Wart liquid nitrogen treatment device

Abstract

The utility model discloses a liquid nitrogen treatment device for warts. The liquid nitrogen treatment device comprises a base, a three-axis module, a visual module, a dipping assembly and an intelligent interaction module. A lying plate is arranged on the base; the three-axis module is arranged on one side of the base; the visual module is fixedly mounted at the top of the three-axis module and shoots downwards; the dipping assembly is arranged on the three-axis module and can move front and back, left and right and up and down along with the three modules. The intelligent interaction module is used for controlling and detecting control and operation of all electromechanical devices of the wart liquid nitrogen treatment device. The utility model has the beneficial effects that the technical scheme realizes full-automatic positioning through the three-axis module and the visual module, and ensures that the liquid nitrogen injection amount is accurate and the treatment range is controllable by combining closed-loop pressure-flow control; and the intelligent interaction module integrates safety protection and data management functions, so that the treatment safety and efficiency are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of liquid nitrogen treatment equipment technology, and in particular to a liquid nitrogen treatment device for warts. Background Technology

[0002] Liquid nitrogen therapy for warts is a new technology in the field of modern therapeutics. It kills viruses through rapid freezing. However, this method is not suitable for people with severe cold urticaria. Existing technologies rely on complex mechanical structures (such as electromagnetic rails and threaded rods) for position adjustment, resulting in cumbersome operation and insufficient precision. Furthermore, liquid nitrogen extraction and pressure control depend on manual experience, which can easily lead to inaccurate treatment. Therefore, it is necessary to develop a simplified and intelligently integrated liquid nitrogen therapy device for warts. A search revealed no identical technical solutions to this invention. Utility Model Content

[0003] The main technical problem solved by this utility model is to provide a simplified and intelligent integrated liquid nitrogen treatment device for warts, thereby solving one or more of the above-mentioned prior art problems.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a liquid nitrogen treatment device for warts, comprising...

[0005] Base; the base is equipped with a reclining board;

[0006] Three-axis module; the three-axis module is located on one side of the base;

[0007] Vision module; The vision module is fixedly mounted on top of the three-axis module and shoots downwards;

[0008] Spotting component; The spotting component is mounted on the three-axis module and can move forward, backward, left, right, up, and down with the three modules;

[0009] Intelligent interactive module; This intelligent interactive module is used to control and monitor the control and operation of all electromechanical equipment in the liquid nitrogen treatment device for warts.

[0010] In some embodiments, the base includes a first linear module, a second linear module, and a base frame. The first linear module and the second linear module are fixed to the ground and are arranged parallel to each other. The two support legs of the base frame are respectively fixed to the first linear module and the second linear module, and the lying board is horizontally mounted on the top of the base frame.

[0011] In some embodiments, the first linear module includes a first base, a first lead screw disposed on the first base, a first slide disposed on the first lead screw and movable on the first lead screw, and a first drive motor for driving the first lead screw to rotate.

[0012] The second linear module includes a second base, a second lead screw mounted on the second base, a second slide mounted on the second lead screw and movable on the second lead screw, and a second drive motor for driving the second lead screw to rotate.

[0013] One of the two support legs of the base frame is fixed to the first slide, and the other is fixed to the second slide.

[0014] In some embodiments, the three-axis module includes a base frame, a third linear module disposed on the base frame, and a three-axis manipulator disposed on the third linear module. The top of the three-axis manipulator is provided with a first mounting plate, a vision module is mounted on the first mounting plate, and a dot-dip assembly is disposed on the three-axis manipulator.

[0015] In some implementations, the vision module includes a miniature camera and a laser locator.

[0016] In some embodiments, the dotting assembly includes a dotting rod with a dotting head at the end of the rod. A liquid chamber is provided inside the dotting rod and is connected to the dotting head. A pressure-sensitive film is integrated on the dotting head. The dotting assembly includes a storage tank with a PID temperature control module and a liquid level sensor integrated inside. A delivery pipeline is provided between the storage tank and the liquid chamber to connect the two. A miniature solenoid valve, a peristaltic pump assembly, a pressure sensor, and a flow meter are provided on the delivery pipeline.

[0017] In some implementations, the smart interaction module is equipped with a touchscreen.

[0018] The beneficial effects of this utility model are: This technical solution achieves fully automatic positioning through a three-axis module and a vision module, combined with closed-loop pressure-flow control, to ensure accurate liquid nitrogen injection volume (error ±0.05ml) and controllable treatment range (accuracy ±0.2mm); the intelligent interactive module integrates safety protection and data management functions, significantly improving treatment safety and efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0020] Figure 1 This is a schematic diagram a of the structure of a liquid nitrogen treatment device for warts according to this utility model.

