Vision-based medical equipment automatic counting device and control system

Abstract

The invention relates to a vision-based automatic counting device for medical equipment and a control system, the vision-based automatic counting device for medical equipment comprises a base, a vibration assembly capable of torsional vibration and up-and-down vibration and a collection assembly are installed in the base, and a material tray for placing the medical equipment is detachably installed on the vibration assembly. The collecting assembly is located over the material disc, a protrusion capable of stretching out and retracting is arranged in the material disc, when the vibration assembly vibrates in a torsional mode, medical instruments stacked in the material disc are diffused to the periphery of the material disc, and when the vibration assembly vibrates up and down and is matched with the protrusion capable of stretching out and retracting, the medical instruments are flatly laid in the material disc. The vibration assembly is matched with the telescopic protruding structure in the charging tray to automatically complete diffusion and tiling of the medical instruments in the charging tray, manual operation steps are reduced, the collecting assembly can rapidly capture effective images, the image processing time of single-time counting is shortened, and the overall counting speed is increased.

Description

Technical Field

[0001] This invention relates to the field of medical device inventory equipment technology, and more particularly to a vision-based automatic medical device inventory device and control system. Background Technology

[0002] Inventorying medical equipment is a routine task for medical staff in every department. For example, staff in the sterilization department need to count the medical equipment delivered by suppliers to ensure accuracy. Similarly, operating room staff need to count the medical equipment received before surgery to verify the quantity from the sterilization department, and after surgery, they need to count any remaining equipment and return it to the sterilization department. For larger medical equipment, staff can simply count it. For example, in orthopedic surgery, items like femoral reconstruction nails, humeral nails, and tibial nails, which are all longer than 100 mm, can be inventoried by simply counting them. However, smaller medical devices cannot be inventoried by direct counting. Examples include titanium screws for cardiac device fixation, miniature bone screws, and vascular interventional guidewire tip cannulas. Titanium screws for cardiac device fixation have a diameter of 0.5–1.0 mm and a length of 1–2 mm, while vascular interventional guidewire tip cannulas have a diameter of 0.3–0.8 mm and a length of 1–3 mm. For medical devices with small dimensions, counting requires the use of auxiliary tools, such as trays with fixed-size grids or individual compartments, to count titanium nails or micro-plugs. Since each compartment of such a tray can only hold 1-2 titanium nails or micro-plugs, counting is done one by one by the compartments. This counting method is slow, especially for medical staff in the sterilization department. Summary of the Invention

[0003] The purpose of this invention is to provide a vision-based automatic medical device inventory system to address the problem of low inventory efficiency when medical personnel use existing tools to inventory miniature medical devices, as mentioned in the background art.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is: a vision-based automatic medical device counting device, comprising a base, a vibration component capable of torsional and vertical vibration and a data acquisition component installed inside the base, a tray for placing medical devices being detachably installed on the vibration component, the data acquisition component being located directly above the tray, and an extendable and retractable protrusion provided inside the tray. When the vibration component torsional vibrates, the medical devices accumulated in the tray spread outwards to the sides of the tray. The vertical vibration of the vibration component and the extendable and retractable protrusion cooperate with each other to lay the medical devices flat inside the tray.

[0005] Compared with the prior art, the beneficial effects of this application are as follows: 1) When the vibration component rotates to the torsional vibration, it spreads the medical devices piled in the tray to the surrounding area of ​​the tray, breaking the stacking state of the medical devices and making the medical devices initially laid flat in the tray. Then the vibration component vibrates up and down to lay the medical devices flat in the tray. At the same time, the retractable protruding structure ensures that the medical devices laid flat in the tray do not overlap, so that each medical device can be clearly presented under the acquisition component, reducing the visual recognition blind spot of the acquisition component during shooting.

[0006] 2) The vibration component and the retractable protrusion structure inside the tray work together to automatically complete the diffusion and flattening of medical devices in the tray, reducing manual operation steps, enabling the acquisition component to quickly capture effective images, shortening the image processing time of a single count, and improving the overall count speed.

[0007] 3) The tray is designed to be detachable, and the tray can be replaced with a suitable one according to different sizes and types of medical devices, thus expanding the scope of application of this application.

