WO2023080196A1 - Injecteur à cartouche - Google Patents

Injecteur à cartouche Download PDF

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Publication number
WO2023080196A1
WO2023080196A1 PCT/JP2022/041139 JP2022041139W WO2023080196A1 WO 2023080196 A1 WO2023080196 A1 WO 2023080196A1 JP 2022041139 W JP2022041139 W JP 2022041139W WO 2023080196 A1 WO2023080196 A1 WO 2023080196A1
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WO
WIPO (PCT)
Prior art keywords
movable body
housing
central axis
end portion
catheter
Prior art date
Application number
PCT/JP2022/041139
Other languages
English (en)
Japanese (ja)
Inventor
浩司 渡邊
Original Assignee
クロノファング株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by クロノファング株式会社 filed Critical クロノファング株式会社
Publication of WO2023080196A1 publication Critical patent/WO2023080196A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically

Definitions

  • the present invention relates to cartridge injectors, and more particularly to cartridge injectors used in injector modules such as injection devices.
  • Intramuscular injection refers to a method of directly injecting a drug such as a vaccine into the muscle located deep within the subcutaneous fat.
  • Patent Literature 1 discloses a disposable syringe that can be used in vaccination regimens.
  • the disposable syringe includes a housing, a push rod body, a drug chamber, an injection needle, and an injection moving means (biasing means).
  • the housing has an axis extending from a distal end to a proximal end and a proximal skin-contacting wall that abuts the injection site.
  • the contact wall is provided with an opening for receiving an injection needle.
  • the pushrod body has a pressure surface facing proximally toward the skin-contacting wall and is arranged to move between a first proximal position and a first distal position.
  • the pushrod body is axially movable within the housing between a first distal position, an intermediate position, and a first proximal position.
  • a drug chamber is positioned between the pressure surface and the proximal skin-contacting wall.
  • the drug chamber is axially movable and non-axially depressed by moving the pushrod body toward the proximal end.
  • An injection needle is attached to the drug chamber and arranged for axial movement between a third distal position and a third proximal position.
  • An injection moving means biasing means
  • the pushrod body, medicament chamber, and injection needle are configured such that the pushrod body moves from a first distal position to an intermediate position and the injection needle moves from a third distal position to a third proximal position.
  • the proximal end of the injection needle protrudes distally from the skin contact wall, and when the push rod body moves to the first proximal position, at least a portion of the liquid in the drug chamber reaches the injection needle.
  • the drug chamber is urged so as to be pushed out of the proximal end, moving the needle from a third proximal position to a third distal position.
  • a user can retract the push rod body from the first proximal position to the first distal position against the biasing force of the biasing means. need to let That is, since this disposable syringe must be manually operated by medical personnel, it is not suitable for use as an injection device for incorporation into a robotic device that can be administered automatically.
  • Patent document 2 also discloses an auto-injector for rapid release of a bolus of an injectable drug.
  • This auto-injector has small outer dimensions and a generally flat, sealed housing that resembles a credit card.
  • a syringe configured to be contained within the flat housing, is pre-filled with a medicament.
  • the housing contains a mechanism that, when triggered, automatically moves the syringe and needle forward to the injection position, compressing the volume of the syringe and causing a rapid injection.
  • the forward injection end of the device contains an actuator that keeps the needle hidden and protected at all times, preventing post-injection hazards.
  • the planar surface of the device has graphical symbols and other visual indicia related to the operation and conditions of the device. The device allows a simple three-step operation, reducing the risk of misuse.
  • the housing interacts with the cover and the peelable elongated strip.
  • the device includes an actuator assembly and a syringe carrier assembly.
  • the actuator assembly includes a generally flat needle shield and a pair of arms extending rearwardly from the shield.
  • the actuator assembly is held in the retracted position by a pair of releasable arm locks.
  • the actuator assembly is biased forwardly by a pair of longitudinally disposed side compression springs.
  • the syringe has a flat configuration and is defined by a flat piston-type device with a cup-shaped container.
  • the open end of the cup-shaped container receives a piston carrying an injection needle.
  • the forward end of the piston includes a needle carrier by which an injection needle is held in spaced alignment with the septum.
  • the needle carrier includes a longitudinally collapsible, forwardly extending, bellows needle support.
  • the needle is secured to an anchor embedded with a portion of the needle within the needle support.
  • the syringe assembly is biased by a syringe compression spring (drive spring).
  • the needle support rests on the posterior surface of the needle shield when the needle penetrates the tissue to the intended depth.
  • a detent opening is formed in each of the arms behind the opening.
  • An automatic injector with such a configuration operates as follows. After removing the peelable elongated strip and cover, the needle shield of the actuator assembly is pressed against the patient's skin such that the syringe carrier is centrifugally moved from its latched position under the bias of a drive spring with sufficient force. Driven off, the needle penetrates the skin and penetrates the tissue to the intended depth. When the needle support contacts the posterior surface, the sharp forward end of the needle penetrates the patient's tissue to the intended depth. The continued biasing force of the drive spring advances the syringe carrier and container over the then stationary piston, collapsing the volume within the syringe and causing a bolus of medication to be injected into the patient.
  • the injection ends when the volume of the syringe ceases to be compressed. As the injection stroke nears its end, the arm lock is released. As the actuator assembly arm is freed, the actuator assembly advances relatively forward of the housing under the bias of the side springs so that the device is retracted.
  • a needle shield extends to cover and protect the forward end of the needle, and an arm lock is dropped into the rear opening to lock the actuator assembly and needle shield in a centrifugally extended needle protection configuration. When the needle shield is extended to its centrifugally locked position, the biohazard indicia on the flat surface of the shield are prominently exposed to perform their warning function.
  • an automatic injector with such a configuration is not for use by medical professionals, but for individual use by the patient himself. Accordingly, such auto-injectors are not intended for use as vaccination syringes for use at vaccination venues such as those described above. Also, including the actuator inside it, the auto-injector has a very complicated construction. Therefore, the injection device to be incorporated into the above-mentioned robot device is configured so as to simplify the configuration of the syringe itself and use an actuator (hereinafter referred to as an "external actuator") provided outside the syringe. is desirable.
  • an actuator hereinafter referred to as an "external actuator
  • linear motor can be used.
  • linear motors There are various types of linear motors, but when a large driving force is not required, they are often composed of a combination of permanent magnets and coils. Also, as is well known, linear motors are roughly classified into two types: “moving magnet type linear motors” and “moving coil type linear motors”.
  • a moving magnet type linear motor includes a permanent magnet as a mover and a coil (exciting coil) as a stator (see, for example, Patent Documents 3, 4, 5, 6, and 7).
  • a moving coil type linear motor includes a coil (armature coil) as a mover and a permanent magnet as a stator (for example, Patent Documents 8 and 9).
