CN116510130A - Injector control method, system and storage medium - Google Patents
Injector control method, system and storage medium Download PDFInfo
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- CN116510130A CN116510130A CN202310672375.1A CN202310672375A CN116510130A CN 116510130 A CN116510130 A CN 116510130A CN 202310672375 A CN202310672375 A CN 202310672375A CN 116510130 A CN116510130 A CN 116510130A
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- 238000000034 method Methods 0.000 title claims abstract description 97
- 230000033001 locomotion Effects 0.000 claims abstract description 78
- 230000002829 reductive effect Effects 0.000 claims abstract description 31
- 230000004044 response Effects 0.000 claims abstract description 22
- 230000008859 change Effects 0.000 claims abstract description 13
- 206010002091 Anaesthesia Diseases 0.000 claims description 8
- 230000037005 anaesthesia Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims 2
- 230000008569 process Effects 0.000 abstract description 36
- 239000007788 liquid Substances 0.000 abstract description 35
- 238000002347 injection Methods 0.000 description 16
- 239000007924 injection Substances 0.000 description 16
- 210000000214 mouth Anatomy 0.000 description 14
- 238000001514 detection method Methods 0.000 description 11
- 230000003444 anaesthetic effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 230000007423 decrease Effects 0.000 description 6
- 239000012530 fluid Substances 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 5
- 230000000630 rising effect Effects 0.000 description 5
- 210000003484 anatomy Anatomy 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000000243 solution Substances 0.000 description 3
- 238000000605 extraction Methods 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000003193 general anesthetic agent Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Classifications
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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
- A61M5/31—Details
-
- 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
-
- 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
- A61M5/31—Details
- A61M5/315—Pistons; Piston-rods; Guiding, blocking or restricting the movement of the rod or piston; Appliances on the rod for facilitating dosing ; Dosing mechanisms
- A61M5/31511—Piston or piston-rod constructions, e.g. connection of piston with piston-rod
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- 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
- A61M2202/00—Special media to be introduced, removed or treated
- A61M2202/04—Liquids
- A61M2202/0468—Liquids non-physiological
- A61M2202/048—Anaesthetics
-
- 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
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
- A61M2205/3327—Measuring
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Vascular Medicine (AREA)
- Anesthesiology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The present application relates to the technical field of medical devices, and in particular, to a method, a system, and a storage medium for controlling an injector. The control method is applied to a syringe including a piston assembly; wherein, piston assembly connects the driving piece, and it includes: acquiring the power of a driving piece; wherein the driving piece is used for driving the piston assembly to move; judging the current movement type of the piston assembly according to the power of the driving piece; and under the condition that the current motion type of the piston assembly is judged to be the back-off, further judging the change trend of the power, and controlling the driving piece to stop driving the piston assembly in response to the trend of the power which is increased again after the power is reduced. By adopting the control method of the injector, the power of the driving piece is obtained to control the backspacing process of the injector piston assembly, so that the leakage of liquid after the injector is pulled out is effectively reduced, and the dosage of the backscattering liquid from human tissues in the backscattering process of the injector push rod is also reduced.
Description
Technical Field
The present application relates to the technical field of medical devices, and in particular, to a method, a system, and a storage medium for controlling an injector.
Background
The injector can be divided into a manual injector and an electric injector, and the electric injector has the advantages of stability, labor saving, stable injection speed, convenient use and the like.
At present, most syringes leak residual liquid from the syringe after the syringe needle is pulled out of human tissue during injection. The leaked liquid can splash on human tissues (such as skin) to bring bad experience to patients. In particular, during the process of injecting an anesthetic into the oral cavity of a patient, the liquid remained after the syringe is pulled out usually drops into the oral cavity of the patient, and if the patient eats the anesthetic by mistake, the patient may be injured.
Disclosure of Invention
The embodiment of the application aims at a control method, a control system and a storage medium of a syringe, and the control of the retraction progress of a syringe piston assembly is realized. To reduce leakage of liquid after withdrawal of the syringe.
In a first aspect, embodiments of the present application provide a method of controlling a syringe, the method being applied to a syringe including a piston assembly; wherein the piston assembly is connected to a drive member, the method comprising: acquiring the power of the driving piece; wherein the driving piece is used for driving the piston assembly to move; judging the current movement type of the piston assembly according to the power of the driving piece; and under the condition that the current movement type of the piston assembly is judged to be backspacing, further judging the change trend of the power, and controlling the driving piece to stop driving the piston assembly in response to the trend of the power which is increased again after the power is reduced.
