High-precision intelligent needle cylinder grabbing and delivering method and system and clamp holder
By combining a syringe gripper with a robotic arm, and integrating multimodal image fusion and deep learning algorithms to optimize path planning and force control, the problems of low success rate and poor safety in drug grasping in existing technologies have been solved, achieving high-precision syringe grasping and delivery.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-11
- Publication Date
- 2026-04-03
AI Technical Summary
Existing medical automation equipment suffers from large errors and inaccuracies in visual recognition, path planning, and force control, resulting in low success rates and poor safety in drug retrieval. In particular, under complex lighting conditions, label recognition and depth perception are insufficient, path planning lacks real-time obstacle avoidance capabilities, and force control lacks adaptive adjustment, which can easily cause syringe deformation or slippage.
The device combines a syringe holder with a robotic arm, integrating image recognition, infrared sensing, and pressure sensing. It achieves precise positioning through multimodal image fusion and a lightweight convolutional neural network, optimizes the path using dynamic path planning and deep reinforcement learning algorithms, and adjusts the force using an impedance control module. The holder features a two-finger structure and a medical-grade silicone layer to improve compatibility.
It significantly improves visual recognition accuracy and grasping success rate, ensures drug safety, reduces syringe breakage rate, meets the needs of high-load scenarios, and improves the versatility and flexibility of the system.
Smart Images
Figure CN121778428A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of medical automation equipment technology, specifically to a high-precision intelligent syringe gripping and delivery method, system, and gripper. Background Technology
[0002] In medical settings, automated grasping and delivery technologies are crucial for improving the efficiency and accuracy of drug handling. Existing technologies achieve basic automation through visual recognition and robotic arm operation, but issues such as visual recognition errors, inadequate path planning, and imprecise force control exist, impacting grasping success rates and drug safety.
[0003] Secondly, existing visual recognition systems cannot effectively handle label recognition and depth perception under complex lighting conditions, resulting in large position detection errors; path planning algorithms lack real-time obstacle avoidance capabilities and flexibility, making them prone to collisions or inefficiency; force control mechanisms lack adaptive adjustment capabilities, easily causing syringe deformation or slippage, increasing the risk of drug contamination. Therefore, in summary, this application will provide a high-precision intelligent syringe gripping and delivery method, system, and gripper to solve these problems. Summary of the Invention
[0004] To address the shortcomings of existing technologies, this invention provides a high-precision intelligent syringe gripping and delivery method, system, and gripper, which solves the problems mentioned in the background art.
[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-precision intelligent syringe gripping and delivery method, which includes the following steps: first step: The preparation for automated grasping and delivery is achieved by combining a syringe holder with a robotic arm. The syringe holder is equipped with image recognition components, infrared sensing components, and pressure sensing components. Step Two: After confirming the storage and delivery locations of several syringes, a dynamic path planning algorithm is used to pre-plan the grasping and transfer delivery paths of the syringes. Step 3: After the path is determined, the syringe holder is moved above the syringe to be picked up by the robotic arm. Then, using multimodal image fusion technology, the syringe holder uses its own image recognition component and infrared sensing component to output image data and infrared sensing data in real time for fusion. Step 4: The fused data is analyzed by a lightweight convolutional neural network, and the resulting gripping parameters are used to precisely guide the robotic arm to position the syringe gripper to the specified syringe for gripping. Step 5: After the gripping and grasping are completed, the robotic arm automatically moves and delivers the gripped syringe through the syringe holder. After completion, the third and fourth steps are repeated to automatically pick up several syringes in sequence.
