Intrascar injection treatment device

Abstract

The invention discloses an intrascar injection treatment device, and belongs to the field of medical equipment. Comprising a mechanical arm which is provided with an injection device and a microneedle device. The mechanical arm is used for driving the injection device and the microneedle device to move in the space; the microneedle device is used for puncturing scars; the injection device is used for providing a liquid medicament for treatment for the microneedle device, and the liquid medicament is injected into the scar through the microneedle device; according to the device, the mechanical arm carries the injection device and the microneedle device to flexibly act in the space, the injection process replaces manual work, the injection process is stable, and scar injection treatment automation is achieved.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a scar intra-injection treatment device. Background Art

[0002] Scars are a general term for the morphological and histopathological changes in skin tissue caused by various traumatic events. Scars are essentially abnormal, dysfunctional tissue that lacks the normal structure and physiological functions of skin tissue and loses its vitality. Scars not only diminish the appearance of the body but can also impair the physiological functions of related tissues or organs, and even cause deformities.

[0003] At present, the use of intra-scar injection therapy is a relatively effective treatment method, mainly injecting glucocorticoid drugs. The traditional treatment process uses an ordinary syringe for artificial injection treatment. During treatment, it is necessary to insert the syringe into different positions of the scar tissue multiple times for repeated injections to achieve the desired treatment effect. In addition, artificial injection is not stable enough and the patient feels very painful. Since the treatment course of scars is long, patients need to go to the hospital for injections of drugs multiple times. During the entire treatment course, the patient's treatment experience is extremely poor. In order to solve this problem, the prior art provides a solution for injection treatment using a microneedle array. For example, the Chinese invention patent with announcement number CN111991691A discloses a microneedle-assisted drug delivery system for the treatment of keloids. However, the microneedle injection process still relies on the experience of the physician for operation, and the injection process is unstable. Summary of the Invention

[0004] The purpose of the present invention is to provide a scar intra-injection treatment device, which is an automatic injection device for scar treatment.

[0005] The technical solution adopted in the present invention is as follows:

[0006] The present invention provides a scar intra-injection treatment device, comprising a robotic arm on which an injection device and a microneedle device are mounted; the robotic arm is used to drive the injection device and the microneedle device to move in space; the microneedle device is used to puncture the scar; the injection device is used to provide a liquid medicine for treatment to the microneedle device, and the liquid medicine is injected into the scar through the microneedle device.

[0007] Furthermore, the robotic arm includes a first rotating base, on which are arranged a first-level rotating arm, a second-level rotating arm, and a third-level rotating arm that are rotated and connected together in sequence; a mounting frame is arranged at the end of the third-level rotating arm, on which an injection device and a microneedle device are arranged.

[0008] Furthermore, the mounting frame includes a box body, a second rotating table that can rotate is installed at the bottom of the box body, and a driving motor for driving the second rotating table to rotate is installed inside the box body; an octagonal first shell is installed on the second rotating table, an injection device is installed on one of the side surfaces of the first shell, and a microneedle device is installed on the bottom surface of the first shell.

[0009] Furthermore, the injection device includes a drug liquid storage container and an injection drive mechanism. The drug liquid storage container is used to store drug liquid, and the drug liquid storage container is connected to the microneedle device through an infusion tube; the injection drive mechanism is used to squeeze the drug liquid in the drug liquid storage container into the infusion tube, and the drug liquid enters the microneedle device through the infusion tube, and finally is injected into the scar through the microneedle array in the microneedle device.

[0010] Furthermore, the injection drive mechanism is a ball screw mechanism driven by a motor, and the nut seat in the ball screw mechanism is connected to the injection piston; the injection piston can extend into the liquid medicine storage container to squeeze out the liquid medicine.

[0011] Furthermore, a liquid adding pipe is provided on the side of the liquid medicine storage container, and a liquid adding valve is provided on the liquid adding pipe.

[0012] Furthermore, the liquid medicine storage container is detachably installed below the injection drive mechanism.

[0013] Furthermore, the microneedle device includes a sleeve, a microneedle body, a body driving member, and a reset structure; the sleeve is installed at the bottom of the first shell, the microneedle body is movably installed in the sleeve, the top of the microneedle body is connected to the body driving member arranged in the first shell, the bottom of the microneedle body is installed with a microneedle array, and the microneedle array is connected to the infusion tube; the body driving member is used to drive the microneedle body to move downward, thereby pushing the microneedle array to penetrate the scar; the reset structure is used to drive the microneedle body to move upward, so that the microneedle array exits the scar.

[0014] Furthermore, an impact piston is provided in the main driving member, and the impact piston is driven to move by electromagnetic or fluid, and the end of the impact piston is used to impact the top of the microneedle body.

[0015] Furthermore, a camera is provided on the outer side of the first shell, and the camera is used to capture the scar image; a distance measuring sensor is provided on the outer side of the first shell, and the distance measuring sensor is used to measure the distance between the microneedle array and the patient's skin.

