PICC dressing intelligent robot and operation method thereof

Abstract

The application provides a PICC dressing change intelligent robot and an operating method thereof, and relates to the technical field of medical devices.It comprises a shell, an arm support unit, a catheter tip fixing unit, a mechanical hand, an image unit, a storage unit, a driving unit and a control unit, the arm support unit is connected to the shell, the catheter tip fixing unit is connected to the shell and located above the arm support unit, two mechanical hands are symmetrically connected to the shell, the image unit is connected to the top of the shell, the driving unit is arranged in the shell, the driving unit is drivingly connected to the storage unit, the driving unit can drive the storage unit to extend out of the shell or retract, and the control unit is arranged in the shell.The PICC dressing change intelligent robot can complete the standardized PICC dressing change operation process in a nearly full-automatic mode, and through the cooperation of the mechanical hand and each unit, the PICC dressing change operation is more standardized, and the work pressure of medical staff is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an intelligent robot for changing PICC dressings and its operating method. Background Technology

[0002] Currently, PICC dressing changes for patients usually still require the assistance of medical staff. Sometimes, medical staff can also perform PICC dressing changes with the help of a PICC dressing chair or PICC dressing bed.

[0003] Due to busy clinical work schedules and inadequate training on standard PICC maintenance procedures, numerous problems arise during actual operation, such as hasty PICC dressing changes and disinfection, insufficient drying of disinfectant, and improper catheter fixation. These issues can easily lead to infections, contact dermatitis, catheter breakage due to kinking, and catheter dislodgement due to insecure dressing fixation. Nursing staff with insufficient experience may be unable to identify complications early and may not know how to manage problems effectively. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent robot for PICC dressing changes and its operation method, so as to solve the technical problems existing in the prior art. The various technical effects of the preferred technical solutions provided by this invention are detailed below.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A PICC dressing change intelligent robot includes a housing, an arm support unit, a catheter end fixing unit, a robotic arm, an imaging unit, a storage unit, a drive unit, and a control unit. The arm support unit is connected to the housing, and the catheter end fixing unit is connected to the housing and located above the arm support unit. Two robotic arms are symmetrically connected to the housing. The imaging unit is connected to the top of the housing. The drive unit is located inside the housing and is drivenly connected to the storage unit. The drive unit can drive the storage unit to extend or retract from the housing. The storage unit contains disinfectant cotton pads, infusion connectors, flushing syringes, disinfectant swabs, catheter fixation components, and dressings. The control unit is located inside the housing and is communicatively connected to the robotic arm, the imaging unit, and the drive unit.

[0006] Preferably, the arm support unit includes a forearm support assembly, an extension angle adjustment assembly, and an armpit support assembly. The forearm support assembly is connected to the housing, and the extension angle adjustment assembly is connected to both the forearm support assembly and the armpit support assembly. The extension angle adjustment assembly can adjust the angle between the forearm support assembly and the armpit support assembly.

[0007] Preferably, the catheter end fixing unit includes a first movable arm, a second movable arm, and a fixing clamp. The end of the first movable arm is movably connected to the housing, the end of the second movable arm is movably connected to the front end of the first movable arm, and the end of the fixing clamp is movably connected to the front end of the second movable arm. The fixing clamp is used to clamp the end of the PICC catheter.

[0008] Preferably, the fingertips of the robotic arm are equipped with pressure sensors, which are communicatively connected to the control unit.

[0009] Preferably, the imaging unit includes a 360° gimbal camera and a cantilever bracket. The end of the cantilever bracket is connected to the top of the housing. The 360° gimbal camera is connected to the front end of the cantilever bracket and is communicatively connected to the control unit. The lens of the 360° gimbal camera is set downward.

[0010] Preferably, the storage unit includes several movable drawers, each of which is driven and connected to one of the drive units. Each movable drawer is used to store one or more of the following: disinfectant pads, infusion connectors, flushing syringes, disinfectant swabs, catheter fixation devices, and dressings.

[0011] Preferably, the drive unit includes a drive motor, a drive gear, and a drive rack. The drive motor is connected to the drive gear in a transmission manner and is also connected in communication with the control unit. The drive gear is meshed with the drive rack, and the drive rack is connected to the storage unit.

[0012] Preferably, it further includes a moving unit, which is connected to the bottom of the housing and communicates with the control unit, and the moving unit is capable of driving the robot to move.