[0008] In a preferred embodiment of this application, the vibration assembly includes a housing and a vibrating plate. Four circumferentially distributed vibration units are installed inside the housing. The vibrating plate is connected to all four vibration units simultaneously. When two oppositely installed vibration units and two other oppositely installed vibration units work alternately, the vibration assembly performs torsional vibration. When the four vibration units work synchronously, the vibration assembly performs up-and-down vibration.

[0009] Compared with existing technologies, the advantages of this application are as follows: torsional vibration is achieved by two sets of relatively vibrating units working alternately, which can stably spread the medical devices piled in the tray to the surrounding area of ​​the tray, and specifically solve the problem of medical devices piling up in the tray; vertical vibration is achieved by four sets of vibrating units working synchronously, and at the same time, the retractable protruding structure applies an upward force evenly, ensuring that the medical devices are quickly and flatly spread in the tray. The two modes can be switched as needed to cover the different needs of medical devices in the inventory process.

[0010] In a preferred embodiment of this application, the tray is provided with a placement cavity for placing medical devices. Several interconnected air chambers are evenly distributed at the bottom of the tray. A pneumatic component for inflating and deflating the air chambers is provided outside the tray. An elastic film is adhered inside the placement cavity. When the pneumatic component inflates, the elastic film covering the air chamber forms a protrusion inside the placement cavity. When the pneumatic component deflates, the elastic film covering the air chamber returns to its flat state.

[0011] Compared with the prior art, the beneficial effects of this application are: 1) The elastic film material is soft, and the protrusion formed by inflation has no rigid edges. When it comes into contact with medical devices, it will not cause scratch or squeezing damage to the medical devices. The height of the protrusion can be controlled by adjusting the inflation volume through the pneumatic components, which can be flexibly adapted to the material and size of the medical devices, further reducing the risk of damage.

[0012] 2) The air chambers are evenly distributed at the bottom of the tray and are interconnected, so as to realize the synchronous control of all the protrusions in the tray, ensure that the medical devices in the tray are subjected to force evenly at the same time, so that the medical devices in the tray are laid flat and avoid local accumulation of medical devices in the tray.

[0013] In a preferred embodiment of this application, a sealing groove is provided on the outer edge of each inflation chamber, and a sealing ring is installed in the sealing groove, with the sealing ring and the elastic film abutting against each other.

[0014] Compared with the prior art, the beneficial effects of this application are: 1) The sealing ring can buffer the direct friction between the elastic film and the edge of the tray, reduce the wear of the film during repeated expansion and contraction, and extend its replacement cycle.

[0015] 2) The sealing ring and the elastic membrane are in close contact, which can effectively block the leakage of gas into the inflation chamber and ensure that the two adjacent bulges formed by inflation are basically the same size.

[0016] In a preferred embodiment of this application, the diameter of the inflation chamber is smaller than the diameter of the medical device, and the center distance between two adjacent inflation chambers is greater than the length of the medical device.

[0017] Compared to existing technologies, the advantages of this application are as follows: Since the diameter of the air chamber is smaller than the diameter of the medical device, the diameter of the protrusion formed during inflation is also smaller than the diameter of the medical device. Therefore, a single protrusion can only support one medical device. If the diameter of the air chamber is larger than the diameter of the medical device, the diameter of the protrusion formed is also larger than the diameter of the medical device. In this case, the protrusion can support two medical devices in parallel, which may easily lead to stacking. Therefore, since the diameter of the air chamber is smaller than the diameter of the medical device, the stacked medical devices can be forcibly separated, effectively lifting the devices. With the up-and-down vibration of the vibration component, uniform flatness can be achieved.

[0018] In a preferred embodiment of this application, the vibration unit includes a mounting base fixedly installed at the bottom of the housing, a piezoelectric ceramic actuator vertically mounted on the mounting base, and an elastic element connecting the piezoelectric ceramic actuator and the vibration plate.

[0019] Compared with the prior art, the advantages of this application are: the piezoelectric ceramic actuator has a fast response speed and high displacement accuracy, can accurately output vibration force of different frequencies and amplitudes, easily realize the switching between torsional vibration and up-and-down vibration modes, and the vibration parameters can be finely adjusted as needed to adapt to the maintenance needs of different types of medical devices.