  • any known linear motor consists of one stator and one mover movably arranged relative to the stator along the central axis.
  • the first step is a step of projecting the injection needle from the front surface of the housing of the syringe and causing the tip of the injection needle to reach the human muscle (hereinafter referred to as "injection needle projecting step”).
  • the second step is the step of pushing out the drug solution from the tip of the injection needle into the muscle (hereinafter referred to as the “drug solution extrusion step”).
  • the third step is a step of retracting the projected injection needle into the housing of the syringe (hereinafter referred to as an "injection needle retraction step"). That is, as the external actuator for the syringe, at least two different driven bodies, a first driven body for moving only the injection needle and a second driven body for pushing out the drug solution, are moved. need to let In other words, as an external actuator for the syringe, a linear motor capable of at least a two-stage extension movement is required.
  • An object of the present invention is to provide a cartridge injector that can be operated by an external actuator capable of performing a two-stage stretching operation.
  • a hollow housing having a first inner wall extending along a central axis, the distal end having an opening tapering forward in a first direction.
  • a housing provided in the housing and extending along the central axis on the first direction side, the catheter being protrusible/retractable with respect to the distal end portion in the first direction and a catheter having a trailing end portion in a second direction opposite to the direction of the; a first movable body holding the trailing end portion of the catheter within the housing;
  • a first inner wall disposed slidably movable in a first direction and a second direction relative to the first inner wall of the housing and having a second inner wall defining a columnar receiving space communicating with the catheter.
  • a second movable body arranged on the second direction side in the first movable body, wherein the second movable body of the first movable body is arranged along the central axis in the first movable body a second movable body arranged to be movable in a first direction while sliding against an inner wall of the cartridge injector, the second movable body being capable of contracting the housing space.
  • each of the housing, the first movable body, and the second movable body may have a shape that is substantially rotationally symmetrical with respect to the central axis.
  • the second movable body has a substantially cylindrical shape arranged near the center axis and its vicinity; Cylindrical in shape; the housing may be substantially cylindrical in shape disposed near the outer periphery of the first movable body.
  • the above accommodation space may accommodate a liquid medicine.
  • the catheter preferably has an obliquely cut tip.
  • the opening at the tip of the housing may be closed with silicone.
  • the cartridge injector may be configured so that it can be operated from its rear surface by an external actuator having a cylindrical first operating portion and a columnar second operating portion.
  • an external actuator having a cylindrical first operating portion and a columnar second operating portion.
  • the cartridge injector moves the external actuator after the first movable body and the second movable body are pushed out in the first direction by the first operating section and the second operating section.
  • urging means for urging the combination of the first movable body and the second movable body in the second direction when the first operating part and the second operating part of are retracted in the second direction is preferably further provided.
  • the first movable body is a cylindrical rear end portion provided on the rear side in the second direction, the rear end portion having an outer peripheral surface in sliding contact with the first inner wall; A front end portion provided on the front side of the catheter, which holds the rear end portion of the catheter via a holding member; and a cylindrical intermediate portion provided between the rear end portion and the front end portion. and an intermediate portion having an outer diameter smaller than the inner diameter of the first inner wall.
  • the rear end portion and the intermediate portion have in common a second inner wall that forms the accommodation space, and the rear end portion has an annular rear end that contacts the tip of the first operating portion. is preferred.
  • the second movable body is a front member provided on the front side in the first direction, and has a front wall surface that cooperates with a second inner wall of the first movable body to form an accommodation space. and a rear member provided on the rear side in the second direction, the rear member having a rear wall surface that abuts on the tip of the second operating portion.
  • the biasing means may be arranged in the housing along the central axis between the front end of the housing and the rear end of the first movable body.
  • a cartridge injector according to the present invention can be operated by an external actuator capable of performing a two-stage stretching operation.
  • FIG. 1 is a perspective view of the appearance of an automatic vaccination robot device to which the present invention is applied, together with a person to be vaccinated, viewed obliquely from the front right.
  • 2 is a schematic right side view of the appearance of the automatic vaccination robotic device shown in FIG. 1, together with a person to be vaccinated, viewed from approximately the right;
  • FIG. Fig. 2 is a perspective view of the appearance of the automatic vaccination robot device shown in Fig.
  • FIG. 1 is a perspective cross-sectional view of a cartridge injector according to an embodiment of the present invention, which is operated by an external actuator used as a linear motor to which the present invention is applied, viewed obliquely from the front right;
  • FIG. FIG. 5 is a schematic right side cross-sectional view of the cartridge injector shown in FIG. 4 as seen from the substantially right side;
  • FIG. 5 is a perspective cross-sectional view of the cartridge injector shown in FIG.
  • FIG. 8 is a schematic right side cross-sectional view of the linear motor illustrated in FIG. 7 together with a cartridge injector disposed in the operated portion, viewed from the substantially right side;
  • FIG. 8 is a perspective cross-sectional view of the linear motor illustrated in FIG. 7 as viewed obliquely from the rear right, together with a cartridge injector disposed in the operated portion;
  • FIGS. 7 to 9 are cross-sectional views for explaining magnetic flux generated by a plurality of permanent magnets of a first mover used in the linear motor shown in FIGS. 7 to 9; An example of connection between each coil and a control driver when nine coils are used as electromagnet coils for the stator and the second mover used in the linear motor shown in FIGS. 7 to 9 will be described. It is a diagram for
  • an automatic vaccination robot device 100 which is a type of medical robot device, will be described as a device to which the present invention is applied.
  • This automatic vaccination robot device 100 is a robot device that automatically performs vaccination to prevent infectious diseases such as novel coronavirus infectious disease (COVID-19).
  • FIG. 1 to 3 are diagrams showing the appearance of an automatic vaccination robotic device 100 together with a person 200 to be vaccinated.
  • FIG. 1 is a perspective view of the appearance of the automatic vaccination robot device 100 as viewed obliquely from the front right.
  • FIG. 2 is a schematic right side view of the appearance of the automatic vaccination robot device 100, viewed from the substantially right side.
  • FIG. 3 is a perspective view of the appearance of the automatic vaccination robot device 100 as seen obliquely from the rear right.
  • an orthogonal coordinate system (X, Y, Z) is used.
  • the X-axis direction is the front-rear direction
  • the Y-axis direction is the left-right direction orthogonal to the X-axis direction
  • the Z-axis direction is the vertical direction orthogonal to the X-axis direction and the Y-axis direction.
  • the X-axis direction extends in the forward direction X1 and the rearward direction X2
  • the Y-axis direction extends in the right direction Y1 and the left direction Y2
  • the Z-axis direction extends in the upward direction Z1 and the downward direction Z2.
