CN111282096B - Robotic syringe - Google Patents

Abstract

The invention discloses a robot injector, comprising: the syringe, the needle head and the first sensor; the needle cylinder comprises an injection pressure generating part, a liquid medicine cavity and a pressure detection cavity; the liquid medicine cavity and the pressure detection cavity are separated by a fixed partition plate; the injection pressure generating part is arranged at one end of the liquid medicine cavity far away from the pressure detection cavity and seals the liquid medicine cavity; the first sensor is arranged in the pressure detection cavity; the needle head is connected with the first sensor, and the first sensor is used for detecting a pressure value applied to the patient when the needle head extends into the patient; the needle head is communicated with the liquid medicine cavity. The in-process that inserts the patient at the syringe needle, through the pressure value that first sensor real-time detection syringe needle applyed for the patient, the pressure value that the suggestion was applyed for the patient with adjusting the syringe needle, when adjusting the syringe needle and reducing painful sense for patient's nerve oppression, improve the accuracy and the injection effect of injection, improve the validity of treatment, it is effectual.

Description

Robotic syringe

technical field

The invention relates to the field of medical technology, in particular to a robot injector.

Background technique

In the process of injecting the medicine into the patient, the needle of the syringe needs to be inserted into the patient's body, and then the medicine is injected into the patient's body. Often when injecting medicine into a patient, the patient feels pain and discomfort due to the uneven or excessive pressure of the needle insertion, which exceeds the strength of the patient's nerve compression, or the injection is performed directly because the depth of the needle insertion is inaccurate, such as Children cry because of the pain when vaccinated, and even many adults can't bear the pressure that the needle puts on themselves and feel uncomfortable. Although this pain is short-lived, many people are afraid of receiving medical treatment related to syringe injection because of the pain of injection, which has a very adverse effect on the treatment of patients.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a robotic injector to solve the above problems existing in the prior art.

An embodiment of the present invention provides a robotic injector, comprising: a syringe, a needle, and a first sensor;

The syringe includes an injection pressure generating part, a liquid medicine cavity and a pressure detection cavity;

The liquid medicine cavity and the pressure detection cavity are separated by a fixed partition;

The injection pressure generating part is arranged at one end of the liquid medicine cavity away from the pressure detection cavity, and closes the liquid medicine cavity;

the first sensor is arranged in the pressure detection chamber;

The needle is connected to the first sensor, and the first sensor is used to detect the pressure value applied to the patient when the needle is inserted into the patient;

the needle is communicated with the medicine cavity;

The needle is provided with an injection channel, one end of the injection channel is opened on the needle tip of the needle, and the other end is opened on the side wall of the needle away from the needle tip; the medicine cavity is close to the baffle The side wall of the needle is provided with a syringe injection port; the syringe injection port is communicated with the opening on the side wall of the needle through a hose.

Optionally, the human syringe further includes a second sensor; the second sensor is disposed on the opening on the side wall of the needle, and is used to detect the pressure of the medicinal solution injected by the needle.

Optionally, the robotic injector further includes a second sensor; the second sensor is disposed on the opening of the needle tip of the needle, and is used to detect the pressure of the medicinal solution injected by the needle.

Optionally, the robotic injector further includes a processing device, the processing device is disposed on the side of the injection pressure generating part away from the liquid medicine cavity, and the processing device includes a display screen; the second sensor is connected to the The processing device is connected; the display screen is used to display the pressure value sent by the second sensor and the pressure value sent by the first sensor.

Optionally, the processing device further includes a processor, the processor is connected to the display screen, and the processor is configured to generate prompt information according to the pressure value and the pressure value, and send the prompt information to the display screen;

The display screen is also used for displaying the prompt information.

Optionally, the prompt information includes information on adjusting the depth;

The processor is further configured to, according to the pressure value, determine the depth of the needle into the patient's body, and determine whether the depth conforms to a preset value, and if so, generate accurate position information; otherwise, generate information for adjusting the depth .

Optionally, the cross-section of the needle tip of the head is annular.

