Intelligent joint cavity injection system

Abstract

The application relates to an intelligent joint cavity injection system and belongs to the technical field of medical devices, which comprises a joint cavity connecting bone fixing base, an automatic quantitative auxiliary injection sleeve, an auxiliary injection limiting table and a central controller. The joint cavity injection system is provided with a joint fixing base, an ultrasonic recognition positioning structure and an automatic needle guiding injection structure, ultrasonic exploration is carried out by using ultrasonic wave exploration signal transmitters and receivers arranged on the two sides of the joint cavity, the electric rotating and telescopic structure is combined, the joint cavity position is accurately positioned, the electric telescopic structure drives the injector fixing structure, the automatic needle pushing injection operation is realized, the injection depth and the injection speed are guaranteed, the accurate positioning of the joint cavity and the corresponding automatic stable injection operation are realized, the workload of medical staff is reduced, the injection accuracy is improved, and the injection safety of patients is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to an intelligent intra-articular injection system. Background Technology

[0002] Intra-articular injection therapy plays a vital role in orthopedics and related fields, serving as a key treatment method for delaying the progression of joint damage and improving joint function. Its applications are wide-ranging, encompassing the aspiration and drainage of fluid from joint effusions in the limbs, as well as targeted treatments via injection, such as relieving joint inflammation and controlling the progression of osteoarthritis. However, intra-articular injection requires extremely high precision; any errors can easily lead to serious complications such as joint swelling and infection, adversely affecting the patient's health.

[0003] Currently, in clinical practice, traditional methods of intra-articular injection mainly rely on medical personnel's professional theoretical knowledge and clinical experience. Taking intra-articular injection in the knee as an example, patients are usually required to assume a specific position, such as an extended position or a 90-degree flexed knee, with the leg naturally perpendicular to the ground. Simultaneously, the leg muscles must be fully relaxed to reduce interference from muscle tension during the injection procedure. Medical personnel then use anatomical landmarks, such as the intersection of the horizontal line from the upper edge of the patella and the vertical line from the outer edge of the patella, or the depressions on both sides below the patella in the knee joint area, as injection points before proceeding with the needle insertion.

[0004] However, this method of joint cavity localization and injection based on human experience has many limitations. Differences in anatomical knowledge, clinical experience, and operational skills among medical personnel make it difficult to guarantee consistency in the accuracy of joint cavity localization, thus increasing the risk of injection errors. Inaccurate localization can not only lead to injection failure but also cause unexpected damage to the patient's periarticular tissues.

[0005] Furthermore, manual injection makes it difficult to precisely guide the needle during insertion, and it's impossible to accurately control the speed and depth of insertion. Needle deviation is prone to occur, causing the injection site to deviate from the target area. Inappropriate control of the speed and depth of insertion may also prevent the injected medication from accurately reaching the lesion site, thus severely impacting treatment efficacy. These problems urgently require a more precise and reliable intra-articular injection technique to address, thereby improving the safety and effectiveness of treatment and reducing patient suffering and potential risks. Summary of the Invention

[0006] In view of this, the purpose of this invention is to propose an intelligent intra-articular injection system. By setting up an intra-articular injection system that simultaneously possesses a joint fixation base, an ultrasound recognition and positioning structure, and an automatic needle-guided injection structure, this invention solves the problem in the prior art where the lack of an automated injection structure capable of accurately identifying and positioning the joint cavity and providing accurate guidance leads to inaccurate injection operation, resulting in poor injection effect or even damage to the patient.

[0007] This invention is achieved through the following technical solution:

[0008] An intelligent intra-articular injection system includes an intra-articular bone fixation base, an automated quantitative auxiliary injection sleeve fixedly disposed on the left side of the intra-articular bone fixation base, an auxiliary injection limiting stage fixedly disposed on the right side of the intra-articular bone fixation base, and a central controller disposed outside the intra-articular bone fixation base. The central controller is connected to the automated quantitative auxiliary injection sleeve and the auxiliary injection limiting stage via a wireless signal.

