CN107583144A - Towards the safe micro-injection pump of high accuracy and method of multi-brand syringe - Google Patents
Towards the safe micro-injection pump of high accuracy and method of multi-brand syringe Download PDFInfo
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- CN107583144A CN107583144A CN201710823083.8A CN201710823083A CN107583144A CN 107583144 A CN107583144 A CN 107583144A CN 201710823083 A CN201710823083 A CN 201710823083A CN 107583144 A CN107583144 A CN 107583144A
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- 238000000520 microinjection Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 86
- 230000001133 acceleration Effects 0.000 claims abstract description 48
- 238000006073 displacement reaction Methods 0.000 claims abstract description 26
- 238000001802 infusion Methods 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000003993 interaction Effects 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000002347 injection Methods 0.000 claims description 36
- 239000007924 injection Substances 0.000 claims description 36
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- 230000009471 action Effects 0.000 claims description 10
- 239000000203 mixture Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 5
- 230000035772 mutation Effects 0.000 claims description 4
- 230000003750 conditioning effect Effects 0.000 claims description 3
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- 238000007689 inspection Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 7
- 230000007547 defect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000035945 sensitivity Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000000474 nursing effect Effects 0.000 description 2
- 238000003908 quality control method Methods 0.000 description 2
- 235000007516 Chrysanthemum Nutrition 0.000 description 1
- 244000189548 Chrysanthemum x morifolium Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Abstract
The present invention discloses a kind of safe micro-injection pump of high accuracy towards multi-brand syringe and method, and syringe pump is made up of state-detection, stepper motor and driver, master control, defeated entry/exit man-machine interaction, alarm, communication, leading screw/Semi-folding nut transmission and deceleration unit.The direct displacement-measurement procedure of grating displacement sensor, deceleration transmission pair error, leading screw/Semi-folding nut transmission error are eliminated, improve the accuracy of detection of injector push-rod position, expand the scope of the different syringes of micro-injection pump collocation.Stepper motor current is detected, the defects of detection infusion pipeline obstruction is overcome, the security of micro-injection pump is attained a yet higher goal.The displacement of micro-injection pump performs with reference to S-shaped acceleration and deceleration curves；Without sudden change of acceleration, step-out and motor damage are helped avoid；Start and accelerate and braking deceleration stage, speed control of open loop；Constant velocity stage, closed loop Bit andits control, control algolithm are easy and effective.
Description
Technical field
The invention belongs to medical micro-injection pump technology category.Particularly relate to obtain injector push-rod by grating displacement sensor
Position, detection current of electric sentence the safe micro-injection pump of high accuracy and method of infusion pipeline obstruction.
Background technology
With the progress of China's medical level, administration precision and stability more and more higher required by clinical treatment.Pass
The nurse manual injection of system, the injection time specified in accordance with doctor's advice and injection speed, promoted by rule of thumb with feel control syringe
Speed, i.e. injection speed；Manual injection causes nurse job amount to remain high, and occupies a large amount of nursing human resources；Note simultaneously
Accuracy of ejaculating is not high, real difficult comprehensively competent treatment task.Have an intravenous drip administration：Hang infusion bag, gravity infusion；Human eye checks transfusion
Speed, manually adjust wheel and press from both sides elastic, change decoction flow velocity；Old wine in a new bottle -- and by rule of thumb and feel, administration precision be not also high.
Two kinds of traditional administering modes, can not ensure infusion velocity and be transfused dose precision, easily by human factor interference and shadow
Ring curative effect；In the occasion of accurate dosed administration, convenient administration mode is performed before the spectators for " overblown blossoms " at most.It is intended to overcome biography
System administering mode intrinsic human error and uncertainty, micro-injection pump arise at the historic moment！Micro-injection pump is as intelligent injection
Equipment, possess function that is micro, at the uniform velocity, persistently, being accurately pumped into medicine in human body, and injection speed, medicine can be adjusted on demand
Agent amount；The decoction transmission of steady pulse free, the blood concentration of ideal stability is being kept in patient body, is meeting that what is be precisely administered controls
Treat and require；In addition, it is easy to operate, quick, efficiently.Micro-injection pump grasps the standard configuration equipment register for being included in clinical treatment, plays the part of ICU
Urgent patient, operation patients, the patron saint of postoperative patient life, the good assistant of nurse job.
Nineteen fifty, the first stylobate in Harvard Apparatus (Harvard Apparatus) company exploitation whole world is in the micro of mechanical whorl
Syringe pump；The eighties releases the famous micro-injection pumps of Pump 22.Nineteen fifty-one, German Bei Lang (B.Braun) develop First doctor
Use micro-injection pump；Multfuse, Perfusor Compact, Infusomat P and Infusomat the Fms types of releasing one after another are complete
Serial micro-injection pump.Nineteen ninety-five, China's research and development first year of micro-injection pump；So far, the micro-injection pump of registration is ratified
Producer ＞ 40.But upper scale, there is the producer ＜ 10 of certain popularity, it is very few：Beijing section is Feng Gao companies ZNB serial, wide
Western power Noah's ark syringe pump TCI-II, Zhejiang University WZS series；Wherein the WZS series market share is maximum, is commonly called as Zhejiang University in the industry
Pump.Contrast domestic, import syringe pump：Function is similar；But in blocked-flow accuracy of detection, transfusion speed and amount of infusion control accuracy
Remain in gap.
