WO2022078215A1

WO2022078215A1 - Continuous syringe control method and apparatus, and continuous syringe

Info

Publication number: WO2022078215A1
Application number: PCT/CN2021/121669
Authority: WO
Inventors: 王晶; 陈立宏; 范晓春; 靳洪都; 张继威
Original assignee: 北京天悦生科技有限公司
Priority date: 2020-10-12
Filing date: 2021-09-29
Publication date: 2022-04-21
Also published as: CN112206069A; CN112206069B

Abstract

A continuous syringe control method comprises the following steps: acquiring a single injection dose of a continuous syringe (S2100); determining, according to the single injection dose, a target number of steps of a stepper motor in a single injection process (S2200); and in response to an injection operation, controlling the stepper motor to rotate according to the target number of steps, so as to push a piston push rod forward and eject a liquid from a barrel, wherein the amount of the ejected liquid is the same as the single injection dose (S2300).

Description

Control method, device and continuous injector of continuous injector

technical field

The present disclosure relates to the technical field of control, and more particularly, to a method for controlling a continuous injector, a control device for a continuous injector, and a continuous injector.

Background technique

Most of the current syringes are manual. The existing manual syringe requires the user to manually squeeze the syringe to inject the animal. However, due to the large number of objects that need to be injected in the fields of agriculture, livestock and poultry, manual injection may cause the user to be easily fatigued.

SUMMARY OF THE INVENTION

An object of the embodiments of the present disclosure is to provide a new technical solution capable of solving at least one of the above problems.

According to a first aspect of the present disclosure, a method for controlling a continuous injector is provided, the continuous injector includes a syringe, a piston push rod, and a stepper motor; the method includes:

Acquire a single injection dose of the continuous injector; determine the target number of steps of the stepper motor in a single injection process according to the single injection dose; control the stepper motor according to the The target number of steps is rotated to push the piston push rod forward to push out the liquid in the syringe; wherein, the dose of the liquid pushed out is the same as the single injection dose.

Optionally, according to the single injection amount, determining the single stroke of the stepper motor to push the piston push rod includes:

Obtain the total volume of the syringe and the total stroke of the piston push rod in the syringe; determine the target number of steps according to the single injection dose, the total volume and the total stroke.

Optionally, the continuous syringe further includes a medicine bottle and a connecting tube connecting the medicine bottle and the syringe; the method further includes:

Detecting the remaining dose of liquid in the syringe; when the remaining dose is less than the target injection dose, controlling the stepper motor to drive the piston push rod to return to a preset initial position to move the The liquid in the vial is drawn into the syringe so that the syringe is filled with the liquid.

Optionally, the method further includes:

Detect whether there are air bubbles in the connecting pipe; if there are air bubbles in the connecting pipe, control the stepping motor to stop rotating and issue an alarm.

Optionally, the controlling the stepper motor to drive the piston push rod to return to a preset initial position includes:

In the process of controlling the stepper motor to drive the piston push rod to retreat, it is detected whether the stepper motor loses steps according to the second set frequency; The stepping motor drives the piston push rod to return to the initial position, and controls the stepping motor to stop rotating.

Optionally, the method further includes:

In response to the operation to enter the emptying state, the continuous syringe is controlled to enter the emptying state; in the case of receiving the start emptying operation, the stepper motor is controlled to push the piston push rod forward to move the syringe forward. The air in the medicine bottle is discharged; in the case of receiving the stop emptying operation, the stepper motor is controlled to drive the piston push rod to return to the preset initial position, so as to suck the liquid in the medicine bottle into the syringe .

Optionally, the method further includes:

In the process of controlling the rotation of the stepping motor, the stepping motor is controlled to increase the rotational speed according to the preset acceleration; in the process of controlling the stepping motor to increase the rotational speed, the stepping motor is detected according to the first set frequency Whether the motor loses steps; in the case of the stepper motor losing steps, reduce the speed of the stepper motor according to a preset rule; stop losing steps during the process of the stepper motor rotating according to the reduced speed In the case of , determine the current speed of the stepper motor as the target speed; control the stepper motor to rotate according to the target speed.

Optionally, the method further includes:

Record the injection information of the continuous injector, the injection information including at least the total number of injections and/or the total dose of the injected liquid; and display the injection information.

According to a second aspect of the present disclosure, there is provided a control device for a continuous syringe, the continuous syringe includes a syringe, a piston push rod, and a stepper motor; the device includes:

A single dose acquisition module is used to acquire a single injection dose of the continuous injector; a target step number determination module is used to determine the target step of the stepper motor in a single injection process according to the single injection dose The injection module is used to control the stepper motor to rotate according to the target number of steps in response to the injection operation, so as to push the piston push rod forward and push out the liquid in the syringe; The dose is the same as the single injection dose.

