CN109620369A - A kind of nerve block anesthesia robot - Google Patents
A kind of nerve block anesthesia robot Download PDFInfo
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- CN109620369A CN109620369A CN201910122746.2A CN201910122746A CN109620369A CN 109620369 A CN109620369 A CN 109620369A CN 201910122746 A CN201910122746 A CN 201910122746A CN 109620369 A CN109620369 A CN 109620369A
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- mechanical arm
- nerve block
- block anesthesia
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3401—Puncturing needles for the peridural or subarachnoid space or the plexus, e.g. for anaesthesia
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
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- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Pathology (AREA)
- Robotics (AREA)
- Anesthesiology (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The embodiment of the invention discloses a kind of nerve block anesthesia robots, including control system, mechanical arm, Vltrasonic device, display device and automatic injection system, Vltrasonic device to install on the robotic arm.Vltrasonic device obtains the medical ultrasonic image of tissue and is supplied to display device, is received by display device and shows medical ultrasonic image；Control system sends move to mechanical arm according to the mobile instruction of input, so that mechanical arm is according to the move campaign；Meanwhile control system indicates to send injection instruction to automatic injection system according to the injection of input, to automatically inject system according to injection instruction operation syringe pump and to push pin, executes injection operation.It can be seen that, the accurate positioning of puncture position is realized using Vltrasonic device and display device, also, is operated puncture to designated position of pushing pin using mechanical arm and automatic injection system and be administered, also the case where effectively local anesthesia capable of being avoided to be poisoned, and then improve the safety of nerve block anesthesia operation.
Description
This application claims in the submission Patent Office of the People's Republic of China on the 10th of August in 2018, application No. is 201810910709.3, invention names
This is hereby incorporated by reference in a kind of referred to as priority of the Chinese patent application of " nerve block anesthesia robot ", entire contents
In application.
Technical field
The present invention relates to the field of medical instrument technology, more particularly to a kind of nerve block anesthesia robot.
Background technique
It is low, postoperative extensive that nerve block anesthesia is fast with drug removing, physiological function influences small, post-surgical infection risk
The advantages such as fast again, therefore, nerve block anesthesia technology can provide anesthesia and postoperative analgesia in satisfied art both for patient,
It can be avoided influence of other anesthesia methods to blood stream of patients's dynamics and respiratory function again.Based on these advantages, nerve block
It anaesthetizes and has a wide range of applications in all kinds of operations for various people.
During nerve block anesthesia, it is thus necessary to determine that puncture needle patient's body puncture position, to make to puncture
Needle is administered in the case where reaching puncture position.In order to enable puncture position is as far as possible close to neuron to reduce dosage and make
Nerve block effect is more preferable, and in traditional nerve block anesthesia operation, doctor needs to operate puncture needle in patient's body, directly
Patient's paresthesia or puncture needle is caused to wear out " the breakthrough that cervacoria Shi doctor experiences when touching patients' neural to puncture needle
Sense " or " fall through sense ", so that it is determined that puncture position out.But since the puncture needle of doctor's operation is raw by mood, operating technology
The influence of patients' oneself factors such as influence and the ob esity of doctors' oneself factors such as degree, physiological status is dredged, puncture needle is often
Be difficult to find puncture position accurately, peripheral nerve injury undesirable so as to cause anaesthetic effect even anaesthetic toxic reaction the problems such as, and
And it is also easy to cause neurotrosis or Neuroinflammation, in some instances it may even be possible to lead to or aggravate Alzheimer disease.
Summary of the invention
Technical problems to be solved in this application are to provide a kind of nerve block anesthesia robot, so that nerve block
Puncture needle can find puncture position accurately in anesthesia surgery, to improve anaesthetic effect and mitigate undesirable anesthesia reaction.
