JP2003295961A - Controller apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller apparatus that facilitates sterilization and disposal thereof. <P>SOLUTION: In a controller body 132, an operation member 133 is slidably attached, and an outer tube 135 is bendably attached to the controller body 132 and apparatus body 102. An inner wire 137 is bendable, which is slidably arranged inside the outer tube, and attached to the operation member 133 and a slider member 143. A slide sensor 142 is mounted on the apparatus body 102 to detect the slide of the slide member 143, so that the apparatus body 102 is operated and controlled when an operator slides the operation member 133 of the controller body 132. However, circuit components such as the slide sensor 142 are not mounted in the controller body 132. Consequently, for example, the controller body 132 is easily sterilized with antiseptic solution or smoking. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a controller device for controlling the operation of a movable device having a device body, a movable mechanism and a drive circuit, and more particularly to a drive control signal for controlling the operation of the movable mechanism in the drive circuit. To a controller device for supplying

[0002]

2. Description of the Related Art Currently, an angio apparatus used in a medical field is capable of capturing a blood vessel image of a subject by applying radiography, and CT (Computed Tomography)
The scanner can take a tomographic image of the subject by applying X-ray imaging, and the MRI (Magnetic Resonanc
The e-imaging device can capture a tomographic image of the subject in real time by the magnetic resonance effect.

When using the above-mentioned device, a liquid medicine such as a contrast medium or physiological saline may be injected into a subject, and the liquid medicine injection device has been put into practical use as a movable device for mechanically executing this injection. There is. This chemical injection device has an injection head, and a syringe is detachably attached to this injection head.

The syringe has a cylinder member filled with a drug solution, and a piston member is slidably inserted into the cylinder member. Generally, a cylinder flange is formed on the outer periphery of the end of the cylinder member, and a piston flange is formed on the outer periphery of the end of the piston member.

When using the drug solution injector, the cylinder member of the syringe filled with the drug solution is connected to the subject by an extension tube, and the cylinder member is mounted on the injector head. Further, the injection head holds the piston flange separately from the cylinder member by the slider mechanism that is a movable mechanism, and slides the piston member by the slider mechanism. With this, the medicinal solution is injected into the subject from the syringe and aspirated if necessary.

Some of the above-mentioned chemical liquid injectors automatically perform the injection in response to the initial setting, but there are also those which can control the operation of the injection in real time. Some drug solution injectors that control the operation of injection in real time have a controller unit integrally mounted on the device body, but there are also products that have a controller unit wiredly connected to the device body.

In such a controller unit, for example, an operation member is slidably mounted on the controller body, and a signal generation circuit connected to the operation member is built in the controller body. The signal generation circuit includes, for example, a variable resistor, and generates a drive control signal corresponding to the slide of the operation member.

One end of a bendable wiring cable covered with a conductor is attached to the controller body, and the other end of this wiring cable is attached to the apparatus body of the chemical liquid injector. A drive circuit for driving the slider mechanism is built in the main body of the apparatus, and the drive circuit and the signal generation circuit of the controller unit are connected by a conductor of a wiring cable.

In such a chemical liquid injector, when an operator holds the controller body of the controller unit and slides the operating member, a signal generation circuit generates a drive control signal corresponding to the operator and the apparatus body is connected by a wiring cable. Supply to the drive circuit. The drive circuit controls the operation of the slider mechanism in response to the supplied drive control signal, so that the piston member of the syringe is slid corresponding to the operation member of the controller unit.

[0010]

In the above-mentioned chemical liquid injector, the separate device body and controller body are connected by a flexible wiring cable, and the injection operation in the device body is manually performed by the controller body. Operability is good because it can be operated.

However, as mentioned above, in the medical field where the drug solution injector is used, it is required to keep the fingers operating the drug injector always clean. In order to realize this, at least the controller unit needs to be sterilized, but it is difficult to sterilize the controller body containing the signal generation circuit with a disinfecting solution or fumigation.

For example, if the wiring cable of the controller unit is detachably attached to the apparatus main body and the controller unit is disposable, the controller unit can be constantly cleaned. However, a controller unit having a wiring cable and a signal generation circuit is not inexpensive, and it is actually difficult to make it disposable.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a control device which is easy to always keep clean.

