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CN105856259B - Intelligent transfusion robot based on internet of things - Google Patents

Intelligent transfusion robot based on internet of things Download PDF

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Publication number
CN105856259B
CN105856259B CN201610437579.7A CN201610437579A CN105856259B CN 105856259 B CN105856259 B CN 105856259B CN 201610437579 A CN201610437579 A CN 201610437579A CN 105856259 B CN105856259 B CN 105856259B
Authority
CN
China
Prior art keywords
module
ultrasonic wave
infusion
terminal control
support
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201610437579.7A
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Chinese (zh)
Other versions
CN105856259A (en
Inventor
江国健
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuzhou Huanya Zhongzhi Computer Co Ltd
Original Assignee
Fuzhou Huanya Zhongzhi Computer Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuzhou Huanya Zhongzhi Computer Co Ltd filed Critical Fuzhou Huanya Zhongzhi Computer Co Ltd
Priority to CN201610437579.7A priority Critical patent/CN105856259B/en
Priority to CN201610724527.8A priority patent/CN106310432A/en
Priority to CN201610737444.2A priority patent/CN106267440A/en
Priority to CN201610727952.2A priority patent/CN106166314A/en
Priority to CN201610727241.5A priority patent/CN106310433A/en
Publication of CN105856259A publication Critical patent/CN105856259A/en
Application granted granted Critical
Publication of CN105856259B publication Critical patent/CN105856259B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1413—Modular systems comprising interconnecting elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1415—Stands, brackets or the like for supporting infusion accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1417—Holders or handles for hanging up infusion containers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/158—Needles for infusions; Accessories therefor, e.g. for inserting infusion needles, or for holding them on the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/162—Needle sets, i.e. connections by puncture between reservoir and tube ; Connections between reservoir and tube
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16804—Flow controllers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16804—Flow controllers
    • A61M5/16813—Flow controllers by controlling the degree of opening of the flow line
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
    • A61M5/1684—Monitoring, detecting, signalling or eliminating infusion flow anomalies by detecting the amount of infusate remaining, e.g. signalling end of infusion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16877—Adjusting flow; Devices for setting a flow rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M2005/1401—Functional features
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/10—General characteristics of the apparatus with powered movement mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/18—General characteristics of the apparatus with alarm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3375—Acoustical, e.g. ultrasonic, measuring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3507—Communication with implanted devices, e.g. external control
    • A61M2205/3523—Communication with implanted devices, e.g. external control using telemetric means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3546—Range
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3546—Range
    • A61M2205/3561—Range local, e.g. within room or hospital
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3576—Communication with non implanted data transmission devices, e.g. using external transmitter or receiver

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Hematology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Anesthesiology (AREA)
  • Vascular Medicine (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Fluid Mechanics (AREA)
  • Nursing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Manipulator (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)

Abstract

The invention discloses a kind of intelligent transfusion robot based on Internet of Things, including ultrasonic wave to follow dolly, Infusion support, infusion device, bracelet, terminal control system and far-end control system；Described Infusion support is arranged on ultrasonic wave and followed above dolly, and described infusion device is arranged at described Infusion support upper end；Described bracelet includes bracelet body, ultrasonic wave transmitter module, single-chip microcomputer, the first input module, wireless communication module；The present invention can effectively solve the problem that transfusion robot rocks the technical problem for causing the slosh in infusion bottle during the movement, so that decoction evenly can be input to inside patient along woven hose.

Description

Intelligent transfusion robot based on Internet of Things
Technical field
The present invention relates to a kind of robot, and in particular to a kind of medical infusion robot.
Background technology
Medical Robot, refer to that Medical Robot's species is very for hospital, the medical treatment of clinic or the robot of medical assistance It is more, it is different according to its purposes, there are clinical treatment robot, nursing robot, Medical teaching robot and be services for the disabled Robot etc..
Traditional infusion bottle is hung over above Infusion support, and Infusion support is placed on beside sick bed, mobile to get up to bother very much, when , it is necessary to which infusion bottle is removed when patient needs to walk about, then raise high, when sometimes patient is handicapped, it is also necessary to nurse Or household follows patient to raise infusion bottle high together.