The embodiment of the present application provides a kind of nerve block anesthesia robot, including control system, mechanical arm, ultrasound dress
Set, display device and automatic injection system；The Vltrasonic device is mounted on the mechanical arm；
Wherein, the Vltrasonic device, for obtaining the medical ultrasonic image of tissue and being supplied to the display device；
The display device, for receiving and showing the medical ultrasonic image；
The control system sends move to the mechanical arm for the mobile instruction according to input, according to input
Injection indicate to the automatic injection system send injection instruction；
The mechanical arm, for receiving the move and according to the move campaign；
Automatic injection system, for receiving the injection instruction and instructing operation syringe pump according to the injection and be mounted on
Pushing pin on the mechanical arm instructs corresponding injection operation to execute the injection.
In some possible embodiments, the move, for triggering the drive of each joint on the mechanical arm
Dynamic device is acted, so that the manipulator motion is to designated position.
In some possible embodiments, the injection instruction, pushes away for triggering the automatic injection system by described
Needle, which is advanced to specified puncture position and controls the syringe pump, injects anaesthetic according to prescribed dose.
In some possible embodiments, the display device is also used to show the medicine of nerve block anesthesia process
Teaching image.
In some possible embodiments, the display device includes at least two different display screens, wherein one
For display screen for showing the medical ultrasonic image, another display screen is used to show the medicine of the nerve block anesthesia process
Image.
In some possible embodiments, the Vltrasonic device is removably mounted on the mechanical arm,
Described push pin is removably mounted on the mechanical arm.
It in some possible embodiments, further include rack, the control system is built in the rack, the machine
Tool arm and the display device are mounted on the rack.
In some possible embodiments, the syringe pump is mounted in the rack.
In some possible embodiments, the automatic injection system includes pushing pin to adjust device, the adjustment of pushing pin
Device is used to adjust the position pushed pin and angle, with the puncture position that can be advanced to of pushing pin described in adjustment.
In some possible embodiments, described push pin adjusts device and includes arc-shaped rail, linear guide and be used for
The fixed structure pushed pin described in fixed installation, the linear guide are in the arc-shaped rail radially, and the straight line is led
Rail and the fixed structure can be slided along the arc-shaped rail, and the fixed structure can be slided along the linear guide.
In the embodiment of the present application, nerve block anesthesia robot includes control system, mechanical arm, Vltrasonic device, shows
Showing device and automatic injection system, also, Vltrasonic device is mounted on the mechanical arm.Wherein, the available human body of Vltrasonic device
The medical ultrasonic image of tissue is simultaneously supplied to display device, receives the medical ultrasonic image of Vltrasonic device offer simultaneously by display device
It is shown；Control system can send move to mechanical arm according to the mobile instruction of input, in order to mechanical arm
Receive the move and according to the move campaign；Meanwhile control system can also be indicated according to the injection of input
To the transmission injection instruction of the system of automatic injection, injection instruction is received and according to injection instruction behaviour in order to automatically inject system
Make syringe pump and installation pushing pin on the robotic arm, executes the injection and instruct corresponding injection operation.As it can be seen that utilizing Vltrasonic device
It can enable the inside of human body tissue of Anesthetist patient visible in detail with display device, facilitate Anesthetist couple
The accurate positioning of puncture position, also, operate puncture to designated position of pushing pin using mechanical arm and automatic injection system and carry out
Administration, can not only reduce the risk for leading to nerve damage because of Anesthetist's oneself factor, moreover, for giving to the greatest extent
The dosage of medicine is also able to achieve accurate regulation, in the case where guaranteeing good anaesthetic effect, also can effectively avoid to drug overdose
And the case where causing local anesthesia to be poisoned, and then improve the safety of nerve block anesthesia operation.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations as described in this application
Example, for those of ordinary skill in the art, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of composed structure schematic diagram of nerve block anesthesia robot in the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of nerve block anesthesia robot in the embodiment of the present invention；
Fig. 3 is to be connected to the structural schematic diagram that pushing pin on mechanical arm 104 adjusts device in the embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of nerve block anesthesia robot in the embodiment of the present invention.