[0014]

A controller device of the present invention supplies a drive control signal for controlling operation of a movable mechanism to a drive circuit of a movable device, and includes a controller body, an operating member, an outer tube and an inner wire. , A slider member, a slide sensor, and signal generation means.

An operation member is slidably attached to the controller body, and the outer tube is bendable and has one end attached to the controller body and the other end attached to the device body of the movable device. The inner wire is
It is bendable and is slidably arranged inside the outer tube. One end is attached to the operation member and the other end is attached to the slidable slider member. The slide sensor is mounted on the main body of the movable device and detects the slide of the slider member, and the signal generating means generates a drive control signal from the detection result of the slide sensor and supplies it to the drive circuit.

Therefore, the apparatus main body of the movable device and the controller main body of the controller device are connected by a bendable outer tube, and an operator slides the operation member of the controller main body to move the movable body by the drive circuit of the movable device. The operation of the mechanism is controlled. However, since the controller body is not equipped with circuit components such as the slide sensor and the signal generating means, it is easy to disinfect the controller body with a disinfecting solution or fumigation, for example.

In the controller device as described above,
A slide sensor and a signal generating means are mounted on the main body of the apparatus, and the controller unit detachably mounted on the main body of the apparatus may include the main controller body, the operation member, the outer tube, the inner wire, and the slider member. is there.

The movable device of the present invention holds the cylinder member and the piston member of the syringe separately and moves them relative to each other, and includes the controller device of the present invention, the device main body, the cylinder holding mechanism, the movable mechanism, and the drive circuit. Have The cylinder holding mechanism holds the cylinder member of the syringe, and the movable mechanism holds and slides the piston member of the syringe. Since the drive circuit controls the operation of the movable mechanism in response to the drive control signal supplied from the controller device,
When the operator slides the operation member of the controller main body, the piston member of the syringe is correspondingly slid.

The various means referred to in the present invention may be formed so as to realize their functions. For example, dedicated hardware for exhibiting a predetermined function or a predetermined function is given by a computer program. The data processing device, a predetermined function realized by the computer program in the data processing device, a combination thereof, and the like may be used.

Further, the various means referred to in the present invention need not be independent of each other, but a plurality of means are formed as one device, and some means are part of other means. It is also possible that a part of a certain means and a part of another means overlap.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION [Structure of Embodiment] As shown in FIG. 2, a chemical liquid injector 100 which is a movable device of this embodiment.
Is an injection head 101 and an apparatus main body 102 as main elements.
The apparatus main body 102 is attached to the upper end of the stand 103. An arm 104 is attached to the side of the apparatus main body 102, and the injection head 101 is attached to the tip of the arm 104.

As shown in FIG. 3, the injection head 101 has a recess 106, which serves as a cylinder holding mechanism, formed on the upper surface thereof, and the syringe 200 is replaceable by the recess 106.
The cylinder member 201 is held. A slider mechanism 107 is formed behind the recess 106, and the slider mechanism 107 is provided on the syringe 200 held in the recess 106.
The piston member 202 is gripped and slid.

An ultrasonic motor 108 as a movable mechanism is built in the rear portion of the injection head 101, and the rotor portion of this ultrasonic motor 108 is connected to the slider mechanism 107 by a screw mechanism or the like (not shown). ), The slider mechanism 107 slides by the rotation of the ultrasonic motor 108.

In the chemical liquid injector 100 of this embodiment, as shown in FIG. 2, an operation panel 121 and a display panel 122 are integrally mounted on the main body 102 of the apparatus, and a controller unit 1 of a controller device 130 described later is installed.
31 is detachably attached.

As shown in FIG. 4, the chemical liquid injector 100 of this embodiment has an integrated control circuit 123 which is a signal generating means, and the integrated control circuit 123 has an operation panel 12.
1 and the display panel 122 are connected. Further, the integrated control circuit 123 includes a motor drive circuit 124.
Are connected, and the motor drive circuit 124 is connected to the ultrasonic motor 108. This ultrasonic motor 10
A rotary encoder 125 is mounted on the rotor portion of No. 8, and the rotary encoder 125 is feedback-connected to the integrated control circuit 123.