[0016] The beneficial effects of the present invention are: the present invention provides a scar intra-injection treatment device, which uses a robotic arm to carry an injection device and a microneedle device to flexibly move in space, replaces manual labor in the injection process, and the injection process is stable, thereby realizing the automation of scar injection treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1Shown is a diagram showing the overall structure of an internal injection treatment device provided by this application.

[0018] Figure 2 Shown is a structural display diagram on the mounting frame of this application.

[0019] Figure 3 Shown is a top view of the mounting bracket of the present application.

[0020] Figure 4 Shown is a structural diagram of an injection device of the present application.

[0021] Figure 5 Shown is a diagram showing the detachable structure of the liquid medicine storage container of the present application.

[0022] Figure 6 The figure shows a movable half container and a fixed half container of the present application being rotatably connected via a rotating shaft.

[0023] Figure 7 Shown is a diagram showing a detachable connection structure of an infusion tube and an injection device provided in the present application.

[0024] Figure 8 Shown is a diagram showing the connection between the injection device and the microneedle device of the present application.

[0025] Figure 9 Shown is Figure 8 side sectional view of .

[0026] Figure 10 Shown is a schematic diagram of the internal structure of the electromagnetic excitation valve.

[0027] Figure 11 Shown is a diagram showing the installation structure of the spring support body of the present application.

[0028] Figure 12 Shown is a diagram showing the internal structure of the connecting seat of the main body of this application.

[0029] Figure 13 Shown is a diagram showing the bottom structure of the microneedle holder of the present application.

[0030] Figure 14 The structure of the microneedle seat in the assembled form of this application is shown Figure 1 .

[0031] Figure 15 The structure of the microneedle seat in the assembled form of this application is shown Figure 2 .

[0032] Figure 16 Shown is a linearly arranged microneedle array plate provided by the present application.

[0033] Figure 17Shown is a circularly arranged microneedle array plate provided by the present application.

[0034] Figure 18 Shown is a microneedle array plate provided by the present application that is arranged in a circular shape and has a depression in the middle.

[0035] Figure 19 Shown is a circularly arranged microneedle array plate with a protrusion in the middle provided by the present application.

[0036] Figure 20 Shown is a display diagram of the guiding structure of this application.

[0037] Figure 21 Shown is a structural diagram of a blocking mechanism of the present application.

[0038] Figure 22 Shown is a diagram showing the installation structure of the controller of this application.

[0039] Figure 23 Shown is an application form of the scar intra-injection treatment device of the present application.

[0040] Description of reference numerals:

[0041] Robotic arm A, first rotating base A1, first rotating platform A101, first articulated base A102, first rotating arm A2, second rotating arm A3, third rotating arm A4, first drive motor A5, second drive motor A6, third drive motor A7, mounting bracket A8, box body A801, second rotating platform A802, first shell A803; injection device B, liquid storage container B1, liquid adding tube B101, liquid adding valve B102, elastic sealing ring B103; injection drive mechanism B2, injection drive motor B201 , ball screw B202, first guide rod B203, injection piston B204, second shell B205, shell body B205.1, upper end cover B205.2, lower connecting seat B205.3, nut seat B206; infusion tube B3, threaded connector B301, metal connecting tube B302; first bracket B4; combined container B5, fixed half container B501, movable half container B502, upper clamp B502.1, lower clamp B502.2, connecting column B502.3, semicircular notch B502.4; Container base B503, drainage hole B503.1, locking plate B504, threaded locking piece B505; microneedle device C, sleeve C1, threaded connector C101, shell cover C102, guide protrusion C102.1, electric telescopic rod C103, annular support plate C104; microneedle body C2, main rod C201, microneedle seat C202, main seat body C202.1, microneedle cover C202.2, liquid injection port C202.3, sliding piece C202.4; pressing plate C203, microneedle array plate C204, main Body driving part C3, impact piston C301, reset structure C4, spring support body C401, microneedle array C5; electromagnetic excitation valve C6, electromagnetic piston C601, excitation coil C602, reset spring C603, fixed iron core C604, linear bearing C605, rubber impact head C606; main body connecting seat C7, boss C701; camera bracket D, camera D1, ranging sensor E, ultrasonic probe F, blocking telescopic cylinder G, arc-shaped clamping part G1, elastic diaphragm H, controller I, two-axis moving system J. DETAILED DESCRIPTION

[0042] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0045] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0046] See also Figure 1 The figure shows the overall structure of an intraoperative injection treatment device provided by the present application. The intraoperative injection treatment device for scars provided in an embodiment of the present application primarily comprises a robotic arm A, an injection device B, and a microneedle device C mounted on robotic arm A. Robotic arm A is used to move injection device B and microneedle device C in space, enabling microneedle device C to align with a scar on the patient's body; microneedle device C is used to penetrate the scar; and injection device B is used to deliver a therapeutic liquid agent to microneedle device C, which is then injected into the scar via microneedle device C.

[0047] The robotic arm A in this application may have various optional forms. This application does not limit the specific form of the robotic arm A, as long as it can meet the technical requirement of "moving the injection device B and the microneedle device C in space so that the microneedle device C can be aligned with the scar on the patient's body." The following example illustrates the specific structure of an optional robotic arm A.

