An automated instant packaging integrated device and method for preparing surgical drapes

Abstract

The present invention discloses an automated instant packaging integrated device and method for preparing surgical drapes, the method comprising the following steps: S1, capturing the drape image, locating the hole outline and obtaining the hole coordinates; S2, matching the folding pattern according to the hole outline shape, and generating a radial folding path; S3, performing three-dimensional folding, applying smoothing downward pressure to the partitions after folding, and performing vacuum packaging after sterilization; S4, establishing a mapping relationship library between hole size, shape and folding pattern, and dynamically adjusting the distance and pressure between the crease and the incision edge based on the material mechanics model. By using a folding algorithm centered on the holes of the surgical drape, combined with image recognition and folding path planning, mechanical damage to the conductive fiber mesh is avoided while retaining the electromagnetic shielding performance of the surgical drape. During clinical operation, medical staff can quickly unfold the drape with the hole as the center without additional positioning adjustment, significantly improving the efficiency of surgical preparation and operational convenience.

Description

Technical Field

[0001] The present invention relates to the technical field of textile folding, and in particular to an automated instant packaging integrated device and method for preparing surgical drapes. Background Art

[0002] As a core consumable in the operating room's sterile barrier, surgical drapes must simultaneously meet requirements for water resistance, fluid absorption, anti-static properties, and compatibility with precision electronic equipment (such as electrosurgical units and monitors). Traditional drapes often utilize single-layer or simple composite structures, such as a combination of non-woven fabric and a waterproof membrane. However, these limited functionalities make them difficult to meet the electromagnetic stability requirements of modern surgery. This is particularly true in settings such as cardiovascular surgery and neurosurgery, where static electricity accumulation can interfere with equipment operation and even pose a fire risk.

[0003] To address these issues, a "sandwich" surgical drape has been proposed. Its typical design includes an outer waterproof and antistatic membrane to prevent liquid penetration and reduce surface static electricity; a middle conductive fiber mesh layer, embedded with conductive materials such as stainless steel fibers, carbon fibers, or silver-plated fibers, to create a continuous conductive path, dissipating static electricity and stabilizing the electromagnetic field; and an inner liquid-wicking nonwoven fabric layer to absorb intraoperative fluids and maintain a dry surgical area. These layers are then laminated together through heat pressing, theoretically achieving both conductivity and liquid barrier properties.

[0004] During the folding and packaging process of surgical drapes, traditional mechanical pressure folding can easily cause physical damage to the conductive fiber mesh (such as breakage or peeling), resulting in interruption of the conductive path and affecting the static elimination effect. At the same time, a hole (incision) needs to be opened in the middle of the surgical drape to expose the surgical area. The existing folding method lacks the consideration of rapid unfolding of the incision to facilitate clinical operation.

[0005] Therefore, it is necessary to improve the deficiencies in the prior art to solve the above problems. Summary of the Invention

[0006] The present invention overcomes the deficiencies of the prior art and provides an automated instant packaging integrated device and method for preparing surgical drapes.

[0007] To achieve the above-mentioned object, the technical solution adopted by the present invention is: an automated instant packaging method for preparing a surgical drape, which is suitable for a surgical drape with a hole in the middle and conductive fibers, comprising the following steps:

[0008] S1, real-time capture of the drape image, positioning of the hole outline and acquisition of the hole coordinates;

[0009] S2. Match the folding pattern according to the hole contour shape and generate a radial folding path with the hole center as the origin;

[0010] S3, three-dimensional folding is performed according to the folding path, and after folding, smoothing downward pressure is applied to each section, and vacuum packaging is performed after sterilization;

[0011] S4. Establish a mapping relationship library between hole size, shape and folding pattern, support real-time call, and dynamically adjust the distance and pressure between the crease and the cut edge based on the material mechanics model.

[0012] In a preferred embodiment of the present invention, in step S1, the drape image needs to be pre-processed after being captured, including grayscale conversion, noise reduction, contrast enhancement and binary segmentation;

[0013] Based on the image segmentation algorithm U-Net, for the preprocessed image segmentation, the hole mask is output, and the mask is morphologically closed to fill small holes, extract the largest connected contour, and calculate the hole center coordinates:

[0014] , ;in, are the contour pixel coordinates; is the total number of pixels.