  • the forward direction X1 is also called the forward direction or the advancing direction
  • the backward direction X2, which is the direction opposite to the forward direction X1 is also called the reverse direction or the backward direction.
  • the Cartesian coordinate system (X, Y, Z) will be used in the subsequent drawings as well.
  • the forward direction X1 is also called “first direction”
  • the rearward direction X2 is also called “second direction”.
  • "front” and “rear” may be appropriately called “first” and "second”, respectively.
  • the automated vaccination robotic device 100 is a device that inoculates a person (vaccine recipient) 200 by intramuscular injection from the left upper arm 210 .
  • the automated vaccination robotic device 100 includes a base 110 , first to fourth arms 121 , 122 , 123 and 124 and an injector module 130 .
  • the first to fourth arms 121 to 124 are arranged in this order from the base 110 in the upward direction Z1.
  • An injector module 130 is attached to the upper end of the fourth arm 124 .
  • the base 110 is a fixed base that is fixed on the floor surface. good.
  • the base 110 incorporates a controller (not shown) and a power supply (not shown) for controlling the automatic vaccination robot device 100 .
  • the automated vaccination robotic device 100 may be configured to receive power from an external power supply, either wired or wirelessly.
  • the controller is also wired or wirelessly connected to an external computer (not shown).
  • the controller receives various commands from the computer for operating the automated vaccination robotic device 100 .
  • the controller controls the operation of the automated vaccination robotic device 100 as described below according to various commands.
  • the base 110 and the first to fourth arms 121 to 124 are connected via first to fourth joints 141, 142, 143, and 144.
  • the lower end of the first arm portion 121 is rotatably connected to the upper surface of the base 110 via the first joint portion 141 .
  • the upper end of the first arm portion 121 and the lower end of the second arm portion 122 are connected via the second joint portion 142 so as to be rotatable around the rotation axis of the second joint portion 142.
  • the upper end of the second arm portion 122 and the lower end of the third arm portion 123 are connected via a third joint portion 143 so as to be rotatable around the rotation axis of the third joint portion 143.
  • the upper end of the third arm portion 123 and the lower end of the fourth arm portion 124 are connected via a fourth joint portion 144 so as to be rotatable around the rotation axis of the fourth joint portion 144.
  • the first to fourth joints 141 to 144 are driven by first to fourth motors (not shown), respectively.
  • the first to fourth motors rotate the first to fourth joints 141 to 144, respectively, based on control signals sent from the controller.
  • An injector module 130 attached to the upper end of the fourth arm 124 is an injection device for inoculating a person 200 with a vaccine. That is, the injector module 130 operates as an injection device incorporated in the present automated vaccination robotic device 100 . The injector module 130 inoculates the upper left arm 210 of the person (vaccinated person) 200 as described later according to the operation command sent from the controller.
  • the injector module 130 includes a first housing 131 that covers an external actuator to be described later, and a second housing 132 that covers a plurality of cartridge injectors (to be described later) driven by the external actuator.
  • the second housing 132 incorporates a magazine device (not shown) that can be loaded with a plurality of cartridge injectors.
  • the second housing 132 incorporates a waiting room (not shown), a disposal room (not shown), and an operated section (described later).
  • the standby chamber holds and accommodates all of the plurality of cartridge injectors in the initial state.
  • the waste chamber is for containing used cartridge injectors.
  • the magazine device sequentially feeds a plurality of cartridge injectors one by one from the standby chamber to the operated section, and then retracts the used cartridge injectors from the operated section to the disposal chamber.
  • the magazine device performs the loading operation as described above in accordance with the loading command sent from the controller.
  • the cartridge injector sent into the operated part is operated by an external actuator, as will be described later, and operates to inoculate the left upper arm 210 of the person (vaccinated person) 200. That is, the cartridge injector fed into the operated portion functions as a simple syringe for intramuscular injection.
  • FIG. 4 is a perspective cross-sectional view of the cartridge injector 400 as seen obliquely from the front right.
  • FIG. 5 is a schematic right cross-sectional view of the cartridge injector 400 viewed from the substantially right side.
  • FIG. 6 is a perspective cross-sectional view of the cartridge injector 400 viewed obliquely from the rear right.
  • FIGS. 4 to 6 also use an orthogonal coordinate system (X, Y, Z) similar to that shown in FIGS. 1 to 3. Since the orthogonal coordinate system (X, Y, Z) used has already been described in detail, its description is omitted for the sake of simplicity.
  • Cartridge injector 400 has a substantially rotationally symmetrical shape with respect to the central axis CA extending in the front-rear direction X.
  • Cartridge injector 400 includes a hollow housing 410 extending along central axis CA.
  • Housing 410 is made of metal or resin.
  • the housing 410 is substantially cylindrical with an open rear end and a first inner wall 411 of a first inner diameter Di1.
  • the housing 410 has a tapered distal end portion 412 in the forward direction X1.
  • the housing 410 has a cylindrical opening 4121 with a diameter Da at its distal end portion 412, through which an injection needle (catheter) 420, which will be described later, can be protruded/retracted.
  • the diameter Da is smaller than the first inner diameter Di1.
  • the opening 4121 of the distal end portion 412 is closed with silicone (not shown). Therefore, injection needle (catheter) 420 has a shape that can penetrate silicone.
  • An injection needle (catheter) 420 is provided in the housing 410 so as to extend along the central axis CA on the front direction X1 (first direction) side.
  • the injection needle (catheter) 420 has a substantially cylindrical shape and its tip 421 is obliquely cut.
  • a rear end portion 422 of an injection needle (catheter) 420 is held by a first movable body 430 via a holding member 440 .
  • the first movable body 430 is arranged in the housing 410 so as to be movable in the front-rear direction X while sliding against the first inner wall 411 along the central axis CA. More specifically, the first movable body 430 has a rear end portion 432 on the rearward direction X2 (second direction) side, a front end portion 434 on the forward direction X1 (first direction) side, and a rear end portion 432 . and an intermediate portion 436 disposed between the front end portion 434 .
  • the rear end portion 432 has a cylindrical portion and four ridges projecting radially outward from the cylindrical portion in the upward direction Z1, the downward direction Z2, the right direction Y1, and the left direction Y2.
  • the four ridges extend in the front-rear direction X.
  • An outer peripheral surface that virtually connects radially outer tip surfaces of the four ridges of the rear end portion 432 in the circumferential direction forms an outer wall 4321 having an outer diameter substantially equal to the first inner diameter Di1.
  • the cylindrical portion of the rear end portion 432 has a second inner wall 4322 with a second inner diameter Di2 less than the first inner diameter Di1. Therefore, the outer wall 4321 of the rear end portion 432 slides against the first inner wall 411 of the housing 410 .