The motor drive circuit 124 is the integrated control circuit 1
The ultrasonic motor 108 is driven according to the drive control signal supplied from the rotary encoder 23, and the rotary encoder 125 feeds back the rotation detection signal corresponding to the rotation of the ultrasonic motor 108 to the integrated control circuit 123.

As shown in FIG. 1, the chemical liquid injector 100 of the present embodiment has a controller device 130, and the controller device 130 has a removable controller unit 131 in the main body 102 of the chemical liquid injector 100. Have The controller unit 131 has a resin-made box-shaped controller main body 132, and an operation member 133 is slidably mounted on the controller main body 132.

One end of an outer tube 135 is attached to the controller body 132, and a detachable box 136 is attached to the other end of the outer tube 135. An inner wire 137 is slidably arranged inside the outer tube 135, and one end of the inner wire 137 is connected to the operation member 133. For example, the outer tube 135 is formed of a vinyl tube that is bendable, difficult to expand and contract, and has high corrosion resistance, and the inner wire 137 is formed of stainless steel wire that is bendable, difficult to expand and contract, and highly corrosion resistant.

As shown in FIG. 5, engaging and disengaging claws 138 and 139 are formed on the outer surfaces of the detachable box 136 and the apparatus main body 102 so that they can be detachably engaged with each other.
As shown in FIG. 3, the attachment / detachment box 136 of the controller unit 131 is detachably attached to the apparatus main body 102. A sensor box 141 is integrally formed inside the apparatus main body 102 inside a position where the attachment / detachment box 136 is attached, and a slide sensor 142 is attached inside the sensor box 141.

A flat plate-shaped slider member 143 is attached to the other end of the inner wire 137, and the slider member 143 is slidably arranged inside the sensor box 141. The slider member 143 is made of a resin flat plate, and has a first stripe 145 formed on one surface and a second stripe 146 formed on the other surface.

These first and second stripes 145,
146 is an optical stripe in which black bars and white bars are alternately positioned in a predetermined cycle. As shown in FIGS. 7A and 7B, the first stripe 145 and the second stripe 146 have the same cycle. However, the phases are displaced from each other by 1/4 cycle.

As shown in FIG. 6, the slide sensor 141 is formed in a concave shape in which a slider member 143 is slidably positioned. As shown in FIG. 4, the slide sensor 141 is located at a position opposite to the slider member 143. 1 sensor 147 and second
The sensor 148 is arranged.

These first and second sensors 147, 14
Reference numeral 8 is an optical sensor that optically detects black and white. As shown in FIGS. 7A and 7C, the first sensor 147 is provided.
Outputs a binary first detection signal corresponding to the first stripe 145, and the second sensor 148 detects the second stripe 14
A binary second detection signal corresponding to 6 is output.

As shown in FIG. 4, the slide sensor 141
The first and second sensors 147 and 148 are connected to the integrated control circuit 123, and the integrated control circuit 123
First and second of the first and second sensors 147, 148
A drive control signal is generated from the detection signal and the rotation detection signal of the rotary encoder 125 and supplied to the motor drive circuit 124.

The chemical injection device 100 of the present embodiment, as shown in FIG. 8, has an imaging unit 30 of the MRI apparatus 300.
1 is connected to the computer system 302 that controls the MRI apparatus 300 as needed. The computer system 302 is a so-called personal computer, and has a computer main body 311 which is a data processing device, a display unit 312 which is a data display device, a keyboard unit 313, and the like.

[Operation of Embodiment] In the case of using the chemical liquid injector 100 of the present embodiment with the above-mentioned configuration,
The worker connects the syringe 200 with an extension tube to the subject located in the imaging unit 301 of the MRI apparatus 300.
As shown in FIG. 3 (not shown), the cylinder member 201 of the syringe 200 is held in the recess 106 of the injection head 101, and the piston member 202 is held by the slider mechanism 107.

Separately from the above work, a disinfected controller unit 131 is prepared as shown in FIG. 5, and the slider member 143 is attached to the slide sensor of the chemical liquid injector 100 as shown in FIG. As shown in FIG. 1, the attachment / detachment box 136 is attached to the apparatus main body 102 while being inserted into the concave groove of the device 142.

Next, after the operation member 133 of the controller unit 131 is positioned at the rearmost part of the controller body 132, the slider member 1 is operated by inputting the execution of initial setting on the operation panel 121 of the apparatus body 102.
The initial position of 43 is detected by the slide sensor 142, and the integrated control circuit 123 is initialized.

