CN114618054A - Micro-injection pump and injection control method - Google Patents
Micro-injection pump and injection control method Download PDFInfo
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- CN114618054A CN114618054A CN202210145375.1A CN202210145375A CN114618054A CN 114618054 A CN114618054 A CN 114618054A CN 202210145375 A CN202210145375 A CN 202210145375A CN 114618054 A CN114618054 A CN 114618054A
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- 238000002347 injection Methods 0.000 title claims abstract description 178
- 239000007924 injection Substances 0.000 title claims abstract description 178
- 238000000520 microinjection Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000003993 interaction Effects 0.000 claims abstract description 5
- 230000003287 optical effect Effects 0.000 claims description 30
- 238000001514 detection method Methods 0.000 abstract description 10
- 239000003814 drug Substances 0.000 description 4
- 239000007788 liquid Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
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- 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
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
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- 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
- A61M5/178—Syringes
- A61M5/31—Details
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/10—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients
- G16H20/17—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients delivered via infusion or injection
-
- 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
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
- A61M2005/2006—Having specific 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
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
- A61M2205/3331—Pressure; Flow
- A61M2205/3334—Measuring or controlling the flow rate
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- Animal Behavior & Ethology (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention relates to a micro-injection pump and an injection control method, which comprise a main control unit, a man-machine interaction unit, a communication unit, two injection units and an injection precision detection unit, wherein the injection precision detection unit comprises an angle conversion module, an angle calculation module, a reference module, a comparison module and a control module. The injection control method comprises the steps of obtaining the expected moving speed of an injector push rod; acquiring a current first angle measurement and a current fourth angle measurement; calculating a first angle quantity and a second angle quantity in real time; judging whether the injection speed meets the expectation; determining an injection unit that is not in anticipation: the injection unit is controlled which is not as intended. The invention has the advantages that: converting the linear displacement into an angle variation, judging whether the actual injection speed meets the expectation or not according to the angle variation, and avoiding the cost of arranging a high-precision displacement sensor without detecting the displacement; the injection device has a regulation function, and regulates and controls the injection speed when the injection speed is not expected, so that the injection is accurately executed.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a micro-injection pump and an injection control method.
Background
The micro-injection pump is used for accurately, micro-uniformly and continuously pumping a small amount of liquid medicine into a human body, can adjust the concentration and the speed of the medicine at any time according to the disease condition, enables the medicine to keep the effective blood concentration in the human body, utilizes the micro-injection pump to rescue critical patients, can reduce the workload of nurses, improves the working efficiency, and is accurately, safely and effectively matched with doctors to rescue.
The traditional micro-injection pump usually controls the movement of an injector push rod through a lead screw, if the lead screw is worn, the micro-injection pump cannot accurately, micro-uniformly pump liquid medicine into a human body, and meanwhile, the moving speed of the injector push rod on the micro-injection pump is low, so that the micro-injection pump is difficult to find by medical personnel even if the actual injection speed is different from the expected injection speed.
Disclosure of Invention
The invention mainly solves the problems that the existing micro-injection pump lacks a self-checking means and can not regulate and control the injection speed when the actual injection speed is inconsistent with the expected injection speed, and provides the micro-injection pump and the injection control method which convert the linear displacement of the push rod of the injector into the angle variation, judge whether the actual injection speed is consistent with the expectation or not by comparing the angle variation and provide a regulation and control scheme when the actual injection speed is inconsistent with the expectation.
The invention solves the technical problem by adopting the technical scheme that the micro-injection pump comprises a main control unit, a man-machine interaction unit, a communication unit, two injection units and an injection precision detection unit, wherein each injection unit comprises a motor, a lead screw, an injector push rod and the injection precision detection unit, and the injection precision detection unit comprises:
the angle conversion module is arranged on the injector push rods and used for converting the actual displacement difference of the two injector push rods into a first angle;
the angle calculation module is used for calculating a second angle according to the expected displacement difference of the two injector push rods;
the reference module is arranged on an injector push rod and is used for acquiring a third angle measurement and a fourth angle measurement of an actual position and an expected position of the injector push rod and a reference point on a micro-injection pump shell;
the comparison module is used for comparing the first angle quantity with the second angle quantity and the third angle quantity with the fourth angle quantity, determining whether the injection speeds of the two injection units are in accordance with expectation according to the comparison result, and determining the injection unit with the injection speed which is not in accordance with the expectation when the injection speeds are not in accordance with the expectation;
and the control module receives the comparison result output by the comparison module and controls the motor of the injection unit with the injection speed not meeting the expectation until the injection unit meets the expectation.