According to a third aspect of the present disclosure, there is provided a continuous injector comprising a processor and a memory for storing an executable computer program for controlling the processor to perform the first according to the present disclosure the method described in the aspect.

One beneficial effect of the present disclosure is that, through this embodiment, the target number of steps of the stepper motor is determined according to the single injection dose, and in response to the injection operation, the stepper motor is controlled to rotate according to the target number of steps to push the piston push rod forward, Pushing out the liquid in the syringe can achieve the purpose of automatic injection according to a single injection dose, so that each injection volume of the continuous syringe is fixed and controllable, and the user experience is improved.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

1 is a block diagram of one example of a hardware configuration of a serial injector that may be used to implement embodiments of the present disclosure.

FIG. 2 is a schematic flowchart of a control method of a continuous injector according to an embodiment of the present disclosure.

FIG. 3 is a schematic flowchart of an example of a method for controlling a continuous injector according to an embodiment of the present disclosure.

FIG. 4 is a schematic flowchart of another example of a method for controlling a continuous injector according to an embodiment of the present disclosure.

5 is a block schematic diagram of a control device for a continuous injector according to an embodiment of the present disclosure.

6 is a block schematic diagram of a continuous injector according to an embodiment of the present disclosure.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application or uses in any way. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only and not limiting. Accordingly, other instances of the exemplary embodiment may have different values. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

FIG. 1 is a block diagram showing a hardware configuration of a continuous injector 1000 in which embodiments of the present disclosure may be implemented.

As shown in FIG. 1, continuous injector 1000 may include processor 1100, memory 1200, interface device 1300, communication device 1400, display device 1500, input device 1600, speaker 1700, microphone 1800, and the like. The processor 1100 may be a central processing unit CPU, a microprocessor MCU, or the like. The memory 1200 includes, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, any type of USB interface, headphone interface, and the like. The communication device 1400 is capable of, for example, wired or wireless communication, and may specifically include Wifi communication, Bluetooth communication, 2G/3G/4G/5G communication, and the like. The display device 1500 is, for example, a liquid crystal display, a touch display, or the like. The input device 1600 may include, for example, a touch screen, a keyboard, a somatosensory input, and the like. The user can input/output voice information through the speaker 1700 and the microphone 1800 .

In the embodiment of the present disclosure, the continuous injector 1000 may communicate with the server or the upper computer through the communication device 1400 .

The continuous injector shown in Figure 1 is merely illustrative and in no way imply any limitation on the present disclosure, its application or use. Applied to the embodiments of the present disclosure, the memory 1200 of the continuous injector 1000 is used to store instructions, and the instructions are used to control the processor 1100 to operate to execute any one of the methods provided by the embodiments of the present disclosure. It will be understood by those skilled in the art that although a plurality of devices are shown for the continuous injector 1000 in FIG. 1 , the present disclosure may only relate to some of the devices, for example, the continuous injector 1000 only relates to the processor 1100 , the storage device 1200 and the Communication device 1400. A skilled person can design instructions according to the solutions disclosed in the present disclosure. How the instruction controls the processor to operate is well known in the art, so it will not be described in detail here.

In this embodiment, a control method of a continuous injector is provided. The method can be carried out by a continuous syringe. The continuous injector may be the continuous injector 1000 shown in FIG. 1 .

In this embodiment, the continuous syringe may include a syringe, a plunger rod, a needle, a medicine bottle, a connecting tube connecting the medicine bottle and the syringe, a stepper motor, and a first one-way valve disposed between the needle and the syringe. , the second one-way valve arranged between the connecting tube and the syringe. Wherein, both the first one-way valve and the second one-way valve are closed when the piston push rod does not move.

Liquids for injection, such as medicinal liquids, can be stored in the vial.

The needle cylinder is connected with the needle head, the piston push rod is arranged in the needle cylinder, and the stepper motor can push the piston push rod to move forward in the direction of the needle head by rotating in the first direction, so that the first one-way valve is opened and the second one-way valve is closed. , to push the air and/or liquid in the barrel through the needle to achieve injection. The stepper motor can also drive the piston push rod backward by rotating in the second direction, so that the first one-way valve is closed and the second one-way valve is opened, so as to suck the liquid in the medicine bottle into the syringe through the connecting tube. Wherein, the first direction and the second direction are opposite. For example, when the first direction is a clockwise direction, the second direction is a counterclockwise direction; when the first direction is a counterclockwise direction, the second direction is a clockwise direction.

As shown in FIG. 2 , the method of this embodiment may include the following steps S2100 to S2300:

Step S2100, obtaining a single injection dose of the continuous injector.

In an embodiment of the present disclosure, the single injection dose may be set by a user according to an application scenario or specific needs. For example, the user can set the single injection dose in the current round of injection when the continuous injector is turned on each time according to the type of the medicinal liquid to be injected and/or the injection object (for example, animals such as livestock and poultry.

