An intra-scar injection treatment device

Abstract

The application discloses a scar injection treatment device and belongs to the field of medical equipment. The device comprises a mechanical arm, an injection device and a microneedle device installed on the mechanical arm. The mechanical arm is used to drive the injection device and the microneedle device to move in space. The microneedle device is used to puncture a scar. The injection device is used to provide liquid medicament for treatment to the microneedle device, and the liquid medicament is injected into the scar through the microneedle device. The device is carried by the mechanical arm to perform flexible operation in space, and the injection process is replaced by artificial operation. The injection process is stable, and the scar injection treatment automation is realized.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to an intra-scar injection therapy device. Background Technology

[0002] Scars are a general term for changes in the appearance and histopathology of skin tissue caused by various traumas. Essentially, a scar is an abnormal, incomplete tissue that lacks the structure and physiological function of normal skin tissue and has lost its normal tissue vitality. Scars not only damage physical appearance but can also impair the physiological function of related tissues or organs, and even lead to deformities.

[0003] Currently, intralesional injection therapy is a relatively effective treatment method, primarily involving the injection of corticosteroids. Traditional treatments use ordinary syringes for manual injection, requiring repeated insertions into different locations within the scar tissue to achieve the desired therapeutic effect. Furthermore, manual injection is unstable, causing significant pain for the patient. Due to the long treatment course for keloids, patients need to visit the hospital multiple times for injections, resulting in a poor patient experience throughout the entire treatment period. To address these issues, existing technologies have introduced microneedle array injection methods. For example, Chinese invention patent CN111991691A discloses a microneedle-assisted drug delivery system for keloid treatment. However, microneedle injection still relies heavily on the physician's experience, leading to instability in the injection process. Summary of the Invention

[0004] The purpose of this invention is to provide an intralesional injection treatment device for scar treatment, which is an automated injection device for scar treatment.

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

[0006] This invention provides an intralesional scar injection treatment device, comprising a robotic arm on which an injection device and a microneedle device are mounted; the robotic arm is used to move the injection device and the microneedle device in space; the microneedle device is used to puncture the scar; the injection device is used to provide a therapeutic liquid agent to the microneedle device, and the liquid agent is injected into the scar via the microneedle device.

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

[0008] Furthermore, the mounting bracket includes a box body, a second rotating platform that can rotate is mounted at the bottom of the box body, a drive motor for driving the second rotating platform to rotate is mounted inside the box body; an octagonal prism-shaped first housing is mounted on the second rotating platform, an injection device is mounted on one side of the first housing, and a microneedle device is mounted on the bottom surface of the first housing.

[0009] Furthermore, the injection device includes a drug storage container and an injection driving mechanism. The drug storage container is used to store the drug solution and is connected to the microneedle device through an infusion tube. The injection driving mechanism is used to squeeze the drug solution in the drug storage container into the infusion tube, and the drug solution 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 injection piston is connected to the nut seat in the ball screw mechanism; the injection piston can extend into the drug storage container to squeeze out the drug solution.

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

[0012] Furthermore, the drug storage container is detachably mounted below the injection drive mechanism.

[0013] Furthermore, the microneedle device includes a sleeve, a microneedle body, a body drive, and a reset structure; the sleeve is installed at the bottom of the first housing, the microneedle body is movably installed inside the sleeve, the top end of the microneedle body is connected to the body drive disposed in the first housing, and a microneedle array is installed at the bottom end of the microneedle body, the microneedle array being connected to an infusion tube; the body drive is used to drive the microneedle body to move downward, thereby pushing the microneedle array to pierce the scar; the reset structure is used to drive the microneedle body to move upward, causing the microneedle array to exit the scar.

[0014] Furthermore, an impact piston is provided inside the main driving component. The impact piston moves by electromagnetic or fluid drive, and the end of the impact piston is used to strike the top of the microneedle body.

[0015] Furthermore, a camera is provided on the outer side of the first housing for capturing images of the scar; a distance sensor is provided on the outer side of the first housing for measuring the distance between the microneedle array and the patient's skin.

