Applicator and application method

Abstract

According to the medicine applying device and the medicine applying method, in the medicine applying device, a moving device can move at multiple degrees of freedom, a limiting ring is installed on the outer side of a sleeve and rotates around the center axis of the sleeve, and the limiting ring is provided with a second groove position which is switched between overlapping and staggering with a first groove position through rotation; the multiple sliding blocks get close to or get away from the center shaft from the first groove position of the sleeve and the second groove position of the limiting ring. The telescopic ring is arranged on the outer side of the rear end of the sleeve and rotates around the center axis of the sleeve, a plurality of guide grooves inclined in the axial direction are formed in the inner side of the telescopic ring, the base plate is movably connected with a pair of lead screw guide rails, and a plurality of protrusions are arranged in the circumferential direction of the base plate and matched with the guide grooves through the grooves, so that the base plate rotates along with the fixed axis of the telescopic ring and moves in the axial direction. The handle rotates the bevel gear to drive the longitudinal lead screw and the lower clamp body to move; the lead screw guide rails are sleeved with the pair of lead screw sleeves with the shafts, the lead screw sleeves with the shafts are provided with connecting shafts facing the other lead screw sleeve with the shafts, the tube head is connected with the head of ointment, the connecting catheter is communicated with the tube head, and the head extrusion structure is communicated with the connecting catheter.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, in particular to a medicine coating device and a coating method. Background Art

[0002] Topical medications, especially ointment products, are widely used in the treatment of skin diseases, wound care, chronic pain and other fields due to their strong local permeability, long-lasting efficacy and convenient use. However, for areas that are difficult to reach or see, such as the back, patients have obvious difficulties in self-application of medications and often need help from others. Existing manual application methods usually use hands or cotton swabs to apply the ointment. After applying the ointment with hands, it needs to be washed and is unhygienic. Cotton swabs are easy to absorb the ointment and cause waste. In addition, problems such as uneven application and difficulty in controlling the dosage are prone to occur, which affects the absorption effect of the drug.

[0003] At present, there are some auxiliary drug application devices on the market, such as automatic applicators or handheld drug application tools, but these devices have relatively single functions and are difficult to cope with complex drug application needs, especially in large areas or hard-to-reach areas. There is still a lot of room for improvement in the amount of ointment extrusion, application uniformity, and ease of operation. In addition, the existing devices are usually for ointments of a single specification and lack compatibility with ointments of different sizes and types, which limits their scope of application. In addition, there is often waste in the ointment extrusion process of existing equipment, which increases the cost of use. Finally, the cleaning and hygiene of auxiliary drug application devices are core issues related to people's health and well-being. Existing drug application devices usually use fixed catheters or cavities to transmit ointments, which are difficult to clean and easily cause drug residues, increasing the risk of cross-contamination. Especially in hospitals and other use scenarios where ointments need to be replaced multiple times, such problems are particularly prominent.

[0004] The information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the invention

[0005] In view of the shortcomings or defects of the above-mentioned prior art, a drug application device and a coating method are provided, which can automatically and accurately apply the drug, especially to parts that are difficult to operate by oneself, such as the back of the human body. It should be able to adapt to ointments of different specifications, have the ability to extrude and apply evenly, reduce drug waste, and be easy to clean, so as to prevent the risks of pollution and cross-contamination caused by drug residues.

[0006] The purpose of the present invention is achieved through the following technical solutions.

[0007] A drug applicator comprises:

[0008] A motion device capable of multiple degrees of freedom motion,

[0009] The end coating execution device is installed on the motion device and includes:

[0010] An ointment fixing device comprising,

[0011] The sleeve has a plurality of first slots at its front end and a plurality of axial slots at its rear end.

[0012] A limiting ring is mounted on the outside of the sleeve and rotates around the central axis of the sleeve. The limiting ring is provided with a second slot that switches between overlapping and staggered with the first slot through rotation.

[0013] A plurality of slide blocks are manually pushed to move toward or away from the central axis from the first slot of the sleeve and the second slot of the limiting ring.

[0014] The medicine applicator further comprises:

[0015] An ointment clamping device, comprising:

[0016] Bearing cover, fixed to the inner side of the sleeve,

[0017] The telescopic ring is arranged outside the rear end of the sleeve and rotates around the central axis of the sleeve. A plurality of guide grooves inclined to the axial direction are provided inside the telescopic ring.