  • the intermediate portion 436 has the same cylindrical shape as the cylindrical portion of the rear end portion 432 .
  • the intermediate portion 436 has an outer wall 4361 with a first outer diameter Do1 smaller than the first inner diameter Di1 and a second inner wall 4362 with an inner diameter equal to the second inner diameter Di2. Therefore, the second inner wall 4322 of the rear end portion 432 and the second inner wall 4362 of the intermediate portion 436 are continuous with the same second inner diameter Di2.
  • a gap is provided between the outer wall 4361 of the intermediate portion 436 and the first inner wall 411 of the housing 410 .
  • a rear end portion of a cylindrically wound spiral spring 450 which will be described later, is arranged in this gap.
  • a columnar space having a second inner diameter Di2 surrounded by the second inner wall 4322 of the rear end portion 432 and the second inner wall 4362 of the intermediate portion 436 is a storage space for storing a chemical solution (liquid agent) described later. It works as a spatial AS. Therefore, the second inner wall 4322 of the rear end portion 432 and the second inner wall 4362 of the intermediate portion 436 commonly act as a second inner wall for forming the accommodation space AS.
  • the front end portion 434 has a cross-shaped outer shape when viewed from the front, and has a cylindrical inner wall 4342 in the central portion.
  • the distance between the outer walls 4341 that are most spaced apart and virtually formed in the circumferential direction of the cross-shaped profile of the front end portion 434 has a second outer diameter Do2 that is smaller than the first outer diameter Do1.
  • the inner wall 4342 of the front end 434 has a third inner diameter Di3 that is smaller than the second inner diameter Di2.
  • the holding member 440 is arranged on the inner wall 4342 of the front end portion 434 . Therefore, the rear end portion 422 of the injection needle (catheter) 420 is held by the front end portion 434 of the first movable body 430 via the holding member 440 . It should be noted here that the cylindrical inner space of the injection needle (catheter) 420 communicates with the accommodation space AS.
  • the first movable body 430 functions as a first piston that reciprocates in the front-rear direction X along the central axis CA within the first cylinder using the housing 410 as a first cylinder.
  • the first movable body 430 is moved in the forward direction X1 along the central axis CA by a first movable element (first operating portion) of an external actuator, which will be described later. Therefore, the first movable body 430 functions as a first driven body that moves the injection needle (catheter) 420 in the forward direction X1 along the central axis CA.
  • the cartridge injector 400 illustrated in FIGS. 4 to 6 shows an initial state.
  • the housing 410 has a rear end portion 413 in the rearward direction X2 (second direction).
  • the rear end 413 has a protrusion 4131 that protrudes radially inward from the inner wall 411 of the housing 410 . Therefore, the inner diameter of the projecting portion 4131 is slightly smaller than the first inner diameter Di1.
  • the rear ends 432b of the four ridges of the rear end portion 432 of the first movable body 430 and the projecting portion 4131 of the rear end portion 413 of the housing 410 are engaged.
  • engagement means to engage with each other.
  • the spring 450 is arranged on the front direction X1 (first direction) side.
  • the spring 450 is arranged to extend in the front-rear direction X along the central axis CA.
  • the spring 450 has a front end 451 in the forward direction X1 (first direction) and a rear end 452 in the rearward direction X2 (second direction).
  • a front end 451 a of the front end portion 451 of the spring 450 engages a rear end 412 b of the front end portion 412 of the housing 410 .
  • the rear end portion 452 of the spring 450 is arranged in the gap formed between the outer wall 4361 of the intermediate portion 436 of the first movable body 430 and the first inner wall 411 of the housing 410.
  • a rear end 452 b of the rear end 452 of the spring 450 engages with front ends 432 a of the four ridges of the rear end 432 of the first movable body 430 .
  • the spring 450 is arranged along the central axis CA between the front end portion 412 of the housing 410 and the rear end portion 432 of the first movable body 430 .
  • 4-6 show the initial state of the cartridge injector 400, as previously described. In this initial state, the spring 450 does not apply a biasing force to the first movable body 430 arranged inside the housing 410 .
  • spring 440 moves first movable body 430 to housing 410 by its urging force. is biased in the rearward direction X2 (second direction) relative to.
  • the spring 450 functions as a biasing means that biases the first movable body 430 toward the housing 410 along the central axis CA in the rearward direction X2 (second direction). Therefore, in the initial state, the spring 450 locks the rear end 432b of the rear end 432 of the first movable body 430 to the protrusion 4131 of the rear end 413 of the housing 410 .
  • “locking” means engaging and stopping.
  • the first movable body 430 and the second movable body 460 described later resist the biasing force of the spring 450 from the initial state by the first movable element (first operating portion) of the external actuator described later. Then, it is moved in the forward direction X1 (first direction) along the central axis CA.
  • first driving force first thrust; first Lorentz force
  • the first movable body 430 returns to its initial state by the biasing force of the spring 450. It becomes possible to
  • the cylindrical space surrounded by the second inner wall 4322 of the rear end portion 432 of the first movable body 430 and the second inner wall 4362 of the intermediate portion 436 is filled with the liquid medicine. It is an accommodation space AS for accommodation.
  • a second movable body 460 is arranged on the rearward X2 (second direction) side of the accommodation space AS.
  • the second movable body 460 has a substantially cylindrical outer shape and is movable in the forward direction X1 along the central axis CA.
  • the outer peripheral wall of the second movable body 460 is substantially the same as the second inner diameter Di2 of the second inner wall 4322 of the rear end portion 432 of the first movable body 430 and the second inner wall 4362 of the intermediate portion 436. have an outer diameter. That is, the outer peripheral wall of the second movable body 460 is slidable with respect to the second inner walls (4322; 4362) of the first movable body 430. As shown in FIG.
  • the second movable body 460 consists of a front member 462 provided in its front direction X1 (first direction) and a rear member 464 provided in its rear direction X2 (second direction).
  • the front member 462 and rear member 464 are interlocked together like a lock and key.
  • the front member 462 has a role as a gasket (packing).
  • the front member 462 has a circular front wall surface 462a in its front direction X1 (first direction).
  • the rear member 464 has an annular rear wall surface 464b in the rear direction X2 (second direction).
  • the accommodation space AS includes the second inner wall 4322 of the rear end portion 432 of the first movable body 430, the second inner wall 4362 of the intermediate portion 436, and the annular shape of the front end portion 434. It is a cylindrical space surrounded by the rear wall surface 434 b and the front wall surface 462 a of the second movable body 460 .
  • the accommodation space AS contracts when the second movable body 460 moves in the forward direction X1 (first direction) relative to the first movable body 430 . Due to the contraction of the storage space AS, the drug solution (liquid drug) stored in the storage space AS is discharged to the outside through the internal space of the injection needle (catheter) 420 .
