Automatic inoculation device and inoculation system using same

Abstract

The present invention relates to an automatic inoculation device for injecting a drug into a human body and an inoculation system using same. The automatic inoculation device according to the present invention includes: an inoculation bed on which an arm of a subject to be inoculated is seated; a pressing module provided on one side of the inoculation bed to fix and press the mounted arm; a transfer and inoculation module linearly moving along the arm seated on the inoculation bed; and a needle module detachably provided on the transfer and inoculation module and which positions a needle for setting an inoculation angle for inoculation, wherein the transfer and inoculation module is operated by distinguishing between position movement for moving the end of the needle to an inoculation position and inoculation movement for determining the inoculation angle of the needle that has reached the inoculation position and then allowing the needle to pierce the skin and inject a drug solution. The present invention has the advantage that the needle is inserted while maintaining a predetermined inoculation angle with respect to the arm of the subject to be inoculated while moving along the arm of the subject to be inoculated, such that more stable inoculation can be achieved.

Description

Automatic inoculation device and inoculation system using the same

[0001] The present invention relates to an automatic inoculation device for injecting a drug into a human body and an inoculation system using the same.

[0002]

[0003] In general, an injection refers to the act of putting a drug solution into a syringe and directly injecting it into the tissues or blood vessels of a living organism, or the device for this purpose. Inoculation using an injection is performed in locations such as the skin, muscles, and blood vessels for the purpose of preventing, treating, diagnosing, or conducting experiments on diseases.

[0004] Depending on the site of administration, injections for vaccination can be categorized into intradermal injections, which inject a small amount of medication between the epidermis and dermis of the skin; subcutaneous injections, which are placed in the subcutaneous fat under the dermis; intramuscular injections, which are placed into the muscle; and intraarterial and intravenous injections, which are placed directly into the blood vessel.

[0005] Subcutaneous injections are used when slow absorption is required, as the drug is absorbed into the thin blood vessels spread across the skin and then flows into the larger blood vessels, although the effect is slow, and there is a lower risk of side effects than with other injections.

[0006] Intramuscular injections are the most common form of vaccination, injected into the muscles of the buttocks or arms. Muscles are rich in blood vessels, so absorption can occur more quickly than subcutaneous injections.

[0007] Intravenous injections are absorbed into the body the fastest, so rapid effects can be expected. However, because the drug is suddenly injected into the body, if the injection is too strong or does not suit the body, the body's condition may deteriorate, and in extreme cases, it may even lead to death.

[0008] Therefore, vaccinations are mainly administered by medical professionals such as doctors and nurses.

[0009] In particular, in the case of intravascular injections, which are relatively high risk, smooth vaccination may not be possible depending on the skill level of the medical staff, and in cases where the person being vaccinated is physically weak and has low blood flow, it is difficult to visually identify blood vessels, making vaccination more difficult.

[0010] Meanwhile, to solve the above problems, a vein scanner technology has been developed to indicate the location of veins.

[0011] For example, US 2011-0125028 A, “Vein scanner”, includes a first laser diode that emits infrared light and a second laser diode that emits only visible light wavelengths, thereby projecting the location, depth, diameter, etc. of a patient’s veins.

[0012] However, even in the case of the above conventional technology, although the location of the vein can be confirmed, the actual vaccination is performed by medical professionals, so the skill of the medical professionals is required to ensure that the vaccination is performed accurately in the identified location.

[0013] Meanwhile, Korean Patent Publication No. KR 2022-0131399 A, “Unmanned injection device and control method thereof,” discloses a technology that is attached to a robot arm to sense a patient’s blood vessels and enable injection or blood collection.

[0014] In other words, the above unmanned vaccination device uses robots to replace some of the work performed by professional medical staff, thereby preventing secondary infections of medical staff and reducing labor costs.

[0015] However, in order for the injection needle to pierce the human skin and inoculate, stable manipulation of the injection needle is required. In order to implement this with a syringe mounted on a robotic arm, considerable precision is required in controlling the robotic arm.