According to the control method of the injector, the power of the driving piece is obtained to control the backspacing process of the injector piston assembly, so that the leakage of liquid after the injector is pulled out is effectively reduced. The dosage of the back suction liquid from human tissues in the retraction process of the push rod of the injector is also reduced.
With reference to the first aspect, optionally, the determining the current motion type of the piston assembly includes: judging whether a retraction command for controlling retraction of the piston assembly is received or not; and if the back-off instruction is received, judging that the current movement type of the piston assembly is back-off.
According to the control method of the injector, the current movement type of the piston assembly is judged according to whether the back instruction for controlling the back of the piston assembly is received, so that the accurate judgment of the movement type of the piston is realized, and the accuracy of controlling the injector is further improved. In addition, compared with the mode of judging the movement type of the piston assembly only by detecting the current or the voltage, the method has the advantages that a corresponding detection device is omitted, and the cost is saved.
With reference to the first aspect, optionally, the acquiring power of the driving element includes: acquiring a current value flowing through the driving piece; the judging the current movement type of the piston assembly comprises the following steps: judging whether the current flowing through the driving piece is opposite to the current flowing through the driving piece under the condition of responding to the forward instruction; wherein the advance command is used for controlling the piston assembly to advance; and if the current flowing through the driving piece is opposite to the current flowing through the driving piece under the condition of responding to the forward command, judging that the current movement type of the piston assembly is backspacing.
According to the control method of the injector, the movement type of the piston assembly is judged by detecting the current of the branch where the driving piece is located, so that the other accurate judgment of the movement type of the piston is realized, and the accuracy of controlling the injector is further improved. In addition, compared with the mode of judging the movement type of the piston according to the instruction, delay caused by response time and the like of the instruction is omitted, further, information of switching the movement type of the piston is obtained more timely, and finally, the accuracy of controlling the injector is further improved.
With reference to the first aspect, optionally, the determining the trend of the power change, and controlling the driving member to stop driving the piston assembly in response to the trend of the power increase again after the power decrease, includes: and judging the change trend of the current value, and controlling the driving piece to stop driving the piston assembly in response to the trend of the current value which is increased again after the current value is reduced.
According to the control method of the injector, by responding to the trend of increasing again after the current value is reduced, the driving part is controlled to stop driving the piston assembly, so that the driving of the driving part to the piston assembly is controlled immediately after the piston head is completely restored to deform, the leakage of liquid to be injected caused by the fact that the piston head is still continuously restored to deform after injection and extraction is further avoided to a certain extent, and meanwhile, the liquid dose of the liquid which is reversely sucked by the fact that the injection is continuously retracted after the piston head is restored to deform is reduced.
With reference to the first aspect, optionally, the controlling the driving member to stop driving the piston assembly in response to the trend of increasing again after the power decreases includes: after the power drops to a minimum value, acquiring the minimum value; and controlling the driving member to stop when the power value is equal to the sum of the minimum value and a preset value; wherein the preset value is determined according to the accuracy of detecting the power.
According to the control method of the injector, the minimum value is not easy to obtain just before the minimum value occurs at the moment of completely recovering the deformation of the piston assembly, so that the driving piece is controlled to stop driving the piston assembly at the moment of the occurrence of the power value by determining the power value which is as close to the minimum value as possible based on the detection precision, and the liquid dosage of the back suction of the injector in the back-moving process of the piston assembly is reduced.
With reference to the first aspect, optionally, the method further includes: and if the current movement type of the piston assembly is judged to be backspacing, controlling the driving piece to reduce the driving speed of the piston assembly.
According to the control method of the injector, under the condition that the current movement type of the piston assembly is judged to be the backspacing, the driving speed of the piston assembly is reduced, the control error caused by the delay time of the control of the driving piece is reduced, and the control precision of the injector is further improved.
With reference to the first aspect, optionally, the syringe includes an oral anesthesia booster.
According to the control method of the injector, the oral cavity anesthesia booster is controlled by adopting the control method of the injector provided by the embodiment of the application, so that the problems that the anesthetic leaks into the oral cavity of a patient and is mistakenly eaten by the patient in the process of injecting the anesthetic into the oral cavity of the patient are avoided to a certain extent. While reducing the amount of fluid that is back-sucked from the patient's oral anatomy as the piston assembly is retracted.
In a second aspect, embodiments of the present application further provide a control system of an injector, including: a syringe, a driver, and a controller; the syringe includes a piston assembly; an output shaft of the driving piece is connected with the piston assembly to drive the piston assembly to move; the controller is used for detecting the power of the driving piece; acquiring the power of a driving piece; and judging the current movement type of the piston assembly, further judging the change trend of the power under the condition that the current movement type of the piston assembly is judged to be the back-off, and controlling the driving piece to stop driving the piston assembly in response to the secondary power increasing trend of the power.
