Automatic eye dropping device

Abstract

The invention discloses an automatic eye medicine dripping device, and relates to the field of medical assistance. According to the technical scheme, the device comprises a shell; the medicine bottle fixing mechanism is used for fixing and pressing medicine bottles; the three-axis shifter is assembled in the shell, and the medicine bottle fixing mechanism is fixed on the three-axis shifter; the acquisition module is used for acquiring a face image; the processing module is used for carrying out graying processing on the basis of the face image and mapping the processed face image into a preset three-dimensional coordinate system; and the lower eyelid dynamic recognition module inputs the face image into the trained lower eyelid dynamic recognition model, and judges lower eyelid coordinates which serve as adjustment parameters of the three-axis displacement device. By combining an image processing technology, collecting face data in real time, dynamically recognizing and positioning a conjunctival sac opening according to different gray values through face data graying, and combining a three-axis shifter to adjust a medicine dropping angle, the medicine dropping effect is improved.

Description

Technical Field

[0001] The present invention relates to the field of medical assistance, and in particular to an automatic eye medicine dropping device. Background Art

[0002] Traditional manual dropper bottles require patients to squeeze the bottle themselves, and the liquid can easily impact the cornea directly due to hand shaking or angle deviation, causing irritation or loss of liquid to the outside of the lower eyelid.

[0003] Currently, mechanical drug dripping methods include setting up a drug dripping stand and using a fixed slot to constrain the position of the drug bottle. However, the dripping angle cannot be adjusted according to the patient's lower eyelid shape, resulting in the drug solution only dripping vertically, making it difficult to accurately cover the lower eyelid conjunctival sac (it relies on gravity diffusion).

[0004] A micro-motor drives a roller to pull open the lower eyelid, but mechanical contact can easily cause discomfort or infection risks to patients and cannot adapt to different eyelid thicknesses and laxity.

[0005] The above-mentioned drug drop methods all have some defects, such as the lack of lower eyelid positioning: the existing equipment only roughly locates the eyeball or iris, and does not accurately identify the arc contour of the lower eyelid and the conjunctival sac opening, resulting in low drug solution utilization (about 30% of the drug solution is lost).

[0006] Invasive procedures: Mechanical contact drops (such as using a roller to pull open the eyelids) increase patient resistance and the risk of infection.

[0007] Poor adaptability: Unable to dynamically adapt to physiological differences such as lower eyelid laxity and edema among different patients.

[0008] The impact of the drug solution is large: vertical dripping causes the drug solution to flow too quickly, irritating the sensitive nerves of the cornea. Summary of the Invention

[0009] (1) Purpose of the invention

[0010] In view of this, the object of the present invention is to provide an automatic eye dropper device to achieve self-filling.

[0011] (2) Technical solution

[0012] In order to achieve the above technical objectives, the present invention provides an automatic eye medication dropper:

[0013] It includes: a shell; a medicine bottle fixing mechanism, used to fix and press the medicine bottle; a three-axis displacer, assembled in the shell, and the medicine bottle fixing mechanism is fixed on the three-axis displacer, and the three-axis displacer is used to drive the medicine bottle fixing mechanism to move along the X, Y and Z axis directions; an acquisition module, used to acquire facial images; a processing module, used to grayscale the facial image and map the processed facial image in a preset three-dimensional coordinate system; a lower eyelid dynamic recognition module, which inputs the facial image into a trained lower eyelid dynamic recognition model, determines the lower eyelid coordinates, and uses the lower eyelid coordinates as adjustment parameters of the three-axis displacer.

[0014] Preferably, the medicine bottle fixing mechanism includes: a connecting ring; a clamping block slidably connected to the connecting ring; a toggle ring slidably connected to the connecting ring; and a spring sleeved on the clamping block for providing elastic force to the clamping block.

[0015] Preferably, a connecting block is fixed on the outer surface of the connecting ring, and the toggle ring is slidably connected to the connecting block. A wedge-shaped groove is provided on the outer surface of the toggle ring, and the clamping block abuts against the toggle ring.

[0016] Preferably, the three-axis displacer includes a first connecting frame, the connecting block is slidably connected to the first connecting frame, and the sliding direction of the connecting block on the first connecting frame is the Z axis;.

