Muscle injector operated by mechanical arm

Abstract

The utility model discloses a muscle injector operated by a mechanical arm, which relates to the technical field of medical instruments and comprises the mechanical arm, a clamping component and a needle cylinder, the clamping component is arranged at the output end of the mechanical arm, the needle cylinder is clamped on the clamping component, a first piston is arranged in the needle cylinder, and a second piston is arranged in the needle cylinder. The injection assembly and the disinfection assembly are fixedly installed at the output end of the mechanical arm, the injection assembly comprises an electric push rod and an air pump, the electric push rod and the needle cylinder are concentrically arranged, the output end of the electric push rod extends into the needle cylinder and is fixedly sleeved with a second piston, and the outer ring face of the second piston is tightly attached to the inner wall of the needle cylinder. According to the muscle injector operated by the mechanical arm, through the automatic clamping and releasing functions of the clamping assembly, rapid replacement of the needle cylinder is achieved, the injection efficiency and safety are improved, the negative pressure principle and high-pressure gas pushing are utilized, automatic suction and injection of liquid medicine are achieved, manual operation is reduced, and the injection precision and stability are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and particularly relates to a muscle syringe operated by a robotic arm. Background Art

[0002] With the continuous progress of medical technology, robotic arms are increasingly widely used in the medical field. In terms of injection, due to their high precision, high stability, and repeatability, robotic arms are widely used in scenarios such as vaccination and drug injection. By simulating the movements of the human arm, robotic arms can complete complex injection tasks, reducing the workload of medical staff and improving injection efficiency.

[0003] In the Chinese utility model patent application number: CN202311873831.5, there is disclosed an automatic robot for gluteal muscle injection, the structure of which includes a robotic arm. A syringe mounting seat, an image acquisition mechanism, a processor, and a driving mechanism are arranged on the robotic arm. A syringe is mounted on the syringe mounting seat. The image acquisition mechanism is used to obtain real-time picture information of the buttocks, and the processor processes the picture information to obtain injection point position information. This automatic robot for gluteal muscle injection obtains the picture information of the buttocks through the image acquisition mechanism, and then obtains accurate injection point position information through the processing of the processor. In addition, through mechanized control, the syringe can be smoothly inserted into the injection point, and the liquid medicine can be injected into the gluteus maximus at a stable speed, reducing the instability caused by factors such as hand tremors, and having good consistency, greatly improving the success rate of injection. However, in the actual application process of this device, manual participation is still required in multiple links, such as the replacement of the syringe barrel, the aspiration of the liquid medicine, the disinfection of the injection site, etc. These manual operations not only increase the workload of medical staff, but also reduce the working efficiency of the injection robot.

[0004] Therefore, it is very necessary to propose a muscle syringe operated by a robotic arm to solve the above problems. Content of the Utility Model

[0005] Technical problems to be solved: The purpose of the present utility model is to provide a muscle syringe operated by a robotic arm to solve the problems in the above background art that in the existing automatic robot for gluteal muscle injection, manual participation is required in the replacement of the syringe barrel, the aspiration of the liquid medicine, the disinfection of the injection site, etc., and these manual operations not only increase the workload of medical staff, but also reduce the working efficiency of the injection robot.

[0006] Technical solution: To achieve the above purpose, the utility model is implemented through the following technical solutions: a muscle syringe operated by a mechanical arm, comprising a mechanical arm, a clamping assembly and a syringe, the clamping assembly is arranged on the output end of the mechanical arm, the syringe is clamped on the clamping assembly, a first piston is arranged in the syringe, and also includes an injection assembly and a disinfection assembly fixedly installed on the output end of the mechanical arm, the injection assembly comprises an electric push rod and an air pump, the electric push rod and the syringe are concentrically arranged, the output end of the electric push rod extends into the syringe and is fixedly sleeved with a second piston, the outer ring surface of the second piston is in close contact with the inner wall of the syringe, a through hole is opened in the axial direction of the second piston, an air pipe is fixedly installed at the output end of the air pump, and the other end of the air pipe is connected to the through hole; the disinfection assembly comprises a disinfection tank filled with high-pressure disinfectant, a feed pipe is fixedly installed on the disinfection tank, a one-way liquid inlet valve is arranged in the feed pipe, a nozzle is fixedly installed at one end of the disinfection tank facing the syringe, and a solenoid valve is arranged on the nozzle.

