Acupuncture auxiliary robot

Abstract

The invention discloses an acupuncture assisting robot, and belongs to the technical field of robots. The device comprises a robot trolley and a storage box supported and fixed over the robot trolley through a supporting column. At least one side wall of the storage box sinks inwards to form a containing cavity, and a storage box with the top open is installed in the containing cavity. An opening is formed in the other side of the storage box, and a drawer is installed at the opening in a matched mode. The storage box is mounted above the robot trolley, and the storage box and the drawer with the storage function are mounted on the storage box, so that storage of articles such as disposable acupuncture needles and sterilized cotton balls and collection of waste needles during use of the storage box and the drawer are facilitated; and the robot can drive the storage box to autonomously move to a designated diagnosis and treatment bed, doctors do not need to frequently go back and forth to a fixed material point, the diagnosis and treatment efficiency is improved, and the safety risk possibly caused by untimely or nonstandard waste needle recovery is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an acupuncture-assisted robot. Background Technology

[0002] Acupuncture, as an important component of Traditional Chinese Medicine, is widely used in clinical treatment. Currently, the management of supplies in acupuncture departments, such as the replenishment of disposable acupuncture needles and sterile cotton balls, as well as the recycling of used needles, mainly relies on medical staff manually traveling between the treatment bed and the supply storage point to retrieve and dispose of them.

[0003] Regarding medical waste management, acupuncture needles are classified as invasive medical waste and must be strictly managed in accordance with the "Regulations on the Management of Medical Waste." Medical institutions must establish a responsibility system for medical waste management, classifying, collecting, transporting, temporarily storing, and disposing of medical waste to ensure its safe disposal within 48 hours and prevent the spread of disease and environmental pollution.

[0004] This approach has the following drawbacks: it increases the workload of medical staff and affects the efficiency of diagnosis and treatment; and the untimely or improper recycling of used needles may pose safety risks. Summary of the Invention

[0005] This invention provides an acupuncture-assisted robot that can solve the problems in the prior art where manual relocation between the treatment bed and the material storage point affects the efficiency of diagnosis and treatment, and the waste needles are not collected in a timely manner.

[0006] An acupuncture-assisted robot includes a robot trolley and a storage box fixed above the robot trolley by a support column; at least one side wall of the storage box is recessed inward to form a receiving cavity, and a storage box with an open top is installed in the receiving cavity; the other side of the storage box is provided with an opening, and a drawer is installed at the opening.

[0007] Furthermore, a cushion is provided on the top of the storage box; at least one control button is also provided on the top of the storage box.

[0008] Furthermore, the top and bottom of the two side walls of the receiving cavity are respectively provided with arc-shaped grooves and shaft mounting holes; the top and bottom of the two side walls of the storage box are respectively provided with locking blocks and mounting shafts; the mounting shaft is inserted into and rotates within the shaft mounting hole; the top of both side walls of the storage box is provided with rectangular holes, and the locking block includes a rectangular strip on one side wall of the rectangular hole, with a protrusion extending into the arc-shaped groove at the end of the rectangular strip.

[0009] Furthermore, a contact plate is provided on the top of the storage box; an opening is provided on the top of the inner wall of the receiving cavity, and a contact sensor is installed on the inner wall surface of the storage box located at the opening. The sensing end of the contact sensor passes through the opening, and when the storage box is stored in the receiving cavity, the sensing end of the contact sensor abuts against the contact plate.

[0010] Furthermore, the contact plate is integrally formed on the top of the storage box.

[0011] Furthermore, there are two receiving cavities, which are respectively located on both sides of the storage box.

[0012] Furthermore, support beams are provided on the inner walls of the storage boxes on both sides of the opening, and drawer slides that engage with the support beams are provided on the opposite outer walls of the drawer.