[0016] The beneficial effects of the present invention are as follows: The present invention provides an intralesional injection treatment device for scars. The device uses a robotic arm to carry an injection device and a microneedle device to move flexibly in space. The injection process replaces manual labor, the injection process is stable, and the scar injection treatment is automated. Attached Figure Description

[0017] Figure 1The diagram shown is an overall structural illustration of an internal injection therapy device provided in this application.

[0018] Figure 2 The diagram shown is a structural representation of the mounting bracket in this application.

[0019] Figure 3 The image shown is a top view of the mounting bracket of this application.

[0020] Figure 4 The diagram shown is a structural illustration of an injection device according to this application.

[0021] Figure 5 The diagram shown is a detachable structure illustration of the liquid medicine storage container of this application.

[0022] Figure 6 The diagram shown illustrates the connection between the active half-container and the fixed half-container in this application via a rotating shaft.

[0023] Figure 7 The image shown is a diagram illustrating a detachable connection structure for an infusion tube and injection device provided in this application.

[0024] Figure 8 The diagram shown illustrates the connection between the injection device and the microneedle device of this application.

[0025] Figure 9 What is shown is Figure 8 Side sectional view.

[0026] Figure 10 The diagram shown is a schematic of the internal structure of an electromagnetically actuated valve.

[0027] Figure 11 The diagram shown is a schematic representation of the installation structure of the spring support body of this application.

[0028] Figure 12 The diagram shown is a representation of the internal structure of the connector of this application.

[0029] Figure 13 The image shown is a diagram illustrating the bottom structure of the microneedle holder in this application.

[0030] Figure 14 The image shows the structure of the assembled microneedle hub of this application. Figure 1 .

[0031] Figure 15 The image shows the structure of the assembled microneedle hub of this application. Figure 2 .

[0032] Figure 16 The image shows a linearly arranged microneedle array plate provided in this application.

[0033] Figure 17The image shows a circularly arranged microneedle array plate provided in this application.

[0034] Figure 18 The image shows a circularly arranged microneedle array plate with a recessed center, as provided in this application.

[0035] Figure 19 The image shows a circular array of microneedles with a central protrusion, as provided in this application.

[0036] Figure 20 The diagram shown is a schematic representation of the guiding structure of this application.

[0037] Figure 21 The diagram shown is a structural illustration of a blocking mechanism according to this application.

[0038] Figure 22 The diagram shown is an illustration of the installation structure of the controller in this application.

[0039] Figure 23 The image shows one application of the intralesional injection therapy device of this application.

[0040] Explanation of reference numerals in the attached figures:

[0041] Robotic arm A, first rotating base A1, first rotating table A101, first hinge seat A102, first-stage rotating arm A2, second-stage rotating arm A3, third-stage rotating arm A4, first drive motor A5, second drive motor A6, third drive motor A7, mounting bracket A8, housing A801, second rotating table A802, first shell A803; injection device B, drug storage container B1, liquid filling pipe B101, liquid filling 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 housing B205, housing 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, semi-circular notch B502.4; Container base B503, drain hole B503.1, locking plate B504, threaded locking component B505; Microneedle device C, sleeve C1, threaded connector C101, housing 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, injection port C202.3, sliding component C202.4; pressure plate C203, microneedle array plate C204, main... Body drive component C3, impact piston C301, reset structure C4, spring support C401, micro needle 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 movement system J. Detailed Implementation

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

[0043] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0045] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] See Figure 1 The diagram shown is an overall structural representation of an intradermal injection therapy device provided in this application. The intradermal injection therapy device for scars provided in this application mainly includes a robotic arm A, and an injection device B and a microneedle device C mounted on the robotic arm A. The robotic arm A is used to move the injection device B and the microneedle device C in space, enabling the microneedle device C to be aligned with the scar on the patient's body; the microneedle device C is used to puncture the scar; the injection device B is used to provide a therapeutic liquid medication to the microneedle device C, and the liquid medication is injected into the scar via the microneedle device C.

[0047] The robotic arm A in this application can take various forms, and 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 is an example illustrating the specific structure of an optional robotic arm A.