[0016] In particular, conventional automatic vaccination devices or unmanned injection devices have a structure in which the injection needle is inserted vertically into the human body, and in such a structure, more precise control is required to prevent the needle from piercing a blood vessel.

[0017] In addition, if the vaccination is conducted while the person being vaccinated is directly facing the moving robot arm, some people may feel fear, and if they move their body due to this, they may have difficulty receiving the vaccination stably.

[0018]

[0019] The purpose of the present invention is to provide an automatic vaccination device in which vaccination is performed by a transport and vaccination module that moves along the arm while the arm of the person to be vaccinated is supported.

[0020] Another object of the present invention is to provide an automatic vaccination device that receives scan information on the arm of a subject to be vaccinated and enables vaccination to be performed based on the received scan information.

[0021] Another object of the present invention is to provide an inoculation system including an automatic inoculation device linked to an automatic drug injector capable of pressure and quantitative injection of a drug.

[0022]

[0023] An automatic vaccination device according to the present invention comprises: an vaccination bed on which an arm of a person to be vaccinated is placed; a compression module provided on one side of the vaccination bed to fix and pressurize the placed arm; a transport and vaccination module that moves linearly along the arm placed on the vaccination bed; and a needle module that is detachably provided on the transport and vaccination module and that performs positioning for setting an inoculation angle of a needle for vaccination; and the transport and vaccination module is characterized in that it operates separately by performing position movement for moving the end of the needle to an inoculation position, and inoculation movement for causing the needle to pierce the skin and inject a drug solution after the inoculation angle of the needle that has reached the inoculation position is determined.

[0024] The above transport and inoculation module includes a transport rail arranged along the longitudinal direction of the inoculation bed, a transport motor that provides rotational force to the transport rail, and a transport block that slides along the rotational direction of the transport rail, and is characterized in that the transport block further includes a module mounting portion on which the needle module is mounted.

[0025] The above transport block is mounted on the transport rail and is provided to wrap around the placed arm of the vaccination subject together with a part of the side of the inoculation bed, and the module mounting portion is provided on the upper side of the transport rail.

[0026] The needle module is characterized by including a needle mounting body that is connected to the module mounting portion, an inoculation cradle to which a needle is detachably connected, and a needle stage that is mounted on the needle mounting body and is connected to the inoculation cradle to control the positioning of the inoculation cradle for setting the inoculation angle of the needle.

[0027] The above needle stage is characterized by comprising a laminated multi-axis plate with a piezoelectric ceramic drive system.

[0028] The above inoculation cradle is further characterized by having a syringe connection portion for connecting a syringe for supplying a drug solution by combining with the needle.

[0029] The above syringe is characterized in that it is connected to an automatic drug injector and a drug tube for pressure detection and quantitative injection of the drug.

[0030] The above transfer block is further provided with a sub-transfer block provided at a position spaced apart by a bridge at a certain distance, and the sub-transfer block is further provided with a scan module mounting portion in which a scan module for collecting human body information is installed while moving along an arm mounted together with the transfer block.

[0031] In another aspect, the present invention includes an automatic drug injector for pressure detection and quantitative injection of a drug solution, a scan module that moves along the arm of a person to be vaccinated and collects human body information data, and an automatic inoculation device that is connected to the automatic drug injector and moves along the arm of the person to be vaccinated based on the human body information collected through the scan module to insert a needle into an inoculation location and inject the drug solution, wherein the automatic inoculation device includes an inoculation bed on which the arm of the person to be vaccinated is placed, a compression module that is provided on one side of the inoculation bed to fix and pressurize the placed arm, a transport and inoculation module that moves in a straight line along the arm placed on the inoculation bed, a needle module that is detachably provided on the transport and inoculation module and performs positioning for setting an inoculation angle of a needle for vaccination, and a module control unit that receives human body information data collected from the scan module and provides position coordinate data for controlling the transport and inoculation module and the needle module.