The continuous injector may also be provided with a button for setting a single injection dose, for example, the button may include a number button corresponding to the numbers 0-9 and a confirmation button, and may also include an increase button and a decrease button.

In the case where a number button is provided on the continuous syringe, the user can set a single injection dose by clicking the corresponding number button and then clicking the confirm button. For example, when the single injection dose is 1ml, the user can click the number button corresponding to 1, and then click the confirm button to complete the setting of the single injection dose.

In the case where an increase button and a decrease button are provided on the continuous injector, the continuous injector may display a preset initial injection dose in advance, for example, it may be 0. When the user clicks the increase button or the decrease, the continuous injector updates the displayed injection dose according to the preset dose step. For example, before the user clicks the increase button, the injection dose displayed by the continuous injector is X, and the preset dose step is ΔX, then, when the user clicks the increase button, the injection dose displayed by the continuous injector is updated to X+ΔX; When the user clicks the decrease button once, the injection dose displayed by the continuous injector is updated to X-ΔX.

When the injection dose displayed by the continuous syringe is the same as the single injection dose, the user can stop pressing the increase button and the decrease button. The continuous syringe detects that the user has not pressed the increase button and the decrease button for more than the set time period. In the case of , treat the injection dose shown as a single injection dose.

Step S2200, according to the single injection dose, determine the target number of steps of the stepping motor in the single injection process.

The target number of steps can represent the distance that the stepper motor pushes the piston push rod forward during a single injection.

In an embodiment of the present disclosure, according to the single injection dose, determining the target number of steps of the stepper motor in the single injection process may include the following steps S2210-S2220:

In step S2210, the total capacity of the syringe and the total stroke of the piston push rod in the syringe are obtained.

Step S2220: Determine the target number of steps according to the single injection dose, total volume and total stroke.

In this embodiment, the total capacity of the syringe and the total stroke of the piston push rod in the syringe can be determined by the syringe of the continuous syringe. Under the condition that the syringe remains unchanged, the total capacity of the syringe and the piston The total stroke of the plunger in the barrel also does not change. Therefore, the total volume of the syringe and the total stroke of the plunger in the syringe can be stored in the continuous syringe in advance, and called directly each time the target number of steps is determined.

For example, when the total volume is C1, the single injection dose is C2, and the total stroke of the plunger rod in the syringe is L1, the target number of steps L2 can be expressed as:

In one embodiment of the present disclosure, there may be two sets of syringes and piston push rods that are used together in advance. For the first syringe and the first piston push rod used together with the first set, a magnet may be provided on the first piston push rod. For the second syringe and the second piston push rod used with the second set, the second piston push rod may not be provided with a magnet. The total capacity of the first syringe and the second syringe can be different, the total stroke of the first plunger rod in the first syringe, and the total stroke of the second plunger rod in the second syringe The itinerary can also vary.

Hall sensors may be provided in the continuous syringe. With the detection of the magnetic field by the Hall sensor, it can be determined that the continuous syringe is using the first barrel and the first plunger. Then, in step S2210, the total capacity of the first syringe and the total stroke of the first piston push rod in the first syringe may be obtained to determine the target number of steps.

In the absence of a magnetic field detected by the Hall sensor, it can be determined that the continuous syringe is using a second barrel and a second plunger. Then, in step S2210, the total capacity of the second syringe and the total stroke of the second piston push rod in the second syringe may be obtained to determine the target number of steps.

Through this embodiment, automatic identification when switching between two sets of matched syringes and piston push rods can be realized.

In step S2300, in response to the injection operation, the stepper motor is controlled to rotate according to the target number of steps, so as to push the piston push rod forward and push out the liquid in the syringe. The dose of the ejected liquid is the same as the single injection dose obtained in step S2100.

In one embodiment of the present disclosure, the injection operation may be an operation performed by a user pressing an injection button on the continuous injector during the process of executing the injection procedure by the continuous injector. For example, in the process of executing the injection procedure with the continuous injector, the user may press the injection button once to trigger an injection operation, and the user does not need to keep pressing the injection button during each injection. Each time the continuous injector receives an injection operation, step S2300 of this embodiment will be performed once.

In this embodiment, the stepper motor is controlled to rotate according to the target number of steps. Specifically, the corresponding first pulse signal may be generated according to the target number of steps and the pre-stored motor parameters of the stepper motor, so that the stepper motor can rotate in the Driven by the first pulse signal, it rotates in the first direction. Under normal circumstances, the number of steps that the first pulse signal drives the stepping motor to move is the same as the target number of steps.

Wherein, the motor reference may include the step angle of the stepper motor, the number of subdivisions of the motor driver, and the lead of one revolution of the motor shaft.

In the process of controlling the stepper motor to rotate according to the target number of steps, the stepper motor will push the piston push rod forward in the direction of the needle head, so that the first one-way valve set between the needle cylinder and the needle head is opened, and the liquid in the needle cylinder is opened. For ejection, in the normal case that the syringe does not contain air, and the dose of liquid contained is greater than the single injection dose, and the stepper motor does not lose steps, the ejected liquid dose is the same as the single injection dose.