[0017] Preferably, the three-axis displacer further includes a second connecting frame, the first connecting frame and the second connecting frame are rotatably connected, and the rotation direction of the first connecting frame and the second connecting frame is the Y axis.

[0018] Preferably, the three-axis displacer further includes a fixed frame, the second connecting frame is rotatably connected to the fixed frame, and the rotation direction of the second connecting frame and the fixed frame is the X-axis.

[0019] Preferably, the lower surface of the shell is equipped with a protective mechanism, which includes a protective shell, a first threaded rod, a first moving block threadedly connected to the first threaded rod, and a traction rod rotated on the first moving block, and the protective shell is fixed to the bottom of the shell.

[0020] Preferably, the protection mechanism further comprises a plurality of swing arms, one end of each of the swing arms is rotatably connected to the traction rod, and the other end of each of the swing arms is rotatably connected to a roller;

[0021] One end of the driving rod is slidably connected to a first staggered toothed disc, and the other end of the driving rod is fixed with a driven bevel gear, and one end of the first threaded rod is fixedly connected to a second staggered toothed disc corresponding to the first staggered toothed disc, and the second staggered toothed disc is engaged with the first staggered toothed disc respectively;

[0022] An active adjustment ring is rotatably connected to the outer surface of the protective shell, and the active adjustment ring is meshed with the driven bevel gear.

[0023] Preferably, the lower eyelid dynamic recognition module captures the arc-shaped features of the lower eyelid edge through the acquisition module, and locates the conjunctival sac opening in real time by combining the grayscale gradient and morphological algorithm.

[0024] Preferably, a medicine drop trajectory optimization module is fixed in the housing, and the medicine drop trajectory optimization module calculates the optimal medicine drop incident angle according to the curvature of the lower eyelid, and controls the medicine liquid to fall accurately into the conjunctival sac along a parabolic trajectory based on the optimal medicine drop incident angle.

[0025] It can be seen from the above technical solutions that this application has the following beneficial effects:

[0026] 1: By combining image processing technology, facial data is collected in real time. By graying the facial data, the conjunctival sac opening is dynamically identified and located according to the different grayscale values. The angle of the medicine drop is adjusted in combination with a three-axis displacement device to improve the effect of the medicine drop.

[0027] 2: By installing the medicine bottle fixing mechanism on a three-axis displacer, the three-axis displacement of the medicine bottle fixing mechanism is controlled by the three-axis displacer, making it convenient to adjust the dripping angle at multiple angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0029] Figure 1 This is a schematic diagram of the overall structure of Example 1 provided by the present invention;

[0030] Figure 2 A schematic diagram of the explosion structure of Example 1 provided by the present invention;

[0031] Figure 3 A schematic structural diagram of the fixing mechanism of Example 1 provided by the present invention;

[0032] Figure 4 Flowchart of Example 2 provided by the present invention;

[0033] Figure 5 This is a structural diagram of the processing module of Example 2 provided by the present invention;

[0034] Figure 6 Partial structural diagram of the protection mechanism of embodiment 1 provided by the present invention

[0035] Figure 7 This is an overall structural diagram of the protection mechanism of Example 1 provided by the present invention.

[0036] Description of the accompanying drawings: 1. Outer shell; 2. Medicine bottle fixing mechanism; 21. Connecting ring; 211. Connecting block; 22. Clamping block; 23. Toggle ring; 231. Wedge groove; 24. Spring; 3. First connecting frame; 4. Second connecting frame; 5. Fixing frame; 6. Protective mechanism; 601. Drive rod; 602. First staggered tooth plate; 603. Driven bevel gear; 604. Second staggered tooth plate; 605. First threaded rod; 606. First moving block; 607. Traction rod; 608. Swing arm; 609. Roller; 610. Protective shell; 611. Active adjustment ring. DETAILED DESCRIPTION

[0037] The following description is merely illustrative in nature and is not intended to limit the present disclosure, its applications, or uses. It should be understood that throughout the drawings, identical or similar reference numerals indicate identical or similar parts and features. The drawings merely schematically illustrate the concepts and principles of the embodiments of the present disclosure and do not necessarily depict the specific dimensions and proportions of the various embodiments of the present disclosure. Certain portions of certain drawings may be exaggerated to illustrate relevant details or structures of the embodiments of the present disclosure.

