CN115154113A - Postoperative patient transfer robot - Google Patents

Abstract

The invention relates to the field of soft robots, and specifically discloses a post-operative patient handling robot, comprising a software driving device, a bed body, an air circuit device, an air pump and a power supply. The drive device includes a plurality of interconnected soft drive units. The software drive unit includes a deformable body that can be flipped relative to the lateral direction of the bed and a base connected to the lower part of the deformable body. The base is provided with an inflatable cavity, and the deformable body is a cavity type. The air pump is connected with the software driving device through the air circuit device. The present invention can improve the comfort of the patient in the process of being transported, avoid secondary injury to the patient in the process of transportation, in addition, the controller can drive a single group of drivers to move alone or multiple groups of drivers to move at the same time, so as to realize correct postoperative complications. The smooth and safe handling and automatic handling of patients can alleviate the problem that postoperative patients need to be handled but lack of manpower in the hospital.

Description

A post-operative patient handling robot

technical field

The present invention relates to the field of soft robots.

Background technique

Post-operative patients and critically ill patients need to be transferred between hospital beds after surgery or surgery is completed. However, due to anesthesia or trauma, patients are physically restricted and usually unable to move on their own. At this time, multiple medical staff are required at the same time. The patient is transported, but there is a shortage of manpower, and due to uneven manpower, it is easy to generate bumps, causing secondary damage to the patient. In 2017, Li Zhenzhe et al. disclosed a post-operative patient transfer stretcher trolley in patent CN106943246A. By cooperating the transfer trolley with a telescopic rotating stretcher, the device can shovel the patient into the stretcher without moving the patient, and then shovel the patient into the stretcher. The patient is transferred and left from the operating table by the transfer vehicle, but the shovel-in device of the device is a mechanical device, which needs to be inserted between the patient's body and the hospital bed, so there is a certain safety hazard. In 2020, Bai Jin disclosed a post-operative patient handling device in patent CN112057275A. The device uses two sets of connected handling pallets to support the patient, and then uses the roller drag structure to move the patient, but the patient needs to be moved before use. Moving to a handling pallet still requires human involvement. Therefore, the prior art still has the problem of lack of manpower, which is easy to cause secondary injury to the patient. In view of the above-mentioned problems, it is necessary to study and design a new type of postoperative patient handling robot to overcome the existing problems in the postoperative transfer of existing patients.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned problems existing in the existing patient's post-operative transfer, the present invention provides a post-operative patient handling robot.

The technical solution adopted by the present invention to achieve the above purpose is: a post-operative patient handling robot, comprising a software drive device, a bed body, an air circuit device, an air pump and a power supply, and the software drive devices are multiple and multiple software drives The device is vertically arranged above the bed, the soft drive device includes a plurality of interconnected soft drive units, the soft drive unit includes a deformable body that can be turned relative to the lateral direction of the bed, and a deformable body connected below the deformable body. a base, an inflatable cavity is arranged in the base, the deformation body is a cavity-type structure and communicates with the inflatable cavity, the deformation body includes a confinement layer and an expansion layer connected to each other, and the extensibility of the confinement layer less than the ductility of the expansion layer, the air pump is connected to the soft body driving device through the air circuit device, and is used to inflate the deformed body through the inner air chamber of the base, and the power source is used to inflate the whole device powered by.

Preferably, the bed body is provided with a mounting bracket, a middle platform and a mounting plate. There are two mounting brackets, which are arranged and fixed in the middle of one end of the bed body. The mounting bracket is used to fix the air circuit device. The middle platform is arranged inside the lower part of the bed, the middle platform is used to fix the air pump, the mounting plate is arranged on the side of the bed, and the installation plate is used to fix the power supply and hardware circuit modules.

Preferably, the deformable body is further provided with two side walls, and the confinement layer, the expansion layer and the two side walls form a closed cavity structure.

Preferably, the deformable body is arranged in a middle part above the base.

Preferably, the software driving device further includes a bracket, and the software driving unit is connected to the bed through the bracket.