With technology, the beneficial effects that the present invention reaches are:

An embodiment of the present invention provides a robotic injector, comprising: a syringe, a needle and a first sensor; the syringe includes an injection pressure generating part, a liquid medicine cavity and a pressure detection cavity; the liquid medicine cavity and the pressure detection cavity pass through The fixed partition is separated; the injection pressure generating part is arranged at one end of the medicinal solution cavity away from the pressure detection cavity, and closes the medicinal solution cavity; the first sensor is arranged in the pressure detection cavity; The needle is connected with the first sensor, and the first sensor is used to detect the pressure value applied to the patient when the needle is inserted into the patient; the needle is communicated with the medicine chamber; the needle is provided with an injection One end opening of the injection channel is set on the needle tip of the needle, and the other end opening is set on the side wall of the needle away from the needle tip; the side wall of the medicine chamber close to the septum is provided with a needle A barrel injection port; the syringe injection port is communicated with the opening on the side wall of the needle through a hose. In the process of inserting the needle into the patient, the pressure value applied by the needle to the patient can be detected in real time through the first sensor, and the pressure value applied by the needle to the patient can be prompted and adjusted in real time, and the nerve compression applied by the needle to the patient can be adjusted to reduce pain. At the same time, the accuracy of injection and the injection effect are improved, so that the user experience is good, and at the same time, the effectiveness of the treatment is improved, and the effect is good.

Description of drawings

FIG. 1 is a schematic structural diagram of a robotic injector 200 according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of the connection structure between the bag box 150 and the pressure movable plate 160 in FIG. 1 .

Marked in the figure: robot injector 200; syringe 210; needle 220; first sensor 230; processing device 240; injection pressure generator 211; liquid medicine chamber 212; pressure detection chamber 213; ; Cartridge injection port 214; Display screen 241; Medical robot sensor 100; Camera 110; Processor 120; Pressure probe 130; Airbag 140; Sliding groove 151; protrusion 161; ball groove 152; ball 153; medical robot sensor 100; camera 110; processor 120; pressure probe 130; air bag 140; bag box 150; ; protective cover 190; sliding groove 151; protrusion 161; ball groove 152; ball 153.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings.

Example

Referring to FIG. 1 , an embodiment of the present invention provides a robotic injector 200 for injecting medicine into a patient. The robotic injector 200 includes a syringe 210, a needle 220 and a first sensor 230; the syringe 210 includes an injection pressure generating part 211, The liquid medicine cavity 212 and the pressure detection cavity 213 are separated by a fixed partition. The injection pressure generating part 211 is disposed at one end of the liquid medicine cavity 212 away from the pressure detection cavity 213 , and closes the liquid medicine cavity 212 . The first sensor is arranged in the pressure detection chamber 213 . The needle 220 is connected to the first sensor, and the first sensor is used to detect the pressure value applied to the patient when the needle 220 is inserted into the patient. The needle 220 communicates with the medicinal solution chamber 212 . The robotic injector 200 further includes a display, which is used to display the pressure value detected by the first sensor, and display prompt information to prompt to increase or decrease the pressure value applied by the needle 220 to the patient.

By adopting the above solution, during the process of inserting the needle 220 into the patient, the pressure value applied by the needle 220 to the patient can be detected in real time through the first sensor, and the pressure value applied by the needle 220 to the patient can be prompted and adjusted in real time. While compressing the nerve of the patient to reduce the pain, the accuracy of the injection and the injection effect are improved, so that the user experience is good, and at the same time, the effectiveness of the treatment is improved, and the effect is good.

Optionally, the needle 220 is provided with an injection channel, one end of the injection channel is opened on the needle tip of the needle, such as the needle injection outlet 221 shown in FIG. 1 , and the other end of the injection channel is opened on the needle. On the side wall away from the needle tip, the needle injects fluid inlet 222 as shown in FIG. 1 . A syringe injection port 214 is opened on the side wall of the medicinal solution chamber 212 close to the partition, and the syringe injection port 214 is communicated with the opening on the side wall of the needle 220 (needle injection liquid inlet 222 ) through a hose That is, the needle 220 is communicated with the syringe 210 through the hose connecting the syringe injection port 214 and the needle injection liquid inlet 222 . A hose sealingly connects the syringe injection port 214 and the needle injection fluid inlet 222 .

Wherein, the cross-section of the needle tip of the needle 220 is in the shape of an annular shape, and when viewed from the straight line pointed out by the needle tip of the needle 220 toward the needle tip of the needle 220, it can be observed that the needle tip is annular, that is, the needle injection outlet 221 is provided with in the center of the ring. The needle tip in the prior art is wedge-shaped, and the injection outlet of the medicinal liquid is arranged on the wedge-shaped inclined surface, that is, on the side wall of the needle, so that the depth of insertion of the needle tip of the needle is greater than the depth at which the needle of the needle can accurately inject medicinal liquid, which may lead to Inaccurate injection of the medicinal solution or excessive insertion of the needle into the patient's body in order to accurately inject the medicinal solution will cause damage to the patient's body and spirit. In the embodiment of the present invention, the needle injection liquid outlet 221 is arranged at the center of the needle tip cross section.