[0020] In a preferred embodiment of this application, a flipping assembly is also installed inside the base. The flipping assembly includes a support shaft disposed opposite to the outer surface of the housing and a fixed seat installed inside the base. A miniature cylinder is installed at the bottom of the base and the top of the fixed seat. The support shaft and the base are rotatably connected, and the output end of the miniature cylinder is rotatably connected to the bottom of the housing.

[0021] Compared with the prior art, the beneficial effects of this application are as follows: by setting up two micro cylinders, during the process of listing medical devices, the cooperation between the two micro cylinders and the support shaft can keep the vibration component and the tray installed on the vibration component in a horizontal and stable state. After the medical devices are listed, the two micro cylinders can tilt the vibration component and the tray installed on the vibration component, so that the medical devices laid flat in the tray are gathered to one side of the tray, making it easier for medical staff to take the medical devices out of the tray.

[0022] This application also provides a control system for a vision-based automatic medical device counting device. The vision-based automatic medical device counting device includes a control module and a processing module. The control module first controls a vibration component to perform torsional vibration. During the torsional vibration, a data acquisition component acquires real-time images of the medical devices distributed within the tray and sends them to the processing module. Upon receiving the images from the torsional vibration, the processing module sends a conversion control command to the control module. The control module, based on the conversion control command, controls the vibration component to vibrate vertically and simultaneously controls the pneumatic component to start. During the vertical vibration, the data acquisition component acquires real-time images of the medical devices distributed within the tray. Upon receiving these images, the processing module sends a stop control command to the control module. The control module, based on the stop control command, controls the vibration component and pneumatic component to stop working. The data acquisition component then acquires images of the medical devices in a stationary state and sends them to the processing module. The processing module receives these images and determines the quantity of the medical devices.

[0023] Compared with the prior art, the beneficial effects of this application are: 1) The control module can independently complete the mode switching of the vibration component and the start and stop of the pneumatic component, without the need for manual adjustment of vibration parameters or control of protrusion extension and retraction, thus realizing the fully automatic operation of the equipment sorting process.

[0024] 2) The processing module can judge the status of the equipment in the tray in real time. If it detects that the equipment is still piled up or blocked, it can directly send a command to the control module to adjust the vibration intensity, frequency or the expansion and contraction pattern of the vibration component until the equipment reaches the ideal flat state before counting, so as to avoid omissions or errors in counting due to insufficient sorting.

[0025] In a preferred embodiment of this application, the switching control command includes a torsional vibration command and a vertical vibration command. If the command received by the control module is a torsional vibration command, the control module controls the vibration component to continue to perform torsional vibration; if the command received by the control module is a vertical vibration command, the control module controls the vibration component to perform torsional vibration and vertical vibration while simultaneously controlling the start of the pneumatic component. The stop control command includes a stop command and an up-and-down vibration command. If the command received by the control module is a stop command, the control module controls the vibration component and the pneumatic component to stop working; if the command received by the control module is an up-and-down vibration command, the control module controls the vibration component and the pneumatic component to continue operating.

[0026] Compared with the prior art, the beneficial effects of this application are: 1) The processing module judges the degree of diffusion of the equipment by the diffusion image. If the diffusion is insufficient, it continuously controls the torsional vibration. If the diffusion has been completed, it switches to up and down vibration and starts the pneumatic components, avoiding the waste of time or incomplete cleaning caused by blindly switching vibration modes.

[0027] 2) The processing module determines whether the equipment has reached the ideal flatness state by tiling the image. Once the condition is met, a stop command is sent immediately to prevent excessive operation due to vibration and protrusion, and to reduce the ineffective wear of medical equipment.

[0028] In addition to the technical problems solved by the present invention, the technical features constituting the technical solutions, and the advantages brought about by the technical features of these technical solutions as described above, other technical problems that the present invention can solve, other technical features contained in the technical solutions, and the advantages brought about by these technical features will be further described in detail with reference to the accompanying drawings. Attached Figure Description

[0029] Figure 1 This is a perspective view of the vision-based automatic medical device inventory device of this application.

[0030] Figure 2 This is a three-dimensional view of the vibration component and tray assembly in the vision-based automatic medical device counting device of this application.

[0031] Figure 3 This is a cross-sectional view of the vibration component in the vision-based automated medical device inventory device of this application.