[0007] Preferably, the robotic arm includes a base fixedly mounted on the workbench, a third steering gear is fixedly mounted on the base, a rotating disk is fixedly mounted on the output shaft of the third steering gear, an H-shaped connecting frame is provided above the rotating disk, fourth steering gears are rotatably mounted at openings at the upper and lower ends of the H-shaped connecting frame, and the output shafts of the two fourth steering gears are fixedly connected to the H-shaped connecting frame.

[0008] Preferably, the fourth steering gear at the lower end of the H-shaped connecting frame is fixedly connected to the rotating disk, a U-shaped connecting frame is fixedly installed on the fourth steering gear at the upper end of the H-shaped connecting frame, a fifth steering gear is rotatably installed at the opening of the U-shaped connecting frame, and the output shaft of the fifth steering gear is fixedly connected to the U-shaped connecting frame, the first steering gear is fixedly installed on the top of the fifth steering gear, and a depth camera is fixedly installed on the top of the first steering gear.

[0009] Preferably, the clamping assembly includes a fixing frame fixedly mounted on the output shaft of the first servo gear, the second servo gear is fixedly mounted on the bottom of the fixing frame, two mutually meshing driving gears are fixedly mounted on the top of the fixing frame, and one of the driving gears is drivingly connected to the second servo gear.

[0010] Preferably, a connecting plate is fixedly installed on the side of the two driving gears away from the depth camera, a clamping plate is hinged on the other end of the connecting plate, a connecting rod parallel to the connecting plate is hinged on the side of the clamping plate close to the connecting plate, the other ends of the two connecting rods are hinged to the fixing frame, and arc-shaped grooves are provided on adjacent surfaces of the two clamping plates away from one end of the adjacent connecting plates.

[0011] Preferably, a fixing plate is fixedly installed on the side of the second servo gear away from the first servo gear, the disinfection tank is fixedly installed on the fixing plate, a support plate is fixedly installed on the nozzle, an L-shaped plate is fixedly installed on the top of the support plate, the L-shaped plate is located in the enclosed area of ​​the two clamping plates, and the electric push rod and the air pump are both fixedly installed on the L-shaped plate.

[0012] Preferably, a atomizing nozzle is fixedly installed at one end of the disinfection tank facing the syringe barrel. A third piston is slidably sleeved in the disinfection tank. The third piston divides the disinfection tank into an installation cavity and a liquid storage cavity. The atomizing nozzle and the feed pipe are both communicated with the liquid storage cavity. An electric push rod is fixedly installed in the installation cavity. The output end of the electric push rod is fixedly connected to the third piston. And an air inlet hole is opened at one end of the installation cavity away from the atomizing nozzle.

[0013] Beneficial effects: Compared with the prior art, the present utility model provides a muscle syringe operated by a robotic arm. The muscle syringe operated by the robotic arm has a unique structure and is convenient to use. Through the coordinated work of six servo motors, the device simulates six degrees of freedom of the human arm to achieve precise positioning. The depth camera can identify and clamp the syringe barrel to ensure the accurate placement of the syringe barrel. The electric push rod drives the second piston into the syringe barrel. Subsequently, the air pump works. By pumping out the air between the first piston and the second piston, the liquid medicine is sucked into the syringe barrel by the negative pressure principle. Image recognition technology is used to automatically identify the injection site. The disinfectant in the disinfection component is sprayed out through the nozzle under the action of high-pressure gas to disinfect the injection site. After the disinfection is completed, the air pump works again to inject high-pressure gas into the space between the first piston and the second piston, pushing the first piston towards the needle to complete the injection of the liquid medicine.

[0014] Through the cooperative setting of the robotic arm, the clamping component, the injection component and the disinfection component, not only can the syringe barrel be automatically clamped and released, realizing the rapid replacement of the syringe barrel, improving the injection efficiency and safety, but also, through the negative pressure principle and the push of high-pressure gas, the automatic suction and injection of the liquid medicine are realized, reducing manual operation, improving the injection accuracy and stability. In addition, the integrated disinfection component can disinfect the injection site before injection, effectively reducing the infection risk and enhancing the medical safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic perspective side view of the structure of the present utility model;

[0016] Figure 2 is a schematic perspective front view of the structure of the present utility model;

[0017] Figure 3 is a schematic partial cross-sectional view of the structure of the present utility model;

[0018] Figure 4 of the present utility model Figure 2 is an enlarged schematic view of the structure of area A;

[0019] Figure 5 of the present utility model Figure 3 is an enlarged schematic view of the structure of area B.