In order to reduce the pain caused by the injection to the patient, the robotic injector 200 further includes a second sensor, which is arranged on the opening on the side wall of the needle 220 (needle injection liquid inlet 222 ). It is used to detect the pressure of the liquid medicine injected by the needle 220 .

In order to improve the accuracy of detecting the pressure of the liquid medicine injected by the needle 220, the second sensor is arranged on the opening of the needle tip of the needle 220 (the outlet of the needle injection solution 221), and the second sensor is used to detect the needle The pressure of the injected potion.

The robotic injector 200 further includes a processing device 240, the processing device 240 is disposed on the side of the injection pressure generating part 211 away from the liquid medicine cavity 212, the processing device 240 includes a display screen 251; the second sensor Connected to the processing device 240 , the display screen 251 is configured to display the pressure value sent by the second sensor and the pressure value sent by the first sensor 230 .

The processing device 240 further includes a processor, the processor is connected to the display screen 251, and the processor is configured to generate prompt information according to the pressure value and the pressure value, and send the prompt information to the display screen 251, so that the prompt information is sent to the display screen 251. The display screen 251 is also used to display the prompt information.

In this way, the pressure exerted by the needle 220 on the patient, the depth of insertion, and the pressure of the injected medicine can be adjusted according to the prompt information, so as to improve the therapeutic effect. That is, in this embodiment of the present invention, based on the robot injector 200, the following operations can be implemented: the processing device 240 controls the needle 220 of the injector to be inserted into the patient, and detects the depth of insertion of the needle 220 into the patient in real time; if the depth is within the preset range of the designated position Inside, the processing device 240 controls the syringe 210 of the robotic injector 200 to inject the liquid medicine into the needle 220, and detects the pressure value of the liquid medicine injected by the needle 220 into the patient in real time through the second sensor 240. If the pressure is within the set range, when the set amount of liquid medicine in the syringe 210 is injected, the processing device 240 generates a needle-pulling force value, and controls the manipulator to pull out the needle-pulling force according to the force corresponding to the needle-pulling force value. The needle 220 is described. Pulling out the needle head 220 according to the force corresponding to the needle pulling force value can ensure that the needle pulling operation is painless. During the process of inserting the needle 220 of the robotic injector 200 into the patient's body, the pressure value exerted by the needle 220 on the patient is detected in real time by the first sensor 230 . The processor of the processing device 240 generates prompt information according to the pressure value and the pressure value.

In this way, it can be ensured that the injection operation can be accurately controlled each time, so that the needle 220 can be inserted, the needle 220 can be pulled out, and the medicine can be injected according to the painless pressure.

As a further example, the prompt information includes information on adjusting the pressure of the injection liquid and adjusting the pressure applied by the needle to the patient. Generating prompt information according to the pressure value and the pressure value includes: judging whether the pressure value is within a first preset range, and judging whether the pressure value is within a second preset range; if the pressure If the value is not within the first preset range, generate pressure information for adjusting the injection liquid; if the pressure value is not within the second preset range; generate pressure information for adjusting the pressure applied by the needle to the patient, so as to adjust the pressure information applied by the needle to the patient in real time .

Optionally, the prompt information includes operation accuracy information and information on increasing the pressure value or reducing the pressure value; generating the prompt information according to the pressure value and the pressure value, further including: if the pressure value is in the first Within the preset range, and the pressure value is within the second preset range, determine whether the pressure value and the pressure value satisfy the following formula (1), if they satisfy the formula (1), generate accurate operation information; If not satisfied, judge whether the pressure value and the pressure value satisfy the following formula (2); if not satisfy the formula (2), generate information about increasing the pressure value or decreasing the pressure value;

Among them, x represents the pressure value, and y represents the pressure value.

In this way, it can be ensured that the injection operation can be accurately controlled each time, so that the needle 220 can be inserted, the needle 220 can be pulled out, and the medicine can be injected according to the painless pressure.