The phenomenon of toilet is often gone during for patient infusion, and for faster rehabilitation, doctor is even more to suggest often Walk about, but many patient infusion time is very even more to be inconvenient to walk about long, then Patent No. " 2015207522799 ", the utility model patent of entitled " from motion tracking transfusion robot " disclose a kind of transfusion The transfusion robot walked about is also convenient for simultaneously.The robot can follow one piece of walking of patient automatically, very easy to use, But a problem is found that in actual use：Transfusion robot can be rocked slightly during movement, so as to Cause the slosh in infusion bottle, so as to cause the decoction in infusion bottle evenly can not be input to patient's along woven hose In vivo.
The content of the invention
It is an object of the invention to solve following technical problem：Transfusion robot can rock during movement, so as to Cause the slosh in infusion bottle, so as to cause the decoction in infusion bottle evenly can not be input to patient's along woven hose In vivo.
In order to realize the above object the technical solution adopted in the present invention is：Intelligent transfusion robot based on Internet of Things, It is characterised in that it includes ultrasonic wave follows dolly, Infusion support, infusion device, bracelet, terminal control system and remote control system System；
Described Infusion support is arranged on ultrasonic wave and followed above dolly, and described infusion device is arranged at described transfusion Frame upper end；
Described bracelet includes bracelet body, ultrasonic wave transmitter module, single-chip microcomputer, the first input module, radio communication mold Block；
Described ultrasonic wave transmitter module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior structural representation of the present invention；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic wave transmitter module, the first input module, wireless communication module respectively with monolithic mechatronics；
Described terminal control system includes 4 ultrasonic wave receiving modules, terminal control unit, motor drive module, left electricity Machine, right motor；Display module, the second input module, GPS module, camera module；Battery module, charger module, terminal Wireless communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasonic wave receiving modules are electrically connected with terminal control unit respectively, and terminal control unit is driven by motor Module controls left motor and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module electrically connect with terminal control unit respectively；
4 described ultrasonic wave receiving modules are respectively arranged at ultrasonic wave and follow the left front of dolly, right front, left back Side, right back；
Described camera module is arranged at the top of Infusion support；
The terminal control system is arranged at ultrasonic wave and followed above dolly；
Described battery module output end is unit module for power supply, and the output end of charger module connects battery The charging input end of module；
Described terminal wireless communication module electrically connects with terminal control unit；
Described remote wireless communications module electrically connects with remote controller；
Communicated between described terminal control unit and remote controller；
Described infusion device includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and the common bottom surface of annular cavity, The bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and removable cover is provided with liquid filling hole；
The upper surface of described circular cylindrical cavity is additionally provided with air admission hole；
There are 8 infusion holes the lower surface of described annular cavity around center of circle spaced set, is respectively provided with infusion hole There is rubber stopper；
Described infusion device is also soft including bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, transfusion Pipe, intravenous needle；The output end of one end connection bottle plug puncture unit unit of described infusion tube, other end connection intravenous needle；Institute Dropping funnel, flow regulator, liquid medicine filter are set gradually on the infusion tube stated；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively under described annular cavity In 8 rubber stoppers on surface, the output end of 8 bottle plug puncture units converges to form an output end by flexible pipe；
The input port of described bottle plug puncture unit nearby sets stop member, and the size of 8 bottle plug puncture units is complete It is identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume of annular cavity Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion bascule；
Described transfusion bascule includes control cabinet, balance controller, three electric expansion bars, gyroscope, support bottom Seat, support cover, supporting plate, annular cover plate and clamping screw；
Described control cabinet and support base is installed in ultrasonic wave and followed on dolly；
Described support cover is vertically mounted in support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle mounting hole are provided with a proof rubber circle；
Described balance controller and gyroscope is installed in control cabinet, and gyroscope is to be horizontally mounted；
Described supporting plate is located in support cover；
The upper and lower ends of three described electric expansion bars are arranged on support cover inner top and branch by spherical linkage respectively On the upper face of fagging；
Three strong points of the three described electric expansion bars on support cover inner top and on the supporting plate in plate face Three strong points form equilateral triangle；
Intubation is provided with the upper face center of described supporting plate；
Described clamping screw is screwed on the screwed hole of intubation tube wall；
The lower end of described Infusion support is inserted into intubation after passing through the centre bore of annular cover plate, and is consolidated by clamping screw It is fixed；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice Infusion support lower end；
Motor-drive circuit of the described balance controller respectively with gyroscope and three electric expansion bars is connected；
Described battery module is respectively balance controller, gyroscope and three electric expansion bar power supplies.
