Automatic injection mechanism integrating touch senseTechnical Field
The invention belongs to the field of medical instruments, and particularly relates to an automatic injection mechanism integrating touch perception.
Background
Injection refers to the injection of liquid or gas into a human body by means of medical instruments such as an injector, so as to achieve the purposes of diagnosing, treating and preventing diseases. It is different from taking medicine. The medicament can reach blood and act quickly after injection. The types mainly comprise intradermal injection, subcutaneous injection, intramuscular injection, intravenous injection and the like.
For different patients, the nurse selects different injection modes, but the injection operation has certain requirements on the experience technology of the nurse. Taking intravenous injection as an example, if a nurse fails to find the blood vessel position for many times, the patient can be painful and possibly cause contradiction between doctors and patients, and adverse effects are caused. Thus, the success of an injection procedure is critical to the accuracy of positioning and the skill of the procedure. In addition, in special cases such as a large number of patients and epidemic situations, a plurality of continuous repeated operations by a nurse are required, and not only are the energy and physical strength of the nurse required, but also individual errors may occur. Therefore, medical devices capable of automatically performing injection procedures are currently in demand.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an automatic injection mechanism integrating tactile sensation, which utilizes the combination of a tactile sensor and an automatic injection mechanism, on one hand, uses a torque sensor to detect the stressed data of a needle head, and on the other hand, uses the tactile sensor to sense external deformation, so as to realize the dynamic monitoring of the injection process, thereby optimizing the needling strategy in real time, improving the needling precision and the injection success rate, reducing the technical pressure and experience requirements of doctors or nurses, and simultaneously reducing the pain of patients.
The technical scheme of the invention is as follows:
An automated injection mechanism incorporating haptic sensations includes a haptic sensor and an automatic injection mechanism. The automatic injection mechanism is characterized in that the touch sensor (1) mainly comprises a camera (18), a frame (19), a gel elastomer (20) and an RGB light source (21), the automatic injection mechanism mainly comprises a linear motion mechanism (2), a rotary motion mechanism (3), a pneumatic acceleration mechanism (4) and an injection mechanism (5), the linear motion mechanism (2) controls the telescopic motion of a needle head (17), the rotary motion mechanism (3) controls the rotary motion of the needle head (17), the pneumatic acceleration mechanism (4) controls the instant acceleration motion of the needle head (17), the injection mechanism (5) controls the injection operation of medicines, and the distance sensor (28) is arranged at the rear end of a fixed plate (7) close to a screw motor (6) and is used for measuring the moving distance of the needle head (17) in real time.
The linear motion mechanism (2) is preferably composed of a screw motor (6), a screw (8), an aluminum shaft (9) and a screw rod sliding block (10), wherein the aluminum shaft (9) is symmetrically distributed below the screw rod (8) in the left-right direction, the sliding block is kept stable in moving through empty grooves on two sides of the screw rod sliding block (10), the rotary motion mechanism (3) is composed of a deceleration direct current motor (13), a coupler (15), a torque sensor (16) and a needle (17), the rotary motion mechanism is connected with a pneumatic acceleration mechanism (4) through a hanging plate (14), the pneumatic acceleration mechanism (4) is composed of an air cylinder (11) and a supporting frame (12), and the injection mechanism (5) is composed of a soft guide tube (24), an injector (26), an injector fixing frame (27) and an electric push rod (29).
Preferably, a limiting block (25) is arranged at the front end of the fixing plate (7) close to the touch sensor (1) so as to avoid mechanical interference of the fixing plate (7) of the rotary motion mechanism (3). The bottom of the supporting frame (12) is provided with a square groove, and the hanging plate (14) partially stretches into the square groove, so that the purpose of limiting the movement of the air cylinder (11) is achieved.
Preferably, the gel elastomer (20) is arranged in the frame (19), the RGB light source (21) surrounds the front part of the frame (19), the camera (18) is fixed on the upper part of the frame (19), the RGB light source (21) adopts the surrounding illumination of the three-color light sources of green, red and blue,
Preferably, the surface of the gel elastomer (20) is marked with black points as displacement fields, a matte material is coated as a reflecting layer (30), the reflecting layer is covered with a silica gel protective layer (31), and the surface of the protective layer is subjected to aseptic treatment and is an aseptic surface.
Preferably, the touch sensor (1) uses a camera (18) to shoot a contact image of an object and the surface of the gel elastomer (20), and then adopts a photometric stereo method to reconstruct a three-dimensional image of a contact surface.
Preferably, the screw rod (8) and the needle head (17) are distributed on the mechanism center line in the same direction, are angled to the surface of the gel elastomer (20) in the touch sensor (1), penetrate out of the center point of the gel elastomer (20), and all the inside of the holes are subjected to aseptic treatment.
Preferably, the needle (17) is fixed at the front end of the torque sensor (16) through a special adapter and is connected with the injector (26) through a flexible conduit (24), the injector (26) is fixed on the shell (23) through an injector fixing frame (27), the electric push rod (29) is fixed on the shell (23), and the end part of the push rod is connected with a core rod of the injector (26) to push the injector (26) to work when the power is on.