The prompt information further includes information on adjusting the depth, and the processor of the processing device 240 is further configured to, according to the pressure value, determine the depth of the needle into the patient's body, and determine whether the depth conforms to a preset value , if so, generate accurate position information; otherwise, generate adjustment depth information.

In the embodiment of the present invention, the second sensor may be a water pressure sensor such as an ELECALL diffused silicon pressure sensor, a MEACON imported diffused silicon pressure transmitter sensor, and a SLDYB-2088 pressure transmitter. The first sensor 230 is the medical robot sensor 100 shown in FIG. 1 . The medical robot sensor 100 includes a camera 110 , a processor 120 , a pressure probe 130 and a balloon 140 . The pressure probe 130 is connected to the air bag 140 , and the camera 110 is connected to the processor 120 .

The pressure probe 130 is used to contact the measured object to detect the pressure, and the air bag 140 is used to detect the pressure detected by the pressure probe 130 . In the embodiments of the present invention, the objects may be robotic arms, human bodies, animals, and other objects, such as cement boards, concrete floors, houses, electric poles, computers, and the like. The camera 110 is used for photographing the airbag 140, obtaining an airbag image, and sending the airbag image to the processor 120, and the processor 120 is used for detecting the deformation degree of the airbag according to the airbag image to detect the pressure. The processor 120 may be any type of processor with image processing functions, such as Loongson 3A3000/383000, Intel Core i5-9300H, Intel Core i5-9400H, Intel Core i79750H, Intel Core i7-9850H, Intel Core i7-9850H, and Intel Core i7-9850H. Processors such as i9-9880H and Intel Core i9-9980HK.

By adopting the above solution, the pressure is detected by detecting the deformation of the airbag 140. Because the processor detects the airbag image, the deformation of the airbag 140 can be accurately obtained, thus improving the accuracy of the external force on the airbag 140, thereby improving the pressure detection. accuracy.

In this embodiment of the present invention, the processor 120 is further configured to control the camera 110 to capture an image of the airbag when receiving a capture instruction. The processor 120 is configured to detect the degree of deformation of the airbag 140 according to the airbag image, and the specific method of detecting the pressure is as follows: obtaining the outline of the airbag according to the airbag image, obtaining the deformation area of the airbag based on the outline of the airbag and the preset airbag outline, and applying the The deformation area is input into the first pressure detection model, and the output of the first pressure detection model is used as the pressure value received by the measured object. The camera 110 is disposed on the top of the bag box 150 to photograph the air bag 140 .

At this time, the method of obtaining the outline of the airbag according to the airbag image is as follows: using the Canny operator to process the airbag image, and extracting the outline of the airbag in the airbag image. Based on the outline of the airbag and the preset outline of the airbag, obtaining the deformation area of the airbag is specifically: obtaining the airbag area of the area enclosed by the airbag outline, and the preset area of the area enclosed by the preset airbag outline, using the airbag area and the preset airbag area. The difference in area is taken as the deformation area of the airbag. The deformation area is input into the first pressure detection model, and the output of the first pressure detection model is used as the pressure value received by the measured object, wherein the first pressure detection model is:

Among them, F represents the pressure value of the measured object, ΔS represents the deformation area of the airbag, G1 represents the weight of the pressure probe, G2 represents the weight of the airbag, and r represents the deformation coefficient of the airbag.

Optionally, the medical robot sensor further includes a capsule box 150 and a pressure movable plate 160, the capsule box 150 is in the shape of a cylindrical barrel, and the top of the capsule box 150 is transparent. The air bag 140 is arranged in the bag box 150 , and the pressure movable plate 160 is arranged in the bag box 150 for supporting the air bag 140 . The pressure movable plate 160 can move along the axial direction of the bag box 150 . One end of the pressure probe 130 is fixedly connected to the pressure movable plate 160 , and one end of the pressure probe 130 away from the pressure movable plate 160 is used to detect the pressure on the measured object. That is, when the pressure probe 130 contacts the measured objects, the pressure on the detected objects will be transmitted to the pressure movable plate 160 through the pressure probe 130, so that the pressure movable plate 160 moves toward the top of the bag box 150, and the air bag 140 is under pressure. Deformation is generated so as to detect the pressure on the object to be measured by detecting the deformation of the airbag 140 . Among them, the pressure movable plate 160 can be used to protect the airbag 140 .