[0020] In the figure: 1. First servo; 2. Depth camera; 3. Fixing bracket; 4. Second servo; 5. Driving gear; 6. Connecting plate; 7. Clamping plate; 8. Connecting rod; 9. Fixing plate; 10. Disinfection tank; 11. Nozzle; 12. Solenoid valve; 13. Support plate; 14. L-shaped plate; 15. Electric push rod; 16. Air pump; 17. Syringe; 18. First piston; 19. Second piston; 20. Air delivery pipe; 21. Feed pipe; 22. Workbench; 23. Base; 24. Third servo; 25. Rotating disk; 26. H-shaped connecting frame; 27. Fourth servo; 28. U-shaped connecting frame; 29. Fifth servo. Detailed implementation mode

[0021] The following further describes the present utility model in conjunction with the accompanying drawings and embodiments.

[0022] Embodiment 1: Embodiment 1 of the present invention provides a muscle syringe operated by a robotic arm, which is directly improved on the existing automatic robot for gluteal muscle injection, with a unique structure. Please refer to Figures 1-5 As shown in the figure, it includes a robotic arm, a clamping assembly, and a syringe 17. The clamping assembly is arranged at the output end of the robotic arm, and the syringe 17 is clamped on the clamping assembly. A first piston 18 is arranged in the syringe 17. The robotic arm includes a base 23 fixedly installed on a workbench 22. A third servo 24 is fixedly installed on the base 23. A rotating disk 25 is fixedly sleeved on the output shaft of the third servo 24. An H-shaped connecting frame 26 is arranged above the rotating disk 25. Fourth servos 27 are rotatably installed at the openings at the upper and lower ends of the H-shaped connecting frame 26, and the output shafts of the two fourth servos 27 are fixedly connected to the H-shaped connecting frame 26. The fourth servo 27 at the lower end of the H-shaped connecting frame 26 is fixedly connected to the rotating disk 25. A U-shaped connecting frame 28 is fixedly installed on the fourth servo 27 at the upper end of the H-shaped connecting frame 26. A fifth servo 29 is rotatably installed at the opening of the U-shaped connecting frame 28, and the output shaft of the fifth servo 29 is fixedly connected to the U-shaped connecting frame 28. A first servo 1 is fixedly installed on the top of the fifth servo 29, and a depth camera 2 is fixedly installed on the top of the first servo 1.

[0023] The clamping assembly includes a fixing frame 3 fixedly mounted on the output shaft of the first servo 1, a second servo 4 is fixedly mounted on the bottom of the fixing frame 3, two mutually meshing driving gears 5 are fixedly mounted on the top of the fixing frame 3, and one of the driving gears 5 is transmission-connected to the second servo 4. There are various ways of transmission-connecting the driving gears 5 to the second servo 4, for example: the output shaft of the second servo 4 extends to the top of the fixing frame 3, and one of the driving gears 5 is fixedly mounted on the output shaft of the second servo 4; a connecting plate 6 is fixedly mounted on the side of the two driving gears 5 away from the depth camera 2, a clamping plate 7 is hinged on the other end of the connecting plate 6, a connecting rod 8 parallel to the connecting plate 6 is hinged on the side of the clamping plate 7 close to the connecting plate 6, the other ends of the two connecting rods 8 are hinged to the fixing frame 3, and arc-shaped grooves are provided on the adjacent surfaces of the two clamping plates 7 away from the adjacent connecting plates 6.

[0024] It also includes an injection assembly and a disinfection assembly fixedly mounted on the output end of the robot arm, the injection assembly includes an electric push rod 15 and an air pump 16, the electric push rod 15 and the syringe 17 are concentrically arranged, the output end of the electric push rod 15 extends into the syringe 17 and is fixedly sleeved with a second piston 19, the outer ring surface of the second piston 19 is in close contact with the inner wall of the syringe 17, and a through hole is axially opened on the second piston 19, and an air pipe 20 is fixedly mounted on the output end of the air pump 16, and the other end of the air pipe 20 is connected to the through hole; the disinfection assembly includes a disinfection tank 10 filled with high-pressure disinfectant, a feed pipe 21 is fixedly mounted on the disinfection tank 10, a one-way liquid inlet valve is arranged in the feed pipe 21, and a nozzle 11 is fixedly mounted on the end of the disinfection tank 10 facing the syringe 17, and a solenoid valve 12 is arranged on the nozzle 11; the clamping assembly The components, injection components and disinfection components are all connected to the control system of the robotic arm. There are many choices of disinfectants, such as alcohol or iodine. When the injection site needs to be disinfected, the control system controls the solenoid valve 12 to open, and the disinfectant in the disinfection tank 10 can be sprayed from the output end of the nozzle 11 under the action of high-pressure gas, thereby disinfecting the injection site. There are many ways to install the injection component and the disinfection component, for example: a fixed plate 9 is fixedly installed on the side of the second steering gear 4 away from the first steering gear 1, the disinfection tank 10 is fixedly installed on the fixed plate 9, a support plate 13 is fixedly installed on the nozzle 11, and an L-shaped plate 14 is fixedly installed on the top of the support plate 13. The L-shaped plate 14 is located in the enclosed area of ​​the two clamping plates 7, and the electric push rod 15 and the air pump 16 are both fixedly installed on the L-shaped plate 14.