[0032] Figure 4 This is a cross-sectional view of the tray in the vision-based automatic medical device inventory device of this application.

[0033] Reference numerals: 01. Base, 02. Vibration assembly, 201. Housing, 202. Vibration unit, 203. Vibration plate, 204. Mounting base, 205. Piezoelectric ceramic actuator, 206. Elastic element, 03. Acquisition assembly, 04. Material tray, 401. Placement cavity, 402. Inflation chamber, 403. Air inlet, 404. Elastic membrane, 405. Protrusion, 406. Sealing groove, 407. Sealing ring, 5. Support shaft, 6. Miniature cylinder, 7. Connecting seat, 08. Fixing base. Detailed Implementation

[0034] The technical solution of the present invention will now be clearly and completely described in conjunction with the accompanying drawings.

[0035] This embodiment of a vision-based automatic medical device inventory system is used in hospital sterilization rooms or operating rooms. When a medical device supplier delivers medical devices to the sterilization room, medical personnel working there use the automatic inventory system to count them, ensuring the accuracy of the quantity delivered. Similarly, when medical devices enter the operating room, medical personnel working there use the automatic inventory system to count them, ensuring the accuracy of the quantity of medical devices delivered to the operating room.

[0036] It should be noted that the medical devices described in this embodiment are miniature medical devices, such as titanium screws for cardiac device fixation, titanium screws for ophthalmic tissue fixation, miniature bone screws, dental implant abutment screws, pacemaker electrode fixation screws, vascular intervention guidewire tip cannulas, miniature rubber stoppers for IVD reagent bottles, and valve cores for infusion set flow regulators. These medical devices are relatively small in size; for example, the diameter of the titanium screws for cardiac device fixation is 0.5–1.0 mm, and the length is 1–2 mm; the diameter of the vascular intervention guidewire tip cannulas is 0.3–0.8 mm, and the length is 1–3 mm.

[0037] Please see Figure 1-2 As shown, the automatic medical device inventory device includes a base 01, a vibration component 02 and a data acquisition component 03 installed inside the base 01. The data acquisition component 03 includes an industrial camera, a lens and a light source arranged from top to bottom. A tray 04 for placing medical devices is detachably installed on the vibration component 02, and the data acquisition component 03 is located directly above the tray 04.

[0038] The user places an unknown number of medical devices into the tray 04. At this time, the medical devices are piled up in the tray 04. Under the action of the vibration component 02, the medical devices piled up in the tray 04 are laid flat in the tray 04. Then, the acquisition component 03 is used to acquire an image of the medical devices laid flat in the tray 04.

[0039] Please see Figure 3 As shown, the vibration assembly 02 includes a housing 201 and a vibrating plate 203. Four vibration units 202 are installed inside the housing 201. The vibrating plate 203 is connected to all four vibration units 202. The aforementioned tray 04 is detachably connected to the vibrating plate 203 via a quick-release buckle. The four vibration units 202 are circumferentially distributed within the housing 201. Each vibration unit 202 includes a mounting base 204 fixedly installed at the bottom of the housing 201. A piezoelectric ceramic actuator 205 is fixedly installed on the mounting base 204. The piezoelectric ceramic actuator 205 is vertically mounted on the mounting base 204. An elastic element 206, preferably a spring sheet, is fixedly installed at the upper end of the piezoelectric ceramic actuator 205. The end of the elastic element 206 is fixedly connected to the vibrating plate 203.

[0040] Since the piezoelectric ceramic actuator 205 mainly consists of multi-layered stacked piezoelectric ceramic sheets and electrodes, with the electrodes covering the piezoelectric ceramic sheets, a specific frequency driving voltage is applied to the electrodes to cause the piezoelectric ceramic sheets to undergo expansion and contraction deformation. The expansion and contraction deformation of the ceramic element is transmitted to the elastic element 206. Since the elastic element 206 itself has elastic recovery characteristics, the minute expansion and contraction of the piezoelectric ceramic will force the elastic element to undergo elastic deformation. The periodic deformation of the elastic element acts on the feed tray 04, thereby causing the feed tray 04 to vibrate.

[0041] The specific connection method of its piezoelectric ceramic sheet and electrode is described in Chinese Patent Publication No. CN118157512A, entitled "Partitioned Structure Multilayer Piezoelectric Ceramic Actuator".

