CN109771132A - Injection device - Google Patents
Injection device Download PDFInfo
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- CN109771132A CN109771132A CN201910055611.9A CN201910055611A CN109771132A CN 109771132 A CN109771132 A CN 109771132A CN 201910055611 A CN201910055611 A CN 201910055611A CN 109771132 A CN109771132 A CN 109771132A
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- syringe
- injection device
- tissue
- sensor
- motor
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Abstract
The invention discloses a kind of injection device, including driving unit, syringe and first sensor, the driving unit is directly connected to the syringe or is connect by transmission mechanism, for driving the syringe to move；The first sensor is connect with the syringe, for sensing the reaction force that the syringe is subject to judge whether the syringe contacts tissue and/or whether the syringe passes through human body (eyeball) tissue.Injection device provided by the present invention, structure are simplified, and accuracy is high (control precision can be controlled in 0.01 millimeter or so), are convenient for practical operation.
Description
Technical field
The present invention relates to a kind of injection devices of eye.
Background technique
A variety of eye diseases such as retinal blood pipe choking, age-related macular degeneration and retinal pigment degeneration etc.,
It can lead to serious visual function damage or even blinding.It theoretically can be by injecting thrombolytic drug, view in retinal vessel
Functional cell is injected under film to treat the above disease, but very high want is proposed to the fine and accuracy of surgical procedure
It asks.
Currently, it is still necessary to want high-precision device or equipment to carry out for operated eye.
Summary of the invention
Purpose of the invention is to overcome the shortcomings in the prior art, provides a kind of injection device.
In order to achieve the above object, being achieved through the following technical solutions:
A kind of injection device, including driving unit, syringe and first sensor, the driving unit and the note
Emitter is directly connected to or is connected by transmission mechanism, for driving the syringe to move；The first sensor with it is described
Syringe connection, for sensing the reaction force that the syringe is subject to judge whether the syringe contacts tissue
And/or whether the syringe passes through tissue.
Preferably, when syringe is injected, reaction of the syringe of the first sensor sensing by tissue
When power increases, judge that syringe contacts tissue；When being continued to move to after judging syringe contact tissue, the first sensing
When device senses the reaction force reduction that the syringe is subject to, judge that syringe passes through tissue.
Preferably, when syringe is injected, reaction of the syringe of the first sensor sensing by tissue
When power increases 20% or more, judge that syringe contacts tissue；When judging that syringe contacts tissue, first sensor
When sensing 20% or more the reaction force reduction that the syringe is subject to, judge that syringe passes through tissue.
Preferably, the injection device includes displacement frame, and the syringe is installed on the displacement frame, the driving
Unit is drivingly connected in the displacement frame and then the displacement frame is driven to drive the syringe displacement.
Preferably, the driving unit includes first motor, and the first motor is for driving the syringe straight line to move
Dynamic, the first motor is drivingly connected in the displacement frame.
Preferably, the transmission mechanism includes driving screw rod, and the syringe is installed on displacement platform, and the displacement is flat
Platform is equipped with driving screw rod, and the displacement frame is bolted on the driving screw rod and transfers to move with the axis of the driving screw rod.
Preferably, the first motor is equipped with second sensor for sensing the displacement on the displacement frame top.
Preferably, the driving unit includes the second motor, and second motor is for driving the syringe to rotate；Institute
It states the second motor driven and is connected to the syringe.
Preferably, the first sensor is set between second motor and the syringe.
Preferably, the injection device further includes syringe pump, by the syringe pump to the syringe and human body group
Knit interior injection liquid medicine liquid.
Preferably, the syringe is integrated the Syringe injector of connection.
Preferably, the injection device further includes control device, the control device and the driving unit and first
Sensor communication connection, the first sensor are used to transmit signal to the control device, for control device judgement
Whether the syringe contacts tissue and/or whether the syringe passes through tissue, and is controlled according to judging result
The driving unit work.
Preferably, the transmission mechanism is screw rod, feed screw nut, gear mechanism, synchronous belt and/or chain-drive mechanism.