[0038] Example 1

[0039] See Figure 1 、 Figure 2 and Figure 3 As shown, an automatic eye medicine drop device includes: a shell 1; a medicine bottle fixing mechanism 2, used to fix the medicine bottle and press the medicine bottle; a three-axis displacer, which is assembled in the shell 1, and the medicine bottle fixing mechanism 2 is fixed on the three-axis displacer, and the three-axis displacer is used to drive the medicine bottle fixing mechanism 2 to move along the X, Y and Z axis directions; illustratively, after the medicine bottle is fixed by the fixing mechanism 2, the fixing mechanism 2 is displaced along the X, Y and Z axis directions, so that the medicine bottle can be driven to adjust the medicine drop position at multiple angles.

[0040] Specifically, the medicine bottle fixing mechanism 2 includes: a connecting ring 21; a clamping block 22, which is slidably connected to the connecting ring 21, and at least two clamping blocks 22 are provided. The specific number depends on actual needs and is not specifically limited here; a toggle ring 23, which is slidably connected to the connecting ring 21; a spring 24, which is sleeved on the clamping block 22 and is used to provide elastic force for the clamping block 22. For example, by rotating the toggle ring 23, multiple clamping blocks 22 are pushed to clamp the medicine or squeeze the medicine out.

[0041] It should be noted that the driving mode of the dial ring 23 can be a motor, an electric push rod, an electromagnetic or a pneumatic mode, which is not specifically limited here.

[0042] For more details, see Figure 3As shown, a connecting block 211 is fixed to the outer surface of the connecting ring 21, and the toggle ring 23 is slidably connected to the connecting block 211. A wedge-shaped groove 231 is provided on the outer surface of the toggle ring 23, and the clamping block 22 is abutted against the toggle ring 23. By rotating the toggle ring 23, the wedge-shaped groove 231 can be driven to push the clamping block 22.

[0043] In some embodiments, a three-axis displacer utilizes, for example, a micro multi-axis robotic arm or a three-degree-of-freedom micro robotic arm (X / Y / Z-axis stepper motors with a repeatability of ±0.05mm), with an angle sensor at the end for angle feedback. This embodiment of the three-axis displacer includes a first connecting frame 3, with a connecting block 211 slidably connected to the first connecting frame 3, and the sliding direction of the connecting block 211 on the first connecting frame 3 is along the Z axis. The three-axis displacer also includes a second connecting frame 4, with the first connecting frame 3 and the second connecting frame 4 being rotatably connected, and the first connecting frame 3 and the second connecting frame 4 being rotated along the Y axis. The three-axis displacer also includes a fixed frame 5, with the second connecting frame 4 being rotatably connected to the fixed frame 5, and the second connecting frame 4 and the fixed frame 5 being rotated along the X axis. It is worth noting that in this embodiment, the connecting block 211 is driven to slide on the first connecting frame 3 by an electric push rod, while the rotation of the first connecting frame 3 on the second connecting frame 4 and the rotation of the second connecting frame 4 on the fixed frame 5 are both driven by micro stepper motors. By controlling the rotational stroke of the micro stepper motors, the displacement distance of the fixing mechanism 2 along the X and Y axes can be controlled.

[0044] Furthermore, the lower surface of the housing 1 is equipped with a protective mechanism 6, which includes a protective shell 610, a first threaded rod 605, a first movable block 606 threadedly connected to the first threaded rod 605, and a traction rod 607 that rotates on the first movable block 606. The protective shell 610 is fixed to the bottom of the housing 1. The protective mechanism 6 also includes a plurality of swing arms 608, one end of each of the plurality of swing arms 608 is rotatably connected to the traction rod 607, and the other end of the swing arm 608 is rotatably connected to the roller 609.

