CN103007391A - Predictive adaptive control method and system for liquid medicament push-injecting - Google Patents
Predictive adaptive control method and system for liquid medicament push-injecting Download PDFInfo
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- CN103007391A CN103007391A CN2012105538492A CN201210553849A CN103007391A CN 103007391 A CN103007391 A CN 103007391A CN 2012105538492 A CN2012105538492 A CN 2012105538492A CN 201210553849 A CN201210553849 A CN 201210553849A CN 103007391 A CN103007391 A CN 103007391A
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Abstract
The invention discloses a predictive adaptive control method and a predictive adaptive system for liquid medicament push-injecting, and relates to the technical field of automatic control of the liquid medicament push-injecting in clinical surgery. The predictive adaptive control method for injecting the liquid medicament provided by the invention comprises the following steps of: (1) acquiring a blood pressure value; (2) obtaining related parameters; (3) calculating liquid medicament injecting time; (4) starting a liquid medicament injecting module; and (5) self-adapting the push-injection. In the method and the system, the liquid medicament push-injecting speed, the push-injecting time, the push-injecting stop time and the liquid medicament push-injecting amount in the liquid medicament injecting module are controlled by a master control module, so that the response speed and the real-time control capability of the liquid medicament push-injecting module are improved; the scientific, reasonable and safe medicament application is realized, namely local organs obtain maximum medicament concentration and the maximum medicament concentration remains long enough time without backflow by little medicament dose; and therefore, the damage to healthy tissue is reduced.
Description
Technical field
The present invention relates to clinical operation and push away medicine automatic control technology field, particularly a kind of prediction self-adaptation control method and control system thereof of injecting for medicinal liquid.
Background technology
At present, to the treatment of cancer, what generally adopt is the chemotherapy that intravascular gets involved injection, i.e. puncture, intubate under the monitoring of digital subtracting X-ray system (DSA) clinically, conduit is introduced the entrance to supply artery of the tumor branch, inject chemotherapeutic at the duct entry end.The method is used for cardiovascular disease at first, is applied to very soon later on each position various diseases Clinics and Practices of whole body such as nervous system, tumor.It is many especially to be used for tumor at China's interventional therapy, has accounted for the interventional therapy major part, has become a kind of therapy commonly used in the combined therapy of tumour.Intervening mode is also got involved in the moving lung intervention of lung, arteriae bronchiales intervention from vascular, and intracavity is got involved, and directly gets involved in the tumor.
Current clinically intravascular gets involved when pushing away medicine, and ubiquity and only paid close attention to tumor focus, cancerous cell, thereby has taked to eliminate cancerous cell as target, and the aggressivity that carries out heavy dose, at a high speed perfusion with simple hand propelled syringe pushes away the medicine chemotherapy.But when utilizing this traditional-handwork to push away the prescription formula, just follow the vessel inner blood flow direction behind the medicinal liquid intravasation and flowing to each one of whole body, the parameter that can't make a response along with patient's self regulatory mechanism with meetings such as patient's pressure value, hearts rate and change interrelates, so that medicinal liquid only has part to enter the pathological changes tumor vessel, cause this medicinal liquid both to kill cancerous cell, also killed Normocellular result; And push away in the medicine process, the excessive or excessive velocities of the push-in stroke of medicinal liquid also can cause many clinical problems, not only increases patient's financial burden, has also increased medical personnel's workload.
Summary of the invention
The object of the invention is to overcome existing above-mentioned deficiency in the prior art, but a kind of prediction self-adaptation control method and control system thereof that medicinal liquid is injected that be used for of Harm reduction health tissues is provided.