[0013] Furthermore, the drawer is provided with a divider assembly, which includes two intersecting divider bodies in a cross shape. The side end faces of the divider bodies are provided with a plurality of slots along their length. The width of the slots is equivalent to the thickness of the divider bodies. The depth of the slots is greater than or equal to half the height of the divider bodies.

[0014] Furthermore, the inner wall of the storage box is provided with a plurality of first hinge seats, and second hinge seats are hinged to the first hinge seats. The plurality of second hinge seats are fixed to one side of a stop bar. A photoelectric sensor is provided on the inner wall of the storage box located directly above the first hinge seats, and a rectangular plate for inserting the photoelectric sensor is provided on one side of the stop bar.

[0015] 1. This invention installs a storage box on top of a robot car. The storage box is equipped with storage containers and drawers, which facilitate the storage of supplies such as disposable acupuncture needles and sterile cotton balls, as well as the collection of waste needles. The robot can also move the storage box autonomously to the designated treatment bed, eliminating the need for doctors to frequently travel to fixed supply points.

[0016] 2. This invention uses a collection box to collect used needles in a timely and standardized manner, which effectively reduces the safety risks of cross-infection and needlestick injuries caused by untimely or improper collection of used needles. The closed state of the collection box can also be monitored by sensors to further ensure transportation safety.

[0017] 3. The robot of this invention is equipped with a cushion on its top, which allows it to be transformed into a temporary seat instantly upon arrival at the bed for use by doctors during long-term operations. Attached Figure Description

[0018] Figure 1 This invention provides a schematic diagram of an acupuncture-assisted robot structure. Figure 2 Provided by the present invention Figure 1 The main view; Figure 3 For the present invention Figure 2 Sectional view at point AA; Figure 4 A schematic diagram of a partial structure of an acupuncture-assisted robot provided by the present invention. Figure 1 ; Figure 5 For the present invention Figure 4 Enlarged view of a portion of point A in the middle; Figure 6 A schematic diagram of a partial structure of an acupuncture-assisted robot provided by the present invention. Figure 2 ; Figure 7 For the present invention Figure 6 Enlarged view of a section at point C; Figure 8 A schematic diagram of a partial structure of an acupuncture-assisted robot provided by the present invention is shown in Figure 3. Figure 9 For the present invention Figure 8 Enlarged view of section B in the middle.

[0019] Explanation of reference numerals in the attached figures: 1-Robot car, 11-Support column, 2-Storage box, 20-Control button, 21-Seat cushion, 22-Receiving cavity, 221-Shaft mounting hole, 222-Arc groove, 23-Contact sensor, 24-Support column, 25-Support beam, 260-First hinge seat, 26-Second hinge seat, 27-Block, 28-Rectangular plate, 29-Photoelectric sensor, 3-Storage box, 31-Contact plate, 33-Rectangular hole, 34-Rectangular strip, 341-Protrusion, 4-Drawer, 41-Bedside body, 411-Slot, 43-Drawer slide, 431-Protruding ridge. Detailed Implementation

[0020] The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0021] like Figures 1 to 2 As shown in the figure, an acupuncture-assisted robot provided by this embodiment of the invention includes a robot car 1. The robot car 1 adopts a differential drive mode and has a built-in battery and navigation control system. The navigation control system integrates a UWB receiving module. UWB positioning base stations are deployed in the hospital space. Doctors carry UWB tags. The UWB base stations can obtain the coordinates of the tags in real time in the space and convert them into robot target coordinates. Then the robot can plan a real-time path to track and move to the target coordinate position. The robot car 1 has functions such as autonomous return to charging station, restocking, following, and emergency stopping.

[0022] Based on the autonomous tracking technology of the UWB positioning system, the robot car 1 can plan its path in real time and intelligently track the doctor. Even if the doctor moves quickly or is temporarily obscured, it can still be effectively located, avoiding the problem of traditional following robots easily losing track of the doctor.

