CN102940928A - Pus sucking and medicine applying equipment and method for haemorrhoid operations - Google Patents
Pus sucking and medicine applying equipment and method for haemorrhoid operations Download PDFInfo
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- CN102940928A CN102940928A CN2012105253074A CN201210525307A CN102940928A CN 102940928 A CN102940928 A CN 102940928A CN 2012105253074 A CN2012105253074 A CN 2012105253074A CN 201210525307 A CN201210525307 A CN 201210525307A CN 102940928 A CN102940928 A CN 102940928A
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- pus
- mechanical finger
- inhaled
- syringe needle
- finger
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Abstract
The invention provides pus sucking and medicine applying equipment and method for haemorrhoid operations. The equipment comprises a multi-section mechanical finger, a stay wire operating device, a linear motion device and a rotary motion device, wherein the multi-section mechanical finger comprises a plurality of finger sections connected in sequence, the adjacent finger sections are hinged, and a needle head with liquid storage space is arranged at the free end of the multi-section mechanical finger; the stay wire operating device drives the multi-section mechanical finger to move at a plurality of degrees of freedom; the linear motion device is connected with the root finger section in the plurality of finger sections so as to drive the multi-section mechanical finger to move linearly; and the rotary motion device is connected with the root finger section so as to drive the multi-section mechanical finger to move in a rotary manner. Compared with the traditional methods, the method provided by the invention has the beneficial effects that the problem that part of the pus can not be sucked or can not be sucked completely is solved via the multi-section mechanical finger, the wounds after operations are reduced, the operation efficiency is improved, and automatic pus suction is achieved.
Description
Technical field
The present invention relates to medical instruments field, especially, relate to a kind of hemorrhoid operation and inhale pus coating Apparatus and method for.
Background technology
In the prior art hemorrhoid operation exist that surgical wound is large, the part pus inhale less than, inhale that the pus traditional method of the defective, particularly complicated position such as unclean is basic inhales less than or inhale unclean, brought a lot of miseries to sufferer, be not easy to the recovery of sufferer.
Summary of the invention
The object of the invention is to provide a kind of hemorrhoid operation to inhale pus coating Apparatus and method for, the hemorrhoid operation wound is large to solve, the part pus inhale less than, inhale unclean technical problem.
For achieving the above object, the invention provides a kind of hemorrhoid operation and inhale pus coating equipment, comprise the more piece mechanical finger, comprise a plurality of segments that connect successively, hinged between each adjacent segment, the free end of more piece mechanical finger is provided with the syringe needle with liquid storage space; Pull control device drives the more piece mechanical finger and moves at a plurality of degree of freedom; Linear motion device is connected to drive the more piece mechanical finger with root segment in a plurality of segments and moves along a straight line; Rotation device is connected to drive the more piece mechanical finger with the root segment and rotatablely moves.
Further, hemorrhoid operation is inhaled pus coating equipment and is also comprised separation sleeve, and separation sleeve is set in outside the more piece mechanical finger.
Further, the more piece mechanical finger comprises inhales pus coating arm, and an end of inhaling pus coating arm is connected with syringe needle.
Further, hemorrhoid operation is inhaled pus coating equipment and is also comprised swing arm, and an end of swing arm is connected with suction pus coating arm, and the other end is connected with linear motion device.
Further, pull control device comprises the corresponding many groups backguy that links to each other with each segment except the root segment, every group of backguy is connected to the Difference angles of each corresponding segment, pull control device also comprises the first drive motors and bobbin, the first end of stear drawing line is wrapped on the bobbin, the other end of stear drawing line is connected with the more piece mechanical finger, and the first drive motors drives bobbin and rotates.
Further, linear motion device comprises rectilinear motion arm and straight line cylinder, and straight line cylinder drives the motion of rectilinear motion arm, and the rectilinear motion arm drives and is connected to the root segment.
Further, the system of rotatablely moving comprises the second drive motors, and the second drive motors drives the rectilinear motion arm by Timing Belt and rotates.
Further, hemorrhoid operation is inhaled pus coating equipment and is also comprised control device, the operation action of control device control syringe needle.
According to the method that hemorrhoid operation of the present invention is inhaled the pus coating, comprise the steps: to control the motion of more piece mechanical finger so that syringe needle arrives affected area; The control syringe needle is drawn pus or is applied medicinal liquid.
Further, after syringe needle is drawn or applied place's focus, withdraw from externally, clean or change syringe needle, draw next time or apply.