Preferably, the material of the software driving unit is silicone resin, and a sheet-like non-stretchable substance is provided in the restriction layer.

Preferably, the air circuit device is arranged on one side of the bed, the air circuit device includes an air pipe connected to the software driving device and a solenoid valve connected to the air pipe, and the air pump is connected to the solenoid valve.

Preferably, the trachea is connected to the base through a branch bronchi, the number of the trachea and the solenoid valve is the same as the number of the software driving device, and the number of the branch bronchi is the same as the number of the base same number.

Preferably, it also includes a hardware circuit module and a controller, the hardware circuit module is connected to the air circuit device and the air pump, and the controller is connected to the hardware circuit module for controlling the air circuit device and the air pump.

Preferably, the controller is provided with a start button, a stop button and an air path selection button, and the air path selection button is used to select the number of on-off of the air path device.

The postoperative patient handling robot of the present invention supports and moves the patient through the gas inside the cavity of the software drive device, which can improve the comfort of the patient during the handling process and avoid secondary causes to the patient during the handling process. In addition, the controller can drive a single group of drives to move independently or multiple groups of drives to move at the same time, which can be controlled with only one hand, providing convenience for patient handling, and realizing smooth and safe handling and automatic handling of postoperative patients. It can alleviate the problem that postoperative patients need to be transported but lack of manpower in the hospital.

Description of drawings

1 is a schematic front view of a post-operative patient handling robot according to an embodiment of the present invention;

2 is a schematic three-dimensional structure diagram of a postoperative patient handling robot according to an embodiment of the present invention;

3 is a schematic structural diagram of a gas circuit device according to an embodiment of the present invention;

4 is a schematic structural diagram of a software driving device according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a deformed body in a relaxed state according to an embodiment of the present invention;

6 is a schematic structural diagram of the separation state of the confinement layer and the expansion layer according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a deformed body starting to bend according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of the article to be transported after the lateral movement according to the embodiment of the present invention.

In the figure: 1. Software drive device, 1-1, Base, 1-2, Restriction layer, 1-3, Expansion layer, 1-4, Bracket, 2, Bed, 2-1, Mounting bracket, 2- 2. Middle platform, 2-3, mounting plate, 3, air pump, 4, power supply, 5, hardware circuit module, 6, air circuit device, 6-1, air pipe, 6-2, solenoid valve group, 7, controller , 8, to be transported items.

Detailed ways

The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying The device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection The connection can also be indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations. Also, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

A postoperative patient handling robot in this embodiment is shown in Figures 1-3, including a software drive device 1, a bed body 2, an air circuit device 6, an air pump 3 and a power source 4, and there are multiple software drive devices 1. The software driving device 1 is vertically arranged above the bed body 2, and the software driving device 1 includes a plurality of interconnected software driving units. The base 1-1, an inflatable cavity is arranged in the base 1-1, the deformation body is a cavity type structure and communicates with the inflatable cavity, and the deformation body includes a confinement layer 1-2 and an expansion layer 1-3 connected to each other and the confinement layer 1 The ductility of -2 is less than the ductility of the expansion layer 1-3, the soft drive device 1 transports the patient through the deformed body, the air pump 3 is connected to the soft drive device 1 through the air circuit device 6, and is used for passing through the inner surface of the base 1-1. The inflation chamber inflates the deformable body, and the power source 4 is used to power the entire device.

As shown in Figure 2, the bed body 2 is provided with a mounting bracket 2-1, a middle platform 2-2 and a mounting plate 2-3. There are two mounting brackets 2-1, which are fixed in the middle of one end of the bed body 2. The mounting bracket 2-1 is used to fix the air circuit device 6, so that the air circuit device 6 is fixed more firmly and is not easy to fall off. The middle platform 2-2 is arranged inside the bottom of the bed 2, and the middle platform 2-2 is used to fix the air pump 3, so that the air pump 3 is fixed inside the bed 2, does not occupy external space, and prevents the air pump 3 from being bumped. The mounting plate 2-3 is arranged on the side of the bed 2, and the mounting plate 2-3 is used to fix the power supply 4 and the hardware circuit module 5.