In this state, when the operator holds the controller main body 132 and slides the operation member 133 forward, the inner wire 137 slides inside the outer tube 135 correspondingly, and the slider member 143 is slid. Slides with respect to the slide sensor 142.

Then, as shown in FIG. 7, the first and second sensors 147 and 148 of the slide sensor 141 are arranged.
The first and second slider members 143 that slide.
Since the first and second detection signals corresponding to the stripes 145 and 146 are output to the integrated control circuit 123, the integrated control circuit 123 generates a drive control signal from the first and second detection signals and outputs the motor drive circuit 124. Output to.

The motor drive circuit 124 drives the ultrasonic motor 108 in response to the drive control signal, and in the ultrasonic motor 108, the rotor portion rotates in response to the drive control signal. As the slider mechanism 107 of the injection head 101 slides the piston member 202 of the syringe 200 forward in response to the rotation of the ultrasonic motor 108, the liquid medicine is injected from the cylinder member 201 of the syringe 200 into the subject. Become.

When the integrated control circuit 123 drives the ultrasonic motor 108 via the motor drive circuit 124 as described above, the rotary encoder 1 corresponds to the rotation thereof.
25 feeds back the rotation detection signal to the integrated control circuit 123. Since the integrated control circuit 123 adjusts the drive control signal in accordance with the rotation detection signal, the piston member 202 of the syringe 200 is slid in good correspondence with the slide of the operation member 133 of the controller unit 131.

However, in the chemical injection device 100 of the present embodiment, the upper limit is set in advance for the rotation speed of the ultrasonic motor 108, and therefore the upper limit is set for the speed at which the piston member 202 of the syringe 200 is slid. For this reason, the operator operates the operation member 1 of the controller unit 131.
Even if 33 is unnecessarily slid at high speed, the injection head 10
In No. 1, the piston member 202 of the syringe 200 is slid only at a speed below the upper limit.

In addition, the operator is the controller unit 13
When the first operation member 133 is slid rearward, the injection head 101 slides the piston member 202 of the syringe 200 rearward, so that it is also possible to suck the drug solution into the syringe 200 from, for example, a subject.

[Effects of the Embodiment] In the chemical injection device 100 of the present embodiment, the operation member 133 of the controller main body 132, which is wire-connected to the device main body 102 as described above, is manually operated, so that the injection head 101 is operated. Slider mechanism 1
Since 07 can be remotely operated, its operability is excellent.

However, the slide sensor 142 is attached to the controller unit 131 which is detachable from the apparatus main body 102.
Since circuit components such as the integrated control circuit 123 and the integrated control circuit 123 are not mounted, it is easy to disinfect the controller unit 131, and the fingers of an operator who manually operates the controller unit 131 can always be kept clean.

In particular, the controller body 132 and the slider member 143 are made of a resin having a high corrosion resistance, the outer tube 135 is made of a vinyl tube having a high corrosion resistance, and the inner wire 137 is made of a stainless steel wire having a high corrosion resistance. The unit 131 does not corrode even if it is disinfected with a solution or the like.

In addition, as described above, the controller unit 131, on which no circuit parts are mounted, has a simple structure and is inexpensive. Therefore, it is easy to dispose of the controller unit 131 as a disposable after one or several uses, and more reliably. It is possible to keep 131 clean.

Furthermore, circuit components such as the slide sensor 142 and the integrated control circuit 123 are built in the magnetically shielded apparatus main body 102, and the controller unit 13 is provided.
1 is not installed, the chemical liquid injector 1 of this embodiment
00 does not generate magnetic noise that affects the magnetic field of the MRI apparatus 300.

Moreover, the first and second stripes 145, 145 of the slider member 143 of the controller unit 131.
Since the first and second sensors 147 and 148 of the slide sensor 141 detect 146, the integrated control circuit 123 can detect the slide of the operation member 133 with a simple structure.

Particularly, since the first and second stripes 145, 146 of the slider member 143 have the same period and the phases are displaced from each other by ¼ period, the integrated control circuit 12
3 can also reliably detect the sliding direction of the slider member 143 from the first and second detection signals of the first and second sensors 147 and 148.