[0009] Furthermore, the joint cavity connecting bone fixation base includes an upper joint cavity fixation base and a lower joint cavity fixation base. A rotating frustum is fixedly provided at the lower end of the upper joint cavity fixation base. A rotating arm is connected to the rotating frustum. A sliding telescopic base is fixedly provided between the rotating arms. The upper end of the sliding telescopic base is fixedly connected to the lower joint cavity fixation base through a connecting clamp.

[0010] Furthermore, both the upper joint cavity fixing base and the lower joint cavity fixing base are semi-arc steel plate grooves. Fixing straps and fixing clips are fixedly installed on the inner side of both the upper and lower joint cavity fixing bases. Fixing base limiting plates are provided above both the upper and lower joint cavity fixing bases. The fixing base limiting plates and the fixing straps and fixing clips are connected by fixing straps.

[0011] Furthermore, the automated quantitative auxiliary injection sleeve includes a right-side electrically rotating auxiliary fixing stage, a right-side electrically rotating auxiliary fixing stage with a right-side electrically rotating main telescopic column fixedly installed on the top of the right-side electrically rotating main telescopic column, a right-side longitudinal telescopic column fixedly connected to the top of the right-side electrically rotating main telescopic column via a right-side rotating connecting block, a syringe guide fixing sleeve on the top of the right-side longitudinal telescopic column, and an ultrasonic probe generator fixedly installed on the top of the syringe guide fixing sleeve.

[0012] Furthermore, the ultrasonic probe generator is provided with a syringe guide insertion port in the middle, and an electric auxiliary needle pusher is fixedly provided at the upper end of the syringe guide fixing sleeve through a connecting column. The electric auxiliary needle pusher includes an electric telescopic needle push rod, and a piston handle locking plate is fixedly provided at the lower end of the electric telescopic needle push rod.

[0013] Furthermore, the auxiliary injection limiting stage includes a left-side electrically driven transverse main telescopic column, and a left-side longitudinal telescopic column is fixedly connected to the top of the left-side electrically driven transverse main telescopic column via a left-side rotating connecting block. The top of the left-side longitudinal telescopic column has an injection limiting baffle, and an ultrasonic probe signal receiver is fixedly installed inside the injection limiting baffle. The ultrasonic probe signal receiver is coaxially arranged with the ultrasonic probe generator.

[0014] Furthermore, a left-side transverse auxiliary electric telescopic column is fixedly installed on the top of the injection limiting baffle, and a right-side transverse auxiliary electric telescopic column is fixedly installed on the upper end of the connecting column. The left-side transverse auxiliary electric telescopic column and the right-side transverse auxiliary electric telescopic column are connected by a bidirectional electric telescopic device.

[0015] Furthermore, flexible pads are fixedly installed on the surface of the semi-circular steel plate groove.

[0016] The beneficial effects of this invention are as follows:

[0017] This invention utilizes an intelligent intra-articular injection system that integrates a joint fixation base, an ultrasound positioning structure, and an automated injection mechanism. High-precision ultrasound positioning of the joint cavity facilitates accurate injection point identification, preventing tissue damage caused by human error. An automated quantitative injection mechanism, combined with real-time pressure and flow monitoring, ensures precise drug dosage and stable injection speed, improving therapeutic efficacy. Furthermore, the fully automated operation and real-time feedback significantly enhance the safety of the injection process, reducing the risk of complications. Simultaneously, it reduces the workload of medical staff and improves treatment efficiency. The system also integrates data storage and remote monitoring functions, allowing medical personnel to remotely optimize injection parameters, ensuring treatment continuity and patient rehabilitation management. Attached Figure Description

[0018] Figure 1 For the overall assembly structure drawing;

[0019] Figure 2 Front view of the overall assembly structure;

[0020] Figure 3 Side view of the overall assembly structure;

[0021] Figure 4 Top view of the overall assembly structure;

[0022] Figure 5 This is a diagram of the overall structure of the joint cavity connecting bone fixation base;

[0023] Figure 6 A bottom view of the overall structure of the joint cavity connecting bone fixation base;

[0024] Figure 7Cross-sectional view of the internal part of the syringe guide sleeve;

[0025] Figure 8 For control relationship diagram;