Medical micro-injection pump is by state detection unit, stepper motor and actuator unit, main control unit, defeated entry/exit people
Machine interactive unit, alarm unit, communication unit, leading screw/Semi-folding nut transmission and deceleration unit composition；State detection unit bag
Include specification of syringe and the detection that comes off, injection incite somebody to action/drain detection, injection occlusion detection, the detection of injector push-rod position；Stepping electricity
Machine and actuator unit, driver is using stepper motor special driving chip as core, stepper motor then preferred hybrid HB types；It is defeated
Entry/exit man-machine interaction unit includes button (startup/stopping/F.F./Jing Yin/total amount inquiry/selection/digital setting/function dish
Singly), LCD, LED；Main control unit is using PIC or MCU or FPGA as core.The main control unit of WZS series selects PIC；Syringe
Detect push rod position：Hall element is installed on stepper motor, statistics Hall pulse (circle) number calculates displacement, i.e. injector push-rod
Position；Inject occlusion detection：Promoted in micro-injection pump and arrange resistance strain type pressure sensor, pressure measurement force snesor on sliding block
Resistance value obtain injector push-rod stress, sentence and whether block；Specification of syringe and the detection that comes off are realized using microswitch.
WZS series is practical, the reliable, masterpiece of low-cost design theory；Industry outstanding figure comes into reality, in routine clinical treatment
Aggregate performance is satisfactory.
Injection " intellectuality " paces persistently accelerate, and medical micro-injection pump is no longer the exclusive product in ICU wards, is extended to general
Common fault room is the normality of hospital；Such as Grade A hospital micro-injection pump:Bed ＞ 1:4th, even ＞ 1:3, " before old times king thanks to hall
Swallow, fly into common people house ".Therefore, the present canot compare with the past for the working environment residing for micro-injection pump -- operate in no medical care people mostly
In the state of member's real-time monitoring；It is that new working environment makes so to lift Product Safety index.On the other hand, micro-injection pump is arranged in pairs or groups
The scene that different brands pump with syringe, is even associated with disposable syringe, happen occasionally, be of common occurrence；Micro note
The accurate safe administration for penetrating pump faces unprecedented severe challenge.
Open research [J] Chinese medical equipment of beautiful micro-injection pumps flow rate influence factor, 2015,30 (8)：107-
110；And pertinent literature is provided as drawn a conclusion.With national standard《GB9706.27-2005/IEC60601-2-24:1998 is medical
Electrical equipment 2-24 parts:Infusion pump and the requirement of infusion controller secure private》, Department of Qulity Supervision of state《JJF1259-2010 is medical
Syringe pump and infusion pump country calibrating standard》For foundation, micro-injection pump quality control index is micro-injection pump mean flow rate
Flow accuracy, instantaneous velocity stability, blockage pressure alarm.Micro-injection pump is arranged in pairs or groups same brand, the pump of different brands respectively
With syringe, disposable syringe；The quality control index measured successively decreases successively, and import, domestic micro-injection pump are general not
Can be outer；In short, precisely administration not only depends on syringe pump, and is influenceed by the syringe arranged in pairs or groups.It must be noted that different brands
Pump syringe, disposable syringe price great disparity；As medical treatment consumptive materials, the ultimate cost of relation patient.If eliminate
Or partially remove from negative effect of the syringe to being precisely administered, the undoubtedly Gospel of patient's pocket.
Analysis of Influential Factors [J] the Shandongs nursing magazine of Hou Yan chrysanthemum micro-injection pump block presignal delays, 2018,14
(15)：33-35；What can the design of people medical micro-injection pumps and simulation study (D) East China University of Science, 2014；It is and related
Document is provided as drawn a conclusion.Syringe pump transfusion extension tube is flexible, and patient posture change, Health Section postpone, and syringe needle easily blocks；It is defeated
Liquid pipeline blocks, and decoction is accumulated in extension tube, extends pipe pressure and increases to certain threshold value, resistance strain type pressure sensor is just reported
Alert, hysteresis alarm is unfavorable to patient.For injection is blocked, the pressure-strain piece of existing micro-injection pump is reliably effective；Face
Infusion pipeline blocks, and the sensitivity of pressure-strain piece is barely satisfactory, is extensively denounced.In the state without medical personnel's real-time monitoring
Under, the defects of infusion pipeline obstruction alarm, amplified by multiplication, it is very urgent to seek effective solution.