Further, described remote controller, remote wireless communications module are realized using smart mobile phone.
Compared with prior art, the advantage of the invention is that：First, transfusion robot can rock during movement, So as to cause the slosh in infusion bottle, but the decoction of the present invention still evenly can be input to patient along woven hose Inside.Second, due to that can understand patient's in real time equipped with GPS module and camera module, therefore by remote controller Position and the situation at scene；3rd, in ultrasonic wave dolly movement can be followed to rock process using transfusion bascule, reduced Infusion support rocks degree, it is ensured that the normal safety of transfusion is carried out.
Brief description of the drawings
Fig. 1 is the principle block diagram of the circuit control part of the present invention；
Fig. 2 is that ultrasonic wave follows dolly schematic top plan view；
Fig. 3 is that ultrasonic wave follows dolly front view (not drawing infusion device)；
Fig. 4 is infusion device front view (schematic diagram)；
Fig. 5 is the top view (schematic diagram) of infusion device；
Fig. 6 is the upward view (schematic diagram) of infusion device；
Fig. 7 is existing infusion bottle and woven hose connection diagram；
Fig. 8 is bottle plug puncture unit cell schematics；
Fig. 9 is the circuit diagram of transfusion bascule；
Figure 10 is the overlooking the structure diagram of transfusion bascule；
Figure 11 is cross section structure diagram at A-A in Figure 10.
Wherein, 1 is ultrasonic wave transmitter module；2 be ultrasonic wave receiving module；3 wheels；4 be that ultrasonic wave follows dolly；5 are Infusion support；7 be camera module；8 be circular cylindrical cavity；9 be annular cavity；10 be rubber stopper；12 be infusion bottle；13 be defeated Liquid pipe；14 be stop member；15 be control cabinet；16 be support cover；17 be annular cover plate；18 be support base；19 be electronic stretch Contracting bar；20 be intubation；21 be supporting plate.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Need the decoction in infusion bottle being poured into the circular cylindrical cavity of device for storing liquid during use or send out this Bright infusion device is made the disposable infusion bottle that directly substitutes and used.
" dropping funnel, flow regulator, liquid medicine filter, infusion tube, intravenous needle；One end connection of described infusion tube The output end of bottle plug puncture unit, other end connection intravenous needle；Set gradually on described infusion tube dropping funnel, flow regulator, Liquid medicine filter " belongs to existing known technology, is not described in detail.
In addition to lower surface is provided with infusion hole, bottom connects with circular cylindrical cavity, remaining locates annular cavity everywhere Place's sealing, and the upper surface of circular cylindrical cavity is provided with air admission hole, but air inlet position is provided with air filtering disinfection device (now Have known technology), so that it is guaranteed that the liquid inside infusion device is not polluted by outside air.
The bottle plug puncture unit of existing woven hose is nearby provided with air inlet pipe, and air inlet pipe is provided with air filtration and killed Bacterium device, the technology belong to prior art.
Wherein, the height of circular cylindrical cavity takes 20cm, and the height of annular cavity takes 2cm；
The volume of circular cylindrical cavity is 1500cm3, the volume of annular cavity is 30cm3。
Ultrasonic wave follows dolly to use front-wheel drive.
The stop member of bottle plug puncture unit can ensure that 8 bottle plug puncture units are inserted into the rubber of the lower surface of annular cavity Depth in leather plug is just the same, so as to ensure that the pressure at the input port of 8 bottle plug puncture units is about the same, so stop part Part is extremely important.If without stop member, 8 bottle plug puncture units are inserted into the rubber stopper of the lower surface of annular cavity Interior depth affirms widely different (the very long unobstructed part of existing bottle plug puncture unit, it is impossible to fully-inserted to enter ), because the size of 8 bottle plug puncture units is just the same, and stop member is provided with, when the resistance of 8 bottle plug puncture units It can not be just inserted into when stopper part touches the rubber stopper of the lower surface of annular cavity.