The present invention has following beneficial effect:
The present invention compares with traditional method, by the more piece mechanical finger solved the part pus inhale less than, inhale unclean problem, reduced surgical wound, improved operation efficient, realized that automatization's pus draws and coating.
Except purpose described above, feature and advantage, the present invention also has other purpose, feature and advantage.The below is with reference to figure, and the present invention is further detailed explanation.
Description of drawings
The accompanying drawing that consists of the application's a part is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the sketch map of inhaling pus coating equipment according to hemorrhoid operation of the present invention;
Fig. 2 is the A place enlarged diagram of Fig. 1;
Fig. 3 is the sketch map of controlling backguy of inhaling pus coating equipment according to hemorrhoid operation of the present invention; And
Fig. 4 is the sketch map of inhaling the method for pus coating according to hemorrhoid operation of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
Referring to Fig. 1 to Fig. 3, inhale pus coating equipment according to hemorrhoid operation of the present invention, comprising: the more piece mechanical finger, comprise a plurality of segments that connect successively, hinged between each adjacent segment, the free end of more piece mechanical finger is provided with the syringe needle 10 with liquid storage space; Pull control device drives the more piece mechanical finger and moves at a plurality of degree of freedom; Linear motion device is connected to drive the more piece mechanical finger with the root segment and moves along a straight line; Rotation device is connected to drive the more piece mechanical finger with root segment in a plurality of segments and rotatablely moves.Linear motion device, pull control device and rotation device all are arranged on the framework platform 70, and the size that syringe needle 10 is regulated the liquid storage space by the regulating piston structure is to reach the purpose of inhaling pus or coating.The present invention compares with traditional method, by the more piece mechanical finger solved the part pus inhale less than, inhale unclean problem, reduced surgical wound, improved operation efficient, realized that by piston structure automatization's pus draws and coating.
Referring to Fig. 1, hemorrhoid operation is inhaled pus coating equipment and is also comprised separation sleeve, and separation sleeve is set in outside the more piece mechanical finger.Separation sleeve is disposable use, and the more piece mechanical finger is not directly contacted with sufferer.
Referring to Fig. 1, the more piece mechanical finger comprises inhales pus coating arm 20, and an end of inhaling pus coating arm 20 is connected with syringe needle 10.
Referring to Fig. 1, hemorrhoid operation is inhaled pus coating equipment and is also comprised swing arm 30, and an end of swing arm 30 is connected with suction pus coating arm 20, and the other end is connected with linear motion device.In order to arrive smoothly lesions position, swing arm 30 can be more piece.
Referring to Fig. 1, pull control device comprises the corresponding many groups backguy that links to each other with each segment except the root segment, every group of backguy is connected to the Difference angles of each corresponding segment, move under different degree of freedom to drive segment, pull control device also comprises the first drive motors 42 and bobbin 43, the first end of stear drawing line 41 is wrapped on the bobbin 43, and the other end of stear drawing line 41 is connected with the more piece mechanical finger, and the first drive motors 42 drives bobbin 43 and rotates.
Referring to Fig. 1, linear motion device comprises rectilinear motion arm 51 and straight line cylinder 52, and straight line cylinder 52 drives 51 motions of rectilinear motion arm, and rectilinear motion arm 51 drives and is connected to the root segment.
Referring to Fig. 1, the system of rotatablely moving comprises that the second drive motors 61, the second drive motors 61 drive rectilinear motion arm 51 by Timing Belt and rotate, and also can drive rectilinear motion arm 51 by gear or leading screw and rotate
Hemorrhoid operation is inhaled pus coating equipment and is also comprised control device, the absorption of control device control syringe needle 10 or the operation action of coating.
Referring to Fig. 4, according to the method that hemorrhoid operation of the present invention is inhaled the pus coating, comprise the steps: to control the motion of more piece mechanical finger so that syringe needle 10 arrives affected area; The control syringe needle is drawn pus or is applied medicinal liquid.
After syringe needle 10 is drawn or is applied place's focus, withdraw from externally, clean or change syringe needle 10, draw next time or apply.
When inhaling pus, at first according to hemorrhoid position and hemorrhoid internal structure and size characteristics, the position of determining hemorrhoid is external hemorrhoid, determine internal structure and the size of hemorrhoid according to the state of an illness, owing to be to enter from outside wound, set up first pus position, path model, set up pus viscosity model according to the state of an illness, then carry out design and optimization that pus is drawn the path.