The linear displacement of the two injector push rods is converted into the angle variation between the two injector push rods, whether the actual injection speed is in accordance with the expectation or not is judged by comparing the angle variation, the displacement of the injector push rods is not required to be detected, and the cost of arranging a high-precision displacement sensor is saved; the injection device has a regulation function, and regulates and controls the injection speed when the actual injection speed is not in accordance with the expectation, so that the accurate execution of injection is ensured.
As an optimal scheme of the above scheme, the angle conversion module includes a first laser source, a first optical sensor, a first rotary table, a first angle sensor, a first driving motor and a first processor, the first rotary table is driven by the first driving motor, the first laser source is disposed on the first rotary table, the first rotary table is disposed on one injector push rod, the first optical sensor is disposed on another injector push rod, the first angle sensor is used for detecting a rotation angle of the first rotary table, namely, a first angle amount, and the first processor controls the first driving motor to drive the first rotary table to rotate so that laser emitted by the first laser source always irradiates the first optical sensor.
As a preferred scheme of the above scheme, the reference module includes a second laser source, a second optical sensor, a second turntable, a second angle sensor, a second driving motor and a second processor, the second turntable is driven by the second driving motor, the second laser source is disposed on the second turntable, the second turntable is disposed on an injector push rod, the injection unit where the injector push rod is disposed is the reference injection unit, the second optical sensor is disposed on the casing of the microinjection pump, the second angle sensor is used for detecting a rotation angle of the second turntable, that is, a third angle, and the second processor controls the second driving motor to drive the second turntable to rotate when the first angle and the second angle are different, so that laser emitted by the second laser source irradiates the second optical sensor.
As a preferable scheme of the above scheme, the reference module includes a second optical sensor, the second optical sensor is connected to the first processor, the first processor controls the first driving motor to drive the first turntable to rotate when the first angle amount is different from the second angle amount, so that laser light emitted by the first laser source irradiates the second optical sensor, the rotation angle of the first turntable is a third angle amount, and the injection unit provided with the first turntable is a reference injection unit.
Correspondingly, the invention also provides a method for controlling the injection of the micro-injection pump, which comprises the following steps:
s1: obtaining the expected moving speed v of two injector push rods1、v2；
S2: obtaining a current first angular quantity theta0And a fourth angular measure theta4′；
S3: calculating a real-time first angular amount theta at the time of injection1And a second angular amount theta2；
S4: comparing the first angular amount theta1And a second angular amount theta2Judging whether the injection speeds of the two injector units are in accordance with the expectation, if not, calculating a third angle theta3And a fourth angular measure theta4Entering the next step; if yes, go back to step S3;
s5: comparing the third angular measure θ3And a fourth angular measure theta4Determining that the injection speed does not meet the expected injection unit;
s6: the main control unit is according toAn angular measure theta1And a second angular amount theta2Controls the injection unit with the injection speed not conforming to the expectation so that the first angular amount theta1Equal to the second angular quantity theta2。
As a preferable mode of the above, the second angle amount θ2The calculation formula of (a) is as follows:
wherein, Δ t is the duration of starting injection, l is the horizontal distance from the center of the first turntable to the first optical sensor when starting injection, and l equals ztan θ0And z is the vertical distance from the first optical sensor to the circle center of the first turntable.
As a preferable mode of the above, the fourth angle measure θ is4The calculation formula of (a) is as follows:
wherein, Δ t is the duration of starting injection, l ' is the horizontal distance from the center of the second turntable or the center of the first turntable on the reference injection unit to the second optical sensor when starting injection, and l ' ═ z ' tan θ4The vertical distance from the second optical sensor to the center of the second rotary table or the center of the first rotary table on the reference injection unit, and v is the moving speed of the injector push rod on the reference injection unit.
As a preferable mode of the above, in step S4, if the first angle θ is equal to or greater than the second angle θ1Equal to the second angular quantity theta2Then it means that the injection speed of both injection units is as expected, if the first angular amount theta is1Not equal to the second angular amount theta2This means that the injection speed of one of the two injection units is not as expected.
As a preferable example of the foregoing, in step S5, if the third angle θ is measured3Equal to the fourth angular measure theta4Then, it represents the reference emitting unitThe injection speed of (2) is in line with the expectation, and the other injection unit is not in line with the expectation; if the first angle amount theta1Not equal to the second angular amount theta2It means that the injection speed of the reference injection unit is satisfactory and the other injection unit is satisfactory.
As a preferable mode of the above, after one of the two injection units starts or stops injection, the process returns to step S1.
