CN116869733A - Gas buffer injection system and method for retinal intravenous injection surgery - Google Patents
Gas buffer injection system and method for retinal intravenous injection surgery Download PDFInfo
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- CN116869733A CN116869733A CN202310810167.3A CN202310810167A CN116869733A CN 116869733 A CN116869733 A CN 116869733A CN 202310810167 A CN202310810167 A CN 202310810167A CN 116869733 A CN116869733 A CN 116869733A
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- 238000002347 injection Methods 0.000 title claims abstract description 121
- 239000007924 injection Substances 0.000 title claims abstract description 121
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 25
- 230000002207 retinal effect Effects 0.000 title claims description 15
- 238000010253 intravenous injection Methods 0.000 title claims description 5
- 239000007788 liquid Substances 0.000 claims abstract description 29
- 210000001957 retinal vein Anatomy 0.000 claims abstract description 15
- 238000007789 sealing Methods 0.000 claims description 10
- 238000001990 intravenous administration Methods 0.000 claims description 9
- 230000000295 complement effect Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 239000003814 drug Substances 0.000 description 12
- 239000000243 solution Substances 0.000 description 9
- 229940079593 drug Drugs 0.000 description 7
- 238000000520 microinjection Methods 0.000 description 7
- 239000012530 fluid Substances 0.000 description 6
- 229920002545 silicone oil Polymers 0.000 description 5
- 201000004569 Blindness Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 208000007536 Thrombosis Diseases 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 208000004644 retinal vein occlusion Diseases 0.000 description 2
- 230000004393 visual impairment Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003527 fibrinolytic agent Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000001525 retina Anatomy 0.000 description 1
- 210000001210 retinal vessel Anatomy 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/00736—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
Abstract
The utility model belongs to the technical field of ophthalmic robots, and provides a gas buffer injection system for retinal vein injection surgery, which comprises a flowmeter, a tee joint A, a gas pressure sensor, a sample injector and a miniature linear servo driver, wherein three interfaces of the tee joint A are respectively connected with the flowmeter, the gas pressure sensor and the sample injector, the sample injector is connected with the miniature linear servo driver, the rear end of the miniature linear servo driver is provided with a pressure sensor, the pressure sensor is used for measuring the pressure of top gas in the tee joint A, and viscous liquid is arranged below the gas. And the gas buffer injection method is used for adjusting the push rod movement distance of the miniature linear servo driver in real time according to the optimal injection volume curve and the feedback data of the air pressure sensor, and injecting according to the optimal injection volume curve. According to the utility model, gas is added into the pipeline, the gas is used for buffering injection pressure, the gas pressure is used as feedback data, and the injection speed is adjusted, so that stable injection is realized.
Description
Technical Field
The utility model belongs to the technical field of ophthalmic robots, and particularly relates to a gas buffer injection system and a gas buffer injection method for retinal vein injection surgery.
Background
Retinal Vein Occlusion (RVO) is a significant cause of vision loss in elderly people worldwide, and is manifested by thrombosis in the center of retinal veins or branch vessels, leading to severe vision loss and even blindness. Retinal surgery is considered a very challenging and difficult surgical procedure due to the complexity, high precision, and importance of the anatomy and function of the retina. There is currently no clinically effective treatment. In recent years, retinal intravenous injection (RVC) has been proposed as an innovative approach. The surgeon injects a thrombolytic drug into the blocked retinal vein to dissolve the thrombus, which is expected to restore blood circulation in the retinal vein.
However, in RVC technology in fundus microinjection surgery, a microinjector is usually connected to a viscous fluid control unit of a vitrectomy machine, and drug injection is performed at a fixed pressure, or is performed by a doctor under foot pedal control. Chinese patent application publication No. CN203341901U discloses a multifunctional ophthalmic microinjector. Chinese patent application publication No. CN107096101a discloses an injection method using a servo-controlled needleless injector. At this time, the process of injecting the pharmaceutical fluid into the subretinal or fundus blood vessel is not controllable, a large impact is generated on the fundus tissue, and a real-time effective feedback means is lacking. This presents additional risks to the injection process. Therefore, there is a need for an injection device based on pressure feedback and flow detection, which ensures a stable flow rate and a small impact force during the injection process in retinal blood vessels by designing a related control method.
