Mechanical arm trolley for automatic injection of hand back vein

Abstract

The invention relates to the technical field of intravenous injection, in particular to a mechanical arm trolley for hand back vein automatic injection, which comprises a table body, a six-axis robot is arranged on one side of the table body, and the six-axis robot is used for performing vein automatic injection work on the hand back of a patient; a positioning assembly is arranged on the surface of the table body, and the positioning assembly is used for placing and positioning the hand back of a patient; an infusion assembly is placed on the surface of the table body and used for being matched with the six-axis robot to achieve intravenous injection work. A universal six-axis robot is adopted as an execution mechanism, a leading-edge AI automatic needle entry point recognition algorithm and program are introduced in injection point positioning, a common visual camera is matched to collect a hand back image to recognize and determine an optimal needle entry point in real time, and the optimal needle entry point is converted into a pose under a robot coordinate system for autonomous puncture. The problem of medical resource strength shortage is effectively relieved, and the venipuncture success rate and the working efficiency are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of intravenous injection technology, specifically to a robotic arm trolley for automated injection into the back of the hand vein. Background Technology

[0002] Intravenous injection is a medical procedure in which liquid substances such as blood, medications, and nutritional solutions are directly injected into a vein. Intravenous injections can be either transient or continuous. Transient intravenous injections are typically administered by injecting directly into a vein using a syringe, commonly known as a "shot." Continuous intravenous injections are administered via intravenous drip, commonly referred to as an "IV drip." Intravenous injection is a medical procedure that involves the direct delivery of drugs or fluids into a vein. It is often used in emergencies requiring rapid onset of action or for patients who cannot take oral medications. As a fundamental medical procedure, intravenous injection is widely used in clinical treatment and is generally considered a crucial step in the treatment process.

[0003] Currently, intravenous injection on the back of the hand is a routine nursing task for medical staff, especially in scenarios such as blood draws and infusions during physical examinations. The existing technology relies on medical staff to perform intravenous injections on the back of the hand, which is not only a heavy workload, but also easily leads to a shortage of medical resources due to manual injection. In addition, the success rate of venipuncture during injection is low, resulting in low work efficiency, which causes great trouble for medical staff. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic arm trolley for automated injection into the dorsal vein of the hand, in order to solve the problems mentioned in the background art, such as the heavy workload of manual injection, which easily leads to a shortage of medical resources and low puncture success rate and work efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm trolley for automated intravenous injection on the back of the hand, comprising a table, a six-axis robot disposed on one side of the table for automated intravenous injection on the back of the patient's hand; a positioning component disposed on the surface of the table for positioning the back of the patient's hand; and an infusion component disposed on the surface of the table for cooperating with the six-axis robot to perform intravenous injection. The six-axis robot includes a robot host, a six-axis robotic arm, a robotic gripper, and vision cameras. The six-axis robotic arm is mounted on the top of the robot host and is electrically connected to the robot host. The output end of the six-axis robotic arm is fixed with a robotic gripper, and multiple vision cameras are embedded on the surface of the robotic gripper. The vision cameras are used for visual acquisition of the needle insertion point during intravenous injection, and both the robotic gripper and the vision cameras are electrically connected to the robot host.

[0006] Preferably, a display is installed on one side of the table surface, and the display is electrically connected to the robot host. The display is used to show the work during intravenous injection.

[0007] Preferably, a power switch is installed on the surface of the robot host, which is used to control the operation of the robot host; a push handle is fixed on one side of the top of the robot host, which facilitates the pushing operation of the robot host.

[0008] Preferably, a touch screen is embedded at the top of the robot's main unit, which is used for controlling intravenous injection.

[0009] Preferably, the positioning component includes a positioning pad and a positioning sensor, and the positioning pad is adhesively fixed to the surface of the table.

[0010] Preferably, the surface of the positioning pad is embedded with three positioning sensors, which are used to position the patient's hand when it is placed, and the positioning sensors are wirelessly connected to the robot host via Bluetooth.

[0011] Preferably, the infusion assembly consists of a suspension frame, an infusion bottle, an infusion set, and an infusion needle, with the suspension frame adhesively fixed to the surface of the table.