Through this embodiment, the target number of steps of the stepper motor is determined according to the single injection dose, and in response to the injection operation, the stepper motor is controlled to rotate according to the target number of steps, so as to push the piston push rod forward and push out the liquid in the syringe, The purpose of automatic injection according to a single injection dose can be achieved, so that each injection volume of the continuous injector is fixed and controllable, and the user experience is improved.

In an embodiment of the present disclosure, the method may further include steps S2400 to S2500 as shown below:

Step S2400, detecting the remaining dose of the liquid in the syringe.

In this embodiment, the continuous syringe may obtain the remaining dose of the liquid in the syringe according to the push-out distance of the stepper motor, and the total volume and total stroke obtained in the foregoing step S2210.

In this embodiment, the push-out distance of the stepper motor may be determined according to the target number of steps and the number of times the stepper motor receives the injection operation after the last suction of the liquid. For example, if the target number of steps is L2, and the number of times the stepper motor receives injection operations after the last suction of liquid is N1, then the push-out distance L3 of the stepper motor can be expressed as L3=L2*N1.

When the total volume is C1, the total stroke is L1, and the push-out distance of the stepper motor is L3, the remaining dose C3 of the liquid in the syringe can be expressed as:

Step S2500, when the remaining dose is less than the target injection dose, the stepper motor is controlled to drive the piston push rod to return to the initial position, so as to suck the liquid in the medicine bottle into the syringe, so that the syringe is filled with liquid.

In cases where the remaining dose is less than the target injected dose, the continuous syringe needs to be re-aspirated. Therefore, to control the stepper motor to drive the piston push rod back to the initial position, a second pulse signal can be generated according to the push-out distance of the stepper motor, and the second pulse signal can drive the stepper motor to rotate in the second direction and move away from the needle. Return to the initial position in the direction of the stepper motor, and the distance that the stepper motor retreats is the same as the aforementioned push-out distance L3.

When the stepper motor drives the piston push rod to retreat, the second one-way valve arranged between the connecting pipe and the syringe is opened, and the liquid in the medicine bottle is sucked into the syringe. When the stepper motor drives the piston push rod to return to the initial position, the dose of liquid in the syringe is the same as the total volume of the syringe.

In this embodiment, when the remaining dose of the liquid in the syringe is less than the target injection dose, the stepper motor is controlled to drive the piston push rod to return to the initial position, and the liquid is sucked from the medicine bottle, so that the continuous syringe can be automatically continuous injection.

In an embodiment of the present disclosure, the method may further include:

In the process of controlling the stepper motor to drive the piston push rod back, check whether the stepper motor loses steps according to the second set frequency; in the case of detecting the stepper motor lost steps, it is determined that the stepper motor drives the piston push rod to return to the initial stage position, control the stepper motor to stop rotating.

In this embodiment, an encoder may be provided in the continuous injector to detect the actual moving distance of the stepping motor rotated by each pulse. According to the step angle and subdivision number of the stepping motor, the target moving distance of the stepping motor under the driving of one pulse can be determined. In the case that the actual moving distance does not match the target moving distance, it can be determined that the stepper motor has lost a step.

The second set frequency may be set in advance according to the application scenario or specific requirements. For example, the second set frequency may be the same as the frequency of the pulse signal used to drive the stepping motor, so as to determine whether the stepping motor is in Whether to lose steps when rotating under the drive of each pulse signal.

In an embodiment of the present disclosure, during the process of inhaling the liquid from the medicine bottle by the continuous syringe, the method may further include the following steps S2600-S2700:

Step S2600, detecting whether air bubbles exist in the connecting pipe.

In this embodiment, the continuous syringe may be provided with a card slot and a bubble sensor arranged at the card slot, and the connecting tube may be fixed in the card slot. The air bubble sensor can detect whether there are air bubbles in some connecting pipes in the card slot.

Step S2700, in the case of the existence of air bubbles in the connecting pipe, the stepper motor is controlled to stop rotating, and an alarm is issued.

If it is detected that there are air bubbles in the connecting tube, it means that the liquid in the medicine bottle is exhausted, and the medicine bottle needs to be replaced or the liquid should be poured into the medicine bottle again. If the stepper motor continues to drive the piston push rod back, it may cause air to enter the syringe. Therefore, it is necessary to control the stepper motor to stop rotating to avoid air being sucked into the syringe.

By sounding an alarm, the user can be reminded to replace the vial or refill the vial to continue the injection.

In an embodiment of the present disclosure, the method may further include steps S3100 to S3300 as shown below:

Step S3100, in response to the operation of entering the emptying state, control the continuous syringe to enter the emptying state.

