CN115154113B - A postoperative patient transport robot - Google Patents

Abstract

The invention relates to the field of soft robots, and particularly discloses a post-operation patient transfer robot which comprises a plurality of soft driving devices, a bed body, an air channel device, an air pump and a power supply, wherein the soft driving devices are vertically arranged above the bed body, each soft driving device comprises a plurality of soft driving units which are connected with each other, each soft driving unit comprises a deformation body capable of overturning relative to the transverse direction of the bed body and a base connected below the deformation body, an air inflation cavity is arranged in the base, each deformation body is of a cavity type structure and is communicated with the corresponding air inflation cavity, and the air pump is connected with the corresponding soft driving device through the air channel device. The invention can improve the comfort of the patient in the process of being carried, avoid secondary injury to the patient in the carrying process, and in addition, the controller can drive the single-group driver to move independently or the multiple groups of drivers to move simultaneously, thereby realizing stable and safe carrying and automatic carrying of the postoperative patient and relieving the problem that the postoperative patient in a hospital needs to be carried but has insufficient hands.

Description

A postoperative patient transport robot

Technical field

The 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. Patients are physically restricted due to anesthesia or trauma, and are usually unable to move on their own. In this case, multiple medical staff are needed at the same time. When transporting patients, there is a problem of insufficient manpower, and uneven manpower can easily cause bumps, causing secondary injuries to patients. In 2017, Li Zhenzhe et al. disclosed a post-operative patient transfer stretcher trolley in patent CN106943246A. This device cooperates with the transfer trolley and the telescopic rotating stretcher, so that the patient can be shoveled into the stretcher without moving the patient, and then The patient is transferred away from the operating table through a transfer car. However, the shoveling device of this device is a mechanical device and needs to be inserted between the patient and the hospital bed, so it has certain safety risks. In 2020, Bai Jin disclosed a postoperative patient transportation device in patent CN112057275A. The device uses two sets of connected transportation pallets to support the patient, and then moves the patient through a roller drag structure. However, the patient needs to be moved before use. Moving to the handling pallet still requires human intervention. Therefore, the existing technology still has the problem of lack of manpower and easy to cause secondary harm to patients. In view of the above existing problems, it is necessary to research and design a new type of postoperative patient transport robot to overcome the existing problems in postoperative patient transfer.

Contents of the invention

In order to solve the above-mentioned problems existing in the existing postoperative patient transfer, the present invention provides a postoperative patient transport robot.

The technical solution adopted by the present invention to achieve the above object is: a postoperative patient transport robot, which includes a software driving device, a bed, an air circuit device, an air pump and a power supply. The software driving device is multiple and multiple software drivers. The device is arranged vertically 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 flipped relative to the transverse direction of the bed and a deformable body connected below the deformable body. A base, an inflatable cavity is provided in the base, the deformation body is a cavity-type structure and is connected with the inflatable cavity, the deformation body includes a limiting layer and an expansion layer connected to each other, and the ductility of the limiting layer is less than the ductility of the expansion layer, the air pump is connected to the soft body driving device through the air path device, and is used to inflate the deformation body through the internal inflation cavity of the base, and the power supply is used to inflate the entire device. powered by.

Preferably, the bed is provided with a mounting bracket, a middle platform and a mounting plate. There are two mounting brackets, which are fixed in the middle of one end of the bed. The mounting bracket is used to fix the air path 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. The mounting plate is used to fix the power supply and hardware circuit module.

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

Preferably, the deformation body is arranged in the middle above the base.

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

Preferably, the soft drive unit is made of silicone, and a sheet-like non-stretchable material is provided in the restriction layer.

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

Preferably, the trachea is connected to the base through a branch trachea, the number of the trachea and solenoid valves is the same as the number of the software driving devices, and the number of the branch trachea is the same as the number of the base. The numbers are the same.

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 and is used to control the air circuit device and the air pump.

Preferably, the controller 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 and off of the gas path device.

The post-surgery patient transport robot of the present invention supports and moves the patient through the gas inside the cavity of the software driving device, which can improve the patient's comfort during the transport process and avoid secondary damage to the patient during the transport process. In addition, the controller can drive a single group of actuators to move individually or multiple groups of actuators to move simultaneously. It can be controlled with just one hand, providing convenience for patient transportation and achieving smooth, safe and automated transportation of postoperative patients. It can alleviate the problem of insufficient manpower for postoperative patients who need to be transported in hospitals.

