WO2017067057A1 - Automatic blood vessel scanning fully automatic injection apparatus - Google Patents

Automatic blood vessel scanning fully automatic injection apparatus Download PDF

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Publication number
WO2017067057A1
WO2017067057A1 PCT/CN2015/098622 CN2015098622W WO2017067057A1 WO 2017067057 A1 WO2017067057 A1 WO 2017067057A1 CN 2015098622 W CN2015098622 W CN 2015098622W WO 2017067057 A1 WO2017067057 A1 WO 2017067057A1
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WO
WIPO (PCT)
Prior art keywords
syringe
blood vessel
needle
automatic injection
baffle
Prior art date
Application number
PCT/CN2015/098622
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French (fr)
Chinese (zh)
Inventor
张贯京
陈兴明
Original Assignee
深圳市前海康启源科技有限公司
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Application filed by 深圳市前海康启源科技有限公司 filed Critical 深圳市前海康启源科技有限公司
Publication of WO2017067057A1 publication Critical patent/WO2017067057A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests

Definitions

  • the utility model relates to the field of medical instruments, in particular to a fully automatic injection device for automatically scanning blood vessels.
  • the injection device is a drug delivery device by inserting a needle of the injection device into a blood vessel of a patient to inject the drug into the patient.
  • the injection device includes two types, one is a manual injection device, and the other is a fully automatic injection device that automatically scans a blood vessel.
  • the conventional manual injection device requires manual power to drive, and usually a medical staff performs an injection during the injection.
  • a medical staff performs an injection during the injection.
  • the existing automatic injection device for automatically scanning blood vessels cannot achieve automatic injection and it is difficult to locate the injection position of the blood vessel.
  • the patient presses a different button according to the prompt, for example, manually adjusting the angle and direction of the injection during the injection.
  • the main object of the present invention is to provide a fully automatic injection device for automatically scanning a blood vessel, which aims to solve the product defect that the existing injection device cannot achieve automatic injection and difficult to locate the blood vessel injection position.
  • the present invention provides a fully automatic injection device for automatically scanning blood vessels
  • the automatic injection device for automatically scanning blood vessels includes a controller, a first driving device and a second driving device, respectively Connecting with the first driving device and the second driving device;
  • the first driving device includes a syringe, a telescopic device and an angle adjusting device, the syringe is connected to the telescopic device and an angle adjusting device, and the syringe is further connected to the liquid medicine container;
  • the second driving device includes a blood vessel scanner
  • the automatic injection device for automatically scanning blood vessels is provided with a slide rail on which the second driving device is disposed;
  • the second driving device slides on the slide rail to drive the blood vessel diagnostic device to move;
  • the blood vessel diagnostic apparatus scans a human body part to obtain a three-dimensional image of a blood vessel in a human body part, and scans a needle in the syringe to obtain an initial three-dimensional coordinate of the needle;
  • the controller determines an injection blood vessel and an injection position of the injection blood vessel according to the three-dimensional image of the blood vessel;
  • the angle adjusting device adjusts an injection direction of a needle of the syringe according to a direction of the injection blood vessel
  • the telescoping device moves the needle from the initial three-dimensional coordinates to an injection position of the injection vessel to inject the needle into the injection vessel.
  • the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe,
  • the infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
  • the automatic scanning device for automatically scanning blood vessels is further provided with a binding device, and the binding device is connected to the controller, when the automatic injection device for automatically scanning blood vessels is worn on a human body part, A binding device is affixed to the body portion to bulge a venous blood vessel in the body portion.
  • the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe,
  • the infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
  • the binding device is a closed rubber band, a closed bandage or a closed inflatable ring.
  • the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe,
  • the infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
  • the fully automatic injection device for automatically scanning blood vessels comprises an input device coupled to the controller for setting parameters.
  • the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe,
  • the infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
  • the fully automatic injection device for automatically scanning a blood vessel comprises a display device connected to the controller, the display device for displaying a three-dimensional image of the venous blood vessel obtained by the blood vessel scanner scanning.
  • the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe,
  • the infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
  • the second driving device includes a motor for sliding the second driving device.
  • the second drive means comprises a wound protection device for hemostasis and anti-inflammatory of the wound when the needle is withdrawn from the venous blood vessel.
  • the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe,
  • the infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
  • the needle, the infusion hose and the syringe have a detachable structure.
  • the syringe is mounted on a circular groove at an upper end of the angle adjusting device, and the angle adjusting device rotates to drive the circular groove to rotate to adjust an injection direction of the needle of the syringe.
  • the automatic injection device for automatically scanning blood vessels of the present invention adopts the above technical solution, and achieves the following technical effects: automatic realization of the whole process from the needle searching for the blood vessel to the insertion into the patient's blood vessel and the accurate positioning of the blood vessel
  • the injection position saves the labor of the medical staff and facilitates the patient.
  • the needle is automatically pulled out and the wound is protected to ensure the safety of the patient during the injection.
  • FIG. 1 is a schematic structural view of a preferred embodiment of a fully automatic injection device for automatically scanning a blood vessel according to the present invention
  • FIG. 2 is a schematic plan view showing a preferred embodiment of a syringe in the automatic injection device for automatically scanning blood vessels of the present invention
  • FIG. 3 is a schematic plan view showing a preferred embodiment of the automatic injection device for automatically scanning blood vessels of the present invention
  • FIG. 4 is a schematic structural view of a first embodiment of a first driving device in the automatic injection device for automatically scanning a blood vessel according to the present invention
  • FIG. 5 is a schematic plan view showing a preferred embodiment of an angle adjusting device in an automatic injection device for automatically scanning a blood vessel according to the present invention
  • FIG. 6 is a schematic structural view of a second embodiment of a second driving device in the automatic injection device for automatically scanning blood vessels of the present invention
  • FIG. 7 is a schematic plan view showing a preferred embodiment of a blood vessel scanned by a blood vessel scanner in the automatic injection device for automatically scanning blood vessels of the present invention
  • Fig. 8 is a schematic view showing the insertion of a needle of a syringe into a venous blood vessel in the automatic injection device for automatically scanning blood vessels of the present invention.
  • FIG. 1 is a schematic structural view of a preferred embodiment of a fully automatic injection device for automatically scanning a blood vessel according to the present invention.
  • the fully automatic injection device 1 for automatically scanning blood vessels includes a controller 2, a first driving device 10, a second driving device 20, a binding device 30, an input device 40, and a display device 50.
  • the controller 2 establishes electrical connection with the first driving device 10, the second driving device 20, the binding device 30, the input device 40, and the display device 50, respectively.
  • the first driving device 10 includes a syringe 11, a telescopic device 12, and an angle adjusting device 13.
  • the syringe 11 is connected to the telescopic device 12 and the angle adjusting device 13.
  • the syringe 11 is also connected to the drug solution container 3.
  • the drug solution container 3 is a hanging bottle for the drug solution.
  • the position of the liquid medicine container 3 placed above the syringe 11 is higher than a certain predetermined height (for example, one meter).
  • the chemical solution container 3 is not attached to the fully automatic injection device 1 for automatically scanning blood vessels, but is separated from the automatic injection device 1 for automatically scanning blood vessels.
  • FIG. 2 is a schematic plan view showing a preferred embodiment of the syringe in the automatic injection device for automatically scanning blood vessels of the present invention.