[0048] In a specific embodiment of the present application, the robotic arm A includes a first rotating base A1, on which are provided a first-stage rotating arm A2, a second-stage rotating arm A3, and a third-stage rotating arm A4 that are rotatably connected together in sequence. Specifically, a first rotating platform A101 that can rotate is provided on the first rotating base A1, and a drive motor for driving the first rotating platform A101 to rotate is installed inside the first rotating base A1; a first articulated seat A102 is installed on the first rotating platform A101, and one end of the first-stage rotating arm A2 is rotatably connected to the first articulated seat A102, and a first drive motor A5 is installed on the first articulated seat A102, and the first drive motor A5 drives the first-stage rotating arm A2 to rotate; in the embodiment shown in the figure, the first articulated seat A102 is composed of two symmetrically arranged support plates, and one end of the first-stage rotating arm A2 is rotatably connected between the two support plates. The first drive motor A5 is installed on the outside of the two support plates, and the drive shaft of the first drive motor A5 is connected to the first-stage rotating arm A2.

[0049] The other end of the primary rotating arm A2 is rotatably connected to one end of the secondary rotating arm A3 , and a second driving motor A6 is installed on the primary rotating arm A2 , and the secondary rotating arm A3 is driven to rotate by the second driving motor A6 . Figure 1 In the illustrated embodiment, a rotational connection slot is formed at one end of the primary rotating arm A2 that connects to the secondary rotating arm A3. Secondary rotating arm A3 is rotationally connected within the rotational connection slot. A second drive motor A6 is mounted outside the rotational connection slot, and the drive shaft of second drive motor A6 is connected to secondary rotating arm A3.

[0050] The other end of the secondary rotating arm A3 is rotatably connected to one end of the tertiary rotating arm A4. A third driving motor A7 is installed on the tertiary rotating arm A4, and the tertiary rotating arm A4 is driven to rotate by the third driving motor A7. Figure 1 In the illustrated embodiment, a rotatable connection slot is formed at one end of the tertiary rotating arm A4, which connects to the secondary rotating arm A3. Secondary rotating arm A3 is rotatably connected within the rotatable connection slot. A third drive motor A7 is mounted outside the rotatable connection slot. A mounting bracket A8 is located at the distal end of the tertiary rotating arm A4, upon which the injection device B and microneedle device C are mounted.

[0051] like Figure 2 Shown is a structural display diagram on the mounting frame A8 of this application. Figure 3 Shown is a top view of the mounting bracket A8 of the present application. Figure 2 The mounting frame A8 shown in the figure includes a rectangular box body A801, a rotatable second rotating table A802 is installed at the bottom of the box body A801, and a driving motor for driving the second rotating table A802 to rotate is installed inside the box body A801; an octagonal first shell A803 is installed on the second rotating table A802, an injection device B is installed on one of the side surfaces of the first shell A803, and a microneedle device C is installed on the bottom surface of the first shell A803.

[0052] In a preferred embodiment of the present application, the lengths of the primary rotating arm A2, secondary rotating arm A3, and tertiary rotating arm A4 decrease in sequence. The robotic arm A has five rotating joints, mimicking the structure of a human arm. This allows for high flexibility, allowing for free adjustment of length and angle in space to accurately align with the patient's scar.

[0053] In this application, the injection device B mainly includes a drug liquid storage container B1 and an injection drive mechanism B2, wherein the drug liquid storage container B1 is used to store drug liquid, and the drug liquid storage container B1 is connected to the microneedle device C through an infusion tube B3; the injection drive mechanism B2 is used to squeeze the drug liquid in the drug liquid storage container B1 into the infusion tube B3, and the drug liquid enters the microneedle device C through the infusion tube B3, and finally is injected into the scar through the microneedle array C5 in the microneedle device C.

[0054] like Figure 4 The figure shows the structure of an injection device B of the present application. In a specific embodiment of the present application, a first bracket B4 is provided on one side of an octagonal first housing A803, and an injection drive mechanism B2 is mounted on the first bracket B4. The injection drive mechanism B2 shown in the figure includes an injection drive motor B201, a ball screw B202, a first guide rod B203, and an injection piston B204. The injection drive mechanism B2 is entirely mounted within a closed second housing B205. The second housing B205 shown in the figure is in the shape of a rectangular parallelepiped and is assembled from a housing body B205.1, an upper end cover B205.2, and a lower connecting seat B205.3. The front side panel of the housing body B205.1 is a detachable structure. Figure 4 The front side panel of the Lieutenant General was removed to reveal its internal structure.