Disclosure of Invention
Aiming at the technical problems in the prior art, the utility model provides a gas buffer injection system and a method for retinal vein injection operation, wherein gas is added into a pipeline, the gas buffer injection pressure is utilized, the gas pressure is used as feedback data, and the injection speed is adjusted, so that stable injection is realized.
The technical scheme adopted by the utility model is as follows: the utility model provides a gaseous buffering injection system for retinal intravenous route operation, includes flowmeter, tee bend A, air pressure sensor, injector and miniature sharp servo driver, tee bend A's three interface is connected with flowmeter, air pressure sensor and injector respectively, the injector is connected with miniature sharp servo driver, pressure sensor is used for measuring the pressure of the gaseous top in the tee bend A, gaseous below is viscous liquid.
Further, the push rod of the miniature linear servo driver and the hand of the sample injector are respectively provided with a threaded hole and are connected through a screw rod.
Furthermore, the sample injector and the miniature linear servo driver are both fixed on the base.
Further, the rear part of the sample injector is positioned in the base, a sealing cover A is fixed on the base, a clamping groove matched with a flange edge in the middle of the sample injector is formed in the sealing cover A, and the flange edge is embedded into the clamping groove.
Further, the miniature linear servo driver is located in the base, a sealing cover B is fixed on the base, a fixing groove matched with a bearing of a pressure sensor at the rear end of the miniature linear servo driver is formed in the sealing cover B, and the bearing is located in the fixing groove.
Further, a tee joint B is arranged between the tee joint A and the sample injector, and three interfaces of the tee joint B are respectively connected with the tee joint A, the sample injector and the complementary viscous liquid injector.
Further, the full-scale flow rate of the flowmeter is 1ml/min, and the precision is 5%; the sample injector has the specification of 1ml and the scale measuring range of 30mm.
The technical scheme adopted by the utility model is as follows: a gas buffered injection method for retinal intravenous injection surgery comprising the steps of:
step 1: the gas buffer injection system for retinal vein injection operation is assembled, the outlet end of the flowmeter is connected with the injector device, and the flowmeter, the air pressure sensor and the miniature linear servo driver are all connected with the control device; the top in the tee joint A is filled with gas, and the rest part of the gas buffer injection system for retinal vein injection operation is filled with viscous liquid;
step 2: the control device sets the initial speed of the push rod movement of the miniature linear servo driver according to the optimal injection volume curve and the flow rate limit value required by the injection object;
step 3: inserting a distal mini-needle of the injector device into the subject;
step 4: and starting a start switch of the miniature linear servo driver, and adjusting the push rod movement distance of the miniature linear servo driver in real time by the controller device according to the optimal injection volume curve and the feedback data of the air pressure sensor so as to perform injection according to the optimal injection volume curve.
Further, in the step 4,
wherein y is the movement distance of the push rod, R is the radius of the push rod, V is the volume of viscous liquid, and P 0 Is the initial pressure of air, P 1 Is the current pressure of air, V 0 Is the initial volume of air; p (P) 0 And P 1 Measured by an air pressure sensor; v is obtained from the optimal injection volume curve.
Further, in step 4, the controller device receives feedback data of the pressure sensor, calculates injection pressure, and the injection pressure must not be greater than an injection pressure limit value, otherwise, immediately reduces the push rod moving speed of the miniature linear servo driver; the controller device receives feedback data of the flowmeter, outputs a real volume curve through the conversion relation between the flow and the volume, and compares the real volume curve with an optimal injection volume curve.
Compared with the prior art, the utility model has the following beneficial effects:
1. the injection system provided by the utility model has the function of gas buffer, and can realize stable injection with constant speed or stable speed change in the fundus injection and retinal vein injection processes. And the injection medicine can be controlled more effectively in real time through real-time pressure and flow feedback.