Description of the drawings

Figure 1 is a schematic front structural view of a postoperative patient transport robot according to an embodiment of the present invention;

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

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

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

Figure 5 is a schematic structural diagram of the deformable body in a relaxed state according to the embodiment of the present invention;

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

Figure 7 is a schematic structural diagram of the deformation body starting to bend according to the embodiment of the present invention;

Figure 8 is a schematic structural diagram of the object to be transported after transverse movement according to the embodiment of the present invention.

In the picture: 1. Software drive device, 1-1. Base, 1-2. Restriction layer, 1-3. Expansion layer, 1-4. Bracket, 2. Bed body, 2-1. Installation bracket, 2- 2. Middle platform, 2-3. Installation 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. Items to be moved.

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 used to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply. The devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations of the invention. The terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection. Connected, it can also be connected indirectly through an intermediary, or it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis. Furthermore, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

A postoperative patient transport robot in this embodiment is shown in Figures 1-3. It includes a software driving device 1, a bed 2, an air circuit device 6, an air pump 3 and a power supply 4. There are multiple software driving devices 1 and multiple The software driving device 1 is arranged vertically above the bed 2. The software driving device 1 includes a plurality of interconnected software driving units. The software driving unit includes a deformable body that can be flipped transversely relative to the bed 2 and a deformation body connected below the deforming body. Base 1-1. There is an inflatable cavity inside the base 1-1. The deformation body has a cavity-type structure and is connected with the inflatable cavity. The deformation body includes interconnected limiting layers 1-2 and expansion layers 1-3 and the limiting layer 1 The ductility of -2 is less than the ductility of the expansion layer 1-3. The software driving device 1 transports the patient through the deformation body. The air pump 3 is connected to the software driving device 1 through the air path device 6 and is used to pass through the interior of the base 1-1. The inflatable chamber inflates the deformable body, and the power supply 4 is used to supply power to the entire device.

As shown in Figure 2, the bed 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 2. The mounting bracket 2-1 is used to fix the air path device 6, so that the air path device 6 is fixed more firmly and is not easy to fall off. The middle platform 2-2 is set 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 provided on the side of the bed 2. 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 deformation body can be greater than the width of the restriction layer 1-2. The deformation body is also provided with two side walls, the restriction layer 1-2 and the expansion layer 1-3. It forms a closed cavity structure with both side walls, and the deformation body is arranged in the middle above the base 1-1. The software drive device 1 also includes a bracket 1-4. The software drive unit is connected to the bed 2 through the bracket 1-4. The soft drive unit is made of silicone, and the restriction layer 1-2 is provided with a sheet-like non-stretchable substance. During production, the base 1-1, restriction layer 1-2 and expansion layer 1-3 can be poured into the printed mold through silicone rubber to be integrally formed, in which a sheet-like non-stretchable material is placed in the restriction layer 1-2 part. material to ensure the plastic non-stretchability of the restriction layer 1-2. A concave square hole with the same size as the base 1-1 is opened at the upper end of the bracket 1-4. Place the base 1-1 into the concave part of the bracket 1-4. into the square hole, and fix the bottom of the base 1-1 directly to the bracket 1-4 through adhesive so that it will not move relative to it. Drill holes in the four corners of the bracket 1-4 and fix it with bolts and nuts. The upper part of bed body 2.

As shown in Figure 3, the air path device 6 is provided on one side of the bed 2. The air path device 6 includes an air pipe 6-1 connected to the software driving device 1, a solenoid valve 6-2 connected to the air pipe 6-1, and an air pump 3. Connected to the solenoid valve 6-2, the trachea 6-1 is connected to the base 1-1 through the branch trachea. The number of the trachea 6-1 and the solenoid valve 6-2 is the same as the number of the software driving device 1, and the number of the branch trachea is 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 to the air circuit device 6 and the air pump 3. The controller 7 is connected to 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. The gas path selection button is used to select the number of on and off solenoid valves 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 lengths of the restriction layer 1-2 and the expansion layer 1-3 can be adjusted according to the actual transportation. 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 according to the transportation needs. The shape of the bed 2 can be deformed according to the needs, 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 patients by this device. During the process of automatically transporting patients, first press the start button on the controller 7, and rely on increasing the air pressure in the deformation body to pass through the expansion layer 1-3 and the restriction layer 1 -2, the combination realizes the lateral swing displacement of the items 8 to be transported on the platform.

