CN102940928B - 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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- CN102940928B CN102940928B CN201210525307.4A CN201210525307A CN102940928B CN 102940928 B CN102940928 B CN 102940928B CN 201210525307 A CN201210525307 A CN 201210525307A CN 102940928 B CN102940928 B CN 102940928B
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- pus
- mechanical finger
- inhaled
- finger
- arm
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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 prior art hemorrhoid operation exist that surgical wound is large, part pus inhale less than, inhale that the pus traditional method of the defect, particularly complicated position such as unclean is basic inhales less than or inhale unclean, to sufferer, brought a lot of miseries, 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, to solve, hemorrhoid operation wound is large, 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 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 more piece mechanical finger to move on a plurality of degree of freedom; Linear motion device, is connected to drive more piece mechanical finger to move along a straight line with the root segment in a plurality of segments; Rotation device, is connected to drive more piece mechanical finger to rotatablely move with root segment.
Further, hemorrhoid operation is inhaled pus coating equipment and is also comprised separation sleeve, and separation sleeve is set in outside more piece mechanical finger.
Further, more piece mechanical finger comprises inhales pus coating arm, and the one 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 one 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 many group bracing wire that be connected corresponding to each segment except root segment, every group of bracing wire 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 bobbin, the other end of stear drawing line is connected with more piece mechanical finger, and the first drive motors drives bobbin to rotate.
Further, linear motion device comprises rectilinear motion arm and straight line cylinder, and straight line cylinder drives the motion of rectilinear motion arm, and rectilinear motion arm drives and is connected to root segment.
Further, the system of rotatablely moving comprises the second drive motors, and the second drive motors drives rectilinear motion arm to rotate by Timing Belt.
Further, hemorrhoid operation is inhaled pus coating equipment and is also comprised control device, and control device is controlled the operation action of syringe needle.
According to hemorrhoid operation of the present invention, inhale the method for pus coating, comprise the steps: to control the motion of more piece mechanical finger so that syringe needle arrives affected area; Controlling syringe needle draws pus or applies medicinal liquid.
Further, when syringe needle, draw or apply after place's focus, exit 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 more piece mechanical finger solved part pus inhale less than, inhale unclean problem, reduced surgical wound, improved operation efficiency, realized automatization's pus and drawn and coating.
Except object described above, feature and advantage, the present invention also has other object, feature and advantage.Below with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing that forms the application's a part is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 inhales the schematic diagram of pus coating equipment according to hemorrhoid operation of the present invention;
Fig. 2 is the A place enlarged diagram of Fig. 1;
Fig. 3 inhales the schematic diagram of controlling bracing wire of pus coating equipment according to hemorrhoid operation of the present invention; And
Fig. 4 inhales the schematic diagram of 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, according to hemorrhoid operation of the present invention, inhale pus coating equipment, comprising: 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 more piece mechanical finger to move on a plurality of degree of freedom; Linear motion device, is connected to drive more piece mechanical finger to move along a straight line with root segment; Rotation device, is connected to drive more piece mechanical finger to rotatablely move with the root segment in a plurality of segments.Linear motion device, pull control device and rotation device are all arranged on framework platform 70, and syringe needle 10 regulates the size in liquid storage space by regulating piston structure, to reach the object of inhaling pus or coating.The present invention compares with traditional method, by more piece mechanical finger solved part pus inhale less than, inhale unclean problem, reduced surgical wound, improved operation efficiency, by piston structure, realized automatization's pus and drawn 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 more piece mechanical finger.Separation sleeve is disposable use, and more piece mechanical finger is not directly contacted with sufferer.
Referring to Fig. 1, more piece mechanical finger comprises inhales pus coating arm 20, and the one 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 one 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 many group bracing wire that be connected corresponding to each segment except root segment, every group of bracing wire is connected to the Difference angles of each corresponding segment, to drive segment, under different degree of freedom, move, pull control device also comprises the first drive motors 42 and bobbin 43, the first end of stear drawing line 41 is wrapped on bobbin 43, and the other end of stear drawing line 41 is connected with more piece mechanical finger, and the first drive motors 42 drives bobbin 43 to rotate.
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 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 to rotate by Timing Belt, also can drive rectilinear motion arm 51 to rotate by gear or leading screw
Hemorrhoid operation is inhaled pus coating equipment and is also comprised control device, and control device is controlled the absorption of syringe needle 10 or the operation of coating action.
Referring to Fig. 4, according to hemorrhoid operation of the present invention, inhale the method for pus coating, comprise the steps: to control the motion of more piece mechanical finger so that syringe needle 10 arrives affected area; Controlling syringe needle draws pus or applies medicinal liquid.
When syringe needle 10, draw or apply after place's focus, exit externally, clean or change syringe needle 10, draw next time or apply.
While inhaling pus, first according to hemorrhoid position and hemorrhoid internal structure and size characteristics, the position of determining hemorrhoid is external hemorrhoid, according to the state of an illness, determine internal structure and the size of hemorrhoid, because being enters from outside wound, first set up pus position, path model, according to the state of an illness, set up pus viscosity model, then carry out design and optimization that pus is drawn path.
First carry out first place's pus and draw, according to pus position, path and pus viscosity feature, select applicable flexible manipulator and pus to draw syringe needle 10.
According to pus, draw path again, by flexible manipulator, according to this path, pus absorption heads is delivered to pus place;
Pus is drawn syringe needle 10 and is arrived gettering site postpone, carries out pus absorption;
After place's pus has been drawn, exit and externally clean or change, for pus next time, draw and prepare;
According to above step, carry out next place's pus 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 path with the pus that entered by outside surgical wound, its actual absorption path can enter absorption from anus, and mechanical hand can change according to the different position of hemorrhoid and the degree of depth his absorption path.
Pus absorption heads in this example can be chosen according to pus viscosity for drawing the syringe needle 10 of 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 in liquid storage space, store medicine, 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 more piece mechanical finger solved part pus inhale less than, inhale unclean problem, reduced surgical wound, improved operation efficiency, realized automatization's pus and drawn.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, 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., within all should being included in protection scope of the present invention.
Claims (8)
1. hemorrhoid operation is inhaled a pus coating equipment, it is characterized in that, comprising:
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 to move on a plurality of degree of freedom;
Linear motion device, is connected to drive described more piece mechanical finger to move along a straight line with the root segment in described a plurality of segments;
Rotation device, is connected to drive described more piece mechanical finger to rotatablely move with described root segment.
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 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 one 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), one 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 many group bracing wire that be connected corresponding to each segment except root segment, every group of bracing wire 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 described bobbin (43), the other end of described stear drawing line (41) is connected with described more piece mechanical finger, described the first drive motors (42) drives described bobbin (43) to rotate.
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, described in the system of rotatablely moving comprise the second drive motors (61), described the second drive motors (61) drives described rectilinear motion arm (51) to rotate by Timing Belt.
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).
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 CN102940928A (en) | 2013-02-27 |
| CN102940928B true CN102940928B (en) | 2014-09-24 |
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| 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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| CN (1) | CN102940928B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (7)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003305681A (en) * | 2002-04-15 | 2003-10-28 | Mitsubishi Heavy Ind Ltd | Robot hand |
-
2012
- 2012-12-07 CN CN201210525307.4A patent/CN102940928B/en not_active Expired - Fee Related
Patent Citations (7)
| 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 |
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2003-305681A 2003.10.28 |
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| CN102940928A (en) | 2013-02-27 |
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Granted publication date: 20140924 Termination date: 20211207 |