2. According to the injection method provided by the utility model, the gas buffer injection can be performed according to the set optimal injection volume curve in real time through feedback, so that the defects of large inertia, easiness in causing unstable injection process and easiness in causing injection failure in single pneumatic drive injection are overcome, and the defects of insufficient power, long injection time and easiness in causing injection failure in single pneumatic drive injection are overcome. The advantages of the two are considered, so that the impact of the drug fluid on the eye bottom tissues can be effectively reduced in the injection process.
Drawings
FIG. 1 is a schematic diagram of an injection system according to an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a sample injector according to an embodiment of the present utility model;
fig. 3 is a schematic structural view of a closure a according to an embodiment of the present utility model;
fig. 4 is a schematic structural view of a cover B according to an embodiment of the utility model;
FIG. 5 is a flow chart of an injection method according to an embodiment of the present utility model;
FIG. 6 is a diagram of a gas buffer injection model of an injection method according to an embodiment of the present utility model;
FIG. 7 is a graph of flow versus time measured by a flow meter of an injection method according to an embodiment of the present utility model;
fig. 8 is a graph of actual volume versus time for an injection method according to an embodiment of the present utility model.
In the figure: 100. a flow meter; 200. an air pressure sensor; 300. replenishing a viscous liquid syringe; 400. a sample injector; 410. a flange edge; 500. a sealing cover A; 510. a clamping groove; 600. a base; 700. a miniature linear servo driver; 800. a cover B; 810. a fixing groove; 900. a tee joint A; 1000. tee B.
Detailed Description
The present utility model will be described in detail below with reference to the drawings and the specific embodiments, so that those skilled in the art can better understand the technical solutions of the present utility model.
Embodiments of the present utility model provide a gas buffer injection system for retinal vein injection surgery, as shown in fig. 1-4, comprising a flow meter 100, a tee a900, a tee B1000, a barometric sensor 200, a sample injector 400, and a micro linear servo driver 700. The flowmeter 100, the tee A900, the tee B1000 and the injector 400 are sequentially connected, a top end interface of the tee A900 is connected with the air pressure sensor 200 through a switching hard tube, and the pressure sensor is used for measuring the pressure of gas at the top of the tee A900. The top end interface of the tee joint B1000 is connected with the complementary viscous liquid injector 300, and the complementary viscous liquid injector 300 is filled with viscous liquid and plays a role in supplementing the viscous liquid. The flow meter 100, tee a900, tee B1000, injector 400 and make-up viscous liquid injector 300 form a conduit for the flow of viscous liquid. In use, the top of tee A900 is filled with gas and the rest of the tubing is filled with viscous liquid. The injector 400 is used to advance the viscous liquid flow. In this embodiment, silicone oil is used as the viscous liquid, and air is used as the gas.
The micro linear servo driver 700 is a micro servo electric push rod, and integrates a micro motor, a speed reducer, a screw rod structure, a sensor and a driving control system. The push rod of the micro linear servo driver 700 can realize accurate servo control at any position in the stroke range, can push the hand of the injector 400 according to a preset pushing track, and is provided with a pressure sensor at the rear end thereof for measuring the pressure applied to the push rod. The micro linear servo driver 700 is connected with the sample injector 400, specifically, the push rod of the micro linear servo driver 700 and the pressing hand of the sample injector 400 are provided with threaded holes and are connected through a screw.
The injector 400 and the micro linear servo driver 700 are both fixed on the base 600. The base 600 will ensure that the push rod of the micro linear actuator 700 and the center point of the hand of the injector 400 are on the same horizontal line. The rear part of the injector 400 is located in the base 600, and the base 600 fixes the injector 400 by a cover a 500. The cover a500 is provided with a clamping groove 510 matched with the flange 410 in the middle of the injector 400, and the flange 410 is embedded into the clamping groove 510. Four M3 threaded holes are formed in the sealing cover A500 and are fixed on the base 600 through bolts. The micro linear servo driver 700 is located in the base 600, and the base 600 fixes the micro linear servo driver 700 through the cover B800. The cover B800 is provided with a fixing groove 810 matching with a bearing of the pressure sensor at the rear end of the micro linear servo driver 700, and the bearing is positioned in the fixing groove 810 with two semicircles. The cover B800 is provided with two M3 threaded holes, and is fixed to the base 600 by bolts.