With reference to the first aspect, optionally, in determining the current movement type of the piston assembly, the controller is specifically configured to determine whether to issue a retraction command for controlling retraction of the piston assembly; and if the back-off instruction is sent out, judging that the current movement type of the piston assembly is back-off.
The foregoing embodiments provide a control system for an injector having the same advantages as the control method for an injector provided in the first aspect, or any optional implementation manner of the first aspect, which is not described herein.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor and a memory storing machine-readable instructions executable by the processor to perform the method as described above when executed by the processor.
The foregoing embodiments provide the electronic device with the same advantages as the control method of the injector provided in the first aspect, or any optional implementation manner of the first aspect, which is not described herein.
In a fourth aspect, embodiments of the present application also provide a storage medium, including a computer-readable storage medium; the computer readable storage medium has stored thereon a computer program which, when run by a processor, performs the method described above.
The foregoing embodiments provide a storage medium having the same advantages as the control method of the syringe provided in the first aspect, or any optional implementation manner of the first aspect, which is not described herein.
In summary, the control method, the system and the storage medium for the injector provided by the application can control the retraction process of the injector piston assembly by acquiring the power of the driving piece, so that the leakage of liquid after the injector is pulled out is effectively reduced. The dosage of the back suction liquid from human tissues in the retraction process of the push rod of the injector is also reduced. Judging the current movement type of the piston assembly according to whether a retraction instruction for controlling the retraction of the piston assembly is received, so that a corresponding detection device is omitted, and the cost is saved; the movement type of the piston assembly is judged by detecting the current of the branch where the driving piece is located, so that the accuracy of controlling the injector is further improved. By controlling the driver to stop driving the piston assembly in response to a trend of increasing again after a decrease in the current value, leakage of the liquid to be injected after the injection is pulled out is further avoided to some extent, and the injection continues to withdraw the dose of the sucked liquid after the piston head resumes its deformation. Particularly, the control method, the system and the storage medium of the injector are applied to control of the oral cavity anesthesia booster, so that the problems that the anesthetic leaks into the oral cavity of a patient and is mistakenly eaten by the patient in the process of injecting the anesthetic into the oral cavity of the patient are avoided to a certain extent. While reducing the amount of fluid that is back-sucked from the patient's oral anatomy as the piston assembly is retracted.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a control method of a syringe according to an embodiment of the present application;
FIG. 2 is a graph showing a trend of force variation during retraction of a piston assembly according to an embodiment of the present disclosure;
fig. 3 is a specific flowchart of step S140 in the method for controlling an injector according to the embodiment of the present application;
fig. 4 is a specific flowchart of step S160 in the method for controlling an injector according to the embodiment of the present application;
FIG. 5 is a schematic diagram of a control system for a syringe according to an embodiment of the present application;
fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present application.
Icon: 500. a control system for the injector; 510. a syringe; 511. a piston assembly; 520. a driving member; 530. a controller; 600. an electronic device; 611. a memory; 612. a memory controller; 613. a processor; 614. a peripheral interface; 615. an input/output unit; 616. and a display unit.
Detailed Description
Embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present application, and thus are only examples, and are not intended to limit the scope of protection of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
In the description of the embodiments of the present application, the technical terms "first," "second," etc. are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.
Syringes generally include a piston assembly having a piston head. The piston is usually made of a material having elasticity such as rubber. During injection, the piston head on the piston assembly will deform to some extent, typically due to compression of the piston head with the greater pressure in the tube. And, as the piston assembly advances in the direction of the fluid to be injected during the injection process, the piston head is subjected to greater and greater pressure, and thus deformation. After injection is completed, if the piston head is not kept in the original shape, the needle head of the injector is pulled out, when the needle head is pulled out of human tissues, the piston head is usually enabled to be in the original shape due to the fact that the pressure in the tube body is reduced, and liquid to be injected left in the injector is extruded in the process of restoring the piston head, so that the liquid to be injected is leaked on the human tissues (such as skin) of a patient. Even if the deformation amount of the rubber plug is large, a large amount of anesthetic agent is sprayed to the skin of the patient.
In view of the above, the present application provides a method, a system and a storage medium for controlling an injector to solve the above-mentioned problems. In particular, reference is made to the examples and figures provided herein.