  • the second movable body 460 works as a second piston capable of reciprocating in the front-rear direction X along the central axis CA within the second cylinder using the first movable body 430 as a second cylinder. .
  • the second movable body 460 is moved in the forward direction X1 (first direction) along the central axis CA by a second movable element (second operating portion) of an external actuator, which will be described later. Therefore, the second movable body 460 functions as a second driven body for pushing out the liquid medicine (liquid agent) in the housing space AS in the forward direction X1 (first direction) along the central axis CA.
  • the cartridge injector 400 having such a configuration is operated as described below.
  • the combination of the first movable body 430 and the second movable body 460 is moved from the initial state by the spring 450 by the first movable element (first operating portion) of the external actuator. It is moved in the forward direction X1 (first direction) along the central axis CA against the force.
  • the injection needle (catheter) 420 protrudes from the opening 4121 of the housing 410 in the forward direction X1 (first direction) along the central axis CA, and the tip 421 of the injection needle (catheter) 420 is positioned at the upper left of the person 200.
  • the muscles are reached from the arm 210 (see FIGS. 1-3).
  • the second movable body 460 moves the chemical solution (liquid agent) in the accommodation space AS forward in the X1 (first direction).
  • the drug solution (liquid drug) stored in the storage space AS is pushed out into the muscles of the person 200 through the internal space of the injection needle (catheter) 420 .
  • the driving force (thrust; Lorentz force) of the first mover and the second mover of the external actuator disappears.
  • the projecting injection needle (catheter) 420 is automatically retracted inside the housing 410 by the biasing force of the spring 450 .
  • the first movable body 430 is also called an outer cylinder
  • the second movable body 460 is also called an inner cylinder.
  • FIG. 7 is a perspective cross-sectional view of the linear motor 500 and the cartridge injector 400 arranged in the operated portion of the second housing 132 as seen obliquely from the front right.
  • FIG. 8 is a schematic right side sectional view of the linear motor 500 together with the cartridge injector 400 arranged in the operated portion of the second housing 132 as viewed from the approximately right side.
  • FIG. 9 is a perspective cross-sectional view of the linear motor 500 and the cartridge injector 400 arranged in the operated portion of the second housing 132 as seen obliquely from the rear right.
  • FIGS. 7 to 9 also use an orthogonal coordinate system (X, Y, Z) similar to that shown in FIGS. 1 to 3. Since the orthogonal coordinate system (X, Y, Z) used has already been described in detail, its description is omitted for the sake of simplicity.
  • the injector module 130 includes a first housing 131 that covers the linear motor 500, which is an external actuator, and a second housing 132 that covers the plurality of cartridge injectors 400. including.
  • the injector module 130 includes a flat base 133 extending in the front-rear direction X parallel to the central axis CA inside the first housing 131 and the second housing 132 .
  • the base 133 has a front end 133 a within the second housing 132 and a rear end 133 b within the first housing 131 .
  • a holding block 134 for holding the cartridge injector 400 in operation is erected upward from the base 133 in the Z1 direction. there is Therefore, this holding block 134 constitutes the operated portion of the second housing 132 .
  • first and second brackets 136, 137 and another bracket 138 stand upright from the base 133 in the upward direction Z1.
  • Another bracket 138 is provided adjacent to the holding block 134 and separated by a predetermined distance L1.
  • the first bracket 136 is erected substantially from the center of the base 133 .
  • the second bracket 137 is erected on the rearward X2 (second direction) side of the base 133 .
  • First and second brackets 136 and 137 are members for holding a stator of linear motor 500, which will be described later.
  • a guide rail 150 is laid on the base 133 along the central axis CA.
  • the guide rail 150 has a front end 150a in the forward direction X1 (first direction) and a rear end 150b in the rearward direction X2 (second direction).
  • a front end 150 a of the guide rail 150 is between another bracket 138 and the first bracket 136 .
  • the rear end 150b of the guide rail 150 is between the second bracket 137 and the rear end 133b of the base 133 and is close to the rear end 133b of the base 133.
  • First and second sliding members 151 and 152 slidable in the front-rear direction X parallel to the central axis CA are erected on the guide rail 150 .
  • the first sliding member 151 is configured to be slidable in the front-rear direction X parallel to the central axis CA on the guide rail 150 between another bracket 138 and the first bracket 136 .
  • the second sliding member 152 extends between the second bracket 137 and the rear end 133b of the base 133 (the rear end 150b of the guide rail 150) on the guide rail 150 in the front-rear direction X parallel to the central axis CA. It is configured to be slidable.
  • the first and second sliding members 151 and 152 are for holding a first mover of the linear motor 500, which will be described later. Therefore, the first mover of the linear motor 500 is movable in the longitudinal direction X along the central axis CA above the guide rail 150 together with the first and second sliding members 151 and 152 .
  • FIG. 1 main body parts of linear motor 500 will be described, and then accessory parts of linear motor 500 will be described.
  • the body part of the linear motor 500 also has a shape substantially rotationally symmetrical with respect to the central axis CA extending in the front-rear direction X. . Therefore, the cartridge injector 400 held by the holding block 134 and the body part of the linear motor 500 share the same central axis CA.
  • the linear motor 500 includes a stator 510 and a mover as its main body parts.
  • the mover is arranged to be movable in the longitudinal direction X along the central axis CA with respect to the stator 510 .
  • the mover consists of a first mover 520 and a second mover 530 .
  • the first mover 520 is arranged to be movable in the front-rear direction X along the central axis CA with respect to the stator 510 .
  • the second mover 530 is arranged to be movable in the front-rear direction X along the central axis CA with respect to the first mover 520 .
  • the linear motor 500 is provided with the two movers 520 and 530 as movers, the two different driven bodies 430 and 460 of the cartridge injector 400 can be moved in a two-stage extension operation. It is possible.
  • the mover formed by combining the first mover 520 and the second mover 530 is referred to as mover (520; 530).
  • the second mover 530 has a substantially cylindrical shape arranged on and near the central axis CA.
  • the first mover 520 is arranged near the outer periphery of the second mover 530 and has a substantially cylindrical shape.
  • the stator 510 is arranged in the vicinity of the outer periphery of the first mover 520 and has a substantially cylindrical shape.
  • the first mover 520 has a ring-shaped cross section and includes a plurality of cylindrical permanent magnets 522 arranged along the central axis CA.
  • the first mover 520 includes four permanent magnets 522 .
  • the plurality of permanent magnets 522 as shown in FIG. 10, generate outer magnetic flux OM and inner magnetic flux IM to their outer and inner circumferences, respectively.
  • the stator 510 has a plurality of outer electromagnet coils 512 continuously arranged along the central axis CA so as to surround the first mover 520 via an outer gap with respect to the first mover 520 .