[0025] Working principle: The injection robotic arm is composed of six servo motors, a base 23, a bracket, a depth camera 2, an electric push rod 15, a syringe 17, etc. The six servo motors respectively correspond to the six degrees of freedom of the main arm used in standard medical injections from head to tail, which are the rotation of the wrist, the flexion and extension of the wrist, the rotation of the elbow, the flexion and extension of the elbow, the rotation of the upper arm, and the flexion and extension of the upper arm. By having multiple professional physicians simulate the standard injection movements and adding marker points to the six degrees of freedom of the arm used in injection, the algorithm of its movement trajectory is accurately obtained using motion capture technology and input into the system controlling the robotic arm to complete the control of the robotic arm for professional medical injections; The algorithm is optimized using the motion capture technology and applied to the injection robotic arm. Precise motion data of the robotic arm and the syringe during the injection process are obtained through the motion capture technology, and then an optimized algorithm model is trained based on these data. This model can accurately control the robotic arm to perform injection actions, including the position, angle, depth, and injection speed of the injection, to achieve high-precision injection operations.

[0026] When we use this device to give a muscle injection to a patient, first start the robotic arm. The robotic arm automatically identifies and clamps the syringe 17 through the depth camera 2. Then, the output end of the electric push rod 15 extends, driving the second piston 19 into the syringe 17. Then, the robotic arm controls the syringe 17 to insert the needle into the medicine bottle. At this time, the control system controls the air pump 16 to act, extracting the air between the first piston 18 and the second piston 19, so that the first piston 18 moves towards the second piston 19 under the action of negative pressure, and then sucks the medicine in the medicine bottle into the syringe 17; Then, the robotic arm uses image recognition technology to automatically identify the injection site and disinfect the injection site through the disinfection component. After disinfection is completed, the control system controls the air pump 16 to inject high-pressure gas into the space between the first piston 18 and the second piston 19, using the high-pressure gas to push the first piston 18 towards the needle to complete the injection; Through the coordinated setting of the robotic arm, the clamping component, the injection component, and the disinfection component, this device can not only automatically replace the syringe 17, but also achieve the effects of automatically sucking and injecting the medicine. In addition, it can disinfect the injection site before injection, greatly improving the practicality and working efficiency of this device.

[0027] Embodiment 2: The difference between Embodiment 2 and Embodiment 1 is that a mist spray head is fixedly installed at one end of the disinfection tank 10 facing the syringe 17. A third piston is slidably sleeved in the disinfection tank 10. The third piston divides the disinfection tank 10 into an installation cavity and a liquid storage cavity. The mist spray head and the feed pipe 21 are both communicated with the liquid storage cavity. An electric push rod is fixedly installed in the installation cavity. The output end of the electric push rod is fixedly connected to the third piston. An air inlet hole is opened at one end of the installation cavity away from the mist spray head. The disinfectant liquid is stored in the liquid storage cavity. When it is necessary to disinfect the injection position, the control system controls the output end of the electric push rod to extend, so as to drive the third piston to move towards the mist spray head, and then pressurize the disinfectant liquid in the liquid storage cavity and spray it out through the mist spray head. Thus, no matter which position the mist spray head faces, the disinfectant liquid in the liquid storage cavity can be sprayed out through the mist spray head.