[0032]

[0033] In the automatic vaccination device according to the present invention, the arm of the subject to be vaccinated is secured using a compression module while placed on the vaccination bed. Then, a transport and vaccination module, which moves along the fixed arm, positions the tip of the needle to the vaccination position, and after the vaccination angle is adjusted by the needle module, vaccination is performed.

[0034] In addition, the adjusted inoculation angle is formed at an angle with respect to the horizontal direction of the arm of the person to be vaccinated, so that a more stable inoculation can be achieved than with an automatic inoculation device in which the needle is inserted vertically.

[0035] In addition, the automatic inoculation device according to the present invention is configured such that the needle module is connected to an automatic liquid injector, so that the pressure and the amount of liquid injected can be controlled by the automatic liquid injector during inoculation.

[0036] In addition, the automatic vaccination device according to the present invention may be equipped with a replaceable or additional scan module that scans the arm of the vaccination subject while moving along the arm prior to mounting the needle module to collect human body information data.

[0037] Therefore, after collecting the body information data of the vaccination subject through the scan module, the needle module is replaced and installed to set the vaccination position according to the collected body information data, and vaccination can be performed, so the posture of the vaccination subject is maintained, which has the advantage of allowing vaccination to be easily performed at a more accurate vaccination position.

[0038] In addition, a scan module may be additionally mounted on a sub-transport module installed at a certain distance from the transport block on which the needle module is mounted, and when mounted in this manner, scan information is transmitted in real time as the transport and inoculation module moves, and the needle module that receives the scan information can stably inoculate at the inoculation location based on the received information without replacement.

[0039]

[0040] Figure 1 is a drawing showing one embodiment of an automatic inoculation device according to the present invention.

[0041] Figure 2 is a drawing showing a protective case mounted on Figure 1.

[0042] FIG. 3 is a drawing showing examples of the pressure module illustrated in FIG. 1.

[0043] Figure 4 is a drawing showing the installation structure of a transport and inoculation module installed on an inoculation bed.

[0044] Figure 5 is a drawing showing the installation structure of a needle module connected to a transport and inoculation module.

[0045] Figure 6 is a drawing for explaining the liquid injection path formation structure of the needle module according to the present invention.

[0046] Figure 7 is a drawing for explaining a needle stage installation structure for adjusting the position of the needle.

[0047] Figure 8 is a drawing showing another embodiment of an automatic inoculation device according to the present invention.

[0048] Figure 9 is a schematic diagram showing the control configuration of an inoculation system including an automatic inoculation device according to the present invention.

[0049]

[0050] Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. When adding reference numerals to components in each drawing, the same components are described with the same numerals as much as possible even if they are shown in different drawings. In addition, in the description of the embodiments, if a specific description of a related known configuration or function is judged to interfere with the understanding of the embodiments of the present invention, the description is simplified or omitted, and when a certain component is described as being “mounted,” “installed,” or “provided” on the upper side of another component, it should be understood that the component may be directly mounted, installed, or provided on the upper surface of the other component, but another component may also be “mounted,” “installed,” or “provided” between each component.

[0051] FIG. 1 is a drawing showing an embodiment of an automatic inoculation device according to the present invention, FIG. 2 is a drawing showing a state in which a protective case is mounted in FIG. 1, FIG. 3 is a drawing showing embodiments of a pressure module shown in FIG. 1, and FIG. 4 is a drawing showing an installation structure of a transport and inoculation module installed in an inoculation bed.

[0052] Referring to these drawings, the automatic vaccination device according to the present invention is provided with devices for vaccination centered around an vaccination bed (200) on which the arm of the person to be vaccinated is placed.

[0053] First, the above-mentioned inoculation bed (200) is divided into an upper arm support part (220) and a forearm support part (240), and the part where the upper arm support part (220) and the forearm support part (240) are connected is formed by bending to have an obtuse angle so that the elbow of the person to be inoculated can be placed.

[0054] In addition, the upper arm portion between the elbow and the shoulder of the subject of vaccination is placed on the upper arm support portion (220), the forearm portion between the elbow and the wrist is placed on the forearm support portion (240), and the upper arm support portion (220) is further provided with a compression module (400) to fix the placed upper arm portion.