[0055] like Figure 4 As shown in the figure, a ball screw B202 is vertically mounted within the second housing B205. Two vertical first guide rods B203 are symmetrically mounted on either side of the ball screw B202. A nut holder B206 is mounted on the ball screw B202, which has through-holes through which the two first guide rods B203 pass. The side of the nut holder B206 is connected to the injection piston B204. The top end of the ball screw B202 passes through the upper end cap B205.2 of the second housing B205 and is connected to the injection drive motor B201, which drives the injection piston B204 up and down. A piston through-hole is provided in the lower connecting seat B205.3 at the bottom of the second housing B205. A liquid medicine storage container B1 is mounted below the second housing B205, and the piston through-hole is connected to the liquid medicine storage container B1. The injection piston B204 can pass through the piston through-hole provided in the lower connecting seat B205.3 and enter the liquid medicine storage container B1. A liquid outlet is provided on the bottom surface of the liquid medicine storage container B1, and the liquid outlet is connected to the infusion tube B3.

[0056] In the above-mentioned injection device B, the injection drive motor B201 drives the injection piston B204 to move downward, so as to press the drug in the drug storage container B1 into the infusion tube B3.

[0057] In a specific embodiment of the present application, the liquid medicine storage container B1 is preferably made of glass so that the height of the liquid medicine inside can be seen. Of course, other medical materials can also be used. A liquid adding pipe B101 is set on the side of the liquid medicine storage container B1, and a liquid adding valve B102 ( Figure 5 ), open the liquid adding valve B102, add liquid medicine into the liquid medicine storage container B1 through the liquid adding pipe B101, and close the liquid adding valve B102 after the addition is completed.

[0058] Furthermore, the liquid medicine storage container B1 needs to be cleaned after each use of the injection device B to ensure the purity of the liquid medicine next time. In one embodiment of the present application, the liquid medicine storage container B1 is designed to be detachable. The specific solution is as follows.

[0059] like Figure 5 The figure shows the detachable structure of the liquid medicine storage container B1 of the present application. As shown in the figure, a combined container B5 is provided below the second shell B205. The combined container B5 consists of two half containers and a container base B503. One half container is a fixed half container B501 and the other half container is a movable half container B502. The two half containers can be combined into a complete cylindrical accommodating cavity, in which the cylindrical liquid medicine storage container B1 can be fixed. Specifically, as shown in FIG. Figure 4 、 Figure 5 As shown in FIG, a container base B503 is mounted at the bottom of the first bracket B4. A drainage hole B503.1 is provided on the container base B503, which faces the piston hole on the upper lower connecting seat B205.3. A combined container B5 is mounted between the lower connecting seat B205.3 and the container base B503. A fixed half container B501 is mounted between the lower connecting seat B205.3 and the container base B503. A semi-cylindrical receiving groove is formed in the center of the fixed half container B501. An elastic rubber layer can be provided within the receiving groove to elastically contact the liquid medicine storage container B1. The drainage hole B503.1 on the container base B503 is located at the center of the receiving groove, and its diameter is smaller than that of the receiving groove.

[0060] like Figure 5As shown, the movable semi-container B502 includes an upper clamp B502.1, a lower clamp B502.2, and connecting posts B502.3. The upper clamp B502.1 and the lower clamp B502.2 have the same structure and are symmetrically arranged vertically. The upper clamp B502.1 and the lower clamp B502.2 are connected by multiple connecting posts B502.3. A semicircular notch B502.4 is formed in the upper clamp B502.1 and the lower clamp B502.2. The semicircular notch B502.4 faces the fixed semi-container B501. An elastic rubber layer can be provided on the inner wall of the semicircular notch B502.4 to elastically contact the liquid medicine storage container B1. The edge of the movable semi-container B502 is rotatably connected to the edge of the fixed semi-container B501 via a rotating shaft, as shown in FIG. Figure 6 The figure shows that the movable half container B502 and the fixed half container B501 are connected by a rotating shaft. Figure 4 As shown in the figure, after the movable half-container B502 and the fixed half-container B501 are closed, the tubular liquid medicine storage container B1 is fixed between the lower connecting seat B205.3 and the container base B503. The upper clamp B502.1 squeezes the upper edge of the tubular liquid medicine storage container B1, and the lower clamp B502.2 squeezes the lower edge of the tubular liquid medicine storage container B1. At this point, the piston hole on the lower connecting seat B205.3, the liquid medicine storage container B1, and the drainage hole B503.1 on the container base B503 are coaxial and interconnected. At this time, the injection piston B204 can pass through the piston hole and enter the liquid medicine storage container B1, squeezing the liquid medicine in the liquid medicine storage container B1 downward through the drainage hole B503.1 and into the infusion tube B3.

[0061] Furthermore, in order to ensure that the upper and lower edges of the tubular medicine liquid storage container B1 are well sealed and to prevent the medicine from leaking from the edges during the injection process, in a specific embodiment of the present application, an elastic sealing ring B103 is provided on the upper and lower edges of the tubular medicine liquid storage container B1, which can not only protect the edges of the medicine liquid storage container B1, but also ensure sealing after installation.

[0062] Furthermore, to ensure that the fixed half-container B501 and the movable half-container B502 can securely hold the tubular liquid medicine storage container B1, two opposing locking plates B504 are positioned at the edges of the fixed half-container B501 and the movable half-container B502. These locking plates B504 have threaded holes, through which a threaded locking member B505 passes to connect the two. The threaded locking member B505 consists of a threaded rod and a knob. By turning the threaded locking member B505, the pressure of the combined container B5 against the liquid medicine storage container B1 can be adjusted.