[0048] In one specific embodiment of this application, the robotic arm A includes a first rotating base A1, on which a primary rotating arm A2, a secondary rotating arm A3, and a tertiary rotating arm A4 are sequentially rotatably connected. Specifically, the first rotating base A1 has a rotatable first rotating platform A101, and a drive motor for driving the rotation of the first rotating platform A101 is installed inside the first rotating base A1. A first hinge seat A102 is installed on the first rotating platform A101, and one end of the primary rotating arm A2 is rotatably connected to the first hinge seat A102. A first drive motor A5 is installed on the first hinge seat A102, and the first drive motor A5 drives the primary rotating arm A2 to rotate. In the embodiment shown in the figure, the first hinge seat A102 consists of two symmetrically arranged support plates, and one end of the primary rotating arm A2 is rotatably connected between the two support plates. The first drive motor A5 is installed on the outer side of the two support plates, and the drive shaft of the first drive motor A5 is connected to the primary rotating arm A2.

[0049] The other end of the first-stage rotating arm A2 is rotatably connected to one end of the second-stage rotating arm A3, and a second drive motor A6 is installed on the first-stage rotating arm A2. The second-stage rotating arm A3 is driven to rotate by the second drive motor A6. Figure 1 In the illustrated embodiment, a rotating connecting groove is formed at one end of the primary rotating arm A2 that connects to the secondary rotating arm A3, and the secondary rotating arm A3 is rotatably connected within the rotating connecting groove. A second drive motor A6 is mounted on the outside of the rotating connecting groove, and the drive shaft of the second drive motor A6 is connected to the 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 drive motor A7 is installed on the tertiary rotating arm A4, and the tertiary rotating arm A4 is driven to rotate by the third drive motor A7. Figure 1 In the illustrated embodiment, a rotating connecting groove is formed at one end of the third-stage rotating arm A4, which connects to the second-stage rotating arm A3. The second-stage rotating arm A3 is rotatably connected within the rotating connecting groove. A third drive motor A7 is mounted on the outside of the rotating connecting groove. A mounting bracket A8 is provided at the end of the third-stage rotating arm A4, and an injection device B and a microneedle device C are mounted on the mounting bracket A8.

[0051] like Figure 2 The diagram shown is a structural representation of the mounting bracket A8 in this application. Figure 3 The image shown is a top view of the mounting bracket A8 of this application. Figure 2 The mounting bracket A8 shown includes a cuboid box A801, a rotatable second rotating platform A802 mounted on the bottom of the box A801, a drive motor for driving the second rotating platform A802 to rotate installed inside the box A801; an octagonal prism-shaped first housing A803 is mounted on the second rotating platform A802, an injection device B is mounted on one side of the first housing A803, and a microneedle device C is mounted on the bottom surface of the first housing A803.

[0052] In a preferred embodiment of this application, the lengths of the primary rotating arm A2, the secondary rotating arm A3, and the tertiary rotating arm A4 decrease sequentially. The aforementioned robotic arm A has five rotational joints, mimicking the structure of a human arm, and possesses extremely high flexibility, allowing for free adjustment of its length and angle in space, thereby accurately aligning with the scars on the patient's body.

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

[0054] like Figure 4 The diagram shows the structure of an injection device B according to this application. In one specific embodiment, a first support B4 is provided on one side of an octagonal prism-shaped first housing A803, and an injection drive mechanism B2 is mounted on the first support 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 installed entirely within a closed second housing B205. The second housing B205 shown in the figure is cuboid in shape and is assembled from a housing body B205.1, an upper end cover B205.2, and a lower connecting seat B205.3. The front panel of the housing body B205.1 is detachable. Figure 4 The internal structure was revealed after the front panel of the lieutenant general was removed.

[0055] like Figure 4 As shown, a ball screw B202 is vertically installed inside the second housing B205, and two vertical first guide rods B203 are symmetrically installed on both sides of the ball screw B202. A nut seat B206 is installed on the ball screw B202, and a through hole is provided on the nut seat B206. The two first guide rods B203 pass through the through hole on the nut seat B206. An injection piston B204 is connected to the side of the nut seat B206. The top of the ball screw B202 protrudes from the upper end cover B205.2 of the second housing B205 and is connected to the injection drive motor B201, which drives the injection piston B204 to move up and down. A piston through hole is provided on the lower connecting seat B205.3 at the bottom of the second housing B205. A drug storage container B1 is installed below the second housing B205, and the piston through hole communicates with the drug storage container B1. The injection piston B204 can pass through the piston through hole on the lower connecting seat B205.3 and enter the drug storage container B1. The bottom of the medicine storage container B1 is provided with a liquid outlet, and the liquid outlet is connected to the infusion tube B3.