[0006] On the other hand, a syringe gripping and delivery system is disclosed, including a robotic arm, a syringe holder, a multimodal image fusion module, a lightweight convolutional neural network module, a dynamic path planning algorithm module, an adaptive adjustment module, a transfer learning module, a gripping parameter library, a deep reinforcement learning algorithm module, and an impedance control module. The multimodal image fusion module can fuse syringe data acquired by visible light camera and near-infrared sensor in real time, ensuring that syringe label text information and contour depth data can be accurately captured under various lighting conditions. The lightweight convolutional neural network module can analyze the fused data, and the output grasping parameters can accurately guide the robotic arm to position and grasp the syringe holder. When the dynamic path planning algorithm module is combined with the deep reinforcement learning algorithm module and the impedance control module, it can quickly calculate and generate the optimal grasping path based on real-time environmental changes within the workspace. During the clamping process, the syringe holder can accurately measure the pressure distribution in the contact area through linkage with the adaptive module, and the transfer learning module transmits the pressure data to the clamping parameter library. In this way, it can automatically identify and adapt to syringes of different diameters during repeated clamping operations, ensuring the optimal opening and closing degree and pressure curve during the gripping process. This makes it compatible with various syringe shapes such as cylindrical and conical, greatly improving the versatility and flexibility of the system.
[0007] On the other hand, a syringe holder is disclosed, including a two-finger holder. The two-finger holder includes a first connecting frame, an electric push rod, and a second connecting frame. The electric push rod is fitted inside the first connecting frame, and the top of the first connecting frame is connected to the output structure at the end of the robotic arm. The output end of the electric push rod is connected to the top of the second connecting frame. The bottom of the second connecting frame is provided with a first sliding groove, and the top of the second connecting frame is provided with a bidirectional output component and a power component. The power component serves as the power source for the bidirectional output component and can drive the bidirectional output component to rotate and output. The bottom of the second connecting frame is provided with two clamping plates in opposite positions, and the top of each clamping plate is fixed with a first transmission plate that engages with the first slide groove. The two first transmission plates are connected to the two output structures of the bidirectional output component and can drive the two clamping plates to clamp together or move apart under the transmission of the two output structures of the bidirectional output component.
[0008] Preferably, the syringe gripping and delivery system can be applied to the high-precision intelligent syringe gripping and delivery method.
[0009] Preferably, the syringe holder can be used in the high-precision intelligent syringe gripping and delivery method.
[0010] Preferably, the syringe holder can be applied to the high-precision intelligent syringe gripping and delivery system.
[0011] Preferably, an auxiliary frame is fixed to the top surface of one of the first transmission plates, and a near-infrared sensor and a visible light camera are respectively installed at the front and rear ends of the auxiliary frame. The top of the other first transmission plate is provided with a groove that can accommodate the near-infrared sensor assembly.
[0012] Preferably, the clamping plate includes a clamping plate body, the clamping surface of the clamping plate body is covered with a medical silicone layer, and a flexible thin film pressure sensor array is installed inside the clamping plate body and attached to the inner wall of the medical silicone layer. The bottom of the clamping plate body near its own clamping surface is set as an arc surface structure.
[0013] Preferably, the bidirectional output assembly includes a composite lead screw, which is composed of two lead screws with opposite output directions spliced and fixed on the same axis. Nuts are threaded onto the surfaces of both ends of the composite lead screw, and the two nuts serve as the output structure of the bidirectional output assembly, which can be connected to the top ends of the two first transmission plates respectively. The power components include a brake servo motor, a first gear shaft, and a second gear shaft. The brake servo motor meshes with the first gear shaft for transmission, and the middle part of the brake servo motor and the middle part of the first gear shaft are respectively connected to the output end of the second gear shaft and are installed on the end of one end of the composite screw.
[0014] Preferably, the bottom of the second connecting frame is provided with a second sliding groove, and the top of the clamping plate is provided with a third sliding groove aligned with the second sliding groove. A linkage plate connected to the middle surface of the clamping plate is fitted inside the third sliding groove. One end of the top of the linkage plate can pass through the second sliding groove and the third sliding groove in sequence and extend into the interior of the second connecting frame. An electromagnet capable of magnetically connecting to the end surface of the linkage plate is installed at the bottom of the second connecting frame. The linkage plate has a guide hole inside, and a guide rod fixed to the inner wall of the clamping plate is engaged in the guide hole. A return spring is fitted on the outer side of the guide rod, and the two ends of the return spring are respectively fixed to the inner wall of the clamping plate and the corresponding position surface of the linkage plate.