[0015] In a preferred embodiment of the present invention, in step S2, the hole contour shapes include circular, rectangular and anisotropic holes; the folding patterns include spiral radial folding, parallel fan-shaped folding and adaptive radial folding;

[0016] The radial folding path is generated with the hole center As the origin, the folding path is generated in the polar coordinate system;

[0017] The spiral radial folding: ;in, is the initial angle; is the angular interval; is the number of fold lines;

[0018] Folding line equation: straight line in polar coordinates ;in, is the helical pitch; is the distance from the fold line to the center of the hole in the polar coordinate system;

[0019] Parallel fan folding: parallel creases are generated along the long and short sides, with spacing based on the aspect ratio Adjustment:

[0020] ;

[0021] Folding line equation: a set of parallel lines in a rectangular coordinate system, symmetrically distributed along the x and y axes;

[0022] The adaptive radial folding: based on equivalent diameter Dynamically assign fold line density:

[0023] ;

[0024] Fold line angle interval .

[0025] In a preferred embodiment of the present invention, in step S3, the partition is divided into two parts, one is the hole center, and the other is the hole center. As the origin, calculate any point on the drape surface Distance to center:

[0026] ;

[0027] According to the distance Zoning rules: Core area: ; Transition zone: ; Outer area: ;

[0028] Smoothing downforce is applied by gradient pressure in different zones:

[0029] The core area: constant pressure ;

[0030] The transition zone: linear pressure transition ;in, , follow Increase gradually

[0031] The peripheral zone: constant pressure .

[0032] In a preferred embodiment of the present invention, in step S3, the applied smoothing pressure is corrected according to the material deformation feedback, using the formula:

[0033] ;in, It is real-time response; is the maximum allowable strain of the material; is the preset target pressure value;

[0034] Maximum allowable pressure of conductive fiber mesh Determined by coating adhesion, formula:

[0035] ;in, is the coating peeling force; is the contact area.

[0036] In a preferred embodiment of the present invention, in step S4, the material mechanics model is a linear elastic model of the drape material:

[0037] ;in, is stress; is the elastic modulus; It is strain;

[0038] Calculating the stress distribution in the crease area through simulation , identify the maximum stress ;

[0039] The dynamic adjustment rules include crease spacing adjustment and smoothing pressure adjustment;

[0040] The crease spacing adjustment: If , then increase the spacing:

[0041] ;

[0042] Pressure adjustment: Dynamically reduce target pressure according to regional pressure formula .

[0043] The present invention provides an automated instant packaging integrated device for an automated instant packaging method for preparing surgical drapes, comprising: a folding stand, a sterilizing cabinet, a packaging table, a transfer robot arm, and a control system;

[0044] A three-axis translation mechanism for achieving three-axis movement is installed on the top of the folding stand, and a folding mechanical arm for integrating image capture, folding, and smoothing and pressing is installed at the moving end of the three-axis translation mechanism;

[0045] The sterilization cabinet is used to sterilize surgical drapes through ultraviolet light or high temperature;

[0046] A conveyor belt is installed on the top of the packaging table, and a vacuum packaging mechanism and a bag-opening packaging mechanism are sequentially installed on the top of the conveyor belt in the conveying direction;

[0047] The transfer robot arm is located between the folding stand, the sterilizer and the packaging table, and is used to realize the transfer operation of the drape;

[0048] The control system is used to realize the automated instant packaging of surgical drapes using a programmable controller.

[0049] In a preferred embodiment of the present invention, a movable frame is installed at the free end of the folding robot arm, a plurality of negative pressure suction cups are installed on the side of the movable frame, and an industrial CCD camera is installed at the bottom.

[0050] In a preferred embodiment of the present invention, the vacuum packaging mechanism includes: a fixed frame fixed on the top of the packaging table, a vacuum pump installed on the top of the fixed frame, and opening and closing doors installed at both ends of the fixed frame for lifting.