[0056] In the aforementioned injection device B, the injection drive motor B201 drives the injection piston B204 to move downward, pressing the medicine in the medicine storage container B1 into the infusion tube B3.

[0057] In one specific embodiment of this application, the medicine storage container B1 is preferably made of glass, allowing the level of the internal medicine solution to be seen. Of course, other medical materials can also be used. A liquid filling pipe B101 is provided on the side of the medicine storage container B1, and a liquid filling valve B102 is provided on the liquid filling pipe B101. Figure 5 (As shown in the diagram), open the liquid addition valve B102 and add the liquid to the liquid storage container B1 through the liquid addition pipe B101. After adding the liquid, close the liquid addition valve B102.

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

[0059] like Figure 5 The diagram shows the detachable structure of the liquid medicine storage container B1 of this application. As shown, a combined container B5 is located below the second housing 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 to form a complete cylindrical receiving cavity, within which the cylindrical tubular liquid medicine storage container B1 can be fixed. Specifically, as shown... Figure 4 , Figure 5 As shown, a container base B503 is installed at the bottom of the first bracket B4. A drain hole B503.1 is provided on the container base B503, and the drain hole B503.1 is opposite to the piston hole on the upper lower connecting seat B205.3. A combined container B5 is installed between the lower connecting seat B205.3 and the container base B503. A fixed half-container B501 is installed 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 installed inside the receiving groove for elastic contact with the liquid storage container B1. The drain hole B503.1 on the container base B503 is located at the center of the receiving groove, and the diameter of the drain hole B503.1 is smaller than the diameter 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 lower clamp B502.2 have identical structures and are symmetrically arranged. The upper clamp B502.1 and lower clamp B502.2 are connected by multiple connecting posts B502.3. Semi-circular notches B502.1 and lower clamp B502.2 are formed on both, facing the fixed semi-container B501. An elastic rubber layer can be provided on the inner wall of the semi-circular notch B502.4 for elastic contact with the liquid 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 pivot. Figure 6 The diagram shows the connection between the active half-container B502 and the fixed half-container B501 via a rotating shaft. Figure 4 As shown, after the movable half-container B502 and the fixed half-container B501 are closed, the cylindrical medicine storage container B1 is fixed between the lower connecting seat B205.3 and the container base B503. The upper clamp B502.1 presses against the upper edge of the cylindrical medicine storage container B1, and the lower clamp B502.2 presses against the lower edge of the cylindrical medicine storage container B1. At this time, the piston through-hole on the lower connecting seat B205.3, the medicine storage container B1, and the drain through-hole B503.1 on the container base B503 are on the same axis and interconnected. At this time, the injection piston B204 can pass through the piston through-hole into the medicine storage container B1, and squeeze the medicine in the medicine storage container B1 downwards through the drain through-hole B503.1 into the infusion tube B3.

[0061] Furthermore, in order to ensure that the upper and lower edges of the cylindrical drug storage container B1 are well sealed and to prevent the drug from leaking from the edges during injection, in one specific embodiment of this application, an elastic sealing ring B103 is provided on the upper and lower edges of the cylindrical drug storage container B1. This ring can both protect the edges of the drug storage container B1 and ensure sealing after installation.

[0062] Furthermore, to ensure that the fixed half-container B501 and the movable half-container B502 can securely fix the cylindrical medicine storage container B1, two opposing locking plates B504 are provided at the edges of the fixed half-container B501 and the movable half-container B502. The two locking plates B504 have threaded through holes, and a threaded locking element B505 passes through these threaded through holes to connect them together. The threaded locking element B505 consists of a threaded rod and a knob; rotating the threaded locking element B505 adjusts the clamping force of the combined container B5 on the medicine storage container B1.