[0018] A chassis is movably connected to the pair of lead screw guide rails, and a plurality of protrusions are arranged around the chassis, and the protrusions are matched with the guide grooves through the grooves, so that the chassis rotates with the fixed axis of the telescopic ring and moves axially.

[0019] The upper clamp body with rails is installed on the chassis, and the upper clamp body with rails is provided with guide rails.

[0020] A lower clamp body is arranged on the guide rail,

[0021] The longitudinal lead screw passes through the upper jaw body and the lower jaw body with the guide rail, and the threaded connection between the lead screw and the lower jaw body allows the lower jaw body to move along the guide rail.

[0022] A bevel gear is provided at the end of the longitudinal screw.

[0023] The handle is rotatably inserted into the chassis, and one end of the handle is provided with a second bevel gear meshing with the bevel gear. The handle rotates the bevel gear to drive the longitudinal lead screw and the lower clamp body to move, and the lower clamp body and the upper clamp body with rail clamp the tail of the ointment to fix the ointment.

[0024] The medicine applicator further comprises:

[0025] An ointment extrusion device, comprising:

[0026] A pair of lead screw guide rails are movably connected to the chassis, one end of which is provided with a deep groove ball bearing mounted on a bearing cover.

[0027] A pair of shafted screw sleeves are sleeved on the screw guide rails, and the shafted screw sleeves are provided with a connecting shaft facing the other shafted screw sleeve.

[0028] A pair of rollers, each with a connecting shaft inside, is assembled on the lead screw sleeve and can move forward along the lead screw guide rail with the lead screw sleeve to squeeze out the ointment.

[0029] A driving motor, which is arranged at the other end of the lead screw guide rail to drive the lead screw guide rail to rotate;

[0030] A replaceable head comprising,

[0031] The tube head, which is connected to the head of the ointment,

[0032] A connecting conduit connected to the tube head,

[0033] The head extrusion structure is connected to the connecting conduit, and the head extrusion structure is provided with a plurality of holes.

[0034] In the medicine applicator, the motion device is a topological structure with five degrees of freedom.

[0035] In the medicine applicator, the head extrusion structure includes a central hole and a plurality of discharge holes evenly distributed around the central hole.

[0036] The medicine applicator also includes an image recognition device for identifying the position.

[0037] In the medicine coating device, a mechanical arm is provided between the motion device and the terminal medicine coating execution device.

[0038] The coating method of the applicator comprises the following steps:

[0039] The ointment clamping device and the ointment fixing device assemble the ointment in the terminal application execution device;

[0040] The replaceable head is installed on the ointment head and the ointment application begins;

[0041] Disinfect the replaceable head.

[0042] In the coating method, before applying the medicine, the position to be coated is identified by an image recognition device.

[0043] In the coating method, the moving device moves based on the image recognition device identifying the position to be coated.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present invention can solve the problems of difficulty in self-application of medicine by patients, uneven application of medicine, and inconvenience in operation by medical staff. At the same time, the application position of the plaster can be accurately located at a specific acupuncture point to improve the efficacy of the medicine. The use of a replaceable head can ensure the hygiene problem during application. The end effector is suitable for ointments of various sizes and lengths on the market.

[0046] The above description is only an overview of the technical solution of the present invention. In order to make the technical means of the present invention clearer and to achieve the extent that those skilled in the art can implement it according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are exemplified below. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] By reading the detailed description of the preferred specific embodiments below, various other advantages and benefits of the present invention will become clear to those of ordinary skill in the art. The drawings in the specification are only for the purpose of illustrating the preferred embodiments and are not considered to be limitations of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work. Moreover, the same reference numerals are used to represent the same components throughout the drawings.

[0048] In the attached picture:

[0049] Figure 1 It is the overall structural diagram of the drug applicator;

[0050] Figure 2 It is the overall structural diagram of the end effector;

[0051] Figure 3 It is a schematic diagram of the ointment fixing device;

[0052] Figure 4 It is the internal structure diagram of the end effector;

[0053] Figure 5 is a structural diagram of the ointment clamping device;

[0054] Figure 6 is a cross-sectional view of the telescopic ring;

[0055] Figure 7 It is a structural diagram of the replaceable head;

[0056] Figure 8 It is a preservation diagram of the replaceable head;

[0057] Among them, 1-moving device, 2-sleeve, 3-telescopic ring, 4-limiting ring, 5-slider, 6-head extrusion structure, 7-connecting guide tube, 8-tube head, 9-head protection box, 10-chassis, 11-screw guide rail, 12-deep groove ball bearing, 13-bearing cover, 14-screw sleeve with shaft, 15-roller, 16-screw sleeve, 17-driving motor, 18-handle, 19-lower clamp body, 20-upper clamp body with rail, 21-longitudinal screw, 22-bevel gear.