[0026] Figure 9 This is a diagram of the internal structure of the central controller.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Joint cavity connecting bone fixation base; 2. Upper joint cavity fixation base; 3. Lower joint cavity fixation base; 4. Rotating frustum; 5. Rotating arm; 6. Sliding telescopic base; 7. Connecting clamp; 8. Fixation strap fixation clamp; 9. Fixation base limiting plate; 10. Automated quantitative auxiliary injection sleeve; 11. Right side electric rotating auxiliary fixation stage; 12. Right side electric transverse main telescopic column; 13. Right side longitudinal telescopic column; 14. Syringe guide fixation sleeve; 15. Ultrasonic probe generator; 16. Syringe guide insertion port; 17. Electric auxiliary needle pusher; 18. Electric extension... 19. Retractable plunger rod; 20. Piston handle positioning plate; 21. Auxiliary injection limiting stage; 22. Left-side electric transverse main telescopic column; 23. Left-side longitudinal telescopic column; 24. Injection limiting baffle; 25. Ultrasonic probe signal receiver; 26. Left-side transverse auxiliary electric telescopic column; 27. Right-side transverse auxiliary electric telescopic column; 28. Bidirectional electric telescopic device; 29. ​​Central controller; 30. Fixing strap; 31. Electric telescopic connecting rod; 32. Wireless communication module; 33. Storage unit; 34. Microprocessor; 35. Right-side rotating connecting block; 36. Left-side rotating connecting block. Detailed Implementation

[0029] like Figure 1-9 As shown, one embodiment of the present invention provides an intelligent intra-articular injection system, including an intra-articular connecting bone fixation base 1. The intra-articular connecting bone fixation base 1 serves as the fundamental support for the entire system and is composed of an upper intra-articular fixation base 2 and a lower intra-articular fixation base 3. The lower end of the upper intra-articular fixation base 2 is securely connected to a rotating frustum 4 via a high-precision bearing. This connection method ensures that the rotating frustum 4 can rotate flexibly and stably around its axis. The rotating frustum 4 is precisely connected to a rotating arm 5 via a hinge structure, allowing the rotating arm 5 to swing freely within a certain angle range. A sliding telescopic base 6 is bolted between the rotating arms 5. The sliding telescopic base 6 employs a dovetail groove and slider cooperation structure, enabling smooth linear extension and retraction. The upper end of the sliding telescopic base 6 is tightly connected to the lower intra-articular fixation base 3 via a connecting clip 7. The connecting clip 7 adopts an adjustable clamp structure, facilitating installation and adjustment according to actual needs.

[0030] Both the upper joint cavity fixation base 2 and the lower joint cavity fixation base 3 are designed as semi-circular steel plate grooves. This structure ensures sufficient rigidity of the device while providing stable and reliable support for the injection process. Inside, a fixation strap and clamp 8 are carefully fixed by welding, and a fixation base limiting plate 9 is bolted on top. The two are connected by a fixation strap 29. The surface of the semi-circular steel plate groove is firmly fixed with a flexible pad using strong adhesive. This design effectively avoids injury to the patient caused by rigid contact when fixing the patient's joint.

[0031] An automated quantitative auxiliary injection sleeve 10 is fixedly installed on the left side of the joint cavity connecting bone fixation base 1. The automated quantitative auxiliary injection sleeve 10 is located on the left side of the joint cavity connecting bone fixation base 1 and is the core component for achieving precise injection. It mainly consists of a right-side electrically rotating auxiliary fixation platform 11, a right-side electrically driven transverse main telescopic column 12, a right-side rotating connecting block 34, a right-side longitudinal telescopic column 13, a syringe guide fixation sleeve 14, an ultrasonic probe generator 15, a syringe guide insertion port 16, an electrically driven auxiliary needle pusher 17, an electrically driven telescopic needle pusher rod 18, and a piston handle positioning plate 19.