[0063] Furthermore, in this application, the infusion tubing B3 and the injection device B can be designed as a detachable connection structure, with the infusion tubing B3 being for single use. For example... Figure 7 The diagram shown is a schematic representation of an infusion tube B3 and an injection device B designed as a detachable connection structure according to this application. Figure 7 As shown, the drain hole B503.1 on the bottom surface of the container base B503 is connected to one end of the infusion tube B3 via a threaded connector B301. The threaded connector B301 and the infusion tube B3 are either an integral structure or a detachable connection structure. The threaded connector B301 is threaded into the drain hole B503.1 on the bottom surface of the container base B503.

[0064] like Figure 8 The diagram shows the connection between the injection device B and the microneedle device C of this application. The infusion tube B3 has a flexible tube in the middle, and its bottom end is connected to the microneedle device C. Figure 9 What is shown is Figure 8 Side sectional view.

[0065] like Figure 9 As shown in the figure, the microneedle device C in this application mainly includes a sleeve C1, a microneedle body C2, a main body drive C3, and a reset structure C4. The sleeve C1 is installed at the bottom of the first housing A803. The microneedle body C2 is movably installed inside the sleeve C1. The top of the microneedle body C2 is connected to the main body drive C3 located inside the first housing A803. The bottom of the microneedle body C2 is equipped with a microneedle array C5, which is connected to the infusion tube B3. The main body drive C3 is used to drive the microneedle body C2 to move downward, so that the microneedle array C5 can quickly penetrate the scar. The reset structure C4 is used to drive the microneedle body C2 to move upward, so that the microneedle array C5 can exit the scar.

[0066] In one specific embodiment of this application, the microneedle device C is structurally designed as follows. For example... Figure 9 As shown, the top opening of the first housing A803 is threaded to the bottom of the second rotary table A802, and the internal cavity of the first housing A803 is provided with a main driving component C3; in this application, the main driving component C3 is provided with an impact piston C301, which is driven by electromagnetic or fluid (gas or liquid) motion, and the end of the impact piston C301 is used to impact the top of the microneedle body C2, thereby driving the microneedle array C5 on the microneedle body C2 to quickly pierce the scar.

[0067] In this application, the main driving component C3 can specifically be an electromagnetic excitation valve C6 or an impact cylinder; for example... Figure 10The diagram shows the internal structure of the electromagnetic excitation valve C6. The electromagnetic excitation valve C6 includes a housing, inside which is a movable electromagnetic piston C601 (i.e., a moving iron core). An excitation coil C602 is arranged around the electromagnetic piston C601. The top of the electromagnetic piston C601 is connected to the fixed iron core C604 via a return spring C603. The bottom end of the electromagnetic piston C601 extends out of the housing through a linear bearing C605. Preferably, a rubber impact head C606 is mounted on the bottom end of the 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 a switching circuit; specifically, when the excitation coil C602 is energized, the generated electromagnetic force causes the electromagnetic piston C601 to overcome the resistance of the return 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 returns to its original position under the action of the return spring C603. The rubber impact head C606 of the electromagnetic piston C601 quickly strikes the top of the microneedle body C2, thereby driving the microneedle array C5 on the microneedle body C2 to quickly pierce the scar.

[0069] The impact cylinder is an existing product, and its structure will not be described in detail in this application. Its working principle is to drive a piston to move rapidly by inputting compressed air. Besides 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 this.

[0070] like Figure 9 As shown, a main body connector C7 is installed at the bottom of the first housing A803. The main body connector C7 has a threaded connection hole at its bottom. A downwardly protruding boss C701 is formed in the center of the internal cavity of the main body connector C7, and a through hole is opened in the center of the boss C701. Figure 12 As shown in the diagram, a through hole is provided at the center of the bottom of the first housing A803, and the through hole in the center of the boss C701 is in the same position as the through hole provided at the center of the bottom of the first housing A803, and they are interconnected. The impact piston C301 passes through the through hole provided at the center of the bottom of the first housing A803 and extends into the through hole in the center of the boss C701.