[0013] Preferably, it also includes a waste collection unit connected to the lower part of the housing.

[0014] A method for operating a PICC dressing change intelligent robot includes the following specific steps: S1. The patient's arm is placed on the arm support unit, and the end of the PICC catheter is fixed to the catheter end fixation unit manually or using a robotic arm; S2. Use the imaging unit to perform facial recognition on the patient, retrieve patient data information, and send it to the control unit; S3. Control the robotic arm to remove the connector at the end of the PICC catheter, exposing the port at the end of the PICC catheter; S4. The control drive unit pushes out the storage unit containing disinfectant wipes, controls one robotic arm to take out a disinfectant wipe, and together with another robotic arm, tears open the outer packaging to make the disinfectant wipe into a square shape. One robotic arm holds the square-shaped disinfectant wipe, and controls the other robotic arm to hold the port at the end of the PICC catheter. The disinfectant wipe is used to wrap the port at the end of the PICC catheter and the spiral opening for disinfection. After disinfection, the disinfectant wipe is thrown into the waste collection unit. S5. The control drive unit pushes out the storage unit containing the infusion connector and the flushing syringe, controls one robotic arm to take out an infusion connector, tears off the outer packaging and holds the infusion connector, controls another robotic arm to take out a flushing syringe, tears off the outer packaging and holds the flushing syringe, uses the two robotic arms to connect the infusion connector and the flushing syringe, and uses the robotic arms to press the flushing syringe to vent air. S6. Control two robotic arms to connect the infusion connector to the port at the end of the PICC catheter, use the two robotic arms to aspirate the flushing syringe, use the imaging unit to identify whether blood is returning, and use the pressure sensor to detect the pressure of the robotic arms on the flushing syringe, pulse flush the catheter, implement positive pressure sealing, and after the end, use the two robotic arms to disconnect the infusion connector from the flushing syringe and discard the flushing syringe into the waste collection unit; S7. Control one robotic arm to press the puncture point and PICC catheter, use another robotic arm to tear off the old dressing at a 0-degree angle, remove the old catheter fixation piece, and discard the old dressing and old catheter fixation piece into the waste collection unit; S8. The control drive unit pushes out the storage unit containing the disinfectant cotton swabs, and a robotic arm tears off the outer packaging and holds the disinfectant cotton swabs to disinfect and care for the area around the puncture point several times. S9. The control drive unit pushes out the storage unit containing the catheter fixation device and dressing. A robotic arm takes out a catheter fixation device, tears off the outer packaging, holds the catheter fixation device and installs it at the puncture site. Two robotic arms place the dressing without tension and install it at the puncture site to complete the dressing change operation.

[0015] The beneficial effects of this invention are as follows: the PICC dressing change intelligent robot can complete the standardized PICC dressing change operation process in a near-fully automatic manner. Through the cooperation of the robotic arm and various units, the PICC dressing change operation is made more standardized, effectively reducing the workload of medical staff. Furthermore, with the cooperation of the imaging unit and the control unit, it can intelligently monitor and record the entire dressing change process, identify the occurrence of early complications, and provide reasonable treatment solutions. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a front view of the structure of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a detailed structural diagram of the arm support unit and the catheter end fixing unit of the present invention; Figure 4 This is a cross-sectional view of the arm support unit of the present invention; Figure 5 This is a detailed structural diagram of the driving unit of the present invention; Figure 6 This is a circuit diagram of the present invention; Figure 7 This is a front view of the structure of the present invention with a sterile enclosure. Figure 8 This is a side view of the aseptic enclosure of the present invention; In the diagram: 1. Shell; 11. Sterile hood; 111. First door; 112. Second door; 12. Disinfection assembly; 2. Arm support unit; 21. Forearm support assembly; 22. Extension angle adjustment assembly; 23. Axillary support assembly; 3. Catheter end fixing unit; 31. First movable arm; 32. Second movable arm; 33. Fixing clamp; 4. Robotic arm; 41. Pressure sensor; 5. Imaging unit; 51. 360° pan-tilt camera; 52. Cantilever bracket; 6. Storage unit; 7. Drive unit; 71. Drive motor; 72. Drive gear; 73. Drive rack; 8. Control unit; 9. Moving unit; 10. Waste collection unit. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention. In the description of this invention, it should be understood that the terms "center," "side," "length," "width," "height," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "side," etc., indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0019] In the description of this invention, it should also 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 fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] Reference Figures 1 to 8 The present invention provides a PICC dressing change intelligent robot, including a shell 1, an arm support unit 2, a catheter end fixing unit 3, a robotic arm 4, an imaging unit 5, a storage unit 6, a drive unit 7, and a control unit 8; The arm support unit 2 is connected to the housing 1. The arm support unit 2 is used to place the patient's arm, can support the patient's arm, and expose the operating space. The catheter end fixing unit 3 is connected to the housing 1 and located above the arm support unit 2. The catheter end fixing unit 3 can fix the end of the PICC catheter. Two robotic arms 4 are symmetrically connected to the housing 1. The robotic arms 4 can flexibly pick up and place various materials used for PICC dressing changes. The imaging unit 5 is connected to the top of the housing 1. The imaging unit 5 can perform real-time image reading and analysis of each unit of the robot below. The drive unit 7 is located inside the housing 1. The drive unit 7 is driven to connect with the storage unit 6. The drive unit 7 can drive the storage unit 6 to extend or retract from the housing 1. The storage unit 6 contains disinfectant cotton pads, infusion connectors, flushing syringes, disinfectant cotton swabs, catheter fixation devices, and dressings. The control unit 8 is located inside the housing 1 and is communicatively connected to the robotic arm 4, the imaging unit 5, and the drive unit 7. The control unit 8 can perform corresponding data analysis, processing, and control on each unit.