[0058] The present invention is further explained below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0059] The specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the specific embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0060] It should be noted that certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that technicians may use different nouns to refer to the same component. This specification and claims do not use the difference in nouns as a way to distinguish components, but use the difference in the functions of the components as the criterion for distinction. As mentioned throughout the specification and claims, "including" or "comprising" is an open term, so it should be interpreted as "including but not limited to". The subsequent description of the specification is a preferred embodiment of the present invention, but the description is based on the general principles of the specification and is not intended to limit the scope of the present invention. The scope of protection of the present invention shall be determined by the attached claims.

[0061] To facilitate understanding of the embodiments of the present invention, several specific embodiments will be further explained below with reference to the accompanying drawings, and each of the accompanying drawings does not constitute a limitation on the embodiments of the present invention.

[0062] For a better understanding, Figures 1 to 8 As shown, a drug applicator comprises:

[0063] A motion device 1 capable of multi-degree-of-freedom motion,

[0064] The end coating execution device is installed on the motion device 1 and includes:

[0065] An ointment fixing device comprising,

[0066] The sleeve 2 has a plurality of first slots at its front end and a plurality of axial slots at its rear end.

[0067] The limiting ring 4 is mounted on the outside of the sleeve 2 and rotates around the central axis of the sleeve 2. The limiting ring is provided with a second slot that switches between overlapping and staggered with the first slot through rotation.

[0068] A plurality of sliders 5, which are pushed by hand to move toward or away from the central axis from the first groove of the sleeve 2 and the second groove of the limiting ring 4;

[0069] An ointment clamping device, comprising:

[0070] The bearing cover 13 is fixed to the inner side of the sleeve 2.

[0071] The telescopic ring 3 is arranged outside the rear end of the sleeve 2 and rotates around the central axis of the sleeve 2. A plurality of guide grooves inclined to the axial direction are provided inside the telescopic ring 3.

[0072] The chassis 10 is movably connected to the pair of lead screw guide rails 11. The chassis is provided with a plurality of protrusions in the circumferential direction. The protrusions are matched with the guide grooves through the grooves, so that the chassis 10 rotates with the fixed axis of the telescopic ring 3 and moves axially.

[0073] The upper clamp body 20 with rails is installed on the chassis, and the upper clamp body 20 with rails is provided with guide rails.

[0074] The lower clamp body 19 is arranged on the guide rail.

[0075] The longitudinal lead screw 21 passes through the upper jaw body 20 and the lower jaw body 19 with a guide rail, and is threadedly engaged with the lower jaw body 19. The lower jaw body 19 moves along the guide rail driven by the longitudinal lead screw 21.

[0076] The bevel gear 22 is provided at the end of the longitudinal screw 21.

[0077] A handle 18 is rotatably mounted on the chassis, and a second bevel gear meshing with the bevel gear is disposed at one end of the handle. The handle 18 rotates the bevel gear 22 to drive the longitudinal lead screw 21 and the lower clamp body 19 to move. The lower clamp body 19 and the upper clamp body 20 with a rail clamp clamp the tail of the ointment to fix the ointment;

[0078] An ointment extrusion device, comprising:

[0079] A pair of lead screw guide rails 11 are movably connected to the chassis 10, and one end of each lead screw guide rail is provided with a deep groove ball bearing 12 mounted on a bearing cover 13.

[0080] A pair of shafted screw sleeves 14 are sleeved on the screw guide rail 11, and the shafted screw sleeves are provided with a connecting shaft toward the other shafted screw sleeve.

[0081] A pair of rollers 15, each of which has a connecting shaft inside, is assembled on the shaft screw sleeve 14 and can move forward along the screw guide rail 11 with the shaft screw sleeve 14 to squeeze out the ointment.

[0082] A driving motor 17, which is arranged at the other end of the screw guide rail 11 to drive the screw guide rail to rotate;

[0083] A replaceable head comprising,

[0084] The tube head 8 is connected to the head of the ointment.