[0015] This invention provides a high-precision intelligent syringe gripping and delivery method, system, and gripper, which have the following beneficial effects: 1. This high-precision intelligent syringe grasping and delivery method, through the application of multimodal image fusion technology and lightweight convolutional neural networks in medical automated grasping systems, significantly improves visual recognition accuracy and grasping success rate.
[0016] 2. This syringe gripping and delivery system, based on the combination of a dynamic path planning algorithm module and an impedance control module using a deep reinforcement learning algorithm module, effectively solves the problem of efficient and safe gripping by robotic arms in complex environments.
[0017] 3. The combination of impedance control module and adaptive adjustment module in this syringe gripping and delivery system can significantly reduce the syringe breakage rate, thereby significantly reducing the risk of drug contamination.
[0018] 4. The syringe holder is composed of a clamping plate, a medical silicone layer, and an embedded flexible thin-film pressure sensor array. In subsequent use, it can significantly improve the compatibility and gripping stability of various types of syringes, thereby meeting the needs of high-load scenarios such as emergency pharmacies. Attached Figure Description
[0019] Figure 1 This is a flowchart illustrating the high-precision intelligent syringe gripping and delivery method of the present invention. Figure 2 This is a flowchart illustrating the syringe gripping and delivery system of the present invention. Figure 3 This is a front view schematic diagram of the robotic arm structure of the present invention; Figure 4 This is a front view schematic diagram of the two-finger gripper of the present invention; Figure 5 This is a rear view schematic diagram of the two-finger gripper of the present invention; Figure 6 This is a three-dimensional schematic diagram of the two-finger gripper of the present invention; Figure 7 This is a cross-sectional schematic diagram of the clamping plate of the present invention; Figure 8 This is an enlarged schematic diagram of the guide rod of the present invention.
[0020] In the diagram: 1. Robotic arm; 2. Two-finger gripper; 21. First connecting frame; 22. Electric push rod; 23. Second connecting frame; 24. First transmission plate; 25. Clamping plate; 251. Clamping plate body; 252. Medical silicone layer; 26. Bidirectional output assembly; 261. Composite lead screw; 262. Nut; 27. Power component; 271. Brake servo motor; 272. First gear shaft; 273. Second gear shaft; 28. Visible light camera; 29. Near-infrared sensor; 3. Electromagnet; 4. Guide rod; 5. Linkage plate; 6. Return spring. Detailed Implementation
[0021] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0022] Please see Figure 1 A high-precision intelligent syringe gripping and delivery method, comprising the following steps: first step: The preparation for automated grasping and delivery is achieved by combining a syringe holder with a robotic arm 1. The syringe holder is equipped with an image recognition component, an infrared sensing component, and a pressure sensing component. Step Two: After confirming the storage and delivery locations of several syringes, a dynamic path planning algorithm is used to pre-plan the grasping and transfer delivery paths of the syringes. Step 3: After the path is determined, the syringe is grasped according to the prescription requirements. That is, the syringe holder is moved above the syringe to be picked up by the robotic arm 1. Then, using multimodal image fusion technology, the syringe holder uses its own image recognition component and infrared sensing component to output image data and infrared sensing data in real time for fusion. Step 4: The fused data is analyzed by a lightweight convolutional neural network, including whether the corresponding syringe is included after the specified position. The resulting gripping parameters are used to precisely guide the robotic arm 1 to drive the syringe holder to position the specified syringe mechanically and then grip it. Step 5: After the gripping and grasping is completed, the robotic arm 1 automatically moves and delivers the syringe in the gripped state through the syringe holder. After completion, the third and fourth steps are repeated to complete the automatic sequential use of several syringes.