Further, the operator is the controller unit 1
Even if the operation member 133 of 31 is unnecessarily slid at high speed, the injection head 101 slides the piston member 202 of the syringe 200 only at a speed equal to or lower than the upper limit.
It is possible to prevent damage to the syringe 200 due to abnormal pressure.

[Modifications of the Embodiment] The present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the scope of the invention. For example, in the present embodiment, since the moving direction of the slider member 143 is also detected, the first and second phases having the same cycle and the phases displaced from each other by ¼ cycle.
It has been illustrated that the stripes 145 and 146 are individually detected by the first and second sensors 147 and 148 arranged at opposite positions.

However, the periods and phases of the first and second stripes 145 and 146 of the slider member 143 are set to be the same, and the first and second sensors 147 and 148 are arranged at positions displaced from each other by ¼ period thereof. It is also possible to keep it (not shown). Further, the slider member has only one stripe, and that one stripe is 1 /
It is also possible to detect with the 1st and 2nd sensors arranged in parallel by displacing only 4 periods (not shown).

In the above embodiment, the first and second stripes 145 and 146 of the slider member 143 are optical stripes, and the first and second stripes of the slide sensor 142 are the same.
Although it has been illustrated that the sensors 147 and 148 are optical sensors, for example, the first and second stripes may be magnetic stripes and the first and second sensors may be magnetic sensors (not shown).

Further, in the above embodiment, the inner wire 13
7 and the slider member 143 are integrally fixed, the inner wire 137 and the slider member 143 are detachable, and the slider member 1 is attached.
It is also possible to make 43 resident in the apparatus main body 102.

In this case, the inner wire 137 and the slider member 143 can be attached by a mechanical attaching / detaching mechanism or a magnetic attaching / detaching mechanism, and the slider member 143 urged to the outside of the apparatus main body 102 by a spring or the like. It is also possible to press inwardly with a member attached to the tip of the inner wire 137 (not shown).

In the above embodiment, the first and second stripes 145 and 146 of the movable slider member 143 are connected to the first and second sensors 147 and 147 of the slide sensor 142.
The detection at 148 is exemplified. However, one stripe is formed on one inner surface of the sensor box 141, and a slide sensor consisting of a line sensor is arranged on the other inner surface, and a blank slider member is provided in the gap between the slide sensor and the stripe. It is also possible to position movably (not shown). In this case, since the stripe detected by the slide sensor is partially shielded by the slider member, the slide sensor can detect the slide of the slider member.

Further, in the above embodiment, the chemical liquid injector 100 is exemplified as the movable device for mounting the controller unit 131 to control the operation, but the present invention can be applied to various movable devices. Further, in the above embodiment, the injection head 101
It has been illustrated that only one syringe 200 is mounted on the controller body 132 and only one operating member 133 is mounted on the controller body 132.
It is also possible to set the number of 0s to a plurality and to attach the operation members 133 to the controller body 132 up to the corresponding number.

For example, in a drug solution injector (not shown) actually used in the MRI apparatus 300, there is one in which a contrast agent syringe and a saline solution syringe are mounted in parallel on the injection head. In such a case, by mounting two operating members on one controller body, it becomes possible to remotely control the two syringes of the injection head.

Further, in the above embodiment, the injection head 1 is placed at the slide position of the operation member 133 of the controller unit 131.
The synchronization of the sliding position of the piston member 202 with 01 has been exemplified, but for example, the controller unit 1
The injection head 10 is moved to the slide position of the operation member 133 of 31.
It is also possible to make the sliding speed of the piston member 202 at 1 correspond.

[0062]

In the liquid medicine injection device of the present invention, the device body of the movable device and the controller body of the controller device are connected by a bendable outer tube, and the operator slides the operation member of the controller body. The operation of the movable mechanism is controlled by the drive circuit of the movable device.
Since the controller main body is not equipped with circuit components such as a slide sensor and a signal generating means, the controller main body can be easily disinfected and the controller main body can be made disposable.

[Brief description of drawings]

FIG. 1 is a schematic vertical sectional side view showing an internal structure of a controller device according to an embodiment of the present invention.

FIG. 2 is a perspective view showing an appearance of a liquid medicine injection device which is a movable device.

