CN114618054B - Microinjection pump and injection control method - Google Patents
Microinjection pump and injection control method Download PDFInfo
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- CN114618054B CN114618054B CN202210145375.1A CN202210145375A CN114618054B CN 114618054 B CN114618054 B CN 114618054B CN 202210145375 A CN202210145375 A CN 202210145375A CN 114618054 B CN114618054 B CN 114618054B
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- 238000002347 injection Methods 0.000 title claims abstract description 185
- 239000007924 injection Substances 0.000 title claims abstract description 185
- 238000000520 microinjection Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 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 20
- 230000008569 process Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 8
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 239000003814 drug Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000000243 solution 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
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
-
- 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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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Hematology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Anesthesiology (AREA)
- Vascular Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Chemical & Material Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Medicinal Chemistry (AREA)
- Epidemiology (AREA)
- Medical Informatics (AREA)
- Primary Health Care (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention relates to a microinjection pump and an injection control method, comprising 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 a push rod of the injector; acquiring a current first angle measurement and a current fourth angle measurement; calculating a real-time first angle amount and a real-time second angle amount; judging whether the injection speed meets the expectations or not; determining an injection unit that does not meet expectations: control of the injection unit that is not expected. The invention has the advantages that: converting the linear displacement into an angle change, judging whether the actual injection speed accords with the expectation or not according to the angle change, and avoiding the cost of arranging a high-precision displacement sensor without detecting the displacement; the injection speed is regulated and controlled when the injection speed does not meet the expectations, and the accurate execution of the injection is ensured.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a microinjection pump and an injection control method.
Background
The micro-injection pump is used for pumping a small amount of liquid medicine into a human body accurately, uniformly and continuously, the concentration and the speed of the medicine can be adjusted at any time according to the needs of the illness, the medicine can keep the effective blood concentration in the human body, critical patients can be rescued by using the micro-injection pump, the workload of nurses can be reduced, the working efficiency can be improved, and the medical emergency treatment device can be accurately, safely and effectively matched with doctors for rescue.
The conventional microinjection pump often controls the movement of the injector push rod through the screw rod, if the screw rod is worn, the microinjection pump can not accurately, minimly and uniformly pump the medicine into the body, and meanwhile, because the movement speed of the injector push rod on the microinjection pump is slower, even if the actual injection speed is different from the expected injection speed, the actual injection speed is difficult to be found by medical staff.
Disclosure of Invention
The invention mainly solves the problem that the existing microinjection pump lacks a self-checking means and cannot regulate and control the injection speed when the actual injection speed is inconsistent with the expected injection speed, and provides the microinjection 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 accords with the expected or not by comparing the angle variation and provide a regulation and control scheme when the actual injection speed is inconsistent with the expected.
The technical scheme adopted by the invention for solving the technical problems is that the microinjection pump comprises a main control unit, a man-machine interaction unit, a communication unit and two injection units, wherein the injection units comprise a motor, a screw rod and an injector push rod, and also comprise an injection precision detection unit, and the injection precision detection unit comprises:
the angle conversion module is arranged on the injector push rods and is 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 amount according to the expected displacement difference of the two syringe push rods;
the reference module is arranged on one injector push rod and is used for converting the distance difference between the actual position of the injector push rod and the reference point into a third angle measurement and converting the distance difference between the expected position of the injector push rod and the reference point into a fourth angle measurement;
the comparison module is used for comparing the first angle amount with the second angle amount, the third angle amount with the fourth angle amount, determining whether the injection speeds of the two injection units meet the expectations according to the comparison result, and determining the injection units with the injection speeds not meeting the expectations when the injection speeds do not meet the expectations;
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 which does not meet the expectation until the injection unit meets the expectation.
The linear displacement of the two syringe push rods is converted into the angle change between the two syringe push rods, whether the actual injection speed accords with the expectation is judged through the relative angle change, the displacement of the syringe push rods is not required to be detected, and the cost of arranging a high-precision displacement sensor is avoided; the injection speed control device has a control function, and can control the injection speed when the actual injection speed does not accord with the expected injection speed, so that the accurate execution of injection is ensured.