The invention has the advantages that: the linear displacement of the two injector push rods is converted into the angle variation between the two injector push rods, whether the actual injection speed is in accordance with the expectation or not is judged by comparing the angle variation, the displacement of the injector push rods is not required to be detected, and the cost of arranging a high-precision displacement sensor is saved; the injection device has a regulation function, and regulates and controls the injection speed when the actual injection speed is not in accordance with the expectation, so that the accurate execution of injection is ensured.
Drawings
Fig. 1 is a block diagram showing the construction of a micro-syringe pump according to embodiment 1.
FIG. 2 is a schematic flow chart showing the injection control method of the micro syringe pump in example 1.
The device comprises a main control unit 1, a main control unit 2, a man-machine interaction unit 3, a communication unit 4, an injection unit 5, an injection precision detection unit 51, an angle conversion module 52, an angle calculation module 53, a reference module 54, a comparison module 55 and a control module.
Detailed Description
The technical solution of the present invention is further described below by way of examples with reference to the accompanying drawings.
Example 1:
the micro-injection pump of the embodiment includes, as shown in fig. 1, a main control unit 1, a human-computer interaction unit 2, a communication unit 3, and two injection units 4, where each injection unit 4 includes a motor, a lead screw, and an injector push rod, and unlike an existing micro-injection pump, the micro-injection pump further includes an injection precision detection unit 5, and the injection precision detection unit 5 includes an angle conversion module 51, an angle calculation module 52, a reference module 53, a comparison module 54, and a control module 55. The angle conversion module 51 is arranged on the injector push rods and used for converting the actual displacement difference of the two injector push rods into a first angle; the angle calculation module 52 calculates a second angle amount according to the expected displacement difference of the two syringe push rods; the reference module 53 is disposed on an injector push rod and is used for acquiring a third angle measurement and a fourth angle measurement of an actual position and an expected position of the injector push rod and a reference point on a micro-injection pump shell; the comparison module 54 is configured to compare the first angle measure with the second angle measure, and the third angle measure with the fourth angle measure, determine whether the injection speeds of the two injection units meet the expectation according to the comparison result, and determine that the injection speed does not meet the expectation when the injection speed does not meet the expectation; the control module 55 receives the comparison result from the comparison module and controls the motor of the injection unit whose injection speed is not as desired until the injection unit is as desired.
In this embodiment, the two injection units 4 are arranged in parallel, and the injection unit located above is defined as an upper injection unit, and the injection unit located below is defined as a lower injection unit.
The angle conversion module of this embodiment includes first laser source, first light sensor, first carousel, first angle sensor, first driving motor and first treater, first carousel is driven by first driving motor, first laser source sets up on first carousel, first carousel sets up on the syringe push rod of last injection unit, first light sensor sets up on the syringe push rod of injection unit down, and first angle sensor is used for detecting the turned angle of first carousel and is first angle measurement, and first treater control first driving motor drives first carousel rotation and makes the laser that first laser source sent shine all the time on first light sensor. In this embodiment, first carousel and first light sensor set up on the connecting portion of syringe push rod and lead screw, and the first laser source of first carousel sets up down, and the receiving terminal of first light sensor sets up, need to ensure simultaneously that there is not the sheltering from between first laser source and the first light sensor.
Reference module 53 includes second laser source, second light sensor, second carousel, second angle sensor, second driving motor and second treater, the second carousel is driven by second driving motor, the second laser source sets up on the second carousel, the second carousel sets up on an injector push rod, and this injector push rod place injection unit is benchmark injection unit, the second light sensor sets up on the microinjection pump shell, and second angle sensor is used for detecting the turned angle of second carousel and is third angle measurement, and the second treater controls second driving motor and drives the second carousel rotation when first angle measurement is inequality with second angle measurement and makes the laser that the second laser source sent shine on the second light sensor. In this embodiment, the reference module 53 may be disposed on any one of the upper injection unit and the lower injection unit, and the second optical sensor may be disposed on the upper inner wall, the lower inner wall, or the side wall of the housing of the microinjection pump, so as to ensure that no shielding exists between the second laser source and the second optical sensor, and meanwhile, an included angle between a connection line of the second laser source and the second optical sensor and a horizontal line cannot be too small, and if the included angle is too small, a third angle measurement obtained by detection is too small, so that an error is likely to occur.