[0023] On the other hand, please see Figure 1 This application also discloses a syringe gripping and delivery system, including a robotic arm 1, a syringe holder, a multimodal image fusion module, a lightweight convolutional neural network module, a dynamic path planning algorithm module, an adaptive adjustment module, a transfer learning module, a gripping parameter library, a deep reinforcement learning algorithm module, and an impedance control module; The syringe gripping and delivery system can be applied to high-precision intelligent syringe gripping and delivery methods; The multimodal image fusion module can fuse syringe data acquired by visible light cameras and near-infrared sensors in real time, ensuring accurate capture of syringe label text information and contour depth data under various lighting conditions. The lightweight convolutional neural network module can analyze the fused data, and the output grasping parameters can accurately guide the robotic arm 1 to drive the syringe holder for positioning and grasping. The error range is strictly controlled within ±0.5mm, which significantly improves the grasping success rate. After the dynamic path planning algorithm module is combined with the deep reinforcement learning algorithm module and the impedance control module, it can quickly calculate and generate the optimal grasping path based on the real-time environmental changes in the workspace. The real-time environmental changes include the edge of the medicine rack and the position of other syringes. The deep reinforcement learning algorithm module can optimize the path planning and improve the dynamic obstacle avoidance capability of the robotic arm 1 in complex environments. Furthermore, guided by the deep reinforcement learning algorithm module, the robotic arm 1 can dynamically adjust its grasping path based on real-time environmental perception information, avoiding collisions with obstacles such as the edge of the medicine rack and other syringes, significantly improving operational efficiency and safety. Furthermore, by working in conjunction with the impedance control module, the deep reinforcement learning algorithm module can finely adjust the speed and force when the robotic arm 1 approaches the target object, thereby achieving a more precise and stable grasping action and effectively reducing the breakage rate. The syringe holder includes a pressure sensor array, which is covered by a medical-grade silicone layer. During clamping, it can accurately measure the pressure distribution in the contact area through linkage with the adaptive module, and the transfer learning module transmits the pressure data to the clamping parameter library. Thus, during repeated clamping operations, it can automatically identify and adapt to syringes of different diameters, ensuring the optimal opening and closing degree and pressure curve during the gripping process. This makes it compatible with various syringe shapes such as cylindrical and conical, greatly improving the versatility and flexibility of the system.
[0024] On the other hand, please refer to Figures 1-6 This application also discloses a syringe holder, including a two-finger holder 2. The two-finger holder 2 includes a first connecting frame 21, an electric push rod 22, and a second connecting frame 23. The electric push rod 22 is fitted inside the first connecting frame 21, and the top of the first connecting frame 21 is connected to the end output structure of the robotic arm 1. The output end of the electric push rod 22 is connected to the top of the second connecting frame 23. The bottom of the second connecting frame 23 is provided with a first sliding groove, and the top of the second connecting frame 23 is provided with a bidirectional output component 26 and a power component 27. The power component 27 serves as the power source for the bidirectional output component 26 and can drive the bidirectional output component 26 to rotate and output. The bidirectional output assembly 26 includes a composite lead screw 261, which is composed of two lead screws with opposite output directions spliced and fixed on the same axis. Nuts 262 are threaded to the surfaces of both ends of the composite lead screw 261, and the two nuts 262 serve as the output structure of the bidirectional output assembly 26 and can be connected to the top ends of the two first transmission plates 24 respectively. The power component 27 includes a brake servo motor 271, a first gear shaft 272 and a second gear shaft 273. The brake servo motor 271 meshes with the first gear shaft 272, and the middle part of the brake servo motor 271 and the middle part of the first gear shaft 272 are respectively connected to the output end of the second gear shaft 273 and are installed on the end of one end of the composite lead screw 261. The bottom of the second connecting frame 23 is provided with two clamping plates 25 in opposite positions, and the top of each clamping plate 25 is fixed with a first transmission plate 24 that engages with the first slide groove. The two first transmission plates 24 are connected to the two output structures of the bidirectional output assembly 26 and can drive the two clamping plates 25 to clamp together or move apart under the transmission of the two output structures of the bidirectional output assembly 26. The clamping plate 25 includes a clamping plate body 251, the clamping surface of the clamping plate body 251 is covered with a medical silicone layer 252, and a flexible thin film pressure sensor array is installed inside the clamping plate body 251 and attached to the inner wall of the medical silicone layer 252. The bottom of the clamping plate body 251 near its own clamping surface is set as an arc surface structure. An auxiliary frame is fixed to the top surface of one of the first transmission plates 24. A near-infrared sensor 29 and a visible light camera 28 are respectively installed at the front and rear ends of the auxiliary frame. Subsequently, the near-infrared sensor 29 and the visible light camera 28 provide position image data and displacement infrared sensing data of several syringes respectively. The top of the other first transmission plate 24 is provided with a groove that can accommodate the near-infrared sensor 29, thereby avoiding structural interference during the clamping of the two first transmission plates 24. The syringe holder can be applied to high-precision intelligent syringe gripping and delivery methods, and can be used in high-precision intelligent syringe gripping and delivery systems.
