi)=(r cosθ i , r sin θ i ) Where r is the radial distance from the sensor to the origin, θ i is the angle of the sensor in the annular distribution); The coordinate data of all pressure sensors are pre-stored in the memory of the control module and are bound one by one with the pressure sensor numbers; Step (b): Pressure signal acquisition and quantification processing The analog signal output by each pressure sensor is converted into a digital signal by the analog-to-digital conversion module (ADC), and the sampling frequency can be set to 50 Hz to ensure real-time performance; The control module performs filtering processing (such as mean filtering) on ​​the digital signal to eliminate instantaneous noise interference and generate a pressure quantization value P. i , and establish the pressure distribution matrix: P = [P1, P2, ..., P N ] Where N is the total number of pressure sensors; Step (c): Detection of abnormally high pressure areas Set the threshold to P th , traverse all pressure sensor data, if a pressure sensor P i ≥Pth , it is marked as an activation point. When at least three adjacent activation points form a connected area (such as a fan-shaped area with a central angle ≤ 45°), it is determined to be an abnormally high-pressure area; Step (d): Pressure gradient field analysis For all pressure sensors in the abnormally high pressure area, the pressure gradient between them and adjacent sensors is calculated according to the following formula: Extract the maximum gradient direction: The direction of the line connecting the adjacent sensor pair with the largest gradient value (such as sensor i and j) is used as the local pressure gradient vector G max , and record its corresponding direction vector V gradient , for example, if the pressure difference from sensor i to j is the largest, then: V gradient =(x j −x i ,y j −y i ); Step (e): Spatial clustering and trend vector generation The K-means clustering algorithm was used, with the cluster radius set to 10% of the limb circumference and the number of iterations ≤ 5 to reduce computational complexity; Using the pressure quantization value as the weight, calculate the weighted centroid of the abnormally high pressure area: The center of mass position vector V center =(x c ,y c ) and the maximum pressure gradient direction vector V gradient Perform vector superposition to generate the dynamic change trend vector V of the limb circumference trend : V trend =αV center +βV gradient Among them, α and β are weight coefficients (the empirical values ​​are 0.6 and 0.4 respectively). The weight coefficients α=0.6 and β=0.4 are determined through optimization of clinical experimental data. The experimental results show that this parameter combination can make the dynamic adjustment error ≤5%; Step (f): Dynamically adjust execution According to V trend The Y-axis component V y , drive the vertical moving mechanism 2 to adjust the height of the lifting support plate 3, so that the contact pressure between the gauze winding rod 9 and the surface of the limb tends to be constant. For example: If V y >0, the pallet drops, and the compensation rate is k1V y (k1 is the proportionality coefficient); If Vy <0, the pallet rises.

[0024] According to V trend The X-axis component V x , adjust the travel speed V of the linear drive 4 feed : V feed =V base +k2V x Among them, V base is the basic bandaging speed, k2 is the speed adjustment coefficient; Through the above-mentioned closed-loop control, the device can sense the pressure changes caused by limb swelling or contraction in real time, dynamically adjust the bandaging pressure and travel speed, ensure constant pressure contact between the gauze and the limb surface, and accurately identify the direction of limb swelling through the synthesis of weighted center of mass and gradient vector, avoiding misjudgment caused by traditional single gradient analysis.

[0025] In another technical solution, a torsion spring is provided between the gauze winding rod 9 and the output shaft of the second rotary driver 8, and the torsion stiffness coefficient of the torsion spring is 0.5~5 N•m / rad; specifically, the free end of the output shaft of the second rotary driver 8 can be connected to the torsion spring through a flange. The torsion spring is a double-layer spiral spring made of medical stainless steel. One end of the torsion spring is fixedly connected to the output shaft of the second rotary driver 8 through a keyway, and the other end is connected to one end of the gauze winding rod 9 through a thread. The torsion stiffness coefficient of the torsion spring can be 2 N•m / rad. Through the elastic buffer design of the torsion spring, the gauze winding rod 9 can produce controllable deformation when contacting the limb, thereby effectively absorbing mechanical shock.

[0026] In another technical solution, in the spiral wrapping mode, when the angular velocity ω of the rotating disk 7 is ≤2 rad / s, the horizontal moving velocity of the movable template 5 and the angular velocity of the rotating disk 7 satisfy the following relationship: Among them, v is the moving speed (cm / s), ω is the angular speed of the rotating disk 7 (rad / s), k=0.1~0.3 cm / (rad•s), b=0.3~0.4 cm / s; specifically, a spiral bandaging speed control unit is preset in the control module, which receives the angular speed ω of the first rotating driver 6 (real-time feedback is provided by an encoder arranged on the first rotating driver 6), and calculates the horizontal moving speed v of the moving template 5 according to a preset linear equation, wherein the parameters k and b can be set through the control panel, and the default values ​​k=0.2 cm / (rad•s) and b=0.35 cm / s, respectively. The rotational angular speed and the horizontal moving speed are accurately associated through the linear equation, and the equidistant or gradual spacing control of the spiral winding is realized at a low rotation speed (ω≤2 rad / s). The parameter k adjusts the slope of the spiral line, and b controls the basic moving speed. The synergistic effect of the two can adapt to different limb curvatures and bandaging tightness requirements.