[0051] In a preferred embodiment of the present invention, the bag mouth packaging mechanism includes: a plurality of fixed cylinders fixed on the top of the packaging table, a pressure plate sleeved on the top of the plurality of fixed cylinders, and a hot pressing strip fixed on the bottom of the pressure plate; a servo motor is fixed on the top of the pressure plate, a screw rod is installed at the output end of the servo motor, and the side of the screw rod is threadedly connected to the inner side of the fixed cylinder.

[0052] The present invention solves the defects existing in the background technology and has the following beneficial effects:

[0053] (1) The present invention provides an automated instant packaging method for preparing surgical drapes. By using a folding algorithm centered on the holes of the surgical drape, combined with image recognition and folding path planning, the method solves the problems of physical damage to the conductive fiber mesh and stress concentration at the edge of the hole caused by the lack of targeted avoidance in traditional folding methods. By generating a radial folding path around the center of the hole, the minimum safe distance between the crease and the edge of the hole is ensured, and at the same time, dynamic folding modes with different hole shapes are matched, which not only avoids mechanical damage to the conductive fiber mesh but also retains the electromagnetic shielding performance of the surgical drape. During clinical operations, medical staff can quickly unfold the drape with the hole as the center without additional adjustment and positioning, which significantly improves the efficiency of surgical preparation and the convenience of operation.

[0054] (2) In the present invention, the crease spacing and pressure grading are dynamically adjusted based on finite element simulation data, and avoidance constraint rules are incorporated into the polar coordinate path, which not only ensures the continuous conductive path of the conductive fiber web, but also optimizes the packaging speed through zoned pressure control, thereby achieving a balance between conductive fiber protection and packaging efficiency, and significantly improving the packaging quality.

[0055] (3) In the present invention, parameterized storage is combined with real-time simulation to dynamically correct the crease spacing and pressure parameters to ensure that the stress under different hole conditions is always lower than the material threshold. This avoids the traditional method of relying on fixed parameters and being difficult to adapt to the diverse requirements of different hole sizes and shapes, thereby effectively avoiding the risk of coating peeling and ensuring the stability of the conductive path.

[0056] (4) The present invention provides an automated instant packaging integrated device for the preparation of surgical drapes, which integrates a three-axis folding robot arm, an ultraviolet sterilization module and a vacuum packaging mechanism. The transfer robot arm and the control system work together to realize the full process automation of the surgical drape from folding, sterilization to packaging. After the hole avoidance folding is completed accurately, sterilization and sealed packaging are carried out immediately. This not only greatly shortens the preparation cycle, but also reduces the risk of contamination caused by manual intervention through a fully closed process, thereby meeting the clinical needs of efficient and sterile surgical consumables. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments described in the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive efforts.

[0058] Figure 1 Schematic diagram of spiral radial folding in the packaging method of a preferred embodiment of the present invention;

[0059] Figure 2 This is a three-dimensional structural diagram of a packaging-in-one device according to a preferred embodiment of the present invention;

[0060] Figure 3 This is a three-dimensional structural diagram of a folding mechanical arm according to a preferred embodiment of the present invention;

[0061] Figure 4 This is a three-dimensional structural diagram of a packaging platform according to a preferred embodiment of the present invention;

[0062] In the figure: 1. Folding stand; 11. Three-axis translation mechanism; 12. Folding robotic arm; 121. Movable frame; 122. Negative pressure suction cup; 123. Industrial CCD camera; 2. Sterilizer; 3. Packaging table; 31. Conveyor belt; 32. Vacuum packaging mechanism; 321. Fixed frame; 322. Vacuum pump; 323. Opening and closing door; 33. Bag sealing mechanism; 331. Fixed cylinder; 332. Pressing plate; 333. Hot pressing strip; 334. Servo motor; 335. Screw; 4. Transfer robotic arm. DETAILED DESCRIPTION

[0063] The following will clearly and completely describe 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0064] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0065] In the description of this application, unless otherwise specified, "several" means two or more. It should be noted that, unless otherwise specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can mean fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art can understand the specific meanings of the above terms in this application based on specific circumstances.

