JP4397635B2 - Controller device, controller unit and chemical solution injection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to an encoder device.Controller device withAbout.
[0002]
[Prior art]
A conventional rotary encoder includes a slit member and a photosensor, and the slit member includes a disk-shaped metal plate that is pivotally supported. A large number of slit holes are continuously formed in the circumferential direction in the metal plate of the slit member, and the photosensor causes the light emitting element and the light receiving element to face each other through the position of the slit hole of the slit member. For this reason, in the rotary encoder, the photosensor outputs a detection signal in response to the rotation of the slit member, so that the rotation angle and the rotation speed of the slit member can be detected from the detection signal.
[0003]
The linear encoder is made of an elongated rectangular metal plate on which a slit member is slidably supported, and a number of slit holes are continuously formed in the metal plate in the longitudinal direction. Since the photosensor causes the light emitting element and the light receiving element to face each other through the position of the slit hole of the slit member, the slide amount and slide speed of the slit member can be detected from the detection signal of the photosensor.
[0004]
The applicant mainly develops / manufactures / sells a chemical injection device that injects a contrast medium into a subject imaged by a CT (Computed Tomography) scanner or an MRI (Magnetic Resonance Imaging) apparatus. Although a commercially available encoder device is sometimes used, the prior art document of the slit member as described above cannot be disclosed because there is no experience in developing the encoder device.
[0005]
[Problems to be solved by the invention]
In the conventional encoder device, the metal plate of the slit member has a thickness of several millimeters, and the opening width and arrangement pitch of the slit holes are also formed in millimeters. However, since the arrangement pitch of the slit holes of this slit member becomes the resolution of the encoder device, the above-mentioned encoder device cannot detect a minute displacement of the slit member, and it is difficult to downsize the whole.
[0006]
In order to solve such a problem, it is necessary to form slit holes in the micrometer unit in the slit member, and the present applicant has conceived that several (μm) slit holes are formed in the metal plate by etching. . However, in order to accurately form such fine slit holes in a metal plate, the thickness of the metal plate needs to be about several tens (μm).
[0007]
However, since such a slit member has insufficient mechanical strength, it is difficult to use it as a movable part. In particular, since the mechanical strength is extremely insufficient in a portion where a large number of slit holes are continuously formed, it is difficult to maintain the shape of the slit holes. Furthermore, as described above, the fine slit holes tend to clog the dust, and the corrosion resistance is not good.
[0008]
In addition, the applicant of the present invention has also proposed that a slit member is formed by printing a stripe on the surface of a glass plate having a thickness of about 1 (mm). However, the printed stripe does not have good durability. For this reason, when such a slit member is used as a movable part, the stripe may disappear due to wear.
[0009]
  The present invention has been made in view of the above-described problems, and provides a slit member having sufficient mechanical strength while the arrangement pitch of the slit holes is extremely fine.Equipped with a controller deviceThe purpose is to provide.
[0010]
[Means for Solving the Problems]
  Of the present inventionThe controller device supplies a drive control signal for controlling the operation of the movable mechanism to the drive circuit of the movable device, and includes a controller body, an operation member, an outer tube, an inner wire, a slit member, a photo sensor, a signal generation unit, have.A slit member consists of a metal plate and a translucent member, and many slit holes are continuously formed in the metal plate at a predetermined pitch. Since the translucent member encloses a portion where at least a large number of slit holes of the metal plate are continuously formed, even if the slit holes are formed on the extremely thin metal plate with a fine arrangement pitch, Sufficient mechanical strength is ensured.
[0012]
  TheIn the lit member, a metal plate is formed in an elongated rectangular shape, and a large number of slit holes are continuously formed in the longitudinal direction of the metal plate. The slit member is slidably supported in the longitudinal direction, and the photosensor opposes the light emitting element and the light receiving element through the position of the slit hole of the slit member.
[0013]
  For this reason,Since the photo sensor detects the slit hole of the slit member, the slide distance and speed of the slit member are measured from the detection signal of the photo sensor. The metal plate of the sliding slit member has sufficient mechanical strength because the positions of many slit holes are enclosed by the translucent member, and since the translucent member encloses the positions of the slit holes of the metal plate, photo Detection by the sensor is not hindered.