  • the syringe 11 includes a needle 110, a syringe 111, a baffle 112, and an infusion hose 113.
  • the needle 110 is fixed to the front end of the syringe 111, and the infusion hose 113 is connected to the needle 110 through the inside of the syringe 111. Further, the infusion hose 113 is further connected to the liquid medicine The container 3 is connected.
  • the end of the barrel 111 is provided with a baffle 112, which can be moved by pushing the baffle 112 to move the needle 110.
  • the needle 110, the infusion hose 113 and the syringe 111 have a detachable structure. That is, the needle 110 and the infusion hose 113 can be removed from the syringe 111 for replacement.
  • the needle 110 is used to puncture a venous blood vessel to be injected and into the venous blood vessel.
  • the syringe 111 is used to fix the needle 110, and when the syringe 111 moves, the needle 110 also moves. In other words, by moving the syringe 111, the needle 110 pierces the venous blood vessel to be injected and enters the venous blood vessel.
  • the syringe 111 has a cylindrical shape.
  • the infusion hose 113 is for injecting the drug solution in the drug solution container 3 into the vein vessel through the needle 3.
  • FIG. 3 is a schematic plan view showing a preferred embodiment of the automatic injection device for automatically scanning blood vessels of the present invention.
  • the first driving device 10 is disposed on the sliding rail 60.
  • the first driving device 10 has a motor for sliding the first driving device 10, and the motor can drive the first driving device 10 in the sliding Slide on rail 60.
  • the middle of the slide rail 60 is a hollow belt.
  • the slide rail 60 may not be required, in which case the first drive device 10 is disposed at a fixed position of the fully automatic injection device 1 of the auto-scanning blood vessel.
  • FIG. 4 is a schematic structural view of a preferred embodiment of the first driving device in the automatic injection device for automatically scanning blood vessels of the present invention.
  • the first driving device 10 includes a syringe 11, a telescopic device 12, and an angle adjusting device 13.
  • the telescopic device 12 is coupled to the baffle 112, and when the telescopic device 12 is telescopic, the syringe 11 is also telescopic (eg, moving forward or backward).
  • the needle cylinder 111 is also mounted on the angle adjusting device 13, and the angle adjusting device 13 can be stretched up and down to adjust the tilt angle of the syringe 111 and the horizontal plane (generally the plane of the human body part) (for example, adjusting the needle)
  • the barrel 111 is horizontal to 15 degrees). Further, as shown in FIG.
  • a circular groove 130 is disposed at an upper end of the adjusting device 13, and the syringe 111 is disposed in the circular groove 130, and the cylinder 111 may be in the circular groove.
  • the angle adjusting device 13 can also rotate (clockwise or counterclockwise) to drive the circular groove 130 to rotate, thereby adjusting the direction of the syringe 111 (ie, the injection direction of the needle 110 of the syringe 11).
  • the second driving device 20 includes a blood vessel scanner 22 and a wound protection device 24.
  • the second driving device 20 is disposed on the sliding rail 60.
  • the second driving device 20 has a motor for sliding the second driving device 20, and the motor can drive the motor.
  • the second drive unit 20 slides on the slide rail 60.
  • the middle of the slide rail 60 is a hollow belt.
  • the blood vessel scanner 22 is configured to scan a human body part to obtain a three-dimensional image of a venous blood vessel in a human body part.
  • the three-dimensional image of the venous blood vessel is associated with three-dimensional coordinate information of the venous blood vessel.
  • the blood vessel scanner 22 can also scan the needle 110 to obtain the three-dimensional coordinates of the needle 110.
  • the blood vessel scanner 22 may be, but not limited to, a 3D image ultrasound scanner, a color ultrasound diagnostic apparatus (for example, a three-dimensional B-mode ultrasound), or an infrared light vessel scanner.
  • a scanner (not shown) of the blood vessel scanner 22 can be mounted on the second driving device 20, and the host device of the blood vessel scanner 22 ( Not shown) is placed at a position away from the fully automatic injection device 1 of the auto-scanning blood vessel, the host device of which is connected to the scanner and controller 2 via a data line (eg, a USB cable).
  • a data line eg, a USB cable
  • the wound protection device 24 is configured to move the wound protection device 24 to the wound position when the needle 110 pierces the venous blood vessel when the needle 110 is pulled out from the venous blood vessel to hemostasis the wound and Anti-inflammatory.
  • the wound protection device 24 includes a sterilized medical cotton ball and a medical tape.
  • the fully automatic injection device 1 for automatically scanning a blood vessel is placed on a human body part (for example, a human body part such as an arm or a wrist) to automatically search for a venous blood vessel in the human tissue through the blood vessel scanner 22, and automatically put the needle of the syringe 11 Inserted into the venous blood vessel, and then the medical fluid in the medical solution container 3 is injected into the venous blood vessel.
  • a human body part for example, a human body part such as an arm or a wrist
  • the binding device 30 binds the human body part, and the controller is configured to control the binding device to slow the circulation of blood in the venous blood vessel in the human body part, thereby causing the venous blood vessel to bulge, thus The venous blood vessels can be more clearly distinguished in the three-dimensional image.
  • the binding device 30 is a closed circle
  • the binding device 30 can be worn on the arm or wrist and the tightness of the binding device 30 can be controlled by adjusting the radius of the closed circle.
  • the binding device 30 may be, but not limited to, a closed rubber band, a closed bandage, a closed inflatable ring, or the like.
  • the controller 2 controls the binding device 30 to control the tightness of the binding device 30.
  • the controller 2 controls the binding device 30 to stop bundling the body part (i.e., increasing the radius of the circle).
  • the fully automatic injection device 1 for automatically scanning a blood vessel when the fully automatic injection device 1 for automatically scanning a blood vessel is worn on a human body part (wrist), the fully automatic injection device 1 for automatically scanning a blood vessel automatically completes the injection.
  • the controller 2 controls the blood vessel scanner 22 to obtain a three-dimensional image of the internal venous blood vessels of a human body part (for example, the back of the hand).
  • the three-dimensional image of the venous blood vessel is also associated with three-dimensional coordinate information of the venous blood vessel.
  • the blood vessel scanner 22 moves in the slide rail 60 to scan a vein of a human body part in the hollow belt.
  • the human body part 4 includes three venous blood vessels 400, wherein the venous blood vessel has an intersection point 401 with the venous blood vessel (there are two intersections 401 in the figure). It should be noted that it is possible to determine whether or not the vein is a blood vessel by the flow of blood in the blood vessel.
  • the controller 2 determines an injection blood vessel and an injection position of the injection blood vessel based on the three-dimensional image of the venous blood vessel. Specifically, the thickest venous blood vessel is used as an injection blood vessel. And selecting a blood vessel in the injected blood vessel, the distance of the selected blood vessel is greater than or equal to the length of the needle 110, and there is no intersection point in the selected blood vessel, and the starting end of the selected blood vessel is injected as an injection. position.
  • the controller 2 controls the angle adjustment device 13 to adjust the injection direction of the needle 110 in accordance with the direction of the injection blood vessel.
  • the injection direction is the direction of the needle 110 in the horizontal plane, and as shown in Fig. 8, the horizontal direction of the needle 110 coincides with the direction of the injection blood vessel.