[0021] Figure 2 This is a schematic diagram (b) of the structure of a liquid nitrogen treatment device for warts according to this utility model.

[0022] Figure 3This is a flowchart illustrating the liquid nitrogen delivery process of a liquid nitrogen treatment device for warts according to this utility model.

[0023] Figure 4 This is a schematic diagram of the interface display of the intelligent interactive module of the liquid nitrogen treatment device for warts according to this utility model. Detailed Implementation

[0024] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0025] like Figures 1 to 4 As shown, the embodiments of this utility model include:

[0026] The first linear module 101 and the second linear module 102 are fixed to the ground in parallel. Both include a base, a lead screw, a slide, and a drive motor: NEMA 23 stepper motor with an accuracy of 0.01mm.

[0027] The two support legs of the base frame 120 are respectively fixed to the first slide of the first linear module 101 and the second slide of the second linear module 102 by bolts. The top of the base frame 120 is welded with a lying plate 200 made of medical grade stainless steel.

[0028] Spatial relationship: The reclining board 200 spans the base frame 120. When the patient is lying flat, the base frame 120 can be moved back and forth synchronously through the first and second linear modules 102 to adjust the patient's position.

[0029] Working principle: The drive motor receives instructions from the intelligent interactive module 600, drives the lead screw to rotate, and moves the slide table and base frame 120 to achieve position adjustment of the lying board 200.

[0030] The base frame 300 of the three-axis module is fixed to one side of the base. The third linear module 301 (model: HIWIN EGH15CA ball screw module) is vertically installed on the base frame 300. The top is connected to the three-axis robot arm 302 (model: UR3 collaborative robot arm) via a flange, with a repeatability accuracy of ±0.1mm.

[0031] The three-axis robot 302 has a quick-release interface for mounting the point-dip assembly 500 at its end.

[0032] Spatial relationship: The three-axis robot 302 is located above the lying plate 200 and can move along the X / Y / Z axes; the spot-dip assembly 500 achieves three-dimensional positioning through the end of the robot.

[0033] Working principle: The three-axis robot 302 receives positioning data from the vision module 400 and drives the dotting component 500 to move precisely to the location of the wart.

[0034] The miniature camera 401 (Basler acA1300-60gm, 1.3 megapixel resolution) and the laser locator 402 (KEYENCE LJ-V7000) are integrated into the first mounting plate and fixed to the top of the three-axis robot 302 by bolts.

[0035] Spatial Relationship: The visual module 400 is located directly above the reclining board 200, shooting downwards at the patient's skin surface. Working Principle: The camera captures images of the warts, the laser locator 402 projects a grid to assist in positioning, and the image data is processed by the intelligent interactive module 600 to generate three-dimensional coordinates and plan the treatment path.

[0036] The components include a spotting rod 501, a spotting head 502, a liquid chamber, a storage tank, a PID temperature control module, a liquid level sensor, a delivery pipeline, a miniature solenoid valve, a peristaltic pump assembly, a pressure sensor, and a flow meter. The storage tank has a double-layer vacuum insulation structure fixed to the side of the base and is equipped with a built-in PID temperature control module (model: OMRON E5CC) with a temperature control range of -200℃ to +200℃ and a liquid level sensor (model: GEMS 3100).

[0037] Material of delivery pipeline: PTFE. Connecting the storage tank and the 501 liquid chamber of the spotting rod, the pipeline is sequentially equipped with a miniature solenoid valve (model: SMC VX222), a peristaltic pump (model: Lead Fluid BT100-2J), a pressure sensor (model: Honeywell 26PC), and a flow meter (model: KEYENCE FD-Q50).

[0038] The 502 dot-on tip integrates a pressure-sensitive film (model: TE Connectivity FlexiForce A201) for real-time monitoring of contact pressure.

[0039] Working principle: The PID temperature control module maintains a constant liquid nitrogen temperature of -196℃ in the storage tank and triggers an alarm when the liquid level is insufficient; the peristaltic pump and solenoid valve are linked to control the liquid nitrogen injection volume based on feedback from the flow meter and pressure sensor; the pressure-sensitive diaphragm monitors the contact pressure between the dip nozzle 502 and the skin in real time and dynamically adjusts the pump speed and valve opening.

[0040] Control logic of intelligent interaction module 600

[0041] Component names: Intelligent Interaction Module 600, Touch Screen.

[0042] Touchscreen model: Weintek MT8071iE, a 7-inch capacitive screen embedded in the side of the base, which communicates with various electromechanical components via CAN bus.

[0043] Functions and working principle:

[0044] Parameter settings: The treatment temperature can be preset to -196℃ to -150℃, the spotting time to 1 to 30 seconds, and the pressure threshold to 0.1 to 0.5N via the touch screen.