At first carry out first place's pus and draw, according to pus position, path and pus viscosity characteristics, flexible manipulator and the pus selecting to be fit to are drawn syringe needle 10.
Draw the path according to pus again, according to this path the pus absorption heads is delivered to the pus place by flexible manipulator;
Pus is drawn syringe needle 10 and is arrived gettering site postpone, carries out pus and draws;
When a place pus draw finish after, withdraw from and externally clean or change, draw for pus next time and prepare;
Carry out next place's pus according to above step and draw, until the pus of all positions is all drawn totally.
Pus position and viscosity model are according to hemorrhoid position and hemorrhoid internal structure and size characteristics foundation, can adopt 3-D view to represent, also can adopt digital information to represent.
In this example, although only draw the path with the pus that entered by outside surgical wound, its actual absorption path can enter absorption from anus, the absorption path that mechanical hand can change him according to the different position of hemorrhoid and the degree of depth.
Pus absorption heads in this example can be chosen according to the pus viscosity for the syringe needle 10 of drawing pus, it draws principle can adopt the polytypes such as negative-pressure type, capillary formula, drainage type, and pus absorption heads shape can adopt the polytypes such as needle-like, tubulose, lamellar.
During coating, principle is identical with suction pus, just will store medicine in the liquid storage space, arrives the action of affected area exhaust hood, and medicine is extruded from syringe needle 10, is coated in affected area.
As can be seen from the above description, the above embodiments of the present invention have realized following technique effect:
The present invention compares with traditional method, by the more piece mechanical finger solved the part pus inhale less than, inhale unclean problem, reduced surgical wound, improved operation efficient, realized that automatization's pus draws.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a hemorrhoid operation is inhaled pus coating equipment, it is characterized in that, comprising:
The more piece mechanical finger comprises a plurality of segments that connect successively, and hinged between each adjacent segment, the free end of described more piece mechanical finger is provided with the syringe needle (10) with liquid storage space;
Pull control device drives described more piece mechanical finger and moves at a plurality of degree of freedom;
Linear motion device is connected to drive described more piece mechanical finger with root segment in described a plurality of segments and moves along a straight line;
Rotation device is connected to drive described more piece mechanical finger with described root segment and rotatablely moves.
2. hemorrhoid operation according to claim 1 is inhaled pus coating equipment, it is characterized in that also comprise separation sleeve, described separation sleeve is set in outside the described more piece mechanical finger.
3. hemorrhoid operation according to claim 1 is inhaled pus coating equipment, it is characterized in that, described more piece mechanical finger comprises inhales pus coating arm (20), and an end of described suction pus coating arm (20) is connected with described syringe needle (10).
4. hemorrhoid operation according to claim 3 is inhaled pus coating equipment, it is characterized in that also comprise swing arm (30), an end of described swing arm (30) is connected with described suction pus coating arm (20), and the other end is connected with described linear motion device.
5. hemorrhoid operation according to claim 1 is inhaled pus coating equipment, it is characterized in that, described pull control device comprises the corresponding many groups backguy that links to each other with each segment except the root segment, every group of backguy is connected to the Difference angles of each corresponding described segment, described pull control device also comprises the first drive motors (42) and bobbin (43), the first end of described stear drawing line (41) is wrapped on the described bobbin (43), the other end of described stear drawing line (41) is connected with described more piece mechanical finger, and described the first drive motors (42) drives described bobbin (43) and rotates.
6. hemorrhoid operation according to claim 1 is inhaled pus coating equipment, it is characterized in that, described linear motion device comprises rectilinear motion arm (51) and straight line cylinder (52), described straight line cylinder (52) drives described rectilinear motion arm (51) motion, and described rectilinear motion arm (51) drives and is connected to described root segment.
7. hemorrhoid operation according to claim 6 is inhaled pus coating equipment, it is characterized in that the described system of rotatablely moving comprises the second drive motors (61), and described the second drive motors (61) drives described rectilinear motion arm (51) by Timing Belt and rotates.
8. hemorrhoid operation according to claim 1 is inhaled pus coating equipment, it is characterized in that, also comprises control device, and described control device is controlled the operation action of described syringe needle (10).
9. the method that hemorrhoid operation is inhaled the pus coating is characterized in that, comprises the steps:
The mechanical finger motion of control more piece is so that syringe needle (10) arrives affected area;
The control syringe needle is drawn pus or is applied medicinal liquid.