Micro-injection pump main flow framework is based oneself upon, inquires into the evolutionary innovation solution of drawbacks described above.Reduce or eliminate injection
Influence of the device to being precisely administered, expand micro-injection pump collocation different brands pump syringe, the model of disposable syringe
Enclose；Point of penetration is to improve the accuracy of detection of injector push-rod position.It is common improved method that encoder, which replaces Hall element, real
It is limited to survey effect；Substantially it is indirect displacement measurement because the measurement mechanism of encoder and Hall element is similar；In displacement measurement
Main error：Deceleration transmission pair error, leading screw/Semi-folding nut transmission error, encoder are failed to take any action；Using pattern displacement
The direct displacement-measurement procedure of sensor, it is expected to improve the accuracy of detection of injector push-rod position.Woven hose be present in micro-injection pump
The defects of roadlock plug warning sensitivity difference；Transfusion extends the pipe pressure direct method of measurement and is limited by：1st, pressure is difficult to find in extension tube should
Become piece installation site, 2, the installation site for not contacting decoction it is extremely difficult, pressure is filled on 3, every extension tube or every syringe should
Expense and the workload for becoming piece are too big；Road whereRoad is in detection stepper motor current, indirect monitoring infusion pipeline obstruction.It is micro-
It is as follows to measure the more representational intellectual property Summary on research results of syringe pump：
Patent of invention " a kind of high-precision micro-injection pump and its application " (ZL201410187851.1), propose micro
Syringe handle neck is set in injection pump case and the syringe bracket of injector syringe is held up for being bonded, is used with syringe bracket engagement
In the elastic clamping mechanism for the injector syringe that is fixedly clamped；It is poor that solution micro-injection pump adapts to, and stability is poor when clamping syringe
Problem.
Patent of invention " alarming transmission device for syring inaccurate installation " (ZL200610049883.0), propose note
Emitter push rod installs incorrect alarming transmission device, by feed screw nut, nut clutch seat, rocker, alignment pin, push rod/end protective cover,
Cut somebody's hair with groove, set, branch/pendulum/push rod, holder, frame, injector push-rod/piece, dialing spring, safety pin, centering block, pressure/extension spring, sliding sleeve/
Groove/seat, slide guide bar, sensing element, contact composition.
It is above-mentioned to benefit our pursuits, there is certain reference value, but explore achievement and still suffer from limitation.Therefore, it is necessary to base oneself upon existing
There is achievement in research, improve the injection precision and security of micro-injection pump, and to making in the adaptability of different brands syringe
In-depth study.
The content of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, there is provided a kind of high accuracy safety towards multi-brand syringe
Micro-injection pump and method.
Towards multi-brand syringe the safe micro-injection pump of high accuracy by state detection unit, stepper motor and driver
Unit, main control unit, defeated entry/exit man-machine interaction unit, alarm unit, communication unit, leading screw/Semi-folding nut transmission and deceleration
Unit forms；State detection unit includes specification of syringe and the detection module that comes off, injection incite somebody to action/drain detection module, injection resistance
Fill in detection module, injector push-rod position detecting module, stepper motor current detection module, stepper motor and actuator unit bag
Include Drive Module, stepper motor；State detection unit, stepper motor and actuator unit, defeated entry/exit man-machine interaction unit,
Alarm unit, communication unit are connected with main control unit, stepper motor and actuator unit driving leading screw/Semi-folding nut transmission and
Deceleration unit, the translation of Semi-folding nut drive injector push-rod to complete injection；
The parallel leading screw installation of grating scale of injector push-rod position detecting module, Drive Module embed stepper motor current
The Hall current sensor of detection module, the output of Drive Module pass through among the sensitivity member of Hall current sensor；Note
Emitter specification and the detection module that comes off, injection by/drain detection module, the installation site for injecting occlusion detection module and user
Formula, follow existing main flow micro-injection pump；By grating displacement sensor, micro-injection is performed with reference to S-shaped acceleration and deceleration curves
The displacement of pump, obtain the high precision position of injector push-rod；Hall current sensor gathers stepper motor current, and sentencing infusion pipeline is
No obstruction.
Described injector push-rod position detecting module is by the linear grating chi of LE types, the 1st optocoupler, the 2nd light of 6N137 types
Coupling, the 1st NAND gate, the 2nd NAND gate composition, optocoupler and NAND gate form numeration/direction judgment circuit of linear grating chi output signal；
The B phases port of linear grating chi is through R142, be connected with the 1st optocoupler pin 3, the 1st optocoupler pin 2 is through R141Meet 24V, R143、R144With the 1st light
Coupling pin 6, the 1st NAND gate input 1 are connected, R143The other end is connected with the 1st optocoupler pin 7,8,5V, R144The other end with the 1st with it is non-
Door input 2, C141It is connected, C141The other end is connected and is grounded with the 1st optocoupler pin 5, the 1st NAND gate output end 3 and main control unit
ATmega128 pin 31 be connected；The A phase port signal process circuits of linear grating chi are identical with B phases port, and the 2nd NAND gate is defeated
Go out end 3 with the ATmega128 pin 6 of main control unit to be connected.
Described stepper motor current detection module is by the Hall current sensor unit of HBC06LTS3.3 types, OP-27 types
Amplifier unit composition；The A+ port cables of Drive Module pass through the open circles of Hall current sensor unit, amplifier unit
For Butterworth filter, the A+ port current signals of the Drive Module of conditioning Hall current sensor unit collection；R151、
R152、C152It is connected, R151Another termination HBC06LTS3.3 pin 9, R152The other end and C151, OP-27 pin 3 be connected, C151
The other end ground connection, C152Another termination OP-27 pin 6；R153And R154Be connected, connect OP-27 pin 2, R153Another termination
Ground, R154Another termination OP-27 pin 6；OP-27 pin 6 is connected with the ATmega128 pin 61 of main control unit.