[0017]
An operation member is slidably attached to the controller main body, and the outer tube is bendable, one end is attached to the controller main body, and the other end is attached to the apparatus main body of the movable device. The inner wire is bendable and is slidably disposed inside the outer tube, and one end is attached to the operation member and the other end is attached to a slidable slit member. The photosensor is mounted on the main body of the movable device and detects sliding of the slit member, and the signal generation means generates a drive control signal from the detection signal of the photosensor and supplies it to the drive circuit.
[0018]
Therefore, the device body of the movable device and the controller body of the controller device are connected by a bendable outer tube, and the movable mechanism is operated by the drive circuit of the movable device when the operator slides the operation member of the controller body. Be controlled. However, since circuit components such as a photosensor and a signal generation unit are not mounted on the controller body, for example, it is easy to disinfect the controller body with a disinfectant or fumigation.
[0019]
  The controller device of the present invention further includesThe photo sensor and the signal generating means are mounted on the apparatus main body, and a controller unit that is detachably mounted on the apparatus main body includes a controller main body, an operation member, an outer tube, an inner wire, and a slit member..
[0020]
The chemical injection device of the present invention separately holds a cylinder member and a piston member of a syringe and relatively moves them, and has a controller device, a device main body, a cylinder holding mechanism, a movable mechanism, and a drive circuit of the present invention. ing. 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 body, the piston member of the syringe is slid in response to this. The
[0021]
The various means referred to in the present invention need only be formed so as to realize the function. For example, dedicated hardware that exhibits a predetermined function, a data processing apparatus provided with a predetermined function by a computer program A predetermined function realized in the data processing apparatus by a computer program, a combination thereof, or the like may be used.
[0022]
In addition, the various means referred to in the present invention do not have to be independent of each other, a plurality of means are formed as one device, and a certain means is a part of other means. It is also possible that a part of the means overlaps with a part of the other means.
[0023]
DETAILED DESCRIPTION OF THE INVENTION
[Configuration of the embodiment]
As shown in FIG. 3, the chemical injection device 100 of this embodiment has an injection head 101 and a device main body 102 as main elements, and this device main body 102 is attached to the upper end of a stand 103. An arm 104 is attached to the side of the apparatus main body 102, and an injection head 101 is attached to the tip of the arm 104.
[0024]
As shown in FIG. 4, the injection head 101 has a concave portion 106 serving as a cylinder holding mechanism formed on the upper surface, and holds the cylinder member 201 of the syringe 200 that can be replaced by the concave portion 106. A slider mechanism 107 is formed behind the recess 106, and the slider mechanism 107 grips and slides the piston member 202 of the syringe 200 held in the recess 106.
[0025]
An ultrasonic motor 108 is incorporated as a movable mechanism at the rear portion of the injection head 101, and the rotor portion of the ultrasonic motor 108 is connected to the slider mechanism 107 by a screw mechanism or the like (not shown). The slider mechanism 107 slides as the ultrasonic motor 108 rotates.
[0026]
In the chemical injection device 100 of this embodiment, as shown in FIG. 3, an operation panel 121 and a display panel 122 are integrally mounted on the apparatus main body 102, and a controller unit 131 of a controller device 130 described later is detachably mounted. Has been.
[0027]
As shown in FIG. 5, the chemical injection device 100 according to this embodiment includes an integrated control circuit 123 that is a signal generation unit, and an operation panel 121 and a display panel 122 are connected to the integrated control circuit 123. Yes. Further, a motor drive circuit 124 is connected to the integrated control circuit 123, and this motor drive circuit 124 is connected to the ultrasonic motor 108. A rotary encoder 125 is attached to the rotor portion of the ultrasonic motor 108, and the rotary encoder 125 is feedback-connected to the integrated control circuit 123.
[0028]
The motor drive circuit 124 drives the ultrasonic motor 108 in response to the drive control signal supplied from the integrated control circuit 123, and the rotary encoder 125 outputs a rotation detection signal corresponding to the rotation of the ultrasonic motor 108 to the integrated control circuit. 123 is output as feedback.