Embodiment：Intelligent transfusion robot based on Internet of Things, including ultrasonic wave follow dolly, Infusion support, infusion device, Bracelet, terminal control system and far-end control system；Described Infusion support is arranged on ultrasonic wave and followed above dolly, described Infusion device is arranged at described Infusion support upper end；Described bracelet includes bracelet body, ultrasonic wave transmitter module, monolithic Machine, the first input module, wireless communication module；
Described ultrasonic wave transmitter module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior structural representation of the present invention；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic wave transmitter module, the first input module, wireless communication module respectively with monolithic mechatronics；It is described Terminal control system include 4 ultrasonic wave receiving modules, terminal control unit, motor drive module, left motor, right motor；It is aobvious Show module, the second input module, GPS module, camera module；Battery module, charger module, terminal wireless communication mould Block；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasonic wave receiving modules are electrically connected with terminal control unit respectively, and terminal control unit is driven by motor Module controls left motor and right electric motor starting, stopping and rotating speed；Described left motor, right motor be respectively used to drive the near front wheel, Off-front wheel；Described display module, the second input module, GPS module, camera module electrically connect with terminal control unit respectively； 4 described ultrasonic wave receiving modules are respectively arranged at left front, right front, left back, right back that ultrasonic wave follows dolly；
Described camera module is arranged at the top of Infusion support；The terminal control system be arranged at ultrasonic wave follow it is small Above car；Described battery module output end is unit module for power supply, and the output end of charger module connects battery The charging input end of module；Described terminal wireless communication module electrically connects with terminal control unit；Described remote wireless communications Module electrically connects with remote controller；Communicated between described terminal control unit and remote controller；
Described infusion device includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and the common bottom surface of annular cavity, The bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and removable cover is provided with liquid filling hole；
The upper surface of described circular cylindrical cavity is additionally provided with air admission hole；
There are 8 infusion holes the lower surface of described annular cavity around center of circle spaced set, is respectively provided with infusion hole There is rubber stopper；
Described infusion device is also soft including bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, transfusion Pipe, intravenous needle；The output end of one end connection bottle plug puncture unit unit of described infusion tube, other end connection intravenous needle；Institute Dropping funnel, flow regulator, liquid medicine filter are set gradually on the infusion tube stated；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively under described annular cavity In 8 rubber stoppers on surface, the output end of 8 bottle plug puncture units converges to form an output end by flexible pipe；
The input port of described bottle plug puncture unit nearby sets stop member, and the size of 8 bottle plug puncture units is complete It is identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume of annular cavity Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion bascule；
Described transfusion bascule includes control cabinet, balance controller, three electric expansion bars, gyroscope, support bottom Seat, support cover, supporting plate, annular cover plate and clamping screw；
Described control cabinet and support base is installed in ultrasonic wave and followed on dolly；
Described support cover is vertically mounted in support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle mounting hole are provided with a proof rubber circle；
Described balance controller and gyroscope is installed in control cabinet, and gyroscope is to be horizontally mounted；
Described supporting plate is located in support cover；
The upper and lower ends of three described electric expansion bars are arranged on support cover inner top and branch by spherical linkage respectively On the upper face of fagging；
Three strong points of the three described electric expansion bars on support cover inner top and on the supporting plate in plate face Three strong points form equilateral triangle；
Intubation is provided with the upper face center of described supporting plate；
Described clamping screw is screwed on the screwed hole of intubation tube wall；
The lower end of described Infusion support is inserted into intubation after passing through the centre bore of annular cover plate, and is consolidated by clamping screw It is fixed；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice Infusion support lower end；
Motor-drive circuit of the described balance controller respectively with gyroscope and three electric expansion bars is connected；
Described battery module is respectively balance controller, gyroscope and three electric expansion bar power supplies；
Wherein, described remote controller, remote wireless communications module are realized using smart mobile phone.
The present invention substantially operation principle describes：Bracelet is worn at wrist when patient needs to walk about, passes through the first input mould Block starts ultrasonic wave transmitter module and starts to launch ultrasonic signal, and being communicated by single-chip microcomputer with terminal control unit starts timing, GPS Module, camera module are started working, and GPS module, the signal of camera module output pass through terminal control unit and remote control Device communicates, and such remote controller can recognize the location of patient and patient's field conditions in real time.