[0085] A connecting conduit 7 is connected to the pipe head,

[0086] The head extrusion structure 6 is connected to the connection conduit 7 and is provided with a plurality of holes.

[0087] In a preferred embodiment of the drug applicator, the motion device 1 is a topological structure with five degrees of freedom.

[0088] In a preferred embodiment of the drug applicator, the head extrusion structure 6 includes a central hole and a plurality of discharge holes evenly distributed around the central hole.

[0089] In a preferred embodiment of the medicine applicator, an image recognition device for identifying a position is also included.

[0090] In a preferred embodiment of the medicine applicator, the image recognition device includes a camera and a visual recognition unit.

[0091] In a preferred embodiment of the drug applicator, the image recognition device is connected to the motion device via a PLC.

[0092] In a preferred embodiment of the coating device, a mechanical arm is provided between the motion device and the terminal coating execution device.

[0093] The coating method of the applicator comprises the following steps:

[0094] The ointment clamping device and the ointment fixing device assemble the ointment in the terminal application execution device;

[0095] The replaceable head is installed on the ointment head and the ointment application begins;

[0096] Disinfect the replaceable head.

[0097] In a preferred embodiment of the coating method, before applying the drug, the position to be coated is identified by an image recognition device.

[0098] In a preferred embodiment of the coating method, the moving device moves based on the image recognition device identifying the position to be coated.

[0099] In one embodiment, the drug application device includes a terminal drug application actuator and a motion device 1, wherein the terminal drug application actuator includes an ointment extrusion device, an ointment clamping device, an ointment fixing device, and a replaceable head. Figure 2 and Figure 3 As shown, the ointment fixing device includes a slider 5, a limiting ring 4, and a sleeve 2; the limiting ring 4 is installed on the outside of the sleeve 2 and can rotate around the central axis of the sleeve 2, and four sliders 5 are placed in four slots of the sleeve 2 and the limiting ring 4. After rotation, the four second slots of the limiting ring 4 are staggered with the four first slots of the sleeve 2, thereby limiting the slider 5, preventing the ointment from being displaced during operation, and ensuring the stable operation of the device.

[0100] like Figure 4 As shown, the ointment extrusion device includes a screw guide 11, a drive motor 17, a deep groove ball bearing 12, a bearing cover 13, a shaft screw sleeve 14, a screw sleeve 16, and a roller 15; two screw guides 11 are placed in parallel, one end is connected to the drive motor 17, and the other end is connected to the deep groove ball bearing 12, the two deep groove ball bearings 12 are installed on the bearing cover 13, and the shaft screw sleeve 14 has two shafts on the side to string two rollers 15, and the other side of the shaft is connected to the screw sleeve 16, the two screw sleeves pass through the two screw guides 11, and are threadedly matched with the screw guides 11, and can move axially with the rotation of the screw guides 11.

[0101] like Figure 4 As shown, when the ointment extrusion device is operated, the two lead screw guide rails 11 are driven by a motor to drive the lead screw sleeve mounted thereon to move forward and backward. Two rollers 15 are mounted on the lead screw sleeve. When the lead screw sleeve 14 with an axis moves forward along the lead screw guide rails 11, the rollers 15 gradually squeeze the outer shell of the ointment, simulating the natural action of squeezing the ointment by human hands, thereby squeezing out the medicine inside the ointment. During the squeezing process, the medicine is guided into the connected catheter, and the application process is finally completed.