In this embodiment, the flow meter 100 has a full scale flow rate of 1ml/min with an accuracy of 5%. The tee A900 and the tee B1000 adopt medical tee with common specification. The sample injector 400 has a specification of 1ml and a scale range of 30mm. The total stroke of the pushrods of the micro linear actuator 700 is 30mm.
The embodiment of the utility model also provides a gas buffer injection method for retinal vein injection surgery, as shown in fig. 5, comprising the following steps:
step 1: the gas buffer injection system for retinal vein injection operation is assembled, the outlet end of the flowmeter 100 is connected with an injector device, and the flowmeter 100, the air pressure sensor 200 and the miniature linear servo driver 700 (comprising a drive control system and a pressure sensor) are all connected with a control device.
Filling gas and silicone oil into a pipeline of a gas buffer injection system: the top in tee A900 is filled with clean air, the initial volume of which is known; three interfaces of the tee A900 and the tee B1000 are all adjusted to be in an open state; the replenishment viscous liquid syringe 300 fills the pipe with silicone oil from the top through the tee B1000 and closes (closes the port of the tee a 900); the top end interface of the tee joint B1000 is adjusted to be in a closed state. The syringe device contains the medicament to be injected.
Step 2: the control device sets the initial velocity of the push rod motion of the micro linear servo driver 700 according to the optimal injection volume curve and the flow rate limit value required by the injection object. The optimal injection volume curve is the volume of drug fluid versus time.
Step 3: the distal mini-needle of the injector device is inserted into the subject at a predetermined angle to a predetermined position and depth. All ports of tee a900 are opened.
Step 4: the micro linear servo driver 700 is started to start a switch, and the controller device adjusts the push rod movement distance of the micro linear servo driver 700 in real time according to the optimal injection volume curve and the feedback data of the air pressure sensor 200, so that injection is performed according to the optimal injection volume curve.
To explain the push rod control principle in more detail, the following examples are given: selecting a value within the flow range of 10-200 mu l/min set by the test, wherein the value is assumed to be 183 mu l/min, and according to the precision of the miniature linear servo driver and the specification of the sample injection needle, the linear servo driver can be calculated to push 1.83 mu l in one step, and in order to meet the requirement, the stepping instruction time is set to be 100 steps/min, so that the instantaneous 183 mu l/min flow can be pushed out.
By the corresponding relation, a tracking volume curve can be designed according to the relation between the flow and the propelling liquid volume only for the needle head part of the micro injection needle. The relationship is as follows:
V＝∫Qdt＝πr 2 x
wherein V is the injection volume of the medicine liquid, Q is the flow, t is the time, r is the radius of the micro-injection needle, and x is the movement distance of the micro-injection needle solution.
The first equation of the above formula is the conversion relationship between volume and flow rate in step 4, and it can be known from the above formula that the injection volume of the drug liquid has a first-order differential relationship with flow rate; when the radius of the micro-injection needle is unchanged, the injection volume of the medicine liquid is in direct proportion to the movement distance of the micro-injection needle solution.
According to the above relationship, the volume of the drug required for ophthalmic surgery at different sites is different, and there is also a range of restriction on the flow rate (or flow rate) of injection. Therefore, according to the above two requirements, an optimal injection volume curve can be designed to obtain a control curve for tracking the position of the injection needle solution, and the control device is used for controlling the movement position or speed of the push rod of the micro linear servo driver 700 to control and track.
The following is the control algorithm: from the model shown in fig. 6:
P 0 V 0 ＝P 1 V 1
ΔV＝V 0 -V 1
πR 2 y＝πr 2 x+ΔV
the three formulas can be obtained:
wherein y is push distance of the push rod, R is radius of the push rod, and P 0 Is the initial pressure of air, P 1 Is the current pressure of air, V 0 Is the initial volume of air, V 1 Is the current volume of air; p (P) 0 And P 1 Measured by the air pressure sensor 200.
x can be obtained by a predetermined designed optimal injection volume curve because the movement distance of the micro-injection needle solution and the injection volume of the medicine liquid satisfy the relationThe putter movement distance equation can be converted into:
assuming an optimal injection volume curve ofThrough P 1 The position of y is calculated in real time by the real-time feedback of V and the value of V, and is input by the push rod, so that the V can be output according to a preset curve required by the ophthalmic surgery, or the V can be constantly increased and stably output,and the impact force is not as great as that of the pure liquid pump.