[0012] Preferably, an infusion bottle is suspended on the surface of the suspension frame, and an infusion set is inserted into the bottom of the infusion bottle. An infusion needle is inserted into the end of the infusion set. The infusion needle, together with the infusion set and the infusion bottle, is used for intravenous injection into the back of the patient's hand.

[0013] Preferably, a needle holder is fixed to the surface of the table body, which is used for placing the infusion set after intravenous injection.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: The robotic arm trolley for automated intravenous injection on the back of the hand is equipped with a six-axis robot. During implementation, the hand is placed on the positioning component. The positioning pad surface is used to locate the hand during placement. After the three positioning sensors detect the position, they transmit the signal to the robot host. The robot host controls the six-axis robotic arm to work. The six-axis robotic arm drives the robotic gripper to suspend the infusion bottle on the suspension frame. Then, one end of the infusion set is inserted into the infusion bottle. Next, the infusion needle is inserted into the end of the infusion set. Finally, the infusion needle is grasped and the infusion injection is automatically performed on the back of the hand under the visual image of the vision camera and with the help of the AI ​​algorithm and program inside the robot host to automatically identify the needle insertion point. The intravenous injection is displayed on the monitor. This invention employs a general-purpose six-axis robot as the actuator. For injection point positioning, it introduces a cutting-edge AI algorithm and program to automatically identify the needle insertion point. This is combined with a common vision camera to acquire images of the back of the hand in real time to identify and determine the optimal needle insertion point, and then converts it into a pose in the robot's coordinate system for autonomous puncture. Therefore, compared with existing technologies that rely on CT or other tomographic images for abdominal or lung puncture guidance, this invention only requires visual information from the body surface. The system structure is simpler and more suitable for routine intravenous injection scenarios such as outpatient clinics and infusion rooms. It effectively alleviates the shortage of medical resources and significantly improves the success rate and efficiency of intravenous puncture. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a partially enlarged structural schematic diagram of the present invention; Figure 3 This is a schematic diagram of a partial explosion structure of the present invention; Figure 4 This is an enlarged structural diagram of the positioning component of the present invention; Figure 5 This is an enlarged structural schematic diagram of the robotic injection mechanism of the present invention; Figure 6 This is a schematic diagram of the exploded structure of the robotic injection mechanism of the present invention; Figure 7 This is an enlarged structural schematic diagram of the infusion assembly of the present invention.

[0016] In the diagram: 1. Table; 11. Monitor; 12. Needle holder; 2. Six-axis robot; 21. Robot host; 211. Power switch; 212. Touch screen; 213. Push handle; 22. Six-axis robotic arm; 23. Robot gripper; 24. Vision camera; 3. Positioning component; 31. Positioning pad; 32. Positioning sensor; 4. Infusion component; 41. Suspension frame; 42. Infusion bottle; 43. Infusion set; 44. Infusion needle. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. In addition, the terms "first," "second," "third," "upper," "lower," "left," "right," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. At the same time, in the description of the present invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. 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.

[0018] The present invention provides a structure for a robotic arm trolley for automated injection into the back vein of the hand, as shown in the following figure. Figure 1 , Figure 5 as well as Figure 6 As shown, the system includes a table 1, with a display 11 mounted on one side of the table 1. The display 11 is electrically connected to the robot host 21. The display 11 is used to show the operation during intravenous injection. A six-axis robot 2 is located on one side of the table 1. The six-axis robot 2 is used for automated intravenous injection into the back of the patient's hand. The six-axis robot 2 includes the robot host 21, a six-axis robotic arm 22, a robotic gripper 23, and a vision camera 24. A power switch 211 is mounted on the surface of the robot host 21 for controlling the on / off operation of the robot host 21. A touch screen 2 is embedded at the top of the robot host 21. 12. The touch screen 212 is used for controlling intravenous injection. A push handle 213 is fixed on one side of the top of the robot host 21. The push handle 213 facilitates the pushing of the robot host 21. A six-axis robotic arm 22 is installed on the top of the robot host 21. The six-axis robotic arm 22 is electrically connected to the robot host 21. A robotic gripper 23 is fixed at the output end of the six-axis robotic arm 22. Multiple vision cameras 24 are embedded on the surface of the robotic gripper 23. The vision cameras 24 are used for visual acquisition of the needle insertion point during intravenous injection. Both the robotic gripper 23 and the vision cameras 24 are electrically connected to the robot host 21.