As shown in Figures 3 and 4, the width of the expansion layer 1-3 in the deformed body can be greater than the width of the confinement layer 1-2, and the deformed body is further provided with two side walls, the confinement layer 1-2 and the expansion layer 1-3 and two side walls to form a closed cavity structure, and the deformed body is arranged in the middle of the base 1-1. The software driving device 1 further includes a bracket 1-4, the software driving unit is connected with the bed body 2 through the bracket 1-4, the material of the software driving unit is silicone resin, and the restricting layer 1-2 is provided with a sheet-like inextensible material. During production, the base 1-1, the constraining layer 1-2 and the expansion layer 1-3 can be poured into the printed mold through silicone rubber for integral molding. To ensure the plastic instretchability of the limiting layer 1-2, the upper end of the bracket 1-4 is provided with a concave square hole of the same size as the shape of the base 1-1, and the base 1-1 is placed in the concave hole of the bracket 1-4. Inside the square hole, and fix the bottom of the base 1-1 on the bracket 1-4 directly through the adhesive, so that it will not move relative to each other, punch holes in the four corners of the bracket 1-4, and fix it with bolts and nuts. The upper part of the bed body 2.

As shown in FIG. 3 , the air circuit device 6 is arranged on one side of the bed body 2 . The air circuit device 6 includes an air pipe 6-1 connected to the software driving device 1 and a solenoid valve 6-2 connected to the air pipe 6-1. The air pump 3 It is connected with the solenoid valve 6-2, and the trachea 6-1 is connected with the base 1-1 through the branch bronchus. The number of the trachea 6-1 and the solenoid valve 6-2 is the same as that of the software driving device 1. The number is the same as the number of bases.

In addition, it also includes a hardware circuit module 5 and a controller 7, the hardware circuit module 5 is connected with the air circuit device 6 and the air pump 3, and the controller 7 is connected with the hardware circuit module 5 for controlling the air circuit device 6 and the air pump 3. The controller 7 is provided with a start button, a stop button and a gas path selection button, and the gas path selection button is used to select the number of on-off of the solenoid valve 6-2.

The number of rows and columns of the software driving device 1 in this device can be increased or decreased according to the needs. The layout of the software driving device 1 can be combined according to the needs. The length of the limiting layer 1-2 and the expansion layer 1-3 can be handled according to the actual situation. The demand is further lengthened. During the transportation process, two or more sets of software drive devices 1 can be activated at the same time to carry out the transportation operation. The shape of the bed body 2 can be deformed according to the requirements, and other accessories can be added, connected, fixed and installed. and devices to achieve the required functions.

Figure 5-8 is a simple schematic diagram of the process of transporting the patient by the device. In the process of automatically transporting the patient, first press the start button on the controller 7, and rely on increasing the air pressure in the deformable body to pass the expansion layer 1-3 and the restriction layer 1. The joint action of -2, the combination realizes the lateral swing displacement of the object to be transported 8 on the platform.

Take the working process of a series of software drive devices 1 as an example: 1. As shown in Figure 5, firstly, when the deformed body is in a relaxed state, the object to be transported 8 is placed on the software drive device 1, and the limiting layer 1-2 and the expansion layer 1 -3. The base 1-1 is pressed tightly;

2. As shown in Figure 6, press the start button on the controller 7. At this time, the air pump 3 starts to pump air into the body through the branch bronchus. The volume continues to expand, the inner surface of the confinement layer 1-2 is gradually separated from the inner surface of the expansion layer 1-3, and the object 8 to be transported is gradually lifted;

3. As shown in Figure 7, as the air continues to flow in, the volume of the deformed body is further expanded, and the part of the expansion layer 1-3 longer than the restriction layer 1-2 also begins to expand more significantly, and the object to be transported is lifted up to 8 The other side is inclined. With the change of the force of the object to be transported 8, the joint of the restricting layer 1-2 and the expansion layer 1-3 is subjected to a downward pressing force that is not coplanar with the restricting layer 1-2. When the partition in the middle of the restriction layer 1-2 cannot maintain a balanced state, the restriction layer 1-2 rotates with the connection with the base 1-1 as the axis;

4. As shown in Figure 8, with the continuous inflation of the deformable body, the final limiting layer 1-2 rotates 180 degrees around the connection point with the base 1-1, and under the pressure of the object to be transported 8, passes through the solenoid valve. The group 6-2 slowly discharges the gas filled in the deformation body, and the restriction layer 1-2 and the upper surface of the base 1-1 are folded together to complete the conveyance of the object 8 to be conveyed.