  • stator 510 includes fifteen outer electromagnet coils 512 .
  • the stator 510 can cause the first mover 520 to travel along the central axis CA due to the interaction between the outer current flowing through the plurality of outer electromagnet coils 512 and the outer magnetic flux OM.
  • the second mover 530 is also caused to travel along the central axis CA together with the first mover 520 . Therefore, the stator 510 allows the mover (520; 530) to run along the central axis CA due to the interaction between the outer current and the outer magnetic flux OM.
  • the second mover 530 has a plurality of inner electromagnets arranged continuously along the central axis CA so as to be surrounded by the first mover 520 via an inner gap with respect to the first mover 520. includes a coil 532 for In the illustrated example, the second armature 530 includes twelve inner electromagnet coils 532 .
  • the second mover 530 can travel along the central axis CA with respect to the first mover 520 due to the interaction between the inner current flowing through the plurality of inner electromagnet coils 532 and the inner magnetic flux IM.
  • the stator 510 includes an outer U-phase coil, an outer V-phase coil, and an outer W-phase coil that are star-connected as a plurality of outer electromagnet coils 512 .
  • the second mover 530 includes an inner U-phase coil, an inner V-phase coil, and an inner W-phase coil that are star-connected as the plurality of inner electromagnet coils 532 . Therefore, the linear motor 500 is a three-phase linear motor.
  • a U-phase coil, a V-phase coil, and a W-phase coil that are used as the plurality of outer electromagnet coils 512 or the plurality of inner electromagnet coils 532 will be described with reference to FIG.
  • FIG. 11 shows an example of connections in the case where three sets of three U-phase coils, W-phase coils, and V-phase coils constitute one set of basic configuration, that is, nine coils in total, and a connection example in which the control driver 600 is used. indicates When the control driver 600 is connected to a single-phase 100V AC power supply 700, it incorporates a single-phase-to-three-phase converter. connected to the coil.
  • the U-phase, V-phase, and W-phase of the power supply are not necessarily connected to the U-phase coil, the V-phase coil, and the W-phase coil in a one-to-one relationship.
  • the computer such as a personal computer is also connected to the control driver 600 as control data input means and data processing means.
  • the control driver 600 controls the operation of the first mover 520 or the second mover 530 based on operation instructions given from the computer.
  • the winding start S of the first coil U1 is connected to the U terminal of the control driver 600, and the winding end E of the first coil U1 is connected to the winding end E of the second coil U2. connected to.
  • the winding start end S of the second coil U2 is connected to the winding start end S of the third coil U3, and the winding end E of the third coil U3 is connected to the common terminal.
  • the winding end E of the first coil W1 is connected to the W terminal of the control driver 600, and the winding start S of the first coil W1 is connected to the winding start S of the second coil W2. connected to.
  • the winding end E of the second coil W2 is connected to the winding end E of the third coil W3, and the winding start S of the third coil W3 is connected to the common terminal.
  • the winding start S of the first coil V1 is connected to the V terminal of the control driver 600, and the winding end E of the first coil V1 is connected to the winding end E of the second coil V2.
  • the winding start end S of the second coil V2 is connected to the winding start end S of the third coil V3, and the winding end E of the third coil V3 is connected to the common terminal.
  • the plurality of U-phase coils, the plurality of W-phase coils, and the plurality of V-phase coils in the plurality of sets are connected in series for each phase. and connected to the control driver 600 by star connection.
  • the plurality of coils in two phases are connected so that the magnetic poles in the even numbered set are opposite to the magnetic poles in the odd numbered set, and the plurality of coils in the remaining one phase are connected so that the magnetic poles in the odd numbered set are opposite to the magnetic poles in the two phases.
  • the magnetic poles in the even set of the plurality of coils are connected in opposite directions to the magnetic poles in the even set of the plurality of coils in the two phases.
  • Each of the plurality of permanent magnets 522 has a length dimension three times that of each phase coil. As shown in FIG. 10, the plurality of permanent magnets 522 are combined in series along the central axis CA such that adjacent magnetic poles of the same pole are in close contact with each other. However, a ring-shaped spacer made of a magnetic material such as an iron plate may be interposed between the permanent magnets 522 having the same magnetic poles.
  • a plurality of outer electromagnet coils 512 are accommodated in a cylindrical body 514 having grooves. Cylindrical body 514 is fixed between first bracket 136 and second bracket 137 .
  • Each of the first bracket 136 and the second bracket 138 has a circular opening through which the first mover 520 can pass. Therefore, the first mover 520 extends in the front-rear direction X along the central axis CA through the openings of the first bracket 136 and the second bracket 137 .
  • multiple permanent magnets 522 are housed in a cylindrical case 524 .
  • the case 524 extends in the front-rear direction X along the central axis CA through openings in the first bracket 136 and the second bracket 137 .
  • the case 524 has a front end portion 5241 in the forward direction X1 (first direction) and a rear end portion 5242 in the rearward direction X2 (second direction).
  • a front end portion 5241 of the case 524 is held by the first sliding member 151 .
  • a rear end portion 5242 of the case 524 is held by the second sliding member 152 .
  • the first mover 520 can move in the front-rear direction X along the central axis CA above the guide rail 150 together with the first and second sliding members 151 and 152 .
  • the second mover 530 includes a center core 534 arranged movably in the front-rear direction X along the central axis CA with respect to the first mover 520 .
  • Center core 534 has a substantially cylindrical shape.
  • a plurality of inner electromagnet coils 532 are mounted around the center core 534 .
  • the center core 534 includes a front core portion 5341 on the front direction X1 (first direction) side, a rear core portion 5342 on the rear direction X2 (second direction) side, and a center core portion 5342 therebetween. and a central core portion 5343 .
  • a first O-ring 536 is fitted to the center core 534 at a location between the front core portion 5341 and the central core portion 5343 .
  • a second O-ring 537 is fitted to the center core 534 between the central core portion 5343 and the rear core portion 5342 .
  • a plurality of inner electromagnet coils 532 are mounted around the center core 534 between the first O-ring 536 and the second O-ring 537 .
  • the linear motor 500 includes a cylindrical first operating portion 560, a columnar second operating portion 570, and a stopper 580 as accessory parts.
  • the first operating portion 560 is provided on the front surface 151a of the first sliding member 151 so as to extend in the forward direction X1 (first direction) along the central axis CA.
  • the first operating portion 560 includes a cylindrical tubular portion 562 and a cylindrical body 564 .
  • the tubular portion 562 has a cylindrical portion 5622 , an annular bottom portion 5624 and a grip portion 5626 .
  • Cylindrical portion 5622 extends in forward direction X1 (first direction) along central axis CA.