Preferably, the connection between the connecting piece (22) and the frame (19) of the tactile sensor (1) is a curved chute connection, and the rotation inclination angle of the tactile sensor (1) can be adjusted through manual control or electric control, so that the included angle of the silica gel protective layer (31) on the surface of the tactile sensor (1) is changed, and the needle inserting angle of the needle head (17) is adjusted, so that injection in different directions is realized.
The invention has the beneficial effects that (1) the tactile sensor is utilized to sense the fine deformation of the skin surface in real time, thereby detecting the displacement and the change of internal vascular tissues, precisely determining the injection point positions of blood vessels and the like, avoiding the influence of vision shielding on the injection accuracy, reducing the acupuncture position deviation in the injection process and improving the injection success rate. (2) The moment sensor is used for monitoring the mechanical data received by the needle in real time, and the information in the injection process is visualized, so that the information is processed in time when special conditions are met, and the injection safety is improved. (3) The medical needle, the medical injector and the like used in the mechanism are convenient to replace and process, and are suitable for various types of equipment, so that the use cost is reduced, and the sanitation and universality are improved. (4) The whole injection process, including the determination of injection points, the movement of the injector, the injection of medicines and the like, is controlled by a computer by combining with a mechanical arm technology, so that an automatic injection system with high safety and high accuracy is formed, the technical requirements of operators are reduced, and the pain of patients is reduced.
Drawings
FIG. 1 is a schematic diagram of an automated injection mechanism incorporating haptic sensations in accordance with the present invention;
FIG. 2 is a side view of one embodiment of the present invention;
FIG. 3 is a side cross-sectional view of the present invention including only a tactile sensor;
figure 4 is a schematic view of an embodiment of the invention mounted on a robot arm.
In fig. 1, the device comprises a touch sensor 1, a linear motion mechanism 2, a rotary motion mechanism 3, a pneumatic acceleration mechanism 4 and an injection mechanism 5.
In fig. 2, 6 screw motors, 7 fixing plates, 8 screws, 9 aluminum shafts, 10 screw sliders, 11 cylinders, 12 supports, 13 deceleration direct current motors, 14 hanging plates, 15 couplings, 16 torque sensors, 17 needles, 18 cameras, 19 touch sensor frames, 20 gel elastomers, 21 RGB light sources, 22 connectors, 23 housings, 24 soft ducts, 25 stoppers, 26 injectors, 27 injector holders, 28 distance sensors, and 29 electric pushers.
In fig. 3, 30 aluminum powder reflective layers and 31 silica gel protective layers.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1 and 2, an automated injection mechanism incorporating haptic sensations includes a haptic sensor and an automatic injection mechanism. The tactile sensor 1 mainly comprises a camera 18, a frame 19, a gel elastomer 20 and an RGB light source 21, and is fixed at the front end of the mechanism. The gel elastic body 20 is installed inside the frame 19, the frame 19 is provided with a hole for the needle to pass through, the RGB light source 21 is wound around the front of the frame 19, and the camera 18 is fixed on the upper part of the frame 19. The other part of the injection mechanism mainly comprises a linear motion mechanism 2, a rotary motion mechanism 3, a pneumatic acceleration mechanism 4 and an injection mechanism 5. The linear motion mechanism 2 consists of a screw motor 6, a screw 8, an aluminum shaft 9 and a screw slider 10, wherein the aluminum shaft 9 is symmetrically distributed below the screw 8, and the stability of the slider during movement is kept through empty grooves at two sides of the screw slider 10. The rotary motion mechanism 3 consists of a deceleration direct current motor 13, a coupling 15, a torque sensor 16 and a needle 17, and is connected with the pneumatic acceleration mechanism 4 through a hanging plate 14, and the pneumatic acceleration mechanism 4 consists of an air cylinder 11 and a supporting frame 12. The injection mechanism 5 consists of a flexible catheter 24, an injector 26, an injector fixing frame 27 and an electric push rod 29, wherein the injector 26 is fixed on the shell 23 through the injector fixing frame 27, the front end of the injector is connected with the needle 17 through the flexible catheter 24, and the core rod part at the rear end of the injector is connected with the head end of the fixed electric push rod 29. The needle 17 is fixed at the front end of the torque sensor 16, the decelerating direct current motor 13 is connected with the torque sensor 16 through a coupler 15 and is fixed on a hanging plate 14, the hanging plate is fixed at one end of a rod of an air cylinder 11, the air cylinder 11 is arranged on a supporting frame 12 and is matched with a screw rod sliding block 10, the screw rod sliding block 10 is arranged on a screw rod 8 and is assembled with a screw rod motor 6, and the decelerating direct current motor is fixed on a shell 23.