[0019] During implementation, the robot host 21 is pushed to one side of the table 1 via the push handle 213, and then the power switch 211 is turned on. The robot host 21 controls the six-axis robotic arm 22 to work. The six-axis robotic arm 22 drives the robotic gripper 23 to suspend the infusion bottle 42 on the suspension frame 41. Then, one end of the infusion set 43 is inserted into the infusion bottle 42. Next, the infusion needle 44 is inserted into the end of the infusion set 43. Finally, the infusion needle 44 is grasped and, under the visual image of the vision camera 24, the robot host 21 automatically performs intravenous injection on the back of the hand in conjunction with the AI ​​algorithm and program inside the robot host 21 to automatically identify the needle insertion point. The intravenous injection is displayed on the monitor 11.

[0020] This invention employs a general-purpose six-axis robot 2 as the actuator. For injection point positioning, it introduces a cutting-edge AI algorithm and program for automatically identifying the needle insertion point. It works in conjunction with a common vision camera 24 to acquire images of the back of the hand in real time to identify and determine the optimal needle insertion point, and converts it into a pose in the robot coordinate system for autonomous puncture. Compared with existing technologies that rely on CT or other tomographic images for abdominal or lung puncture guidance, this invention only requires visual information from the body surface. The system structure is simpler and more suitable for routine intravenous injection scenarios such as outpatient clinics and infusion rooms. It effectively alleviates the problem of shortage of medical resources and significantly improves the success rate and efficiency of intravenous puncture.

[0021] Furthermore, such as Figure 2 as well as Figure 4 As shown, a positioning component 3 is provided on the surface of the table body 1. The positioning component 3 is used for positioning the back of the patient's hand. The positioning component 3 includes a positioning pad 31 and a positioning sensor 32. The positioning pad 31 is glued to the surface of the table body 1. Three positioning sensors 32 are embedded on the surface of the positioning pad 31. The positioning sensors 32 are used for positioning the patient's hand when it is placed. The positioning sensors 32 are wirelessly connected to the robot host 21 via Bluetooth.

[0022] During implementation, the positioning sensors 32 on the surface of the positioning pad 31 are used to position the robot during placement. Once the three positioning sensors 32 detect the correct position, they will transmit a signal to the robot host 21.

[0023] Furthermore, such as Figure 3 as well as Figure 7As shown, an infusion assembly 4 is placed on the surface of the table body 1. The infusion assembly 4 is used to cooperate with the six-axis robot 2 to perform intravenous injection. The infusion assembly 4 consists of a suspension frame 41, an infusion bottle 42, an infusion set 43, and an infusion needle 44. The suspension frame 41 is glued to the surface of the table body 1. The infusion bottle 42 is suspended on the surface of the suspension frame 41, and the infusion set 43 is inserted into the bottom of the infusion bottle 42. The infusion needle 44 is inserted into the end of the infusion set 43. The infusion needle 44 is used in conjunction with the infusion set 43 and the infusion bottle 42 to perform intravenous injection on the back of the patient's hand. A needle holder 12 is fixed on the surface of the table body 1. The needle holder 12 is used to place the infusion set 43 after intravenous injection.

[0024] In practice, the infusion bottle 42 is suspended on the suspension frame 41, one end of the infusion set 43 is inserted into the infusion bottle 42, and then the infusion needle 44 is inserted into the end of the infusion set 43.

[0025] Working principle: When in use, push the robot host 21 to one side of the table 1 via the push handle 213, then turn on the switch 211. Then, the patient sits in the wheelchair and places their hand on the positioning component 3. During placement, the positioning sensor 32 on the surface of the positioning pad 31 is used to locate the hand. After the three positioning sensors 32 sense the position, they will transmit the signal to the robot host 21. The robot host 21 controls the six-axis robotic arm 22 to work. The six-axis robotic arm 22 drives the robotic gripper 23 to suspend the infusion bottle 42 on the suspension frame 41. Then, insert one end of the infusion set 43 into the infusion bottle 42. Next, insert the infusion needle 44 into the end of the infusion set 43. Finally, grasp the infusion needle 44 and, under the visual image of the vision camera 24, automatically perform intravenous injection on the back of the hand in conjunction with the AI ​​automatic needle point recognition algorithm and program inside the robot host 21. The intravenous injection is displayed on the display 11. After the injection is completed, the infusion needle 44 is removed and placed on the needle holder 12.