As a preferred solution of the foregoing solution, the angle conversion module includes a first laser source, a first optical sensor, a first turntable, a first angle sensor, a first driving motor, and a first processor, where the first turntable is driven by the first driving motor, the first laser source is disposed on the first turntable, the first turntable is disposed on one injector push rod, the first optical sensor is disposed on another injector push rod, the first angle sensor is used to detect a rotation angle of the first turntable, that is, a first angle amount, and the first processor controls the first driving motor to drive the first turntable to rotate so that laser emitted by the first laser source always irradiates the first optical sensor.
As a preferable mode 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, where 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, an injection unit where the injector push rod is located is a reference injection unit, the second optical sensor is disposed on the microinjection pump housing, 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 is different from the second angle so that laser emitted by the second laser source irradiates the second optical sensor.
As a preferable mode of the above scheme, the reference module includes a second light sensor, the second light sensor is connected to the first processor, and when the first angle is different from the second angle, the first processor controls the first driving motor to drive the first rotating disc to rotate so that the laser emitted by the first laser source irradiates the second light sensor, at this time, the rotation angle of the first rotating disc is a third angle, and the injection unit provided with the first rotating disc is the reference injection unit.
Correspondingly, the invention also provides an injection control method of the microinjection pump, which comprises the following steps:
s1: obtaining expected movement speeds of two syringe pushrods、/>；
S2: obtaining a current first angle metricAnd fourth angle measure->；
S3: calculating a real-time first angle amount at the time of injectionAnd a second angle degree->；
S4: comparing the first angleAnd a second angle degree->Judging whether the injection speeds of the two injector units meet the expectation or not, if not, calculating a third angle measure +.>And fourth angle measure->Entering the next step; if yes, returning to the step S3;
s5: comparing a third angle measureAnd fourth angle measure->Determining that the injection speed does not correspond to an expected injection unit;
s6: the main control unit is used for controlling the first angleAnd a second angle degree->Controlling the injection unit with an injection speed which does not correspond to the expected injection speed, so that the first angle is +>Equal to the second angle measure->。
As a preferable mode of the above, the second angle amountThe calculation formula of (2) is as follows:
wherein,for the duration of the beginning of the injection +.>For the horizontal distance of the centre of the first turntable from the first photosensor when starting injection +.>，/>Is the vertical distance from the first light sensor to the center of the first turntable.
As a preferable mode of the above-mentioned mode, the fourth angle measureThe calculation formula of (2) is as follows:
wherein,for the duration of the beginning of the injection +.>For starting the horizontal distance between the center of the second rotary table or the center of the first rotary table on the reference injection unit and the second light sensor, the injection unit is provided with +.>，/>The vertical distance between the second light sensor and the center of the second rotary table or the center of the first rotary table on the reference injection unit, +.>Is the speed of movement of the syringe plunger on the reference injection unit.
As a preferable mode of the above-mentioned mode, in the step S4, if the first angle isEqual to the second angular amountIt is then indicated that the injection speeds of the two injection units are in line with the expectations, if the first angle amount +.>Is not equal to the second angle degree->It means that the injection speed of one of the two injection units is not in line with expectations.
As a preferable mode of the above-mentioned mode, in the step S5, if the third angle is measuredEqual to the fourth angle measureIndicating that the injection speed of the reference injection unit is in line with expectations and that the other injection unit is not in line with expectations; if the third angle is measuredNot equal to the fourth angle measure->It indicates that the injection speed of the reference injection unit is not expected and that the other injection unit is expected.
As a preferable mode of the above-described mode, when any one of the two injection units starts injection or stops injection, the flow returns to step S1.
The invention has the advantages that: the linear displacement of the two syringe push rods is converted into the angle change between the two syringe push rods, whether the actual injection speed accords with the expectation is judged through the relative angle change, the displacement of the syringe push rods is not required to be detected, and the cost of arranging a high-precision displacement sensor is avoided; the injection speed control device has a control function, and can control the injection speed when the actual injection speed does not accord with the expected injection speed, so that the accurate execution of injection is ensured.