[0045] Data interaction: Receives positioning data from the vision module 400, feedback signals from the pressure sensor and flow meter, and controls the three-axis module, drive motor and peristaltic pump to work together.

[0046] Safety protection: Liquid nitrogen leaks are detected by gas sensors, and when the temperature or pressure exceeds the limit, an audible and visual alarm is triggered and treatment is suspended.

[0047] Overall Workflow

[0048] Initialization: The patient lies flat on the reclining board 200. The intelligent interaction module 600 activates the visual module 400 to scan the warts and generate a treatment path.

[0049] Positioning and movement: The three-axis robot 302 drives the spot-dip assembly 500 to move to the target position, and the laser positioner 402 assists in fine-tuning.

[0050] Liquid nitrogen delivery: The peristaltic pump starts, and liquid nitrogen is injected into the dipping nozzle 502 through the delivery pipeline. The pressure-sensitive diaphragm provides real-time feedback on the contact pressure and dynamically adjusts the flow rate.

[0051] Treatment complete: After the preset time is reached, the spotting head 502 automatically lifts up, and the touch screen displays the treatment report and stores the data.

[0052] Example Effects

[0053] This device achieves fully automatic positioning through a three-axis module and a vision module 400. Combined with closed-loop pressure-flow control, it ensures that the liquid nitrogen injection volume has an accuracy error of ±0.05ml and the treatment range is controllable with an accuracy of ±0.2mm. The intelligent interactive module 600 integrates safety protection and data management functions, significantly improving treatment safety and efficiency.

[0054] The storage tank, PID temperature control module and level sensor, delivery pipeline, miniature solenoid valve, peristaltic pump assembly, pressure sensor and flow meter are not shown in the structural drawings.

[0055] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made using the content of this utility model specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A liquid nitrogen treatment device for warts, characterized in that: include Base; The base is provided with a reclining board (200); Three-axis module; The three-axis module is located on one side of the base; A vision module (400); the vision module (400) is fixedly mounted on the top of the three-axis module and shoots downwards; Dot-dip assembly (500); the dot-dip assembly (500) is mounted on the three-axis module and can move forward, backward, left, right, up, and down with the three modules; Intelligent interactive module (600); the intelligent interactive module (600) is used to control and detect the control and operation of all electromechanical equipment of the wart liquid nitrogen treatment device.

2. The liquid nitrogen treatment device for warts according to claim 1, characterized in that: The base includes a first linear module (101), a second linear module (102), and a base frame (120). The first linear module (101) and the second linear module (102) are fixed to the ground and are arranged parallel to each other. The two support legs of the base frame (120) are respectively fixed to the first linear module (101) and the second linear module (102). The lying board (200) is horizontally mounted on the top of the base frame (120).

3. The liquid nitrogen treatment device for warts according to claim 2, characterized in that: The first linear module (101) includes a first base, a first lead screw disposed on the first base, a first slide disposed on the first lead screw and movable on the first lead screw, and a first drive motor for driving the first lead screw to rotate. The second linear module (102) includes a second base, a second lead screw mounted on the second base, a second slide mounted on the second lead screw and movable on the second lead screw, and a second drive motor for driving the second lead screw to rotate. One of the two support legs of the base frame (120) is fixed on the first slide and the other is fixed on the second slide.

4. The liquid nitrogen treatment device for warts according to claim 1, characterized in that: The three-axis module includes a base frame (300), a third linear module (301) mounted on the base frame (300), and a three-axis robot (302) mounted on the third linear module (301). The top of the three-axis robot (302) is provided with a first mounting plate. The vision module (400) is mounted on the first mounting plate, and the dotting assembly (500) is mounted on the three-axis robot (302).

5. The liquid nitrogen treatment device for warts according to claim 1, characterized in that: The vision module (400) includes a miniature camera (401) and a laser locator (402).

6. The liquid nitrogen treatment device for warts according to claim 1, characterized in that: The dotting assembly (500) includes a dotting rod (501), with a dotting head (502) at the end of the dotting rod (501). A liquid chamber is provided inside the dotting rod (501), and the liquid chamber is connected to the dotting head (502). A pressure-sensitive film is integrated on the dotting head (502). The dotting assembly (500) includes a storage tank, with a PID temperature control module and a liquid level sensor integrated inside the storage tank. A delivery pipeline for connecting the storage tank and the liquid chamber is provided between the two. A miniature solenoid valve, a peristaltic pump assembly, a pressure sensor, and a flow meter are provided on the delivery pipeline.

7. The liquid nitrogen treatment device for warts according to claim 1, characterized in that: The intelligent interactive module (600) is equipped with a touch screen.

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