[0028] The electrical equipment described in the text is electrically connected to an external power supply and is all existing equipment. In addition, although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intramuscular syringe operated by a robot arm, comprising a robot arm, a clamping assembly and a syringe (17), wherein the clamping assembly is arranged on the output end of the robot arm, the syringe (17) is clamped on the clamping assembly, and a first piston (18) is arranged in the syringe (17), characterized in that: The invention also comprises an injection assembly and a disinfection assembly fixedly mounted on the output end of the mechanical arm, wherein the injection assembly comprises an electric push rod (15) and an air pump (16), the electric push rod (15) and the syringe (17) being arranged concentrically, the output end of the electric push rod (15) extending into the syringe (17) and fixedly sleeved with a second piston (19), the outer ring surface of the second piston (19) being in close contact with the inner wall of the syringe (17), the second piston (19) being provided with a through hole in the axial direction, the output end of the air pump (16) being fixedly mounted with an air delivery pipe (20), the other end of the air delivery pipe (20) being in communication with the through hole; the disinfection assembly comprises a disinfection tank (10) filled with high-pressure disinfectant, a feed pipe (21) being fixedly mounted on the disinfection tank (10), a one-way liquid inlet valve being arranged in the feed pipe (21), a nozzle (11) being fixedly mounted on one end of the disinfection tank (10) facing the syringe (17), the nozzle (11) being provided with a solenoid valve (12).

2. A robot-operated intramuscular injector according to claim 1, characterized in that: The mechanical arm comprises a base (23) fixedly mounted on a workbench (22); a third steering gear (24) is fixedly mounted on the base (23); a rotating disk (25) is fixedly mounted on the output shaft of the third steering gear (24); an H-shaped connecting frame (26) is provided above the rotating disk (25); fourth steering gears (27) are rotatably mounted at openings at both upper and lower ends of the H-shaped connecting frame (26); and the output shafts of the two fourth steering gears (27) are fixedly connected to the H-shaped connecting frame (26).

3. A robot-operated intramuscular injector according to claim 2, characterized in that: The fourth steering gear (27) at the lower end of the H-shaped connecting frame (26) is fixedly connected to the rotating disk (25); a U-shaped connecting frame (28) is fixedly mounted on the fourth steering gear (27) at the upper end of the H-shaped connecting frame (26); a fifth steering gear (29) is rotatably mounted at the opening of the U-shaped connecting frame (28); an output shaft of the fifth steering gear (29) is fixedly connected to the U-shaped connecting frame (28); a first steering gear (1) is fixedly mounted on the top of the fifth steering gear (29); and a depth camera (2) is fixedly mounted on the top of the first steering gear (1).

4. The robot-operated intramuscular injector according to claim 1, characterized in that: The clamping assembly comprises a fixing frame (3) fixedly mounted on an output shaft of a first steering gear (1), a second steering gear (4) being fixedly mounted on the bottom of the fixing frame (3), and two mutually meshing driving gears (5) being fixedly mounted on the top of the fixing frame (3), and one of the driving gears (5) being transmission-connected to the second steering gear (4).

5. A robot-operated intramuscular injector according to claim 4, characterized in that: A connecting plate (6) is fixedly mounted on the side of the two driving gears (5) away from the depth camera (2); a clamping plate (7) is hingedly connected to the other end of the connecting plate (6); a connecting rod (8) parallel to the connecting plate (6) is hingedly connected to the side of the clamping plate (7) close to the connecting plate (6); the other ends of the two connecting rods (8) are hingedly connected to the fixing frame (3); and arc-shaped grooves are provided on the adjacent surfaces of the two clamping plates (7) away from the adjacent connecting plates (6).

6. A robot-operated intramuscular injector according to claim 5, characterized in that: A fixing plate (9) is fixedly mounted on the side of the second steering gear (4) away from the first steering gear (1), the disinfection tank (10) is fixedly mounted on the fixing plate (9), a support plate (13) is fixedly mounted on the nozzle (11), an L-shaped plate (14) is fixedly mounted on the top of the support plate (13), the L-shaped plate (14) is located in the enclosed area of ​​the two clamping plates (7), and the electric push rod (15) and the air pump (16) are both fixedly mounted on the L-shaped plate (14).

7. The robot-operated intramuscular injector according to claim 1, characterized in that: An atomizing nozzle is fixedly mounted on one end of the disinfection tank (10) facing the syringe (17), a third piston is slidably mounted inside the disinfection tank (10), the third piston divides the disinfection tank (10) into an installation chamber and a liquid storage chamber, the atomizing nozzle and the feed pipe (21) are both connected to the liquid storage chamber, an electric push rod is fixedly mounted in the installation chamber, the output end of the electric push rod is fixedly connected to the third piston, and an air inlet hole is opened at one end of the installation chamber away from the atomizing nozzle.

Images