As shown in fig. 3, the touch sensor 1 is a GelSight touch sensor, the RGB light source 21 is a green, red, and blue light source, the gel elastomer 20 marks black dots as displacement fields, aluminum powder is coated as a reflective layer 30, and a silica gel protective layer 31 is further covered on the surface of the aluminum powder. After the object contacts the gel of the touch sensor 1, the surface characteristics of the object are shot by the camera 18 on the aluminum powder reflecting layer under the irradiation of the RGB light source 21, and then a three-dimensional image of the contact surface is reconstructed by adopting a photometric stereo method, so that deformation is perceived, and the force, slippage, hardness and other information of the surface are calculated through a black point displacement field.
In the automatic injection mechanism part, a screw motor 6 and a screw 8 control the telescopic movement of the needle head by controlling a screw slide block 10. The screw rod transmission structure is simple, the cost is low, the self-locking performance is realized, the positioning accuracy is high, and the invention is especially suitable for the application of medical injection. Two fixed aluminum shafts 9 are symmetrically distributed below the left and right sides of the screw rod 8, and stability of the slide blocks during movement is kept through empty grooves on two sides of the screw rod slide blocks 10. The rear end of the fixed plate 7 is provided with a distance sensor 28 for monitoring the real-time needle insertion length during injection. The limiting block 25 is arranged on the fixing plate 7 at a section close to the touch sensor 1, so that the problem of mechanical interference of an injection mechanism is avoided, and the safety is improved. The dc motor 13, the coupling 14 and the torque sensor 15 are used to control the rotational movement of the needle 17. The torque sensor 15 can collect injection mechanics information received by the needle 17 in real time, and monitor injection progress and cope with emergency through analysis. The decelerating direct current motor 13 is connected with the air cylinder 11 through a hanging plate, and the working range of the air cylinder 11 is limited through mechanical limiting, so that the needle 17 is accelerated when the skin is penetrated. Simultaneously, the needle 17 and the screw rod 8 are distributed on the central line of the whole mechanism in the same direction, and the gel elastomer 20 perpendicular to the tactile sensor 1 can pass through the small hole of the frame 19 and penetrate out of the central part of the sensor. The soft catheter 24, the injector 26, the injector fixing frame 27 and the electric push rod 19 form an injection structure, the injector fixing frame 27 is arranged on the side face of the shell 23, the injector 26 is convenient to replace and adjust in size, the electric push rod 29 and the injector fixing frame 27 are arranged on the same side face, one end of the push rod of the electric push rod 29 is contacted with the tail end of a core rod of the injector 26, after the electric push rod is electrified, the push rod is started to push the core rod, medicine is extruded into a needle through the soft catheter 24, and then the medicine is injected into a patient.
In the specific embodiment, intravenous injection operation integrating tactile sensation is taken as an example, as shown in fig. 4, the working principle is that after the body surface of a patient is disinfected, the basic needle insertion point position is determined, the needle is moved to the vicinity of the needle insertion point through the control of a mechanical arm, the surface of the gel elastomer 20 of the tactile sensor 1 is contacted with the body surface, an image of the contact surface is shot through a camera 18 and transmitted to a computer for analysis, the position of a subcutaneous blood vessel is accurately perceived, and when the needle insertion point is determined to be positioned at the center position of the gel elastomer 20, the lead screw motor 6 is electrified and operated to drive the lead screw 8 to rotate, and then the needle 17 is controlled to perform linear motion, extend out and penetrate through the tactile sensor 1 and penetrate into a human body. In the process, the deceleration direct current motor 13 runs to drive the needle 17 to rotate in a small amplitude, so that the needle inserting efficiency is improved. And before the needle 17 pierces the surface of a human body, the cylinder 11 works, and the cylinder rod drives the whole rotary motion mechanism 2 to accelerate and stretch out by a small distance, so that the needle 17 is easier to pierce. During injection and penetration, the moment sensor 16 collects and analyzes force information applied to the needle 17 during penetration to determine the needle penetration state of the needle 17. When the needle 17 pierces a vein, the electric push rod 29 is started to push the core rod of the injector 27, so that the medicine is extruded into the soft catheter 24, and then is injected into a human body through the needle 17, and the medicine injection is completed. Before the needle is penetrated, the touch sensor 1 senses the actual condition of the skin through contacting with the skin on the body surface of the injection part, and is further connected with the curved chute of the frame 19 through the connecting piece 22, so as to adjust the inclination angle of the touch sensor 1, and further find and determine the optimal needle inserting angle. During the penetration of the needle 17, the tactile sensor 1 senses the tiny deformation of the body surface of the injection part, such as the deflection of a vein blood vessel, so as to avoid the deviation of the penetration of the needle 17 caused by the deformation of internal soft tissues, further improve the injection precision, and further improve the needle strategy on line in real time if the deviation of the needle insertion position caused by the deformation of the soft tissues is detected. Meanwhile, the distance sensor 28 on the fixed plate 7 can display the needle insertion amount in real time, and the limiting block 25 can improve the injection safety while avoiding mechanical interference of the mechanism. After the injection is completed, the needle 17 is retracted, the mechanical arm is reset, the nurse processes the wound of the patient, and the injection is completed.
Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and the present invention is not limited to the above-mentioned embodiments, but it is possible for those skilled in the art to modify the technical solutions described in the above-mentioned embodiments or to make equivalent substitutions for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.