In this embodiment, an emptying program start button may be provided on the continuous syringe, and the user can trigger the operation to enter the emptying state by clicking the button.

By controlling the continuous syringe to enter the emptying state, the continuous syringe can be made to discharge the air in the syringe barrel and retain the liquid in the syringe barrel in the emptying state.

Step S3200, in the case of receiving the start-up emptying operation, the stepper motor is controlled to push the piston push rod forward, so as to discharge the air in the syringe.

In one embodiment of the present disclosure, the user may trigger the start of the emptying operation by pressing the emptying button.

The emptying button in this embodiment and the aforementioned injection button may be provided by the same button, for example, the button may be a trigger.

In the first example, when the user presses the emptying button, the continuous syringe can receive the start emptying operation, and control the stepper motor to push the piston push rod forward.

In this embodiment, according to the actual situation, the user can continuously press the emptying button when there is air in the syringe to exhaust all the air in the syringe and retain the liquid in the syringe.

In the second example, the user can press the emptying button, and the continuous syringe can receive the start emptying operation, and control the stepper motor to push the piston push rod to advance to the designated position. Among them, the designated position is the position in the syringe and near the needle. When the piston push rod is at the designated position, the stepper motor can no longer push the piston forward, and the air and liquid in the syringe are completely discharged.

Step S3300, in the case of receiving the stop emptying operation, the stepper motor is controlled to drive the piston push rod to return to the initial position, so as to suck the liquid in the medicine bottle into the syringe.

On the basis of the aforementioned first example, the user can release the emptying button to trigger the stop emptying operation, and the continuous syringe automatically controls the stepper motor to drive the piston push rod to return to the initial position, so as to suck the liquid in the medicine bottle Syringe.

On the basis of the aforementioned second example, when the stepper motor pushes the piston push rod to advance to a specified position, the emptying operation is automatically triggered to stop. So that the continuous syringe directly controls the stepper motor to drive the piston push rod to return to the initial position after the piston push rod advances to the designated position, so as to suck the liquid in the medicine bottle into the syringe.

Through the emptying operation of this embodiment, it can be ensured that there is no air in the syringe before injection, so as to avoid injecting air into the body of the injection object and ensure the safety of the injection object.

In an actual injection scenario, since the viscosity of the liquid to be injected may be different, the thickness of the needle used in the continuous injector may also be different, resulting in different pressures of the stepper motor to push the piston push rod. When the pressure is high, the stepper motor can push the piston push rod at a slower speed; when the pressure is small, the stepper motor can push the piston push rod at a faster speed.

In an embodiment of the present disclosure, during the emptying process, or during the first injection process after the continuous injector is powered on, the method may further include the step of adaptively determining the target rotational speed in the current injection process, including the following steps: Steps S3400～S3800:

Step S3400, in the process of controlling the rotation of the stepping motor, control the stepping motor to increase the rotational speed according to a preset acceleration.

Specifically, in the process of pushing the piston push rod forward by the stepping motor, the stepping motor may be controlled to increase the rotational speed according to the preset acceleration. The initial rotational speed of the stepper motor may be zero, for example.

Step S3500, in the process of controlling the stepper motor to increase the rotational speed, according to the first set frequency to detect whether the stepper motor loses steps, if the stepper motor does not lose steps, continue to perform step S3400; if the stepper motor loses steps In the case of , step S3600 is executed.

In this embodiment, an encoder may be provided in the continuous injector to detect the actual moving distance of the stepping motor rotated by each pulse. According to the step angle and subdivision of the stepping motor, the target moving distance of the stepping motor under the driving of one pulse can be determined. In the case that the actual moving distance does not match the target moving distance, it can be determined that the stepper motor has lost a step.

The first set frequency may be set in advance according to the application scenario or specific requirements. For example, the first set frequency may be the same as the frequency of the pulse signal used to drive the stepping motor, so as to determine whether the stepping motor is in Whether to lose steps when rotating at the speed corresponding to each pulse signal.

Step S3600, reducing the rotational speed of the stepping motor according to a preset rule.

In one example, the rotation speed corresponding to the next pulse may be reduced according to the set rotation speed step, so that the stepper motor rotates according to the reduced rotation speed in the next rotation period. When a lost step occurs, the corresponding speed of the stepper motor is V1. After the speed is reduced according to the set speed step ΔV, the corresponding speed of the next pulse can be V2=V1-ΔV. The set rotation speed step size may be set in advance according to the application scenario or specific requirements, for example, the rotation speed step size may be 5.

In another example, the rotational speed corresponding to the next pulse may also be reduced by a set percentage, so that the stepper motor rotates at the reduced rotational speed in the next rotation period. When a lost step occurs, the corresponding speed of the stepping motor is V1. After the speed is reduced according to the set percentage M (where M is a percentage less than 100%), the corresponding speed of the next pulse can be V2=V1- V1*M. The set percentage may be set in advance according to application scenarios or specific requirements, for example, the set percentage may be 10%.