[0055] That is, when the arm of the person to be vaccinated is placed on the inoculation bed (200), the arm of the person to be vaccinated can be pressurized and fixed by the compression module (400).

[0056] To this end, the above compression module (400) may be configured to include various types of compression means for compression of the upper arm inside a ring-shaped module casing (420) that completely surrounds the upper arm of the person to be vaccinated.

[0057] First, the pressure module (400) illustrated in (a) of Fig. 3 applies an airbag using pneumatic pressure as a pressurizing means.

[0058] In this embodiment, the first airbag (440) and the second airbag (460) are provided inside the module casing (420) in a state where they are accommodated by a cover made of a flexible material, and the first and second airbags (440, 460) can perform a selective pressurizing operation of the installed upper arm by expanding and contracting with compressed air supplied from the outside.

[0059] And, the compression module (400) illustrated in (b) of FIG. 3 is a compression structure using a winding motor (470), and a compression band supply roll (450) and a winding motor (470) are provided inside the module casing (420), and an end of a compression band (430) wound on the compression band supply roll (450) is connected to the winding motor (470), so that a selective pressing operation using the compression band (430) can be performed on the upper arm depending on the rotational direction of the winding motor (470).

[0060] Meanwhile, the inoculation bed (200) is equipped with a transport and inoculation module (600) that slides along the arm of the user.

[0061] In addition, the transport and inoculation module (600) that slides as described above is further equipped with a needle module (800) for direct injection into the body of the person to be inoculated.

[0062] The needle module (800) is mounted on the transport and inoculation module with the injection direction positioned toward the arm of the person to be inoculated placed on the inoculation bed (200), and can be separated when necessary.

[0063] That is, the automatic vaccination device according to the present invention moves along the arm of the person to be vaccinated while fixing the arm to the vaccination bed (200) and inoculation is performed, and the needle inserted into the human body can be inserted in a direction parallel to the arm, so that more stable vaccination can be performed.

[0064] To this end, the above-mentioned transfer and inoculation module (600) includes a transfer rail (640) arranged along the longitudinal direction at the lower side of the forearm support (240) of the above-mentioned inoculation bed (200), a transfer motor (620) that provides rotational force to the transfer rail (640), and a transfer block (660) that slides along the rotational direction of the transfer rail (640), and further includes a stopping block (680) on which the end of the transfer rail (640) is installed.

[0065] The above-mentioned transfer block (660) and stopping block (680) are formed in a ring shape with a size corresponding to the pressure module (400) and are spaced apart from each other by a certain distance, and rail penetration portions (662, 682) are formed on the lower side to correspond to each other so that the transfer rail (640) can be installed.

[0066] And, although not shown, a plurality of balls (steel balls) and a circulation path of the balls are provided inside the rail penetration portion (662) of the above-mentioned transfer block (660), so that precise sliding movement can be achieved along the screw axis formed on the transfer rail (640).

[0067] In addition, a rail installation groove (260 in FIG. 5) is further provided on the lower surface of the inoculation bed (200) so that a rail penetration portion (682) formed in the transfer block (660) and the stopping block (680) can be accommodated, and the rail installation groove (260 in FIG. 5) is formed long along the transfer rail (640) to guide the movement path when the transfer block (660) slides, thereby enabling more stable sliding movement.

[0068] Meanwhile, the transport and inoculation module (600) and the pressure module (400) of the above structure can be protected by a protective case (700) as in the embodiment shown in FIG. 2, and a sliding groove (740) is further provided on the upper side of the main body (720) constituting the protective case (700) in consideration of the sliding movement distance of the needle module (800) at a position corresponding to the needle module (800).

[0069] In addition, a tube connection port (760) may be further provided in the sliding groove (740) so that a liquid tube connected to the needle module (800) can move together when the needle module (800) slides. The tube connection port (760) may be a flat plate shape with both ends resting on the sliding groove (740) so that it can be moved by being pushed or pulled by the needle module (800) along the sliding groove (740).