[0027] In another technical solution, the threshold is set at 2~5 N / cm², and when it is detected that the pressure values ​​of three consecutive pressure sensors in the pressure sensor array 13 exceed the threshold, the spiral fold bandage mode is triggered; specifically, by limiting the threshold range of 2~5 N / cm² and the three consecutive trigger conditions, the false trigger rate is significantly reduced. During the spiral fold bandage process, when a local high-pressure area is detected, the system accurately identifies the sudden change direction of the limb circumference, and adaptively adjusts the winding angle and motion parameters to form a smooth fold winding trajectory.

[0028] In another technical solution, it also includes a tension sensor 12, which is arranged at the free end of the gauze winding rod 9 and is electrically connected to the control module. The control module is electrically connected to an alarm module. When the tension sensor 12 detects that the tension value exceeds 10N, the control module starts the emergency shutdown and issues an audible and visual alarm. During the emergency shutdown, the linear drive 4 and the first rotary drive 6 are synchronously powered off; specifically, the tension sensor 12 can be a TJL-1 strain sensor, and the tension sensor 12 is connected to the gauze winding rod 9 through a universal joint, and is arranged between the limit baffle of the gauze winding rod 9 and the gauze roll, directly detecting the axial tension F during gauze winding. The signal line of the tension sensor 12 is led out along the internal threading groove of the gauze winding rod 9, and is electrically connected to the analog input port of the control module. The gauze winding tension is monitored in real time through the tension sensor 12. When the tension exceeds 10N, a synchronous power-off and an audible and visual alarm are triggered, effectively preventing limb blood circulation disorders caused by winding too tightly.

[0029] In another technical solution, a curved surface is concavely provided on the surface of the lifting support plate 3, the curved surface forms a bearing surface, and the curvature radius of the curved surface is 8 to 30 cm; Limb fixing straps 14 are symmetrically arranged on both sides of the lifting support plate 3, one end of the limb fixing strap 14 is hinged to the lifting support plate 3, and the other end is provided with Velcro; specifically, the curvature of the arc surface can be adjusted by replacing the pad arranged on the surface of the lifting support plate 3, the pad is made of medical silicone material, and the surface is provided with anti-slip texture, the free end of one of the limb fixing straps 14 is provided with a Velcro hook surface, and the free end of the other limb fixing strap 14 is provided with a Velcro velvet surface, and the arc-shaped bearing surface of the replaceable pad is adapted to different limb curvatures, and combined with the limb fixing strap 14 with Velcro, the local pressure is reduced while ensuring the fixation stability.

[0030] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A surgical nursing dressing device, characterized in that: include: A base (1) is provided with a vertical moving mechanism (2), and a lifting support plate (3) is provided at the output end of the vertical moving mechanism (2); The automatic winding mechanism (10) comprises: A linear drive (4) is disposed on the base (1), wherein a moving end of the linear drive (4) moves horizontally toward the lifting support plate (3), and a moving template (5) with a travel limit sensor (11) is disposed at the moving end; A first rotary driver (6) is disposed on the movable template (5), the axis of the output shaft of the first rotary driver (6) extending in the horizontal direction, a rotating disk (7) is coaxially disposed on the output shaft of the first rotary driver (6), and a gauze winding rod (9) is disposed on a side of the rotating disk (7) facing the lifting support plate (3); a control module, which is electrically connected to the linear drive (4), the first rotary drive (6), and the travel limit sensor (11), respectively, and the control module is preset with a ring-shaped bandaging mode, a spiral bandaging mode, and an 8-shaped bandaging mode; Wherein, in the annular bandaging mode, the rotating disk (7) rotates at a constant speed, and the moving template (5) remains stationary; In the spiral wrapping mode, the rotating disk (7) rotates and the movable template (5) moves unidirectionally in the direction of the lifting support plate (3); In the figure-8 wrapping mode, the control module alternately switches the rotation direction of the rotating disk (7) according to the trigger signal of the stroke limit sensor (11), and controls the movable template (5) to move back and forth periodically, and the stroke length of the reciprocating movement of the movable template (5) matches the time required for the rotating disk (7) to rotate half a circle, thereby forming a cross winding path.