The ophthalmic surgery has a certain range limit on the flow rate and the injection pressure of injection, so the pressure sensor at the rear end of the flowmeter and the push rod can be used for detecting the flow rate and the injection pressure.
The error of the flowmeter is 2 mu l/min in the measuring range of 0 mu l/min-40 mu l/min, the error in the flow measurement process of more than 40 mu l/min is 0.05%, and the error ranges are all within the test requirement range. The flow-time curve measured by the flowmeter is shown in fig. 7, and after integration, the actual volume-time curve is obtained, and as shown in fig. 8, the accuracy of the flow-time curve can be verified by comparing the flow-time curve with the designed optimal injection volume curve. The volume-time curve shown in FIG. 8 is very close toThe first quarter of the cycle of the curve.
After the bearing at the rear end of the miniature linear servo driver is fixed, the acting force on the push rod, namely the pushing force of the piston, can be measured, and the injection pressure of the injection needle part can be calculated through the Bernoulli equation. The specific calculation process is as follows:
assuming ideal conditions, the liquid in the injector and the liquid in the needle satisfy the bernoulli equation:
p in the above 1 、p 2 The pressure of the fluid in the unit volume of the injector and the pressure of the fluid in the unit volume of the injection needle are respectively, ρ 1 、ρ 2 The density of the silicone oil solution and the density of the drug solution, v 1 、v 2 The flow rate of the silicone oil solution in the injector and the flow rate of the drug solution in the injection needle are respectively h 1 、h 2 The height of the center of the sample injection needle tube from the ground and the height of the center of the injection needle from the ground are respectively, c is a constant, and g is standard gravity acceleration.
Wherein v is 1 Can be detected by a micro linear servo driver upper computerDirectly obtained, v 2 The flow rate Q measured by the flow meter is according to v 2 Calculated by = ≡ Qdt, ρ 1 、ρ 2 、h 1 、h 2 C is a known quantity.
Wherein p is 1 Can be obtained according to the following formula
In the above formula, F is the feedback force measured by the pressure sensor of the miniature linear servo driver.
From the above analysis, p can be deduced 2 Size value of (2):
in ophthalmic surgery, it is required that the injection pressure cannot exceed the injection pressure limit value (a certain upper limit value), so that real-time observation can be performed during the test.
The injection method can effectively avoid the problem that the tissue is subjected to larger impact force due to the fact that the pressure of the pure liquid or the pure gas pump is too high.
The present utility model has been described in detail by way of examples, but the description is merely exemplary of the utility model and should not be construed as limiting the scope of the utility model. The scope of the utility model is defined by the claims. In the technical scheme of the utility model, or under the inspired by the technical scheme of the utility model, similar technical schemes are designed to achieve the technical effects, or equivalent changes and improvements to the application scope are still included in the protection scope of the patent coverage of the utility model.
Claims (10)
1. A gas buffer injection system for retinal intravenous surgery, characterized in that: the device comprises a flowmeter, a tee joint A, an air pressure sensor, a sample injector and a miniature linear servo driver, wherein three interfaces of the tee joint A are respectively connected with the flowmeter, the air pressure sensor and the sample injector, the sample injector is connected with the miniature linear servo driver, the rear end of the miniature linear servo driver is provided with a pressure sensor, the pressure sensor is used for measuring the pressure of top gas in the tee joint A, and viscous liquid is arranged below the gas.
2. A gas buffered injection system for retinal intravenous surgery as in claim 1, wherein: the push rod of the miniature linear servo driver and the pressing hand of the sample injector are respectively provided with a threaded hole and are connected through a screw rod.