The beneficial effect of injection device of the present invention includes:
1) syringe is controlled by first motor and is gradually inserted into eyeball, and the folder of syringe is sensed by first sensor
Take whether end is already inserted into eyeball tissue, such as each level of retinal vessel, retina etc.；
2) displacement of first motor is sensed, by second sensor to ensure the accurate of syringe displacement；
3) for there is the curved injection needle of head end, pass through the second motor control syringe needle direction；
4) injection volume and speed of the liquid such as liquid medicine in syringe, cell suspending liquid be can be effectively controlled by syringe pump.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of first embodiment in injection device of the present invention.
Fig. 2 is the schematic diagram of internal structure of displacement platform included by displacement frame in corresponding diagram 1.
Fig. 3 is that the control of control device in injection device of the present invention connects block diagram.
Fig. 4 is the structural schematic diagram of the second embodiment of corresponding diagram 1.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing:
Embodiment one:
As shown in Figure 1, a kind of injection device of eye, including driving unit, syringe 1, first sensor 2, displacement
Frame 3, first motor 4, perfusion tube 5, the second motor 6, displacement platform 3b included in displacement frame 3 and second sensor 8.Always
For on body, the syringe 1 is directly connected to the driving unit or is connect by transmission mechanism, with described for driving
Syringe movement；The first sensor 2 is connect with the syringe 1, with the reaction being subject to for sensing the syringe
Power is to judge whether the syringe contacts tissue and/or whether the syringe passes through tissue, such as retina
The eyeball tissues such as each level of blood vessel, retina.With this, the accuracy of injection is significantly improved, it is ensured that the safety of injection carries out.
The all parts structure of the application injection device is introduced in detail below:
Specifically, the injection device includes displacement frame 3, and the syringe 1 is installed on the displacement frame 3, described
Driving unit is drivingly connected in the displacement frame 3 and then drives the displacement frame 3 that the syringe 1 is driven to be displaced.
Wherein, the driving unit includes first motor 4 and the second motor 6, which is high-precision micro straight line
Stepper motor (, which is high-precision low-rotate speed rotating electric machine, and the high-precision stepper motor 4 is drivingly connected in institute
Displacement frame 3 is stated, the first motor 4 is for driving the syringe to move linearly；Second motor 6 is drivingly connected in described
Syringe 1, second motor 6 is for driving the syringe to rotate；The first sensor 2 is set to second motor 6
Between the syringe 1.
As shown in connection with fig. 2, the transmission mechanism includes driving screw rod 40, and the bottom of the displacement frame 3 is equipped with displacement platform
To drive the top of the displacement frame 3 to be displaced, the first motor 4 is connected to the displacement by driving driving screw rod 40 and puts down 3b
Platform 3b, second motor 6 and syringe 1 are horizontally installed to the top of the displacement frame 3.The inside of institute translation stage 3b is set
There is driving screw rod 30, the displacement frame 3 is bolted on the driving screw rod 30 and transfers to move with the axis of the driving screw rod 30.
Certainly, displacement frame 3 and displacement platform 3b are also possible to integrated gearshift.More preferably, the transmission mechanism be screw rod,
Feed screw nut, gear mechanism, synchronous belt and/or chain-drive mechanism.
Further, the first motor 4 is equipped with second sensor 8 for sensing the displacement on 3 top of displacement frame
Amount.The second sensor 8 is laser displacement sensor, such as Panasonic's HL-G112-A-C5 displacement sensor.
The syringe 1 is equipped with syringe pump 9, and liquid medicine, syringe pump 9 are injected into the syringe 1 by the syringe pump 9
On be connected with perfusion tube 5.More preferably, the syringe 1 is integrated the Syringe injector of connection and has head end curved
Syringe needle, above-mentioned first sensor 2 can be the mechanics sensors such as Nano17 or FT25144.
