Remote control device and injection system

Abstract

The present application relates to the field of medical device technology, and provides a remote control device and an injection system. The remote control device includes a mounting seat, a movable part, a position sensor, a force feedback assembly, and a controller. The movable part is movably arranged on the mounting seat and can move relative to the mounting seat in a first direction; the position sensor is used to detect the position information of the movable part relative to the mounting seat; the force feedback assembly is used to generate a feedback resistance of adjustable size opposite to the first direction to the movable part, so as to hinder the movable part from moving along the first direction; the controller is respectively connected to the position sensor and the force feedback assembly, and is used to control the injection device to perform the injection operation according to the position information of the movable part, and to control the force feedback assembly to generate a feedback resistance that matches the injection resistance according to the injection resistance. In this way, the remote control device can provide real-time feedback on the injection resistance of the injection device during injection, so that the operator can accurately control the injection pressure.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a remote control device and an injection system. Background Art

[0002] In interventional embolization therapy, in order to ensure that the embolic material diffuses only to the target area and prevent psychiatric complications caused by ectopic embolism, the injection of liquid embolic material must be performed under X-ray monitoring throughout the process.

[0003] Existing remote control devices for injection devices include a console and an actuator. The console is connected to the actuator and remotely controls the actuator to perform injections. The operator controls the injection speed and pressure of the injection device in the actuator at the console by manipulating the speed control rocker and pressure control rocker. While existing remote control devices can remotely control the injection pressure, they cannot accurately provide feedback on the injection resistance of the injection device during injection. Summary of the Invention

[0004] In view of this, the main technical problem to be solved by the present application is to provide a remote control device and an injection system that can provide real-time feedback on the injection resistance of the injection device during injection.

[0005] To address the aforementioned technical issues, the present application employs a technical solution, providing a remote control device comprising a mounting base, a movable member, a position sensor, a force feedback assembly, and a controller. The movable member is movably mounted on the mounting base and is capable of moving relative to the mounting base in a first direction. The position sensor is configured to detect the position of the movable member relative to the mounting base. The force feedback assembly is configured to generate an adjustable feedback resistance to the movable member in a direction opposite to the first direction, thereby hindering movement of the movable member in the first direction. The controller is connected to the position sensor and the force feedback assembly, respectively, and is configured to control the injection device to perform an injection operation based on the position information of the movable member, and to control the force feedback assembly to generate a feedback resistance that matches the injection resistance based on the injection resistance.

[0006] In some embodiments of the present application, the remote control device includes at least two abutment portions. The two abutment portions are protruding from opposite sides of the mounting base, and are respectively configured to be pushed in opposite directions by an operator's index finger and middle finger in a first direction. The movable member is configured to be pushed in the first direction by an operator's thumb, so that the movable member moves relative to the mounting base in the first direction under the operator's control.

[0007] In some embodiments of the present application, the mounting seat has a cavity extending along a first direction, a portion of the movable part is inserted into the cavity and slides with the mounting seat along the first direction, and the portion of the movable part located outside the mounting seat is used for the operator's thumb to push along the first direction; wherein the two interference portions are respectively located on opposite sides of the cavity in the radial direction.

[0008] In some embodiments of the present application, the movable member includes a guide portion and a push portion. The guide portion extends in a first direction, one end of which is inserted into the cavity and slideably engages with the mounting seat in the first direction. The push portion is located at the other end of the guide portion and outside the cavity, and is configured to be pushed in the first direction by an operator's thumb.

[0009] In some embodiments of the present application, the force feedback component is disposed on a mounting base.

[0010] In some embodiments of the present application, the force feedback component has a movable end that is arranged to float along a first direction, and the movable end can generate feedback resistance to the movable part.

[0011] In some embodiments of the present application, the remote control device includes an elastic member having elasticity in a first direction, and the elastic member is used to transmit the force between the movable end of the force feedback assembly and the movable member.

[0012] In some embodiments of the present application, two ends of the elastic member along the first direction elastically abut / connect the moving end and the movable member of the force feedback component respectively.