Referring to fig. 1, fig. 1 is a flowchart of a control method of a syringe according to an embodiment of the present application. The injector control method provided by the embodiment of the application is applied to an injector comprising a piston assembly. Wherein, the piston assembly is connected with the driving piece. The method may include:
step S120: power is drawn from the driver. Wherein, the driver is used for driving the piston assembly to move.
Step S140: and judging the current movement type of the piston assembly according to the power of the driving piece.
Step S160: and under the condition that the current motion type of the piston assembly is judged to be the back-off, further judging the change trend of the power, and controlling the driving piece to stop driving the piston assembly in response to the trend of the power which is increased again after the power is reduced.
All three steps described above may be performed by the controller.
In step S120, the driving member may be a motor, a screw rod may be disposed on an output shaft of the motor, and a screw nut matched with the screw rod may be disposed on a piston assembly of the syringe. Through the combination of the screw rod and the screw rod nut, the rotary motion output by the motor can be converted into linear motion and acts on the piston assembly of the injector, so that the piston assembly is driven to advance and retract. The forward movement of the piston assembly can realize the injection of the liquid to be injected into a target patient, the backward movement of the piston assembly can realize the reduction of the pressure in the syringe body, and the liquid to be injected and the like are sucked into the syringe body. The forward movement of the piston assembly is responsive to a forward command of the controller and the rearward movement of the piston assembly is responsive to a rearward command of the controller. The obtaining of the power of the driving element may be that the driving element obtains the current value flowing through the driving element under the power source of constant voltage output; or the voltage value between two input ends of the driving piece can be under the power supply of constant current output.
When the piston assembly is driven by a driving element such as a motor, the forward or backward movement of the piston assembly is controlled by switching between clockwise and counterclockwise rotations of the motor, which is usually performed by changing the direction of a current flowing through the driving element. Thus, the step S140 may be specifically implemented to monitor the current value flowing through the driving member during the whole injection, and determine that the piston assembly is switched between the forward movement and the backward movement when the direction of the current is detected to be changed. Wherein the change in the direction of the current can be determined based on the detected change in the positive and negative current values.
For example, in the case where one of the detected current values is 5A during the forward movement of the piston assembly, and it is not determined at what specific time the movement of the piston assembly is switched to the retraction, by continuously detecting the current flowing through the driving member, and in the case where one of the detected current values is-4A later, since the current value is changed from a positive value to a negative value, it can be determined that the time corresponding to the-4A current value, the type of movement of the piston assembly is switched to the retraction process.
Accordingly, the current movement type of the piston assembly can be determined by detecting the voltage between the two input ends of the driving member, and the principle of the movement type is similar to that in the above-described mode, and is not repeated here.
The step S140 may be specifically implemented to determine that the current movement type of the piston assembly is retraction in response to the operation of the patient or the preset injection procedure, when a retraction command for controlling the retraction of the piston assembly is received.
The principle on which the above step S160 is based is according to the formulaIt is known that the relation between the torque output by the driving member and the thrust force generated, F in the formula a An axial force generated for the screw; t (T) a The torque of the screw rod is set; p (P) h Is the lead of the feed screw; n is n 1 Is the positive efficiency of the feed screw. In the case of constant voltage output, the motor current and the motor output torque satisfy the formula t=k t I, wherein T is the motor output torque; k (K) t Is a torque constant; i is motor current. Further, the relation between the screw torque and the motor output torque satisfies the formula T a =n·t, in this formula, T a Screw torque is also the same; n is the efficiency of the motor to output torque to the screw rod.
From the three formulas, it can be deducedIn the formula, due toIs a fixed value and therefore can be equal to C. Obviously, the axial force F generated by the screw a The motor current I is in direct proportion to the motor current I.
In addition, referring to fig. 2, fig. 2 is a graph showing a trend of acting force in a retraction process of the piston assembly according to the embodiment of the present application. In the back process, before the piston head recovers to deform, the piston head is subjected to pressure equal to the acting force of the piston assembly on the screw rod and the motor, and the acting force is gradually reduced along with the gradual back of the piston assembly until the piston head completely recovers to deform. Because the piston assembly and the motor are driven by the screw-nut, the screw-nut has the same force with the screw-nut in the same direction. The essence of the conversion of the motion by the screw-nut is the relative sliding that occurs between the external thread on the screw and the internal thread on the nut. The sliding motion involves sliding friction, which is proportional to the pressure between the objects that slide relative to each other. The frictional force of their sliding movement relative to each other in the spindle nut is proportional to the force described previously (the force exerted by the piston assembly between the spindles).