[0025] In use, during the specific process of gripping and picking up the syringe, after the robotic arm 1 drives the two-finger gripper 2 to move above and position the syringe to be picked up, the visible light camera 28 and near-infrared sensor 29 installed inside the two-finger gripper 2 transmit image data and infrared position data to the syringe gripping and delivery system in real time. After data analysis and confirmation that the syringe to be picked up is the one to be picked up, the robotic arm 1 will maintain its own stability. Then, the electric push rod 22 is activated, and the output end of the electric push rod 22 drives the second connecting frame 23 and related structures of the second connecting frame 23 to move down until the two gripping plates 25 are in place. Located on the outside of the syringe to be used, the second gear shaft 273 is then activated. The output end of the second gear shaft 273 drives the brake servo motor 271 to mesh synchronously with the first gear shaft 272, causing the compound screw 261 to rotate synchronously. Subsequently, the two screws with opposite output directions inside the compound screw 261 drive their respective nuts 262 to move close to each other. At the same time, the two nuts 262 drive their respective first transmission plates 24 to move their respective clamping plates 25 synchronously, thereby causing the two clamping plates 25 to move close to each other to clamp the syringe. During the clamping process of the two clamping plates 25, the medical silicone layer 252 inside the two clamping plates 25 will deform to adapt to the surface structure of the syringe, thereby ensuring the optimal opening and closing degree and pressure curve during the gripping process. At the same time, the flexible thin film pressure sensor array associated with the medical silicone layer 252 is synchronously pressurized and outputs pressure data. After the pressure data output by the flexible thin film pressure sensor array associated with the two medical silicone layers 252 reaches the expected data, it will indicate that the two medical silicone layers 252 have stably clamped the syringe, and the second gear shaft 273 will be closed. After clamping is completed, the electric push rod 22 is turned off, causing the second connecting frame 23 and its associated structure, as well as the clamped syringe, to move upwards and disengage from the pick-up position. The robotic arm 1 then drives the two-finger gripper 2 and the clamped syringe within it to be delivered to the designated position. Once completed, the second gear shaft 273 is turned on and reversed. The output end of the second gear shaft 273 drives the brake servo motor 271 to mesh synchronously with the first gear shaft 272, causing the composite screw 261 to rotate synchronously. Subsequently, the two screws with opposite output directions inside the composite screw 261 drive their respective nuts 262 to separate and reset. At the same time, the two nuts 262 drive their respective first transmission plates 24 to drive the adjacent clamping plates 25 to separate and reset synchronously, releasing the syringe. The remaining syringes can then be operated in the same manner.
[0026] Please see Figures 1-6The bottom of the second connecting frame 23 is provided with a second sliding groove, and the top of the clamping plate 251 is provided with a third sliding groove aligned with the second sliding groove. A linkage plate 5 connected to the middle surface of the clamping plate 25 is fitted inside the third sliding groove. One end of the top of the linkage plate 5 can pass through the second sliding groove and the third sliding groove in sequence and extend into the interior of the second connecting frame 23. An electromagnet 3 that can magnetically connect to the end surface of the linkage plate 5 is installed at the bottom of the second connecting frame 23. A guide hole is provided inside the linkage plate 5, and a guide rod 4 fixed to the inner wall of the clamping plate 251 is engaged in the guide hole. A return spring 6 is fitted on the outside of the guide rod 4, and the two ends of the return spring 6 are respectively fixed on the inner wall of the clamping plate 251 and the corresponding position surface of the linkage plate 5.