The signal that ultrasonic wave transmitter module is sent is received by four ultrasonic wave receiving modules, and terminal control unit is super according to four The distance between acoustic receiver module and ultrasonic wave transmitter module, the position of patient is judged, so as to control ultrasonic wave to follow dolly Direction.
It is evenly defeated along woven hose that the present invention can realize that transfusion robot decoction during movement remains able to Enter the principle explanation to inside patient：Infusion device includes circular cylindrical cavity and annular cavity, due to circular cylindrical cavity Highly it is far above the height of annular cavity, and the bottom of circular cylindrical cavity connects with the bottom of annular cavity；So circle Liquid height inside annular housing is constant always (except decoction is totally lost the moment soon), when ultrasonic wave follows dolly to rock, circle Liquid level inside cylindrical chamber can also rock, but the lower surface of described annular cavity has 8 around center of circle spaced set Individual infusion hole, rubber stopper is provided with infusion hole；Described bottle plug puncture unit has 8 inputs and 1 output end, 8 Input is inserted respectively into 8 rubber stoppers of the lower surface of described annular cavity；So circular cylindrical cavity internal liquid level Although rock the change that can cause the pressure at each infusion hole, the pressure sum at 8 infusion holes is almost constant (pressure at the infusion hole having becomes big, and pressure diminishes at some infusion holes, and size is cancelled out each other), that is to say, that 8 are defeated It is almost unchanged that pressure sum at fluid apertures, which is averaged,.And bottle plug puncture unit has 8 inputs and 1 output end, 8 Input is inserted respectively into 8 rubber stoppers of the lower surface of described annular cavity, therefore the output end of bottle plug puncture unit The pressure at place is almost unchanged.
Robot ambulation control method is the control method that ultrasonic wave follows dolly：
The first step, patient input ultrasonic wave by the first input module of bracelet and follow dolly to start walking order, monolithic After machine receives the order, single-chip microcomputer sends wireless signal to terminal control unit, when terminal control unit receives wireless signal while opens Move 4 timers and start timing；
Second step, single-chip microcomputer are spaced 2s, single-chip microcomputer control ultrasonic wave transmitting mould after sending wireless signal to terminal control unit BOB(beginning of block) launches ultrasonic signal；
3rd step, left front, right front, left back, four ultrasonic wave receiving modules of right back receive ultrasonic wave letter Number moment apart from terminal control unit start timing at the time of between time interval, correspond to be designated as respectively
Δ t1 seconds, Δ t2 seconds, Δ t3 seconds, Δ t4 seconds；
If Δ t1=Δ t2, Δ t3=Δ t4, then terminal control unit control ultrasonic wave follow dolly to keep straight on；
If Δ t1>Δ t2, Δ t3>Δ t4, then terminal control unit control ultrasonic wave follow the near front wheel of dolly to accelerate, the right side before Wheel slows down；
If Δ t1<Δ t2, Δ t3<Δ t4, then terminal control unit control ultrasonic wave follow the near front wheel of dolly to slow down, the right side before Wheel accelerates.
Illustrate：4 timers can use hardware timer, can also use software simulation timer；Left front, Right front, left back, four ultrasonic wave receiving modules of right back correspond to a timer respectively, and ultrasonic wave receiving module receives Corresponding timer stops timing respectively during to ultrasonic signal, and the timing time of such four timers is respectively just Δ t1 Second, the Δ t2 seconds, the Δ t3 seconds, the Δ t4 seconds.
The transfusion bascule of the present invention at work, the equilibrium-like that ultrasonic wave follows dolly is detected by gyroscope in real time State, then the stroke by balance controller according to the poised state of detection three electric expansion bars of control, so as to realize Infusion support Stability contorting, prevent dolly from causing Infusion support acutely to rock during mobile rock, it is ensured that infusion safety；Simultaneously because ring The effect of shape cover plate can prevent foreign matter from dropping in support cover, influence electric expansion bar work；Proof rubber circle can mitigate The friction of Infusion support and circular mounting hole.