[0071] like Figure 9 As shown, the top end of the sleeve C1 is provided with an annular threaded connector C101, and the top end of the sleeve C1 is threaded into the threaded connection hole of the main body connector C7; a reset structure C4 is provided on the upper surface of the threaded connector C101; in one specific embodiment of this application, the reset structure C4 is a plurality of spring supports C401 arranged in a ring array on the upper surface of the threaded connector C101; specifically, as Figure 11 The diagram shown is a schematic representation of the installation structure of the spring support C401 of this application. Figure 12The diagram shown is an internal structural representation of the main connector C7 of this application. The upper surface of the threaded connector C101 has a ring-shaped array of mounting holes, each hole housing a spring support C401. The spring support C401 consists of a contact and a spring at the bottom of the contact. Figure 9 As shown, a cylindrical shell C102 with a bottom opening is installed at the bottom end of the sleeve C1.

[0072] like Figure 9 As shown, the microneedle body C2 is movably mounted within 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 extends upward through the sleeve C1 into the main body connecting seat C7, and its top end further extends into the through hole in the center of the boss C701, and is vertically aligned with the impact piston C301. A circular pressure plate C203 is positioned 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 vertically between them. The pressure plate C203 is positioned above the spring support C401. During downward movement, the pressure plate C203 presses down on the spring support C401, and the spring support C401 drives the pressure plate C203 to reset. Figure 9 As shown, the size of the moving space of the pressure plate C203 can be adjusted by rotating the threaded connector C101.

[0073] The microneedle holder C202 is installed at the bottom of the main rod C201. Figure 9 The microneedle holder C202 is cylindrical and is located inside the housing C102 at the bottom end of the sleeve C1. The microneedle holder C202 can move up and down relative to the housing C102. Figure 13 The diagram shown is a view of the bottom structure of the microneedle holder C202 of this application. A microneedle array plate C204 is mounted on the bottom surface of the microneedle holder C202, and a microneedle array C5 is formed on the microneedle array plate C204.

[0074] This application further provides an assembled form of microneedle holder C202, such as Figure 14 The image shows the structure of the assembled microneedle holder C202 of this application. Figure 1 . Figure 15 The image shows the structure of the assembled microneedle holder C202 of this application. Figure 2 The assembled microneedle holder C202 consists of a main body C202.1 and a microneedle cap C202.2. For example... Figure 15 As shown, 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 cap C202.2. The microneedle cap C202.2 is installed on the lower surface of the main body C202.1 to seal the groove, forming a drug storage cavity inside; the annular flange and the groove of the main body C202.1 can be designed to be threaded together. Figure 15 As shown, an injection port C202.3 is provided on the top surface of the main body C202.1, and the injection port C202.3 is connected to the infusion tube B3. Figure 14 As shown, one end of the infusion tube B3 connected to the infusion port C202.3 is provided with a metal connecting tube B302, which is inserted into or threaded into the infusion port C202.3. A microneedle array plate C204 is embedded in the microneedle cap C202.2, and a microneedle array C5 is formed on the microneedle array plate C204.

[0075] The aforementioned assembly of the microneedle hub C202 facilitates the replacement of microneedle array plates C204 with different arrangements, thereby meeting the treatment needs of scars of different shapes. Common scar shapes include worm-like (elongated) and keloid (irregular shapes). Customized microneedle array plates C204 can be used to meet the treatment needs of different patients. Figure 16 The image shows a linearly arranged microneedle array plate C204 provided in this application. (As shown...) Figure 17 The image shows a circularly arranged microneedle array plate C204 provided in this application. Both types of microneedle array plates C204 are suitable for most scar treatments. Furthermore, since scars can present as both raised and depressed areas, the microneedle array plates C204 can also be arranged in both raised and depressed configurations. For example... Figure 18 The image shows a circularly arranged microneedle array plate C204 with a recessed center, as provided in this application. Figure 19 The image shows a circularly arranged microneedle array plate C204 with a protruding center, as provided in this application.

[0076] Furthermore, to prevent the microneedle body C2 from rotating during movement, a guide structure can be provided inside the shell C102 at the bottom of the sleeve C1. For example... Figure 20 The diagram shown is a schematic representation of the guide structure of this application. Two vertical guide protrusions C102.1 are symmetrically arranged on the inner wall of the housing C102. A sliding member C202.4 is correspondingly arranged on the main body C202.1. The sliding member C202.4 has a groove on the side facing the guide protrusion C102.1, and the sliding member C202.4 is slidably connected to the guide protrusion C102.1.