[0042] After the tray 04 is installed on the vibrating plate 203, an unknown number of medical devices are placed on the tray 04. At this time, several medical devices are piled up in the tray 04. Two oppositely installed vibration units 202 and two other oppositely installed vibration units 202 in the vibration assembly 02 work alternately to make the vibrating plate 203 torsionally vibrate around the central axis of the vibrating plate 203. This torsional vibration causes the medical devices piled up in the tray 04 to spread radially along the tray 04. When the medical devices have spread to the entire tray 04, the four vibration units 202 in the vibration assembly 02 work synchronously to make the vibrating plate 203 vibrate up and down along the central axis of the vibrating plate 203. This up and down vibration makes the medical devices in the tray 04 evenly distributed in the tray 04.

[0043] For clarity, the two opposing vibration units 202 are designated as Vibration Group 1, and the other two opposing vibration units 202 are designated as Vibration Group 2. When operating alternately, Vibration Group 1 generates an upward excitation force, while Vibration Group 2 generates a downward excitation force. This reverse state is maintained periodically over time, forming a periodically changing torque. This generates a periodically changing torque, which acts around the central axis of the vibrating plate. The vibrating plate will reciprocate and twist around the central axis in response to the alternating torque, thus producing torsional vibration. When working synchronously, the four vibration units 202 operate at the same frequency and phase. The excitation force generated by each unit is equal in magnitude and follows a circular distribution pattern. Due to the symmetrical distribution, the horizontal components of the excitation force of adjacent vibration units 202 are opposite in direction and equal in magnitude. Eventually, all horizontal components completely cancel each other out, resulting in no tendency for horizontal movement. However, the vertical components of the excitation force of the vibration units 202 are in the same direction. After superposition, they form a single vertical resultant force, which drives the vibrating plate 203 to vibrate vertically.

[0044] Please see Figure 4 As shown, the tray 04 has a placement cavity 401 for placing medical devices. Several inflation chambers 402 are evenly distributed at the bottom of the tray 04, with adjacent inflation chambers 402 interconnected. Each inflation chamber 402 is also interconnected with the placement cavity 401. An air inlet 403, communicating with the inflation chambers 402, is located outside the tray 04. An air pipe connector is installed inside the air inlet 403, and a pneumatic component for inflating or deflating the inflation chambers 402 is connected to the air pipe connector. The pneumatic component, including an air pump and a solenoid valve, is installed outside the tray 04. The air pump and solenoid valve, as well as the solenoid valve and the air pipe connector, are connected via air pipes. The inflation or deflation of the inflation chambers 402 can be controlled by the solenoid valve. An elastic membrane 404 is placed inside the placement cavity 401, and the elastic membrane 404 is fixed to the placement cavity 401 using medical-grade silicone adhesive. The elastic film 404 is placed over the air chamber 402. It should be noted that the elastic film 404 is a medical-grade TPE (thermoplastic polyurethane) film or a medical-grade TPU (thermoplastic elastomer) film.

[0045] Because the elastic film 404 covers the inflation chamber 402, when the pneumatic component inflates air into the inflation chamber 402, the elastic film 404 expands to create a protrusion 405 in the placement cavity 401. This protrusion 405 breaks the stacking inertia of the medical devices, and the supporting force of the protrusion 405 lifts the medical devices above it. Combined with the high-frequency, low-amplitude vibration generated by the vibration component 02, this disperses the medical devices, preventing them from sticking together and stacking, thus laying them flat in the tray 04. When the pneumatic component deflates the inflation chamber 402, the protrusion 405 retracts, and the elastic film 404 lies flat at the bottom of the placement cavity 401.

[0046] By frequently inflating and deflating the air chamber 402 using a pneumatic component, the frequency of inflation and deflation is matched with the vibration frequency of the aforementioned vibration component 02. In this embodiment, the interval between two consecutive inflations is matched with the vibration frequency of the vibration component 02. Of course, in other embodiments, the frequency of inflation and deflation can also be the same as the vibration frequency of the vibration component 02.