[0045] One end of the driving rod 601 is slidably connected to the first staggered toothed disc 602, and the other end of the driving rod 601 is fixed with a driven bevel gear 603. One end of the first threaded rod 605 is fixedly connected to the second staggered toothed disc 604 at the corresponding position of the first staggered toothed disc 602, and the second staggered toothed disc 604 is respectively engaged with the first staggered toothed disc 602;

[0046] The outer surface of the protective shell 610 is rotatably connected to an active adjustment ring 611, and the active adjustment ring 611 is engaged with the driven bevel gear 603; illustratively, by rotating the active adjustment ring 611, the driven bevel gear 603 is driven to rotate, and the driven bevel gear 603 can drive the second staggered tooth plate 604 to rotate through the driving rod 601, and the second staggered tooth plate 604 drives the first threaded rod 605 to rotate through the first staggered tooth plate 602. The first threaded rod 605 acts on the internal thread of the first moving block 606 through the surface thread, so that the first moving block 606 can slide on the protective shell 610, thereby driving the swing arm 608 to rotate through the traction rod 607, and adjusting the spacing between the multiple rollers 609 to adapt to the use of different people, so as to prevent the shell 1 from directly contacting the user's face.

[0047] For details, see Figure 6 and Figure 7 As shown, a movable hole is provided on the first staggered toothed disk 602, and a movable groove is symmetrically provided inside the movable hole. A limit bar is fixedly connected to the end of the driving rod 601 corresponding to the movable groove. The driving rod 601 is movably sleeved inside the movable hole, and the limit bar is movably sleeved inside the movable groove. A limiting mechanism is provided on one side of the first staggered toothed disk 602; the limiting mechanism includes a limiting baffle fixedly connected to the bottom of the protective shell 610, and a mounting hole is provided on the limiting baffle. The driving rod 601 is movably sleeved inside the mounting hole. A limiting spring is fixedly connected between the limiting baffle and the first staggered toothed disk 602, and the driving rod 601 is movably sleeved inside the limiting spring.

[0048] Example 2

[0049] See Figure 4 and Figure 5 As shown, an automatic eye dropper device, based on Example 1, further includes a collection module for collecting facial images. In this embodiment, the collection module is a near-infrared camera (850nm wavelength, resolution 640×480), a ring fill light and a heat dissipation module;

[0050] The sound prompt unit will give a voice prompt when the position is ready and when the dripping is completed.

[0051] The processing module is used to grayscale the facial image and map the processed facial image into a preset three-dimensional coordinate system; the lower eyelid dynamic recognition module inputs the facial image into the trained lower eyelid dynamic recognition model to determine the lower eyelid coordinates, which are used as the adjustment parameters of the three-axis displacer; specifically, the core algorithm: lower eyelid edge detection, extracting the lower eyelid contour based on the improved Canny algorithm, fitting the arc equation through Hough transform (radius range 5 to 15 mm), conjunctival sac positioning, and combining the relative position of the lower eyelid edge and the lower edge of the iris (2 to 4 mm below the center of the iris) to determine the coordinates of the drug drop target area.

[0052] Specifically, in order to reduce computational complexity and improve feature extraction accuracy, the grayscale processing of facial images is first performed on the input color image. The steps are as follows: Input image, use a near-infrared camera (850nm) to collect RGB images with a resolution of 640×480. Grayscale conversion uses the weighted average method:

[0053] I gray =0.299R+0.587G+0.114B. Near-infrared images are more sensitive to red light and can be simplified to: I gray =0.8R+0.2G;

[0054] Histogram equalization: Enhance contrast and improve the distinction between the lower eyelid and the background:

[0055]

[0056] Where CDF is the cumulative distribution function;

[0057] Denoising: Gaussian filtering (5x5 kernel) to reduce image noise; bilateral filtering to preserve edge information and avoid blurring the lower eyelid contour.

[0058] 3D coordinate mapping of facial images: Define a 3D coordinate system with the facial center (midpoint of the nose bridge) as the origin (0,0,0), (0,0,0), (0,0,0), the X-axis as the horizontal direction (negative on the left and positive on the right), the Y-axis as the vertical direction (positive on the top and negative on the bottom), and the Z-axis as the depth direction (distance from the camera to the face). Keypoint detection: Use OpenCV's dlib68 keypoint detection, eye region keypoints (points 36-41), lower eyelid region keypoints (points 42-47), and infrared depth ranging (TOF sensor) to obtain Z-axis information.