The force between the piston assembly and the lead screw is gradually reduced before the piston head resumes its shape, and is reduced to a minimum when the piston head resumes its shape completely. This corresponds to t in FIG. 2 0 To t 2 And the trend of the acting force between the piston assembly and the screw rod between the moments.
After this time, assuming that the syringe has not yet been pulled out of the body tissue, as the plunger assembly continues to retract, the pressure within the syringe barrel continues to decrease, and the force between the plunger assembly and the lead screw increases in opposite directions. And the previous descriptionThe same principle is said in the foregoing, the force between the piston assembly and the screw is gradually increased. This corresponds to t in FIG. 2 2 And (3) changing trend of acting force between the piston assembly and the screw rod after the moment.
According to the law of "the forces acting on each other", the force between the piston assembly and the screw is equal to the axial force F generated by the screw a In combination with the previous conclusion, the axial force F generated by the screw a The current is directly proportional to the motor current I, and the trend of the current with time should be the same as the trend of the acting force between the plug assembly and the screw rod in fig. 2. However, the difference is that the motor current I shown in fig. 2 is in the variation trend t 0 To t 1 The trend of change between the two is gradually increased. This is because the process from the start of the motor from the state where the rotational speed is 0 to the time when the output matches the current is reached, and is generally a process in which the motor establishes a steady state. Thus, the current of the motor in this process is a gradually increasing process.
As can be seen from the principle described above in connection with fig. 2, at t 2 When the syringe is pulled out before the moment, the piston head is not completely restored to deformation, which can cause liquid leakage with high probability; at t 2 If the syringe has not been pulled out after the moment, the syringe will usually suck back the liquid to be injected and/or the liquid of the human tissue into the syringe at this stage. And at t 2 The occurrence of both conditions can be avoided in general well when the syringe is pulled out at any time.
Similarly, in the case of constant current output, the voltage between the two inputs of the driver should also be a trend as shown in fig. 2. The power of the driver should also be a trend as shown in fig. 2.
Therefore, the power of the driving piece is obtained, so that the injector can be pulled out after the piston head just recovers deformation, and the injection leakage can be well avoided.
In the implementation process, the power of the driving piece is obtained to control the backspacing process of the syringe piston assembly, so that the leakage of liquid after the syringe is pulled out is effectively reduced. The dosage of the back suction liquid from human tissues in the retraction process of the push rod of the injector is also reduced.
Referring to fig. 3, fig. 3 is a specific flowchart of step S140 in the method for controlling a syringe according to the embodiment of the present application. In some alternative embodiments, step S140 may include:
step S141: it is determined whether a retraction command is received for controlling retraction of the piston assembly.
If a rollback instruction is received, step S142 is performed: the current movement type of the piston assembly is determined to be rollback.
Step S141 may be performed by the controller, and according to the previous description of step S140, the current movement type of the piston assembly may be determined according to whether an instruction for controlling the retraction of the piston assembly is received. Wherein retraction movement of the piston assembly refers to movement of the piston assembly along the barrel of the syringe in a direction away from the liquid in the barrel.
In the case that the controller includes a processor and a driver, the processor is configured to send a retraction command to the driver, and the driver is configured to receive the retraction command and control a driving member such as a motor to retract the piston assembly in response to the retraction command. Thus, the step S141 may be specifically implemented, when the driver receives the retraction command sent from the processor, the control determines that the current movement type of the piston assembly is retraction.
In the implementation process, the current movement type of the piston assembly is judged according to whether the back instruction for controlling the back of the piston assembly is received, so that the accurate judgment of the movement type of the piston is realized, and the control precision of the injector is further improved. In addition, compared with the mode of judging the movement type of the piston assembly by detecting the current or the voltage, the method and the device have the advantages that a corresponding detection device is omitted, and cost is saved.
In some alternative embodiments, step S121 may include:
step S121: the value of the current flowing through the driving member is obtained.
Accordingly, step S140 may include:
step S143: it is determined whether the current flowing through the driving member is opposite to the current flowing through the driving member in response to the forward command. Wherein the forward command is for controlling the piston assembly to advance.
If the current flowing through the driving member is opposite to the current flowing through the driving member in response to the forward command, step S143 is performed: the current type of motion of the piston assembly is determined to be rollback.
The two steps described above may be performed by a controller.
In the step S121, the current value may be obtained by installing a current detector on a current branch flowing through the driving element and transmitting the detection result to the controller.
Accordingly, based on the foregoing description of step S140, the controller may determine the current movement type of the piston assembly based on the detection result transmitted from the current detector in step S143. The determination of the type of movement of the piston assembly may be continuous so that information about the switching of the type of movement of the piston assembly is obtained at a first time.