  • the controller 2 controls the blood vessel scanner 22 to scan the needle 110 of the syringe 11 to obtain initial three-dimensional coordinates of the needle 110.
  • the controller 2 controls the telescopic device 12 to move the needle 110 from the initial three-dimensional coordinates to an injection position of the injection blood vessel, and continues to advance the needle 110 by a predetermined distance (for example, 1 cm to 2 cm) A distance between them is to inject the needle 110 into the injection blood vessel, thereby injecting the drug solution in the drug solution container 3 into the injection blood vessel.
  • a predetermined distance for example, 1 cm to 2 cm
  • the controller 2 controls the expansion device 12 to pull the needle 110 out of the injection blood vessel.
  • the controller 2 controls the wound protection device 24 in the second drive device 20 to be attached to the injection site of the injection vessel to protect the wound.
  • the input device 40 is configured to input related parameters to facilitate the controller 2 to control the telescopic device 12, the angle adjusting device 13, the blood vessel scanner 22, and the wound protection device 24.
  • the user inputs, in the input device 40, a propulsion speed (for example, five centimeters per second) for controlling the telescopic device 12, and an injection angle for controlling the angle adjusting device 13 (the injection angle)
  • a propulsion speed for example, five centimeters per second
  • an injection angle for controlling the angle adjusting device 13
  • the angle of inclination of the needle to the surface of the body part for example, an injection angle selected within a range of 15 to 30 degrees).
  • the display device 50 is configured to display a three-dimensional image of the obtained venous blood vessel by the blood vessel scanner 22.
  • the display device 50 can be remote from the fully automatic injection device 1 that automatically scans blood vessels.
  • an image data line (for example, an HDMI line, a VGA line, or the like, any suitable image data line) is connected to the controller 2 in the fully automatic injection device 1 for automatically scanning blood vessels, at this time, the display The device 50 can be separated from the fully automatic injection device 1 that automatically scans blood vessels.

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Abstract

An automatic blood vessel scanning fully automatic injection apparatus (1). The injection apparatus comprises a controller (2), a first actuator (10), and a second actuator (20). The controller (2) is connected respectively to the first actuator (10) and to the second actuator (20). A blood vessel scanner (22) in the second actuator (20) scans to produce a three-dimensional image of the blood vessels in a human body part and scans a needle (110) of a syringe (11) in the first actuator (10) to produce initial three-dimensional coordinates of the needle (110). Under the control of the controller (2), an angle adjusting apparatus (13) of the first actuator (10) adjusts the injection direction of the needle (110) of the syringe (11) on the basis of the orientation of the blood vessel for injection. Under the control of the controller (2), a telescoping apparatus (12) of the first actuator (10) moves the needle (110) from the initial three-dimensional coordinates to the injection position of the blood vessel for injection, thus piercing the needle (110) into the blood vessel for injection. The apparatus achieves the effect of pinpointing the injection position of the blood vessel and implementing fully automatic injection.

Description

自动扫描血管的全自动注射装置  Automatic injection device for automatically scanning blood vessels
技术领域Technical field
本实用新型涉及医疗器械领域，尤其涉及一种自动扫描血管的全自动注射装置。The utility model relates to the field of medical instruments, in particular to a fully automatic injection device for automatically scanning blood vessels.
背景技术Background technique
注射装置为药物输送装置，使用方法为将注射装置的针头***患者的血管内以将药物注射到患者体内。所述注射装置包括两类，一类为手动注射装置，另一类为自动扫描血管的全自动注射装置。The injection device is a drug delivery device by inserting a needle of the injection device into a blood vessel of a patient to inject the drug into the patient. The injection device includes two types, one is a manual injection device, and the other is a fully automatic injection device that automatically scans a blood vessel.
其中，传统的手动注射装置需要手动力来驱动，且在注射期间通常是医务人员来执行注射。例如，对于没有医务知识的患者来说，若采用传统的手动注射装置为自己注射，难度高且容易出错。Among them, the conventional manual injection device requires manual power to drive, and usually a medical staff performs an injection during the injection. For example, for patients without medical knowledge, it is difficult and error-prone to inject themselves if they are injected using a conventional manual injection device.
而对于现有的自动扫描血管的全自动注射装置，尽管患者可以自己完成注射，然而，现有的自动扫描血管的全自动注射装置无法做到全自动注射且难以找准血管的注射位置，在不同的阶段患者会根据提示按下不同的按钮，例如，在注射期间手动调整注射角度及方向等操作。For the automatic automatic injection device for automatically scanning blood vessels, although the patient can complete the injection by himself, the existing automatic injection device for automatically scanning blood vessels cannot achieve automatic injection and it is difficult to locate the injection position of the blood vessel. At different stages, the patient presses a different button according to the prompt, for example, manually adjusting the angle and direction of the injection during the injection.
实用新型内容Utility model content
本实用新型的主要目的在于提供一种自动扫描血管的全自动注射装置，旨在解决现有的注射装置无法实现全自动注射及难以找准血管注射位置的产品缺陷。The main object of the present invention is to provide a fully automatic injection device for automatically scanning a blood vessel, which aims to solve the product defect that the existing injection device cannot achieve automatic injection and difficult to locate the blood vessel injection position.
为实现上述目的，本实用新型提供了一种自动扫描血管的全自动注射装置，所述自动扫描血管的全自动注射装置包括控制器、第一驱动装置及第二驱动装置，所述控制器分别与所述第一驱动装置及第二驱动装置连接；In order to achieve the above object, the present invention provides a fully automatic injection device for automatically scanning blood vessels, the automatic injection device for automatically scanning blood vessels includes a controller, a first driving device and a second driving device, respectively Connecting with the first driving device and the second driving device;
所述第一驱动装置包括注射器、伸缩装置及角度调整装置，所述注射器与所述伸缩装置及角度调整装置连接，所述注射器还与所述药液容器连接；The first driving device includes a syringe, a telescopic device and an angle adjusting device, the syringe is connected to the telescopic device and an angle adjusting device, and the syringe is further connected to the liquid medicine container;
所述第二驱动装置包括血管扫描仪；The second driving device includes a blood vessel scanner;
所述自动扫描血管的全自动注射装置上设置一条滑轨，该滑轨上设置所述第二驱动装置；The automatic injection device for automatically scanning blood vessels is provided with a slide rail on which the second driving device is disposed;
所述第二驱动装置在滑轨上滑动以带动所述血管诊断仪移动；The second driving device slides on the slide rail to drive the blood vessel diagnostic device to move;
所述血管诊断仪对人体部位扫描以得到人体部位内血管的三维图像，及对所述注射器中的针头扫描以得到所述针头的初始三维坐标；The blood vessel diagnostic apparatus scans a human body part to obtain a three-dimensional image of a blood vessel in a human body part, and scans a needle in the syringe to obtain an initial three-dimensional coordinate of the needle;
所述控制器根据所述血管的三维图像确定注射血管及该注射血管的注射位置；The controller determines an injection blood vessel and an injection position of the injection blood vessel according to the three-dimensional image of the blood vessel;
所述角度调整装置根据所述注射血管的走向调整所述注射器的针头的注射方向；及The angle adjusting device adjusts an injection direction of a needle of the syringe according to a direction of the injection blood vessel; and
所述伸缩装置将所述针头从所述初始三维坐标移动至该注射血管的注射位置，以将所述针头注射到该注射血管中。The telescoping device moves the needle from the initial three-dimensional coordinates to an injection position of the injection vessel to inject the needle into the injection vessel.