[0059] More specifically, the three-dimensional coordinate calculation, calculate the world coordinates, and set the camera intrinsic parameter matrix K:

[0060]

[0061] Calculate the camera coordinates:

[0062]

[0063] Among them, (u, v) is the pixel coordinate, d is the depth information, (x c ,y c ,z c ) is the camera coordinate; convert to world coordinate:

[0064] P w =RPe+T

[0065] Where R is the rotation matrix and T is the translation vector.

[0066] Furthermore, the lower eyelid edge is detected and the improved Canny algorithm is used to extract the eyelid contour; an adaptive threshold is used T low =0.5·T high ; Calculate the Sobel gradient:

[0067] G x =I*S x ,G y =I*S y

[0068] Calculate the gradient magnitude:

[0069]

[0070] Non-maximum suppression + post-filter threshold processing; in some embodiments, it is also possible to detect arcs, (x-x0) 2 +(y-y0) 2 =r 2 , set the radius range from 5 to 15 mm and search for the best fitting curve.

[0071] More specifically, iris center detection uses Hough transform to detect the iris center (x i ,y i ) ; Calculate the conjunctival sac target area and set the distance y from the lower eyelid edge to the lower edge of the iris target =y i +d,d∈[2,4]mm, calculate the target coordinates, p target =x eyelid ,y target , z; combined with the depth information, the 3D coordinates of the conjunctival sac are obtained;

[0072] Determine the adjustment parameters of the three-axis displacer, determine the center point of the lower eyelid, and select the lowest point of the eyelid curve (x e ,y e ,z e ), adjust the three-axis shifter, the x-axis is adjusted to align with the horizontal center of the lower eyelid; the y-axis is adjusted to ensure that the drop target is located in the conjunctival sac area; the z-axis is adjusted to adjust the spray distance according to the depth information

[0073] Finally, calculate the optimal incident angle and set the injection point as P s , the target is P t , calculate the parabolic trajectory, the calculation expression is:

[0074] x=x0+v0tsin(θ), solve θ analytically to ensure accurate incidence of the optimal trajectory; this embodiment is based on depth information fusion + edge detection + morphological processing + Hough transform + parabolic trajectory optimization to achieve high-precision lower eyelid recognition (error ≤ 0.1mm), non-contact safe drug drop, and efficient use of drug solution (loss rate <5%), which is suitable for home and clinical applications.

[0075] Furthermore, the lower eyelid dynamic recognition module captures the arc features of the lower eyelid edge through the acquisition module, and combines the grayscale gradient and morphological algorithm to locate the conjunctival sac opening in real time.

[0076] A medicine drop trajectory optimization module is fixed in the housing 1. The medicine drop trajectory optimization module calculates the optimal medicine drop incident angle according to the curvature of the lower eyelid and controls the medicine liquid to fall accurately into the conjunctival sac along a parabolic trajectory based on the optimal medicine drop incident angle.

[0077] It is worth mentioning that the main control chip model used in the lower eyelid dynamic recognition module and the medicine drop trajectory optimization module is (STM32F407, integrated image processing algorithm).

[0078] This embodiment aims to achieve high-precision lower eyelid recognition: edge detection error ≤ 0.1mm, conjunctival sac positioning accuracy > 95% (compared to 70% for traditional iris positioning solutions), and adapt to different eyelid shapes (such as Asian single eyelids and European deep eye sockets).

[0079] Non-contact safe drug drops, the drug liquid is sprayed in mid-air, avoiding mechanical contact with the eyelids and reducing the risk of infection (in compliance with ISO13485 medical device biocompatibility standards).

[0080] The drug solution is efficiently utilized, and the parabolic trajectory + low-speed atomization allows the drug solution to 100% cover the conjunctival sac, with a loss rate of less than 5% (compared to the 30% loss of traditional vertical drug drops).

[0081] Low-cost and compact, using the open-source image processing library (OpenCVLite) and the STM32F4 series chip, hardware costs are reduced by 40%. The entire device measures ≤80mm×60mm×50mm, making it suitable for home and clinical use.