In the implementation process, the movement type of the piston assembly is judged by detecting the current of the branch where the driving piece is located, so that the other more accurate judgment of the movement type of the piston is realized, and the control precision of the injector is further improved. In addition, compared with the mode of judging the movement type of the piston according to the instruction, delay caused by response time and the like of the instruction is omitted, further, information of switching the movement type of the piston is obtained more timely, and finally, the accuracy of controlling the injector is further improved.
In some alternative embodiments, step S160 may include:
step S161: and judging the change trend of the current value, and controlling the driving piece to stop driving the piston assembly in response to the trend of the current value which is increased again after the current value is reduced.
Step S161 may be performed by the controller.
In step S161, as can be seen from the previous description of step S160 and fig. 2, there are two rising phases in the trend of the current. The first current rising stage corresponds to a process of establishing a steady state of a driving piece such as a motor, and the second current rising stage corresponds to a process of continuing to retract the piston assembly after the piston head is completely restored to deform. Therefore, when the current increases for the second time, namely the trend of increasing after the current value decreases, the control piston assembly stops backing, so that the injector can be controlled accurately, and the phenomenon of liquid leakage or back suction is reduced.
In the implementation process, the driving of the piston assembly is controlled to stop by responding to the trend of increasing again after the current value is reduced, so that the driving of the piston assembly by the driving piece is controlled immediately after the piston head is completely restored to deform, the leakage of liquid to be injected caused by the fact that the piston head is still continuously restored to deform after injection and extraction is further avoided to a certain extent, and the liquid dose of the liquid which is sucked back after the piston head is restored to deform and is continuously retracted is reduced.
Referring to fig. 4, fig. 4 is a specific flowchart of step S160 in the method for controlling a syringe according to the embodiment of the present application. In some alternative embodiments, step S160 may further include:
step S162: after the power drops to a minimum, the minimum is obtained.
Step S163: when the power value is equal to the sum of the minimum value and the preset value, the driving piece is controlled to stop. The preset value is determined according to the accuracy of power detection.
The two steps described above may be performed by a controller.
The minimum power value in the above steps may be obtained by detecting the current value or the voltage value of the driving member. During retraction of the piston assembly, the minimum value of the power may be obtained after it has occurred, since it is not readily available, i.e. it is not readily detected before it has occurred. And this minimum corresponds to the moment when the piston assembly just has completely recovered its deformation, it should be controlled to stop the retraction of the piston assembly as much as possible after this minimum has occurred.
For example, since power is proportional to current, a preferred moment to control the piston assembly to stop retracting can be determined by detecting the current value of the driver. Specifically, the accuracy of the detection of the current value of the driver is 0.1A, and in this stage of the current value from lowering to rising again, the current value rises again after the occurrence of the minimum value by detecting that the minimum value of the current obtained is 5.0A, and the rise of the current value is gradual. Additionally, based on the accuracy of the current detection being 0.1A, during the current value rising, the current values of 5.1A, 5.2, and a5.3 … … are usually detected, if the preset value is set to be equal to the detected accuracy value, this means that the control driver stops driving the piston assembly when the current value is detected to be 5+0.1=5.1A; if the preset value is set equal to twice the precision value, this means that the driving piece is controlled to stop driving the piston assembly when the current value of 5+0.2=5.2a is detected; if the preset value is set equal to three times the precision value, this means that the driving piece is controlled to stop driving the piston assembly when the current value of 5+0.3=5.3a is detected.
In the implementation process, the minimum value is not easy to obtain just before the minimum value appears at the moment of completely recovering the deformation of the piston assembly, so that the driving piece is controlled to stop driving the piston assembly at the moment of the power value by determining the power value which is as close to the minimum value as possible based on the detection precision, and the liquid dosage of the back suction of the injector in the back-moving process of the piston assembly is reduced.
In some optional implementations, the method for controlling a syringe provided in the embodiments of the present application may further include:
if it is determined that the current movement type of the piston assembly is retraction, step S180 is performed: the control drive reduces the drive speed to the piston assembly.
The step S180 may be performed by a controller, and may be specifically performed to reduce the driving speed of the driving member to 80%, 60% or the like. With respect to the specific reduction, the embodiments of the present application are not particularly limited, and may be determined by one skilled in the art according to actual needs.
According to the implementation process, under the condition that the current motion type of the piston assembly is judged to be backspacing, the driving speed of the piston assembly is reduced, the control error caused by the delay time of the control of the driving piece is reduced, and the control precision of the injector is further improved.