[0070] Meanwhile, FIG. 5 is a drawing showing the installation structure of a needle module connected to a transport and inoculation module, and FIG. 6 is a drawing explaining the drug injection path formation structure of a needle module according to the present invention.

[0071] Referring to these drawings, a module mounting portion (664) on which the needle module (800) is mounted is formed integrally with the transfer block (660) on the upper side of the transfer block (660).

[0072] The above module mounting portion (664) extends upward from each open upper end of the transfer block (660), and a mounting slit (664a) of a predetermined length is formed in the front-back direction on the inner surface of the extended portion.

[0073] That is, the module mounting portion (664) is fitted with the needle module (800) in the front-back direction, and for this purpose, the needle module (800) is provided with a module fastening portion (842) corresponding to the mounting slit (664a).

[0074] In detail, the needle module (800) is configured to include a needle mounting body (840) that is fastened to the module mounting portion (664), an inoculation cradle (860) to which a needle (810) is detachably coupled, and a needle stage (850) that is mounted on the needle mounting body (840) and is connected to the inoculation cradle (860) to control the positioning of the inoculation cradle (860) for setting the inoculation angle of the needle (810).

[0075] In addition, the module fastening portion (842) is formed to protrude from the needle mounting body (840) and can be fitted into the mounting slit (664a). In addition, a module control portion (900 in FIG. 9) is further provided inside the needle mounting body (840).

[0076] The above module control unit can set the contact angle of the needle (810) through control of the position movement and inoculation movement of the transfer and inoculation module (600) and positioning control of the needle stage (850) described below.

[0077] Meanwhile, the inoculation cradle (860) is equipped with the needle (810) on one side, and a syringe (880) for injecting a drug through the needle (810) is connected to the other side.

[0078] The syringe (880) is housed inside the inoculation cradle (860) as shown in (b) of FIG. 6 and is combined with the needle (810). To fix the syringe (880), the inoculation cradle is further provided with a syringe connection portion (862), and the syringe (880) is further formed with a connection protrusion (884).

[0079] The above syringe connection part (862) is a hole having a cross-sectional shape corresponding to the syringe (880) body and the connecting protrusion (884), and the syringe (880) is received inside the inoculation cradle (860) in a shape corresponding to the syringe connection part (862) and then rotated 90° so that the connecting protrusion (884) does not interfere with the syringe connection part (862) and is mounted so that it does not come off.

[0080] A medicine tube (T) is connected to the syringe (880) mounted as described above to supply medicine, and the medicine supplied to the syringe (880) can be supplied from the medicine injection part (22) of the automatic medicine injection device described below.

[0081] Meanwhile, the inoculation cradle (860) with the needle (810) mounted as described above can be positioned and controlled by the needle stage (850).

[0082] FIG. 7 is a drawing for explaining a needle stage installation structure for adjusting the position of a needle. The needle stage (850) includes a laminated multi-axis plate having a structure in which a plurality of plates are laminated, and each axial plate constituting the multi-axis plate is displacement-controlled by a piezoelectric ceramic drive method.

[0083] In this embodiment, a first axis plate (854) that can move in a first direction is installed on a fixed plate (852) that is fixedly installed on the stage mounting portion (844), a second axis plate (856) that can move in a direction crossing the first direction is installed on the first axis plate (854), and a third axis plate (858) that is connected to the inoculation cradle (860) and can rotate is installed on the second axis plate (856).

[0084] Accordingly, the needle stage (850) according to the present invention can move the inoculation cradle (860) in the first direction, the second direction, and rotationally while being fixedly installed on the stage mounting portion (844), and the inoculation angle of the needle (810) installed on the inoculation cradle (860) can be adjusted through such positioning control.

[0085] The driving principle of the first to third axis plates (854, 956, 858) for adjusting the inoculation angle as described above can be achieved through vibration duty ratio control of the piezoelectric element.

[0086] The driving unit of the first to third axis plates (854, 956, 858) above fixes piezoelectric ceramics to the driving shaft root and mounts a friction body (moving body) on the driving shaft, thereby generating displacement through impact driving through duty ratio adjustment by varying the speed of movement and return of the driving shaft.