[0032] The right-side electrically operated auxiliary mounting platform 11 integrates a high-precision motor and reducer, achieving precise angle adjustment through a gear transmission mechanism, providing fundamental support for subsequent injection positioning. Its top is sequentially fixed with a flange, housing a right-side electrically operated transverse main telescopic column 12 and a right-side longitudinal telescopic column 13. Both columns employ a combination structure of ball screws and linear guides, with the motor driving the screw rotation to achieve high-precision linear telescopic movement. A syringe guide fixing sleeve 14 is threadedly connected to the top of the right-side longitudinal telescopic column 13 to securely fix the syringe, ensuring accurate syringe positioning during injection. The ultrasonic probe generator 15 is fixed to the top of the syringe guide fixing sleeve 14 via a specially designed mounting bracket, playing a crucial role in joint cavity positioning. A syringe guide insertion port 16 is located in the middle of the ultrasonic probe generator 15 and the syringe guide fixing sleeve 14. The portion of the syringe guide insertion port 16 in the middle of the ultrasonic probe generator 15 guides the syringe needle, while the portion in the middle of the syringe guide fixing sleeve 14 guides the syringe barrel, working together to provide precise guidance for syringe needle insertion. The upper end of the syringe guide sleeve 14 is fixed with an electric auxiliary needle pusher 17 via a connecting column. The electric telescopic needle pusher 18 in the electric auxiliary needle pusher 17 adopts the structure of an electric pusher rod, which can perform precise linear movement under the command of the control system. Its lower end is fixed with a piston handle locking plate 19 by welding, which is used to firmly lock the piston handle of the syringe to realize automated needle push operation.

[0033] An auxiliary injection limiting stage 20 is fixedly installed on the right side of the joint cavity connecting bone fixation base 1. The auxiliary injection limiting stage 20 is located on the right side of the joint cavity connecting bone fixation base 1 and works in conjunction with the automated quantitative auxiliary injection sleeve 10 to complete the injection task. It mainly includes a left electric transverse main telescopic column 21, a left rotating connecting block 35, a left longitudinal telescopic column 22, an injection limiting baffle 23, an ultrasound probing signal receiver 24, a left transverse auxiliary electric telescopic column 25, a right transverse auxiliary electric telescopic column 26, and a bidirectional electric telescopic device 27.

[0034] The structural design of the left-side electric transverse main telescopic column 21 and the left-side longitudinal telescopic column 22 is similar to that of their corresponding parts in the automated quantitative auxiliary injection sleeve. They also employ a combination of ball screws and linear guides to achieve precise linear telescopic control. An injection limiting baffle 23 is welded to the top of the left-side longitudinal telescopic column 22. An ultrasonic probe signal receiver 24 is encapsulated and fixed inside the injection limiting baffle 23 with epoxy resin. This receiver is strictly aligned and coaxially aligned with the ultrasonic probe generator 15, ensuring accurate signal reception and processing during ultrasonic positioning. The left-side transverse auxiliary electric telescopic column 25 is bolted to the top of the injection limiting baffle 23. A right-side transverse auxiliary electric telescopic column 26 is bolted to the upper end of the connecting column. The left-side transverse auxiliary electric telescopic column 25 and the right-side transverse auxiliary electric telescopic column 26 are connected by a bidirectional electric telescopic device 27, which uses an electric cylinder structure. This connection method allows the auxiliary injection limiting stage 20 to move in tandem with the automated quantitative auxiliary injection sleeve 10, achieving precise positioning of the joint cavity and injection assistance.

[0035] A central controller 28 is located outside the joint cavity connecting bone fixation base 1 and is the core control unit of the entire intelligent joint cavity injection system. It integrates a high-performance microprocessor 33, which possesses powerful data processing capabilities and high-speed computing, enabling it to quickly and accurately process complex signals from various sensors and actuators.

[0036] The central controller 28 is equipped with advanced wireless communication modules 31, including but not limited to Bluetooth, Wi-Fi, or specific frequency band wireless radio frequency modules. These communication modules ensure stable and efficient wireless signal transmission between the automated quantitative injection sleeve 10 and the auxiliary injection stage 20, thereby enabling remote control and data interaction. Simultaneously, the central controller 28 has a large-capacity storage unit 32 for storing preset injection programs, joint cavity anatomical data, adaptation parameters for different patient body types, and various data logs during system operation. This data provides crucial information for system optimization and subsequent analysis. In terms of hardware design, the central controller 28 employs highly reliable electronic components and anti-interference circuits, possessing excellent anti-interference capabilities. It can operate stably in the complex and variable electromagnetic environment of a hospital, effectively ensuring the precise control and safe operation of the entire injection system.