[0066] An automated instant packaging method for preparing a surgical drape, suitable for a surgical drape having a hole in the middle and conductive fibers, comprises the following steps:

[0067] S1, real-time capture of the drape image, positioning of the hole outline and acquisition of the hole coordinates;

[0068] S2. Match the folding pattern according to the hole contour shape and generate a radial folding path with the hole center as the origin;

[0069] S3, three-dimensional folding is performed according to the folding path, and after folding, smoothing downward pressure is applied to each section, and vacuum packaging is performed after sterilization;

[0070] S4. Establish a mapping relationship library between hole size, shape and folding pattern, support real-time call, and dynamically adjust the distance and pressure between the crease and the cut edge based on the material mechanics model.

[0071] In this embodiment, in step S1, the drape image needs to be pre-processed after being captured, including grayscale conversion, noise reduction, contrast enhancement and binary segmentation.

[0072] Grayscale: Convert RGB images to grayscale images to reduce the amount of calculation.

[0073] Noise reduction: Apply a median filter to remove noise. Formula:

[0074] ;in, , is the kernel size.

[0075] Contrast enhancement: Improve the contrast between holes and background through histogram equalization. Formula:

[0076] ;in, is the cumulative distribution function; is the image size; is the number of gray levels.

[0077] Binarization segmentation: Use the adaptive threshold method to generate a binary image. The formula is:

[0078] ;in, is the between-class variance; is a candidate threshold.

[0079] Furthermore, based on the image segmentation algorithm U-Net, for the preprocessed image segmentation, the hole mask is output, and the U-Net model training uses the Dice loss function:

[0080] ;in, is the prediction area; is the true label area;

[0081] Perform morphological closing operation on the mask (closing operation = expansion * erosion), fill small holes, extract the largest connected contour, and calculate the coordinates of the hole center (center of mass):

[0082] , ;in, are the contour pixel coordinates; is the total number of pixels.

[0083] In this embodiment, in step S2, the matching of the folding pattern includes hole shape feature extraction and folding pattern mapping, and the folding pattern includes spiral radial folding, parallel fan folding, and adaptive radial folding.

[0084] Extract key parameters based on the obtained hole contour: circular hole: radius ; Rectangular hole: long ,Width and aspect ratio ; Special-shaped holes: equivalent diameter ,in, is the hole area;

[0085] Folding pattern mapping rules: circular holes are spiral radial folding; rectangular holes are parallel fan-shaped folding; special-shaped holes are adaptive radial folding (based on equivalent diameter Adjustment).

[0086] Furthermore, for the generation of radial folding paths, the hole center As the origin, the folding path is generated in the polar coordinate system;

[0087] Spiral radial folding: ;in, is the initial angle; is the angular interval; is the number of fold lines;

[0088] Folding line equation: straight line in polar coordinates ;in, is the spiral pitch (default d=10mm); is the distance from the fold line to the center of the hole in the polar coordinate system;

[0089] Parallel fan fold: along the long side ( ) and the short side ( ) direction to generate parallel creases, with spacing based on the aspect ratio Adjustment:

[0090] ;

[0091] Folding line equation: a set of parallel lines in a rectangular coordinate system, symmetrically distributed along the x and y axes;

[0092] Adaptive radial folding: based on equivalent diameter Dynamically assign fold line density:

[0093] ;

[0094] Fold line angle interval .

[0095] Furthermore, the distance constraints of the folding creases are ensured to ensure that all creases are away from the edge of the hole. :

[0096] .

[0097] Example:

[0098] Spiral radial folding (e.g. Figure 1 Shown): Circular hole radius , angular interval , number of fold lines ; Angle of the 5th fold line: ; Fold line distance from hole edge: .

[0099] In this embodiment, in step S3, the partition is divided into two parts, the center of the hole is the center of the hole. As the origin, calculate any point on the drape surface Distance to center:

[0100] ;

[0101] According to distance Zoning rules: Core area: ; Transition zone: ; Outer area: ;

[0102] Smoothing downforce is applied by gradient pressure in different zones:

[0103] Core area: constant pressure (Dynamic adjustment based on material yield strength);

[0104] Transition zone: linear pressure transition ;in, , follow Increase gradually

[0105] Peripheral area: constant pressure .