[0029]
As shown in FIG. 2, the chemical liquid injector 100 according to the present embodiment includes a controller device 130, and the controller device 130 includes a controller unit 131 that can be attached to and detached from the apparatus main body 102 of the chemical liquid injector 100. Yes. The controller unit 131 has a resin box-shaped controller main body 132, and an operation member 133 is slidably mounted on the controller main body 132.
[0030]
One end of an outer tube 135 is attached to the controller main body 132, and a detachable box 136 is attached to the other end of the outer tube 135. An inner wire 137 is slidably disposed 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 made of a vinyl tube that can be bent, is difficult to expand and contract, and has high corrosion resistance, and the inner wire 137 is made of a stainless steel wire that can be bent, is difficult to expand and contract, and has high corrosion resistance.
[0031]
As shown in FIG. 6, engaging claws 138 and 139 that are detachably engaged with each other are formed on the outer surfaces of the detachable box 136 and the apparatus main body 102. Therefore, as shown in FIG. The detachable box 136 is detachably attached to the apparatus main body 102. In the apparatus main body 102, a sensor box 141 is integrally formed inside a position where the detachable box 136 is mounted, and a slide sensor 142 is mounted inside the sensor box 141.
[0032]
A slit member 150 is attached to the other end of the inner wire 137, and the slit member 150 is slidably disposed inside the sensor box 141. Since the slide sensor 142 is formed in a concave shape, and the slit member 150 is slidably disposed at the detection position of the concave portion, the encoder device 144 is formed here.
[0033]
As shown in FIG. 1, the slit member 150 includes a metal plate 151 and a translucent member 152. For example, the metal plate 151 is a long and thin rectangular pole of “60 (mm) × 6.0 (mm) × 50 (μm)”. It is made of a thin stainless steel plate, and a large number of slit holes 153 are formed continuously by etching at a predetermined pitch.
[0034]
The translucent member 152 is made of a colorless and transparent polycarbonate molded product, and encloses a portion of the metal plate 151 where many slit holes 153 are formed. In this translucent member 152, a portion of the metal plate 151 that encloses the many slit holes 153 is formed as a flat plate-like reinforcing portion 154, and a portion that encloses the end of the metal plate 151 is a cubic holding portion 155. Is formed.
[0035]
As shown in FIG. 7, a box-shaped chuck member 145 is attached to the tip of the inner wire 137, and the holding portion 155 of the translucent member 152 is detachably attached to the chuck member 145, so A slit member 150 is attached to the wire 137.
[0036]
The slide sensor 142 includes first / second photosensors 147, 148, and the first / second photosensors 147, 148 are opposed to each other through the positions of the multiple slit holes 153 of the slit member 150. Each has an element and a light receiving element (not shown). The first / second photosensors 147 and 148 individually detect the minute slit holes 153 and individually output binary first / second detection signals, and the detection positions thereof are the arrangement of the slit holes 153. It differs by “1/4” of the pitch.
[0037]
As shown in FIG. 5, the first / second photosensors 147, 148 of the slide sensor 142 are connected to the integrated control circuit 123. The integrated control circuit 123 includes the first / second photosensors 147, 147, A drive control signal is generated from the first / second detection signal 148 and the rotation detection signal of the rotary encoder 125 and supplied to the motor drive circuit 124.
[0038]
In addition, as shown in FIG. 8, the chemical injection device 100 of this embodiment is used in the vicinity of the imaging unit 301 of the MRI apparatus 300, and connected to a computer system 302 that controls the MRI apparatus 300 as necessary. The computer system 302 includes a so-called personal computer, and includes a computer main body 311 that is a data processing device, a display unit 312 that is a data display device, a keyboard unit 313, and the like.
[0039]
[Operation of the embodiment]
In the configuration as described above, when using the liquid injector 100 of this embodiment, the operator connects the syringe 200 with an extension tube to a subject located in the imaging unit 301 of the MRI apparatus 300 (not shown), and FIG. As shown in FIG. 2, 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.
[0040]
Separately from the above work, as shown in FIG. 6, a controller unit 131 that has been sterilized is prepared, and the slit member 150 is inserted into the concave groove of the slide sensor 142 of the chemical liquid injector 100. As shown in FIG. 2, the detachable box 136 is attached to the apparatus main body 102.