[0037] In this embodiment, the knee joint is used as an example. The operator needs to fix the patient's thigh in the upper joint cavity fixation base 2 and the lower leg in the lower joint cavity fixation base 3. During insertion, it is important to ensure the accuracy of the patient's limb placement to avoid deviations that could affect subsequent injection procedures.

[0038] Subsequently, the rotating platform 4, in conjunction with the rotating arm 5, adjusts the position of the patient's limb to the optimal angle for injection. This process requires precise judgment and adjustment by the operator based on the patient's specific condition. After adjustment, a control command is sent via the central controller 28 to lock the rotating platform 4 at this angle, ensuring that the limb angle does not change during subsequent operations.

[0039] Next, the corresponding fixing base limiting plate 9 is used to securely fix the patient's limb using the tightening fixing strap 29. During the tightening of the fixing strap 29, care must be taken to control the force, ensuring both the stability of the fixation and the stability of the limb during injection to prevent movement, while avoiding excessive force that could cause discomfort or injury to the patient.

[0040] After the patient is secured, the central controller 28 initiates the movement and exploration operation of the automated quantitative auxiliary injection sleeve 10 and the auxiliary injection limiting stage 20. The central controller 28 first sends a rotation command to the right electrically driven auxiliary fixing stage 11, and simultaneously sends corresponding extension commands to the right electrically driven transverse main telescopic column 12 and the right longitudinal telescopic column 13.

[0041] Upon receiving the command, the right-side electrically driven auxiliary platform 11 precisely adjusts its angle via a reducer and gear transmission mechanism through its internal motor. The right-side electrically driven transverse main telescopic column 12 and the right-side longitudinal telescopic column 13, according to the command, drive the ball screw to rotate via motors, enabling the corresponding slider to achieve precise linear telescopic movement on the linear guide rail. The synergistic effect of these movements allows the syringe guide sleeve 14 and its ultrasonic probe generator 15 to move and probe along a preset path.

[0042] Because the injection limiting baffle 23 is connected to the syringe guide fixing sleeve 14 via the left lateral auxiliary electric telescopic column 25, the right lateral auxiliary electric telescopic column 26, and the bidirectional electric telescopic device 27, and because the ultrasonic probe signal receiver 24 and the ultrasonic probe generator 15 are coaxially aligned, a complete ultrasonic probe structure is formed on both sides of the joint. The ultrasonic probe generator 15 emits high-frequency ultrasonic signals, which are reflected when they encounter different tissue interfaces. The reflected signals are received by the ultrasonic probe signal receiver 24 and then transmitted to the central controller 28 via the wireless communication module 31.

[0043] However, to accurately locate the injection site, in addition to longitudinally extending and retracting the automated quantitative auxiliary injection sleeve 10 and the auxiliary injection limiting stage 20 to initially reach the approximate longitudinal range of the target injection site, it is also necessary to rotate the automated quantitative auxiliary injection sleeve 10 and the auxiliary injection limiting stage 20 around the joint radial direction to finally align with the target injection insertion point. This operation is achieved by controlling the right rotating connecting block 34 and the left rotating connecting block 35 to rotate synchronously through the central controller 28, thereby driving the corresponding right longitudinal telescopic column 13 and left longitudinal telescopic column 22 to rotate synchronously, which in turn drives the automated quantitative auxiliary injection sleeve 10 and the auxiliary injection limiting stage 20 to rotate around the joint radial direction to finally align with the target insertion point. Then, the automated quantitative auxiliary injection sleeve 10 and the auxiliary injection limiting stage 20 stop their current movement and maintain their position in the joint cavity.

[0044] The core principle behind this precise insertion point location is that when the central controller 28 receives a signal, its internal microprocessor 33 runs a specialized signal processing algorithm to analyze and process the signal. By accurately calculating parameters such as the intensity and time delay of the reflected signal, and combining this with the anatomical structure data of the joint cavity pre-stored in the storage unit 32, the central controller 28 can accurately determine the coordinates of the target joint cavity. Once the signal received by the central controller 28 is analyzed and processed, indicating that the accurate location of the joint cavity has been found, the central controller 28 immediately sends a command to the automated quantitative auxiliary injection sleeve 10 and the auxiliary injection limiting stage 20 to stop the movement and exploration.