[0021] The PICC dressing change intelligent robot can complete the standardized PICC dressing change operation process in a near-fully automated manner. Through the cooperation of the robotic arm 4 and various units, the PICC dressing change operation is made more standardized, effectively reducing the workload of medical staff. With the cooperation of the imaging unit 5 and the control unit 8, it can intelligently monitor and record the entire dressing change process, identify the occurrence of early complications, and provide reasonable treatment solutions.

[0022] As an optional implementation, the arm support unit 2 includes a forearm support assembly 21, an extension angle adjustment assembly 22, and an armpit support assembly 23. The forearm support assembly 21 is connected to the housing 1. The extension angle adjustment assembly 22 is connected to both the forearm support assembly 21 and the armpit support assembly 23. The extension angle adjustment assembly 22 can adjust the angle between the forearm support assembly 21 and the armpit support assembly 23.

[0023] The forearm support component 21 can support the patient's forearm, and the armpit support component 23 can support the patient's upper arm and armpit. Therefore, the forearm support component 21 and the armpit support component 23 can work together to provide effective support for the patient's arm. The forearm support component 21 and the armpit support component 23 are connected by an extension angle adjustment component 22 to form a sufficient operating space. The extension angle adjustment component 22 can flexibly adjust the relative angle between the forearm support component 21 and the axillary support component 23, thereby better matching the arm angle of different patients. As one implementation, the extension angle adjustment component 22 is preferably a digital chuck adjustment structure. The structure of the digital chuck adjustment structure itself is existing technology and can be directly purchased from the market. As another implementation, the extension angle adjustment component 22 includes a motor and a position sensor. The output end of the motor acts on the axillary support component 23. After receiving a signal from the control unit 8, the motor starts and drives the axillary support component 23 to rotate. When the axillary support component 23 rotates to a preset angle, the position sensor sends a signal to the control unit 8, and the control unit controls the motor to stop rotating.

[0024] Both the forearm support assembly 21 and the armpit support assembly 23 are preferably a combination structure of a connecting tube and a sheath. The sheath is connected to the connecting tube and is used to support and limit the lower part of the forearm and upper arm.

[0025] As an optional implementation, the catheter end fixing unit 3 includes a first movable arm 31, a second movable arm 32 and a fixing clamp 33. The end of the first movable arm 31 is movably connected to the housing 1, the end of the second movable arm 32 is movably connected to the front end of the first movable arm 31, and the end of the fixing clamp 33 is movably connected to the front end of the second movable arm 32. The fixing clamp 33 is used to clamp the end of the PICC catheter. The first movable arm can rotate relative to the housing 1, the second movable arm can rotate relative to the first movable arm 31, and the fixing clamp 33 can rotate relative to the second movable arm 32. With this configuration, in actual use, the catheter end fixing unit 3 can be folded and unfolded. It can be unfolded when in use and folded when not in use, thus not taking up space.