[0082] For example, Asian men have relatively flat eyelids and no obvious eye sockets. He uses a smart eye drop device at home, which needs to be accurately dripped into the conjunctival sac to treat dry eyes; image acquisition, the near-infrared camera in the device takes pictures of Mr. Wang's face, and the fill light ensures that the eyes are clearly visible; the processing module converts the image into a grayscale image to improve the contrast of the eyelid edge; lower eyelid recognition: the device automatically detects Mr. Wang's eyelid edge, removes excess noise through the improved Canny algorithm, and accurately extracts the lower eyelid contour; because Asian men have relatively straight eyelids, the Hough transform detects an arc contour that is close to a straight line, and further fits it Eyelid curvature; the device calculates the center of the iris and determines the conjunctival sac area (2.5mm below the center of the iris); three-dimensional coordinate positioning, combining the camera shooting angle and depth sensor data, the device maps Mr. Wang's face to three-dimensional space coordinates to ensure that the angle of the medicine drop is consistent with the structure of the eye; medicine drop trajectory optimization, because Mr. Wang's eyelids are relatively straight, the system calculates the optimal spray angle, so that the medicine liquid can enter the conjunctival sac along the best arc trajectory without bouncing onto the face or flowing out of the eye; the device triggers the atomization spray, and the medicine liquid accurately enters the conjunctival sac, reducing waste and irritation.

[0083] For example, most European women have deep eye sockets and large eyelid curvature, and traditional eye drops can easily lead to loss of medicine. She hopes to use a smart eye drop device to ensure that the medicine can accurately enter her eyes without being blocked by her deep eye sockets. Image acquisition and preprocessing: The device photographs Ms. Li's eyes, using grayscale and histogram equalization techniques to enhance contrast and make the eyelid edges in the deep eye socket area more clearly visible. Lower eyelid recognition and conjunctival sac positioning: Due to Ms. Li's large eyelid curvature, the system detects a highly curved lower eyelid contour using an improved Canny algorithm. Hough transform fits a larger arc, and combined with the iris center position, accurately locates the conjunctival sac area. Due to her deep eye sockets, the system automatically adjusts the drop angle to avoid obstruction of the injection direction by the eye sockets. Three-dimensional coordinate mapping: The device calculates the actual spatial position of the eye based on depth information, ensuring that the injection system maintains an appropriate distance from the eye to optimize the angle of incidence. Drop trajectory optimization: Due to Ms. Li's deep eyelids, the device calculates a steeper angle of incidence to ensure that the medicine accurately falls into the conjunctival sac and is not blocked by eyelashes or eye sockets. The device triggers the injection, and the medicine enters the conjunctival sac in a gentle atomization manner to ensure comfort.

[0084] For example, a child user needs eye drops every day to treat amblyopia, but he is afraid of eye drops and has difficulty keeping his eyes open. Traditional manual eye drops often fail, resulting in the loss of medicine or flowing onto the face; image acquisition and assisted positioning: the device takes a picture of Xiao Ming's face, and voice prompts him to look up and forward, and uses animation to attract his attention and keep his eyes stable. Since children's eyes are small, the device uses high-resolution mode to ensure accurate capture of the eyelid edge; dynamic recognition of the lower eyelid: Since Xiao Ming may blink slightly, the system dynamically identifies the most stable lower eyelid contour through continuous frame analysis; the device uses an improved Canny algorithm to extract Xiao Ming's lower eyelid contour and determines the conjunctival sac area in combination with the iris position; real-time adjustment of the medicine drop angle: since the child's head may move slightly, the system uses a real-time tracking algorithm to dynamically adjust the medicine drop angle according to the eye position; during medicine drop execution, the device uses low-speed atomization spray, and the medicine gently enters the conjunctival sac to avoid irritating the child's eyes and reduce loss; after the medicine drop is completed, the device issues a voice encouragement to make the child more cooperative.

[0085] The exemplary implementation schemes proposed in the present disclosure are described in detail above with reference to preferred embodiments. However, it will be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the scope of protection of the present disclosure, which is determined by the appended claims.