[0063] Furthermore, in this application, the infusion tube B3 and the injection device B can be designed as a detachable connection structure, and the infusion tube B3 is disposable. Figure 7 The figure shows a detachable connection structure of an infusion tube B3 and an injection device B provided by the present application. Figure 7 As shown in the figure, the drainage hole B503.1 on the bottom surface of the container base B503 is connected to one end of the infusion tube B3 through a threaded connector B301. The threaded connector B301 and the infusion tube B3 are an integral structure or a detachable connection structure. The threaded connector B301 is threadedly connected to the drainage hole B503.1 on the bottom surface of the container base B503.

[0064] like Figure 8 The figure shows the connection between the injection device B and the microneedle device C. The middle of the infusion tube B3 is a soft tube, and the bottom end of the infusion tube B3 is connected to the microneedle device C. Figure 9 Shown is Figure 8 Side cross-sectional view of .

[0065] like Figure 9 As shown in , the microneedle device C in this application mainly includes a sleeve C1, a microneedle body C2, a main driving member C3, and a reset structure C4. The sleeve C1 is installed at the bottom of the first shell A803, and the microneedle body C2 is movably installed in the sleeve C1. The top of the microneedle body C2 is connected to the main driving member C3 set in the first shell A803, and the bottom of the microneedle body C2 is installed with a microneedle array C5, which is connected to the infusion tube B3; the main driving member C3 is used to drive the microneedle body C2 to move downward, so that the microneedle array C5 quickly penetrates the scar; the reset structure C4 is used to drive the microneedle body C2 to move upward, so that the microneedle array C5 exits the scar.

[0066] In one embodiment of the present application, the structure of the microneedle device C is designed as follows. Figure 9 As shown in the figure, the top opening of the first shell A803 is threadedly connected to the bottom of the second rotating table A802, and the main driving part C3 is set in the internal cavity of the first shell A803; in this application, an impact piston C301 is set in the main driving part C3, and the impact piston C301 is driven to move by electromagnetic or fluid (gas or liquid). The end of the impact piston C301 is used to hit the top of the microneedle body C2, thereby driving the microneedle array C5 on the microneedle body C2 to quickly penetrate the scar.

[0067] In this application, the main driving member C3 can be specifically an electromagnetic excitation valve C6 or an impact cylinder; Figure 10Figure 1 shows the internal structure of electromagnetic excitation valve C6. It comprises a housing housing a movable electromagnetic piston C601 (i.e., moving iron core) surrounded by an excitation coil C602. The top of electromagnetic piston C601 is connected to fixed iron core C604 via a return spring C603. The bottom of electromagnetic piston C601 extends out of the housing through a linear bearing C605. A rubber impact head C606 is preferably mounted on the bottom of electromagnetic piston C601.

[0068] The working principle of the electromagnetic excitation valve C6 is as follows: the electromagnetic excitation valve C6 controls the movement of the electromagnetic piston C601 through the switching circuit; specifically, when the excitation coil C602 is energized, the generated electromagnetic force will cause the electromagnetic piston C601 to overcome the resistance of the reset spring C603 and move upward to a specific position; when the excitation coil C602 is de-energized, the electromagnetic force disappears, and the electromagnetic piston C601 is reset under the action of the reset spring C603, and the rubber impact head C606 of the electromagnetic piston C601 quickly hits the top of the microneedle body C2, thereby driving the microneedle array C5 on the microneedle body C2 to quickly penetrate the scar.

[0069] The impact cylinder is an existing product, and its structure is not described in detail in this application. Its operating principle is to drive the piston to move rapidly by inputting compressed air. In addition to the electromagnetic excitation valve C6 and the impact cylinder, other mechanical drive structures such as cam mechanisms can also be used, and this application does not limit them.

[0070] like Figure 9 As shown in FIG, a main body connection base C7 is installed at the bottom of the first shell A803, a threaded connection hole is set at the bottom of the main body connection base C7, a downwardly protruding boss C701 is formed in the center of the internal cavity of the main body connection base C7, and a through hole is opened in the center of the boss C701 ( Figure 12 As shown in FIG, a through hole is provided at the center of the bottom of the first housing A803. The through hole at the center of the boss C701 is located at the same position as the through hole at the bottom of the first housing A803 and is interconnected. The impact piston C301 passes through the through hole at the center of the bottom of the first housing A803 and extends into the through hole at the center of the boss C701.

[0071] like Figure 9 As shown in , the top of the sleeve C1 is provided with a circular threaded connection body C101, and the top of the sleeve C1 is threadedly connected to the threaded connection hole of the main connecting seat C7; the upper surface of the threaded connection body C101 is provided with a reset structure C4; in a specific embodiment of the present application, the reset structure C4 is a plurality of spring support bodies C401 arranged in an annular array on the upper surface of the threaded connection body C101; specifically, as Figure 11 Shown is a diagram showing the installation structure of the spring support body C401 of the present application. Figure 12The figure shows the internal structure of the main connecting seat C7 of this application. The upper surface of the threaded connector C101 is provided with a circular array of mounting holes, and a spring support body C401 is installed in each mounting hole. The spring support body C401 consists of a contact and a spring at the bottom of the contact. Figure 9 As shown in FIG, a cylindrical shell C102 with an open bottom is installed at the bottom end of the sleeve C1.