[0026] As an optional implementation, the fingertips of the robotic arm 4 are provided with pressure sensors 41. The pressure sensors 41 are communicatively connected to the control unit 8. The pressure sensors 41 can assist the robotic arm 4 in sensing the pressure at the fingertips of the robotic arm 4, thereby assisting the control unit 8 in performing better control operations.

[0027] As an optional implementation, the imaging unit 5 includes a 360° gimbal camera 51 and a cantilever bracket 52. The end of the cantilever bracket 52 is connected to the top of the housing 1, and the 360° gimbal camera 51 is connected to the front end of the cantilever bracket 52 and is communicatively connected to the control unit 8. The cantilever bracket 52 can be used to fix the 360° gimbal camera 51, and extends forward out of the housing 1 in a cantilever manner, thereby providing sufficient image shooting space for the 360° gimbal camera 51. The lens of the 360° gimbal camera 51 is set downward and has a 360° shooting capability without blind spots. It can perform real-time image reading and analysis of each unit of the robot below, thereby assisting the control unit 8 in controlling the robot as a whole.

[0028] As an optional implementation, the storage unit 6 includes several movable drawers, each of which is driven to a drive unit 7. Each movable drawer is used to store one or more of the following: disinfectant cotton pads, infusion connectors, flushing syringes, disinfectant swabs, catheter fixation devices, and dressings. In the actual design process, the materials required for PICC dressing changes can be flexibly selected and placed according to actual usage needs, thereby matching a specific number of movable drawers. For example, disinfectant cotton pads and swabs can be stored separately, infusion connectors and flushing syringes can be stored separately or together to improve efficiency. Catheter fixation devices and dressings can be stored separately or together to improve efficiency. In addition to the materials mentioned above, more movable drawers can be provided as spares for other materials that may be needed but are not listed, in order to meet more clinical needs.

[0029] As an optional implementation, the drive unit 7 includes a drive motor 71, a drive gear 72 and a drive rack 73. The drive motor 71 is connected to the drive gear 72 in a transmission manner and is connected to the control unit 8 in a communication manner. The drive gear 72 is meshed with the drive rack 73. The drive rack 73 is connected to the storage unit 6 and can drive the storage unit 6 to move synchronously. After the drive motor 71 is started, it can drive the drive gear 72 to rotate. The rotation of the drive gear 72 can drive the drive rack 73 to move relative to it along its length, thereby driving the corresponding storage unit 6 to move synchronously, thus realizing the push-out and retraction of the storage unit 6. Under the control of the control unit 8, the corresponding drive unit 7 can be activated at different operation steps to push out the corresponding storage unit 6 so that the robot arm 4 can pick up the material placed in the storage unit 6.

[0030] As an optional implementation, the control unit 8 is preferably a computer, which performs corresponding data analysis, processing and control on each device. Operators can also have voice conversations with control unit 8 and record relevant information; A touch screen can also be installed on the housing 1. The touch screen is connected to the control unit 8, and the operator can control and set the robot through the touch screen. In addition, it is preferred to have devices with Bluetooth and Wi-Fi functions to communicate and connect with external mobile phones or computers, and to further control and set them through mobile phone APP and computer programs; The control unit 8 can also control the imaging unit 5 to capture video and acquire images.

[0031] As an optional implementation, a moving unit 9 is also included. The moving unit 9 is connected to the bottom of the housing 1 and is communicatively connected to the control unit 8. Under the control of the control unit 8, the moving unit 9 can drive the robot to move, thereby realizing the flexible movement of the robot. In this embodiment, the moving unit 9 is preferably a motor drive assembly and a moving wheel. After the motor drive assembly is started, it can drive the moving wheel to rotate, thereby driving the robot to move.

[0032] As an optional implementation, a waste collection unit 10 is also included. The waste collection unit 10 is connected to the lower part of the housing 1. The waste collection unit 10 can be used to receive various wastes thrown in by the robotic arm 4. After unified collection, they can be centrally processed by medical staff. In this embodiment, the waste collection unit 10 is preferably a medical waste collection bin, which is detachably connected to the lower part of the housing 1, thereby facilitating cleaning, disinfection and maintenance.