[0087] That is, when the piezoelectric element moves forward at a slow speed, the drive shaft and the friction member installed therein move together, and when the piezoelectric element returns at a fast speed, only the drive shaft returns. Therefore, by calculating the distance using this action and controlling the vibration duty ratio of the piezoelectric element accordingly, the first to third axis plates (854, 956, 858) can be finely positioned.

[0088]

[0089] Hereinafter, the inoculation process using the automatic inoculation device according to the present invention configured as described above will be examined. First, when the person to be inoculated places his or her arm on the inoculation bed (200), the upper arm is pressurized and fixed by the compression module (400).

[0090] Meanwhile, when the arm of the person to be vaccinated is fixed as described above, the human body information data generated by scanning the arm of the person to be vaccinated is transmitted to the needle module (800).

[0091] The human body information data transmitted to the above needle module (800) can be transmitted in various ways.

[0092] For example, before the needle module (800) is mounted on the module mounting portion (664) of the movement and inoculation module (600), a scan module is mounted on the module mounting portion (664), and when the movement and inoculation module (600) moves along the arm on which it is mounted and scans, the human body information data of the subject of inoculation is collected.

[0093] And, the human body information data collected as described above is transmitted to the module control unit (900 in Fig. 9) through data communication, and the module control unit that receives the data converts the received human body information data into position coordinate data and transmits it to the transport and inoculation module (600).

[0094] For example, the above human body information data can be mapped to a coordinate system based on the inoculation bed (200), and the inoculation location can be set in the mapped coordinate system to be provided as position coordinate data for the movement of the transport and inoculation module (600).

[0095] Meanwhile, the position coordinate data according to the human body information data generated in the module control unit (900) is transmitted to the transfer and inoculation module (600) and the needle stage (850).

[0096] The transfer and inoculation module (600) that receives the above location coordinate data moves the end of the needle (810) to a position corresponding to the received location coordinate, and the movement displacement of the transfer and inoculation module (600) is provided to the needle stage (850) as location movement data.

[0097] In the above needle stage (850), the positioning control of the inoculation cradle (860) is performed to form the inoculation angle of the needle (810) to correspond to the set inoculation position by synthesizing the position movement data of the transfer and inoculation module (600) and the position coordinate data according to the human body information data.

[0098] When the inoculation angle of the needle (810) is formed through the needle stage (850), positioning data for the end of the needle is provided for the inoculation movement of the transfer and inoculation module (600), and the transfer and inoculation module (600) that receives this performs the inoculation movement while maintaining the inoculation angle, thereby inserting the needle (810) into the human body.

[0099] At this time, since the inoculation angle of the needle (810) is formed obliquely with respect to the horizontal direction of the arm of the person to be inoculated, in the case of vascular inoculation, the needle (810) can be inserted obliquely into the blood vessel, so that stable inoculation can be achieved.

[0100] Meanwhile, when the needle (810) is inserted as described above, the injection of the medicine is performed while the pressure and injection amount are controlled by the syringe (880) connected to the inoculation cradle (860) and the medicine injection part (220) connected to the medicine tube (T).

[0101] And, although not shown, the needle stage (850) according to the present invention can form six degrees of freedom (surge, heave, sway, yaw, pitch, roll) for adjusting the contact angle of the needle when a rotational driving unit is added to each of the first to third axis plates (854, 956, 858), thereby enabling more precise control of the contact angle of the needle (810) to achieve more stable inoculation.

[0102]

[0103] Meanwhile, FIG. 8 is a drawing showing another embodiment of an automatic inoculation device according to the present invention, in which a transfer block (600) having the same structure as the above-described embodiment in the transfer and inoculation module (600) is described separately as a main transfer block (660a) for convenience of explanation, and a sub-transfer block (660b) connected to the main transfer block (660a) by a bridge (660c) is provided together and configured to slide.

[0104] In this embodiment, the needle module (800) is mounted on the main transfer block (660a), and the scan module is mounted on the sub transfer block (660b) provided at a certain distance apart by the bridge (660c).

