Design Of The Robot Used For Intravenous Medication Preparation And Control Based On Expert System

Along with the progress of the society, more and more people pay attention to the health. More and more health problem was treated by infusion. Generally, the preparation of the present stage of our country was completed by medical staff in injection room or ward therapeutic room. The intensity of work and low efficiency of preparation are the disadvantages. There are many other disadvantages, such as easy to cause the liquid pollution, nurses were easily scratched by glass scratch, preparation of toxic drug is easy to cause the occupation disease. It is of great significance for development of robot used for intravenous medication preparation to solve the drawbacks of artificial preparation, to reduce the medical staff ’s labor intensity and protect personnel’s health. The robot will make the time-consuming heavy dispensing become work efficiency. Today, we care the pursuit of efficiency, the robot’s practicality and speediness make its demand obviously. The research and design of the robot used for intravenous medication preparation is imperative.Through the analysis on the artificial preparation flow in hospital, the function of the robot need to be realized is determined, and carries on the modular division of the functions of the robot. According to the planning of function module partition, mechanical scheme was designed. Through determining the control mode of each degree, the control system scheme of the whole robot was confirmed. Planning the dispensing flow of the robot by analyzing the process of preparation. Through the above work, the robot scheme can be determined from the structure and method.Analysis the import role of the mechanical arm module, according to the overall function and mechanical arm module function of the robot, the mechanical arm module was designed and implemented and do kinematics of the mechanical arm module. The risk of mechanical arm module pieces into ANSYS, through the deformation and stress analysis of two aspects of risk, it is proved that the design of the mechanical arm module meet the strength requirements.Set the reference point of all degrees, i.e. the zero point of the robot, and completed the robot homing procedure. In view of the complicated dispensing workflow, the workflow was broken down into modular dispensing sub-action, achieved the modular dispensing workflow decomposition by combining these sub-actions to implement preparation of any infusion prescription. Further completed these sub-action modular function, call the appropriate functions to achieve the established modular sub-action, finished the drive function modular sub-actions.To solve troublesome issues during the workflow of the robot, such as a wide variety of drugs, diverse bottle specifications, complex pharmaceutical preparation process, an expert system based control system for the robot is designed and implemented in this paper. Using a example to test the system, the results show that the system can accurately and automatically generate dispensing workflow sequence of doctor’s prescription.