[0033] As an optional implementation, a sterile cover 11 is also provided at the front of the housing 1. The sterile cover 11 can completely cover the arm support unit 2, the catheter end fixing unit 3, the robotic arm 4, and the waste collection unit 10, thereby forming a sterile environment that the patient can have when changing dressings. In order to facilitate the patient's arm to be inserted into the sterile cover 11, a round hole is provided at the corresponding position covering the arm support unit 2 for the patient's arm to be inserted. At the same time, a first door 111 is provided, which can be closed when not in use to seal the inside of the sterile cover 11.

[0034] Meanwhile, in order to facilitate the processing of waste collection unit 10, sterile cover 11 is also provided with a door opening at the corresponding position, and a second door 112 is provided at the door opening. When not in use, the second door 112 can be closed, thereby sealing the inside of sterile cover 11.

[0035] As an optional implementation, in order to regularly disinfect the inside of the sterile enclosure 11, a disinfection component 12 is provided on the front side of the top of the inside of the sterile enclosure 11. The disinfection component 12 is preferably an ultraviolet lamp tube, which can disinfect the inside of the sterile enclosure 11 after the connection circuit is turned on.

[0036] This invention also provides an operation method for a PICC dressing change intelligent robot, including the following specific steps: S1. Move the PICC dressing change robot to the side of the patient, place the patient's arm on the arm support unit 2, and use the forearm support component 21 and the axillary support component 23 to support the patient's forearm and upper arm armpit respectively. The angle between the forearm support component 21 and the axillary support component 23 can be adjusted by adjusting the extension angle adjustment component 22. Then, use manual or robotic arm 4 to unfold the catheter end fixing unit 3 so that the fixing clamp 33 can be moved to a suitable position. Then, use manual or robotic arm 4 to fix the end of the PICC catheter to the catheter end fixing unit 3.

[0037] S2. The imaging unit 5 performs facial recognition on the patient to facilitate the retrieval of patient data. Throughout all steps of the actual operation, the imaging unit 5 remains operational, scanning and recording the entire dressing change process. It also automatically records relevant data through its connection with the control unit 8 and analyzes and compares this data with the relevant complication data stored in the control unit 8. The control unit 8 is preferably a computer, which can also use AI to determine whether complications have occurred and provide reasonable treatment plans. Here, the imaging unit 5 uses intelligent recording, greatly improving the work efficiency of nursing staff. Information can be stored after manual verification, and any discrepancies in the description can be corrected through voice interaction, converting speech to text.

[0038] S3. Control unit 8 controls robot arm 4 to remove the connector at the end of PICC catheter by twisting, thereby exposing the port at the end of PICC catheter.

[0039] S4. The control unit 8 sends a signal to the drive unit, and the drive unit 7 pushes out the storage unit 6 containing the disinfectant cotton pads. One robotic arm 4 takes out a disinfectant cotton pad and, together with another robotic arm 4, tears open the outer packaging to make the disinfectant cotton pad into a square shape. One robotic arm holds the square-shaped disinfectant cotton pad, and another robotic arm 4 holds the port at the end of the PICC catheter. The disinfectant cotton pad is used to wrap the port at the end of the PICC catheter and the spiral opening for disinfection. After disinfection, the disinfectant cotton pad is thrown into the waste collection unit 10. S5. The drive unit 7 extends the storage unit 6 containing the infusion connector and the flushing syringe. One robotic arm 4 takes out an infusion connector, tears open the outer packaging and holds the infusion connector. Another robotic arm 4 takes out a flushing syringe, tears open the outer packaging and holds the flushing syringe. The two robotic arms 4 connect the infusion connector and the flushing syringe. The robotic arm 4 presses the flushing syringe to vent air.

[0040] S6. The control unit 8 controls two robotic arms 4 to connect the infusion connector to the port at the end of the PICC catheter. The two robotic arms 4 are used to aspirate the flushing and sealing syringe. At the same time as aspiration, the imaging unit 5 is used to identify whether blood is returned and to determine the patency. If blood is returned, it means that the operation is normal. If no blood is returned, the imaging unit 5 will sound an alarm and notify the medical staff. The pulse flushing catheter is activated, and a specific flushing mode is set by the control unit 8. The flushing is preferably performed in a push-stop-push-stop manner to achieve positive pressure sealing. During this process, the pressure sensor 41 detects the pressure applied by the robotic arm 4 to the flushing and sealing syringe, thereby ensuring the patency of the catheter, ensuring positive pressure sealing, and ensuring safety. After completion, use two robotic arms 4 to disconnect the infusion connector from the flushing syringe and discard the flushing syringe into the waste collection unit 10.