[0041]
Next, after the operation member 133 of the controller unit 131 is positioned at the rearmost part of the controller main body 132, the initial position of the slit member 150 is slid by inputting the execution of the initial setting to the operation panel 121 of the apparatus main body 102. It is detected by the sensor 142 and initialized in the integrated control circuit 123.
[0042]
In this state, when the operator grips 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 slit member 150 is moved to the slide sensor. Slide against 142.
[0043]
Then, the first / second photosensors 147, 148 of the slide sensor 142 output first / second detection signals corresponding to the slit holes 153 of the sliding slit member 150 to the integrated control circuit 123. The integrated control circuit 123 generates a drive control signal from the first / second detection signal and outputs it to the motor drive circuit 124.
[0044]
At this time, since the first / second detection signals output from the first / second photosensors 147, 148 are binary signals corresponding to the presence / absence of the slit hole 153, only one of the first / second detection signals is present. Then, even if the sliding speed and distance of the slit member 150 can be detected, the direction cannot be detected.
[0045]
However, in this embodiment, the detection positions of the first / second photosensors 147, 148 differ by “¼” of the arrangement pitch of the slit holes 153, so that the first / second detection signals are turned on / off. The sliding direction of the slit member 150 is also detected from the correlation of the off timing.
[0046]
Therefore, the motor drive circuit 124 drives the ultrasonic motor 108 in response to the drive control signal, and the rotor portion of the ultrasonic motor 108 rotates in response to the drive control signal. In response to the rotation of the ultrasonic motor 108, the slider mechanism 107 of the injection head 101 slides the piston member 202 of the syringe 200 forward, so that the drug solution is injected from the cylinder member 201 of the syringe 200 to the subject. Become.
[0047]
As described above, when the integrated control circuit 123 drives the ultrasonic motor 108 via the motor drive circuit 124, the rotary encoder 125 outputs a rotation detection signal to the integrated control circuit 123 as feedback corresponding to the rotation. Since the integrated control circuit 123 adjusts the drive control signal in response to the rotation detection signal, the piston member 202 of the syringe 200 is slid in response to the slide of the operation member 133 of the controller unit 131.
[0048]
However, since the upper limit is set in advance in the rotational speed of the ultrasonic motor 108 in the chemical injection device 100 of this embodiment, the upper limit is set in the speed at which the piston member 202 of the syringe 200 is slid. For this reason, even if the operator slides the operation member 133 of the controller unit 131 unnecessarily 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.
[0049]
Further, when the operator slides the operation member 133 of the controller unit 131 rearward, the injection head 101 slides the piston member 202 of the syringe 200 rearward. For example, a chemical solution may be sucked into the syringe 200 from a subject or the like. Is possible.
[0050]
[Effect of the embodiment]
The liquid medicine injection device 100 of this embodiment can remotely operate the slider mechanism 107 of the injection head 101 by manually operating the operation member 133 of the controller main body 132 wired to the device main body 102 as described above. Therefore, the operability is good.
[0051]
Nevertheless, since the circuit unit such as the slide sensor 142 and the integrated control circuit 123 is not mounted on the controller unit 131 that is detachable from the apparatus main body 102, it is easy to disinfect the controller unit 131. The operator's fingers can be kept clean at all times.
[0052]
In particular, the controller main body 132 and the slit member 150 are made of a highly corrosion-resistant resin, the outer tube 135 is made of a highly corrosion-resistant vinyl tube, and the inner wire 137 is made of a highly corrosion-resistant stainless steel wire. It will not corrode even when disinfected with a solution.
[0053]
Moreover, as described above, the controller unit 131 on which no circuit components are mounted has a simple structure and is inexpensive, so it can be easily disposed of once or several times as a disposable, and the controller unit 131 can be cleaned more reliably. Can be maintained.
[0054]
Furthermore, since 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 are not mounted on the controller unit 131, the chemical injection device 100 of this embodiment is an MRI apparatus. Magnetic noise that affects the magnetic field of 300 is not generated.
[0055]
In addition, since the first / second photosensors 147 and 148 of the slide sensor 142 detect the slit hole 153 of the slit member 150 of the controller unit 131, the integrated control circuit 123 detects the slide of the operation member 133 with a simple structure. can do.