[0047] The diameter of the inflation chamber 402 is smaller than the diameter of the medical device. The center-to-center distance between two adjacent inflation chambers 402 is greater than the length of the medical device. For example, the diameter of the titanium screw used to fix a cardiac device is 0.5–1.0 mm, and the length is 1–2 mm. In this case, the diameter of the inflation chamber 402 is 0.4–0.9 mm. Because the diameter of the inflation chamber 402 is smaller than the diameter of the medical device, the diameter of the protrusion 405 formed during inflation is also smaller than the diameter of the medical device. Therefore, a single protrusion 405 can only support one medical device. If the diameter of the inflation chamber 402 is larger than the diameter of the medical device, the diameter of the protrusion 405 will also be larger than the diameter of the medical device. In this case, the protrusions 405 are more likely to stack. Therefore, the diameter of the inflation chamber 402 being smaller than the diameter of the medical device can forcibly separate stacked medical devices, effectively lifting the devices. Combined with the up-and-down vibration of the vibration component 02, uniform flatness can be achieved.

[0048] Each inflation chamber 402 has an annular sealing groove 406 on its outer edge. A sealing ring 407 is installed in the sealing groove 406. When the elastic diaphragm 404 adheres to the material tray 04, it will naturally press on the top of the sealing ring 407. At this time, the sealing ring 407 will be slightly compressed. The compressed sealing ring 407 will fit tightly against the inner wall of the sealing groove 406 and the bottom of the diaphragm. After the inflation chamber 402 is inflated, the air pressure rise in the inflation chamber 402 will act on the inner wall of the sealing ring 407 and the elastic diaphragm 404. The air pressure acting on the inner wall of the sealing ring 407 pushes the sealing ring 407 to the outer wall of the sealing groove 406. This radial pressure will make the sealing ring 407 fit more tightly with the groove wall, preventing gas from leaking between the sealing ring 407 and the groove wall. The air pressure applied to the elastic diaphragm 404 pushes the elastic diaphragm 404 to form a protrusion 405. During the process of forming the protrusion 405, the elastic diaphragm 404 will generate outward tension. At the same time, this tension will act on the sealing ring 407 at the edge, so that the elastic diaphragm 404 is pressed tightly against the top of the sealing ring 407, thereby preventing gas from leaking between the sealing ring 407 and the elastic diaphragm 404.

[0049] Please see Figure 2 As shown, a flipping assembly is also installed inside the base 01. The flipping assembly includes a support shaft 5 disposed opposite to the outer surface of the housing 201 and a fixed seat 10 installed inside the base 01. A miniature cylinder 6 is installed at the bottom of the base 01 and the top of the fixed seat 10. The base 01 is provided with mounting holes adapted to the support shaft 5. The support shaft 5 and the mounting holes are connected by rolling bearings, allowing the housing 201 to rotate around the support shaft 5 inside the base 01. The output end of the miniature cylinder 6 is vertically upward. The output end of the miniature cylinder 6 is connected to the bottom of the housing 201 by a connecting seat 7. The connecting seat 7 includes two connecting plates fixedly installed at the bottom of the housing 201. A connecting shaft is installed between the two connecting plates. A connecting rod is rotatably installed on the connecting shaft. The connecting rod is threadedly connected to the output end of the miniature cylinder 6.

[0050] To clearly describe the function of the two miniature cylinders 6 in this embodiment, they are named Cylinder No. 1 and Cylinder No. 2, respectively. When the vibration component 02 inside the housing 201 starts working, the output end of Cylinder No. 1 extends and the output end of Cylinder No. 2 retracts, keeping the tray 04 on the vibration component 02 in a horizontal position, which is stabilized by the housing 201. After the medical equipment in the tray 04 has been counted, the output end of Cylinder No. 1 retracts and the output end of Cylinder No. 2 extends, keeping the tray 04 on the vibration component 02 in an inclined position, causing the medical equipment laid flat in the tray 04 to converge in one direction, making it easier for users to collect the medical equipment in the tray 04 into the storage box.

[0051] When using the automatic inventory device of this embodiment, medical staff first put an unknown number of medical devices into the tray 04. The two vibration units 202 and two other vibration units 202 arranged opposite each other in the vibration component 02 work alternately to make the vibration component 02 perform torsional vibration. The torsional vibration will spread the medical devices piled in the tray 04 radially along the tray 04. At this time, the acquisition component 03 (industrial camera) acquires the diffusion image of the medical devices distributed in the tray 04 in real time, and determines whether the vibration component 02 should continue to perform torsional vibration based on the diffusion image.