Step S3700, in the case that the stepping motor stops losing steps during the rotation according to the reduced rotational speed, determine the current rotational speed of the stepping motor as the target rotational speed.

If the stepping motor still loses steps even though the stepping motor rotates at the current speed after the speed reduction, step S3600 may be continued to reduce the speed until the stepping motor stops losing steps.

Step S3800, controlling the stepping motor to rotate according to the target rotational speed.

After the target rotational speed is obtained, the stepper motor may rotate according to the target rotational speed during the injection process of the current round.

Through this embodiment, the speed of the stepper motor in the current round of injection is adjusted by detecting whether the stepper motor loses steps, and when the liquid is relatively viscous or the needle is thin, the rotation speed is lower; When the liquid is thinner or the needle is thicker, it rotates at a higher speed, so that the speed at which the stepper motor pushes the piston push rod can be adaptively adjusted to improve the user experience.

In one embodiment of the present disclosure, the method may further include: recording the injection information of the continuous injector; and displaying the injection information. The injection information includes at least the total number of injections and/or the total dose of the injected liquid.

In this embodiment, the injector can record the number of times of injection operations received during each start-up process, and make statistics to obtain the total number of injections. Based on the total number of injections and the single injection dose, the total dose of fluid injected can be obtained.

By displaying the injection information in this embodiment, the user can intuitively see the actual situation of the injection in this round, and the user experience can be improved.

In an embodiment of the present disclosure, the method may further include: uploading the injection information of the current round of injections to a server or a host computer for storage, so as to facilitate later query and traceability.

In an embodiment of the present disclosure, the method may further include: in response to power-on, detecting whether the stepper motor circuit is normal; when the circuit is normal, controlling the stepper motor to drive the piston push rod to return to the initial position and enter the injection Process; in case of abnormal circuit, an alarm is issued to remind the user.

FIG. 3 is a flowchart of an example of a method for controlling a continuous injector during an emptying process according to an embodiment of the present disclosure. As shown in Figure 3, the method may include:

Step S3001, in response to the user's operation of clicking the emptying program start button, the continuous syringe is controlled to enter the emptying state.

Step S3002, during the process of pressing the emptying button by the user, the stepper motor is controlled to rotate, so as to push the piston push rod forward.

Step S3003, in the process of controlling the rotation of the stepping motor, control the stepping motor to increase the rotational speed according to a preset acceleration.

Step S3004 , in the process of controlling the stepper motor to increase the rotational speed, it is detected whether the stepper motor loses steps according to the first set frequency. In the case that the stepping motor does not lose steps, continue to execute step S3003; in the case that the stepping motor loses steps, execute step S3005.

Step S3005, reducing the rotational speed of the stepping motor according to a preset rule.

Step S3006, in the case that the stepping motor stops losing steps in the process of rotating according to the reduced rotational speed, determine the current rotational speed of the stepping motor as the target rotational speed.

In step S3007, the stepper motor is controlled to rotate according to the target rotation speed until the air in the syringe is discharged.

In step S3008, when the user releases the emptying button, the stepper motor is controlled to drive the piston push rod to return to the initial position, so as to suck the liquid in the medicine bottle into the syringe.

FIG. 4 is a flowchart of an example of a method for controlling a continuous injector during an injection process according to an embodiment of the present disclosure.

As shown in Figure 4, the method may include:

Step S4001, obtaining a single injection dose of the continuous injector.

Step S4002, according to the single injection dose, determine the target number of steps of the stepping motor in the single injection process.

Step S4003, in response to the injection operation, it is detected whether the target rotational speed is obtained. When the target rotational speed is obtained, step S4004 is performed, and when the target rotational speed is not obtained, step S4010 is performed.

Step S4004, detecting whether the remaining dose of the liquid in the syringe is greater than the single injection dose. If the remaining dose is greater than or equal to the single injection dose, step S4005 is executed; if the single injection dose is smaller than the single injection dose, step S4006 is executed.

In step S4005, the stepper motor is controlled to rotate at the target rotational speed according to the target number of steps, so as to push the piston push rod forward and push out the liquid in the syringe. Among them, the dose of liquid pushed out is the same as the single injection dose.

Step S4006, the stepper motor is controlled to drive the piston push rod to retreat.

Step S4007 , in the process of controlling the stepper motor to drive the piston push rod to retreat, it is detected whether there are air bubbles in the connecting pipe. In the case where there are air bubbles in the connecting pipe, step S4009 is performed; in the case where there are no air bubbles in the connecting pipe, step S4008 is performed.

In step S4008, the stepper motor is controlled to drive the piston push rod to return to the initial position, so as to suck the liquid in the medicine bottle into the syringe, so that the syringe is filled with liquid.

In step S4009, the stepper motor is controlled to stop rotating, and an alarm is issued.