[0072] like Figure 9 As shown in , the microneedle body C2 is movably installed in the sleeve C1; specifically, the microneedle body C2 includes a main rod C201, a microneedle seat C202, and a pressure plate C203. The main rod C201 passes upward through the sleeve C1 and extends into the main connecting seat C7, and the top of the main rod C201 further extends into the through hole in the center of the boss C701, and is opposite to the impact piston C301 up and down. A circular pressure plate C203 is provided on the outer surface of the main rod C201 below the boss C701. The pressure plate C203 is located in the space between the threaded connector C101 and the boss C701, and can move up and down between the two. The pressure plate C203 is located above the spring support body C401. During the downward movement of the pressure plate C203, the spring support body C401 will be pressed down. The spring support body C401 is used to drive the pressure plate C203 to reset. As shown in Figure 9 As shown in FIG, by rotating the threaded connector C101, the movable space of the pressing plate C203 can be adjusted.

[0073] The micro needle seat C202 is installed at the bottom of the main rod C201. Figure 9 The microneedle seat C202 is cylindrical and is located in the shell cover C102 at the bottom end of the sleeve C1. The microneedle seat C202 can move up and down relative to the shell cover C102. Figure 13 The bottom surface of the microneedle holder C202 is shown in the figure. The bottom surface of the microneedle holder C202 is mounted with a microneedle array plate C204, on which a microneedle array C5 is formed.

[0074] The present application further provides a microneedle seat C202 in an assembled form, such as Figure 14 The structure of the microneedle holder C202 in the assembled form of this application is shown as follows Figure 1 . Figure 15 The structure of the microneedle holder C202 in the assembled form of this application is shown as follows Figure 2 The assembled microneedle holder C202 is composed of a main holder body C202.1 and a microneedle cover C202.2. Figure 15 As shown in the figure, a circular groove is formed on the lower surface of the main body C202.1, and an annular flange is formed on the edge of the upper surface of the microneedle cover C202.2. The microneedle cover C202.2 is installed on the lower surface of the main body C202.1 to seal the groove, forming a liquid storage chamber inside; the annular flange and the groove of the main body C202.1 can be designed to be threaded. Figure 15 As shown in FIG, the top surface of the main seat body C202.1 is provided with a liquid injection port C202.3, and the liquid injection port C202.3 is connected to the infusion tube B3. Figure 14 As shown in FIG, a metal connecting tube B302 is provided at one end of the infusion tube B3 connected to the injection port C202.3. The metal connecting tube B302 is inserted into the injection port C202.3 or threadedly connected therein. A microneedle array plate C204 is embedded in the microneedle cover C202.2, and a microneedle array C5 is formed on the microneedle array plate C204.

[0075] The above-mentioned assembled microneedle holder C202 facilitates the replacement of microneedle array plates C204 with different arrangement forms, thereby meeting the treatment needs of scars of different shapes. Common scar shapes include earthworm-shaped (long strips) and keloids (irregular shapes). By customizing the microneedle array plate C204, the treatment needs of different patients' scars can be met. Figure 16 The figure shows a linearly arranged microneedle array plate C204 provided by the present application. Figure 17 The figure shows a circular arrangement of microneedle array plates C204 provided by the present application. These two types of microneedle array plates C204 can be applied to most scar treatments. In addition, since scars can be convex or concave, the microneedle array plates C204 can also be arranged in an array in both concave and convex forms. Figure 18 Shown is a microneedle array plate C204 provided by the present application, which is arranged in a circular shape and has a depression in the middle. Figure 19 Shown is a microneedle array plate C204 provided by the present application, which is arranged in a circular shape and has a protrusion in the middle.

[0076] Furthermore, in order to prevent the microneedle body C2 from rotating during movement, a guide structure can be provided in the shell cover C102 at the bottom of the sleeve C1. Figure 20 The figure shows the guide structure of the present invention. Two vertical guide protrusions C102.1 are symmetrically arranged on the inner wall of the housing C102, and a corresponding sliding member C202.4 is provided on the main base C202.1. Sliding members C202.4 have a sliding groove on one side of the sliding members C202.4 facing the guide protrusions C102.1, and the sliding members C202.4 are slidably connected to the guide protrusions C102.1.