Intelligent transfusion robot system based on Internet of Things, it is characterised in that follow cart system including multiple ultrasonic waves And far-end control system；
Described ultrasonic wave follows cart system to follow dolly, Infusion support, infusion device, bracelet, terminal including ultrasonic wave Control system；
Described Infusion support is arranged on ultrasonic wave and followed above dolly, and described infusion device is arranged at described transfusion Frame upper end；
Described bracelet includes bracelet body, ultrasonic wave transmitter module, single-chip microcomputer, the first input module, radio communication mold Block；
Described ultrasonic wave transmitter module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior structural representation of the present invention；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic wave transmitter module, the first input module, wireless communication module respectively with monolithic mechatronics；
Described terminal control system includes 4 ultrasonic wave receiving modules, terminal control unit, motor drive module, left electricity Machine, right motor；Display module, the second input module, GPS module, camera module；Battery module, charger module, terminal Wireless communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasonic wave receiving modules are electrically connected with terminal control unit respectively, and terminal control unit is driven by motor Module controls left motor and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module electrically connect with terminal control unit respectively；
4 described ultrasonic wave receiving modules are respectively arranged at ultrasonic wave and follow the left front of dolly, right front, left back Side, right back；
Described camera module is arranged at the top of Infusion support；
The terminal control system is arranged at ultrasonic wave and followed above dolly；
Described battery module output end is unit module for power supply, and the output end of charger module connects battery The charging input end of module；
Described terminal wireless communication module electrically connects with terminal control unit；
Described remote wireless communications module electrically connects with remote controller；
Communicated between described terminal control unit and remote controller；
Described infusion device includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and the common bottom surface of annular cavity, The bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and removable cover is provided with liquid filling hole；
The upper surface of described circular cylindrical cavity is additionally provided with air admission hole；
There are 8 infusion holes the lower surface of described annular cavity around center of circle spaced set, is respectively provided with infusion hole There is rubber stopper；
Described infusion device is also soft including bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, transfusion Pipe, intravenous needle；The output end of one end connection bottle plug puncture unit unit of described infusion tube, other end connection intravenous needle；Institute Dropping funnel, flow regulator, liquid medicine filter are set gradually on the infusion tube stated；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively under described annular cavity In 8 rubber stoppers on surface, the output end of 8 bottle plug puncture units converges to form an output end by flexible pipe；
The input port of described bottle plug puncture unit nearby sets stop member, and the size of 8 bottle plug puncture units is complete It is identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume of annular cavity Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include multiple transfusion bascules；
Described transfusion bascule includes control cabinet, balance controller, three electric expansion bars, gyroscope, support bottom Seat, support cover, supporting plate, annular cover plate and clamping screw；
Described control cabinet and support base is installed in ultrasonic wave and followed on dolly；
Described support cover is vertically mounted in support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle mounting hole are provided with a proof rubber circle；
Described balance controller and gyroscope is installed in control cabinet, and gyroscope is to be horizontally mounted；
Described supporting plate is located in support cover；
The upper and lower ends of three described electric expansion bars are arranged on support cover inner top and branch by spherical linkage respectively On the upper face of fagging；
Three strong points of the three described electric expansion bars on support cover inner top and on the supporting plate in plate face Three strong points form equilateral triangle；
Intubation is provided with the upper face center of described supporting plate；
Described clamping screw is screwed on the screwed hole of intubation tube wall；
The lower end of described Infusion support is inserted into intubation after passing through the centre bore of annular cover plate, and is consolidated by clamping screw It is fixed；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice Infusion support lower end；
Motor-drive circuit of the described balance controller respectively with gyroscope and three electric expansion bars is connected；
Described battery module is respectively balance controller, gyroscope and three electric expansion bar power supplies；
Wherein, described remote controller, remote wireless communications module are realized using smart mobile phone.