Step S4010, controlling the stepping motor to rotate to push the piston push rod, and controlling the stepping motor to increase the rotational speed according to a preset acceleration.

Step S4011 , in the process of controlling the stepper motor to increase the rotational speed, it is detected whether the stepper motor loses steps according to the first set frequency. In the case that the stepper motor does not lose steps, continue to execute step S4010; in the case that the stepper motor loses steps, execute step S4012.

Step S4012, reducing the rotational speed of the stepping motor according to a preset rule.

Step S4013, in the case that the stepping motor stops losing steps during the rotation according to the reduced rotational speed, determine the current rotational speed of the stepping motor as the target rotational speed.

When the target rotational speed is obtained, step S4004 is continued.

In this embodiment, a control device 5000 for a continuous injector is provided, as shown in FIG. 5 , including a single dose acquisition module 5100 , a target step number determination module 5200 and an injection module 5300 . The single dose acquisition module 5100 is used to acquire the single injection dose of the continuous injector; the target step number determination module 5200 is used to determine the target number of steps of the stepper motor in the single injection process according to the single injection dose; the injection The module 5300 is used to control the stepper motor to rotate according to the target number of steps in response to the injection operation, so as to push the piston push rod forward and push out the liquid in the syringe; wherein, the dose of the liquid pushed out is the same as the single injection dose.

In one embodiment of the present disclosure, the target steps determination module 5200 may be used to:

Obtain the total capacity of the syringe and the total stroke of the piston push rod in the syringe;

Determine the target number of steps based on the single injection dose, total volume, and total stroke.

In one embodiment of the present disclosure, the control device 5000 of the continuous injector may further include:

A module for detecting the remaining dose of liquid in the syringe;

A module for controlling the stepper motor to drive the piston push rod to return to the preset initial position when the remaining dose is less than the target injection dose, so as to suck the liquid in the medicine bottle into the syringe, so that the syringe is filled with liquid.

In one embodiment of the present disclosure, the method further includes:

A module for detecting the presence of air bubbles in the connecting pipe;

A module used to control the stepper motor to stop rotating and issue an alarm when there are air bubbles in the connecting pipe.

In an embodiment of the present disclosure, controlling the stepper motor to drive the piston push rod to return to the preset initial position includes:

In the process of controlling the stepper motor to drive the piston push rod back, check whether the stepper motor loses steps according to the second set frequency;

When it is detected that the stepper motor loses steps, it is determined that the stepper motor drives the piston push rod to return to the initial position, and the stepper motor is controlled to stop rotating.

means for controlling the continuous injector to enter the empty state in response to an operation to enter the empty state;

A module for controlling the stepper motor to push the piston push rod forward to discharge the air in the syringe when receiving the start-up emptying operation;

The module is used to control the stepper motor to drive the piston push rod to return to the preset initial position to suck the liquid in the medicine bottle into the syringe under the condition of receiving the stop emptying operation.

A module used to control the stepping motor to increase the speed according to the preset acceleration during the process of controlling the rotation of the stepping motor;

A module used to detect whether the stepper motor loses steps according to the first set frequency during the process of controlling the stepper motor to increase the speed;

A module for reducing the speed of the stepping motor according to preset rules when the stepping motor loses steps;

A module for determining the current speed of the stepping motor as the target speed when the stepping motor stops losing steps in the process of rotating at the reduced speed;

The injection module 5300 is also used to control the stepping motor to rotate according to the target rotational speed.

A module for recording injection information of a continuous injector, the injection information including at least the total number of injections and/or the total dose of injected liquid;

A module for displaying injection information.

Those skilled in the art will appreciate that the control device 5000 for the continuous injector can be implemented in various ways. For example, the control device 5000 for the continuous injector may be implemented by configuring a processor with instructions. For example, the control apparatus 5000 for the continuous injector may be implemented by storing the instructions in ROM and reading the instructions from the ROM into the programmable device when the device is activated. For example, the control device 5000 for a continuous injector can be built into a dedicated device (eg, an ASIC). The control device 5000 for the continuous injector may be divided into mutually independent units, or they may be implemented in combination. The control device 5000 for the continuous injector may be implemented by one of the various implementations described above, or may be implemented by a combination of two or more of the various implementations described above.

In this embodiment, the control device 5000 for the continuous injector may have various implementation forms. For example, the control device 5000 for the continuous injector may be any software product that provides control services or a functional module running in an application program, or these software Peripheral embedded parts, plug-ins, patches, etc. of products or applications, and may also be these software products or applications themselves.

In this embodiment, a continuous syringe 6000 is also provided. The continuous injector 6000 may be the continuous injector 1100 shown in FIG. 1 .

As shown in FIG. 6, the continuous injector 6000 may further include a processor 6100 and a memory 6200, the memory 6200 is used to store an executable computer program; the computer program is used to control the processor 6100 to perform the method according to any embodiment of the present disclosure .