[0077] In this application, the housing C102 at the bottom of the sleeve C1 mainly serves to protect the microneedle holder C202. When not in use, the microneedle holder C202 is retracted within the housing C102. This application can further improve the housing C102 to be movable, meaning the housing C102 can move along the sleeve C1. This allows the microneedle holder C202 to be fully exposed when replacing the microneedle cap C202.2, facilitating replacement. Specifically, as... Figure 20As shown, a circular connection port is provided on the top surface of the shell C102, through which the bottom of the sleeve C1 passes. An electrically operated telescopic rod C103 is positioned above the shell C102 and on the outer side of the sleeve C1. One end of the electric telescopic rod C103 is connected to the shell 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 C102 along the sleeve C1. In the embodiment shown, three electric telescopic rods C103 are arranged in a circular array. The movable shell C102 can also cover the scar during injection treatment, pressing the skin at the scar edge to make it easier for the microneedle to penetrate the scar.

[0078] Furthermore, to enable the device to automatically align with the scar, in one specific embodiment of this application, a camera position adjustment system can also be provided. Specifically, a camera D1 is provided on the outer side of the first housing A803. The camera D1 captures images of the scar, analyzes the scar's position coordinates, and thereby controls the movement of the robotic arm A, so that the microneedle array C5 covers the scar. Specifically, as... Figure 2 , Figure 3 As shown, four camera brackets D are arranged in a circular array on the outer side of the octagonal prism-shaped first housing A803, with one camera D1 mounted on each camera bracket D. In this application, the center of the microneedle array C5 serves as the origin of the reference coordinate system. Scar images are acquired through the four cameras D1, and the scar edge contour is obtained from the scar images. Then, the coordinates of the center point of the contour are calculated based on the scar edge contour. The difference between the center point 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 housing A803 to determine the distance between the microneedle array C5 and the patient's skin. All distance information is converted into electrical signals by the controller I, controlling the movement of the robotic arm A so that the microneedle array C5 accurately aligns with the scar and performs the injection.

[0079] Furthermore, such as Figure 20 As shown, in order to dynamically monitor the tissue state of the scar during the injection process, multiple sets of ultrasound probes F can be set at the bottom edge of the shell C102. The multiple sets of ultrasound probes F are distributed in different positions to monitor the scar from different angles.

[0080] When an injection abnormality is detected, such as the injection pressure exceeding a preset value, the infusion of medication needs to be stopped immediately; therefore, in one specific embodiment of this application, a blocking mechanism is provided at one end of the infusion tube B3. Figure 21The diagram shows the structure of a blocking mechanism according to this application. In this embodiment, the blocking mechanism is located at the bottom of the container base B503. The blocking mechanism includes two opposing blocking telescopic cylinders G, which are electrically or pneumatically driven. The piston rod ends of the two blocking telescopic cylinders G have opposing arc-shaped clamping portions G1 located on both sides of the tubing of the infusion tube B3. When the injection pressure exceeds a preset value, the two arc-shaped clamping portions G1 quickly approach each other, clamping the tubing in the middle, preventing liquid from being delivered to the microneedle device C.

[0081] Furthermore, in one specific embodiment of this application, a controller I may also be installed on the robotic arm A, such as... Figure 22 The diagram shows the installation structure of controller I according to this application. In the embodiment shown, controller I is mounted on the secondary rotating arm A3 via a bracket. Controller I 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 controls the rotation of each drive motor on the robotic arm A, thereby controlling the microneedle array C5 to align with the patient's scar. The displacement control unit can be used in conjunction with the aforementioned camera position adjustment system. In specific use, the displacement control unit is first used for coarse spatial adjustment, followed by precise adjustment using the camera position adjustment system. The injection control unit controls the injection device B to perform or stop the injection action, i.e., controls the action of the injection piston B204. The microneedle device C motion control unit controls the puncture action of the microneedle array C5. The display screen shows the patient's personal information, injection process information, and ultrasound images acquired by the ultrasound probe F and images acquired by the camera D1. Personal information includes name, age, number of injection treatments, etc.; injection process information includes the name and dosage of the injected medication. The physician can monitor the tissue state of the scar in real time through the ultrasound images and adjust the injection process accordingly. The images acquired by camera D1 are used for observation during the adjustment of the position of the scar, and controller I can also record the scar image information captured by camera D1, thereby recording the changes of the scar throughout the treatment process.