[0102] like Figure 5 and Figure 6As shown, the ointment clamping device includes a sleeve 2, a telescopic ring 3, a chassis 10, a handle 18, a bevel gear 22, a longitudinal lead screw 21, a rail-mounted upper clamp body 20, and a lower clamp body 19; the chassis 10 is installed between the lead screw guide rail 11 and the driving motor 17, and has no threaded cooperation with the lead screw guide rail 11, and can move freely along the axial direction of the lead screw guide rail 11, the rail-mounted upper clamp body 20 is installed on the chassis 10, and the lower clamp body 19 is installed on the guide rail of the rail-mounted upper clamp body 20, the longitudinal lead screw 21 passes through the rail-mounted upper clamp body 20 and the lower clamp body 19, and has a threaded cooperation with the lower clamp body 19, and the lower clamp body 19 can move along the guide rail driven by the longitudinal lead screw 21, one end of the longitudinal lead screw is connected to the bevel gear 22, and the other end of the bevel gear 22 is connected to the handle 18, and can rotate driven by the handle 18, thereby driving the longitudinal lead screw 21 to rotate. The telescopic ring 3 is located outside the rear end of the sleeve 2 and can rotate around the axis of the sleeve 2. Four long grooves along the axial direction are opened on the rear side of the sleeve 2, and four guide grooves inclined to the axial direction are opened on the inner side of the telescopic ring 3. The protrusions in four directions of the chassis 10 pass through the long grooves of the sleeve 2 and cooperate with the guide grooves of the telescopic ring 3, and can move axially with the fixed axis rotation of the telescopic ring 3. When the operator shakes the handle to rotate the screw, the movable clamp body moves axially relative to the fixed clamp body, thereby realizing the function of clamping or loosening.

[0103] like Figure 7 and Figure 8 As shown, the replaceable head includes a head extrusion structure 6, a connecting conduit 7, and a tube head 8. The head extrusion structure 6 is provided with eight circumferentially distributed small holes and a central hole. The end of the head extrusion structure 6 is connected to the connecting conduit 7, and the other side of the connecting conduit 7 is connected to the tube head 8. The tube head 8 is designed with threads, which can be directly fixed to the head of the ointment, thereby ensuring the stability of the connection and the smooth conduction of the ointment. The operator can replace the replaceable head to adapt to different ointments to avoid hygiene problems. When the replaceable head is idle, the operator can cover the head protection box 9 to surround the head extrusion structure 6 to avoid contamination.

[0104] like Figure 1 As shown, the motion device 1 has five degrees of freedom and adopts topological optimization for structural design. Through precise topological optimization, not only the use of materials is effectively reduced, energy consumption is reduced, but also the dynamic performance and stability of the robot arm are enhanced. The optimized connection part realizes lightweight design while maintaining structural strength and rigidity, thereby improving the operating accuracy and response speed of the robot arm.

[0105] Furthermore, the medicine application device uses a camera and visual recognition technology to apply the ointment to different parts of the human body, and uses a PLC for communication between the camera and the device.

[0106] The specific working process of the intelligent applicator is as follows:

[0107] First, the ointment is assembled in the end effector using an ointment clamping device and an ointment fixing device;

[0108] Secondly, attach the replaceable head to the ointment head;

[0109] Then, the application program is input and the device starts applying the drug;

[0110] Finally, after applying the medicine, the replaceable head should be disinfected.

[0111] The present invention supports accurate application of the drug applicator on different parts of the human body. Before applying the drug, the method for implementing the application by identifying the position to be applied by an image recognition device includes the following steps:

[0112] S100, capturing an image of the target area through a camera, specifically, including the following steps: initializing the camera, checking the connection status of the camera, ensuring that it communicates normally with the control system of the drug application device, such as a PLC control system, and calibrating the camera parameters, including focal length, resolution, and shooting angle, to adapt to the characteristics of the drug application area of ​​the human body; it can be understood that the image capture of the target area can utilize the autofocus function to obtain a clear image, and at the same time, through multi-angle shooting, avoid interference from occlusion and light reflection;

[0113] S200, standardizing and enhancing the collected image, specifically, including the following steps: image format conversion, converting the collected image into a standard format such as JPEG or PNG; using Gaussian filtering to remove background noise and enhancing contrast to highlight skin features; cropping the image according to a region of interest (ROI) so that the processing is focused on the area to be coated;

[0114] S300 accurately locates human body parts based on visual recognition algorithms. Specifically, it includes the following steps: first, use deep learning models such as OpenPose or HRNet to detect key points of the human body and generate joint coordinates to mark the contours of the target parts; then apply semantic segmentation technology such as DeepLab or UNet to separate the skin area from the background and accurately mark the application area to ensure that the ointment coverage meets expectations; then use boundary optimization technology to correct errors that may be caused by lighting or posture during the segmentation process;

[0115] S400, formulates the coating path according to the recognition results, specifically, includes the following steps: using the precise positioning results of S300 to generate coating path points, and smoothing the path points through an interpolation algorithm, such as Bezier curves, and then calculating the motion trajectory of the robot arm according to the path points, setting the speed and angle parameters to ensure uniform coating without missing any areas.