Correspondingly, the present embodiment further provides a method for controlling the injection of a micro-syringe pump, as shown in fig. 2, including the following steps:
s1: obtaining the expected moving speed v of two injector push rods1、v2；
S2: obtaining a current first angular quantity theta0And a fourth angular measure theta4′；
S3: calculating a real-time first angular amount theta at the time of injection1And a second angular amount theta2Said second angular amount θ2The calculation formula of (a) is as follows:
wherein, Δ t is the duration of starting injection, l is the horizontal distance from the center of the first turntable to the first optical sensor when starting injection, and l equals ztan θ0Z is the vertical distance from the first optical sensor to the circle center of the first turntable;
s4: comparing the first angular amount theta1And a secondAn angle quantity theta2Judging whether the injection speeds of the two injector units are in accordance with the expectation, if not, calculating a third angle theta3And a fourth angular measure theta4Entering the next step; if yes, go back to step S3;
s5: comparing the third angle measure theta3And a fourth angular measure theta4Determining that the injection rate is not in accordance with the expected injection unit if the third angle θ3Equal to the fourth angular measure theta4If the injection speed of the reference injection unit is not in accordance with the expectation, the other injection unit is not in accordance with the expectation; if the first angle amount theta1Not equal to the second angular amount theta2If so, the injection speed part of the reference injection unit is in line with the expectation, and the other injection unit is in line with the expectation; fourth angular measure theta4The calculation formula of (a) is as follows:
wherein, Δ t is the duration of starting injection, l ' is the horizontal distance from the center of the second turntable or the center of the first turntable on the reference injection unit to the second optical sensor when starting injection, and l ' ═ z ' tan θ4', the vertical distance from the second optical sensor to the center of the second rotary table or the center of the first rotary table on the reference injection unit is z', and v is the moving speed of the injector push rod on the reference injection unit;
s6: the main control unit is used for controlling the main control unit according to a first angle quantity theta1And a second angular amount theta2Controls the injection unit with the injection speed not conforming to the expectation so that the first angular amount theta1Equal to the second angular amount theta2。
In addition, during the operation of the micro-syringe pump, after one of the two injection units starts or stops injecting, the injection unit needs to go back to step S1 to perform the injection precision detection and control again.
In the embodiment, the linear displacement of the two injector push rods is converted into the angle variation between the two injector push rods, and whether the actual injection speed meets the expectation or not is judged by comparing the angle variations, so that the displacement of the injector push rods is not required to be detected, and the cost of arranging a high-precision displacement sensor is saved; the injection device has a regulation function, and regulates and controls the injection speed when the actual injection speed is not in accordance with the expectation, so that the accurate execution of injection is ensured.
Example 2:
the micro-injection pump is different from the micro-injection pump in embodiment 1 in that a reference module in the embodiment comprises a second optical sensor, the second optical sensor is connected with a first processor, the first processor controls a first driving motor to drive a first rotary disc to rotate when a first angle amount is different from a second angle amount so as to enable laser emitted by a first laser source to irradiate the second optical sensor, the rotating angle of the first rotary disc is a third angle amount at the moment, and an injection unit provided with the first rotary disc is a reference injection unit. The first laser source is shared by the reference module and the angle conversion module, so that the cost is reduced.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments, or alternatives may be employed, by those skilled in the art, without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a micro-syringe pump, includes main control unit, man-machine interaction unit, communication unit and two injection units, and the injection unit includes motor, lead screw and syringe push rod, characterized by: still include injection precision detecting element, injection precision detecting element includes:
the angle conversion module is arranged on the injector push rods and used for converting the actual displacement difference of the two injector push rods into a first angle;
the angle calculation module is used for calculating a second angle according to the expected displacement difference of the two syringe push rods;
the reference module is arranged on an injector push rod and is used for acquiring a third angle measurement and a fourth angle measurement of an actual position and an expected position of the injector push rod and a reference point on a micro-injection pump shell;
the comparison module is used for comparing the first angle quantity with the second angle quantity and the third angle quantity with the fourth angle quantity, determining whether the injection speeds of the two injection units are in accordance with expectation according to the comparison result, and determining the injection unit with the injection speed which is not in accordance with the expectation when the injection speeds are not in accordance with the expectation;
and the control module receives the comparison result output by the comparison module and controls the motor of the injection unit with the injection speed not meeting the expectation until the injection unit meets the expectation.
2. The micro syringe pump of claim 1, wherein: the angle conversion module includes first laser source, first light sensor, first carousel, first angle sensor, first driving motor and first treater, first carousel is by the driving of first driving motor, first laser source sets up on first carousel, first carousel sets up on an injector push rod, first light sensor sets up on another injector push rod, first angle sensor is used for detecting the turned angle of first carousel and is first angle degree, and first treater control first driving motor drives first carousel rotation and makes the laser that first laser source sent shine all the time on first light sensor.