In order to realize the foregoing invention purpose, the invention provides following technical scheme:
A kind of prediction self-adaptation control method of injecting for medicinal liquid may further comprise the steps:
(1) gather pressure value: by the detection module Real-time Collection human blood-pressure value in the main control module, the memory field that is stored in the main control module in the mode of recursion forms the pressure value array;
(2) obtain relevant parameter: the identification module in the main control module obtains real-time cardiac cycle and the characteristic parameter in the cycle by identification pressure value array; Obtain patient's symptom parameter by health check-up;
(3) calculating pushes away medicine constantly: setting pushes away medicine constantly according to the symptom parameter; Main control module according to push away medicine constantly, real-time cardiac cycle and the characteristic parameter in the cycle, calculate by predictive control algorithm and to push away constantly t of medicine in the next cardiac cycle
r(k+1);
(4) start medicinal liquid and inject module: push away constantly t of medicine in the next cardiac cycle that main control module will calculate
r(k+1) be sent to medicinal liquid and inject microcontroller in the module, described microcontroller pushes away medicine constantly according to this and t in advance
Delay, start medicinal liquid and inject in the module little injector and carry out medicinal liquid and inject described t
DelayInject the time delay of module for medicinal liquid;
The self adaptation of (5) injecting: the pressure value that the detection module collection is new, with the sampling pressure value that newly obtains, the cardiac cycle that newly identifies and the characteristic parameter in the cycle and the pressure value, cardiac cycle and the characteristic parameter weighted average in the cycle that gather before, upgrade the parameter of predictive control algorithm, realize the adaptivity that the medicinal liquid PREDICTIVE CONTROL is injected.
According to the cardiac cycle that calculates and the characteristic parameter in the cycle, the time phase of the medicinal liquid intravasation porch that prediction is released in next cardiac cycle, the pre-cooling medicinal liquid is injected the time of module, can make things convenient for medical personnel's fast processing.Push away medicine and constantly be associated according to patient's pressure value, cardiac cycle and the characteristic parameter in the cycle, can immediately adjust and push away medicine constantly, avoid causing patient's discomfort and affect the treatment consequence.
Preferably, above-mentioned prediction self-adaptation control method of injecting for medicinal liquid, in the described step (1), the mode of recursion refers to sample new pressure value when entering the pressure value array, lose simultaneously one group of sampling pressure value the earliest, the dimension of pressure value array is remained unchanged.
Preferably, above-mentioned prediction self-adaptation control method of injecting for medicinal liquid in the described step (3), pushes away constantly t of medicine in the next cardiac cycle
r(k+1) by equation t
r(k+1) '=t
r(k)+Tm (k)+
ξ [(t
r(k)-t
r(k) ', t
r(k-1)-t
r(k-1) ' ... t
r(k-m)-t
r(k=m) ']
TCalculate, wherein, t
r(k) be in the current cardiac cycle should the time phase initial time, namely currently push away medicine constantly; t
r(k) ' in the current cardiac cycle that draws according to the calculation of characteristic parameters in the last cardiac cycle for predictive control algorithm should the time phase initial time; T
m(k) for grey forecasting model according to before the duration of the current cardiac cycle that calculates of cardiac cycle fluctuation pattern; Length of field when m is prediction, and m〉0; ξ is the error coefficient vector, determines the weight of each error component, ξ=[ξ
1ξ
2ξ
n], 0＜ξ
n＜1, n=1,2,3 ..., m.
Preferably, above-mentioned prediction self-adaptation control method of injecting for medicinal liquid, in the described step (3), the initial time of phase when pushing away medicine and constantly referring to one of them of characteristic parameter of cardiac cycle.
A kind of prediction adaptive control system of injecting for medicinal liquid, comprise that main control module and medicinal liquid inject module, described main control module comprises for the detection module that gathers the human blood-pressure value, described detection module is passed to the memory field with this pressure value and stores, form the pressure value array, described memory field is connected with identification module, the pressure value array of described identification module identification memory field obtains real-time cardiac cycle and the characteristic parameter in the cycle, described identification module also is connected with the predictive control algorithm module, and described predictive control algorithm module is by calculating injecting constantly of next cardiac cycle to characteristic parameter;
Described medicinal liquid is injected the predictive control algorithm module that module is connected in main control module, described medicinal liquid is injected module and is comprised microcontroller and injector for medical purpose, described medicinal liquid is injected module and is connected in the predictive control algorithm module by microcontroller, described predictive control algorithm module is sent to microcontroller constantly with injecting of next cardiac cycle, described microcontroller is connected with micro-thruster, described micro-thruster is connected with injector for medical purpose, the fltting speed of described microprocessor controls micro-thruster, inject constantly and inject and stop constantly, and then the injection speed of control injector for medical purpose, inject constantly and stop constantly with injecting.