[0023] The storage box 2 is fixed above the robot car 1 by the support column 11. A clearance space is formed between the top of the robot car 1 and the bottom of the storage box 2. The radar module of the robot car 1 is located inside the clearance space to ensure unobstructed navigation. The support column 11 increases the height of the storage box 2, making it easier for medical staff to operate. A soft and non-slip seat 21 is installed on the top of the storage box 2. The design of the seat 21 allows the robot car to be transformed into a temporary seat when it arrives at the bedside for doctors to use during long-term operations. Three control buttons 20 are located on the top of the storage box 2 in front of the seat 21. The three control buttons 20 control the start / tracking, emergency stop and mode switching of the robot car 1, and can be easily operated by medical staff whether standing or sitting.

[0024] like Figure 3-5 The storage box 2 has inwardly recessed left and right side walls, forming two symmetrical receiving cavities 22. Each receiving cavity 22 contains a top-open storage box 3. The storage box 3 is used not only to store disposable acupuncture needles, sterile cotton balls, etc., but also focuses on the safe collection of used needles. Taking one side as an example, the bottom of the two side walls of the receiving cavity 22 has a shaft mounting hole 221, and the top has an arc-shaped groove 222. The bottom of the two side walls of the storage box 3 is provided with a mounting shaft, which is inserted into the shaft mounting hole 221, allowing the storage box 3 to rotate around the mounting shaft. The top of the two side walls of the storage box 3 has a rectangular hole 33 and a locking block. The locking block includes a rectangular strip 34 hole on one side wall of the rectangular hole 33. The rectangular strip 34 is elastic, and the end of the strip has a protrusion 341 that can extend into the arc-shaped groove 222. A contact plate 31 is provided on the top of the storage box 3; an opening is provided on the top of the inner wall of the receiving cavity 22, and a contact sensor 23 is installed on the inner wall surface of the storage box 2 located at the opening, with the sensing end of the contact sensor 23 passing through the opening; when the storage box 3 is completely closed, the contact plate 31 on its top will press against the contact sensor 23 on the inner wall of the receiving cavity 22, and the system will determine that the storage box 3 is closed based on this. Only after receiving this signal will the robot car 1 be allowed to move; during the process of opening the storage box 3 outward, the mounting shaft rotates in the shaft mounting hole 221, and the protrusion 341 moves inside the arc groove 222. The arc groove 222 limits the protrusion 341, thereby controlling the opening and closing movement of the storage box 3. The storage box adopts a flip-up design, which makes it very convenient for doctors to take out and put in needles.

[0025] By using the contact sensor 23 and contact plate 31 set on the storage box 3, the system can accurately sense whether the storage box 3 is in a closed and locked state; if the storage box 3 is not closed properly, the robot car 1 can issue an alarm and restrict movement, effectively preventing needles and other items from spilling during transportation and eliminating potential safety risks.

[0026] like Figure 1 , 8 As shown in Figure 9, the storage box 2 has an opening on the front side, and a drawer 4 is installed in the opening. At the same time, a horizontal support beam 25 is set on the inner wall of the storage box 2 on both sides of the opening. The two opposite outer walls of the drawer 4 are equipped with drawer slides 43 that are engaged with the support beams 25. The drawer slides 43 allow the drawer 4 to be smoothly pulled out.

[0027] In this application, in order to reduce the resistance to movement during actual use, first rollers can be installed on the inner wall of the drawer slide 43. The first rollers abut against the upper surface of the support beam 25. At this time, the large-area planar contact formed between the groove plate 43 and the side of the support beam is changed to the cooperation between the first roller and the support beam 25, so as to change the sliding friction to rolling friction during use and reduce the resistance when pulling out the drawer 4.