[0052] If the medical device does not completely fill the material tray 04 according to the diffusion image, the vibration component 02 continues to perform torsional vibration until the medical device completely fills the material tray 04.

[0053] Once the diffusion image indicates that the medical equipment has completely filled the tray 04, the four vibration units 202 in the vibration assembly 02 operate synchronously, causing the vibration assembly 02 to vibrate up and down. Simultaneously, the pneumatic assembly regularly inflates and deflates the inflation chamber 402, creating regularly extending and retracting protrusions 405 within the tray 04. The up-and-down vibration and the regularly extending and retracting protrusions 405 work together to evenly distribute the medical equipment within the tray 04, ensuring no stacked medical equipment remains. During the up-and-down vibration, the acquisition component 03 continuously captures images of the medical equipment evenly distributed within the tray 04.

[0054] It should be noted that because the vibration amplitude is relatively small during the vibration of medical equipment, setting the frame rate of the industrial camera higher than the vibration frequency of the medical equipment will yield clear tiled and diffused images. The industrial camera used can be the SH6-109 high-speed camera manufactured by DeepVision Intelligent, which can achieve a frame rate of 750,000 frames per second.

[0055] Determine whether the vibration component 02 should continue to vibrate up and down based on the flat image.

[0056] If the medical equipment is found to be laid out evenly in the tray 04 without any stacked medical equipment based on the flat image, the vibration component 02 stops working, and the inflation of gas into the inflation chamber 402 stops, while the protrusion 405 in the tray 04 retracts. The acquisition component 03 takes an identification image of the medical equipment laid out in the tray 04, and the number of medical equipment in the tray 04 is determined based on the identification image. This identification image is taken while the medical equipment is stationary. The number of medical equipment in the tray 04 obtained through the identification image is more accurate.

[0057] When determining whether there are stacked medical devices by using tiled images, the outline of a single non-stacked medical device is compared with the outline of the medical devices in the tiled image. If two or more medical devices are stacked, abnormalities will appear at the edges of the outlines. By calculating the concavity, perimeter, or area of ​​the outlines, it can be determined whether there are stacked medical devices.

[0058] Once the required number of medical devices is obtained, the aforementioned flipping assembly drives the vibration assembly 02 and the tray 04 to tilt synchronously. This causes the laid-out medical devices to converge to one side of the tray 04, making it easier for medical personnel to remove the medical devices from the tray 04.

[0059] If the medical equipment is not laid flat in the tray 04 according to the flat image, and there are stacked medical equipment, the vibration component 02 continues to vibrate up and down until the medical equipment is laid flat in the tray 04 and there are no stacked medical equipment.

[0060] This embodiment also provides a control system for a vision-based automatic medical device inventory device, including a control module and a processing module. The control module first controls the vibration component 02 to perform torsional vibration. During the torsional vibration, the acquisition component 03 acquires diffusion images of the medical devices distributed in the tray 04 in real time and sends them to the processing module. After receiving the diffusion images acquired during the torsional vibration, the processing module sends a conversion control command to the control module based on the diffusion images. The conversion control command includes a torsional vibration command and an up-and-down vibration command. If the command received by the control module is a torsional vibration command, the control module controls the vibration component 02 to continue to perform torsional vibration.

[0061] If the control module receives a vertical vibration command, the control module controls the vibration component 02 to perform torsional vibration and vertical vibration, while simultaneously controlling the start of the pneumatic component; after the pneumatic component is started, it inflates or deflates the material tray 04, causing the protrusions 405 in the material tray 04 to extend and retract regularly.

[0062] During the up-and-down vibration process, the acquisition component 03 acquires real-time images of the medical equipment distributed in the tray 04. After receiving the images acquired during the up-and-down vibration process, the processing module sends a stop control command to the control module based on the images. The stop control command includes a stop command and an up-and-down vibration command. If the command received by the control module is an up-and-down vibration command, the control module controls the vibration component and the pneumatic component to continue operating.

[0063] If the control module receives a stop control command, the control module controls the vibration component 02 and the pneumatic component to stop working; after the vibration component 02 and the pneumatic component stop working, the acquisition component 03 acquires the identification image of the medical device in a static state again and sends it to the processing module. The processing module receives the identification image and obtains the number of medical devices.