Preferably, above-mentioned prediction adaptive control system of injecting for medicinal liquid, described detection module comprises pressure transducer.
Preferably, above-mentioned prediction adaptive control system of injecting for medicinal liquid, described medicinal liquid is injected the predictive control algorithm module that microcontroller in the module is connected in main control module; Described micro-thruster comprises shell and motor, and described motor is connected with screw mandrel by shaft coupling, and the described screw mandrel other end is fixed in a side relative with motor, and described screw mandrel is connected with the syringe top; Described injector for medical purpose is fixed in the shell of described micro-thruster, and the position of the piston rod tail end of described injector for medical purpose and described syringe top is suitable.Motor drives the motion of syringe top by shaft coupling, and screw mandrel can be converted to rotatablely moving of shaft coupling the rectilinear motion of syringe top, thereby but makes syringe top pushing piston bar injection liquid.
Preferably, above-mentioned prediction adaptive control system of injecting for medicinal liquid, also be provided with on the described micro-thruster shell for mobile the first limit switch and the second limit switch in restriction syringe top, when the syringe inner carrier contacts with the syringe top, described the first limit switch contacts with the syringe top, distance between described the first limit switch and the second limit switch is less than syringe length, and the second limit switch is positioned at the direction of motion of piston rod and away from a side of syringe.
Preferably, above-mentioned prediction adaptive control system of injecting for medicinal liquid, described the first limit switch and the second limit switch are connected with alarm device.The first limit switch is being reported to the police when contacting with the syringe top, notifies the injection of medical personnel's syringe inner liquid medicine complete, can remind medical personnel in time to change syringe.The second limit switch is reported to the police when contacting with the syringe top, reminds the piston rod in medical personnel's syringe to arrive the rearmost position.
Preferably, above-mentioned prediction adaptive control system of injecting for medicinal liquid also is provided with the pressure-strain sheet between described syringe top and the described piston rod tail end.Microcontroller calculates by the pressure of pressure-strain sheet perception, and the speed of control step motor, so that pushing back power, the propulsive force of motor and blood pressure balance each other, do not carrying out medicinal liquid when injecting, can avoid medicinal liquid to be pushed out syringe and blood can not reflux yet, be in pressure balance.
Medicinal liquid is injected the medicine speed that pushes away in the module and is pushed away dose and controls by main control module, improve medicinal liquid and injected the response speed of module and real-time control ability, and can be implemented in blood flow rate and carry out mutually slowly injecting of medicinal liquid during diastole, so that medicinal liquid is not diluted rapidly by blood flow at a high speed when entering human vas, thereby maintenance higher concentration, be more conducive to the medicinal liquid kill cancer cell, thereby realized science, rationally, safe medication, namely with less drug dose, obtain maximum drug level and stop the sufficiently long time and without backflowing the Harm reduction health tissues in local organs.Not only changed current intravascular get involved push away in the medicine by craft inject very important lack of standardization, at a high speed, heavy dose of injection and many clinical problems of causing, also greatly alleviated national and patient financial burden, reduced medical worker's muscle power and energy.
Compared with prior art, beneficial effect of the present invention:
1, herb liquid of the present invention is injected the medicine speed that pushes away in the module and is pushed away dose and controls by main control module, improve medicinal liquid and injected the response speed of module and real-time control ability, and can be implemented in blood flow rate and carry out mutually slowly injecting of medicinal liquid during diastole, so that medicinal liquid is not diluted rapidly by blood flow at a high speed when entering human vas, thereby maintenance higher concentration, be more conducive to the medicinal liquid kill cancer cell, thereby realized science, rationally, safe medication, namely with less drug dose, obtain maximum drug level and stop the sufficiently long time and without backflowing the Harm reduction health tissues in local organs.