[0106] Furthermore, the applied smoothing force is corrected based on the material deformation feedback (such as strain gauge data), using the formula:

[0107] ;in, It is real-time response; is the maximum allowable strain of the material; is the preset target pressure value;

[0108] Maximum allowable pressure of conductive fiber mesh Determined by coating adhesion, formula:

[0109] ;in, is the coating peeling force; is the contact area;

[0110] Control logic: If the target pressure value , then it is forced to reduce to .

[0111] Example:

[0112] Transition zone pressure calculation: Assume , ,when hour:

[0113] ;

[0114] Dynamic pressure adjustment: If , strain is detected , ,but:

[0115] .

[0116] It should be noted that by dynamically adjusting the crease spacing and pressure grading based on finite element simulation data and incorporating avoidance constraint rules into the polar coordinate path, the continuous conductive path of the conductive fiber mesh is guaranteed, and the packaging speed is optimized through zoned pressure control, thereby achieving a balance between conductive fiber protection and packaging efficiency, and significantly improving the packaging quality.

[0117] In this embodiment, in step S4, the hole parameters are used as indexes to store the corresponding folding patterns and initial parameters, and a mapping relationship table as shown in Table 1 is established;

[0118] Table 1: Mapping relationship table

[0119]

[0120] Create a linear elastic model for the drape material:

[0121] ;in, is stress; is the elastic modulus; It is strain;

[0122] Calculating the stress distribution in the crease area through simulation , identify the maximum stress ;

[0123] Dynamic adjustment rules include crease spacing adjustment and smoothing pressure adjustment;

[0124] Crease spacing adjustment: If (yield strength threshold), the spacing is increased:

[0125] ;

[0126] Pressure adjustment: Dynamically reduce the target pressure according to the regional pressure formula (see gradient pressure application in step S3) .

[0127] Furthermore, after obtaining the hole parameters, the mapping table is queried, the corresponding folding mode and initial parameters are called, and the finite element simulation results are obtained in real time. If stress exceeds the standard, the parameters are updated. For example:

[0128] , , ,but:

[0129] .

[0130] It should be noted that by combining parametric storage with real-time simulation, the crease spacing and pressure parameters are dynamically corrected to ensure that the stress under different hole conditions is always lower than the material threshold, avoiding the traditional method of relying on fixed parameters and being difficult to adapt to the diverse requirements of different hole sizes and shapes, thereby effectively avoiding the risk of coating peeling and ensuring the stability of the conductive path.

[0131] like Figure 2 As shown, an automated instant packaging integrated device for an automated instant packaging method for preparing surgical drapes includes: a folding stand 1, a sterilizing cabinet 2, a packaging table 3, a transfer robot 4 and a control system; a three-axis translation mechanism 11 for realizing three-axis movement is installed on the top of the folding stand 1, and a folding robot 12 for integrating image capture, folding and smoothing pressure is installed at the moving end of the three-axis translation mechanism 11; the sterilizing cabinet 2 is used to achieve sterilization operations of surgical drapes by ultraviolet rays or high temperature; a conveyor belt 31 is installed on the top of the packaging table 3, and a vacuum packaging mechanism 32 and a bag-mouth packaging mechanism 33 are installed in the conveying direction of the top of the conveyor belt 31 in sequence; the transfer robot 4 is located between the folding stand 1, the sterilizing cabinet 2 and the packaging table 3, and is used to realize the transfer operation of the drape; the control system is used to realize automated instant packaging of the surgical drape using a programmable controller.

[0132] It should be noted that the conveying power of the conveyor belt 31 is driven by the driving source on the packaging table 3. The driving source is specifically a power source that can provide rotational motion to the conveyor belt 31. The driving conveyor belt 31 can be driven to rotate and transport by technical means known to those skilled in the art, so it will not be repeated here; the sterilization cabinet 2 generates a sterilization medium through ultraviolet lamps or electric heating elements. Ultraviolet sterilization achieves sterilization by destroying microbial DNA, and high-temperature sterilization completely inactivates pathogens through hot air circulation; the control system is electrically connected to the three-axis translation mechanism 11, the folding robot arm 12, the sterilization cabinet 2, the driving source, the vacuum packaging mechanism 32, the bag mouth packaging mechanism 33 and the transfer robot arm 4 respectively. The control method of the control system and the control circuit for realizing fully automatic instant packaging belong to the existing technology and can be realized by programming by technical personnel in this field. It is common knowledge in this field. Therefore, this application no longer explains the control method and module in detail, and will not be described in detail here.