2. The surgical care dressing device according to claim 1, characterized in that: The automatic winding mechanism (10) further comprises a second rotary driver (8) which is arranged on a side of the rotating disk (7) facing the lifting support plate (3); an output shaft of the second rotary driver (8) is horizontally perpendicular to the rotation axis of the rotating disk (7); and a gauze winding rod (9) is arranged on the output shaft of the second rotary driver (8) along its radial direction; A pressure sensor array (13) is embedded on the surface of the lifting support plate (3), and the pressure sensor array (13) is electrically connected to the control module; The control module is also preset with a spiral folding bandage mode, and the control module performs the following operations: a. When the pressure sensor array (13) detects that the local pressure value exceeds the set threshold, the control module calculates the pressure gradient according to the distribution position of the pressure sensor array (13) and performs cluster analysis to determine the direction of limb circumference increase; b. Controlling the second rotary drive (8) to drive the gauze winding rod (9) to deflect 30 to 45 degrees in the direction of increasing the circumference of the limb; c. Reversely adjust the horizontal movement direction of the movable template (5) and simultaneously reverse the rotation direction of the rotating disk (7); d. Maintain the adjusted moving and rotating directions until the folded bandaging section is completed.

3. The surgical care dressing device according to claim 1, characterized in that: The travel limit sensor (11) is a photoelectric proximity switch, which has two detection positions arranged at intervals along the moving direction of the movable template (5), the two detection positions respectively corresponding to the maximum forward displacement point and the maximum reverse displacement point in the figure-8 wrapping mode, and when the movable template (5) triggers any detection position, the travel limit sensor (11) sends a limit signal to the control module, thereby controlling the movable template (5) to switch the moving direction.

4. The surgical care dressing device according to claim 2, characterized in that: The plurality of pressure sensors in the pressure sensor array (13) are distributed in a ring shape on the bearing surface of the lifting support plate (3), and the spacing between adjacent pressure sensors is 5 to 20 mm; In the spiral wrapping mode, the control module is configured to perform the following operations: (a) establishing a plane rectangular coordinate system with the center of the lifting support plate (3) as the origin, and storing the coordinate position data of each pressure sensor; (b) receiving the digital signals output by each pressure sensor in real time, and processing the digital signals through the analog-to-digital conversion module to obtain the pressure quantization value; (c) comparing each pressure quantization value with a set threshold point by point, and when it is detected that the pressure quantization values ​​of at least three adjacent pressure sensors continuously exceed the set threshold, marking the area as an abnormally high pressure area; (d) Performing gradient field analysis on the pressure sensor data in the abnormally high pressure area: calculating the ratio of the absolute value of the pressure difference between adjacent pressure sensors to the corresponding coordinate spacing, and determining the maximum pressure gradient direction vector; (e) Grouping the pressure sensors in the abnormally high pressure area based on the spatial clustering analysis algorithm, specifically including: Using the quantized pressure value as a weight factor, the weighted centroid position of each sensor coordinate is calculated; According to the vector synthesis result of the center of mass position and the maximum pressure gradient direction vector, a dynamic change trend vector of the limb circumference is generated; (f) According to the dynamic change trend vector of the limb circumference, the vertical moving mechanism (2) is driven to perform a compensatory lifting action, and the travel speed of the linear drive (4) is adjusted at the same time, so that the gauze winding rod (9) maintains a constant pressure contact with the limb surface.

5. The surgical care dressing device according to claim 2, characterized in that: A torsion spring is provided between the gauze winding rod (9) and the output shaft of the second rotary driver (8), and the torsion stiffness coefficient of the torsion spring is 0.5-5 N•m / rad.

6. The surgical care dressing device according to claim 1, characterized in that: In the spiral wrapping mode, when the angular velocity ω of the rotating disk (7) is ≤2 rad / s, the horizontal moving velocity of the movable template (5) and the angular velocity of the rotating disk (7) satisfy the following relationship: Where v is the moving speed (cm / s), ω is the angular velocity of the rotating disk (7) (rad / s), k = 0.1~0.3 cm / (rad•s), and b = 0.3~0.4 cm / s.

7. The surgical care dressing device according to claim 4, characterized in that: The threshold is set to 2-5 N / cm², and when it is detected that the pressure values ​​of three consecutive pressure sensors in the pressure sensor array (13) all exceed the threshold, the spiral fold bandage mode is triggered.

8. The surgical care dressing device according to claim 1, characterized in that: It also includes a tension sensor (12), which is arranged at the free end of the gauze winding rod (9) and is electrically connected to the control module. The control module is electrically connected to an alarm module. When the tension sensor (12) detects that the tension value exceeds 10 N, the control module initiates an emergency stop and emits an audible and visual alarm. During the emergency stop, the linear drive (4) and the first rotary drive (6) are simultaneously powered off.

9. The surgical care dressing device according to claim 4, characterized in that: A curved surface is concavely provided on the surface of the lifting support plate (3), the curved surface forms a bearing surface, and the curvature radius of the curved surface is 8 to 30 cm; Limb-fixing straps (14) are symmetrically arranged on both sides of the lifting support plate (3); one end of the limb-fixing strap (14) is hinged to the lifting support plate (3), and the other end is provided with a Velcro.

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