[0041] In this step, the pressure sensor 41 uploads the pressure value to the computer system, which automatically analyzes and compares it with the previous value. If the pressure sensor value is greater than the previous value, the system issues an alarm, and the cause is manually checked and recorded.

[0042] S7. The control unit controls one robotic arm 4 to press the puncture point and PICC catheter, and controls another robotic arm 4 to tear off the old dressing at a 0-degree angle (parallel to the skin) and remove the old catheter fixation piece, and throws the old dressing and the old catheter fixation piece into the waste collection unit 10.

[0043] S8. The drive unit 7 pushes out the storage unit 6 containing the disinfectant cotton swabs, and uses a robotic arm 4 to tear off the outer packaging and hold the disinfectant cotton swabs to disinfect and care for the area around the puncture point several times. This requires the cooperation of the imaging unit 5 to identify the puncture site and guide the robotic arm 4 to find the accurate location for disinfection; First, use an alcohol-soaked cotton swab to activate alcohol disinfection with a pressure setting of ≤0.3-0.5N. Under the control of the control unit 8, the computer sets the disinfection method, drawing a hollow circle with a diameter of 1cm around the puncture point, and following a clockwise-counterclockwise-clockwise sequence. The diameter of the hollow circle is preferably greater than 12cm. The used waste is then discarded into the waste collection unit 10 below via the robotic arm 4. Next, use a chlorhexidine-soaked cotton swab to draw a solid circle centered on the puncture point, with a diameter greater than 12cm. After the chlorhexidine has dried for 1-2 minutes, the next step can be performed.

[0044] S9. The control unit sends a signal to the drive unit, controlling the drive unit 7 to push out the storage unit 6 containing the catheter fixation device and dressing. At the same time, it controls a robotic arm 4 to take out a catheter fixation device, tear off the outer packaging, and hold the catheter fixation device to install it at the puncture site. By controlling two robotic arms 4 to place the dressing at the puncture site without tension, the dressing change operation is completed.

[0045] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A PICC dressing change intelligent robot, characterized in that, The device includes a housing (1), an arm support unit (2), a catheter end fixing unit (3), a robotic arm (4), an imaging unit (5), a storage unit (6), a drive unit (7), and a control unit (8). The arm support unit (2) is connected to the housing (1). The catheter end fixing unit (3) is connected to the housing (1) and located above the arm support unit (2). Two robotic arms (4) are symmetrically connected to the housing (1). The imaging unit (5) is connected to the top of the housing (1). The drive unit (7) is located inside the housing (1) and is driven to connect with the storage unit (6). The drive unit (7) can drive the storage unit (6) to extend or retract from the housing (1). The storage unit (6) contains disinfectant cotton pads, infusion connectors, flushing syringes, disinfectant swabs, catheter fixing components, and dressings. The control unit (8) is located inside the housing (1) and is communicatively connected to the robotic arm (4), the imaging unit (5), and the drive unit (7). The arm support unit (2) includes a forearm support assembly (21), an extension angle adjustment assembly (22), and an armpit support assembly (23). The forearm support assembly (21) is connected to the housing (1). The extension angle adjustment assembly (22) is connected to the forearm support assembly (21) and the armpit support assembly (23) respectively. The extension angle adjustment assembly (22) can adjust the angle between the forearm support assembly (21) and the armpit support assembly (23). The catheter end fixing unit (3) includes a first movable arm (31), a second movable arm (32), and a fixing clamp (33). The end of the first movable arm (31) is movably connected to the housing (1), the end of the second movable arm (32) is movably connected to the front end of the first movable arm (31), and the end of the fixing clamp (33) is movably connected to the front end of the second movable arm (32). The fixing clamp (33) is used to clamp the end of the PICC catheter. The fingertips of the robotic arm (4) are equipped with pressure sensors (41), which are communicatively connected to the control unit (8). The drive unit (7) includes a drive motor (71), a drive gear (72) and a drive rack (73). The drive motor (71) is connected to the drive gear (72) in a transmission manner and is connected to the control unit (8) in a communication manner. The drive gear (72) is meshed with the drive rack (73) and the drive rack (73) is connected to the storage unit (6). A sterile cover (11) is provided in front of the housing (1). The sterile cover (11) can completely cover the arm support unit (2), the catheter end fixing unit (3) and the robotic arm (4) to form a sterile dressing environment. The sterile cover (11) has a round hole at the corresponding position covering the arm support unit (2) for the patient's arm to be inserted. At the same time, a first door (111) is provided to seal the inside of the sterile cover (11).