[0077] In this application, the shell cover C102 at the bottom of the sleeve C1 mainly plays the role of protecting the microneedle seat C202. When not in use, the microneedle seat C202 is retracted inside the shell cover C102. In this application, the shell cover C102 can be further improved into a movable form, that is, the shell cover C102 can be moved along the sleeve C1, so that the microneedle seat C202 can be fully exposed when replacing the microneedle cover C202.2, making replacement easier. Specifically, Figure 20As shown in the figure, a circular connection port is provided on the top surface of the shell cover C102, through which the bottom of the sleeve C1 passes. An electric telescopic rod C103 is provided above the shell cover C102 and on the outer side of the sleeve C1. One end of the electric telescopic rod C103 is connected to the shell cover C102, and the other end is connected to an annular support plate C104 on the outer side of the sleeve C1. The electric telescopic rod C103 controls the movement of the shell cover C102 along the sleeve C1. In the embodiment shown in the figure, three electric telescopic rods C103 are arranged in a circular array. The movable shell cover C102 can also cover the scar during injection treatment, pressing the skin around the scar edge, making it easier for the microneedles to penetrate the scar.

[0078] Furthermore, in order to enable the device to automatically align with the scar, a camera position adjustment system may be provided in a specific embodiment of the present application. Specifically, a camera D1 is provided on the outer side of the first shell A803, and the scar image is captured by the camera D1, and the scar position coordinates are analyzed to control the movement of the robot arm A so that the microneedle array C5 covers the scar. Specifically, as Figure 2 、 Figure 3 As shown in the figure, four camera brackets D are arranged in a circular array outside the octagonal first shell A803, and a camera D1 is installed on each camera bracket D. In this application, the center of the microneedle array C5 is used as the reference coordinate origin; the scar image is collected by four cameras D1, the scar edge contour is obtained according to the scar image, and then the center point position coordinates of the contour are calculated according to the scar edge contour; the difference between the center point position coordinates of the scar edge contour and the reference coordinates of the microneedle array C5 is compared to obtain the spatial movement distance information; in addition, a distance sensor E is also provided on the outer side of the first shell A803, and the distance sensor E is used to measure the distance between the microneedle array C5 and the patient's skin. All distance information is converted into an electrical signal by the controller I to control the movement of the robotic arm A so that the microneedle array C5 is accurately aligned with the scar and the injection action is performed.

[0079] Further, such as Figure 20 As shown in , in order to dynamically monitor the tissue status of the scar during the injection process, multiple groups of ultrasonic probes F can be set at the bottom edge of the shell cover C102. The multiple groups of ultrasonic probes F are distributed in different directions to monitor the scar from different angles.

[0080] When an injection abnormality is detected, such as when the injection pressure exceeds a preset value, the infusion of the liquid medicine needs to be stopped immediately; for this purpose, in a specific embodiment of the present application, a blocking mechanism is provided at one end of the infusion tube B3. Figure 21The figure shows the structure of a blocking mechanism according to the present application. In this embodiment, the blocking mechanism is located at the bottom of the container base B503 and comprises two opposing telescopic blocking cylinders G, which are electrically or pneumatically driven. The piston rods of the two blocking cylinders G have opposing curved clamping portions G1 at their ends. These curved clamping portions G1 are located on either side of the flexible tube of the infusion tube B3. When the injection pressure exceeds a preset value, the two curved clamping portions G1 rapidly close together, clamping the flexible tube between them and preventing liquid from being transported to the microneedle device C.

[0081] Furthermore, in a specific embodiment of the present application, a controller 1 may be provided on the robot arm A, such as Figure 22 Figure 1 shows the installation structure of the controller 1 of the present application. In the embodiment shown, the controller 1 is mounted on a secondary rotating arm A3 via a bracket. The controller 1 is equipped with a display screen and a control unit, which includes at least a displacement control unit, an injection control unit, and a microneedle device C motion control unit. The displacement control unit is used to control the rotation of the drive motors on the robotic arm A, thereby aligning the microneedle array C5 with the patient's scar. The displacement control unit can be used in conjunction with the aforementioned camera position adjustment system. In practice, the displacement control unit first performs coarse spatial adjustment, followed by fine adjustment using the camera position adjustment system. The injection control unit controls the injection device B to start or stop the injection, that is, controls the movement of the injection piston B204. The microneedle device C motion control unit controls the puncture movement of the microneedle array C5. The display displays the patient's personal information, injection process information, and ultrasound images captured by the ultrasound probe F and camera D1. Personal information includes name, age, and number of injection treatments; injection process information includes the name and dosage of the currently injected medication. Ultrasound images allow physicians to monitor the scar tissue status in real time during the injection process and make timely adjustments to the injection process. The image captured by the camera D1 is used for observation during the process of adjusting the position of the scar. The controller I can also record the scar image information captured by the camera D1, thereby recording the changes of the scar during the entire treatment process.

[0082] Further, such as Figure 13As shown in , a pressure relief hole can also be provided on the microneedle cover C202.2. The pressure relief hole is connected to the liquid medicine storage chamber inside the microneedle holder C202. The pressure relief hole is sealed by an elastic diaphragm H, and the elastic diaphragm H deforms and ruptures under a preset pressure. The function of the above structure is that when the microneedle array C5 is blocked and the liquid medicine cannot be discharged through the microneedle array C5, when the pressure in the liquid medicine storage chamber increases to exceed the rupture limit of the elastic diaphragm H, the elastic diaphragm H ruptures to achieve the pressure relief function. Preferably, the elastic diaphragm H adopts a multi-layer composite diaphragm, which is composed of an outer layer of corrosion-resistant metal foil (such as Hastelloy) and an inner layer of elastic polymer (such as polytetrafluoroethylene), and a pre-cut weakening line in the central area forms a rupture zone.