[0013] In some embodiments of the present application, the force feedback assembly includes a lead screw motor, a lead screw of the lead screw motor extending along a first direction, wherein the controller is controllably connected to the lead screw motor, and the lead screw is capable of generating feedback resistance on the movable member.

[0014] In some embodiments of the present application, the force feedback assembly includes an end head, which is disposed at one end of a lead screw to form a moving end, wherein the lead screw applies feedback resistance through the end head.

[0015] In some embodiments of the present application, the mounting seat has a cavity extending along a first direction, at least part of the extended section of the cavity has a constant cross-section, and the end head is embedded in the constant cross-section section of the cavity and slidably cooperates with the mounting seat.

[0016] In some embodiments of the present application, the cross section of the uniform cross section of the cavity is rectangular.

[0017] In some embodiments of the present application, the mounting base has a cavity extending along a first direction, the elastic member is accommodated in the cavity, a portion of the force feedback component is inserted into the cavity from one end of the cavity so that the moving end of the force feedback component is located in the cavity, and a portion of the movable member is inserted into the cavity from the other end of the cavity.

[0018] In some embodiments of the present application, the magnitude of the feedback resistance is equal to the magnitude of the injection resistance.

[0019] In some embodiments of the present application, the position sensor is a pull rod type displacement sensor, which has a main body and a pull rod, and the pull rod can move relative to the main body along the first direction or in the opposite direction of the first direction; wherein, when the movable part moves along the first direction, it can drive the pull rod to move synchronously along the first direction.

[0020] In some embodiments of the present application, the remote control device includes a pressure sensor configured to detect a pushing force applied to the movable member by an operator in a first direction and transmit the detection result to the injection device.

[0021] In some embodiments of the present application, the movable member includes a main body and a pushing portion. The main body is movably mounted on a mounting seat and is capable of moving relative to the mounting seat in a first direction. The pushing portion is floatably mounted on the main body along the first direction. The pressure sensor is sandwiched between the main body and the pushing portion along the first direction and is configured to detect a pushing force applied by an operator to the pushing portion in the first direction.

[0022] In some embodiments of the present application, the remote control device includes a housing, wherein the housing is sleeved outside the mounting base, the two abutting portions are located outside the housing and spaced apart from the mounting base along a first direction, and the movable member is located outside the housing.

[0023] In some embodiments of the present application, the remote control device includes a protective cover, which is a cylinder extending along the first direction and can be deformed along the first direction; wherein, the position sensor is a pull rod type displacement sensor, which has a main body and a pull rod, and the pull rod can move relative to the main body along the first direction or in the opposite direction of the first direction. The main body is arranged in the outer shell, the pull rod passes through the side wall of the outer shell and is connected to the movable part, and the protective cover is arranged outside the pull rod, one end of which is connected to the outer shell, and the other end is connected to the movable part.

[0024] To solve the above technical problems, the present application further provides an injection system, comprising an injection device and a remote control device. The injection device is used to inject a target liquid; a controller in the remote control device is connected to the injection device and is used to control the injection device to perform an injection operation based on the position information of the movable part.

[0025] In some embodiments of the present application, the injection system includes a detection device. The detection device is used to detect the injection resistance during the injection process of the injection device; wherein the controller in the remote control device is also controllably connected to the detection device and is used to control the force feedback component in the remote control device to generate feedback resistance that matches the injection resistance based on the injection resistance.