优选的，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。Preferably, the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe, The infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
优选的，所述自动扫描血管的全自动注射装置上还设置有捆绑装置，该捆绑装置与所述控制器连接，当所述自动扫描血管的全自动注射装置佩戴于人体部位上时，所述捆绑装置捆绑在所述人体部位以使所述人体部位中的静脉血管凸起。Preferably, the automatic scanning device for automatically scanning blood vessels is further provided with a binding device, and the binding device is connected to the controller, when the automatic injection device for automatically scanning blood vessels is worn on a human body part, A binding device is affixed to the body portion to bulge a venous blood vessel in the body portion.
优选的，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。Preferably, the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe, The infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
优选的，所述捆绑装置是一种封闭式橡皮筋、封闭式绷带或封闭式充气圈。Preferably, the binding device is a closed rubber band, a closed bandage or a closed inflatable ring.
优选的，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。Preferably, the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe, The infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
优选的，所述自动扫描血管的全自动注射装置包括输入装置，该输入装置与所述控制器连接，该输入装置用于设置参数。Preferably, the fully automatic injection device for automatically scanning blood vessels comprises an input device coupled to the controller for setting parameters.
优选的，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。Preferably, the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe, The infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
优选的，所述自动扫描血管的全自动注射装置包括显示装置，该显示装置与所述控制器连接，该显示装置用于显示所述血管扫描仪扫描所获得的静脉血管的三维图像。Preferably, the fully automatic injection device for automatically scanning a blood vessel comprises a display device connected to the controller, the display device for displaying a three-dimensional image of the venous blood vessel obtained by the blood vessel scanner scanning.
优选的，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。Preferably, the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe, The infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
优选的，所述第二驱动装置包括一个用于使该第二驱动装置滑动的电机。Preferably, the second driving device includes a motor for sliding the second driving device.
优选的，所述第二驱动装置包括伤口保护装置，当所述针头从静脉血管中拔出时，所述伤口保护装置用于对伤口止血及消炎。Preferably, the second drive means comprises a wound protection device for hemostasis and anti-inflammatory of the wound when the needle is withdrawn from the venous blood vessel.
优选的，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。Preferably, the syringe further includes a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe, and the infusion hose is connected to the needle through the syringe, The infusion hose is also connected to a liquid medicine container, the end of the barrel is provided with the baffle, and the telescopic device is connected to the baffle.
优选的，所述针头、输液软管与所述针筒之间为可拆卸式的结构。Preferably, the needle, the infusion hose and the syringe have a detachable structure.
优选的，所述针筒架设于所述角度调整装置上端的圆形凹槽，所述角度调整装置旋转以带动所述圆形凹槽旋转以调整所述注射器的针头的注射方向。Preferably, the syringe is mounted on a circular groove at an upper end of the angle adjusting device, and the angle adjusting device rotates to drive the circular groove to rotate to adjust an injection direction of the needle of the syringe.
相较于现有技术，本实用新型所述自动扫描血管的全自动注射装置采用了上述技术方案，达到了如下技术效果：实现从针头寻找血管到***患者血管全过程的自动化且能找准血管的注射位置，节约了医务人员的人力也方便了患者，且药液完成注射后，自动拔出针头并保护伤口，确保注射期间患者的安全。Compared with the prior art, the automatic injection device for automatically scanning blood vessels of the present invention adopts the above technical solution, and achieves the following technical effects: automatic realization of the whole process from the needle searching for the blood vessel to the insertion into the patient's blood vessel and the accurate positioning of the blood vessel The injection position saves the labor of the medical staff and facilitates the patient. After the drug solution is completed, the needle is automatically pulled out and the wound is protected to ensure the safety of the patient during the injection.
附图说明DRAWINGS
图1是本实用新型自动扫描血管的全自动注射装置较佳实施例的架构示意图；1 is a schematic structural view of a preferred embodiment of a fully automatic injection device for automatically scanning a blood vessel according to the present invention;
图2是本实用新型自动扫描血管的全自动注射装置中注射器的较佳实施例的平面结构示意图；2 is a schematic plan view showing a preferred embodiment of a syringe in the automatic injection device for automatically scanning blood vessels of the present invention;
图3是本实用新型自动扫描血管的全自动注射装置较佳实施例的平面结构示意图；3 is a schematic plan view showing a preferred embodiment of the automatic injection device for automatically scanning blood vessels of the present invention;
图4是本实用新型自动扫描血管的全自动注射装置中第一驱动装置较佳实施例的结构示意图；4 is a schematic structural view of a first embodiment of a first driving device in the automatic injection device for automatically scanning a blood vessel according to the present invention;
图5是本实用新型自动扫描血管的全自动注射装置中角度调整装置较佳实施例的平面结构示意图；5 is a schematic plan view showing a preferred embodiment of an angle adjusting device in an automatic injection device for automatically scanning a blood vessel according to the present invention;
图6是本实用新型自动扫描血管的全自动注射装置中第二驱动装置较佳实施例的结构示意图；6 is a schematic structural view of a second embodiment of a second driving device in the automatic injection device for automatically scanning blood vessels of the present invention;
图7是本实用新型自动扫描血管的全自动注射装置中血管扫描仪所扫描的血管较佳实施例的平面结构示意图；7 is a schematic plan view showing a preferred embodiment of a blood vessel scanned by a blood vessel scanner in the automatic injection device for automatically scanning blood vessels of the present invention;
图8是本实用新型自动扫描血管的全自动注射装置中注射器的针头***静脉血管时的示意图。Fig. 8 is a schematic view showing the insertion of a needle of a syringe into a venous blood vessel in the automatic injection device for automatically scanning blood vessels of the present invention.
本实用新型目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
具体实施方式detailed description
为更进一步阐述本实用新型为达成上述目的所采取的技术手段及功效，以下结合附图及较佳实施例，对本实用新型的具体实施方式、结构、特征及其功效进行细说明。应当理解，本实用新型所描述的具体实施例仅仅用以解释本实用新型，并不用于限定本实用新型。The specific embodiments, structures, features and functions of the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
如图1所示，图1是本实用新型自动扫描血管的全自动注射装置较佳实施例的架构示意图。As shown in FIG. 1, FIG. 1 is a schematic structural view of a preferred embodiment of a fully automatic injection device for automatically scanning a blood vessel according to the present invention.
所述自动扫描血管的全自动注射装置1包括控制器2、第一驱动装置10、第二驱动装置20、捆绑装置30、输入装置40及显示装置50。所述控制器2分别与所述第一驱动装置10、第二驱动装置20、捆绑装置30、输入装置40及显示装置50建立电连接。The fully automatic injection device 1 for automatically scanning blood vessels includes a controller 2, a first driving device 10, a second driving device 20, a binding device 30, an input device 40, and a display device 50. The controller 2 establishes electrical connection with the first driving device 10, the second driving device 20, the binding device 30, the input device 40, and the display device 50, respectively.