In addition, as shown in figure 3, the injection device further includes control device 99, the control in terms of system control
Device 99 and the driving unit 98 and first sensor 2 communicate to connect, and control driving unit 98 by control device 99 and are wrapped
The first motor 4 contained and the opening and closing of the second motor 6, the first sensor 2 are used to transmit signal to the control device 99, for
The control device 99 judges whether the syringe 1 contacts human body (eyeball) tissue and/or whether the syringe passes through people
Body (eyeball) tissue, and the driving unit 98 is controlled according to judging result and is worked.
After with above-mentioned implementation process, as shown in Figure 1 to Figure 3, the application can be implemented by following procedure:
When actually injecting, first motor 4 and the second motor 6 can be first opened, it is flat by 4 drive displacement of first motor
Platform 3b drives the displacement of 3 high level of accuracy of displacement frame, in this way, the syringe 1 being fixedly mounted on bracket 3 can move；?
After the completion of moving horizontally, syringe 1 itself can also turn/rotation by 6 axis of the second motor, in this way, the angle of adjustable syringe 1
Position is spent, such as the angle direction of pin hole.During entire lasting displacement, second sensor 8 senses bracket 3 by laser in real time
The displacement of upper syringe 1, the precision of the displacement can be controlled in 0.01 millimeter or so.
In conjunction with Fig. 3, to bracket 3, persistently so that when the injection tip of syringe 1 enters the moment of eyeball, first is sensed for displacement
Device 2 senses touching reaction force between the two immediately, and feeds back to above-mentioned control device 99 and control 98 institute of driving unit
The first motor 4 for including and the second motor 6, with the actuation for the syringe 1 that stops immediately.Specifically, when syringe is injected, institute
The syringe 1 for stating the sensing of first sensor 2 is increased by the reaction force of tissue, which preferably reaches 20% or more
When, judge that syringe contacts tissue；Then, judge syringe contact tissue after continue to move to, control syringe 1 after
Continuing mobile distance substantially can be 2 to 5 millimeters or so, which can be sensed by second sensor 8 and be controlled,
I.e. second sensor 8 also with control device 99 communicate to connect keep signal transmission, and then control device 99 accurately control this after
Continue mobile displacement, later, reduces when first sensor 2 senses the reaction force that the syringe 1 is subject to, the reduction amount is excellent
When choosing reaches 20% or more, judge that syringe 1 passes through tissue, i.e. the syringe needle of syringe 1 has entered the inside of eyeball, by controlling
Device 99 processed controls first motor 4 and stops.
Finally, convey liquid medicine to syringe 1 by perfusion tube 5 and syringe pump 9, by the injection tip of syringe 1 by medicine
Water injection enters eyeball.
Embodiment two:
On the basis of example 1, the present embodiment has done structural modification, the difference from embodiment 1 is that: such as Fig. 4
It is shown, high-precision rotating electric machine is not set on displacement frame 3a (displacement platform in other words), first sensor 2a and entire
Syringe 1a is directly installed on movable stand 3a, that is, syringe can not System of Rotating about Fixed Axis, simply by displacement platform along horizontal
Direction high precision displacement.Other structures are the same as example 1 substantially, just do not add to repeat herein.
After completing above-mentioned implementation process, the application following characteristics should be able to be embodied:
Injection device provided by the present invention, structure are simplified, and accuracy is high, and (control precision can be controlled in 0.01 millimeter
Left and right), it is convenient for practical operation.
Embodiment in the present invention is only used for that the present invention will be described, and is not construed as limiting the scope of claims limitation,
Other substantially equivalent substitutions that those skilled in that art are contemplated that, are within the scope of the invention.
Claims (13)
1. a kind of injection device, which is characterized in that including driving unit, syringe and first sensor, the driving is single
It is first to be directly connected to the syringe or connect by transmission mechanism, for driving the syringe to move；Described first passes
Sensor is connect with the syringe, for sensing the reaction force that the syringe is subject to judge whether the syringe contacts
Whether tissue and/or the syringe pass through tissue.