[0105] Accordingly, the human body information data collected by the above scan module can be calculated as the distance between the needle module (800) and the bridge (660c) and can be calculated as position coordinate data according to the human body information data in real time.

[0106] In addition, when the transport and inoculation module (600) that received the above location coordinate data moves, the scan module moves together and receives scan information to transmit additional information for verification of the movement location and position correction in case of an error.

[0107] Meanwhile, the automatic inoculation device according to the present embodiment may be configured as an automatic inoculation system including an automatic drug injector (20) for injecting the drug.

[0108] FIG. 9 is a schematic diagram showing the control configuration of an inoculation system including an automatic inoculation device according to the present invention. The module control unit (900) constituting the automatic inoculation device can transmit and receive information for inoculation through data communication with the aforementioned automatic drug injector (20), scan module (10), and transport and inoculation module (600).

[0109] The above automatic liquid injector (20) can detect the back pressure generated through the needle (810) when injecting the liquid through a pressure sensor, and can be controlled so that the injection flow rate of the fluid can be adjusted in real time in conjunction with this, and can provide information on the liquid to be injected to the module control unit (900).

[0110] The above module control unit (900) can check whether the information provided through the automatic liquid injector (20) matches the information of the person to be vaccinated who has placed his or her arm on the inoculation bed (200).

[0111] In addition, the module control unit (900) detects the mounting direction of the needle module (800) mounted on the module mounting unit (664) and, when a malfunction of the needle module (800) is detected, a control command can be transmitted to block the supply of the medicine to the automatic medicine injector (20).

[0112] Meanwhile, the module control unit (900) can store and transmit the human body information data generated by the scan module (10) and the location coordinate data according to the human body information data provided to the transfer and inoculation module (600) to a data server for learning.

[0113] That is, the data server accumulates and receives human body information data generated by the scan module (10), analyzes the received human body information data through a deep learning algorithm to form more accurate human body information data, and transmits this back to the module control unit (900).

[0114] In addition, the data server receives position coordinate data according to the human body information data generated by the module control unit (900), analyzes the received position coordinate data through a deep learning algorithm, and transmits it back to the module control unit (900), thereby enabling the position movement of the end of the needle (810) to be more clearly identified.

[0115] The above deep learning algorithm can be applied to a convolutional neural network (CNN) that uses a pooling layer and filter to collect and strengthen the features of the scanned image.

[0116] In addition, the information generated by the above scan module (10) can be stored as video data, and the stored video data can be displayed as a thumbnail, and the similarity can be determined by comparing it with the thumbnail information of the previously stored video data.

[0117] The above similarity judgment can be performed by combining one or more of image recognition methods that utilize edge information of an image, such as HOG (Histogram of Oriented Gradients) and SIFT (Scale Invariant Feature Transform), and image recognition methods that utilize brightness differences between regions, such as Haar feature, Ferns, LBP (Local Binary Pattern), and MCT (Modified Census Transform).

[0118] Based on the above characteristics, the module control unit (900) according to the present invention can learn data using an artificial neural network in conjunction with the aforementioned data server, thereby improving the accuracy of human body information data and position coordinate data, thereby improving the accuracy in position control of the end of the needle (810) and in forming the inoculation angle.

[0119] The above description is merely an embodiment of an automatic inoculation device and an inoculation system including the same according to the present invention, and the present invention is not limited to the above-described embodiment, and it will be understood that the technical spirit of the present invention exists to the extent that anyone having ordinary skill in the art to which the present invention pertains can make various modifications and implement the present invention without departing from the gist of the present invention claimed in the following claims.

[0120]

[0121] The automatic vaccination device according to the present invention moves the tip of the needle to the vaccination position by a transport and vaccination module that moves along the fixed arm of the vaccination subject, and then the vaccination is performed after the vaccination angle is adjusted by the needle module. Since the adjusted vaccination angle is formed at an angle with respect to the horizontal direction of the arm of the vaccination subject, not only can the vaccination be performed more stably than an automatic vaccination device in which the needle is inserted vertically, but also is configured to be connected to an automatic drug injector so that the pressure and the amount of drug injected can be controlled by the automatic drug injector during the vaccination, thereby increasing efficiency in the medical field and having a feature that is very useful in mass vaccination situations in particular.