2, the present invention uses the composition medicinal liquids such as microcontroller, micro-thruster and injector for medical purpose to inject module, not only changed current intravascular get involved push away in the medicine by craft inject very important lack of standardization, at a high speed, heavy dose of injection and many clinical problems of causing, also greatly alleviated national and patient financial burden, reduced medical worker's muscle power and energy.
3, because the present invention adopts predictive control algorithm to carry out the calculating of cardiac cycle and the characteristic parameter in the cycle, according to the cardiac cycle that calculates and the characteristic parameter in the cycle, the time phase of the medicinal liquid intravasation porch that prediction is released in next cardiac cycle, the pre-cooling medicinal liquid is injected module, can immediately adjust and push away medicine constantly, avoid causing patient's discomfort and affect the treatment consequence.
4, because the medicine that pushes away of the present invention is pressure value, cardiac cycle and the calculation of characteristic parameters in the cycle according to the patient constantly, medical personnel also can see the dynamic waveform of patient's blood pressure when observation pushes away the medicine situation, can make things convenient for medical personnel's fast processing emergency situations.
Description of drawings:
Fig. 1 is that the present invention is used for the prediction adaptive control system principle schematic that medicinal liquid is injected.
Fig. 2 is the structural representation that herb liquid of the present invention is injected module.
Fig. 3 is the flow chart that the present invention is used for the prediction self-adaptation control method that medicinal liquid injects.
Labelling among the figure: 1-shell, 2-motor, 3-shaft coupling, 4-the first limit switch, 5-the second limit switch, 6-screw mandrel, 7-syringe top, 8-pressure-strain sheet, 9-piston rod, 10-syringe.
The specific embodiment
The present invention is described in further detail below in conjunction with test example and the specific embodiment.But this should be interpreted as that the scope of the above-mentioned theme of the present invention only limits to following embodiment, all technology that realizes based on content of the present invention all belong to scope of the present invention.
Embodiment
A kind of prediction adaptive control system of injecting for medicinal liquid, as shown in Figure 1, comprise that main control module and medicinal liquid inject module, described main control module comprises for the detection module that gathers the human blood-pressure value, described detection module is passed to the memory field with this pressure value and stores, form the pressure value array, described memory field is connected with identification module, the pressure value array of described identification module identification memory field obtains real-time cardiac cycle and the characteristic parameter in the cycle, described identification module also is connected with the predictive control algorithm module, and described predictive control algorithm module is by calculating injecting constantly of next cardiac cycle to characteristic parameter;
Described medicinal liquid is injected the predictive control algorithm module that module is connected in main control module, described medicinal liquid is injected module and is comprised microcontroller and injector for medical purpose, described medicinal liquid is injected module and is connected in the predictive control algorithm module by microcontroller, described predictive control algorithm module is sent to microcontroller constantly with injecting of next cardiac cycle, described microcontroller is connected with micro-thruster, described micro-thruster is connected with injector for medical purpose, the fltting speed of described microprocessor controls micro-thruster, inject constantly and inject and stop constantly, and then the injection speed of control injector for medical purpose, inject constantly and stop constantly with injecting.