In some alternative embodiments, the injector may comprise an oral anesthesia booster.
That is, the control method of the injector provided in the embodiments is applied to control of the oral anesthesia booster.
In the implementation process, the oral cavity anesthesia booster is controlled by adopting the control method of the injector provided by each embodiment of the application, so that the problems that the anesthetic leaks into the oral cavity of a patient and is mistakenly eaten by the patient in the process of injecting the anesthetic into the oral cavity of the patient are avoided to a certain extent. While reducing the amount of fluid that is back-sucked from the patient's oral anatomy as the piston assembly is retracted.
Referring to fig. 5, fig. 5 is a schematic diagram of a control system 500 of a syringe 510 according to an embodiment of the present application. Based on the same conception, embodiments of the present application provide a control system 500 for a syringe 510, comprising: a syringe 510, a driver 520, and a controller 530.
Wherein the syringe 510 includes a plunger assembly 511. An output shaft of the driving member 520 is connected to the piston assembly 511 to drive the piston assembly 511 to move. The controller 530 is configured to detect power of the driver 520; acquiring the power of the driver 520; and judging the current movement type of the piston assembly 511, further judging the power variation trend in case that the current movement type of the piston assembly 511 is judged to be the back-off, and controlling the driving part 520 to stop driving the piston assembly 511 in response to the power occurrence of the secondary power increase trend.
In some alternative embodiments, in determining the current movement type of the piston assembly 511, the controller 530 is specifically configured to determine whether to issue a retraction command for controlling retraction of the piston assembly 511; if the retraction command is issued, the current motion type of the piston assembly 511 is determined to be retraction.
It should be understood that the system corresponds to the above-mentioned embodiment of the method for controlling the injector, and is capable of executing the steps involved in the above-mentioned embodiment of the method, and specific functions of the device may be referred to in the above description, and detailed descriptions thereof are omitted herein as appropriate to avoid redundancy.
Referring to fig. 6, fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present application. Based on the same conception, the present embodiment provides an electronic device 600, and the electronic device 600 may include a memory 611, a memory controller 612, a processor 613, a peripheral interface 614, an input/output unit 615, and a display unit 616. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 5 is merely illustrative and is not intended to limit the configuration of the electronic device 600. For example, electronic device 600 may also include more or fewer components than shown in FIG. 5, or have a different configuration than shown in FIG. 5.
The above-mentioned memory 611, memory controller 612, processor 613, peripheral interface 614, input/output unit 615 and display unit 616 are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 613 is configured to execute executable modules stored in the memory.
The Memory 611 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 611 is configured to store a program, and the processor 613 executes the program after receiving an execution instruction, where a method executed by the electronic device 600 defined by the process disclosed in any one of the embodiments of the present application may be applied to the processor 613 or implemented by the processor 613.
The processor 613 may be an integrated circuit chip with signal processing capabilities. The processor 613 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (digital signal processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field Programmable Gate Arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The peripheral interface 614 couples various input/output devices to the processor 613 and the memory 611. In some embodiments, the peripheral interface 614, the processor 613, and the memory controller 612 may be implemented in a single chip. In other examples, they may be implemented by separate chips.
The input-output unit 615 is used to provide patient input data. The input/output unit 615 may be, but is not limited to, a mouse, a keyboard, and the like.
The display unit 616 described above provides an interactive interface (e.g., a patient interface) between the electronic device 600 and the patient or is used to display image data to a patient reference. In the embodiment of the present application, the display unit may be a liquid crystal display or a touch display. In the case of a touch display, the touch display may be a capacitive touch screen or a resistive touch screen, etc. supporting single-point and multi-point touch operations. Supporting single-point and multi-point touch operations means that the touch display can sense touch operations simultaneously generated from one or more positions on the touch display, and the sensed touch operations are passed to the processor for calculation and processing.
The electronic device 600 in the embodiments of the present application may be used to perform each step in each method provided in the embodiments of the present application.
Based on the same conception, the embodiments of the present application also provide a storage medium including a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which, when run by a processor, performs the method as above.