10. hemorrhoid operation according to claim 9 is inhaled the method for pus coating, it is characterized in that,
After place's focus is drawn or applied to described syringe needle (10), withdraw from externally, clean or change described syringe needle (10), draw next time or apply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210525307.4A CN102940928B (en) | 2012-12-07 | 2012-12-07 | Pus sucking and medicine applying equipment and method for haemorrhoid operations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210525307.4A CN102940928B (en) | 2012-12-07 | 2012-12-07 | Pus sucking and medicine applying equipment and method for haemorrhoid operations |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102940928A true CN102940928A (en) | 2013-02-27 |
| CN102940928B CN102940928B (en) | 2014-09-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210525307.4A Expired - Fee Related CN102940928B (en) | 2012-12-07 | 2012-12-07 | Pus sucking and medicine applying equipment and method for haemorrhoid operations |
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| Country | Link |
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| CN (1) | CN102940928B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109200455A (en) * | 2018-09-23 | 2019-01-15 | 哈尔滨理工大学 | A kind of robot end's applicator for treating skin disease |
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| EP0008981A1 (en) * | 1978-09-04 | 1980-03-19 | COMMISSARIAT A L'ENERGIE ATOMIQUE Etablissement de Caractère Scientifique Technique et Industriel | Motorized manipulator |
| FR2660185A1 (en) * | 1990-03-30 | 1991-10-04 | Medirand Inc | System and method intended to indicate a position at which an operation is to be performed on the body of a patient |
| US6120465A (en) * | 1994-01-24 | 2000-09-19 | Radionics Software Applications, Inc. | Virtual probe for a stereotactic digitizer for use in surgery |
| JP2003305681A (en) * | 2002-04-15 | 2003-10-28 | Mitsubishi Heavy Ind Ltd | Robot hand |
| CN2614044Y (en) * | 2003-05-06 | 2004-05-05 | 马增山 | Mechanical arm for medical use |
| CN101102869A (en) * | 2004-11-24 | 2008-01-09 | 佩里·斯林斯里系统有限公司 | Control system for an articulated manipulator arm |
| CN101811302A (en) * | 2010-04-12 | 2010-08-25 | 段峰 | Five-finger independently-driven mechanical artificial hand |
| CN202146362U (en) * | 2010-12-30 | 2012-02-22 | 上海交通大学医学院附属第九人民医院 | Auxiliary mechanical arm based on optical navigation and provided with seven degrees of freedom for craniomaxillofacial surgery |
-
2012
- 2012-12-07 CN CN201210525307.4A patent/CN102940928B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0008981A1 (en) * | 1978-09-04 | 1980-03-19 | COMMISSARIAT A L'ENERGIE ATOMIQUE Etablissement de Caractère Scientifique Technique et Industriel | Motorized manipulator |
| FR2660185A1 (en) * | 1990-03-30 | 1991-10-04 | Medirand Inc | System and method intended to indicate a position at which an operation is to be performed on the body of a patient |
| US6120465A (en) * | 1994-01-24 | 2000-09-19 | Radionics Software Applications, Inc. | Virtual probe for a stereotactic digitizer for use in surgery |
| JP2003305681A (en) * | 2002-04-15 | 2003-10-28 | Mitsubishi Heavy Ind Ltd | Robot hand |
| CN2614044Y (en) * | 2003-05-06 | 2004-05-05 | 马增山 | Mechanical arm for medical use |
| CN101102869A (en) * | 2004-11-24 | 2008-01-09 | 佩里·斯林斯里系统有限公司 | Control system for an articulated manipulator arm |
| CN101811302A (en) * | 2010-04-12 | 2010-08-25 | 段峰 | Five-finger independently-driven mechanical artificial hand |
| CN202146362U (en) * | 2010-12-30 | 2012-02-22 | 上海交通大学医学院附属第九人民医院 | Auxiliary mechanical arm based on optical navigation and provided with seven degrees of freedom for craniomaxillofacial surgery |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109200455A (en) * | 2018-09-23 | 2019-01-15 | 哈尔滨理工大学 | A kind of robot end's applicator for treating skin disease |
| CN109200455B (en) * | 2018-09-23 | 2021-04-09 | 哈尔滨理工大学 | Robot tail end medicine applying device for treating skin diseases |
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| Publication number | Publication date |
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| CN102940928B (en) | 2014-09-24 |
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