  • An annular bottom 5624 extends radially outwardly from the rear end of cylindrical portion 5622 .
  • This annular bottom portion 5624 is fixed to the front surface 151 a of the first sliding member 151 .
  • a gripping portion 5626 is integrally attached to the front end of the cylindrical portion 5622 and grips the rear end portion of the cylindrical body 564 .
  • the cylindrical body 564 gripped by the gripping portion 5626 of the tubular portion 562 has a cylindrical shape extending in the forward direction X1 (first direction) from the tubular portion 562 along the central axis CA.
  • This cylindrical body 564 has an outer diameter smaller than the diameter of the opening 1381 in another bracket 138 . Therefore, the cylindrical body 564 is movable in the forward direction X1 (first direction) along the central axis CA via the opening 1381 of another bracket 138 .
  • a cylindrically wound spiral first spring 566 is arranged on the outer circumference of the first operating portion 560 .
  • a first spring 566 is positioned between an annular bottom 5624 of tubular portion 562 and a cylindrical recess 1382 of another bracket 138 . That is, the first spring 566 is arranged between the first sliding member 151 and another bracket 138 .
  • the front end 566 a of the first spring 566 contacts the cylindrical recess 1382 of another bracket 138 and the rear end 566 b of the first spring 566 contacts the annular bottom 5624 of the tubular portion 562 .
  • FIG. 7 to 9 illustrate the case where the linear motor 500 is in the initial state.
  • the first spring 566 is in a state in which it does not substantially exert its first biasing force.
  • an outer current is caused to flow through the plurality of outer electromagnet coils 512 of the stator 510 .
  • the armature (520; 530) moves along the central axis CA along with the first and second sliding members 151 and 152. to move in the forward direction X1 (first direction).
  • the first operating portion 560 (cylindrical portion 562 and cylindrical body 564 ) fixed to the first sliding member 151 resists the first biasing force of the first spring 566 and moves toward the center axis. Move in the forward direction X1 (first direction) along CA.
  • the first thrust (first driving force; first Lorentz force) on the mover (520; 530) disappears. Therefore, by the first biasing force of the first spring 566, the mover (520; 530), the first and second sliding members 151 and 152, the first operating portion 560 (cylindrical portion 562 and cylindrical body). 564) automatically returns to the initial state illustrated in FIGS. Therefore, the first spring 566 acts as a first biasing means that biases the mover (520; 530) in the rearward direction X2 (second direction).
  • the second operating portion 570 has a substantially cylindrical shape that extends along the central axis CA from the front surface 534a of the center core 534 of the second mover 530 so as to protrude in the forward direction X1 (first direction). consists of a bar of A rear end portion of the second operating portion 570 is fitted into a recess formed in the front core portion 5341 of the center core 534 .
  • the second operating portion 570 passes through the cylindrical portion 562 and the cylindrical body 564 of the first operating portion 560 without contact (with a gap).
  • the second operating portion 570 has a protruding portion 570a at its tip in the forward direction X1 (first direction).
  • FIGS. 7 to 9 illustrate the case where the linear motor 500 is in the initial state.
  • the projecting portion 570a of the second operating portion 570 is substantially at the same position in the front-rear direction X as the front end (tip) 564a of the cylindrical body 564 of the first operating portion 560.
  • the protruding portion 570a of the second operating portion 570 moves toward the second position of the cartridge injector 400 held by the holding block 134. 2 contacts the rear wall surface 464b (see FIG. 6) of the second movable body 460.
  • the second operating portion 570 moves the second movable body 460 in the forward direction X1 (first direction) along the central axis CA while being in contact with it.
  • the second operating portion 570 has a diameter (outer diameter) slightly smaller than the second inner diameter Di ⁇ b>2 of the first movable body 430 . Therefore, the projecting portion 570a of the second operating portion 570 does not come into contact with the rear end 432b (see FIG. 5) of the rear end portion 432 of the first movable body 430 of the cartridge injector 400.
  • the stopper 580 is fixed to the second sliding member 152 while being fitted into the circular opening of the second sliding member 152 .
  • the stopper 580 has a cylindrical shape extending from the second sliding member 152 along the central axis CA in the forward direction X1 (first direction).
  • a rear core portion 5342 of the center core 534 of the second mover 530 penetrates the inside of the stopper 580 with a gap.
  • a second O-ring 537 attached to the center core 534 is engaged with the annular front surface 580a of the stopper 580 in the forward direction X1 (first direction).
  • the cylindrical holding portion 153 extends in the rearward direction X2 (second direction) along the central axis CA while being inserted into the inner peripheral wall of the front end portion 5241 of the case 524. ).
  • the inner diameter of the holding portion 153 is larger than the outer diameter of the center core 534 . Therefore, the front core portion 5341 of the center core 534 passes through the holding portion 153 with a gap.
  • a first cap portion 156 having a columnar opening with the same inner diameter as the inner diameter of the holding portion 153 is fixed to the rear surface 153b of the holding portion 153 so as to protrude in the rearward direction X2 (second direction).
  • the front core portion 5341 of the center core 534 also passes through this first cap portion 156 with a gap.
  • a hollow second cap portion 157 is attached to the first O-ring 536 attached to the center core 534 so as to protrude in the forward direction X1 (first direction).
  • the inner diameter of the columnar opening of the second cap portion 157 may be substantially the same as or slightly larger than the outer diameter of the center core 534 . Because the second cap portion 157 is attached to the first O-ring 536, when the center core 534 moves in the longitudinal direction X along the axial direction CA, the second cap portion 157 and the center core 534 move. because they move together.
  • a cylindrically wound spiral second spring 572 is arranged on the outer periphery of the front core portion 5341 of the center core 534 .
  • a second spring 572 is positioned between the first cap portion 156 and the second cap portion 157 . That is, the second spring 572 is arranged in a space formed in the rearward direction X2 (second direction) of the first sliding member 151 and on the inner peripheral side of the first mover 520. It is The front end 572 a of the second spring 572 contacts the annular bottom of the first cap portion 156 and the rear end 572 b of the second spring 572 contacts the annular bottom of the second cap portion 157 .
  • FIG. 7 to 9 illustrate the case where the linear motor 500 is in the initial state.
  • the second spring 572 is in a state where it does not substantially exert its biasing force.
  • an inner current is caused to flow through the plurality of inner electromagnet coils 532 of the second mover 530 .
  • the second mover 530 moves toward the first mover 520 in the forward direction X1 along the central axis CA. Attempt to move in (first direction). Therefore, the second operating portion 570 fixed to the second mover 530 moves forward in the X1 (first direction) along the central axis CA against the biasing force of the second spring 572.