The model ZD-6560-V4 of described Drive Module；ZD-6560-V4 A+, A-, B+, B- port respectively with
Stepper motor A+, A-, B+, B- ports of 57 type two-phases are connected, ZD-6560-V4 power supply+, power supply-respectively with 24V DC's
+ ,-hold and be connected；ZD-6560-V4 direction+, off line+, pulse+port be connected with the ATmega128 pin 24 of main control unit, ZD-
6560-V4 direction-, off line-, pulse-port is connected with the port of ATmega128 pin 51,50,49 of main control unit respectively.
Described main control unit using ATmega128 chips as core, with injector push-rod position examine by ATmega128 pin 31,6
Survey module to be connected, ATmega128 pin 61 are connected with stepper motor current detection module, and ATmega128 pin 24,51,50,49 are with driving
Dynamic device module is connected；Defeated entry/exit man-machine interaction unit, alarm unit, communication unit are connected with main control unit, specification of syringe and
Come off detection module, injection incite somebody to action/drain detection module, inject occlusion detection module be connected with main control unit.
Described reference S-shaped acceleration and deceleration curves perform the displacement of micro-injection pump；S-shaped acceleration and deceleration curves are from acceleration visual angle
Consider, by accelerate, it is even accelerate, subtract accelerations, at the uniform velocity, acceleration and deceleration, it is even slow down, deceleration 7 stages form, examined from speed visual angle
Amount is divided into starting and accelerated, at the uniform velocity with braking deceleration three parts, and rises/retaining segment curve is in specular；S-shaped acceleration and deceleration curves
Without sudden change of acceleration, i.e., equipment dependability hidden danger caused by powerless mutation；S-shaped acceleration and deceleration curves start from point O, eventually to point G；From step
Stepper motor adds angular speed visual angle, VO-VA、VA-VB、VB-VC、VC-VD、VD-VE、VE-VFAnd VF-VGDuring stepper motor is operated
Acceleration and deceleration process is divided into 7 stages：Add accelerating sections, even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, subtract
Braking section；From the angular speed visual angle of stepper motor, S-shaped acceleration and deceleration curves can be divided into again：VO-VCStart acceleration, VC-VDTravel at the uniform speed
And VD-VGThree sections of braking deceleration；Definition：tC+=tC+⊿t、tD-=tD- ⊿ t, ⊿ t=2S, at the uniform velocity time interval [tC, tD], inspection
Survey the time interval [t of infusion pipeline obstructionC+, tD-], starting time section [tO, tC], braking time section [tD, tG]。
The method of the safe micro-injection pump of the high accuracy towards multi-brand syringe, it is characterised in that：Method flow
Include the initialization flow of the safe micro-injection pump of high accuracy, the execution flow of the safe micro-injection pump of high accuracy；
Algorithmic descriptions
Algorithm 1., starting time section [tO, tC], braking time section [tD, tG]
Stepper motor carries out speed control of open loop with reference to S-shaped acceleration and deceleration curves
Algorithm 2., at the uniform velocity time interval [tC, tD]
With reference to S-shaped acceleration and deceleration curves, grating scale displacement data, closed loop Bit andits control is carried out
The initialization flow of the safe micro-injection pump of high accuracy
Specification of syringe and the detection module that comes off obtain specification of syringe
Defeated entry/exit man-machine interaction unit reads injection parameters
Select supporting S-shaped acceleration and deceleration curves
The execution flow of the safe micro-injection pump of high accuracy
1st, starting time section [tO, tC]
Algorithm is carried out 1. to control, inject occlusion detection module and put into operation
2nd, at the uniform velocity time interval [tC, tD]
Algorithm is carried out 2. to control, inject occlusion detection module and put into operation
Wherein, the time interval [t of infusion pipeline obstruction is detectedC+, tD-]
Stepper motor current detection module puts into operation, detects infusion pipeline obstruction
3rd, braking time section [tD, tG]
Algorithm is carried out 1. to control, inject occlusion detection module and put into operation.
The present invention has an advantageous effect in that compared with background technology：Grating displacement sensor direct measurement displacement, eliminate
Deceleration transmission pair error, leading screw/Semi-folding nut transmission error, the accuracy of detection of injector push-rod position is improved, expanded
Big micro-injection pump collocation different brands pump syringe, the scope of disposable syringe.Detect stepper motor current,
The defects of micro-injection pump infusion pipeline occlusion detection is overcome, the security of micro-injection pump is attained a yet higher goal.It is micro
The displacement of syringe pump performs with reference to S-shaped acceleration and deceleration curves；Without sudden change of acceleration, step-out and motor damage are helped avoid.Start
Accelerate and braking deceleration stage, speed control of open loop；Constant velocity stage, closed loop Bit andits control；Control algolithm is easy and effective.
Brief description of the drawings
Fig. 1 (a) is the theory diagram of the safe micro-injection pump of high accuracy；
Fig. 1 (b) is the structure diagram of the safe micro-injection pump of high accuracy；
Fig. 1 (c) is the sensor configuration figure of the safe micro-injection pump of high accuracy；
Fig. 2 is the circuit diagram of injector push-rod position detecting module；
Fig. 3 is the circuit diagram of stepper motor current detection module；
Fig. 4 is the circuit diagram of Drive Module；
Fig. 5 is the circuit diagram of main control unit；
Fig. 6 is the S-shaped acceleration and deceleration curves figure of syringe pump displacement；
Fig. 7 (a) is the safe micro-injection pump method flow diagram of high accuracy；
Fig. 7 (b) is the initialization flowchart of the safe micro-injection pump of high accuracy；
Fig. 7 (c) is the execution flow chart of the safe micro-injection pump of high accuracy.