[0133] Specifically, a complete automated processing equipment is formed by the folding stand 1, the sterilizing cabinet 2, the packaging table 3, the transfer robot 4 and the control system. The folding robot 12 realizes spatial positioning through the three-axis translation mechanism 11. After real-time image capture and processing by the control system, the surgical drape can be automatically folded according to the folding path. After the folding and pressure are smoothed, the folded surgical drape is placed inside the sterilizing cabinet 2 by controlling the transfer robot 4. The sterilizer 2 sterilizes the drape. After the sterilization is completed, the air pressure balance device in the cabinet ensures that the cabinet door opens smoothly, and the drape is automatically folded by the transfer robot 4. The sterilized surgical drape is quickly placed in the packaging bag and transferred to the top of the conveyor belt 31 on the packaging table 3. The conveyor belt 31 transports it to the vacuum packaging mechanism 32, evacuates the interior to a relative vacuum, and completes the bag opening sealing of the packaging bag through the bag opening sealing mechanism 33, thereby realizing the full process automation of the surgical drape from folding, sterilization to packaging. After the hole avoidance folding is accurately completed, sterilization and sealed packaging are carried out immediately, which not only greatly shortens the preparation cycle, but also reduces the risk of contamination caused by manual intervention through a fully closed process, thereby meeting the clinical needs of efficient and sterile surgical consumables.

[0134] In one possible design, the three-axis translation mechanism 11 specifically includes: an X-axis translation component that drives the folding robotic arm 12 to translate in the X-axis direction, a Y-axis translation component that drives the X-axis translation component and the folding robotic arm 12 to translate in the Y-axis direction, and a Z-axis translation component that drives the X-axis translation component, the Y-axis translation component and the folding robotic arm 12 to translate in the Z-axis direction; wherein the Y-axis translation component is perpendicular to the X-axis translation component in the vertical direction and perpendicular to the Z-axis translation component in the planar direction. The driving principles of the X-axis translation component, the Y-axis translation component and the Z-axis translation component are the same, and all include at least: a support plate for connecting support, a power source for providing driving force, a limiter for limiting the translation path, and a translation plate that is driven to move. The specific structure is a mechanical structure in the prior art that can convert rotational motion into linear motion, which is common knowledge in the field. Therefore, this application no longer explains the control method and structure in detail, and no detailed description is made here.

[0135] like Figure 3 As shown, in some embodiments, a movable frame 121 is installed at the free end of the folding robot arm 12, a plurality of negative pressure suction cups 122 are installed on the side of the movable frame 121, and an industrial CCD camera 123 is installed at the bottom.

[0136] It should be noted that one end of several negative pressure suction cups 122 is externally connected to a vacuum extraction device, and negative pressure is generated by the vacuum extraction device. When the negative pressure suction cups 122 contact the surgical drape, the air pressure difference between the two is increased, and adsorption is performed to achieve the grabbing and fixing of the drape, avoiding material deformation caused by mechanical clamping, and facilitating folding operations; the industrial CCD camera 123 is used for image capture, and can obtain information such as the position and shape of the surgical drape in real time, and transmit this information to the control system. The control system controls the folding robot arm 12 to perform precise folding and smoothing pressure actions based on the image information, ensuring that the surgical drape can be accurately folded in a predetermined manner, thereby improving the accuracy and efficiency of folding.

[0137] like Figure 4 As shown, in some embodiments, the vacuum packaging mechanism 32 includes: a fixed frame 321 fixed on the top of the packaging table 3, a vacuum pump 322 installed on the top of the fixed frame 321, and an opening and closing door 323 installed at both ends of the fixed frame 321 for lifting.