Take the working process of a row of software driving devices 1 as an example: 1. As shown in Figure 5, first the deformation body is in a relaxed state, the object 8 to be transported is placed flat on the software driving device 1, the restriction 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 begins to pump air into the deformed body through the branch trachea. As the air flows in, the expansion layer 1-3 expands under pressure, making the deformed body The volume continues to expand, the inner surface of the restriction layer 1-2 gradually separates 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 deformation body further expands, and the part of the expansion layer 1-3 that is longer than the restriction layer 1-2 also begins to expand to a greater extent, lifting the items to be transported in 8 directions. There is an inclination on the other side. As the force of the object 8 to be transported changes, the connection between the restriction layer 1-2 and the expansion layer 1-3 is subject to a downward extrusion force that is not coplanar with the restriction layer 1-2. This When the middle partition 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, as the deformation body continues to inflate, the final restriction layer 1-2 rotates 180 degrees around the connection point with the base 1-1 as the axis. Under the pressure of the object 8 to be transported, it passes through the solenoid valve. Group 6-2 slowly discharges the gas filled inside the deformation body, and the restriction layer 1-2 and the upper surface of the base 1-1 are folded together to complete the transportation of the object 8 to be transported.

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 best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention and design various embodiments with various modifications as are suited to the particular use contemplated.

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 set up in bed body (2) top, software drive arrangement (1) include a plurality of interconnect's software drive unit, software drive unit include can be for the deformation body of bed body (2) transverse direction upset and connect in the base (1-1) of deformation body below, be equipped with the inflating cavity in base (1-1), the deformation body be cavity type structure and with inflating cavity intercommunication, the deformation body includes interconnect's restrictive coating (1-2) and inflation layer (1-3) just the ductility of restrictive coating (1-2) is less than inflation layer (1-3), air pump (3) are passed through gas circuit device (6) with be connected for through in base (1-1) be for whole inflating cavity (4) is used for inflating cavity in the power supply.

2. The post-operation patient handling robot according to claim 1, wherein the bed body (2) is provided with a mounting bracket (2-1), a middle platform (2-2) and a mounting plate (2-3), the two mounting brackets (2-1) are respectively arranged at the middle part of one end of the bed body (2), the mounting bracket (2-1) is used for fixing the air passage 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 plate (2-3) is arranged on the side surface of the bed body (2), and the mounting plate (2-3) is used for fixing the power supply (4) and the hardware circuit module (5).

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

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

5. A post-operative patient handling robot according to claim 1, wherein the soft drive means (1) further comprises a support (1-4), the soft drive unit being connected to the bed (2) via the support (1-4).

6. A post-operative patient handling robot according to claim 1, wherein the soft drive unit is made of silicone, and wherein the restriction layer (1-2) is provided with a sheet-like non-stretchable material.

7. The post-operation patient handling robot according to claim 1, wherein the air path device (6) is disposed at one side of the bed body (2), the air path device (6) comprises an air pipe (6-1) connected with the soft driving device (1) and an electromagnetic valve (6-2) connected with the air pipe (6-1), and the air pump (3) is connected with the electromagnetic valve (6-2).

8. The post-operation patient handling robot according to claim 7, wherein the air pipe (6-1) is connected to the base (1-1) through a branched air pipe, the number of the air pipe (6-1) and the electromagnetic valve (6-2) is the same as the number of the soft driving device (1), and the number of the branched air pipe is the same as the number of the base (1-1).

9. The post-operative patient handling robot of claim 1, further comprising a hardware circuit module (5) and a controller (7), wherein the hardware circuit module (5) is connected to the air path device (6) and the air pump (3), and wherein the controller (7) is connected to the hardware circuit module (5) for controlling the air path device (6) and the air pump (3).

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