2. The PICC dressing change intelligent robot according to claim 1, characterized in that, The imaging unit (5) includes a 360° gimbal camera (51) and a cantilever bracket (52). The end of the cantilever bracket (52) is connected to the top of the housing (1). The 360° gimbal camera (51) is connected to the front end of the cantilever bracket (52) and communicates with the control unit (8). The lens of the 360° gimbal camera (51) is set downward.

3. The PICC dressing change intelligent robot according to claim 1, characterized in that, The storage unit (6) includes several movable drawers, each of which is driven and connected to a drive unit (7). Each movable drawer is used to store one or more of the following: disinfectant cotton pads, infusion connectors, flushing syringes, disinfectant swabs, catheter fixation devices, and dressings.

4. The PICC dressing change intelligent robot according to claim 1, characterized in that, It also includes a moving unit (9), which is connected to the bottom of the housing (1) and communicates with the control unit (8). The moving unit (9) can drive the robot to move.

5. The PICC dressing change intelligent robot according to claim 1, characterized in that, It also includes a waste collection unit (10) connected to the lower part of the housing (1).

6. An operation method for a PICC dressing change intelligent robot, applied to the PICC dressing change intelligent robot according to any one of claims 1-5, characterized in that, The specific steps include the following: S1. The patient's arm is placed on the arm support unit (2), and the end of the PICC catheter is fixed to the catheter end fixing unit (3) by manual or robotic arm (4); S2. Use the imaging unit (5) to perform facial recognition on the patient, retrieve the patient data information, and send it to the control unit (8). S3. Control the robotic arm (4) to remove the connector at the end of the PICC catheter, exposing the port at the end of the PICC catheter; S4. The control drive unit (7) pushes out the storage unit (6) containing the disinfectant cotton pads, controls a robotic arm (4) to take out a disinfectant cotton pad, and together with another robotic arm (4) to tear open the outer packaging so that the disinfectant cotton pad is in the shape of a square. One robotic arm holds the square-shaped disinfectant cotton pad, and controls another robotic arm (4) to hold the port at the end of the PICC catheter. The disinfectant cotton pad is used to wrap the port at the end of the PICC catheter and the spiral opening for disinfection. After disinfection, the disinfectant cotton pad is thrown into the waste collection unit (10). S5. The control drive unit (7) pushes out the storage unit (6) containing the infusion connector and the flushing syringe, controls one robot (4) to take out an infusion connector, tear open the outer packaging and hold the infusion connector, controls another robot (4) to take out a flushing syringe, tear off the outer packaging and hold the flushing syringe, uses the two robots (4) to connect the infusion connector and the flushing syringe, and uses the robot (4) to press the flushing syringe to vent air. S6. Control two robotic arms (4) to connect the infusion connector to the port at the end of the PICC catheter, use two robotic arms (4) to aspirate the flushing syringe, use the imaging unit (5) to identify whether blood is returned, and use the pressure sensor (41) to detect the pressure of the robotic arms (4) on the flushing syringe, pulse flush the catheter, implement positive pressure sealing, and after the end, use two robotic arms (4) to disconnect the infusion connector from the flushing syringe and discard the flushing syringe into the waste collection unit (10); S7. Control one robotic arm (4) to press the puncture point and PICC catheter, and use another robotic arm (4) to tear off the old dressing at a 0-degree angle, remove the old catheter fixation, and throw the old dressing and the old catheter fixation into the waste collection unit (10); S8. The control drive unit (7) pushes out the storage unit (6) containing the disinfectant cotton swabs, and uses a robotic arm (4) to tear off the outer packaging and hold the disinfectant cotton swabs to disinfect and care for the area around the puncture point several times. S9. The control drive unit (7) pushes out the storage unit (6) containing the catheter fixation piece and dressing, controls a robotic arm (4) to take out a catheter fixation piece, tears off the outer packaging and holds the catheter fixation piece to install it at the puncture site, and uses two robotic arms (4) to place the dressing without tension to install it at the puncture site, thus completing the dressing change operation.

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