Specific embodiment
Inventor it has been investigated that, in existing nerve block anesthesia operation, usually puncture needle is pierced manually by doctor
Patient is caused to generate paresthesia when entering patient's body, and touching nerve according to puncture needle, or according to being that puncture needle wears out cervacoria
Shi doctor feels " breaking through sense " or " fall through sense ", to determine puncture position, in order to when puncture needle reaches puncture position
It is administered.In practical application, doctor generally attempts to puncture needle is close as far as possible when carrying out nerve block anesthesia operation
Nerve, to reach better anaesthetic effect, still, in the process, doctor inevitably will receive own self emotion (such as anxiety etc.),
The not familiar degree of operating technology, doctor itself doctors' oneself factor such as physiological status (such as fatigue, attention not enough collect medium)
It influences, meanwhile, the constitution of ob esity will also result in influence to the puncture procedure of doctor, and this adds increased patient peripheral's nerves
Impaired risk, moreover, but also doctor is difficult to be accurately positioned out the dosage of puncture position and control administration, and then may
Cause anaesthetic effect poor, even causes local anesthesia to be poisoned and cause sudden arrest of heart beat, cause the generation of corresponding complication, this
The safety for allowing for existing nerve block anesthesia operation is lower.
To solve the above-mentioned problems, the embodiment of the present application provides a kind of nerve block anesthesia robot, so that in mind
Through block anesthesia perform the operation in puncture needle can find puncture position accurately so that can also be improved while improving anaesthetic effect
The safety of nerve block anesthesia operation.Specifically, the nerve block anesthesia robot includes control system, mechanical arm, surpasses
Acoustic device, display device and automatic injection system, also, Vltrasonic device is mounted on the mechanical arm.Wherein, Vltrasonic device can be with
It obtains the medical ultrasonic image of tissue and is supplied to display device, the medicine that Vltrasonic device provides is received by display device and is surpassed
Acoustic image is simultaneously shown；Control system can send move to mechanical arm according to the mobile instruction of input, so as to
The move is received in mechanical arm and according to the move campaign；Meanwhile control system can also be according to input
Injection instruction sends injection instruction to automatic injection system, receives injection instruction and according to the note in order to automatically inject system
Instruction operation syringe pump and installation pushing pin on the robotic arm are penetrated, the injection is executed and instructs corresponding injection operation.
As it can be seen that the human body of Anesthetist patient visible in detail can be enabled using Vltrasonic device and display device
Interior tissue is facilitated accurate positioning of the Anesthetist to puncture position, also, is grasped using mechanical arm and automatic injection system
Puncture of pushing pin is administered to designated position, and can not only reduce to the greatest extent leads to mind because of Anesthetist's oneself factor
Through impaired risk, moreover, the dosage for administration is also able to achieve accurate regulation, the case where guaranteeing good anaesthetic effect
Under, the case where causing local anesthesia to be poisoned to drug overdose also can be effectively avoided, and then improve nerve block anesthesia hand
The safety of art.
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation
Example is merely a part but not all of the embodiments of the present application.Based on the embodiment in the application, this field is common
The application protection all should belong in technical staff's all other embodiment obtained without creative efforts
Range.
Refering to fig. 1, Fig. 1 shows a kind of composed structure signal of nerve block anesthesia robot in the embodiment of the present application
Figure, the nerve block anesthesia robot can specifically include Vltrasonic device 101, display device 102, control system 103, mechanical arm
104 and automatic injection system 105.Wherein, Vltrasonic device 101 may be mounted on mechanical arm 104.
Vltrasonic device 101 can use the medical ultrasonic image that ultrasonic imaging technique obtains tissue, and will be acquired
Medical ultrasonic image be supplied to display device 102.Display device 102 can receive Vltrasonic device 101 offer about human body
The medical ultrasonic image of tissue, and the medical ultrasonic image is shown to Anesthetist on a display screen.In this way, Anesthetist is logical
It crosses and observes medical ultrasonic image on the display device 102, so that it may the specific human tissue structure of clear patient's body, thus side
Positioning of the Anesthetist to puncture position.