The above embodiments mainly focus on describing the differences from other embodiments, but it should be clear to those skilled in the art that the above embodiments can be used alone or in combination with each other as required.

The various embodiments in the present disclosure are described in a progressive manner, and the same and similar parts between the various embodiments can be referred to each other. It should be clear to those skilled in the art that the above embodiments can be used individually or in combination with each other as required. In addition, as for the apparatus embodiment, since it corresponds to the method embodiment, the description is relatively simple, and the relevant part may refer to the description of the corresponding part of the method embodiment. The system embodiments described above are merely illustrative, in which modules described as separate components may or may not be physically separate.

The present disclosure may be an apparatus, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the present disclosure.

A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.

The computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or border servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

Computer program instructions for carrying out operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or instructions in one or more programming languages. Source or object code written in any combination, programming languages including object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network - including a local area network (LAN) or a wide area network (WAN) - or may be connected to an external computer (eg using an Internet service provider via the Internet connect). In some embodiments, custom electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), can be personalized by utilizing state information of computer readable program instructions. Computer readable program instructions are executed to implement various aspects of the present disclosure.

Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.

Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executables for implementing the specified logical function(s) instruction. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation in hardware, implementation in software, and implementation in a combination of software and hardware are all equivalent.

Various embodiments of the present disclosure have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

A control method of a continuous syringe, the continuous syringe comprises a syringe, a piston push rod, and a stepper motor; the method includes:

obtaining a single injection dose of the continuous syringe;

According to the single injection dose, determine the target number of steps of the stepper motor in the single injection process;

In response to the injection operation, the stepper motor is controlled to rotate according to the target number of steps, so as to push the piston push rod forward and push out the liquid in the syringe; wherein, the dose of the liquid pushed out is the same as the single injection The dose is the same.
The method according to claim 1, wherein, according to the single injection amount, determining a single stroke of the stepper motor to push the piston push rod comprises:

Obtain the total capacity of the syringe and the total stroke of the piston push rod in the syringe;

The target number of steps is determined from the bolus dose, the total volume and the total stroke.
The method of claim 1, the continuous syringe further comprising a vial and a connecting tube connecting the vial and the syringe; the method further comprising:

detecting the remaining dose of liquid in the syringe;

When the remaining dose is less than the target injection dose, the stepper motor is controlled to drive the piston push rod to return to a preset initial position, so as to suck the liquid in the medicine bottle into the syringe, The syringe is filled with the liquid.
The method of claim 3, further comprising:

Detect whether there are air bubbles in the connecting pipe; if there are air bubbles in the connecting pipe, control the stepping motor to stop rotating and issue an alarm.
The method according to claim 3, wherein the controlling the stepper motor to drive the piston push rod to return to a preset initial position comprises:

In the process of controlling the stepper motor to drive the piston push rod to retreat, detecting whether the stepper motor loses steps according to the second set frequency;

When it is detected that the stepper motor loses steps, it is determined that the stepper motor drives the piston push rod to return to the initial position, and the stepper motor is controlled to stop rotating.
The method of claim 1, further comprising:

in response to the operation to enter the empty state, controlling the continuous injector to enter the empty state;

Controlling the stepper motor to push the piston push rod forward in the case of receiving the start-up emptying operation, so as to discharge the air in the syringe;

In the case of receiving the stop emptying operation, the stepper motor is controlled to drive the piston push rod to return to a preset initial position, so as to suck the liquid in the medicine bottle into the syringe.
The method of claim 1 or 6, further comprising:

In the process of controlling the rotation of the stepping motor, the stepping motor is controlled to increase the rotational speed according to a preset acceleration;

In the process of controlling the stepper motor to increase the rotational speed, detecting whether the stepper motor loses steps according to the first set frequency;

In the case that the stepping motor loses steps, reducing the rotational speed of the stepping motor according to a preset rule;

In the case that the stepping motor stops losing steps in the process of rotating at the reduced speed, determining the current speed of the stepping motor as the target speed;

The stepping motor is controlled to rotate according to the target rotational speed.
The method of claim 1, further comprising:

Record the injection information of the continuous injector, the injection information including at least the total number of injections and/or the total dose of the injected liquid; and display the injection information.
A control device for a continuous syringe, the continuous syringe includes a syringe, a piston push rod, and a stepper motor; the device includes:

a single dose acquisition module, used for acquiring a single injection dose of the continuous injector;

a target step number determination module, configured to determine the target number of steps of the stepper motor in a single injection process according to the single injection dose;

an injection module, configured to control the stepper motor to rotate according to the target number of steps in response to an injection operation, so as to push the piston push rod forward and push out the liquid in the syringe;

Therein, the dose of the ejected liquid is the same as the single injection dose.
A continuous injector comprising a processor and a memory for storing an executable computer program for controlling the processor to perform the method according to any one of claims 1 to 8.