所述第一驱动装置10包括注射器11、伸缩装置12及角度调整装置13。所述注射器11与所述伸缩装置12及角度调整装置13连接。所述注射器11还与药液容器3连接。所述药液容器3为装药液的吊瓶。一般而言，所述药液容器3比所述注射器11放置的位置高于一定的预设高度（例如，一米）。需要说明的是，所述药液容器3并没有安装于所述自动扫描血管的全自动注射装置1上，而是与所述自动扫描血管的全自动注射装置1分离。The first driving device 10 includes a syringe 11, a telescopic device 12, and an angle adjusting device 13. The syringe 11 is connected to the telescopic device 12 and the angle adjusting device 13. The syringe 11 is also connected to the drug solution container 3. The drug solution container 3 is a hanging bottle for the drug solution. In general, the position of the liquid medicine container 3 placed above the syringe 11 is higher than a certain predetermined height (for example, one meter). It should be noted that the chemical solution container 3 is not attached to the fully automatic injection device 1 for automatically scanning blood vessels, but is separated from the automatic injection device 1 for automatically scanning blood vessels.
如图2所示，图2是本实用新型自动扫描血管的全自动注射装置中注射器的较佳实施例的平面结构示意图。As shown in FIG. 2, FIG. 2 is a schematic plan view showing a preferred embodiment of the syringe in the automatic injection device for automatically scanning blood vessels of the present invention.
所述注射器11包括针头110、针筒111、挡板112及输液软管113。所述针头110固定于所述针筒111的前端，所述输液软管113穿过所述针筒111内部连接到所述针头110，进一步地，所述输液软管113还与所述药液容器3连接。所述针筒111的末端设置有挡板112，通过推动所述挡板112可以移动所述针筒111，进而移动所述针头110。需要说明的是，所述针头110、输液软管113与所述针筒111之间为可拆卸式的结构。也就是说，所述针头110及所述输液软管113可以从所述针筒111中取出，以便于更换。The syringe 11 includes a needle 110, a syringe 111, a baffle 112, and an infusion hose 113. The needle 110 is fixed to the front end of the syringe 111, and the infusion hose 113 is connected to the needle 110 through the inside of the syringe 111. Further, the infusion hose 113 is further connected to the liquid medicine The container 3 is connected. The end of the barrel 111 is provided with a baffle 112, which can be moved by pushing the baffle 112 to move the needle 110. It should be noted that the needle 110, the infusion hose 113 and the syringe 111 have a detachable structure. That is, the needle 110 and the infusion hose 113 can be removed from the syringe 111 for replacement.
所述针头110用于刺破所需注射的静脉血管并进入该静脉血管。The needle 110 is used to puncture a venous blood vessel to be injected and into the venous blood vessel.
所述针筒111用于固定所述针头110，当所述针筒111移动时，所述针头110也移动。换句话说，通过移动所述针筒111，使得所述针头110刺破所需注射的静脉血管并进入所述静脉血管。所述针筒111为圆柱形的形状。The syringe 111 is used to fix the needle 110, and when the syringe 111 moves, the needle 110 also moves. In other words, by moving the syringe 111, the needle 110 pierces the venous blood vessel to be injected and enters the venous blood vessel. The syringe 111 has a cylindrical shape.
所述输液软管113用于将药液容器3中的药液通过所述针头3注射到所述静脉血管中。The infusion hose 113 is for injecting the drug solution in the drug solution container 3 into the vein vessel through the needle 3.
如图3所示，图3是本实用新型自动扫描血管的全自动注射装置较佳实施例的平面结构示意图。As shown in FIG. 3, FIG. 3 is a schematic plan view showing a preferred embodiment of the automatic injection device for automatically scanning blood vessels of the present invention.
所述第一驱动装置10设置于滑轨60上，所述第一驱动装置10中内置用于使第一驱动装置10滑动的电机，该电机可以驱动所述第一驱动装置10在所述滑轨60上滑动。所述滑轨60中间为镂空带，当所述自动扫描血管的全自动注射装置1放置于人体部位上时，从所述镂空带可以接触到人体部位的皮肤表面。在其它实施例中，可以不需要所述滑轨60，在此种情况下，所述第一驱动装置10设置于所述自动扫描血管的全自动注射装置1的一个固定位置。The first driving device 10 is disposed on the sliding rail 60. The first driving device 10 has a motor for sliding the first driving device 10, and the motor can drive the first driving device 10 in the sliding Slide on rail 60. The middle of the slide rail 60 is a hollow belt. When the automatic injection device 1 for automatically scanning a blood vessel is placed on a human body part, the skin surface of the human body part can be contacted from the hollow belt. In other embodiments, the slide rail 60 may not be required, in which case the first drive device 10 is disposed at a fixed position of the fully automatic injection device 1 of the auto-scanning blood vessel.
进一步地，如图4所示，图4是本实用新型自动扫描血管的全自动注射装置中第一驱动装置较佳实施例的结构示意图。Further, as shown in FIG. 4, FIG. 4 is a schematic structural view of a preferred embodiment of the first driving device in the automatic injection device for automatically scanning blood vessels of the present invention.
所述第一驱动装置10包括注射器11、伸缩装置12及角度调整装置13。所述伸缩装置12与所述挡板112连接，当所述伸缩装置12伸缩时，所述注射器11也伸缩（例如，向前移动或向后移动）。所述针筒111还架设于所述角度调整装置13上，该角度调整装置13可以上下伸缩，以调整针筒111与水平面（一般指人体部位的平面）的倾斜角度（例如，调整所述针筒111与水平面至15度）。进一步地，如图5所示，所述调整装置13上端设置圆形凹槽130，所述圆形凹槽130内架设所述针筒111，所述针筒111可以在所述圆形凹槽130内移动。所述角度调整装置13还可以旋转（顺时针旋转或逆时针旋转），以带动所述圆形凹槽130旋转，从而调整针筒111的方向（即所述注射器11的针头110的注射方向）。The first driving device 10 includes a syringe 11, a telescopic device 12, and an angle adjusting device 13. The telescopic device 12 is coupled to the baffle 112, and when the telescopic device 12 is telescopic, the syringe 11 is also telescopic (eg, moving forward or backward). The needle cylinder 111 is also mounted on the angle adjusting device 13, and the angle adjusting device 13 can be stretched up and down to adjust the tilt angle of the syringe 111 and the horizontal plane (generally the plane of the human body part) (for example, adjusting the needle) The barrel 111 is horizontal to 15 degrees). Further, as shown in FIG. 5, a circular groove 130 is disposed at an upper end of the adjusting device 13, and the syringe 111 is disposed in the circular groove 130, and the cylinder 111 may be in the circular groove. Move within 130. The angle adjusting device 13 can also rotate (clockwise or counterclockwise) to drive the circular groove 130 to rotate, thereby adjusting the direction of the syringe 111 (ie, the injection direction of the needle 110 of the syringe 11). .