[0026] This invention utilizes a six-axis robot 2 as the actuator. For injection point positioning, it introduces a cutting-edge AI algorithm and program to automatically identify the needle insertion point. It works in conjunction with a common vision camera 24 to collect images of the back of the hand in real time to identify and determine the optimal needle insertion point. The results are then converted into a pose in the robot coordinate system for autonomous puncture. Compared with existing technologies that rely on CT or other tomographic images for abdominal or lung puncture guidance, this invention only requires visual information from the body surface. The system structure is simpler and more suitable for routine intravenous injection scenarios such as outpatient clinics and infusion rooms. It effectively alleviates the shortage of medical resources and significantly improves the success rate and efficiency of intravenous puncture.

[0027] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A robotic arm trolley for automated injection into the dorsal vein of the hand, comprising a table (1), characterized in that: A six-axis robot (2) is provided on one side of the table (1), which is used for automated intravenous injection of the patient's hand; a positioning component (3) is provided on the surface of the table (1), which is used for positioning the patient's hand; an infusion component (4) is provided on the surface of the table (1), which is used to cooperate with the six-axis robot (2) to perform intravenous injection. The six-axis robot (2) includes a robot host (21), a six-axis robotic arm (22), a robotic gripper (23), and a vision camera (24). The top of the robot host (21) is equipped with a six-axis robotic arm (22), which is electrically connected to the robot host (21). The output end of the six-axis robotic arm (22) is fixed with a robotic gripper (23), and multiple vision cameras (24) are embedded on the surface of the robotic gripper (23). The vision cameras (24) are used for visual acquisition of the needle insertion point during intravenous injection, and both the robotic gripper (23) and the vision cameras (24) are electrically connected to the robot host (21).

2. The robotic arm trolley for automated injection into the dorsal vein of the hand according to claim 1, characterized in that: A display (11) is installed on one side of the table (1) surface, and the display (11) is electrically connected to the robot host (21). The display (11) is used to display the work during intravenous injection.

3. The robotic arm trolley for automated injection into the dorsal vein of the hand according to claim 1, characterized in that: The surface of the robot host (21) is equipped with an on / off switch (211), which is used to control the on / off operation of the robot host (21); a push handle (213) is fixed on one side of the top of the robot host (21), which facilitates the pushing operation of the robot host (21).

4. The robotic arm trolley for automated injection into the dorsal vein of the hand according to claim 1, characterized in that: The top of the robot host (21) is embedded with a touch screen (212), which is used for control during intravenous injection.

5. A robotic arm trolley for automated injection into the dorsal vein of the hand according to claim 1, characterized in that: The positioning component (3) includes a positioning pad (31) and a positioning sensor (32), wherein the positioning pad (31) is glued and fixed to the surface of the table body (1).

6. A robotic arm trolley for automated injection into the back of the hand vein according to claim 5, characterized in that: The surface of the positioning pad (31) is inlaid with three positioning sensors (32), which are used to position the patient's hand when it is placed, and the positioning sensors (32) are wirelessly connected to the robot host (21) via Bluetooth.

7. A robotic arm trolley for automated injection into the back vein of the hand according to claim 1, characterized in that: The infusion assembly (4) consists of a suspension frame (41), an infusion bottle (42), an infusion set (43), and an infusion needle (44). The suspension frame (41) is glued and fixed to the surface of the table (1).

8. A robotic arm trolley for automated injection into the dorsal vein of the hand according to claim 7, characterized in that: The surface of the suspension frame (41) is on which an infusion bottle (42) is suspended, and an infusion set (43) is inserted into the bottom of the infusion bottle (42), and an infusion needle (44) is inserted into the end of the infusion set (43). The infusion needle (44) works with the infusion set (43) and the infusion bottle (42) to perform intravenous injection on the back of the patient's hand.

9. A robotic arm trolley for automated injection into the back of the hand vein according to claim 1, characterized in that: The surface of the table (1) is fixed with a needle holder (12), which is used for placing the infusion set (43) after intravenous injection.

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