Claims

1. An automatic eye dropper, characterized in that: include: Housing (1); medicine bottle fixing mechanism (2), used for fixing and pressing the medicine bottle; A three-axis displacer is assembled in the housing (1), and the medicine bottle fixing mechanism (2) is fixed on the three-axis displacer, and the three-axis displacer is used to drive the medicine bottle fixing mechanism (2) to move along the X-axis, Y-axis and Z-axis directions; An acquisition module, for acquiring facial images; A processing module, configured to perform grayscale processing on the facial image and map the processed facial image into a preset three-dimensional coordinate system; The lower eyelid dynamic recognition module inputs the facial image into the trained lower eyelid dynamic recognition model to determine the lower eyelid coordinates, which are used as the adjustment parameters of the three-axis displacer.

2. The automatic eye dropper according to claim 1, characterized in that: The medicine bottle fixing mechanism (2) comprises: Connecting ring (21); The clamping block (22) is slidably connected to the connecting ring (21); the toggle ring (23) is slidably connected to the connecting ring (21); The spring (24) is sleeved on the clamping block (22) and is used for providing elastic force for the clamping block (22).

3. The automatic eye dropper according to claim 2, characterized in that: A connecting block (211) is fixed on the outer surface of the connecting ring (21), and the toggle ring (23) is slidably connected to the connecting block (211). A wedge-shaped groove (231) is provided on the outer surface of the toggle ring (23), and the clamping block (22) abuts against the toggle ring (23).

4. The automatic eye dropper according to claim 3, characterized in that: The three-axis displacer comprises a first connecting frame (3), the connecting block (211) is slidably connected to the first connecting frame (3), and the sliding direction of the connecting block (211) on the first connecting frame (3) is the Z axis.

5. The automatic eye dropper according to claim 4, characterized in that: The three-axis displacer further comprises a second connecting frame (4), the first connecting frame (3) and the second connecting frame (4) are rotatably connected, and the rotation direction of the first connecting frame (3) and the second connecting frame (4) is the Y axis.

6. The automatic eye dropper according to claim 5, characterized in that: The three-axis displacer further comprises a fixed frame (5), the second connecting frame (4) is rotatably connected to the fixed frame (5), and the rotation direction of the second connecting frame (4) and the fixed frame (5) is the X axis.

7. The automatic eye dropper according to claim 1, characterized in that: The lower surface of the housing (1) is equipped with a protective mechanism (6), the protective mechanism (6) comprising a protective shell (610), a first threaded rod (605), a first moving block (606) threadedly connected to the first threaded rod (605), and a traction rod (607) rotating on the first moving block (606), and the protective shell (610) is fixed to the bottom of the housing (1).

8. The automatic eye dropper according to claim 7, characterized in that: The protection mechanism (6) further comprises a plurality of swing arms (608), one end of each of the plurality of swing arms (608) being rotatably connected to the traction rod (607), and the other end of each of the swing arms (608) being rotatably connected to a roller (609); One end of the driving rod (601) is slidably connected to a first staggered toothed disc (602), and the other end of the driving rod (601) is fixed with a driven bevel gear (603); one end of the first threaded rod (605) is fixedly connected to a second staggered toothed disc (604) at a position corresponding to the first staggered toothed disc (602), and the second staggered toothed disc (604) is engaged with the first staggered toothed disc (602) respectively; An active adjustment ring (611) is rotatably connected to the outer surface of the protective shell (610), and the active adjustment ring (611) is meshed with the driven bevel gear (603).

9. The automatic eye dropper according to claim 1, characterized in that: The lower eyelid dynamic recognition module captures the arc features of the lower eyelid edge through the acquisition module, and locates the conjunctival sac opening in real time by combining grayscale gradient and morphological algorithm.

10. The automatic eye dropper according to claim 8, characterized in that: A medicine drop trajectory optimization module is fixed in the housing (1), and the medicine drop trajectory optimization module calculates the optimal medicine drop incident angle according to the curvature of the lower eyelid, and controls the medicine liquid to fall accurately into the conjunctival sac along a parabolic trajectory based on the optimal medicine drop incident angle.

Images