[0056]
In particular, since the detection positions of the first / second photosensors 147 and 148 are different by “1/4” of the arrangement pitch of the slit holes 153, the integrated control circuit 123 includes the first / second photosensors 147. , 148, the sliding direction of the slit member 150 can also be reliably detected from the first / second detection signals.
[0057]
Furthermore, even if the operator slides the operation member 133 of the controller unit 131 unnecessarily at high speed, the injection head 101 can only slide the piston member 202 of the syringe 200 at a speed below the upper limit. Breakage can be prevented.
[0058]
And the chemical injection device 100 of this embodiment is good without enlarging the part of the sensor box 141 because the slit hole 153 is finely formed in the metal plate 151 made of an extremely thin stainless plate of the slit member 150. The slide of the slit member 150 can be detected with a high resolution.
[0059]
Nevertheless, since the metal plate 151 of the slit member 150 has a large number of slit holes 153 encapsulated by the translucent member 152, the mechanical strength of the slit member 150, which is a movable part, is good and the slit hole 153 portion is deformed. Therefore, even if the slit member 150 is sterilized as described above, the slit hole 153 is not clogged with chemicals. Moreover, since the light transmitting member 152 encloses the slit hole 153 portion of the metal plate 151, detection of the slit hole 153 by the photosensors 147 and 148 is not hindered.
[0060]
Further, the translucent member 152 includes a reinforcing portion 154 that encloses a plurality of slit holes 153 of the metal plate 151 and a holding portion 155 that is positioned at the end of the metal plate 151. As shown in FIG. Since the slit member 150 is attached to the inner wire 137, the inner wire 137 and the slit member 150 can be reliably connected with a simple structure without increasing the number of parts.
[0061]
In particular, since the inner wire 137 and the slit member 150 are detachably mounted, it is easy to replace only the slit member 150, which is a precision component, in the control unit 131 that is repeatedly sterilized and used as described above. It is.
[0062]
[Modification of Embodiment]
The present invention is not limited to the above embodiment, and various modifications are allowed without departing from the scope of the invention. For example, in the above embodiment, the metal plate 151 of the slit member 150 is formed in an elongated rectangular shape, and a large number of slit holes 153 are continuously formed in the longitudinal direction of the metal plate 151. However, it is also possible that the metal plate of the slit member is formed in a disk shape, and a large number of slit holes are continuously formed in the circumferential direction of the metal plate (not shown).
[0063]
Moreover, in the said form, although it illustrated that the translucent member 152 enclosed only the part of the slit hole 153 of the metal plate 151 of the slit member 150, for example, all the metal plates 151 are enclosed with the translucent member 152. It is also possible. Furthermore, although the translucent member 152 is illustrated as being made of polycarbonate in the above embodiment, it can be made of polyethylene, polystyrene, or glass.
[0064]
Further, in the above embodiment, it is exemplified that only one syringe 200 is attached to the injection head 101 and only one operation member 133 is attached to the controller main body 132. However, the number of syringes 200 attached to the injection head is not limited. A plurality of operation members 133 and the like may be provided in the controller main body 132 up to the number corresponding to the number.
[0065]
For example, there is a chemical solution injection apparatus (not shown) actually used in the MRI apparatus 300, in which a contrast medium syringe and a physiological saline syringe are mounted in parallel on the injection head. In such a case, it is possible to remotely control two syringes of the injection head individually by attaching two operation members to one controller body.
[0066]
Furthermore, in the above embodiment, it is exemplified that the slide position of the piston member 202 at the injection head 101 is synchronized with the slide position of the operation member 133 of the controller unit 131. It is also possible to make the slide speed of the piston member 202 at the head 101 correspond.
[0067]
【The invention's effect】
  The present inventionInThe slit member is formed by enclosing a portion of the metal plate where at least a large number of slit holes are continuously formed with a translucent member, thereby forming slit holes in a very thin metal plate with a fine arrangement pitch. The translucent member can secure sufficient mechanical strength, and yet it is the translucent member that encloses the slit hole of the metal plate.TheIt is easy to detect the slit hole of the metal plate by the photosensor, and it can contribute to the miniaturization of the encoder device and the improvement of the resolution.In addition, since the photo sensor and signal generating means are not mounted on the controller unit that can be attached to and detached from the apparatus body, the controller unit is easy to disinfect, and the fingers of the operator who manually operates the controller unit are always kept clean. be able to.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a slit member according to an embodiment of the present invention.