[0045] Next, the central controller 28 sends a command to the right-side electric transverse main telescopic column 12 to retract to the left, and simultaneously sends a control signal to the bidirectional electric telescopic device 27, which drives the right-side transverse auxiliary electric telescopic column 26 to retract synchronously to the left. Under the action of these commands, the automated quantitative auxiliary injection sleeve 10 gradually moves closer to the right side of the joint cavity under the force of retraction, and finally fits tightly against the right side of the joint cavity.

[0046] Simultaneously, the central controller 28 sends a command to the left-side electric transverse main telescopic column 21 to retract to the right, and drives the left-side transverse auxiliary electric telescopic column 25 to retract to the right synchronously via the bidirectional electric telescopic device 27. Under the control of these commands, the auxiliary injection limiting stage 20 also gradually moves closer to the left side of the joint cavity, eventually fitting against the left side of the joint cavity.

[0047] After the fitting and fixing are completed, the central controller 28 sends a command to the electric telescopic needle pusher 18 in the electric assisted needle pusher 17 to move to the right, causing the piston handle locking plate 19 to move away from the syringe guide fixing sleeve 14, thus leaving sufficient space between them for syringe assembly. The operator accurately inserts the syringe piston handle into the piston handle locking plate 19, and then manually inserts the syringe barrel into the syringe guide fixing sleeve 14, securing it with the fixing mechanism. Finally, the syringe needle is aligned with the syringe guide insertion port 16, and the syringe is slowly and fully inserted and fixed, ensuring the accuracy and firmness of the syringe installation.

[0048] After the syringe is assembled, the central controller 28 sends a command to the electrically telescopic plunger 18 in the electrically assisted plunger 17 to move to the left at a constant speed. Because an electrically telescopic connecting rod 30 is provided between the ultrasonic probe generator 15 and the syringe guide sleeve 14, the needle does not penetrate the patient's joint cavity when the syringe is fixed and locked by the syringe guide sleeve 14.

[0049] Under the control of the central controller 28, the right lateral auxiliary electric telescopic column 26, the electric telescopic connecting rod 30, and the electric telescopic needle pusher 18 move synchronously to the left. Since the ultrasonic probe generator 15 is already tightly pressed against the side of the knee joint and cannot move, the leftward movement of the right lateral auxiliary electric telescopic column 26 and the electric telescopic connecting rod 30 causes the syringe guide fixing sleeve 14 to move closer to the ultrasonic probe generator 15. During this process, the syringe needle is driven through the syringe guide insertion port 16 inside the ultrasonic probe generator 15, gradually approaching the knee joint.

[0050] Then, under the precise guidance of the syringe guide insertion port 16 of the ultrasonic probe generator 15, the needle is inserted into the knee joint at a predetermined depth and distance. The central controller 28 collects insertion depth data in real time through a depth sensor (measuring needle displacement) and a position feedback system (encoder monitoring the position of the telescopic column) mounted on the electric telescopic needle push rod 18. Using a preset threshold comparison, when the depth exceeds the set value, the movement of the electric telescopic needle push rod 18 is immediately stopped, and an adjustment command is sent to the telescopic column via the wireless communication module 31 to achieve precise depth control. The depth sensor uses a high-precision displacement sensor, which can accurately measure the movement distance of the needle; the position feedback system provides real-time feedback of the position information of each telescopic column through the encoder. When the insertion depth reaches the set value, the central controller 28 immediately sends a command to the right lateral auxiliary electric telescopic column 26 and the electric telescopic connecting rod 30 to stop retraction and movement, only keeping the electric telescopic needle push rod 18 moving to the left.