In this case, the processor 120 is configured to detect the deformation degree of the airbag 140 according to the airbag image, and the specific method of detecting the pressure further includes: inputting the deformation area into the second pressure detection model, and using the output of the second pressure detection model As the pressure value received by the measured object, it can be specifically: obtain the contour of the air bag according to the air bag image, obtain the deformation area of the air bag based on the contour of the air bag and the preset air bag contour, and input the deformation area into the second pressure detection model to obtain The output of the second pressure detection model is used as the pressure value received by the measured object. During the period, the second pressure detection model is:

Among them, G3 represents the weight of the pressure movable plate.

In order to more accurately detect the pressure on the measured object, the medical robot sensor 100 further includes an air pressure sensor 170 , and the air pressure sensor 170 is connected to the processor 120 . The air pressure sensor 170 is disposed in the bag box 150 for detecting the pressure in the bag box 150 and sending the pressure in the bag box 150 to the processor 120 . The processor 120 is further configured to determine the pressure value of the measured object according to the pressure in the bag box 150 and the deformation area of the air bag 140 . The processor 120 determines the pressure value received by the measured object according to the pressure in the bag box 150 and the deformation area of the air bag, specifically: inputting the pressure and the deformation area of the air bag into the third pressure detection model, so that the The output of the third pressure detection model is used as the pressure value received by the measured object, and the third pressure detection model is:

期中，e^r表示r的指数，e为自然指数，为自然对数的底数，有时亦称之为欧拉数(Euler's Number)，是一个无限不循环小数，其值约为：2.71828182845904523536。Wherein, S2 represents the projected area of the airbag 140 on the top of the bag box 150 after the airbag 140 is deformed, a=0.3, b=0.7, P1 represents the pressure, and P represents the atmospheric pressure. That is, the pressure change obtained by detecting the change of the pressure in the bag box 150 is weighted with the pressure value obtained by photographing the deformation value of the air bag and according to the deformation coefficient of the air bag, and the corresponding error value is subtracted, and the medical robot is added. The weight of the pressure probe 130 , the air bag 140 , and the pressure movable plate 150 in the sensor 100 finally obtains the pressure value received by the measured object, which improves the accuracy of pressure detection. In the middle of the period, the pressure change obtained by detecting the change of the pressure in the bag box 150 is (P1-P)*2*S2, and the pressure value obtained according to the deformation coefficient of the airbag is (2*ΔS*r), the corresponding error value is

In the term, er represents the exponent of ^r , and e is the natural exponent, which is the base of the natural logarithm.

The air pressure sensor 170 may be a CS100 air pressure sensor, an air pressure sensor TP-4310, or the like.

In order to improve the accuracy of detecting the degree of deformation of the airbag 140, after the processor 120 receives the shooting instruction, it controls the camera 110 to capture multiple airbag images, that is, there are multiple airbag images, and the shooting angles of the multiple airbag images are the same (the same camera). , the same angle), the shooting times of the plurality of airbag images are adjacent, then the processor 120 obtains the outline of the airbag according to the airbag images, including: identifying the airbag in each airbag image, and obtaining the edge of the airbag in each airbag image , each airbag image obtains an airbag edge, and multiple airbag images correspondingly obtain multiple airbag edges. Then randomly select the edge of one airbag among the edges of the multiple airbags as the target contour, and calculate the distances from the edges of the remaining airbags among the edges of the multiple airbags to the target contour under the same viewing angle, and each edge of the remaining airbags corresponds to one distance, the edges of multiple air bags correspond to multiple distances. Then, the average distance of the plurality of distances is obtained, and the average size of the contour formed by the edges of the plurality of airbags is obtained; that is, the average size of the average size of the dimensions of the edges of the plurality of airbags is obtained. Finally, an average profile is obtained based on the average size, and the average profile is set at a position where the target profile is shifted by an average distance to obtain the profile of the airbag. In this way, the accuracy of obtaining the contour of the airbag after the airbag is deformed under the pressure of the external force is high.

As an embodiment, the pressure movable plate 160 is provided with a plurality of vent holes, so as to keep the pressure inside the bag box 150 balanced with the pressure outside the bag box 150 when the air bag 140 is deformed. As another embodiment, the pressure movable plate 160 is in a closed and movable connection with the bag box 150, so as to detect the pressure exerted by the pressure movable plate 150 on the air bag 140 by detecting the pressure in the bag box 150, and then detect the pressure of the detected object. Pressure value. In the embodiment of the present invention, the pressure on the detected object is detected according to the principle of action force and reaction force.