FIG. 2 is a schematic longitudinal side view showing the internal structure of the controller device.
FIG. 3 is a perspective view showing an appearance of a chemical liquid injector.
FIG. 4 is a perspective view showing a state where a syringe is attached to an injection head.
FIG. 5 is a schematic block diagram showing a circuit structure of the chemical liquid injector.
FIG. 6 is a schematic longitudinal side view showing a state in which the controller unit is removed from the main body of the chemical liquid injector.
FIG. 7 is a schematic exploded perspective view showing a direct detachment structure between an inner wire and a slit member.
FIG. 8 is a perspective view showing the appearance of the MRI apparatus.
[Explanation of symbols]
100 chemical injection device
102 Device body
108 Ultrasonic motor as a movable mechanism
130 Controller device
131 Controller unit
132 Controller body
133 Operation member
135 Outer tube
137 Inner wire
147,148 Photosensor
143 Slit member 150
150 Slit member
151 Metal plate
152 Translucent member
153 slit hole
155 Holding part
200 syringe
201 Cylinder member
202 Piston member
300 MRI system

Claims (8)

A controller device for supplying a drive control signal for controlling the operation of the movable mechanism to the drive circuit of the movable device having an apparatus main body, a movable mechanism, and a drive circuit,
The controller body,
An operation member slidably mounted on the controller body;
A bendable outer tube having one end attached to the controller body and the other end attached to the apparatus body;
A bendable inner wire that is slidably disposed inside the outer tube and has one end attached to the operation member;
And slidable slits members have been mounted to the other end of the inner wire,
A photosensor that causes the light emitting element and the light receiving element to face each other through the position of the slit hole of the slit member;
Signal generation means for generating the drive control signal from the detection signal of the photosensor and supplying the drive control signal to the drive circuit;
Have,
The slit member includes an elongated rectangular metal plate in which a large number of slit holes are continuously formed at a predetermined pitch in the longitudinal direction, and a portion of the metal plate in which at least a large number of the slit holes are continuously formed. A translucent member encapsulated, and
The photo sensor and the signal generating means are mounted on the apparatus main body,
A controller unit having the controller body, the operation member, the outer tube, the inner wire, and the slit member is formed separately from the apparatus body,
The controller unit is removably mounted Ru controller device to the apparatus main body. The photosensors are arranged in parallel at positions displaced from each other by a quarter pitch of the arrangement of the slit holes, and the first sensor outputs a binary first detection signal corresponding to the presence or absence of the slit holes. A second sensor that outputs two detection signals;
Signal generating means, the controller device according to claim 1 for generating said drive control signal from the first detection signal and the second detection signal and. The controller device according to claim 1, wherein the slit member includes at least one of resin and glass. The controller device according to claim 1, wherein the slit member is made of polycarbonate. The controller device according to claim 1, wherein the slit member is made of stainless steel as the metal plate. The controller device according to any one of claims 1 to 5, wherein the slit member has a holding portion formed of the translucent member at at least one end of the metal plate. A controller unit of the controller device according to claim 1 ,
The controller body;
The operation member slidably mounted on the controller body;
The bendable outer tube having one end attached to the controller body and the other end attached to the apparatus body;
The bendable inner wire, which is slidably arranged inside the outer tube and has one end attached to the operation member;
The slit member mounted on the other end of the inner wire and slidable;
Having a controller unit. A chemical liquid injector that holds the cylinder member and the piston member of a syringe in which a piston member is slidably inserted into a cylinder member and moves the cylinder member separately,
The controller device according to any one of claims 1 to 6 ,
The device body on which at least the photosensor of the controller device is mounted;
A cylinder holding mechanism for holding a cylinder member of the syringe;
The movable mechanism for holding and sliding the held piston member of the syringe;
The drive circuit for controlling the operation of the movable mechanism in response to the drive control signal supplied from the controller device;
A chemical injection device.

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