Embodiment
As shown in Fig. 1 (a), Fig. 1 (b), Fig. 1 (c), towards multi-brand syringe the safe micro-injection pump of high accuracy by shape
State detection unit 100, stepper motor and actuator unit 200, main control unit 300, defeated entry/exit man-machine interaction unit 400, alarm
Unit 500, communication unit 600, leading screw/Semi-folding nut transmission and deceleration unit 700 form；State detection unit 100 includes
Specification of syringe and the detection module 110 that comes off, injection incite somebody to action/drain detection module 120, injection occlusion detection module 130, syringe
Push rod position detecting module 140, stepper motor current detection module 150, stepper motor and actuator unit 200 include driver
Module 210, stepper motor 220；State detection unit 100, stepper motor and actuator unit 200, defeated entry/exit man-machine interaction list
Member 400, alarm unit 500, communication unit 600 are connected with main control unit 300, and stepper motor and actuator unit 200 drive silk
Thick stick/Semi-folding nut transmission and deceleration unit 700, the translation of Semi-folding nut drive injector push-rod to complete injection；
The parallel leading screw installation of grating scale of injector push-rod position detecting module 140, Drive Module 210 embed stepping electricity
The Hall current sensor of machine current detection module 150, the output of Drive Module 210 are first from the sensitivity of Hall current sensor
Centre passes through；Specification of syringe and the detection module 110 that comes off, injection incite somebody to action/drain detection module 120, injection occlusion detection module
130 installation site and occupation mode, follow existing main flow micro-injection pump；By grating displacement sensor, add with reference to S-shaped
Deceleration curve performs the displacement of micro-injection pump, obtains the high precision position of injector push-rod, improves micro-injection pump to different product
The adaptability of board syringe；Hall current sensor gathers stepper motor current, sentences whether infusion pipeline blocks, improves micro note
Penetrate the security of pump.
Illustrate 1：Consider the integrality of statement, sketch the composition of traditional micro-injection pump.The safe micro-injection pump of high accuracy
The injector push-rod position detection based on grating displacement sensor is set up, is examined using the stepper motor current of Hall current sensor
Survey；The direct displacement measurement of grating improves the accuracy of detection of injector push-rod position, to the adaptability of different brands syringe；Step
Stepper motor current detecting, there is provided the technological means of monitoring transfusion pipe blocking.In view of simplicity of exposition, the micro note of high accuracy safety
The same section of pump and traditional micro-injection pump is penetrated, belongs to knowledge category；Only refer to and not deploying in text, dotted line is used in Fig. 1 (a)
Collimation mark is noted, to show difference.
As shown in Fig. 2 injector push-rod position detecting module 140 by the linear grating chis 145 of LE types, 6N137 types the 1st
Optocoupler 141, the 2nd optocoupler 148, the 1st NAND gate 142, the 2nd NAND gate 149 form, and optocoupler and NAND gate form linear grating chi
Numeration/direction judgment circuit of 145 output signals；The B phases port of linear grating chi 145 is through R142, be connected with the pin 3 of the 1st optocoupler 141,
The pin 2 of 1 optocoupler 141 is through R141Meet 24V, R143、R144It is connected with the pin 6 of the 1st optocoupler 141, the input 1 of the 1st NAND gate 142, R143It is another
End is connected with the pin 7 of the 1st optocoupler 141,8,5V, R144The other end and the input 2 of the 1st NAND gate 142, C141It is connected, C141The other end with
The pin 5 of 1st optocoupler 141 is connected and is grounded, and the output end 3 of the 1st NAND gate 142 is connected with the ATmega128 pin 31 of main control unit 300；
The A phase port signal process circuits of linear grating chi 145 and B phases port are similar, the output end 3 of the 2nd NAND gate 149 and main control unit
300 ATmega128 pin 6 are connected.
Illustrate 2：Because specification of syringe and the detection module that comes off, injection incite somebody to action/drain detection module, injection occlusion detection mould
Block, follow the structure of existing main flow micro-injection pump, belong to knowledge category, only refer to and not deploying in text.
As shown in figure 3, Hall current sensor unit of the stepper motor current detection module 150 by HBC06LTS3.3 types
The amplifier unit 152 of 151, OP-27 types forms；The A+ port cables of Drive Module 210 pass through Hall current sensor unit
151 open circles, amplifier unit 152 are Butterworth filter, the driver of the collection of conditioning Hall current sensor unit 151
The A+ port current signals of module 210；R151、R152、C152It is connected, R151Another termination HBC06LTS3.3 pin 9, R152It is another
One end and C151, OP-27 pin 3 be connected, C151The other end ground connection, C152Another termination OP-27 pin 6；R153And R154Phase
Even, OP-27 pin 2, R is connect153The other end ground connection, R154Another termination OP-27 pin 6；OP-27 pin 6 and main control unit
300 ATmega128 pin 61 are connected.
As shown in figure 4, the model ZD-6560-V4 of Drive Module 210；ZD-6560-V4 A+, A-, B+, B- port
Be connected respectively with stepper motor 220A+, A-, B+, B- ports of 57 type two-phases, ZD-6560-V4 power supply+, power supply-respectively with
24V DC's+,-hold and be connected；ZD-6560-V4 direction+, off line+, the ATmega128 pin of pulse+port and main control unit 300
24 are connected, ZD-6560-V4 direction-, off line-, pulse-port respectively the ATmega128 pin 51 with main control unit 300,50,
49 ports are connected.