Drawings
Fig. 1 is a block diagram showing the structure of a microinjection pump according to embodiment 1.
FIG. 2 is a schematic flow-out diagram of the method for controlling injection of a microinjection pump in example 1.
The device comprises a main control unit (1), a man-machine interaction unit (2), 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 scheme of the invention is further described below through examples and with reference to the accompanying drawings.
Example 1:
the microinjection pump of the present embodiment, as shown in fig. 1, includes a main control unit 1, a man-machine interaction unit 2, a communication unit 3 and two injection units 4, the injection units 4 include a motor, a screw and a syringe push rod, unlike the conventional microinjection pump, the microinjection pump in this example 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. Wherein, the angle conversion module 51 is disposed on the injector push rod and is 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 based on the expected displacement difference of the two syringe pushrods; the reference module is arranged on one injector push rod and is used for converting the distance difference between the actual position of the injector push rod and the reference point into a third angle measurement and converting the distance difference between the expected position of the injector push rod and the reference point into a fourth angle measurement; the comparison module 54 is configured to compare the first angle amount with the second angle amount, and the third angle amount with the fourth angle amount, determine whether the injection speeds of the two injection units meet the expectation or not 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 output from the comparison module and controls the motor of the injection unit whose injection speed does not meet the expectations until the injection unit meets the expectations.
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 rotation angle of first carousel, i.e. first angle measurement, and first treater control first driving motor drives first carousel rotation and makes the laser that first laser source sent shine on the first light sensor all the time. In this embodiment, the first carousel and the 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 downwards, and the receiving end of first light sensor sets up upwards, need ensure simultaneously that there is not shielding between first laser source and the first light sensor.
The reference module 53 includes a second laser source, a second optical sensor, a second turntable, a second angle sensor, a second driving motor and a second processor, where 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 located is a reference injection unit, the second optical sensor is disposed on the microinjection pump housing, the second angle sensor is used to detect 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 is different from the second angle so that the laser emitted by the second laser source irradiates the second optical sensor. In this embodiment, the reference module 53 may be disposed on any one of the upper injection unit and the lower injection unit, the second optical sensor may be disposed on the upper inner wall, the lower inner wall or the side wall of the microinjection pump housing, so that no shielding between the second laser source and the second optical sensor is required, and meanwhile, the included angle between the connecting line of the second laser source and the second optical sensor and the horizontal line cannot be too small, which would result in too small variation of the third angle measurement obtained by detection, and error is prone to occur.
Correspondingly, the embodiment also provides a microinjection pump injection control method, as shown in fig. 2, comprising the following steps:
s1: obtaining expected movement speeds of two syringe pushrods、/>；
S2: obtaining a current first angle metricAnd fourth angle measure->；
S3: calculating a real-time first angle amount at the time of injectionAnd a second angle degree->The second angle amount +.>The calculation formula of (2) is as follows: />
Wherein,for the duration of the beginning of the injection +.>For the horizontal distance of the centre of the first turntable from the first photosensor when starting injection +.>，/>The vertical distance from the first optical sensor to the center of the circle of the first turntable is the vertical distance from the first optical sensor to the center of the circle of the first turntable;
s4: comparing the first angleAnd a second angle degree->Judging whether the injection speeds of the two injector units meet the expectation or not, if not, calculating a third angle measure +.>And fourth angle measure->Entering the next step; if yes, returning to the step S3;
s5: comparing a third angle measureAnd fourth angle measure->Determining that the injection speed does not correspond to the intended injection unit, if the third angle measure +.>Equal to the fourth angle measure +.>Indicating that the injection speed of the reference injection unit is in line with expectations and that the other injection unit is not in line with expectations; if the third angle measure +>Not equal to the fourth angle measure->Indicating that the injection speed of the reference injection unit is not expected and that the other injection unit is expected; fourth angle metric->The calculation formula of (2) is as follows:
wherein,for the duration of the beginning of the injection +.>For starting the horizontal distance between the center of the second rotary table or the center of the first rotary table on the reference injection unit and the second light sensor, the injection unit is provided with +.>，/>The vertical distance between the second light sensor and the center of the second rotary table or the center of the first rotary table on the reference injection unit, +.>A movement speed of the syringe plunger on the reference injection unit;
s6: the main control unit is used for controlling the first angleAnd a second angle degree->Controlling the injection unit with an injection speed which does not correspond to the expected injection speed, so that the first angle is +>Equal to the second angle measure->。
In addition, in the working process of the microinjection pump, after any one of the two injection units starts injection or stops injection, the step S1 is required to be retracted, and the detection and control of injection precision are restarted.