[0122] In addition, the automatic vaccination device according to the present invention has a replaceable or additional scan module that scans the arm of the vaccination subject while moving along the arm placed before the needle module is installed to collect human body information data, so that the automatic injection device can monitor the patient's condition or reaction in real time and accumulate data, and can provide better patient-tailored medical services in combination with the Internet of Medical Things (IoMT), so that the industrial usability, such as efficiency in the medical field and linkage with remote medical care, is very high.

Claims

1. Vaccination bed on which the arm of the person to be vaccinated is placed; A compression module for fixing and pressurizing an arm installed on one side of the above-mentioned inoculation bed; A transport and inoculation module that moves in a straight line along the arm mounted on the above inoculation bed, and A needle module that is detachably mounted on the above-mentioned transport and inoculation module and is positioned to set the inoculation angle of the needle for inoculation; The above transport and inoculation module, Positioning movement to move the end of the above needle to the inoculation position, An automatic inoculation device characterized in that the inoculation movement is distinguished by the needle piercing the skin and injecting the drug solution after the inoculation angle of the needle reaching the inoculation site is determined.

2. In the first paragraph, the transport and inoculation module, A transport rail arranged along the length of the above inoculation bed, A transport motor that provides rotational force to the above transport rail; and It includes a transport block that slides and moves according to the rotation direction of the above transport rail; An automatic inoculation device characterized in that the above transfer block further comprises a module mounting portion in which the needle module is mounted.

3. In paragraph 2, The above transport block is mounted on the transport rail and is provided to wrap around the placed arm of the vaccination subject together with a part of the side of the inoculation bed. An automatic inoculation device characterized in that the module mounting portion is provided on the upper side of the transport rail.

4. In the first paragraph, the needle module, A needle mounting body that is connected to the above module mounting part, An inoculation cradle to which the needles are detachably attached; and An automatic inoculation device characterized in that it includes a needle stage mounted on the needle mounting body and connected to the inoculation cradle to control the positioning of the inoculation cradle for setting the inoculation angle of the needle.

5. In paragraph 4, An automatic inoculation device characterized in that the needle stage comprises a laminated multi-axis plate with a piezoelectric ceramic drive system.

6. In paragraph 4, An automatic inoculation device characterized in that the inoculation cradle further has a syringe connection portion so that a syringe for supplying a drug solution is connected to the needle.

7. In paragraph 6, An automatic inoculation device characterized in that the syringe is connected to an automatic drug injector and a drug tube for pressure detection and quantitative injection of the drug.

8. In the second paragraph, the transfer block, A sub-transport block is further provided at a certain distance apart from the bridge, An automatic vaccination device characterized in that the sub-transport block further includes a scan module mounting portion in which a scan module is installed to collect human body information while moving along an arm mounted together with the transfer block.

9. Automatic drug injector for pressure detection and quantitative injection of drug; A scanning module that moves along the arm of the person being vaccinated and collects human body information data; An automatic injection device connected to the above automatic medicine injector, which moves along the arm of the person to be vaccinated based on the human body information collected through the scan module, inserts a needle into the injection location, and injects the medicine; In the above automatic vaccination device, A vaccination bed on which the arm of the person to be vaccinated is placed, A compression module for fixing and pressurizing an arm installed on one side of the above-mentioned inoculation bed, A transport and inoculation module that moves in a straight line along an arm mounted on the above inoculation bed, A needle module that is detachably mounted on the above-mentioned transport and inoculation module and is positioned to set the inoculation angle of the needle for inoculation; and An inoculation system including an automatic inoculation device, characterized in that a module control unit is provided for receiving human body information data collected from the above scan module and providing position coordinate data for controlling the transport and inoculation module and the needle module.

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