In some possible application scenes, display device 102 can be also used for the medicine of display nerve block anesthesia process
Image, the detailed process that Current neural block anesthesia can be watched to perform the operation in order to remaining Anesthetist, medical nurse etc..?
In a kind of illustrative specific implementation, which can include at least two different display screens.One of them
Display screen is for showing medical ultrasonic image accessed by Vltrasonic device 101, and another display screen is displayed for this
Medical image.
In a kind of possible embodiment, the display screen in display device 102 is touch display screen, then Anesthetist exists
After orienting puncture position, clicking operation can be executed to the puncture position of Anesthetist's positioning in the touch display screen, by
Clicking operation of the display device 102 based on Anesthetist is determined to be mounted on the specific needs of pushing pin on mechanical arm 104 and is advanced to
Which position is advanced to specified puncture position informing control system 103 in order to which display device 102 can will push pin.
Control system 103 can send move to mechanical arm according to the mobile instruction that Anesthetist inputs, with control
Manipulator motion is to corresponding puncture position.As an example, nerve block anesthesia robot can be as shown in Fig. 2, anesthesia
Doctor can realize by manipulating the controller in Fig. 2 and input mobile instruction into control system 103；Then, control system
The 103 mobile instructions that can be inputted based on Anesthetist are generated control mechanical arm 104 and carry out mobile move, and should
Move is sent in mechanical arm 104, so that mechanical arm 104 can have according to the move campaign received
The driver that body can be each joint on Crush trigger arm 104 is moved, so that mechanical arm 104 can move to finger
Positioning is set, and is also the position that the Vltrasonic device 101 being mounted on mechanical arm 104 needs to carry out ultrasonic listening.In this way, utilizing
Vltrasonic device 101 carries out ultrasonic listening, the doctor of the available tissue to the specified location in the specified location
Ultrasound image is learned, so that Anesthetist can determine according to the medical ultrasonic image observed on the display device 102
The specified puncture position that needs of pushing pin out are advanced to.
It is infused in addition, control system 103 can also indicate to send to automatic injection system according to the injection that Anesthetist inputs
Penetrate instruction.The specific implementation of property as an example, after mechanical arm 104 moves to designated position, Anesthetist can be with
Injection instruction is inputted into control system 103 by controller shown in Fig. 2, it is (following to trigger nerve block anesthesia drug
Abbreviation anaesthetic) injection.Meanwhile Anesthetist can also input nerve block anesthesia medicine to control system 103 by controller
The specific dosage of object.Then, control system 103 can respond injection instruction, and the nerve block anesthesia drug based on input
Specific dosage, generate injection instruction, and by the injection instruction be sent in automatic injection system 105 so that automatic injection
System 105 can instruct operation syringe pump according to the injection and be mounted on mechanical arm 104 after receiving injection instruction
Push pin, execute injection and instruct corresponding injection operation, specifically, automatic injection system 105 can will push pin be advanced to it is specified
Puncture position, and control the dosage that syringe pump is specified according to Anesthetist and inject anaesthetic.In other possible application scenarios
In, the anaesthetic dosage of 105 per injection of automatic injection system may be preset fixed value.
It is noted that pushing pin when automatic injection system 105 injects anaesthetic at the different in-vivo tissue of patient
Into angle and depth can generally also have differences.For example, when injecting anaesthetic at patient's body tissue A, the angle for propulsion of pushing pin
Degree may be in 45 degree of angles with vertical direction, and the depth of propulsion may be 4.5 centimetres, and anaesthetic is injected at patient's body tissue B
When, the angle for propulsion of pushing pin may be in 60 degree of angles with vertical direction, and promoting angle is 2.8 centimetres etc..Therefore, to patient's body
When tissue injection anaesthetic, it is directed to the different in-vivo tissue of patient, the angle and depth for propulsion of pushing pin are also required to be adapted to
The adjustment of property.