As shown in figure 5, main control unit 300, using ATmega128 chips as core, ATmega128 pin 31,6 push away with syringe
Bar position detecting module 140 is connected, and ATmega128 pin 61 are connected with stepper motor current detection module 150, ATmega128 pin
24th, 51,50,49 are connected with Drive Module 210；Defeated entry/exit man-machine interaction unit 400, alarm unit 500, communication unit 600
It is connected with main control unit 300, specification of syringe and the detection module 110 that comes off, injection incite somebody to action/drain detection module 120, injection obstruction
Detection module 130 is connected with main control unit 300.
As shown in fig. 6, the change in location of the displacement of micro-injection pump, i.e. injector push-rod, holds with reference to S-shaped acceleration and deceleration curves
OK；S-shaped acceleration and deceleration curves are considered from acceleration visual angle, by accelerate, it is even accelerate, subtract accelerations, at the uniform velocity, acceleration and deceleration, it is even deceleration, subtract
Slow down 7 stages composition, is considered from speed visual angle and is divided into starting and accelerates, at the uniform velocity with braking deceleration three parts, and plays/retaining segment
Curve is in specular；S-shaped acceleration and deceleration curves are without sudden change of acceleration, i.e., equipment dependability hidden danger caused by powerless mutation；S-shaped adds
Deceleration curve starts from point O, eventually to point G；Add angular speed visual angle, V from stepper motorO-VA、VA-VB、VB-VC、VC-VD、VD-VE、
VE-VFAnd VF-VGAcceleration and deceleration process during stepper motor is operated is divided into 7 stages：Add accelerating sections, even accelerating sections, subtract acceleration
Section, at the uniform velocity section, accelerating and decelerating part, even braking section, subtract braking section；From the angular speed visual angle of stepper motor, S-shaped acceleration and deceleration curves again may be used
It is divided into：VO-VCStart acceleration, VC-VDTravel at the uniform speed and VD-VGThree sections of braking deceleration；Definition：tC+=tC+⊿t、tD-=tD- ⊿
T, ⊿ t=2S, at the uniform velocity time interval [tC, tD], detection infusion pipeline obstruction time interval [tC+, tD-], the starting time section
[tO, tC], braking time section [tD, tG]。
As shown in Fig. 7 (a), Fig. 7 (b), Fig. 7 (c), the safe micro-injection pump method flow of high accuracy includes high accuracy safety
The initialization flow of micro-injection pump, the execution flow of the safe micro-injection pump of high accuracy；
Algorithmic descriptions
Algorithm 1., starting time section [tO, tC], braking time section [tD, tG]
Stepper motor 220 carries out speed control of open loop with reference to S-shaped acceleration and deceleration curves
Algorithm 2., at the uniform velocity time interval [tC, tD]
With reference to S-shaped acceleration and deceleration curves, grating scale displacement data, closed loop Bit andits control is carried out
The initialization flow of the safe micro-injection pump of high accuracy
Specification of syringe and the detection module 110 that comes off obtain specification of syringe
Defeated entry/exit man-machine interaction unit 400 reads injection parameters
Select supporting S-shaped acceleration and deceleration curves
The execution flow of the safe micro-injection pump of high accuracy
1st, starting time section [tO, tC]
Algorithm is carried out 1. to control, inject occlusion detection module 130 and put into operation
2nd, at the uniform velocity time interval [tC, tD]
Algorithm is carried out 2. to control, inject occlusion detection module 130 and put into operation
Wherein, the time interval [t of infusion pipeline obstruction is detectedC+, tD-]
Stepper motor current detection module 150 puts into operation, detects infusion pipeline obstruction
3rd, braking time section [tD, tG]
Algorithm is carried out 1. to control, inject occlusion detection module (130) and put into operation.
Illustrate 3：The displacement data provided with reference to S-shaped acceleration and deceleration curves, grating scale, carries out closed loop Bit andits control；Control is adopted
With the pid algorithm of classics, Kong Liang ⊿ U amplitudes≤setting value, disturbance of the controlled quentity controlled variable to stepper motor current is placed restrictions on, reduce transfusion
The flase drop of pipe blocking.In view of simplicity of exposition, the safe micro-injection pump of high accuracy and traditional micro-injection pump identical flow
Content, belong to knowledge category；It is not deployed in text, it see the specification of Related product.