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

[0083] Furthermore, such as Figure 23 The diagram illustrates one application of the intralesional scar injection therapy device described in this application. The entire intralesional scar injection therapy device is mounted on a two-axis motion system J. The two-axis motion system J can be erected in the air or fixed to a roof. The two-axis motion system J is used to drive the intralesional scar injection therapy device to move long distances in space. A bed or chair is installed below the two-axis motion system J. During treatment, the patient lies on the bed or sits in the chair.

[0084] The intralesional scar injection treatment device provided in this 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, and the injection process is stable, thus realizing the automation of scar injection treatment.

[0085] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the 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 within the protection scope of the present invention.

Claims

1. An intralesional scar injection therapy device, characterized in that, The device includes a robotic arm (A) on which an injection device (B) and a microneedle device (C) are mounted; the robotic arm (A) is used to move the injection device (B) and the microneedle device (C) in space; the microneedle device (C) is used to puncture the scar; the injection device (B) is used to provide a therapeutic liquid agent to the microneedle device (C), and the liquid agent is injected into the scar through the microneedle device (C); The robotic arm (A) includes a first rotating base (A1), on which a first-stage rotating arm (A2), a second-stage rotating arm (A3), and a third-stage rotating arm (A4) are rotatably connected together in sequence; a mounting frame (A8) is provided at the end of the third-stage rotating arm (A4), and an injection device (B) and a microneedle device (C) are provided on the mounting frame (A8). The mounting bracket (A8) includes a housing (A801), a rotatable second rotating platform (A802) is mounted on the bottom of the housing (A801), a drive motor for driving the second rotating platform (A802) to rotate is installed inside the housing (A801); an octagonal prism-shaped first housing (A803) is mounted on the second rotating platform (A802), an injection device (B) is mounted on one side of the first housing (A803), and a microneedle device (C) is mounted on the bottom surface of the first housing (A803); The injection device (B) includes a drug storage container (B1) and an injection driving mechanism (B2). The drug storage container (B1) is used to store the drug solution, and the drug storage container (B1) is connected to the microneedle device (C) through an infusion tube (B3). The injection driving mechanism (B2) is used to squeeze the drug solution in the drug storage container (B1) into the infusion tube (B3), and the drug solution 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). The microneedle device (C) includes a sleeve (C1), a microneedle body (C2), a main body drive (C3), and a reset structure (C4). The sleeve (C1) is installed at the bottom of the first housing (A803), and the microneedle body (C2) is movably installed inside the sleeve (C1). The top end of the microneedle body (C2) is connected to the main body drive (C3) located inside the first housing (A803), and the bottom end of the microneedle body (C2) is equipped with a microneedle array (C5). The microneedle array (C5) is connected to the infusion tube (B3). The main body drive (C3) is used to drive the microneedle body (C2) to move downward, thereby pushing the microneedle array (C5) to pierce 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.

2. The intralesional injection therapy device according to claim 1, characterized in that, The injection drive mechanism (B2) is a ball screw mechanism driven by a motor. The nut seat (B206) in the ball screw mechanism is connected to the injection piston (B204). The injection piston (B204) can extend into the drug storage container (B1) to squeeze out the drug.

3. The intralesional injection therapy device according to claim 1, characterized in that, The liquid storage container (B1) is provided with a liquid filling pipe (B101) on its side, and a liquid filling valve (B102) is provided on the liquid filling pipe (B101).

4. The intralesional injection therapy device according to claim 1, characterized in that, The drug storage container (B1) is detachably mounted below the injection drive mechanism (B2).

5. The intralesional injection therapy device according to claim 1, characterized in that, An impact piston (C301) is provided inside the main driving component (C3). The impact piston (C301) moves by electromagnetic or fluid drive, and the end of the impact piston (C301) is used to impact the top of the microneedle body (C2).

6. The intralesional injection therapy device according to claim 1, characterized in that, A camera (D1) is provided on the outer side of the first housing (A803) for capturing images of the scar; a distance sensor (E) is provided on the outer side of the first housing (A803) for measuring the distance between the microneedle array (C5) and the patient's skin.

Images