In some possible embodiments, automatic injection system may include pushing pin to adjust device, the adjustment dress of pushing pin
Setting, which can be used for, adjusts the position pushed pin and angle, to adjust the puncture position that can be advanced to of pushing pin.In this way, not for patient
With in-vivo tissue, pushing pin adjusts device adjustable push pin and is punctured to specified puncture position at an appropriate angle, with
Convenient for carrying out the injection of anaesthetic at the puncture position.
The specific implementation of property as an example, pushing pin adjusts device specifically and can be structure as shown in Figure 3, should
Pushing pin and adjusting device may include having arc-shaped rail, linear guide and for the fixed structure pushed pin to be fixedly mounted.Wherein, should
Linear guide is in arc guide rail radially, and the linear guide and fixed structure can be slided along arc-shaped rail, fixed knot
Structure can be slided along linear guide.When needing to adjust the angle for propulsion of pushing pin, led by sliding straight on arc-shaped rail
Rail and for the fixed structure pushed pin to be fixedly mounted, can be realized to push pin and promotes the adjustment of angle；It is similar, when needing to adjust
Push pin propulsion position when, by sliding fixed structure in linear guide, can be realized to push pin and promote the adjustment of position.This is pushed away
Needle adjusts device, may be mounted on mechanical arm 104, as shown in Figure 4.
In practical application, Vltrasonic device 101 and pushes pin and can be removably mounted on mechanical arm.In this way,
When need to Vltrasonic device 101 and push pin replaced or safeguarded when, can only disassembly nerve block anesthesia robot on
It needs to change the component perhaps safeguarded and does not have to replacement or safeguard entire nerve block anesthesia robot.
In addition, as shown in Fig. 2, nerve block anesthesia robot can also include rack, wherein control system 103 can be with
It is built in the rack, meanwhile, display device 102 and mechanical arm 104 may be mounted in the rack.In practical application, remove
Except control system 103 can be built in the rack, the syringe pump in automatic injection system also may be mounted at the rack
It is interior.
In the present embodiment, nerve block anesthesia robot includes Vltrasonic device 101, display device 102, control system
103, mechanical arm 104 and automatic injection system 105, also, Vltrasonic device 101 is mounted on 104 on the mechanical arm.Wherein, ultrasonic
The medical ultrasonic image of the available tissue of device 101 is simultaneously supplied to display device 102, is received by display device 102 super
The medical ultrasonic image of the offer of acoustic device 101 is simultaneously shown；Control system 103 can according to input mobile instruction to
Mechanical arm 104 sends move, in order to which mechanical arm 104 receives the move and according to the move campaign；
Meanwhile control system 103 can also indicate to send injection instruction to automatic injection system 105 according to the injection of input, in order to
Automatic injection system 105 receives injection instruction and instructs operation syringe pump according to the injection and be mounted on mechanical arm 104
It pushes pin, executes the injection and instruct corresponding injection operation.As it can be seen that fiber crops can be made using Vltrasonic device 101 and display device 102
Liquor-saturated doctor is capable of the inside of human body tissue of patient visible in detail, facilitates accurate positioning of the Anesthetist to puncture position,
Also, puncture of pushing pin is operated using mechanical arm 104 and automatic injection system 105 to be administered to designated position, it not only can be with
The risk for leading to nerve damage because of Anesthetist's oneself factor is reduced to the greatest extent, moreover, the dosage for administration also can
It realizes accurate regulation, in the case where guaranteeing good anaesthetic effect, also can effectively avoid leading to local fiber crops to drug overdose
The case where medicine is poisoned, and then improve the safety of nerve block anesthesia operation.