[0027] In use, considering the stability of the medical silicone layer 252 during the clamping process of large batches of syringes, the problem is solved by using the electromagnet 3, guide rod 4 and linkage plate 5, as follows; After the two medical silicone layers 252 have initially completed their clamping and deformation, the electromagnet 3 is activated. The magnetic attraction of the electromagnet 3 magnetically limits the linkage plate 5 associated with the two clamping plates 251. Then, the linkage plate 5 is used to assist in limiting the bending curvature of the medical silicone layer 252, ensuring the stability of the deformation of the medical silicone layer 252 during subsequent delivery displacement. After reaching the delivery position, the electromagnet 3 is first turned off to release the magnetic attraction limit on the linkage plate 5. Then, the second gear shaft 273 is turned on and its output is reversed. Then, the output end of the second gear shaft 273 drives the brake servo motor 271 to mesh synchronously with the first gear shaft 272, causing the composite screw 261 to rotate synchronously. Subsequently, the two screws with opposite output directions inside the composite screw 261 drive their respective nuts 262 to separate and reset. At the same time, the two nuts 262 drive the adjacent clamping plates 25 to synchronize and reset through their respective first transmission plates 24, thus releasing the syringe.
[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A high-precision intelligent syringe gripping and delivery method, characterized in that: The syringe gripping and delivery method includes the following steps: first step: The preparation of automated grasping and delivery is carried out by using a combination device of syringe holder and robotic arm (1), and the syringe holder is equipped with image recognition component, infrared sensing component and pressure sensing component. Step Two: After confirming the storage and delivery locations of several syringes, a dynamic path planning algorithm is used to pre-plan the grasping and transfer delivery paths of the syringes. Step 3: After the path is determined, the syringe holder is moved to the top of the syringe to be taken by the robotic arm (1). Then, using multimodal image fusion technology, the syringe holder uses its own image recognition component and infrared sensing component to output image data and infrared sensing data respectively for real-time fusion. Step 4: The fused data is analyzed by a lightweight convolutional neural network, and the resulting gripping parameters are used to precisely guide the robotic arm (1) to position the designated syringe mechanically and then grip and grasp it. Step 5: After the gripping and grasping is completed, the robotic arm (1) automatically moves and delivers the syringe in the gripping state through the syringe holder. After completion, the third and fourth steps are repeated to complete the automatic picking of several syringes in sequence.
2. A high-precision intelligent syringe gripping and delivery system, employing the high-precision intelligent syringe gripping and delivery method as described in claim 1, characterized in that: The syringe gripping and delivery system includes a robotic arm (1), a syringe holder, a multimodal image fusion module, a lightweight convolutional neural network module, a dynamic path planning algorithm module, an adaptive adjustment module, a transfer learning module, a gripping parameter library, a deep reinforcement learning algorithm module, and an impedance control module. The multimodal image fusion module can fuse syringe data acquired by visible light camera and near-infrared sensor in real time, ensuring that syringe label text information and contour depth data can be accurately captured under various lighting conditions. The lightweight convolutional neural network module can analyze the fused data and output the grasping parameters to precisely guide the robotic arm (1) to drive the syringe holder for positioning and grasping; When the dynamic path planning algorithm module is combined with the deep reinforcement learning algorithm module and the impedance control module, it can quickly calculate and generate the optimal grasping path based on the real-time environmental changes in the workspace. During the clamping process, the syringe holder can accurately measure the pressure distribution in the contact area through linkage with the adaptive module and the transfer learning module transmits the pressure data to the clamping parameter library. In this way, it can automatically identify and adapt to syringes of different diameters during repeated clamping operations, ensuring the optimal opening and closing degree and pressure curve during the gripping process, thus being compatible with various syringe shapes.