3. The micro syringe pump of claim 1, wherein: the benchmark module includes second laser source, second light sensor, second carousel, second angle sensor, second driving motor and second treater, the second carousel is driven by second driving motor, the second laser source sets up on the second carousel, the second carousel sets up on an injector push rod, and this injector push rod place injection unit is benchmark injection unit, the second light sensor sets up on the microinjection pump shell, and second angle sensor is used for detecting the turned angle of second carousel and is third angle measurement, and the second treater controls second driving motor and drives the second carousel rotation when first angle measurement is inequality with second angle measurement and makes the laser that the second laser source sent shine on the second light sensor.
4. The micro syringe pump of claim 1, wherein: the reference module comprises a second optical sensor, the second optical sensor is connected with a first processor, the first processor controls a first driving motor to drive a first rotary table to rotate when a first angle is different from a second angle so that laser emitted by a first laser source irradiates on the second optical sensor, the rotating angle of the first rotary table is a third angle, and an injection unit provided with the first rotary table is a reference injection unit.
5. A method for controlling the injection of a micro-injection pump is characterized in that: the method comprises the following steps:
s1: obtaining the expected moving speed v of two injector push rods1、v2；
S2: obtaining a current first angular quantity theta0And a fourth angular measure theta4′；
S3: calculating a real-time first angular amount theta at the time of injection1And a second angular amount theta2；
S4: comparing the first angular amount theta1And a second angular amount theta2Judging whether the injection speeds of the two injector units are in accordance with the expectation, if not, calculating a third angle theta3And a fourth angular measure theta4Entering the next step; if yes, go back to step S3;
s5: comparing the third angle measure theta3And a fourth angular measure theta4Determining that the injection speed does not meet the expected injection unit;
s6: the main control unit is used for controlling the main control unit according to a first angle quantity theta1And a second angular amount theta2Controls the injection unit with the injection speed not conforming to the expectation so that the first angular amount theta1Equal to the second angular amount theta2。
6. The method of claim 5, wherein the injection control of the micro-syringe pump comprises: the second angle quantity theta2The calculation formula of (a) is as follows:
wherein, Δ t is the duration of starting injection, l is the horizontal distance from the center of the first turntable to the first optical sensor when starting injection, and l equals ztan θ0And z is the vertical distance from the first optical sensor to the circle center of the first turntable.
7. The method of claim 5, wherein the injection control of the micro-syringe pump comprises: the fourth angular measure θ4The calculation formula of (a) is as follows:
wherein, Δ t is the duration of starting injection, l ' is the horizontal distance from the center of the second turntable or the center of the first turntable on the reference injection unit to the second optical sensor when starting injection, and l ' ═ z ' tan θ4The vertical distance from the second optical sensor to the center of the second rotary table or the center of the first rotary table on the reference injection unit, and v is the moving speed of the injector push rod on the reference injection unit.
8. The method of claim 5, wherein the injection control of the micro-syringe pump comprises: in step S4, if the first angle θ is equal to the second angle θ1Equal to the second angular quantity theta2It means that the injection speeds of the two injection units are as expected, if the first angular amount θ is1Is not equal to the second angular amount theta2This means that the injection speed of one of the two injection units is not as expected.
9. The method of claim 5, wherein the injection control of the micro-syringe pump comprises: in step S5, if the third angle θ is measured3Equal to the fourth angular measure theta4Then, the injection speed of the reference injection unit is in accordance with the expectation, and another injection is performedThe shooting unit is not in accordance with the expectation; if the first angle amount theta1Not equal to the second angular amount theta2Then, the injection speed of the reference injection unit is expected, and the other injection unit is expected.
10. The method of claim 5, wherein the injection control of the micro-syringe pump comprises: when one of the two injection units starts or stops injecting, the injection unit moves back to step S1.
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| CN202210145375.1A CN114618054B (en) | 2022-02-17 | 2022-02-17 | Microinjection pump and injection control method |
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| CN202210145375.1A CN114618054B (en) | 2022-02-17 | 2022-02-17 | Microinjection pump and injection control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115814206A (en) * | 2022-12-12 | 2023-03-21 | 巨翊科技（上海）有限公司 | Injection pen dosage control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203609721U (en) * | 2013-12-04 | 2014-05-28 | 吴海斌 | Automatic injecting device driving sliding table with speed correcting function |
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| US20140188076A1 (en) * | 2011-12-21 | 2014-07-03 | Deka Products Limited Partnership | Syringe Pump, and Related Method and System |
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| CN115814206A (en) * | 2022-12-12 | 2023-03-21 | 巨翊科技（上海）有限公司 | Injection pen dosage control method and system |
| CN115814206B (en) * | 2022-12-12 | 2023-05-26 | 巨翊科技（上海）有限公司 | Injection pen dosage control method and system |
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