Medicinal liquid is injected module and is comprised microcontroller, micro-thruster and injector for medical purpose, and described microcontroller is connected in the predictive control algorithm module of main control module; As shown in Figure 2, described micro-thruster comprises shell 1 and motor 2, and described motor 2 is connected with screw mandrel 6 by shaft coupling 3, and described screw mandrel 6 other ends are fixed in a side relative with motor 2, and described screw mandrel 6 is connected with syringe top 7; Described injector for medical purpose is fixed in the shell 1 of described micro-thruster, and the position of piston rod 9 tail ends of described injector for medical purpose and described syringe top 7 is suitable, also is provided with pressure-strain sheet 8 between described syringe top 7 and described piston rod 9 tail ends; Also be provided with in the described micro-thruster shell 1 for restriction syringe top 7 the first limit switch 4 that moves and the second limit switches 5, when syringe 10 inner carriers contact with the syringe top, described the first limit switch 4 contacts with syringe top 7, distance between described the first limit switch 4 and the second limit switch 5 is less than syringe 10 length, and the second limit switch 5 is positioned at the direction of motion of piston rod 9 and away from a side of syringe 10;
When main control module pushes away medicine constantly the time by the predictive control algorithm module to what medicinal liquid injected that module sends next cardiac cycle, microcontroller starts motor and drives the shaft coupling rotation, and will rotatablely move by screw mandrel and change rectilinear motion into, drive the syringe top and make piston rod movement, the medicinal liquid that promotes in the syringe enters human body; The resistance of meeting when the pressure-strain sheet is used for the induction injection liquid, and this resistance is sent to microcontroller, the resistance that blood vessel runs into when judging that by the size of thrust medicinal liquid enters human body; When syringe top contact the first limit switch, give the alarm that it is complete to notify medical personnel to inject, when syringe top contact the second limit switch, give the alarm and notify medical personnel's piston rod to arrive the rearmost position.Motor is after the medicinal liquid task of injecting begins, do not carry out medicinal liquid when injecting, be in lower-speed state, microcontroller calculates by the pressure of pressure-strain sheet perception, and the speed of control step motor, so that pushing back power, the propulsive force of motor and blood pressure balance each other, do not carrying out medicinal liquid when injecting, can avoid medicinal liquid to be pushed out syringe and blood can not reflux yet, be in pressure balance.
As shown in Figure 3, above-mentioned prediction adaptive control system of injecting for medicinal liquid is according to the steps of processing signal:
(1) gather pressure value: by the detection module Real-time Collection human blood-pressure value in the main control module, the memory field that is stored in the main control module in the mode of recursion forms the pressure value array;
(2) obtain relevant parameter: the identification module in the main control module obtains real-time cardiac cycle and the characteristic parameter in the cycle by identification pressure value array; Obtain patient's symptom parameter by health check-up;
(3) calculating pushes away medicine constantly: setting pushes away medicine constantly according to the symptom parameter; Main control module according to push away medicine constantly, real-time cardiac cycle and the characteristic parameter in the cycle, calculate by predictive control algorithm and to push away medicine constantly in the next cardiac cycle;
(4) start medicinal liquid and inject module: the medicine that pushes away in the next cardiac cycle that main control module will calculate constantly is sent to medicinal liquid and injects microcontroller in the module, and described microcontroller pushes away medicine constantly according to this and t in advance
Delay, start medicinal liquid and inject in the module little injector and carry out medicinal liquid and inject described t
DelayInject the time delay of module for medicinal liquid;
The self adaptation of (5) injecting: the pressure value that the detection module collection is new, with the sampling pressure value that newly obtains, the cardiac cycle that newly identifies and the characteristic parameter in the cycle and the pressure value, cardiac cycle and the characteristic parameter weighted average in the cycle that gather before, upgrade the parameter of predictive control algorithm, realize the adaptivity that the medicinal liquid PREDICTIVE CONTROL is injected.
Push away medicine and constantly be associated according to patient's pressure value, cardiac cycle and the characteristic parameter in the cycle, can immediately adjust and push away medicine constantly, avoid causing patient's discomfort and affect the treatment consequence.
In the step (1), detection module comprises pressure transducer; The mode of recursion refers to sample new pressure value when entering the pressure value array, loses simultaneously one group of sampling pressure value the earliest, and the dimension of pressure value array is remained unchanged.
In the step (2), the characteristic parameter in the cardiac cycle comprises systolic pressure, diastolic pressure, diastole duration, systolic period duration etc.; The symptom parameter comprises that diameter of tumor, supply artery of the tumor, tumor inject a distance etc. apart from default medicinal liquid.