进一步地，结合图1所示，在所述第二驱动装置20中，所述第二驱动装置20包括血管扫描仪22及伤口保护装置24。如图3及图6所示，所述第二驱动装置20设置于滑轨60上，所述第二驱动装置20中内置用于使第二驱动装置20滑动的电机，该电机可以驱动所述第二驱动装置20在所述滑轨60上滑动。所述滑轨60中间为镂空带，当所述自动扫描血管的全自动注射装置1放置于人体部位上时，从所述镂空带可以接触到人体部位的皮肤表面。在其它实施例中，可以不需要所述滑轨60，在此种情况下，所述第二驱动装置20设置于所述自动扫描血管的全自动注射装置1的一个固定位置。Further, in conjunction with FIG. 1, in the second driving device 20, the second driving device 20 includes a blood vessel scanner 22 and a wound protection device 24. As shown in FIG. 3 and FIG. 6 , the second driving device 20 is disposed on the sliding rail 60. The second driving device 20 has a motor for sliding the second driving device 20, and the motor can drive the motor. The second drive unit 20 slides on the slide rail 60. The middle of the slide rail 60 is a hollow belt. When the automatic injection device 1 for automatically scanning a blood vessel is placed on a human body part, the skin surface of the human body part can be contacted from the hollow belt. In other embodiments, the slide rail 60 may not be required, in which case the second drive device 20 is disposed at a fixed position of the fully automatic injection device 1 of the auto-scanning blood vessel.
所述血管扫描仪22用于对人体部位扫描，以获得人体部位内静脉血管的三维图像。所述静脉血管的三维图像关联有静脉血管的三维坐标信息。进一步地，所述血管扫描仪22还可以对所述针头110扫描以得到所述针头110的三维坐标。在本实施例中，所述血管扫描仪22可以是，但不限于，3D影像超声扫描仪、彩色超声诊断仪（例如，三维B超）或红外光血管扫描仪等设备。此外，若所述血管扫描仪22体积庞大，可以将所述血管扫描仪22的扫描器（未示出）安装于所述第二驱动装置20上，而所述血管扫描仪22的主机设备（未示出）放置于远离所述自动扫描血管的全自动注射装置1的位置，所述血管扫描仪22的主机设备通过数据线（例如，USB线）与所述扫描器及控制器2连接。The blood vessel scanner 22 is configured to scan a human body part to obtain a three-dimensional image of a venous blood vessel in a human body part. The three-dimensional image of the venous blood vessel is associated with three-dimensional coordinate information of the venous blood vessel. Further, the blood vessel scanner 22 can also scan the needle 110 to obtain the three-dimensional coordinates of the needle 110. In this embodiment, the blood vessel scanner 22 may be, but not limited to, a 3D image ultrasound scanner, a color ultrasound diagnostic apparatus (for example, a three-dimensional B-mode ultrasound), or an infrared light vessel scanner. Further, if the blood vessel scanner 22 is bulky, a scanner (not shown) of the blood vessel scanner 22 can be mounted on the second driving device 20, and the host device of the blood vessel scanner 22 ( Not shown) is placed at a position away from the fully automatic injection device 1 of the auto-scanning blood vessel, the host device of which is connected to the scanner and controller 2 via a data line (eg, a USB cable).
所述伤口保护装置24用于当把所述针头110从静脉血管中拔出时，移动所述伤口保护装置24至所述针头110刺破所述静脉血管时的伤口位置，以对伤口止血及消炎。在本实施例中，所述伤口保护装置24上包括消毒后的医用棉球及医用胶带。The wound protection device 24 is configured to move the wound protection device 24 to the wound position when the needle 110 pierces the venous blood vessel when the needle 110 is pulled out from the venous blood vessel to hemostasis the wound and Anti-inflammatory. In this embodiment, the wound protection device 24 includes a sterilized medical cotton ball and a medical tape.
所述自动扫描血管的全自动注射装置1放置于人体部位（例如，手臂或手腕等人体部位）上以通过所述血管扫描仪22自动寻找人体组织中的静脉血管，并自动将注射器11的针头***到所述静脉血管中，之后将所述药液容器3中的药液注射到所述静脉血管中。The fully automatic injection device 1 for automatically scanning a blood vessel is placed on a human body part (for example, a human body part such as an arm or a wrist) to automatically search for a venous blood vessel in the human tissue through the blood vessel scanner 22, and automatically put the needle of the syringe 11 Inserted into the venous blood vessel, and then the medical fluid in the medical solution container 3 is injected into the venous blood vessel.
进一步地，为了更明显地在所述三维图像中分辨出静脉血管，在本实施例中，当所述自动扫描血管的全自动注射装置1佩戴于人体部位（例如，手掌、手臂或手腕处）上时，所述捆绑装置30捆绑所述人体部位，所述控制器用于控制所述捆绑装置以减缓所述人体部位中静脉血管内血液的流通，从而使得所述静脉血管凸起，如此一来，在所述三维图像中能够更明显地分辨出静脉血管。所述捆绑装置30为一封闭式圆圈 ，该捆绑装置30的可以佩戴于手臂或手腕上，并通过调节所述封闭式圆圈的半径来控制所述捆绑装置30的松紧度。在本实施例中，所述捆绑装置30可以是，但不限于，封闭式橡皮筋、封闭式绷带、封闭式充气圈等。所述控制器2控制所述捆绑装置30，以控制所述捆绑装置30的松紧度。当所述针头110进入所述静脉血管后，所述控制器2控制所述捆绑装置30，以停止对所述人体部位捆绑（即增大所述圆圈的半径）。Further, in order to more clearly distinguish the venous blood vessel in the three-dimensional image, in the present embodiment, when the automatic injection device 1 for automatically scanning a blood vessel is worn on a human body part (for example, a palm, an arm or a wrist) In the upper case, the binding device 30 binds the human body part, and the controller is configured to control the binding device to slow the circulation of blood in the venous blood vessel in the human body part, thereby causing the venous blood vessel to bulge, thus The venous blood vessels can be more clearly distinguished in the three-dimensional image. The binding device 30 is a closed circle The binding device 30 can be worn on the arm or wrist and the tightness of the binding device 30 can be controlled by adjusting the radius of the closed circle. In the present embodiment, the binding device 30 may be, but not limited to, a closed rubber band, a closed bandage, a closed inflatable ring, or the like. The controller 2 controls the binding device 30 to control the tightness of the binding device 30. When the needle 110 enters the venous blood vessel, the controller 2 controls the binding device 30 to stop bundling the body part (i.e., increasing the radius of the circle).
此外，如图1所示，当所述自动扫描血管的全自动注射装置1佩戴于人体部位（手腕）上时，所述自动扫描血管的全自动注射装置1自动完成注射。Further, as shown in FIG. 1, when the fully automatic injection device 1 for automatically scanning a blood vessel is worn on a human body part (wrist), the fully automatic injection device 1 for automatically scanning a blood vessel automatically completes the injection.
具体地说，所述控制器2控制所述血管扫描仪22以获得人体部位（例如，手背）内静脉血管的三维图像。所述静脉血管的三维图像还关联有静脉血管的三维坐标信息。具体地说，所述血管扫描仪22在所述滑轨60中移动，在扫描所述镂空带中人体部位的静脉血管。如图7所示，经过所述血管扫描仪22扫描后，所述人体部位4中包括三条静脉血管400，其中，静脉血管与静脉血管有交叉点401（图中有两个交叉点401）。需要说明的是，可以通过血管中血液的流向判断是否为静脉血管。Specifically, the controller 2 controls the blood vessel scanner 22 to obtain a three-dimensional image of the internal venous blood vessels of a human body part (for example, the back of the hand). The three-dimensional image of the venous blood vessel is also associated with three-dimensional coordinate information of the venous blood vessel. Specifically, the blood vessel scanner 22 moves in the slide rail 60 to scan a vein of a human body part in the hollow belt. As shown in FIG. 7, after scanning by the blood vessel scanner 22, the human body part 4 includes three venous blood vessels 400, wherein the venous blood vessel has an intersection point 401 with the venous blood vessel (there are two intersections 401 in the figure). It should be noted that it is possible to determine whether or not the vein is a blood vessel by the flow of blood in the blood vessel.