[0116] In summary, the above-mentioned coating method disclosed by the present invention realizes efficient and accurate coating operation on human body parts through visual recognition and planning of coating path.

[0117] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0118] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A drug applicator, characterized in that: These include, A motion device (1) capable of motion with multiple degrees of freedom, The end coating execution device is mounted on the motion device (1) and comprises: An ointment fixing device, comprising, The sleeve (2) has a plurality of first slots at its front end and a plurality of axial slots at its rear end. A limiting ring (4) is mounted on the outside of the sleeve (2) and rotates around the central axis of the sleeve (2), the limiting ring being provided with a second slot that switches between overlapping and staggered with the first slot through rotation. A plurality of sliding blocks (5) are manually pushed to move toward or away from the central axis from the first slot of the sleeve (2) and the second slot of the limiting ring (4).

2. The drug applicator according to claim 1, characterized in that Preferably, it also includes: An ointment clamping device, comprising: The bearing cover (13) is fixed to the inner side of the sleeve (2). The telescopic ring (3) is arranged outside the rear end of the sleeve (2) and rotates around the central axis of the sleeve (2). A plurality of guide grooves inclined to the axial direction are provided on the inner side of the telescopic ring (3). A chassis (10) is movably connected to the pair of lead screw guide rails (11), and a plurality of protrusions are provided in the circumference of the chassis. The protrusions pass through the grooves and cooperate with the guide grooves, so that the chassis (10) rotates along the fixed axis of the telescopic ring (3) and moves axially. The rail-mounted upper clamp body (20) is mounted on the chassis, and the rail-mounted upper clamp body (20) is provided with a guide rail. A lower clamp body (19) is arranged on the guide rail. A longitudinal lead screw (21) passes through the upper clamp body (20) and the lower clamp body (19) with a guide rail, and is threadedly engaged with the lower clamp body (19). The lower clamp body (19) moves along the guide rail under the drive of the longitudinal lead screw (21). A bevel gear (22) is provided at the end of the longitudinal screw (21). A handle (18) is rotatably inserted into the chassis, and a second bevel gear meshing with the bevel gear is provided at one end of the handle. The handle (18) rotates the bevel gear (22) to drive the longitudinal lead screw (21) and the lower clamp body (19) to move, and the lower clamp body (19) and the rail upper clamp body (20) clamp the tail of the ointment to fix the ointment.

3. The drug applicator according to claim 1, characterized in that Also includes: An ointment extrusion device, comprising: A pair of lead screw guide rails (11) are movably connected to the chassis (10), and one end of each lead screw guide rail is provided with a deep groove ball bearing (12) mounted on a bearing cover (13). A pair of shaft-carrying screw sleeves (14) are sleeved on the screw guide rail (11), and the shaft-carrying screw sleeve is provided with a connecting shaft facing the other shaft-carrying screw sleeve. A pair of rollers (15) are provided with connecting shafts inside, and are mounted on the screw sleeve (14). The rollers (15) can move forward along the screw guide rail (11) following the screw sleeve (14) to squeeze out the ointment. A driving motor (17) disposed at the other end of the lead screw guide rail (11) to drive the lead screw guide rail to rotate; A replaceable head comprising, The tube head (8) is connected to the head of the ointment. A connecting conduit (7) connected to the pipe head, A head extrusion structure (6) is connected to the connecting conduit (7), and the head extrusion structure (6) is provided with a plurality of holes.

4. The drug applicator according to claim 1, characterized in that The motion device (1) is a topological structure with five degrees of freedom.

5. The drug applicator according to claim 1, characterized in that The head extrusion structure (6) comprises a central hole and a plurality of discharge holes evenly distributed around the central hole.

6. The drug applicator according to claim 1, characterized in that Also included is an image recognition device for identifying the location.

7. The drug applicator according to claim 1, characterized in that A mechanical arm is arranged between the motion device and the terminal coating execution device.

8. The coating method of the applicator according to any one of claims 1 to 7, characterized in that: It includes the following steps, The ointment clamping device and the ointment fixing device assemble the ointment in the terminal application execution device; The replaceable head is installed on the ointment head and the ointment application begins; Disinfect the replaceable head.

9. The coating method according to claim 8, characterized in that Before applying the medicine, the position to be coated is identified by an image recognition device.

10. The coating method according to claim 9, characterized in that The moving device moves based on recognition of the position to be coated by the image recognition device.

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