Claims (2)

1. the intelligent transfusion robot based on Internet of Things, it is characterised in that follow dolly, Infusion support, transfusion dress including ultrasonic wave Put, bracelet, terminal control system and far-end control system；
Described infusion device is arranged at described Infusion support upper end；
Described bracelet includes bracelet body, ultrasonic wave transmitter module, single-chip microcomputer, the first input module, wireless communication module；
Described ultrasonic wave transmitter module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior structural representation of the present invention；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic wave transmitter module, the first input module, wireless communication module respectively with monolithic mechatronics；
Described terminal control system includes 4 ultrasonic wave receiving modules, terminal control unit, motor drive module, left motor, the right side Motor；Display module, the second input module, GPS module, camera module；Battery module, charger module, terminal wireless Communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasonic wave receiving modules electrically connect with terminal control unit respectively, and terminal control unit passes through motor drive module Control left motor and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module electrically connect with terminal control unit respectively；
4 described ultrasonic wave receiving modules are respectively arranged at left front, right front, left back, the right side that ultrasonic wave follows dolly Rear；
Described camera module is arranged at the top of Infusion support；
The terminal control system is arranged at ultrasonic wave and followed above dolly；
Described battery module output end is unit module for power supply, and the output end of charger module connects battery module Charging input end；
Described terminal wireless communication module electrically connects with terminal control unit；
Described remote wireless communications module electrically connects with remote controller；
Communicated between described terminal control unit and remote controller；
Described single-chip microcomputer communicates with terminal control unit；
Described infusion device includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and the common bottom surface of annular cavity, cylinder The bottom of shape cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and removable cover is provided with liquid filling hole；
The upper surface of described circular cylindrical cavity is additionally provided with air admission hole, and air inlet position is provided with air filtering disinfection device；
There are 8 infusion holes the lower surface of described annular cavity around center of circle spaced set, and rubber is provided with infusion hole Leather plug；
Described infusion device also includes bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, infusion tube, quiet Arteries and veins pin；The output end of one end connection bottle plug puncture unit unit of described infusion tube, other end connection intravenous needle；Described is defeated Dropping funnel, flow regulator, liquid medicine filter are set gradually on liquid flexible pipe；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively into the lower surface of described annular cavity 8 rubber stoppers in, the output end of 8 bottle plug puncture units converges to form an output end by flexible pipe；
The input port of described bottle plug puncture unit nearby sets stop member, and the size of 8 bottle plug puncture units is identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume Y1cm of annular cavity3, cylinder The volume of shape cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion bascule；
Described transfusion bascule includes control cabinet, balance controller, three electric expansion bars, gyroscope, support base, branch Support cover, supporting plate, annular cover plate and clamping screw；
Described control cabinet and support base is installed in ultrasonic wave and followed on dolly；
Described support cover is vertically mounted in support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described circular mounting hole are provided with a proof rubber circle；
Described balance controller and gyroscope is installed in control cabinet, and gyroscope is to be horizontally mounted；
Described supporting plate is located in support cover；
The upper and lower ends of three described electric expansion bars are arranged on support cover inner top and supporting plate by spherical linkage respectively Upper face on；
Three strong points of the three described electric expansion bars on support cover inner top and on the supporting plate three in plate face The individual strong point forms equilateral triangle；
Intubation is provided with the upper face center of described supporting plate；
Described clamping screw is screwed on the screwed hole of intubation tube wall；
The lower end of described Infusion support is inserted into intubation after passing through the centre bore of annular cover plate, and is fixed by clamping screw；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice Infusion support lower end；
Motor-drive circuit of the described balance controller respectively with gyroscope and three electric expansion bars is connected；
Described battery module is respectively balance controller, gyroscope and three electric expansion bar power supplies.
2. the intelligent transfusion robot according to claim 1 based on Internet of Things, it is characterised in that described remote control Device, remote wireless communications module are realized using smart mobile phone.
CN201610437579.7A 2016-06-19 2016-06-19 Intelligent transfusion robot based on internet of things Expired - Fee Related CN105856259B (en)

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CN201610724527.8A CN106310432A (en) 2016-06-19 2016-06-19 Walking control method for intelligent infusion robot based on Internet of things
CN201610737444.2A CN106267440A (en) 2016-06-19 2016-06-19 Intelligent transfusion robot system based on internet of things
CN201610727952.2A CN106166314A (en) 2016-06-19 2016-06-19 Intelligent transfusion robot based on internet of things
CN201610727241.5A CN106310433A (en) 2016-06-19 2016-06-19 Intelligent infusion robot system based on Internet of things

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CN201610737444.2A Division CN106267440A (en) 2016-06-19 2016-06-19 Intelligent transfusion robot system based on internet of things
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