According to the embodiment, the linear displacement of the two syringe push rods is converted into the angle change between the two syringe push rods, whether the actual injection speed accords with the expected or not is judged through the relative angle change, the displacement of the syringe push rods is not required to be detected, and the cost of arranging a high-precision displacement sensor is avoided; the injection speed control device has a control function, and can control the injection speed when the actual injection speed does not accord with the expected injection speed, so that the accurate execution of injection is ensured.
Example 2:
the difference between this embodiment and embodiment 1 is that the reference module in this embodiment includes a second optical sensor, where the second optical sensor is connected to the first processor, and when the first angle is different from the second angle, the first processor controls the first driving motor to drive the first rotating disc to rotate so that the laser emitted by the first laser source irradiates the second optical sensor, and at this time, the rotation angle of the first rotating disc is a third angle, and the injection unit provided with the first rotating disc is the reference injection unit. The reference module and the angle conversion module share the first laser source, so that the cost is reduced.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (6)
1. The utility model provides a microinjection pump, includes main control unit, man-machine interaction unit, communication unit and two injection units, and injection unit includes motor, lead screw and syringe push rod, characterized by: still include injection precision detection unit, injection precision detection unit includes:
the angle conversion module is arranged on the injector push rods and is 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 amount according to the expected displacement difference of the two syringe push rods;
the reference module is arranged on one injector push rod and is used for converting the distance difference between the actual position of the injector push rod and the reference point into a third angle measurement and converting the distance difference between the expected position of the injector push rod and the reference point into a fourth angle measurement;
the comparison module is used for comparing the first angle amount with the second angle amount, the third angle amount with the fourth angle amount, determining whether the injection speeds of the two injection units meet the expectations according to the comparison result, and determining the injection units with the injection speeds not meeting the expectations when the injection speeds do not meet the expectations;
the control module receives the comparison result output by the comparison module and controls the motor of the injection unit with the injection speed which does not meet the expectation until the injection unit meets the expectation;
the angle conversion module comprises a first laser source, a first optical sensor, a first rotary table, a first angle sensor, a first driving motor and a first processor, wherein the first rotary table is driven by the first driving motor, the first laser source is arranged on the first rotary table, the first rotary table is arranged on one injector push rod, the first optical sensor is arranged on the other injector push rod, the first angle sensor is used for detecting the rotation angle of the first rotary table, namely a first angle, 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;
the reference module comprises a second laser source, a second light sensor, a second rotary table, a second angle sensor, a second driving motor and a second processor, wherein the second rotary table is driven by the second driving motor, the second laser source is arranged on the second rotary table, the second rotary table is arranged on an injector push rod, an injection unit where the injector push rod is arranged is a reference injection unit, the second light sensor is arranged on a microinjection pump shell, the second angle sensor is used for detecting the rotation angle of the second rotary table, namely a third angle measurement, and the second processor controls the second driving motor to drive the second rotary table to rotate when the first angle measurement is different from the second angle measurement so that laser emitted by the second laser source irradiates the second light sensor.
2. A microinjection pump according to claim 1, characterized in that: the reference module comprises a second light sensor, the second light sensor is connected with the first processor, the first processor controls the first driving motor to drive the first rotating disc to rotate when the first angle is different from the second angle so that laser emitted by the first laser source irradiates the second light sensor, at the moment, the rotating angle of the first rotating disc is a third angle, and the injection unit provided with the first rotating disc is a reference injection unit.