Claims (7)
1. the safe micro-injection pump of a kind of high accuracy towards multi-brand syringe, it is characterised in that micro-injection pump is examined by state
Survey unit (100), stepper motor and actuator unit (200), main control unit (300), defeated entry/exit man-machine interaction unit (400),
Alarm unit (500), communication unit (600), leading screw/Semi-folding nut transmission and deceleration unit (700) composition；State-detection list
First (100) include specification of syringe and the detection module that comes off (110), injection incite somebody to action/drain detection module (120), injection obstruction inspection
Survey module (130), injector push-rod position detecting module (140), stepper motor current detection module (150), stepper motor and
Actuator unit (200) includes Drive Module (210), stepper motor (220)；State detection unit (100), stepper motor and
Actuator unit (200), defeated entry/exit man-machine interaction unit (400), alarm unit (500), communication unit (600) and master control list
First (300) are connected, stepper motor and actuator unit (200) driving leading screw/Semi-folding nut transmission and deceleration unit (700),
The translation of Semi-folding nut drives injector push-rod to complete injection；
The parallel leading screw installation of grating scale of injector push-rod position detecting module (140), Drive Module (210) embed stepping electricity
The Hall current sensor of machine current detection module (150), the output of Drive Module (210) is from the quick of Hall current sensor
Passed through among sense member；By grating displacement sensor, the displacement of micro-injection pump is performed with reference to S-shaped acceleration and deceleration curves, obtains injection
The high precision position of device push rod；Hall current sensor gathers stepper motor current, sentences whether infusion pipeline blocks.
2. the safe micro-injection pump of the high accuracy according to claim 1 towards multi-brand syringe, it is characterised in that institute
The injector push-rod position detecting module (140) stated by the linear grating chis (145) of LE types, 6N137 types the 1st optocoupler (141),
2nd optocoupler (148), the 1st NAND gate (142), the 2nd NAND gate (149) composition, optocoupler and NAND gate form linear grating chi
(145) numeration/direction judgment circuit of output signal；The B phases port of linear grating chi (145) is through R142And the 1st optocoupler (141) pin 3
It is connected, the 1st optocoupler (141) pin 2 is through R141Meet 24V, R143、R144With the 1st optocoupler (141) pin 6, the 1st NAND gate (142) input 1
It is connected, R143The other end is connected with the 1st optocoupler (141) pin 7,8,5V, R144The other end and the 1st NAND gate (142) input 2, C141
It is connected, C141The other end is connected and is grounded with the 1st optocoupler (141) pin 5, the 1st NAND gate (142) output end 3 and main control unit
(300) ATmega128 pin 31 are connected；The A phase port signal process circuits of linear grating chi (145) are identical with B phases port, the
2 NAND gates (149) output end 3 is connected with the ATmega128 pin 6 of main control unit (300).
3. the safe micro-injection pump of the high accuracy according to claim 1 towards multi-brand syringe, it is characterised in that institute
The stepper motor current detection module (150) stated is by the Hall current sensor unit (151) of HBC06LTS3.3 types, OP-27 types
Amplifier unit (152) composition；The A+ port cables of Drive Module (210) pass through Hall current sensor unit (151)
Open circles, amplifier unit (152) are Butterworth filter, the driver of conditioning Hall current sensor unit (151) collection
The A+ port current signals of module (210)；R151、R152、C152It is connected, R151Another termination HBC06LTS3.3 pin 9, R152's
The other end and C151, OP-27 pin 3 be connected, C151The other end ground connection, C152Another termination OP-27 pin 6；R153And R154Phase
Even, OP-27 pin 2, R is connect153The other end ground connection, R154Another termination OP-27 pin 6；OP-27 pin 6 and main control unit
(300) ATmega128 pin 61 are connected.
4. the safe micro-injection pump of the high accuracy according to claim 1 towards multi-brand syringe, it is characterised in that institute
The model ZD-6560-V4 for the Drive Module (210) stated；ZD-6560-V4 A+, A-, B+, B- port respectively with 57 types two
Stepper motor (220) A+, A-, B+, B- port of phase is connected, ZD-6560-V4 power supply+, power supply-respectively and 24V DC+,-
End is connected；ZD-6560-V4 direction+, off line+, pulse+port be connected with the ATmega128 pin 24 of main control unit (300),
ZD-6560-V4 direction-, off line-, pulse-port port of ATmega128 pin 51,50,49 with main control unit (300) respectively
It is connected.
5. the safe micro-injection pump of the high accuracy according to claim 1 towards multi-brand syringe, it is characterised in that institute
The main control unit (300) stated is using ATmega128 chips as core, ATmega128 pin 31,6 and injector push-rod position detection mould
Block (140) be connected, ATmega128 pin 61 are connected with stepper motor current detection module (150), ATmega128 pin 24,51,50,
49 are connected with Drive Module (210)；Defeated entry/exit man-machine interaction unit (400), alarm unit (500), communication unit (600)
It is connected with main control unit (300), specification of syringe and the detection module that comes off (110), injection incite somebody to action/drain detection module (120), note
Occlusion detection module (130) is penetrated with main control unit (300) to be connected.