In the step (3), the initial time of phase when pushing away in the characteristic parameter that medicine refers to cardiac cycle constantly; Push away constantly t of medicine in the next cardiac cycle
r(k+1) by equation t
r(k+1) '=t
r(k)+T
m(k)+
ξ [(t
r(k)-t
r(k) ', t
r(k-1)-t
r(k-1) ' ... t
r(k-m)-t
r(k=m) ']
TCalculate, wherein, t
r(k) be in the current cardiac cycle should the time phase initial time, namely currently push away medicine constantly; t
r(k) ' in the current cardiac cycle that draws according to the calculation of characteristic parameters in the last cardiac cycle for predictive control algorithm should the time phase initial time; T
m(k) be Grey models GM (1,1) according to before the duration of the current cardiac cycle that calculates of cardiac cycle fluctuation pattern; Length of field when m is prediction, and m〉0; ξ is the error coefficient vector, determines the weight of each error component, ξ=[ξ
1ξ
2ξ
n], 0＜ξ
n＜1, n=1,2,3 ..., m.
Being implemented as follows of Grey models GM (1,1):
If the cardiac cycle initial data is classified T as
0(k) (k=1,2 ... n), T
1(k) (k=1,2 ... n) be T
0(k) one-accumulate and, namely
The gray level model differential equation is T
(0)(k)+aT
(1)(k)=and b k=1,2 ... n; N〉0; Order
And parameter to be identified is θ=[a, b]
T,
Order
θ=(B
TB)
-1B
TY obtains predicting expression formula T
0(k+1)=T
1(k+1)-T
1(K)=(1-exp (a)) [T
0(1)-b/a] exp (ak), in the following formula when k＜n, the reducing value T of prediction output T initial data row
0(k), when k=n, next prediction output valve constantly of prediction output T is as k〉during n, k+n the cardiac cycle prediction output valve afterwards of prediction output T.
Claims (10)
1. one kind is used for the prediction self-adaptation control method that medicinal liquid is injected, and it is characterized in that the method may further comprise the steps:
(1) gather pressure value: by the detection module Real-time Collection human blood-pressure value in the main control module, the memory field that is stored in the main control module in the mode of recursion forms the pressure value array;
(2) obtain relevant parameter: the identification module in the main control module obtains real-time cardiac cycle and the characteristic parameter in the cycle by identification pressure value array; Obtain patient's symptom parameter by health check-up;
(3) calculating pushes away medicine constantly: setting pushes away medicine constantly according to the symptom parameter; Main control module according to push away medicine constantly, real-time cardiac cycle and the characteristic parameter in the cycle, calculate by predictive control algorithm and to push away constantly t of medicine in the next cardiac cycle
r(k+1);
(4) start medicinal liquid and inject module: push away constantly t of medicine in the next cardiac cycle that main control module will calculate
r(k+1) be sent to medicinal liquid and inject microcontroller in the module, described microcontroller pushes away medicine constantly according to this and t in advance
Delay, start medicinal liquid and inject in the module little injector and carry out medicinal liquid and inject described t
DelayInject the time delay of module for medicinal liquid;
The self adaptation of (5) injecting: the pressure value that the detection module collection is new, with the sampling pressure value that newly obtains, the cardiac cycle that newly identifies and the characteristic parameter in the cycle and the pressure value, cardiac cycle and the characteristic parameter weighted average in the cycle that gather before, upgrade the parameter of predictive control algorithm, realize the adaptivity that the medicinal liquid PREDICTIVE CONTROL is injected.
2. prediction self-adaptation control method of injecting for medicinal liquid according to claim 1, it is characterized in that, the mode of recursion refers to sample new pressure value when entering the pressure value array in the described step (1), lose simultaneously one group of sampling pressure value the earliest, the dimension of pressure value array is remained unchanged.