[0138] It should be noted that a sealing strip is provided at the bottom of the opening and closing door 323 and is in contact with the top of the conveyor belt 31. The lifting and lowering installation method of the opening and closing door 323 is a mechanical mechanism that can convert rotational motion into linear lifting motion. It is a universal standard part or a part known to those skilled in the art. Its structure and principle can be known to those skilled in the art through technical manuals or through conventional experimental methods, and will not be described in detail here.

[0139] Specifically, after the conveyor belt 31 transports the sterilized surgical drape placed inside the packaging bag into the fixed frame 321, the two sides of the fixed frame 321 are sealed with the conveyor belt 31 through the lifting and closing door 323. The vacuum pump 322 is started to extract the air in the enclosed space, so that the air in the packaging bag reaches a preset negative pressure value, reducing the possibility of bacterial growth and extending the storage time of the surgical drape. After the packaging is completed, the opening and closing door 323 rises, and the conveyor belt 31 continues to transport the packaged drape forward to enter the next packaging link.

[0140] In some embodiments, the bag mouth packaging mechanism 33 includes: a plurality of fixed cylinders 331 fixed on the top of the packaging table 3, a pressure plate 332 sleeved on the top of the plurality of fixed cylinders 331, and a hot pressing strip 333 fixed on the bottom of the pressure plate 332; a servo motor 334 is fixed on the top of the pressure plate 332, and a screw rod 335 is installed at the output end of the servo motor 334, and the side of the screw rod 335 is threadedly connected to the inner side of the fixed cylinder 331.

[0141] It should be noted that the heating strip 333 is heated by heat radiation or heat conduction, and the heating strip 333 is located on the top of the conveyor belt 31 .

[0142] Specifically, after the vacuumed packaging bag opening is transported to the bottom of the hot pressing strip 333 through the conveyor belt 31, the servo motor 334 is controlled to drive the screw rod 335 to rotate. Since the screw rod 335 is threadedly connected to the inner side of the fixed cylinder 331, the rotational movement of the screw rod 335 will be converted into a linear downward movement of the pressure plate 332, so that the pressure plate 332 moves downward with the hot pressing strip 333. After the bottom of the hot pressing strip 333 contacts the bag opening of the packaging bag, the bag opening is sealed by heating and applying pressure, completing the packaging operation of the bag opening, thereby realizing the packaging operation.

[0143] The above description is based on the ideal embodiment of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered as illustrative and non-restrictive in all respects. The scope of the present invention is defined by the appended claims, not the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be encompassed within the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0144] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An automated instant packaging method for preparing surgical drapes, suitable for surgical drapes with a hole in the middle and conductive fibers, characterized in that: The following steps are involved: S1, real-time capture of the drape image, positioning of the hole outline and acquisition of the hole coordinates; S2. Match the folding pattern according to the hole contour shape and generate a radial folding path with the hole center as the origin; S3, three-dimensional folding is performed according to the folding path, and after folding, smoothing downward pressure is applied to each section, and vacuum packaging is performed after sterilization; S4. Establish a mapping relationship library between hole size, shape and folding pattern, support real-time call, and dynamically adjust the distance and pressure between the crease and the cut edge based on the material mechanics model; In the step S2, the hole contour shapes include circular, rectangular and irregular holes; the folding modes include spiral radial folding, parallel fan-shaped folding and adaptive radial folding; The radial folding path is generated with the hole center As the origin, the folding path is generated in the polar coordinate system; The spiral radial folding: ;in, ; is the initial angle; is the angular interval; is the number of fold lines; Folding line equation: straight line in polar coordinates ;in, is the helical pitch; is the distance from the fold line to the center of the hole in the polar coordinate system; Parallel fan folding: parallel creases are generated along the long and short sides, with spacing based on the aspect ratio Adjust, when When the crease spacing is 10 mm, When , the crease spacing is 15mm; Folding line equation: a set of parallel lines in a rectangular coordinate system, symmetrically distributed along the x and y axes; The adaptive radial folding: based on equivalent diameter Dynamically assign fold line density: ;in, is the number of fold lines; Fold line angle interval .