6. the safe micro-injection pump of the high accuracy according to claim 1 towards multi-brand syringe, it is characterised in that institute
The reference S-shaped acceleration and deceleration curves stated perform the displacement of micro-injection pump；S-shaped acceleration and deceleration curves are considered from acceleration visual angle, by adding
Accelerate, it is even accelerate, subtract accelerations, at the uniform velocity, acceleration and deceleration, it is even slow down, 7 stages of slowing down form, considering and be divided into from speed visual angle
It is dynamic to accelerate, at the uniform velocity with braking deceleration three parts, and rise/retaining segment curve is in specular；S-shaped acceleration and deceleration curves are without acceleration
Mutation, i.e., equipment dependability hidden danger caused by powerless mutation；S-shaped acceleration and deceleration curves start from point O, eventually to point G；From stepper motor
Add angular speed visual angle, VO-VA、VA-VB、VB-VC、VC-VD、VD-VE、VE-VFAnd VF-VGAcceleration and deceleration during stepper motor is operated
Journey is divided into 7 stages：Add accelerating sections, even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, subtract braking section；From
The angular speed visual angle of stepper motor, S-shaped acceleration and deceleration curves are divided into again：VO-VCStart acceleration, VC-VDTravel at the uniform speed and VD-VGBraking
Slow down three sections；Definition：tC+=tC+⊿t、tD-=tD- ⊿ t, ⊿ t=2S, at the uniform velocity time interval [tC, tD], detection infusion pipeline
Time interval [the t of obstructionC+, tD-], starting time section [tO, tC], braking time section [tD, tG]。
7. it is a kind of using as claimed in claim 1 towards multi-brand syringe the safe micro-injection pump of high accuracy method, its
It is characterised by：Method flow includes the initialization flow of the safe micro-injection pump of high accuracy, the safe micro-injection pump of high accuracy
Perform flow；
Algorithmic descriptions：
Algorithm 1., starting time section [tO, tC], braking time section [tD, tG]
Stepper motor (220) carries out speed control of open loop with reference to S-shaped acceleration and deceleration curves
Algorithm 2., at the uniform velocity time interval [tC, tD]
With reference to S-shaped acceleration and deceleration curves, grating scale displacement data, closed loop Bit andits control is carried out
The initialization flow of the safe micro-injection pump of high accuracy
Specification of syringe and the detection module that comes off (110) obtain specification of syringe
Defeated entry/exit man-machine interaction unit (400) reads injection parameters
Select supporting S-shaped acceleration and deceleration curves
The execution flow of the safe micro-injection pump of high accuracy：
1st, starting time section [tO, tC]
Algorithm is carried out 1. to control, inject occlusion detection module (130) and put into operation；
2nd, at the uniform velocity time interval [tC, tD]
Algorithm is carried out 2. to control, inject occlusion detection module (130) and put into operation；
Wherein, the time interval [t of infusion pipeline obstruction is detectedC+, tD-]
Stepper motor current detection module (150) puts into operation, detection infusion pipeline obstruction
3rd, braking time section [tD, tG]
Algorithm is carried out 1. to control, inject occlusion detection module (130) and put into operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710823083.8A CN107583144B (en) | 2017-09-13 | 2017-09-13 | High-precision safe micro-injection pump and method for multi-brand injectors |
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| CN201710823083.8A CN107583144B (en) | 2017-09-13 | 2017-09-13 | High-precision safe micro-injection pump and method for multi-brand injectors |
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| CN107583144A true CN107583144A (en) | 2018-01-16 |
| CN107583144B CN107583144B (en) | 2020-08-04 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108310544A (en) * | 2018-01-31 | 2018-07-24 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | Inject pump control apparatus, method and device |
| CN109011002A (en) * | 2018-08-03 | 2018-12-18 | 江苏雅凯医疗科技有限公司 | A kind of micro-infusion pump driving device |
| CN109718409A (en) * | 2019-02-19 | 2019-05-07 | 重庆山外山血液净化技术股份有限公司 | Heparin pump polytypic syringe monitoring and control method and control system |
| CN112641505A (en) * | 2020-12-31 | 2021-04-13 | 杭州堃博生物科技有限公司 | Method, system, device and medium for warning of mis-pushing of syringe on injection pump |
| CN114859702A (en) * | 2022-07-08 | 2022-08-05 | 苏州恒瑞迦俐生生物医药科技有限公司 | Electric digital control method of remote control system |
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2017
- 2017-09-13 CN CN201710823083.8A patent/CN107583144B/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108310544A (en) * | 2018-01-31 | 2018-07-24 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | Inject pump control apparatus, method and device |
| CN109011002A (en) * | 2018-08-03 | 2018-12-18 | 江苏雅凯医疗科技有限公司 | A kind of micro-infusion pump driving device |
| CN109011002B (en) * | 2018-08-03 | 2024-01-19 | 江苏雅凯医疗科技有限公司 | Driving device for micro drug injection pump |
| CN109718409A (en) * | 2019-02-19 | 2019-05-07 | 重庆山外山血液净化技术股份有限公司 | Heparin pump polytypic syringe monitoring and control method and control system |
| CN112641505A (en) * | 2020-12-31 | 2021-04-13 | 杭州堃博生物科技有限公司 | Method, system, device and medium for warning of mis-pushing of syringe on injection pump |
| CN114859702A (en) * | 2022-07-08 | 2022-08-05 | 苏州恒瑞迦俐生生物医药科技有限公司 | Electric digital control method of remote control system |
| CN114859702B (en) * | 2022-07-08 | 2022-09-30 | 苏州恒瑞宏远医疗科技有限公司 | Electric digital control method of remote control system |
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