3. A microinjection pump injection control method is characterized in that: the method comprises the following steps:
s1: obtaining expected movement speeds of two syringe pushrods、/>；
S2: obtaining a current first angle metricAnd fourth angle measure->；
S3: calculating a real-time first angle amount at the time of injectionAnd a second angle degree->；
S4: comparing the first angleAnd a second angle degree->Judging whether the injection speeds of the two injector units meet the expectation or not, if not, calculating a third angle measure +.>And fourth angle measure->Entering the next step; if yes, returning to the step S3;
s5: comparing a third angle measureAnd fourth angle measure->Determining that the injection speed does not correspond to an expected injection unit;
s6: the main control unit is used for controlling the first angleAnd a second angle degree->Controlling the injection unit with an injection speed which does not correspond to the expected injection speed, so that the first angle is +>Equal to the second angle measure->；
In the step S4, if the first angle isEqual to the second angle measure->It is then indicated that the injection speeds of the two injection units are in line with the expectations, if the first angle amount +.>Is not equal to the second angle degree->Then it is indicated that the injection speed of one of the two injection units is not in line with the expectations;
in the step S5, if the third angle measureEqual to the fourth angle measure +.>Indicating that the injection speed of the reference injection unit is in line with expectations and that the other injection unit is not in line with expectations; if the third angle measure +>Not equal to the fourth angle measure->It indicates that the injection speed of the reference injection unit is not expected and that the other injection unit is expected.
4. A microinjection pump injection control method according to claim 3, characterized in that: the second angleThe calculation formula of (2) is as follows: />
Wherein,for the duration of the beginning of the injection +.>For the horizontal distance of the centre of the first turntable from the first photosensor when starting injection +.>，/>Is the vertical distance from the first light sensor to the center of the first turntable.
5. A microinjection pump injection control method according to claim 3, characterized in that: the fourth angle measureThe calculation formula of (2) is as follows: />
Wherein,for the duration of the beginning of the injection +.>For starting the horizontal distance between the center of the second rotary table or the center of the first rotary table on the reference injection unit and the second light sensor, the injection unit is provided with +.>，/>For the vertical distance of the second photosensor to the center of the second turntable or the center of the first turntable on the reference injection unit, +.>Is the speed of movement of the syringe plunger on the reference injection unit.
6. A microinjection pump injection control method according to claim 3, characterized in that: after any one of the two injection units starts injection or stops injection, the process returns 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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| CN114618054B true CN114618054B (en) | 2023-12-22 |
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| CN203609721U (en) * | 2013-12-04 | 2014-05-28 | 吴海斌 | Automatic injecting device driving sliding table with speed correcting function |
| EP3107601A1 (en) * | 2014-02-21 | 2016-12-28 | DEKA Products Limited Partnership | Syringe pump having a pressure sensor assembly |
| WO2017038575A1 (en) * | 2015-08-28 | 2017-03-09 | 株式会社根本杏林堂 | Medicinal liquid injecting circuit, medicinal liquid injecting system provided with said medicinal liquid injecting circuit, and medical imaging system |
| CN111344029A (en) * | 2017-11-14 | 2020-06-26 | 伯克顿迪金森公司 | Electronic module for an injector |
| CN111803755A (en) * | 2012-12-21 | 2020-10-23 | 德卡产品有限公司 | Syringe pump system |
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| US9789247B2 (en) * | 2011-12-21 | 2017-10-17 | Deka Products Limited Partnership | Syringe pump, and related method and system |
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| CN111803755A (en) * | 2012-12-21 | 2020-10-23 | 德卡产品有限公司 | Syringe pump system |
| CN203609721U (en) * | 2013-12-04 | 2014-05-28 | 吴海斌 | Automatic injecting device driving sliding table with speed correcting function |
| EP3107601A1 (en) * | 2014-02-21 | 2016-12-28 | DEKA Products Limited Partnership | Syringe pump having a pressure sensor assembly |
| WO2017038575A1 (en) * | 2015-08-28 | 2017-03-09 | 株式会社根本杏林堂 | Medicinal liquid injecting circuit, medicinal liquid injecting system provided with said medicinal liquid injecting circuit, and medical imaging system |
| CN111344029A (en) * | 2017-11-14 | 2020-06-26 | 伯克顿迪金森公司 | Electronic module for an injector |
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