[0064] If the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0065] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A vision-based automatic medical device for counting medical equipment, characterized in that, Includes: a base, inside which are installed a vibrating component capable of torsional and vertical vibration and a collection component. A tray for placing medical devices is detachably installed on the vibrating component. The collection component is located directly above the tray. The tray has protrusions that can extend and retract. When the vibrating component torsional vibrates, it spreads the medical devices accumulated in the tray to the surrounding area. When the vibrating component vibrates vertically and the protrusions extend and retract, they work together to lay the medical devices flat in the tray.

2. The vision-based automatic medical device inventory device according to claim 1, characterized in that: The vibration assembly includes a housing and a vibrating plate. Four circumferentially distributed vibration units are installed inside the housing. The vibrating plate is connected to all four vibration units. When two oppositely installed vibration units and two other oppositely installed vibration units work alternately, the vibration assembly performs torsional vibration. When the four vibration units work synchronously, the vibration assembly performs up-and-down vibration.

3. The vision-based automatic medical device inventory device according to claim 1, characterized in that: The tray contains a placement cavity for placing medical devices. Several interconnected air chambers are evenly distributed at the bottom of the tray. A pneumatic component is installed outside the tray to inflate and deflate the air chambers. An elastic membrane is adhered inside the placement cavity. When the pneumatic component inflates, the elastic membrane covering the air chamber forms a bulge inside the placement cavity. When the pneumatic component deflates, the elastic membrane covering the air chamber returns to its flat state.

4. The vision-based automatic medical device inventory device according to claim 3, characterized in that: Each inflation chamber has a sealing groove on its outer edge, and a sealing ring is installed in the sealing groove, which abuts against the elastic membrane.

5. The vision-based automatic medical device inventory device according to claim 4, characterized in that: The diameter of the inflation chamber is smaller than the diameter of the medical device, and the center distance between two adjacent inflation chambers is greater than the length of the medical device.

6. The vision-based automatic medical device inventory device according to claim 2, characterized in that: The vibration unit includes a mounting base fixedly installed at the bottom of the housing, on which a piezoelectric ceramic actuator is vertically mounted, and an elastic element connects the piezoelectric ceramic actuator and the vibration plate.

7. The vision-based automatic medical device inventory system according to claim 2, characterized in that: The base is also equipped with a flipping assembly, which includes a support shaft that is set opposite to the outer surface of the housing and a fixed seat installed in the base. Miniature cylinders are installed at the bottom of the base and the top of the fixed seat. The support shaft and the base are rotatably connected, and the output end of the miniature cylinder is rotatably connected to the bottom of the housing.

8. A control system for a vision-based automatic medical device inventory device, applied to the vision-based automatic medical device inventory device according to any one of claims 1-7, characterized in that: The system includes a control module and a processing module. The control module first controls the vibration component to perform torsional vibration. During this torsional vibration, the acquisition component acquires real-time diffusion images of the medical devices distributed within the tray and sends them to the processing module. Upon receiving these diffusion images, the processing module sends a conversion control command to the control module. The control module, based on the conversion control command, controls the vibration component to vibrate vertically and simultaneously controls the pneumatic component to start. During vertical vibration, the acquisition component acquires real-time flat images of the medical devices distributed within the tray. Upon receiving these flat images, the processing module sends a stop control command to the control module. The control module, based on the stop control command, stops the vibration component and the pneumatic component. The acquisition component then acquires identification images of the medical devices in a stationary state and sends them to the processing module. The processing module receives these images and determines the quantity of the medical devices.

9. The control system of the vision-based automatic medical device inventory device according to claim 8, characterized in that: The control commands include torsional vibration commands and vertical vibration commands. If the control module receives a torsional vibration command, the control module controls the vibration component to continue torsion vibration; if the control module receives a vertical vibration command, the control module controls the vibration component to perform vertical vibration while simultaneously controlling the start of the pneumatic component. The stop control command includes a stop command and an up-and-down vibration command. If the command received by the control module is a stop control command, the control module controls the vibration component and the pneumatic component to stop working; if the command received by the control module is an up-and-down vibration command, the control module controls the vibration component and the pneumatic component to continue operating.

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