所述控制器2根据所述静脉血管的三维图像确定注射血管及该注射血管的注射位置。具体地说，将最粗的静脉血管作为注射血管。并在注射血管中可以选取一段血管，该选取的一段血管的距离大于或等于所述针头110的长度，且该选取的一段血管中没有交叉点，并将该选取的一段血管的起始端作为注射位置。The controller 2 determines an injection blood vessel and an injection position of the injection blood vessel based on the three-dimensional image of the venous blood vessel. Specifically, the thickest venous blood vessel is used as an injection blood vessel. And selecting a blood vessel in the injected blood vessel, the distance of the selected blood vessel is greater than or equal to the length of the needle 110, and there is no intersection point in the selected blood vessel, and the starting end of the selected blood vessel is injected as an injection. position.
所述控制器2控制所述角度调整装置13以根据所述注射血管的走向调整所述针头110的注射方向。具体地说，所述注射方向为所述针头110在水平面的方向，如图8所示，所述针头110的水平面方向与所述注射血管的走向一致。The controller 2 controls the angle adjustment device 13 to adjust the injection direction of the needle 110 in accordance with the direction of the injection blood vessel. Specifically, the injection direction is the direction of the needle 110 in the horizontal plane, and as shown in Fig. 8, the horizontal direction of the needle 110 coincides with the direction of the injection blood vessel.
所述控制器2控制所述血管扫描仪22对所述注射器11的针头110扫描，以获得该针头110的初始三维坐标。The controller 2 controls the blood vessel scanner 22 to scan the needle 110 of the syringe 11 to obtain initial three-dimensional coordinates of the needle 110.
所述控制器2控制所述伸缩装置12将所述针头110从所述初始三维坐标移动至该注射血管的注射位置，并继续推进所述针头110移动预设距离（例如，1厘米至2厘米之间的一个距离）以将将所述针头110注射到该注射血管中，从而将所述药液容器3中的药液注射到所述注射血管中。The controller 2 controls the telescopic device 12 to move the needle 110 from the initial three-dimensional coordinates to an injection position of the injection blood vessel, and continues to advance the needle 110 by a predetermined distance (for example, 1 cm to 2 cm) A distance between them is to inject the needle 110 into the injection blood vessel, thereby injecting the drug solution in the drug solution container 3 into the injection blood vessel.
当所述药液容器3中的药液已经注射完成时，所述控制器2控制所述伸缩装置12以从所述注射血管中拔出所述针头110。When the medical liquid in the medical solution container 3 has been injected, the controller 2 controls the expansion device 12 to pull the needle 110 out of the injection blood vessel.
所述控制器2控制所述第二驱动装置20中的伤口保护装置24贴合到所述注射血管的注射位置以保护伤口。The controller 2 controls the wound protection device 24 in the second drive device 20 to be attached to the injection site of the injection vessel to protect the wound.
此外，所述输入装置40用于输入相关参数，以利于所述控制器2控制所述伸缩装置12、角度调整装置13、血管扫描仪22及伤口保护装置24。具体地说，用户在所述输入装置40中输入用于控制所述伸缩装置12的推进速度（例如，五厘米/秒）、用于控制所述角度调整装置13的注射角度（所述注射角度为针头与人体部位表面的倾斜角度，例如，15度到30度范围内选定的一个注射角度）。In addition, the input device 40 is configured to input related parameters to facilitate the controller 2 to control the telescopic device 12, the angle adjusting device 13, the blood vessel scanner 22, and the wound protection device 24. Specifically, the user inputs, in the input device 40, a propulsion speed (for example, five centimeters per second) for controlling the telescopic device 12, and an injection angle for controlling the angle adjusting device 13 (the injection angle) The angle of inclination of the needle to the surface of the body part, for example, an injection angle selected within a range of 15 to 30 degrees).
所述显示装置50用于显示所述血管扫描仪22扫描所获得的静脉血管的三维图像。在其它实施例中，所述显示装置50可以远离所述自动扫描血管的全自动注射装置1。具体地说，通过一条图像数据线（例如，HDMI线、VGA线等任意合适的图像数据线）与所述自动扫描血管的全自动注射装置1中的控制器2连接，此时，所述显示装置50可以与所述自动扫描血管的全自动注射装置1分离。The display device 50 is configured to display a three-dimensional image of the obtained venous blood vessel by the blood vessel scanner 22. In other embodiments, the display device 50 can be remote from the fully automatic injection device 1 that automatically scans blood vessels. Specifically, an image data line (for example, an HDMI line, a VGA line, or the like, any suitable image data line) is connected to the controller 2 in the fully automatic injection device 1 for automatically scanning blood vessels, at this time, the display The device 50 can be separated from the fully automatic injection device 1 that automatically scans blood vessels.
以上仅为本实用新型的优选实施例，并非因此限制本实用新型的专利范围，凡是利用本实用新型说明书及附图内容所作的等效结构或等效功能变换，或直接或间接运用在其他相关的技术领域，均同理包括在本实用新型的专利保护范围内。The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the patents of the present invention. Any equivalent structure or equivalent function transformation made by the description of the present invention and the contents of the drawings may be directly or indirectly applied to other related The technical fields are all included in the scope of patent protection of the present invention.

Claims (15)

  1. 一种自动扫描血管的全自动注射装置，其特征在于，所述自动扫描血管的全自动注射装置包括控制器、第一驱动装置及第二驱动装置，所述控制器分别与所述第一驱动装置及第二驱动装置连接； A fully automatic injection device for automatically scanning a blood vessel, characterized in that the automatic injection device for automatically scanning a blood vessel comprises a controller, a first driving device and a second driving device, the controller and the first driving respectively Connecting the device and the second driving device;
    所述第一驱动装置包括注射器、伸缩装置及角度调整装置，所述注射器与所述伸缩装置及角度调整装置连接，所述注射器还与所述药液容器连接；The first driving device includes a syringe, a telescopic device and an angle adjusting device, the syringe is connected to the telescopic device and an angle adjusting device, and the syringe is further connected to the liquid medicine container;
    所述第二驱动装置包括血管扫描仪；The second driving device includes a blood vessel scanner;
    所述自动扫描血管的全自动注射装置上设置一条滑轨，该滑轨上设置所述第二驱动装置；The automatic injection device for automatically scanning blood vessels is provided with a slide rail on which the second driving device is disposed;
    所述第二驱动装置在滑轨上滑动以带动所述血管诊断仪移动；The second driving device slides on the slide rail to drive the blood vessel diagnostic device to move;
    所述血管诊断仪对人体部位扫描以得到人体部位内血管的三维图像，及对所述注射器中的针头扫描以得到所述针头的初始三维坐标；The blood vessel diagnostic apparatus scans a human body part to obtain a three-dimensional image of a blood vessel in a human body part, and scans a needle in the syringe to obtain an initial three-dimensional coordinate of the needle;
    所述控制器根据所述血管的三维图像确定注射血管及该注射血管的注射位置；The controller determines an injection blood vessel and an injection position of the injection blood vessel according to the three-dimensional image of the blood vessel;
    所述角度调整装置根据所述注射血管的走向调整所述注射器的针头的注射方向；及The angle adjusting device adjusts an injection direction of a needle of the syringe according to a direction of the injection blood vessel; and
    所述伸缩装置将所述针头从所述初始三维坐标移动至该注射血管的注射位置，以将所述针头注射到该注射血管中。The telescoping device moves the needle from the initial three-dimensional coordinates to an injection position of the injection vessel to inject the needle into the injection vessel.
