The invention discloses a high-efficiency
enema instrument based on an underactuated
manipulator. The high-efficiency
enema instrument comprises a
medicine dispensing
system and a massaging
system, wherein the
medicine dispensing
system comprises a counter weight cabinet, a tool kit and an
enema tube; the massaging system comprises a configuring bracket and the underactuated
manipulator. A constant-temperature system, a
medicine injecting system, a medicine mixing system and a flow
control system are mounted in the tool kit, so that the parameters including the temperature, the concentration,the flow capacity, the flow rate and the like of enema fluid are in an
optimal control range, damage to a patient is reduced, and the risk of initiating complications is reduced; through the underactuated massaging
manipulator, the problem that when a patient lies flat, the height of the
abdomen is irregularly changed, and the massaging track is difficult to plan is solved; and through the massaging of the manipulator, the retaining time of the enema fluid in the body of the patient can be prolonged, the mixing speed and the sufficient degree of the enema fluid and excrement and
urine are accelerated, after enema is performed once, the clean degree of intestinal tracts is greatly improved, the enema frequency required by cleaning the intestinal tracts is reduced, and the enema efficiency is improved.