As seen through the above description of the embodiments, those skilled in the art can be understood that above-mentioned implementation
All or part of the steps in example method can add the mode of general hardware platform to realize by software.Based on this understanding,
Technical solution of the present invention can be embodied in the form of software products, which can store is situated between in storage
In matter, such as read-only memory (English: read-only memory, ROM)/RAM, magnetic disk, CD etc., including some instructions to
So that a computer equipment (can be the network communication equipments such as personal computer, server, or router) executes
Method described in certain parts of each embodiment of the present invention or embodiment.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Described above sets
Standby and system embodiment is only schematical, wherein module may or may not be object as illustrated by the separation member
Separated in reason, the component shown as module may or may not be physical module, it can and it is in one place,
Or it may be distributed over multiple network units.Some or all of the modules therein can be selected according to the actual needs
It achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are without creative efforts, it can reason
It solves and implements.
The above is only a preferred embodiment of the present invention, it is not intended to limit the scope of the present invention.It should refer to
Out, for those skilled in the art, under the premise of not departing from the present invention, can also make several improvements
And retouching, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (10)
1. a kind of nerve block anesthesia robot, which is characterized in that including control system, mechanical arm, Vltrasonic device, display device
With automatic injection system；The Vltrasonic device is mounted on the mechanical arm；
The Vltrasonic device, for obtaining the medical ultrasonic image of tissue and being supplied to the display device；
The display device, for receiving and showing the medical ultrasonic image；
The control system sends move to the mechanical arm for the mobile instruction according to input, according to the note of input
It penetrates instruction and sends injection instruction to the automatic injection system；
The mechanical arm, for receiving the move and according to the move campaign；
Automatic injection system instructs for receiving the injection instruction and according to the injection and operates syringe pump and be mounted on described
Pushing pin on mechanical arm instructs corresponding injection operation to execute the injection.
2. nerve block anesthesia robot according to claim 1, which is characterized in that the move, for triggering
The driver of each joint is acted on the mechanical arm, so that the manipulator motion is to designated position.
3. nerve block anesthesia robot according to claim 1, which is characterized in that the injection instruction, for triggering
The automatic injection system by it is described push pin to be advanced to specified puncture position and control the syringe pump infused according to prescribed dose
Penetrate anaesthetic.
4. nerve block anesthesia robot according to claim 1, which is characterized in that the display device is also used to show
Show the medical image of nerve block anesthesia process.
5. nerve block anesthesia robot according to claim 4, which is characterized in that the display device includes at least two
A different display screen a, wherein display screen is for showing the medical ultrasonic image, another display screen is for showing institute
State the medical image of nerve block anesthesia process.
6. nerve block anesthesia robot according to claim 1, which is characterized in that the Vltrasonic device is with dismountable
Mode is mounted on the mechanical arm, and described push pin is removably mounted on the mechanical arm.
7. nerve block anesthesia robot according to claim 1, which is characterized in that it further include rack, the control system
System is built in the rack, and the mechanical arm and the display device are mounted on the rack.
8. nerve block anesthesia robot according to claim 7, which is characterized in that the syringe pump is mounted on the machine
In frame.
9. nerve block anesthesia robot according to claim 1, which is characterized in that the automatic injection system includes pushing away
Needle adjusts device, and described push pin adjusts device for adjusting the position pushed pin and angle, to push pin and can be pushed away described in adjustment
The puncture position entered.