Optionally, the medical robot sensor 100 further includes a semicircular photographing cover 180 . The diameter of the photographing cover 180 is equal to the diameter of the top of the bag box 150 , and the camera 110 is disposed on the photographing cover 180 . In order to obtain airbag images from multiple orientations, so as to improve the accuracy of obtaining the outline of the airbag by the obtaining processor 120 according to the airbag images, thereby obtaining an accurate deformed area, the medical robot sensor 100 includes a plurality of cameras 110, that is, the cameras 110 have A plurality of cameras 110 are connected to the processor. The photographing cover 180 is evenly provided with a plurality of photographing holes, and the camera 110 is arranged on the photographing holes to photograph the airbag 140 from multiple directions. In the embodiment of the present invention, the camera 110 may be a black and white night vision camera, an RGB camera, a charge-coupled device (CCD) camera, a complementary metal oxide semiconductor (CMOS) camera, and the like.

Multiple cameras capture airbag images from multiple angles, each camera captures multiple airbag images, and the multiple airbag images captured by each camera have adjacent shooting times, and the airbag image captured by each camera corresponds to one camera. The outline of the airbag at the location, and the multiple cameras correspond to the outline of the airbag in multiple orientations. Obtaining the deformation area of the airbag based on the contour of the airbag and the preset contour of the airbag includes: setting the contours of the airbag in multiple orientations in the same empty image to obtain a superimposed image of the airbag, the size of the superimposed image of the airbag being the same as the size of the airbag. The dimensions of the airbag images are the same; obtain multiple intersecting positions of the contours of the airbags in multiple orientations; connect the multiple intersecting positions to obtain a first contour; perform fitting based on the first contour to obtain a second contour, and the second contour represents The projection of the airbag on the top of the bag box after the airbag is deformed; the difference between the area of the second contour and the area of the preset airbag contour is used as the deformation area of the airbag. In this way, taking into account the error of the deformation area of the airbag observed and photographed under each viewing angle, the deformation area of the airbag finally obtained is combined with the deformation area of the airbag observed and photographed from multiple viewing angles, which improves the obtained deformation area of the airbag. accuracy, thereby improving the accuracy of pressure detection.

其中，F1表示气囊140受到的外力。其中，所述气囊的形变系数r满足下述公式：In the embodiment of the present invention, the airbag 140 is made of a deformable transparent material, the deformation of the airbag 140 is recoverable, and the difference between the deformation projection area of the airbag 140 and the external force it receives satisfies the formula:

Among them, F1 represents the external force received by the airbag 140 . Wherein, the deformation coefficient r of the airbag satisfies the following formula:

, where S1 represents the area of the preset airbag contour. ΔS represents the deformation area of the balloon.

Optionally, the airbag 140 is made of a metal mixed transparent rubber, and the composition of the metal mixed transparent rubber includes 30% powdered shape memory alloy, 10% powder magnet, and 60% rubber. By uniformly mixing the powdered shape memory alloy, powdered magnet and rubber, the airbag 140 made has the performance of shape memory, and the toughness and ductility of the rubber are improved under the action of the magic sealing magnet, thereby improving the medical robot sensor 100 The reusability improves the service life of the medical robot sensor 100 and the accuracy of pressure detection.

In order to protect the camera 110 , the medical robot sensor 100 further includes a semicircular protective cover 190 . The radius of the protective cover is greater than the sum of the radius of the shooting cover 180 and the height of the camera 110 , so that the shooting cover 180 and the camera 110 can be contained within the protective cover 190 . The protective cover 190 is disposed outside the shooting cover 180 , and forms a cavity with an annular cross-section between the protective cover 180 and the shooting cover 180 to protect the camera 110 .

Optionally, the processor 120 is disposed on the side of the protective cover 190 away from the photographing cover 180 . The protective cover 190 is provided with a plurality of wire holes, and the connecting wires pass through the wire holes to connect the camera 110 and the processor 120 .

A first mounting portion is provided on the side of the protective cover 190 away from the photographing cover 180, and a second mounting portion is provided on the inner wall of the pressure detection chamber 213. The first mounting portion and the second mounting portion are detachably and firmly connected, so that the medical robot sensor 100 is installed in the pressure detection chamber 213 .

In order to obtain the outline of the airbag accurately, the airbag 140 is closed, and the airbag 140 is filled with red gas. Optionally, when the external force on the airbag 140 is zero, the airbag 140 is a spherical airbag, and the projection of the airbag 140 and the red gas in the airbag on the top of the bag box 150 is a circle.