The computer readable storage medium may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In summary, the method, the system and the storage medium for controlling the injector provided by the embodiments of the present application control the retraction process of the injector piston assembly by acquiring the power of the driving element, so as to effectively reduce the leakage of the liquid after the injector is pulled out. The dosage of the back suction liquid from human tissues in the retraction process of the push rod of the injector is also reduced. Judging the current movement type of the piston assembly according to whether a retraction instruction for controlling the retraction of the piston assembly is received, so that a corresponding detection device is omitted, and the cost is saved; the movement type of the piston assembly is judged by detecting the current of the branch where the driving piece is located, so that the accuracy of controlling the injector is further improved. By controlling the driver to stop driving the piston assembly in response to a trend of increasing again after a decrease in the current value, leakage of the liquid to be injected after the injection is pulled out is further avoided to some extent, and the injection continues to withdraw the dose of the sucked liquid after the piston head resumes its deformation. Particularly, the control method, the system and the storage medium of the injector are applied to control of the oral cavity anesthesia booster, so that the problems that the anesthetic leaks into the oral cavity of a patient and is mistakenly eaten by the patient in the process of injecting the anesthetic into the oral cavity of the patient are avoided to a certain extent. While reducing the amount of fluid that is back-sucked from the patient's oral anatomy as the piston assembly is retracted.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The foregoing description is merely an optional implementation of the embodiments of the present application, but the scope of the embodiments of the present application is not limited thereto, and any person skilled in the art may easily think about changes or substitutions within the technical scope of the embodiments of the present application, and the changes or substitutions should be covered in the scope of the embodiments of the present application.
Claims (10)
1. A method of controlling a syringe, the method being applied to a syringe comprising a piston assembly; wherein the piston assembly is connected with a driving piece; the method comprises the following steps:
acquiring the power of the driving piece; wherein the driving piece is used for driving the piston assembly to move;
judging the current movement type of the piston assembly according to the power of the driving piece; and
and under the condition that the current motion type of the piston assembly is judged to be backspacing, further judging the change trend of the power, and controlling the driving piece to stop driving the piston assembly in response to the trend of the power which is increased again after the power is reduced.
2. The method of claim 1, wherein said determining a current type of motion of the piston assembly comprises:
judging whether a retraction command for controlling retraction of the piston assembly is received or not;
and if the back-off instruction is received, judging that the current movement type of the piston assembly is back-off.
3. The method of claim 1, wherein said deriving power for the driver comprises: acquiring a current value flowing through the driving piece;
the judging the current movement type of the piston assembly comprises the following steps:
judging whether the current flowing through the driving piece is opposite to the current flowing through the driving piece under the condition of responding to the forward instruction; wherein the advance command is used for controlling the piston assembly to advance;
and if the current flowing through the driving piece is opposite to the current flowing through the driving piece under the condition of responding to the forward command, judging that the current movement type of the piston assembly is backspacing.
4. A method according to claim 3, wherein said determining the trend of the power and controlling the driver to stop driving the piston assembly in response to the trend of the power increasing again after the power decreasing includes:
and judging the change trend of the current value, and controlling the driving piece to stop driving the piston assembly in response to the trend of the current value which is increased again after the current value is reduced.
5. The method of claim 1, wherein controlling the driver to stop driving the piston assembly in response to a trend of the power increasing again after the power decreasing comprises:
after the power drops to a minimum value, acquiring the minimum value; and
when the power value is equal to the sum of the minimum value and a preset value, controlling the driving piece to stop; wherein the preset value is determined according to the accuracy of detecting the power.
6. The method as recited in claim 1, further comprising:
and if the current movement type of the piston assembly is judged to be backspacing, controlling the driving piece to reduce the driving speed of the piston assembly.
7. The method of any one of claims 1 to 6, wherein the injector comprises an oral anesthesia booster.
8. A control system for a syringe, comprising: a syringe, a driver, and a controller;
the syringe includes a piston assembly;
an output shaft of the driving piece is connected with the piston assembly to drive the piston assembly to move;
the controller is used for detecting the power of the driving piece; acquiring the power of a driving piece; and judging the current movement type of the piston assembly, further judging the change trend of the power under the condition that the current movement type of the piston assembly is judged to be the back-off, and controlling the driving piece to stop driving the piston assembly in response to the secondary power increasing trend of the power.
9. The system of claim 8, wherein in determining the current type of movement of the piston assembly, the controller is specifically configured to determine whether to issue a retraction command for controlling retraction of the piston assembly;
and if the back-off instruction is sent out, judging that the current movement type of the piston assembly is back-off.
10. A storage medium, wherein the storage medium comprises a computer-readable storage medium; the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the method according to any of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310672375.1A CN116510130A (en) | 2023-06-07 | 2023-06-07 | Injector control method, system and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310672375.1A CN116510130A (en) | 2023-06-07 | 2023-06-07 | Injector control method, system and storage medium |
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| CN202310672375.1A Pending CN116510130A (en) | 2023-06-07 | 2023-06-07 | Injector control method, system and storage medium |
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