3. A gas buffered injection system for retinal intravenous surgery as in claim 1 or 2, wherein: the sample injector and the miniature linear servo driver are both fixed on the base.
4. A gas buffered injection system for retinal intravenous surgery as in claim 3, wherein: the rear part of the sample injector is positioned in the base, a sealing cover A is fixed on the base, a clamping groove matched with a flange edge in the middle of the sample injector is formed in the sealing cover A, and the flange edge is embedded into the clamping groove.
5. A gas buffered injection system for retinal intravenous surgery as in claim 3, wherein: the miniature linear servo driver is positioned in the base, a sealing cover B is fixed on the base, a fixing groove matched with a bearing of a pressure sensor at the rear end of the miniature linear servo driver is formed in the sealing cover B, and the bearing is positioned in the fixing groove.
6. A gas buffered injection system for retinal intravenous surgery as in claim 1, wherein: and a tee joint B is arranged between the tee joint A and the sample injector, and three interfaces of the tee joint B are respectively connected with the tee joint A, the sample injector and the complementary viscous liquid injector.
7. A gas buffered injection system for retinal intravenous surgery as in claim 1, wherein: the full-scale flow rate of the flowmeter is 1ml/min, and the precision is 5%; the sample injector has the specification of 1ml and the scale measuring range of 30mm.
8. A gas buffer injection method for retinal intravenous injection surgery, comprising the steps of:
step 1: assembling the gas buffer injection system for retinal vein injection surgery according to any one of claims 1-7, wherein an outlet end of the flowmeter is connected with the injector device, and the flowmeter, the air pressure sensor and the miniature linear servo driver are all connected with the control device; the top in the tee joint A is filled with gas, and the rest part of the gas buffer injection system for retinal vein injection operation is filled with viscous liquid;
step 2: the control device sets the initial speed of the push rod movement of the miniature linear servo driver according to the optimal injection volume curve and the flow rate limit value required by the injection object;
step 3: inserting a distal mini-needle of the injector device into the subject;
step 4: and starting a start switch of the miniature linear servo driver, and adjusting the push rod movement distance of the miniature linear servo driver in real time by the controller device according to the optimal injection volume curve and the feedback data of the air pressure sensor so as to perform injection according to the optimal injection volume curve.
9. The method for gas buffered injection for retinal intravenous surgery of claim 8, wherein, in step 4,
wherein y is the movement distance of the push rod, R is the radius of the push rod, V is the volume of viscous liquid, and P 0 Is the initial stage of airPressure, P 1 Is the current pressure of air, V 0 Is the initial volume of air; p (P) 0 And P 1 Measured by an air pressure sensor; v is obtained from the optimal injection volume curve.
10. The gas buffer injection method for retinal vein injection surgery according to claim 8 wherein in step 4, the controller means receives feedback data of the pressure sensor, calculates an injection pressure, the injection pressure must not be greater than an injection pressure limit value, otherwise immediately reduces a push rod moving speed of the micro linear servo driver; the controller device receives feedback data of the flowmeter, outputs a real volume curve through the conversion relation between the flow and the volume, and compares the real volume curve with an optimal injection volume curve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310810167.3A CN116869733A (en) | 2023-07-04 | 2023-07-04 | Gas buffer injection system and method for retinal intravenous injection surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310810167.3A CN116869733A (en) | 2023-07-04 | 2023-07-04 | Gas buffer injection system and method for retinal intravenous injection surgery |
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| Publication Number | Publication Date |
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| CN116869733A true CN116869733A (en) | 2023-10-13 |
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| CN202310810167.3A Pending CN116869733A (en) | 2023-07-04 | 2023-07-04 | Gas buffer injection system and method for retinal intravenous injection surgery |
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Inventor after: Sun Mingzhu Inventor after: Xu Shiyu Inventor after: Zhao Xin Inventor after: Hu Bo Inventor after: Liu Yaowei Inventor after: Zhao Qili Inventor before: Sun Mingzhu Inventor before: Xu Shiyu Inventor before: Zhao Xin Inventor before: Hu Bo Inventor before: Liu Yaowei Inventor before: Zhao Qili |