[0083] Further, such as Figure 23 The figure shows an application of the intra-scar injection treatment device described above. The intra-scar injection treatment device is integrally mounted on a two-axis motion system J, which can be mounted in the air or fixed to a roof. The two-axis motion system J is used to drive the intra-scar injection treatment device for long-distance movement in space. A bed or chair is positioned beneath the two-axis motion system J. During treatment, the patient lies on the bed or sits on the chair.

[0084] The above-mentioned intra-scar injection treatment device provided in the present application is equipped with an injection device B and a microneedle device C, which can move flexibly in space. The injection process replaces manual labor, the injection process is stable, and the automation of scar injection treatment is realized.

[0085] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A scar injection treatment device, characterized in that: The invention comprises a robotic arm (A), on which an injection device (B) and a microneedle device (C) are mounted; the robotic arm (A) is used to drive the injection device (B) and the microneedle device (C) to move in space; the microneedle device (C) is used to puncture scars; the injection device (B) is used to provide a liquid medicine for treatment to the microneedle device (C), and the liquid medicine is injected into the scar through the microneedle device (C).

2. The scar injection treatment device according to claim 1, characterized in that: The robotic arm (A) comprises a first rotating base (A1), on which a primary rotating arm (A2), a secondary rotating arm (A3), and a tertiary rotating arm (A4) are arranged, which are connected to rotate in sequence; a mounting frame (A8) is arranged at the end of the tertiary rotating arm (A4), and an injection device (B) and a microneedle device (C) are arranged on the mounting frame (A8).

3. The scar injection treatment device according to claim 2, characterized in that: The mounting frame (A8) includes a box body (A801), a second rotating platform (A802) capable of rotating is installed at the bottom of the box body (A801), and a driving motor for driving the second rotating platform (A802) to rotate is installed inside the box body (A801); an octagonal first shell (A803) is installed on the second rotating platform (A802), an injection device (B) is installed on one side of the first shell (A803), and a microneedle device (C) is installed on the bottom surface of the first shell (A803).

4. The scar injection treatment device according to claim 3, characterized in that: The injection device (B) includes a liquid medicine storage container (B1) and an injection drive mechanism (B2). The liquid medicine storage container (B1) is used to store liquid medicine, and the liquid medicine storage container (B1) is connected to the microneedle device (C) via an infusion tube (B3); the injection drive mechanism (B2) is used to squeeze the liquid medicine in the liquid medicine storage container (B1) into the infusion tube (B3), and the liquid medicine enters the microneedle device (C) through the infusion tube (B3), and finally is injected into the scar through the microneedle array (C5) in the microneedle device (C).

5. The scar injection treatment device according to claim 4, characterized in that: The injection drive mechanism (B2) is a ball screw mechanism driven by a motor, and the nut seat (B206) in the ball screw mechanism is connected to the injection piston (B204); the injection piston (B204) can extend into the liquid medicine storage container (B1) to squeeze out the liquid medicine.

6. The scar injection treatment device according to claim 4, characterized in that: A liquid adding pipe (B101) is provided on the side of the liquid medicine storage container (B1), and a liquid adding valve (B102) is provided on the liquid adding pipe (B101).

7. The scar injection treatment device according to claim 4, characterized in that: The liquid medicine storage container (B1) is detachably mounted below the injection drive mechanism (B2).

8. The scar injection treatment device according to claim 3, characterized in that: The microneedle device (C) includes a sleeve (C1), a microneedle body (C2), a main driving member (C3), and a reset structure (C4); the sleeve (C1) is installed at the bottom of the first shell (A803), the microneedle body (C2) is movably installed in the sleeve (C1), the top of the microneedle body (C2) is connected to the main driving member (C3) set in the first shell (A803), the bottom of the microneedle body (C2) is installed with a microneedle array (C5), and the microneedle array (C5) is connected to the infusion tube (B3); the main driving member (C3) is used to drive the microneedle body (C2) to move downward, thereby pushing the microneedle array (C5) to penetrate the scar; the reset structure (C4) is used to drive the microneedle body (C2) to move upward, so that the microneedle array (C5) exits the scar.

9. The scar injection treatment device according to claim 8, characterized in that: An impact piston (C301) is provided in the main driving member (C3), and the impact piston (C301) is driven by electromagnetic or fluid, and the end of the impact piston (C301) is used to impact the top of the microneedle main body (C2).

10. The scar injection treatment device according to claim 3, characterized in that: A camera (D1) is provided on the outer side of the first shell (A803), and the camera (D1) is used to capture scar images; a distance sensor (E) is provided on the outer side of the first shell (A803), and the distance sensor (E) is used to measure the distance between the microneedle array (C5) and the patient's skin.

Images