FIG. 3 is a perspective view showing a state in which a syringe is mounted on an injection head.

FIG. 4 is a schematic block diagram showing a circuit structure of a chemical injection device.

FIG. 5 is a schematic vertical cross-sectional side view showing a state in which a controller unit is removed from the main body of the chemical liquid injector.

FIG. 6 is a perspective view showing a positional relationship between a slider member and a slide sensor.

FIG. 7 is a schematic diagram showing a relationship between first and second stripes and first and second detection signals.

FIG. 8 is a perspective view showing the appearance of an MRI apparatus.

[Explanation of symbols]

100 Liquid medicine injection device that is a movable device 102 device body 108 Ultrasonic motor that is a movable mechanism 130 Controller device 131 controller unit 132 Controller body 133 Operation member 135 outer tube 137 Inner wire 142 slide sensor 143 slider member 145 First stripe 146 second stripe 147 First sensor 148 second sensor 200 syringes 201 Cylinder member 202 Piston member 300 MRI device

Claims (7)

[Claims] 1. A controller device for supplying a drive control signal for controlling operation of the movable mechanism to the drive circuit of a movable device having a device body, a movable mechanism and a drive circuit, the controller body and the controller. An operation member slidably attached to the main body, a bendable outer tube having one end attached to the controller main body and the other end attached to the apparatus main body, and a slidable inside of the outer tube. A bendable inner wire that is arranged and has one end attached to the operation member, a slider member that is attached to the other end of the inner wire and is slidable, and a slider member that is mounted on the apparatus main body A slide sensor that detects a slide, and the drive control signal is generated from the detection result of this slide sensor. And that the controller device has a signal generating means for supplying to said drive circuit by. 2. The slide sensor and the signal generating means are mounted on the apparatus main body, and a controller unit having the controller main body, the operation member, the outer tube, the inner wire, and the slider member is provided. The controller device according to claim 1, wherein the controller unit is formed separately from the device body, and the controller unit is detachably attached to the device body. 3. The slider member has a first stripe having a predetermined cycle formed on one surface, and a second stripe having the same cycle as the first stripe and having a phase shifted by ¼ cycle formed on the other surface. The slide sensor is arranged at opposite positions and outputs a binary first detection signal corresponding to the first stripe and a binary sensor corresponding to the second stripe. 3. A second sensor that outputs a second detection signal, wherein the signal generation means generates the drive control signal from the first detection signal and the second detection signal. Controller device. 4. The slider member is formed of a flat plate in which first and second stripes having the same period and the same phase are individually formed on both surfaces, and the slide sensor is formed of the first and second stripes. A first sensor, which is disposed at a position where they are displaced from each other by 1/4 cycle and is opposed to each other, and outputs a binary first detection signal corresponding to the first stripe, and a binary first sensor corresponding to the second stripe. The controller according to claim 1 or 2, further comprising: a second sensor that outputs two detection signals, wherein the signal generation unit generates the drive control signal from the first detection signal and the second detection signal. apparatus. 5. The slider member is formed of a flat plate on which stripes having a predetermined cycle are formed on one surface, and the slide sensors are arranged in parallel at positions displaced from each other by ¼ cycle of the stripe. A first sensor that outputs a binary first detection signal corresponding to the stripe and a second sensor that outputs a second detection signal; and the signal generation means includes the first detection signal and the second sensor. The controller device according to claim 1, wherein the drive control signal is generated from a detection signal. 6. The controller unit of the controller device according to claim 2, wherein the controller body, the operation member slidably mounted on the controller body, and one end mounted on the controller body. And the other end of which is bendable, the other end of which is attached to the main body of the apparatus, and the bendable inner wire which is slidably disposed inside the outer tube and one end of which is attached to the operation member, A controller unit comprising: the slider member, which is attached to the other end of the inner wire and is slidable. 7. A movable device that holds the cylinder member and the piston member of a syringe in which the piston member is slidably inserted in the cylinder member and moves them relative to each other. The controller device according to claim 1, a device main body on which at least the slide sensor of the controller device is mounted, a cylinder holding mechanism that holds a cylinder member of the syringe, and a piston member of the held syringe. A movable device comprising: the movable mechanism that holds and slides; and the drive circuit that controls the operation of the movable mechanism in response to the drive control signal supplied from the controller device.