[0051] Under the control of the central controller 28, the electrically telescopic plunger 18 drives the piston handle positioning plate 19 to push the syringe piston handle to the left, slowly and uniformly injecting the drug into the joint cavity. During the injection, the central controller 28 precisely controls the speed and displacement of the electrically telescopic plunger 18 to achieve precise control of the injection speed and depth. Simultaneously, the central controller 28 monitors parameters such as pressure and flow rate in real time during the injection process. A pressure sensor, installed at the connection between the syringe and the needle, measures the injection pressure; a flow sensor indirectly calculates the drug injection flow rate by monitoring the piston movement speed. The central controller 28 collects injection pressure data through the pressure sensor (installed at the syringe and needle connection) and calculates the drug flow rate through the flow sensor (monitoring the piston movement speed). During the injection, the central controller 28 collects real-time pressure data at a frequency of 100Hz through the pressure sensor (model: Honeywell ABP2). The pressure safety threshold is set at 30kPa, with a 5kPa safety margin. Pressure regulation uses an incremental PID algorithm.

[0052] Δu(k)=0.8×[e(k)-e(k-1)]+0.05×e(k)+0.1×[e(k)-2e(k-1)+e(k-2)]

[0053] Where: e(k) is the pressure error value at the current moment (e(k) = current pressure measurement value - 30kPa);

[0054] e(k-1) is the pressure error value at the previous moment;

[0055] e(k-2) represents the pressure error value at the previous two moments.

[0056] Historical error terms are dynamically updated according to time series:

[0057] Initialization: At the start of injection, set the initial values ​​e(-1)=0, e(-2)=0;

[0058] Iterative update: Execute after each calculation:

[0059] Assign the value of e(k-1) to e(k-2) (update the error between the previous two time steps);

[0060] Assign the value of e(k) to e(k-1) (update the error of the previous time step).

[0061] When e(k) > 0, the moving speed of the electric telescopic plunger 18 is reduced proportionally to the value of Δu(k) (minimum 0.1 mm / s); when e(k) ≤ 0, the preset speed of 1.0 mm / s is maintained. This control ensures that the actual pressure fluctuation does not exceed ±2 kPa, achieving dynamic regulation of the injection process.

[0062] After injection, under the control of the central controller 28, the syringe guide insertion port 16 presses against the needle tube, and the piston handle locking plate 19 presses against the piston handle, effectively clamping the entire syringe securely. At this time, the central controller 28 sends a synchronous rightward movement command to the right-side electric lateral main telescopic column 12 and the right-side lateral auxiliary electric telescopic column 26.

[0063] Under these commands, the right-side electric lateral main telescopic column 12 and the right-side lateral auxiliary electric telescopic column 26, driven by motors and transmission mechanisms, gradually move the syringe to the right, thereby pulling the syringe out of the joint cavity. Once the syringe is completely removed, the operator applies a hemostatic dressing to the injection site and performs simple care and treatment, thus completing the entire injection process.

[0064] The principle behind this operation is that an electrically telescopic connecting rod 30 is installed between the ultrasound probe generator 15 and the syringe guide fixing sleeve 14. When the syringe is fixed and clamped by the syringe guide fixing sleeve 14, the needle does not penetrate the patient's joint cavity. Instead, after the syringe is completely clamped, under the control of the central controller 28, the right transverse auxiliary electrically telescopic column 26, the electrically telescopic connecting rod 30, and the electrically telescopic needle pusher 18 are simultaneously moved to the left. Because the ultrasound probe generator 15 is already pressed against the side of the knee joint and cannot move, the syringe guide fixing sleeve 14 is brought closer to the ultrasound probe generator 15, thereby driving the syringe needle through the ultrasound probe generator 15. The syringe guide insertion port 16 is placed close to the knee joint. Then, guided by the syringe guide insertion port 16 of the ultrasound probe generator 15, the needle is inserted into the knee joint at a fixed distance. When the insertion depth reaches the set depth, the central controller 28 controls the right transverse auxiliary electric telescopic column 26 and the electric telescopic connecting rod 30 to stop retracting and moving. Only the electric telescopic push needle rod 18 moves to the left, driving the piston handle locking plate 19 to push the piston handle of the syringe to the left, injecting the drug into the joint cavity. This operation is carried out by the electric telescopic push needle rod 18, and the injection speed and depth are controlled by the central controller 28 and the electric telescopic push needle rod 18.

[0065] This intelligent intra-articular injection system brings innovative solutions to the field of intra-articular injection through its technological advantages, including precise positioning of the joint cavity, automated quantitative injection, improved patient safety, and reduced workload for medical staff. It has broad application prospects and clinical value.