[0028] Inside drawer 4 are two partition bodies 41 with multiple slots 411, which can be combined to form a cross-shaped partition assembly. The partition assembly divides the interior of drawer 4 into four independent storage areas, facilitating the storage of medicines, etc. The side end face of the partition body 41 has several slots 411 along its length. The width of the slots 411 is approximately equal to the thickness of the partition body 41, ensuring the stability of the joint. The depth of the slots 411 is equal to half the height of the partition body 41, which facilitates the coplanarity of the side end faces of the two partition bodies 41 after joint assembly. This improves the stability of the partition assembly placed inside drawer 4 and prevents the partition assembly from wobbling due to a "seesaw" structure caused by a height difference between the bottoms of the two partition bodies 41. Furthermore, the use of this slot 411 design allows for easy adjustment of the space size of the four independent storage areas according to needs during use.

[0029] As described above, medical staff can flexibly adjust the position of the two partition bodies 41 according to the volume and quantity of different items, or even remove the two partition bodies 41 to obtain a complete large space. This design greatly enhances the adaptability and utilization of the storage space.

[0030] Specifically, such as Figure 6-7Multiple first hinge seats 260 arranged in a linear pattern are installed on the inner wall of the rear side of the storage box 2. Second hinge seats 26 are hinged to the first hinge seats 260. Several second hinge seats 26 are fixed to one side of a stop bar 27. A photoelectric sensor 29 is installed on the inner wall of the storage box 2 located directly above the first hinge seats 260. A rectangular plate 28 for inserting the photoelectric sensor 29 is installed on one side of the stop bar 27. The stop bar 27 is normally placed horizontally and does not affect the normal opening and closing of the drawer 4. When the drawer 4 closes quickly due to the robot's inertia, it will first hit the stop bar 27. The stop bar 27 absorbs the impact force by rotating around the hinge point, which plays an effective buffering role.

[0031] Simultaneously, a first magnetic block is installed on the stop bar 27, and a second magnetic block is installed at the end of the drawer 4. When the drawer 4 is pushed into the storage box 2, the first magnetic block on the stop bar 27 and the second magnetic block at the end of the drawer 4 will move closer to each other. Due to the property of magnetic opposite poles attracting each other, an attraction force is generated between them. This attraction force can gently pull the drawer 4 to the final closed position and keep it stably in that position, forming a simple magnetic locking effect. During the movement of the robot car 1, it may encounter situations such as starting, braking, or turning, which will generate inertial force. Without a locking device, the drawer 4 may accidentally slide a distance due to inertia. The attraction force generated by the magnetic blocks can effectively overcome these slight inertial forces, ensuring that the drawer 4 always remains tightly closed when the robot car 1 is moving normally, avoiding the risk of items spilling or colliding due to the drawer 4 sliding out.

[0032] When the drawer 4 end impacts the stop bar 27, one side of the stop bar 27 abuts against the drawer 4. Under normal conditions, when the drawer 4 is pulled out, the stop bar 27 flips downwards along the first hinge seat 260 and the second hinge seat 26 under gravity. At this point, the contact surface between the stop bar 27 and the end of the drawer 4 is tilted downwards. A rubber buffer layer is provided on this contact surface, and one end of the rectangular plate 28 abuts against the photoelectric sensor 29. The photoelectric sensor 29 and the rectangular plate 28 work together to limit the flipping angle of the first hinge seat 260 and the second hinge seat 26, preventing the stop bar from... The excessive tilt of the contact surface between the stop bar 27 and the end of the drawer 4 causes the stop bar 27 to fail to flip when the end of the drawer 4 hits the stop bar 27, preventing it from flipping along the hinge of the first hinge seat 260 and the second hinge seat 26 so that the contact surface of the stop bar 27 flips to a vertical position and rests against the side of the drawer 4. In other words, in this invention, the tilt angle of the stop bar 27 is limited by the cooperation of the photoelectric sensor 29 and the rectangular plate 28, keeping the stop bar 27 in an ideal preparatory posture. At the same time, when the drawer 4 is pushed in, the rectangular plate 28 is inserted into the photoelectric sensor 29, and the photoelectric sensor 29 detects a signal.