10. nerve block anesthesia robot according to claim 9, which is characterized in that described push pin adjusts device and include
Arc-shaped rail, linear guide and for the fixed structure pushed pin to be fixedly mounted, the linear guide is in the circular arc
Radially, the linear guide and the fixed structure can slide shape guide rail along the arc-shaped rail, the fixed structure
It can be slided along the linear guide.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810910709.3A CN108969072A (en) | 2018-08-10 | 2018-08-10 | A kind of nerve block anesthesia robot |
| CN2018109107093 | 2018-08-10 |
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| CN109620369A true CN109620369A (en) | 2019-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810910709.3A Pending CN108969072A (en) | 2018-08-10 | 2018-08-10 | A kind of nerve block anesthesia robot |
| CN201910122746.2A Pending CN109620369A (en) | 2018-08-10 | 2019-02-19 | A kind of nerve block anesthesia robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810910709.3A Pending CN108969072A (en) | 2018-08-10 | 2018-08-10 | A kind of nerve block anesthesia robot |
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| CN110038189A (en) * | 2019-04-23 | 2019-07-23 | 江苏省人民医院（南京医科大学第一附属医院） | Handheld injection pump |
| CN111166437A (en) * | 2020-02-17 | 2020-05-19 | 杭州三坛医疗科技有限公司 | Auxiliary method for epidural anesthesia needle placement |
| CN112675384A (en) * | 2020-11-19 | 2021-04-20 | 联赢医疗科技有限公司 | Automatic anesthesia robot of dosing |
| TWI780412B (en) * | 2019-10-11 | 2022-10-11 | 美商克魯畢司米克公司 | Seven degree of freedom positioning device for robotic surgery |
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| CN109939323B (en) * | 2019-04-30 | 2021-07-30 | 浙江超乐医疗科技有限公司 | Anesthesia device for regional retardation |
| CN111820941A (en) * | 2020-06-02 | 2020-10-27 | 唐勇 | Anesthesia monitoring equipment in ultrasonic guidance operation and control system thereof |
| CN111904548B (en) * | 2020-07-28 | 2021-09-17 | 徐州市中心医院 | External semi-automatic positioning puncture device for ultrasonic anesthesia plane |
| CN114052849B (en) * | 2020-07-31 | 2023-08-18 | 杭州三坛医疗科技有限公司 | Needle setting mechanism of epidural anesthesia robot |
| CN116687523A (en) * | 2021-07-17 | 2023-09-05 | 中国人民解放军中部战区总医院 | Position adjusting mechanism, nerve block injection device and medical equipment |
| CN115813559B (en) * | 2022-11-23 | 2023-08-11 | 余革 | Multifunctional medical integrated system based on intelligent mechanical arm |
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| CN108114366A (en) * | 2018-01-31 | 2018-06-05 | 张振坤 | A kind of Internal Medicine-Oncology drug combined interventional therapy device |
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- 2019-02-19 CN CN201910122746.2A patent/CN109620369A/en active Pending
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| CN2712301Y (en) * | 2004-06-17 | 2005-07-27 | 冯威健 | Guiding device for puncturation, biopsy and injection under CT |
| CN105963018A (en) * | 2016-04-27 | 2016-09-28 | 何滨 | Intelligent spinal anesthesia puncture robot system |
| CN107260269A (en) * | 2017-07-11 | 2017-10-20 | 哈尔滨理工大学 | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland |
| CN108114366A (en) * | 2018-01-31 | 2018-06-05 | 张振坤 | A kind of Internal Medicine-Oncology drug combined interventional therapy device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110038189A (en) * | 2019-04-23 | 2019-07-23 | 江苏省人民医院（南京医科大学第一附属医院） | Handheld injection pump |
| CN110038189B (en) * | 2019-04-23 | 2021-09-03 | 江苏省人民医院（南京医科大学第一附属医院） | Handheld injection pump |
| TWI780412B (en) * | 2019-10-11 | 2022-10-11 | 美商克魯畢司米克公司 | Seven degree of freedom positioning device for robotic surgery |
| CN111166437A (en) * | 2020-02-17 | 2020-05-19 | 杭州三坛医疗科技有限公司 | Auxiliary method for epidural anesthesia needle placement |
| CN111166437B (en) * | 2020-02-17 | 2021-11-16 | 杭州三坛医疗科技有限公司 | Auxiliary method for epidural anesthesia needle placement |
| CN112675384A (en) * | 2020-11-19 | 2021-04-20 | 联赢医疗科技有限公司 | Automatic anesthesia robot of dosing |
| CN112675384B (en) * | 2020-11-19 | 2021-09-21 | 联赢医疗科技有限公司 | Automatic anesthesia robot of dosing |
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|---|---|
| CN108969072A (en) | 2018-12-11 |
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Application publication date: 20190416 |