[0066] In this embodiment, both the upper joint cavity fixing base 2 and the lower joint cavity fixing base 3 are semi-arc steel plate grooves, which helps to ensure the rigidity of the device and thus provide a stable and non-shaking fixing base during use, ensuring injection accuracy.

[0067] In this embodiment, flexible pads are fixedly installed on the surface of the semi-circular steel plate groove to prevent the device from injuring the patient due to its excessive rigidity when assembled around the patient's joint.

[0068] In this embodiment, surface electromyography (SEMG) sensors and thermocouple sensors are uniformly and fixedly arranged around the front end face of the ultrasound probe generator 15. These sensors are used to monitor in real time the changes in muscle contraction and spasm at the injection site and the temperature changes at the injection site. When the detected values ​​are transmitted back to the central controller via wireless signal and the analysis shows that the data is abnormal and changes significantly, it can be determined that the injection flow rate is too fast or the injection position is inaccurate, which has caused the patient to have huge physiological abnormalities. This allows for timely detection and adjustment of the patient's injection to ensure patient safety.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An intelligent intra-articular injection system, characterized in that: The device includes a joint cavity connecting bone fixation base, an automated quantitative auxiliary injection sleeve fixedly disposed on the left side of the joint cavity connecting bone fixation base, an auxiliary injection limiting stage fixedly disposed on the right side of the joint cavity connecting bone fixation base, and a central controller disposed outside the joint cavity connecting bone fixation base. The central controller is connected to the automated quantitative auxiliary injection sleeve and the auxiliary injection limiting stage via a wireless signal. The joint cavity connecting bone fixation base includes an upper joint cavity fixation base and a lower joint cavity fixation base. A rotating frustum is fixedly provided at the lower end of the upper joint cavity fixation base. A rotating arm is connected to the rotating frustum. A sliding telescopic base is fixedly provided between the rotating arms. The upper end of the sliding telescopic base is fixedly connected to the lower joint cavity fixation base through a connecting clip. Both the upper joint cavity fixing base and the lower joint cavity fixing base are semi-arc steel plate grooves. Fixing straps and fixing clips are fixedly installed on the inner side of both the upper and lower joint cavity fixing bases. Fixing base limiting plates are installed above both the upper and lower joint cavity fixing bases. The fixing base limiting plates and the fixing straps and fixing clips are connected by fixing straps. The automated quantitative auxiliary injection kit includes a right-side electrically rotating auxiliary fixing stage, a right-side electrically rotating auxiliary fixing stage with a right-side electrically rotating main telescopic column fixedly installed on the top of the right-side electrically rotating main telescopic column, a right-side longitudinal telescopic column fixedly connected to the top of the right-side electrically rotating main telescopic column via a right-side rotating connecting block, a syringe guide fixing sleeve on the top of the right-side longitudinal telescopic column, and an ultrasonic probe generator fixedly installed on the top of the syringe guide fixing sleeve. The ultrasonic probe generator is provided with a syringe guide insertion port in the middle. The upper end of the syringe guide fixing sleeve is fixed with an electric auxiliary needle pusher through a connecting column. The electric auxiliary needle pusher includes an electric telescopic needle pusher rod. The lower end of the electric telescopic needle pusher rod is fixed with a piston handle locking plate. The auxiliary injection limiting stage includes a left electric transverse main telescopic column. The top of the left electric transverse main telescopic column is connected and fixedly mounted with a left longitudinal telescopic column via a left rotating connecting block. The top of the left longitudinal telescopic column has an injection limiting baffle. An ultrasonic probe signal receiver is fixedly mounted inside the injection limiting baffle. The ultrasonic probe signal receiver is coaxially mounted with the ultrasonic probe generator. A left-side transverse auxiliary electric telescopic column is fixedly installed on the top of the injection limiting baffle, and a right-side transverse auxiliary electric telescopic column is fixedly installed on the upper end of the connecting column. The left-side transverse auxiliary electric telescopic column and the right-side transverse auxiliary electric telescopic column are connected by a bidirectional electric telescopic device.

2. The intelligent intra-articular injection system according to claim 1, characterized in that... The surface of the semi-circular steel plate groove is fixedly provided with flexible pads.

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