The embodiments of the present invention are presented for purposes of illustration and description, and are not intended to be exhaustive or to limit the invention to the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to better explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use.

Claims (10)

1. The utility model provides a postoperative patient transfer robot, its characterized in that, includes software drive arrangement (1), the bed body (2), gas circuit device (6), air pump (3) and power (4), software drive arrangement (1) be a plurality of and a plurality of software drive arrangement (1) vertical setting in bed body (2) top, software drive arrangement (1) include a plurality of interconnect's software drive unit, the software drive unit including can be for the deformation body of bed body (2) horizontal direction upset and connect in base (1-1) of deformation body below, be equipped with the inflation chamber in base (1-1), the deformation body be cavity type structure and with the inflation chamber intercommunication, the deformation body includes interconnect's restriction layer (1-2) and inflation layer (1-3) just the ductility of restriction layer (1-2) is less than the ductility of inflation layer (1-3), air pump (3) pass through gas circuit device (6) with air circuit drive arrangement (1) connect for do through the software of base (1-1) the inflation body is used for whole power supply unit (4).

2. A post-operative patient transfer robot according to claim 1, wherein the bed body (2) is provided with two mounting brackets (2-1), a middle platform (2-2) and two mounting plates (2-3), the two mounting brackets (2-1) are fixed at the middle of one end of the bed body (2), the mounting brackets (2-1) are used for fixing the air channel device (6), the middle platform (2-2) is arranged inside the lower part of the bed body (2), the middle platform (2-2) is used for fixing the air pump (3), the mounting plates (2-3) are arranged at the side of the bed body (2), and the mounting plates (2-3) are used for fixing the power supply (4) and the hardware circuit module (5).

3. A post-operative patient transfer robot according to claim 1, wherein the deformation body is further provided with two side walls, the confinement layers (1-2), the expansion layers (1-3) and the two side walls enclosing a closed cavity type structure.

4. A post-operative patient transfer robot according to claim 1, wherein said deformation body is arranged in the middle above said base (1-1).

5. A post-operative patient transfer robot according to claim 1, characterized in that said soft drive means (1) further comprises supports (1-4), said soft drive unit being connected to the bed (2) by means of the supports (1-4).

6. A post-operative patient transfer robot according to claim 1, wherein the soft drive unit is made of silicone and the constraining layers (1-2) are provided with a sheet-like non-stretchable substance.

7. A post-operative patient transfer robot according to claim 1, wherein said air path device (6) is disposed at one side of said bed body (2), said air path device (6) comprises an air tube (6-1) connected to said soft driving device (1) and an electromagnetic valve (6-2) connected to said air tube (6-1), and said air pump (3) is connected to said electromagnetic valve (6-2).

8. A post-operative patient transfer robot according to claim 7, wherein said air tube (6-1) is connected to said base (1-1) by means of a branched air tube, the number of said air tubes (6-1) and said solenoid valves (6-2) being the same as the number of said soft drive means (1), and the number of said branched air tubes being the same as the number of said base (1-1).

9. A post-operative patient transfer robot according to claim 1, further comprising a hardware circuit module (5) and a controller (7), wherein said hardware circuit module (5) is connected to said air circuit device (6) and air pump (3), and said controller (7) is connected to said hardware circuit module (5) for controlling said air circuit device (6) and air pump (3).

10. A post-operative patient handling robot according to claim 9, wherein said controller (7) is provided with a start button, a stop button and a gas circuit selection button for selecting the number of on/off of said gas circuit means (6).

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