3. prediction self-adaptation control method of injecting for medicinal liquid according to claim 1 is characterized in that, in the described step (3), pushes away constantly t of medicine in the next cardiac cycle
r(k+1) by equation t
r(k+1) '=t
r(k)+T
m(k)+ξ [(t
r(k)-t
r(k) ', t
r(k-1)-t
r(k-1) ' ... t
r(k-m)-t
r(k=m) ']
TCalculate, wherein, t
r(k) be in the current cardiac cycle should the time phase initial time, namely currently push away medicine constantly; t
r(k) ' in the current cardiac cycle that draws according to the calculation of characteristic parameters in the last cardiac cycle for predictive control algorithm should the time phase initial time; T
m(k) for grey forecasting model according to before the duration of the current cardiac cycle that calculates of cardiac cycle fluctuation pattern; Length of field when m is prediction, and m〉0; ξ is the error coefficient vector, determines the weight of each error component, ξ=[ξ
1ξ
2ξ
n], 0＜ξ
n＜1, n=1,2,3 ..., m.
4. prediction self-adaptation control method of injecting for medicinal liquid according to claim 3 is characterized in that, the initial time of phase when pushing away medicine in the described step (3) and constantly referring to one of them of cardiac cycle.
5. one kind is used for the prediction adaptive control system that medicinal liquid is injected, comprise that main control module and medicinal liquid inject module, it is characterized in that, described main control module comprises for the detection module that gathers the human blood-pressure value, described detection module is passed to the memory field with this pressure value and stores, form the pressure value array, described memory field is connected with identification module, the pressure value array of described identification module identification memory field obtains real-time cardiac cycle and the characteristic parameter in the cycle, described identification module also is connected with the predictive control algorithm module, and described predictive control algorithm module is by calculating injecting constantly of next cardiac cycle to characteristic parameter;
Described medicinal liquid is injected the predictive control algorithm module that module is connected in main control module, described medicinal liquid is injected module and is comprised microcontroller and injector for medical purpose, described medicinal liquid is injected module and is connected in the predictive control algorithm module by microcontroller, described predictive control algorithm module is sent to microcontroller constantly with injecting of next cardiac cycle, described microcontroller is connected with micro-thruster, described micro-thruster is connected with injector for medical purpose, the fltting speed of described microprocessor controls micro-thruster, inject constantly and inject and stop constantly, and then the injection speed of control injector for medical purpose, inject constantly and stop constantly with injecting.
6. prediction adaptive control system of injecting for medicinal liquid according to claim 5 is characterized in that described detection module comprises pressure transducer.
7. prediction adaptive control system of injecting for medicinal liquid according to claim 5 is characterized in that, described medicinal liquid is injected the predictive control algorithm module that microcontroller in the module is connected in main control module; Described micro-thruster comprises shell and motor, and described motor is connected with screw mandrel by shaft coupling, and the described screw mandrel other end is fixed in a side relative with motor, and described screw mandrel is connected with the syringe top; Described injector for medical purpose is fixed in the shell of described micro-thruster, and the position of the piston rod tail end of described injector for medical purpose and described syringe top is suitable.
8. prediction adaptive control system of injecting for medicinal liquid according to claim 7, it is characterized in that, also be provided with on the described micro-thruster shell for mobile the first limit switch and the second limit switch in restriction syringe top, when the syringe inner carrier contacts with the syringe top, described the first limit switch contacts with the syringe top, distance between described the first limit switch and the second limit switch is less than syringe length, and the second limit switch is positioned at the direction of motion of piston rod and away from a side of syringe.
9. prediction adaptive control system of injecting for medicinal liquid according to claim 8 is characterized in that described the first limit switch and the second limit switch are connected with alarm device.
10. prediction adaptive control system of injecting for medicinal liquid according to claim 9 is characterized in that, also is provided with the pressure-strain sheet between described syringe top and the described piston rod tail end.
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| CN107224635A (en) * | 2017-07-01 | 2017-10-03 | 苏州能斯达电子科技有限公司 | A kind of injection of insulin is pumped monitoring device |
| CN108992743A (en) * | 2018-08-06 | 2018-12-14 | 广州友沃医疗设备有限公司 | A kind of injecting method automatically generating injection plan and equipment |
| CN112741706A (en) * | 2019-10-29 | 2021-05-04 | 北京大学第三医院（北京大学第三临床医学院） | Method and device for preparing diffusion source and method for measuring physiological parameter of extracellular space of solid tissue |
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