Wherein, the end of the needle 220 away from the needle tip is detachably and firmly connected to the end of the pressure probe 130 away from the pressure movable plate 160, and the pressure value exerted by the needle 220 on the patient is calculated as follows:

Among them, G4 represents the weight of the needle 220, and G5 represents the weight of the hose.

The processor 120 is connected to the processing device 240 .

As shown in FIG. 2 , the inner wall of the bag box 150 is provided with a sliding groove 151 , and the sliding groove 151 extends along the axial direction of the bag box 150 . The pressure movable plate 160 is provided with a protrusion 161 , and the protrusion 161 is snapped into the sliding groove 151 and can slide along the sliding groove 151 . The cross section of the sliding groove 151 is a three-quarter arc shape. A plurality of ball grooves 152 are formed on the sliding groove 151 , and a plurality of balls 153 are arranged on the ball grooves 152 .

The cross section of the ball groove 152 is a three-quarter arc shape, and the radius of the arc of the ball groove 152 is less than or equal to one tenth of the radius of the arc of the sliding groove 151 . The balls 153 are circular, and the radius of the balls 153 is smaller than the radius of the arc of the ball groove 152 , and is greater than or equal to three-quarters of the radius of the arc of the ball groove 152 .

The protrusion 161 is a spherical body, and the diameter of the protrusion 161 is greater than or three-quarters of twice the radius of the arc of the sliding groove 151, and less than one-fifth of the radius of the arc.

Apply or inject lubricating oil on the sliding groove 151 , the protrusion 161 , the ball groove 152 and the ball 153 to reduce the friction between the bag box 150 and the pressure movable plate 160 to improve the accuracy of pressure detection.

In order to keep the pressure movable plate 160 parallel to the top of the bag box 150 and ensure the stability of the pressure movable plate 160, there are three sliding grooves 151, which are evenly arranged on the inner wall of the bag box 150, and the sliding grooves 151 are connected to form an isosceles triangle. . Correspondingly, there are three protrusions 161 .

The medical robot sensor 100 and the second sensor are connected to the processing device 240 , and send the detected pressure value and pressure value to the processing device 240 .

Claims (7)

1. A robotic injector, comprising: the syringe, the needle head and the first sensor;

the needle cylinder comprises an injection pressure generating part, a liquid medicine cavity and a pressure detection cavity;

the liquid medicine cavity and the pressure detection cavity are separated by a fixed partition plate;

the injection pressure generating part is arranged at one end of the liquid medicine cavity far away from the pressure detection cavity and seals the liquid medicine cavity;

the first sensor is arranged in the pressure detection cavity;

the needle head is connected with the first sensor, and the first sensor is used for detecting a pressure value applied to the patient when the needle head extends into the patient;

the needle head is communicated with the liquid medicine cavity;

the needle head is provided with an injection channel, one end opening of the injection channel is arranged on the needle point of the needle head, and the other end opening of the injection channel is arranged on the side wall of the needle head far away from the needle point; a needle cylinder injection port is formed in the side wall, close to the partition plate, of the liquid medicine cavity; the injection port of the needle cylinder is communicated with the opening on the side wall of the needle head through a hose.

2. The robotic injector of claim 1, further comprising a second sensor; the second sensor is arranged on an opening on the side wall of the needle head and used for detecting the pressure of the liquid medicine injected by the needle head.

3. The robotic injector of claim 1, further comprising a second sensor; the second sensor is arranged on an opening of the needle tip of the needle head and used for detecting the pressure of liquid medicine injected by the needle head.

4. The robotic injector of claim 3, further comprising a processing device disposed on a side of the injection pressure generating portion remote from the medical fluid chamber, the processing device including a display screen; the second sensor is connected with the processing device.

5. The robotic injector of claim 4, wherein the processing device further comprises a processor connected to a display screen, the processor configured to generate a prompt message based on the pressure and the pressure value, and send the prompt message to the display screen;

the display screen is used for displaying the prompt information.

6. The robotic injector of claim 5, wherein the prompt message includes a depth-adjusted message;

the processor is further used for judging the depth of the needle head extending into the patient body according to the pressure value, judging whether the depth meets a preset value or not, and if yes, generating accurate position information; otherwise, generating the information for adjusting the depth.

7. The robotic injector of claim 1, wherein the tip of the needle is circular in cross-section.

Images