  2. 如权利要求1所述的自动扫描血管的全自动注射装置，其特征在于，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。The automatic injection device for automatically scanning a blood vessel according to claim 1, wherein the syringe further comprises a syringe, a baffle, and an infusion hose, wherein the needle is fixed to a front end of the syringe. An infusion hose is connected to the needle through the syringe, the infusion hose is also connected to a liquid medicine container, the end of the syringe is provided with the baffle, the telescopic device and the baffle connection.
  3. 如权利要求1所述的自动扫描血管的全自动注射装置，其特征在于，所述自动扫描血管的全自动注射装置上还设置有捆绑装置，该捆绑装置与所述控制器连接，当所述自动扫描血管的全自动注射装置佩戴于人体部位上时，所述捆绑装置捆绑在所述人体部位以使所述人体部位中的静脉血管凸起。A fully automatic injection device for automatically scanning a blood vessel according to claim 1, wherein said automatic scanning device for automatically scanning blood vessels is further provided with a binding device, said binding device being coupled to said controller when said When the fully automatic injection device that automatically scans a blood vessel is worn on a human body part, the binding device is tied to the human body part to bulge a venous blood vessel in the human body part.
  4. 如权利要求3所述的自动扫描血管的全自动注射装置，其特征在于，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。The automatic injection device for automatically scanning blood vessels according to claim 3, wherein the syringe further comprises a syringe, a baffle, and an infusion hose, wherein the needle is fixed to the front end of the syringe. An infusion hose is connected to the needle through the syringe, the infusion hose is also connected to a liquid medicine container, the end of the syringe is provided with the baffle, the telescopic device and the baffle connection.
  5. 如权利要求3所述的自动扫描血管的全自动注射装置，其特征在于，所述捆绑装置是一种封闭式橡皮筋、封闭式绷带或封闭式充气圈。 A fully automatic injection device for automatically scanning a blood vessel according to claim 3, wherein said binding means is a closed rubber band, a closed bandage or a closed type inflatable ring.
  6. 如权利要求5所述的自动扫描血管的全自动注射装置，其特征在于，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。The automatic injection device for automatically scanning blood vessels according to claim 5, wherein the syringe further comprises a syringe, a baffle, and an infusion hose, wherein the needle is fixed to the front end of the syringe. An infusion hose is connected to the needle through the syringe, the infusion hose is also connected to a liquid medicine container, the end of the syringe is provided with the baffle, the telescopic device and the baffle connection.
  7. 如权利要求1所述的自动扫描血管的全自动注射装置，其特征在于，所述自动扫描血管的全自动注射装置包括输入装置，该输入装置与所述控制器连接，该输入装置用于设置参数。 A fully automatic injection device for automatically scanning a blood vessel according to claim 1, wherein said fully automatic injection device for automatically scanning a blood vessel comprises an input device connected to said controller for setting parameter.
  8. 如权利要求7所述的自动扫描血管的全自动注射装置，其特征在于，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。The automatic injection device for automatically scanning blood vessels according to claim 7, wherein the syringe further comprises a syringe, a baffle, and an infusion hose, wherein the needle is fixed to the front end of the syringe. An infusion hose is connected to the needle through the syringe, the infusion hose is also connected to a liquid medicine container, the end of the syringe is provided with the baffle, the telescopic device and the baffle connection.
  9. 如权利要求1所述的自动扫描血管的全自动注射装置，其特征在于，所述自动扫描血管的全自动注射装置包括显示装置，该显示装置与所述控制器连接，该显示装置用于显示所述血管扫描仪扫描所获得的静脉血管的三维图像。A fully automatic injection device for automatically scanning a blood vessel according to claim 1, wherein said automatic injection device for automatically scanning a blood vessel comprises a display device, said display device being connected to said controller for displaying The blood vessel scanner scans a three-dimensional image of the obtained venous blood vessel.
  10. 如权利要求9所述的自动扫描血管的全自动注射装置，其特征在于，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。The automatic injection device for automatically scanning blood vessels according to claim 9, wherein the syringe further comprises a syringe, a baffle, and an infusion hose, wherein the needle is fixed to the front end of the syringe. An infusion hose is connected to the needle through the syringe, the infusion hose is also connected to a liquid medicine container, the end of the syringe is provided with the baffle, the telescopic device and the baffle connection.
  11. 如权利要求1所述的自动扫描血管的全自动注射装置，其特征在于，所述第二驱动装置包括一个用于使该第二驱动装置滑动的电机。A fully automatic injection device for automatically scanning a blood vessel according to claim 1, wherein said second driving means includes a motor for sliding said second driving means.
  12. 如权利要求1所述的自动扫描血管的全自动注射装置，其特征在于，所述第二驱动装置包括伤口保护装置，当所述针头从静脉血管中拔出时，所述伤口保护装置用于对伤口止血及消炎。A fully automatic injection device for automatically scanning blood vessels according to claim 1, wherein said second driving means comprises a wound protection device for said needle protection device when said needle is withdrawn from a venous blood vessel Stop bleeding and reduce inflammation on the wound.
  13. 如权利要求12所述的自动扫描血管的全自动注射装置，其特征在于，所述注射器还包括针筒、挡板、输液软管，其中，所述针头固定于所述针筒的前端，所述输液软管穿过所述针筒连接到所述针头，所述输液软管还与药液容器连接，所述针筒的末端设置有所述挡板，所述伸缩装置与所述挡板连接。The automatic injection device for automatically scanning blood vessels according to claim 12, wherein the syringe further comprises a syringe, a baffle, and an infusion hose, wherein the needle is fixed to the front end of the syringe. An infusion hose is connected to the needle through the syringe, the infusion hose is also connected to a liquid medicine container, the end of the syringe is provided with the baffle, the telescopic device and the baffle connection.
  14. 如权利要求13所述的自动扫描血管的全自动注射装置，其特征在于，所述针头与所述针筒之间为可拆卸式的结构，以及所述输液软管与所述针筒之间为可拆卸式的结构。A fully automatic injection device for automatically scanning a blood vessel according to claim 13, wherein a detachable structure between the needle and the syringe, and between the infusion hose and the syringe It is a detachable structure.
  15. 如权利要求13所述的自动扫描血管的全自动注射装置，其特征在于，所述针筒架设于所述角度调整装置上端的圆形凹槽，所述角度调整装置旋转以带动所述圆形凹槽旋转以调整所述注射器的针头的注射方向。The automatic injection device for automatically scanning a blood vessel according to claim 13, wherein the syringe is mounted on a circular groove at an upper end of the angle adjusting device, and the angle adjusting device rotates to drive the circular shape. The groove rotates to adjust the direction of injection of the needle of the syringe.
PCT/CN2015/098622 2015-10-21 2015-12-24 Automatic blood vessel scanning fully automatic injection apparatus WO2017067057A1 (en)

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