3. The high-precision intelligent syringe gripping and delivery system according to claim 2, characterized in that: The syringe gripping and delivery system is applied in the high-precision intelligent syringe gripping and delivery method described in claim 1.
4. A syringe holder, used in the high-precision intelligent syringe gripping and delivery method as described in claim 1, characterized in that: The syringe holder includes a two-finger holder (2), which includes a first connecting frame (21), an electric push rod (22), and a second connecting frame (23). The electric push rod (22) is fitted inside the first connecting frame (21), and the top of the first connecting frame (21) is connected to the output structure at the end of the robotic arm (1). The output end of the electric push rod (22) is connected to the top of the second connecting frame (23). The bottom of the second connecting frame (23) is provided with a first sliding groove, and the top of the second connecting frame (23) is provided with a bidirectional output component (26) and a power component (27). The power component (27) serves as the power source of the bidirectional output component (26) and can drive the bidirectional output component (26) to rotate and output. The bottom of the second connecting frame (23) is provided with two clamping plates (25) in opposite positions, and the top of the two clamping plates (25) is fixed with a first transmission plate (24) that engages with the first slide groove. The two first transmission plates (24) are connected to the two output structures of the bidirectional output assembly (26) and can drive the two clamping plates (25) to clamp close to each other or move apart under the transmission of the two output structures of the bidirectional output assembly (26).
5. The syringe holder according to claim 3, characterized in that: The syringe holder is used in the high-precision intelligent syringe gripping and delivery method according to claim 1.
6. The syringe holder according to claim 3, characterized in that: The syringe holder is used in the high-precision intelligent syringe gripping and delivery system described in claim 2.
7. The syringe holder according to claim 3, characterized in that: One of the first transmission plates (24) has an auxiliary frame fixed on its top surface. The front and rear ends of the auxiliary frame are respectively equipped with a near-infrared sensor (29) and a visible light camera (28). The top of the other first transmission plate (24) has a groove that can accommodate the near-infrared sensor (29).
8. The syringe holder according to claim 3, characterized in that: The clamping plate (25) includes a clamping plate body (251), the clamping surface of the clamping plate body (251) is covered with a medical silicone layer (252), and a flexible thin film pressure sensing array is installed inside the clamping plate body (251) and attached to the inner wall of the medical silicone layer (252). The bottom of the clamping plate body (251) near its own clamping surface is set as an arc surface structure.
9. The syringe holder according to claim 3, characterized in that: The bidirectional output assembly (26) includes a composite screw (261), which is composed of two screws with opposite output directions spliced and fixed on the same axis. Nuts (262) are threaded to the surfaces of both ends of the composite screw (261), and the two nuts (262) serve as the output structure of the bidirectional output assembly (26) and can be connected to the top ends of the two first transmission plates (24) respectively. The power component (27) includes a brake servo motor (271), a first gear shaft (272), and a second gear shaft (273). The brake servo motor (271) meshes with the first gear shaft (272) for transmission, and the middle part of the brake servo motor (271) and the middle part of the first gear shaft (272) are respectively connected to the output end of the second gear shaft (273) for transmission and are installed on the end of one end of the composite screw (261).
10. The syringe holder according to claim 8, characterized in that: The bottom of the second connecting frame (23) is provided with a second sliding groove, and the top of the clamping plate (251) is provided with a third sliding groove aligned with the second sliding groove. The third sliding groove is fitted with a linkage plate (5) connected to the middle surface of the clamping plate (25). One end of the top of the linkage plate (5) can pass through the second sliding groove and the third sliding groove in sequence and extend into the interior of the second connecting frame (23). The bottom of the second connecting frame (23) is equipped with an electromagnet (3) that can magnetically connect to the end surface of the linkage plate (5). The linkage plate (5) has a guide hole inside, and a guide rod (4) fixed to the inner wall of the clamping plate (251) is engaged in the guide hole. A reset spring (6) is fitted on the outer side of the guide rod (4), and the two ends of the reset spring (6) are fixed on the inner wall of the clamping plate (251) and the corresponding position surface of the linkage plate (5).