2. The automated instant packaging method for preparing surgical drapes according to claim 1, characterized in that: In step S1, the drape image needs to be pre-processed after being captured, including grayscale conversion, noise reduction, contrast enhancement and binary segmentation; Based on the image segmentation algorithm U-Net, for the preprocessed image segmentation, the hole mask is output, and the mask is morphologically closed to fill small holes, extract the largest connected contour, and calculate the coordinates of the hole center: , ;in, are the contour pixel coordinates; is the total number of pixels.

3. The automated instant packaging method for preparing surgical drapes according to claim 1, characterized in that: In the step S3, the partition is divided into two parts, one is the hole center. As the origin, calculate any point on the drape surface Distance to center: ； According to the distance Zoning rules: Core area: ; Transition zone: ; Outer area: ; Smoothing downforce is applied by gradient pressure in different zones: The core area: constant pressure 0.1 N / cm 2 ~0.2 N / cm 2 ; The transition zone: linear pressure transition ;in, 0.3 N / cm 2 ~0.5N / cm 2 , follow Increase gradually; The peripheral zone: constant pressure 0.5 N / cm 2 ~0.6 N / cm 2 .

4. The automated instant packaging method for preparing surgical drapes according to claim 1, characterized in that: In step S3, the applied smoothing pressure is corrected according to the material deformation feedback, using the formula: ;in, It is real-time response; is the maximum allowable strain of the material; is the preset target pressure value; Maximum allowable pressure of conductive fiber mesh Determined by coating adhesion, formula: ;in, is the coating peeling force; is the contact area.

5. The automated instant packaging method for preparing surgical drapes according to claim 1, characterized in that: In the step S4, the material mechanics model is a linear elastic model of the drape material: ;in, is stress; is the elastic modulus; It is strain; Calculating the stress distribution in the crease area through simulation , identify the maximum stress ; The dynamic adjustment rules include crease spacing adjustment and smoothing pressure adjustment; The crease spacing adjustment: If , then increase the spacing: ； Pressure adjustment: Dynamically reduce target pressure according to regional pressure formula .

6. An automated instant packaging integrated device based on the automated instant packaging method for preparing surgical drapes according to any one of claims 1 to 5, characterized in that: include: Folding rack, sterilizer, packaging table, transfer robot and control system; A three-axis translation mechanism for achieving three-axis movement is installed on the top of the folding stand, and a folding mechanical arm for integrating image capture, folding, and smoothing and pressing is installed at the moving end of the three-axis translation mechanism; The sterilization cabinet is used to sterilize surgical drapes through ultraviolet light or high temperature; A conveyor belt is installed on the top of the packaging table, and a vacuum packaging mechanism and a bag-opening packaging mechanism are sequentially installed on the top of the conveyor belt in the conveying direction; The transfer robot arm is located between the folding stand, the sterilizer and the packaging table, and is used to realize the transfer operation of the drape; The control system is used to realize the automated instant packaging of surgical drapes using a programmable controller.

7. The automated instant packaging integrated device for an automated instant packaging method for preparing surgical drapes according to claim 6, characterized in that: A movable frame is installed at the free end of the folding mechanical arm, a plurality of negative pressure suction cups are installed on the side of the movable frame, and an industrial CCD camera is installed on the bottom.

8. The automated instant packaging integrated device for an automated instant packaging method for preparing surgical drapes according to claim 6, characterized in that: The vacuum packaging mechanism includes: a fixing frame fixed on the top of the packaging platform, a vacuum pump installed on the top of the fixing frame, and opening and closing doors installed at both ends of the fixing frame in a lifting manner.

9. The automated instant packaging integrated device for an automated instant packaging method for preparing surgical drapes according to claim 6, characterized in that: The bag mouth packaging mechanism includes: several fixed cylinders fixed on the top of the packaging table, a pressure plate sleeved on the top of the several fixed cylinders, and a hot pressing strip fixed on the bottom of the pressure plate; a servo motor is fixed on the top of the pressure plate, and a screw rod is installed at the output end of the servo motor, and the side of the screw rod is threadedly connected to the inner side of the fixed cylinder.

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