[0033] The present invention also provides two indicator lights 24 on the top of the storage box 2 on the front side of the seat cushion 21. The two indicator lights 24, photoelectric sensor 29, and contact sensor 23 are all connected to the controller. The two indicator lights 24 respectively display the storage status of drawer 4 and storage box 3. When photoelectric sensor 29 and contact sensor 23 detect a signal, it indicates that drawer 4 and storage box 3 are in the storage state, and both indicator lights 24 are lit up green. When photoelectric sensor 29 and contact sensor 23 do not detect a signal, it indicates that drawer 4 and storage box 3 are in the unfolded state, and both indicator lights 24 are lit up red.

[0034] The above-disclosed embodiments are merely a few specific examples of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An acupuncture-assisted robot, characterized in that, Includes a robot car (1) and a storage box (2) fixed directly above the robot car (1) by a support column (11). At least one side wall of the storage box (2) is recessed inward to form a receiving cavity (22), and a storage box (3) with an open top is installed in the receiving cavity (22). An opening is provided on the other side of the storage box (2), and a drawer (4) is installed at the opening.

2. The acupuncture-assisted robot as described in claim 1, characterized in that, A cushion (21) is provided on the top of the storage box (2).

3. The acupuncture-assisted robot as described in claim 1, characterized in that, The top of the storage box (2) is also provided with at least one control button (20).

4. An acupuncture-assisted robot as described in any one of claims 1-3, characterized in that, The top and bottom of the two side walls of the receiving cavity (22) are respectively provided with arc-shaped grooves (222) and shaft mounting holes (221); The storage box (3) has a locking block and a mounting shaft on the top and bottom of its two side walls, respectively; The mounting shaft is inserted into and rotates within the shaft mounting hole (221); The storage box (3) has rectangular holes (33) on the top of both sides of its side walls. The card block includes a rectangular strip (34) on one side wall of the rectangular hole (33). The end of the rectangular strip (34) has a protrusion (341) that extends into the arc groove (222).

5. An acupuncture-assisted robot as described in claim 4, characterized in that, The top of the storage box (3) is provided with a contact plate (31); An opening is provided at the top of the inner wall of the receiving cavity (22). A contact sensor (23) is installed on the inner wall of the storage box (2) located at the opening. The sensing end of the contact sensor (23) passes through the opening. When the storage box (2) is in the receiving cavity (22), the sensing end of the contact sensor (23) abuts against the contact plate (31).

6. The acupuncture-assisted robot as described in claim 5, characterized in that, The contact plate (31) is integrally formed on the top of the storage box (3).

7. An acupuncture-assisted robot as described in claim 4, characterized in that, The number of the receiving cavities (22) is two, and the two receiving cavities (22) are respectively located on both sides of the storage box (2).

8. An acupuncture-assisted robot as described in claim 1, characterized in that, Support beams (25) are provided on the inner walls of the storage boxes (2) located on both sides of the opening, and drawer slides (43) that are engaged and locked on the support beams (25) are provided on the opposite outer walls of the drawer (4).

9. An acupuncture-assisted robot as described in claim 8, characterized in that, The drawer (4) is provided with a partition assembly, which includes two partition bodies (41) that are intersected in a "+" shape. The side end face of the partition body (41) is provided with a number of slots (411) along its length. The width of the slot (411) is equivalent to the thickness of the partition body (41); the depth of the slot (411) is greater than or equal to half the height of the partition body (41).

10. An acupuncture-assisted robot as described in claim 8 or 9, characterized in that, The inner wall of the storage box (2) is provided with a plurality of first hinge seats (260), and second hinge seats (26) are hinged on the first hinge seats (260). The plurality of second hinge seats (26) are fixed to one side of a stop bar (27). A photoelectric sensor (29) is provided on the inner wall of the storage box (2) located directly above the first hinge seat (260), and a rectangular plate (28) for inserting the photoelectric sensor (29) is provided on one side of the stop bar (27).

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