2. injection device according to claim 1, which is characterized in that when syringe injection, the first sensor
When the syringe of sensing is increased by the reaction force of tissue, judge that syringe contacts tissue；When judging syringe
When continuing to move to after contact tissue, when first sensor senses the reaction force reduction that the syringe is subject to, judge to infuse
Emitter passes through tissue.
3. injection device according to claim 2, which is characterized in that when syringe injection, the first sensor
When the syringe of sensing is increased 20% or more by the reaction force of tissue, judge that syringe contacts tissue；When sentencing
When disconnected syringe contact tissue, when first sensor senses 20% or more the reaction force reduction that the syringe is subject to,
Judge that syringe passes through tissue.
4. injection device according to claim 1, which is characterized in that the injection device includes displacement frame, described
Syringe is installed on the displacement frame, and the driving unit is drivingly connected in the displacement frame and then drives the displacement frame band
Move the syringe displacement.
5. injection device according to claim 4, which is characterized in that the driving unit includes first motor, described
For driving the syringe to move linearly, the first motor is drivingly connected in the displacement frame first motor.
6. injection device according to claim 5, which is characterized in that the transmission mechanism includes driving screw rod, described
Syringe is installed on displacement platform, and institute's translation stage is equipped with driving screw rod, and the displacement frame is bolted in the driving screw rod
Above and with the axis of the driving screw rod transfer to move.
7. injection device according to claim 1, which is characterized in that the first motor be equipped with second sensor with
For sensing the displacement on the displacement frame top.
8. injection device according to claim 1, which is characterized in that the driving unit includes the second motor, described
Second motor is for driving the syringe to rotate；Second motor driven is connected to the syringe.
9. injection device according to claim 8, which is characterized in that the first sensor is set to second motor
Between the syringe.
10. injection device according to claim 1, which is characterized in that the injection device further includes syringe pump, is led to
It crosses the syringe pump and injects liquid medicine liquid into the syringe and tissue.
11. injection device according to claim 1, which is characterized in that the syringe is integrated the syringe note of connection
Emitter.
12. injection device according to claim 1, which is characterized in that the injection device further includes control device,
The control device and the driving unit and first sensor communicate to connect, and the first sensor is used to fill to the control
Transmission signal is set, so that the control device judges whether the syringe contact tissue and/or the syringe
Across tissue, and the driving unit is controlled according to judging result and is worked.
13. injection device according to claim 1, which is characterized in that the transmission mechanism be screw rod, feed screw nut,
Gear mechanism, synchronous belt and/or chain-drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055611.9A CN109771132A (en) | 2019-01-22 | 2019-01-22 | Injection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055611.9A CN109771132A (en) | 2019-01-22 | 2019-01-22 | Injection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109771132A true CN109771132A (en) | 2019-05-21 |
Family
ID=66501808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910055611.9A Pending CN109771132A (en) | 2019-01-22 | 2019-01-22 | Injection device |
Country Status (1)
| Country | Link |
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| CN (1) | CN109771132A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110368184A (en) * | 2019-08-08 | 2019-10-25 | 哈尔滨工业大学 | Retinal vessel medicine injecting device and its injecting method for ophthalmologic operation robot |
| CN110368185A (en) * | 2019-08-08 | 2019-10-25 | 哈尔滨工业大学 | A kind of retinal vessel medicine injecting device for ophthalmologic operation robot |
-
2019
- 2019-01-22 CN CN201910055611.9A patent/CN109771132A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110368184A (en) * | 2019-08-08 | 2019-10-25 | 哈尔滨工业大学 | Retinal vessel medicine injecting device and its injecting method for ophthalmologic operation robot |
| CN110368185A (en) * | 2019-08-08 | 2019-10-25 | 哈尔滨工业大学 | A kind of retinal vessel medicine injecting device for ophthalmologic operation robot |
| CN110368184B (en) * | 2019-08-08 | 2021-05-04 | 哈尔滨工业大学 | Retinal vessel medicine injector for ophthalmic surgery robot and injection method thereof |
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