  • the second thrust (second driving force; second Lorentz force) on the second mover 530 disappears. do. Therefore, the second urging force of the second spring 572 automatically restores the second mover 530 and the second operating portion 570 to the initial states shown in FIGS. Therefore, the second spring 572 acts as a second biasing means that biases the second mover 530 in the rearward direction X2 (second direction).
  • FIG. 1 the injector module 130 (cartridge injector 400 and linear motor 500) will be described with reference to FIGS. 4 to 9.
  • FIG. 1 the overall operation of the injector module 130 (cartridge injector 400 and linear motor 500) will be described with reference to FIGS. 4 to 9.
  • the first operating portion 560 fixed to the first sliding member 151 also moves along the central axis CA. to move in the forward direction X1 (first direction).
  • the front end (tip) 564 a of the first operating portion 560 moves toward the first movable position of the cartridge injector 400 .
  • the first movable body 430 is moved in the forward direction X1 (first direction) along the central axis CA against the biasing force of the spring 450.
  • the injection needle (catheter) 420 protrudes from the distal end portion 412 of the housing 410 of the cartridge injector 400 through its opening 4121, and the distal end 421 of the projected injection needle (catheter) 420 is attached to the left upper arm 310 of the person 200. to reach the person's 200 muscles. This completes the needle projection step.
  • an inner current is passed through the plurality of inner electromagnet coils 532 of the second mover 530 of the linear motor 500 .
  • the interaction between this inner current and the inner magnetic flux IM (see FIG. 10) generated from the plurality of permanent magnets 522 of the first mover 520 causes relative Specifically, a second thrust (second Lorentz force) acts on the second mover 530 to move it in the forward direction X1 (first direction) along the central axis CA. Therefore, by this second thrust (second Lorentz force), the second mover 530 moves forward in the X1 (first direction) against the second biasing force of the second spring 572. Move (run).
  • the second operation part 570 fixed to the tip of the second mover 530 also moves along the central axis CA. move in the forward direction X1 (first direction).
  • the projecting portion 570 a at the tip of the second operating portion 570 moves toward the second position of the cartridge injector 400 .
  • the second movable body 460 is moved in the forward direction X1 (first direction) along the central axis CA.
  • the accommodation space AS of the first movable body 430 of the cartridge injector 400 is contracted, and the drug solution (liquid drug) accommodated in the accommodation space AS passes through the inner space of the injection needle (catheter) 420. , is extruded from its tip 421 into the muscle of the person 200 . This completes the liquid chemical extrusion step.
  • the first mover 520, the first and second sliding members 151 and 152, the first operating portion 560, the second mover 530, and the second operating portion 570 all move backward. It automatically retracts to X2 (second direction). This retraction returns the linear motor 500 to the initial state illustrated in FIGS.
  • the biasing force of the spring 450 of the cartridge injector 400 also biases the first movable body 430 in the housing 410 in the rearward direction X2 (second direction) along the central axis CA.
  • injection needle (catheter) 420 protruding outside is retracted into housing 410 . This completes the needle withdrawal step.
  • the cartridge injector 400 can be operated by an external actuator such as the linear motor 500 capable of performing a two-step extension operation.
  • the spring 450 is used as the biasing means. It is of course possible to do so.
  • the linear motor 500 as shown in FIGS. 7 to 9 is used as the external actuator, but it is of course not limited to this. That is, the external actuator may have any configuration as long as it has a cylindrical first operating portion and a columnar second operating portion.
  • the cartridge injector according to the present invention is not limited to a simple syringe for an injector module, but is effective as a cartridge injector having two driven bodies that can be operated by an external actuator that performs a two-step extension operation.
  • 100 automated vaccination robotic device 110 base 121 first arm 122 second arm 123 third arm 124 fourth arm 130 injector module (injection device) 131 first housing 132 second housing 133 base 133a front end 133b rear end 134 holding block 136 first bracket 137 second bracket 138 another bracket 1381 opening 1382 cylindrical recess 141 first joint 142 second 2 joint portion 143 third joint portion 144 fourth joint portion 150 guide rail 150a front end 150b rear end 151 first sliding member 151a front surface 152 second sliding member 153 holding portion 153b rear surface 156 first cap Portion 157 Second Cap Portion 200 (Vaccines) 210 upper left arm 300 chair 400 cartridge injector (simplified syringe) 410 housing 411 first inner wall 412 distal end 412b rear end 4121 opening 413 rear end 4131 protrusion 420 injection needle (catheter) 421 tip 422 rear end portion 430 first movable body (first driven body) 432 Rear end 432a Front end 432b Rear end 4321 Outer wall 4322

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  • Health & Medical Sciences (AREA)
  • Vascular Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Anesthesiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Hematology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

L'invention concerne un injecteur à cartouche qui peut être actionné par un actionneur externe capable de réaliser un mouvement d'extension en deux étapes. Cet injecteur à cartouche comprend un boîtier creux, un cathéter, un premier corps mobile et un second corps mobile. Le boîtier a une section d'extrémité distale ayant une ouverture sur le côté avant de celle-ci. Le cathéter est disposé à l'intérieur du boîtier et peut s'étendre/se rétracter par rapport à la section d'extrémité distale. Le premier corps mobile maintient la partie d'extrémité arrière du cathéter à l'intérieur du boîtier, peut coulisser contre une première paroi interne du boîtier, et a un espace de réception communiquant avec le cathéter. Le second corps mobile est disposé à l'intérieur du premier corps mobile, est apte à coulisser contre une seconde paroi interne du premier corps mobile, et capable de rétrécir l'espace de réception.
PCT/JP2022/041139 2021-11-05 2022-11-04 Injecteur à cartouche WO2023080196A1 (fr)

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Application Number Priority Date Filing Date Title
JP2021180882A JP2023069191A (ja) 2021-11-05 2021-11-05 カートリッジインジェクタ
JP2021-180882 2021-11-05

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WO2023080196A1 true WO2023080196A1 (fr) 2023-05-11

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10507935A (ja) * 1994-06-17 1998-08-04 セーフ−テイー−リミテッド 薬剤等の注射針
JP2007500561A (ja) * 2003-08-01 2007-01-18 シエーリング アクチエンゲゼルシャフト 注入装置
JP2013517023A (ja) * 2010-01-13 2013-05-16 バイエル ファーマ アクチエンゲゼルシャフト 穿孔深さの設定

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10507935A (ja) * 1994-06-17 1998-08-04 セーフ−テイー−リミテッド 薬剤等の注射針
JP2007500561A (ja) * 2003-08-01 2007-01-18 シエーリング アクチエンゲゼルシャフト 注入装置
JP2013517023A (ja) * 2010-01-13 2013-05-16 バイエル ファーマ アクチエンゲゼルシャフト 穿孔深さの設定

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