[0026] The beneficial effects of the present application are as follows: Different from the prior art, the remote control device in the present application includes a mounting seat, a movable part, a position sensor, a force feedback assembly, and a controller. The movable part is movably mounted on the mounting seat and can move relative to the mounting seat in a first direction; the position sensor is used to detect the position information of the movable part relative to the mounting seat; the force feedback assembly is used to generate an adjustable feedback resistance in the opposite direction to the first direction to the movable part, so as to hinder the movable part from moving in the first direction; the controller is respectively connected to the position sensor and the force feedback assembly, and is used to control the injection device to perform the injection operation based on the position information of the movable part, and to control the force feedback assembly to generate a feedback resistance that matches the injection resistance based on the injection resistance. As a result, the remote control device can provide real-time feedback on the injection resistance of the injection device during injection, allowing the operator to accurately control the injection pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without inventive efforts. Among them:

[0028] Figure 1 This is a schematic structural diagram of an embodiment of the injection system of the present application;

[0029] Figure 2 This is a schematic diagram of the three-dimensional structure of an embodiment of the remote control device of the present application;

[0030] Figure 3 yes Figure 2 A schematic diagram of the three-dimensional structure of the mounting base of the remote control device at a first angle is shown;

[0031] Figure 4 yes Figure 2 A schematic diagram of the three-dimensional structure of the second angle of the mounting base in the remote control device shown;

[0032] Figure 5 yes Figure 2 sectional view of

[0033] Figure 6 yes Figure 5 An enlarged view of the partial view A in FIG.

[0034] Figure 7 yes Figure 5 Enlarged view at the middle right end;

[0035] Figure 8 3D schematic diagram of the housing in the movable part of an embodiment of the remote control device of the present application;

[0036] Figure 9 It is a three-dimensional structural diagram of an embodiment of the remote control device of the present application. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It will be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some, rather than all, structures related to the present application are shown in the accompanying drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0038] Vascular malformations of the head and face, represented by cerebral vascular malformations, or hypervascular tumor diseases are common clinical hypervascular diseases, and interventional embolization therapy is the most important treatment method. This treatment method requires medical personnel to deliver embolic materials to the lesion site through various catheters under X-ray guidance to complete the blockage of the diseased blood vessels. The materials used in interventional embolization include solid embolic materials and liquid embolic materials. Among them, non-adhesive liquid embolic materials have good diffusivity and can be uniformly injected and fill the target blood vessels, reducing the possibility of vascular recanalization and obtaining permanent embolism. For cerebral vascular malformations, non-adhesive liquid embolic materials can completely fill the malformation mass and drainage veins, reach the actual embolic lesion, and cure the lesion. In the past two decades, with the continuous advancement of embolic materials, neurointerventional technology and neuroimaging, this treatment method has been greatly developed. In the area of ​​cerebral vascular malformations, interventional embolization has become the preferred treatment for dural arteriovenous fistulas. For cerebral arteriovenous malformations, with the widespread application of non-adherent embolic materials, interventional embolization has evolved from a preoperative adjunct to surgical resection and radiotherapy to a definitive curative treatment. For selective cases, the cure rate of embolization alone can exceed 96%. Currently, most patients with low-grade and some high-grade cerebral arteriovenous malformations can be cured through interventional embolization alone. Therefore, embolization with non-adherent liquid embolic materials has become the primary treatment for highly vascularized lesions of the head and face.

[0039] To ensure that the embolic material diffuses only into the target area and prevent neurological complications associated with ectopic embolism, the injection of liquid embolic materials must be performed under X-ray monitoring throughout the entire process. Currently, due to equipment limitations, the operator and assistant must perform the injection process in the catheterization laboratory, exposed to X-rays. This means that during the injection, the operator and assistant must observe the direction of the embolic material displayed on the screen and coordinate their eyes and hands to control the continued injection, as well as the speed and method of injection. Excessive X-ray radiation exposure can cause pathological changes in the lens, glands, and blood system, seriously impacting the health of practitioners. Although industry associations, medical institutions, and interventional physicians are increasingly aware of radiation losses and are investing more in radiation protection, the lack of effective alternative equipment prevents operators from being exposed to prolonged X-rays, and the rate of compliance with radiation safety standards remains low.

[0040] The injection of embolic materials requires a slow and steady injection rate; a faster rate can lead to vasospasm or vascular necrosis. Traditionally, the surgeon can only inject the embolic material using thumb pressure. This method cannot precisely control the injection rate and is prone to over-injection, compromising treatment effectiveness.

[0041] During the injection of embolic material, if increased resistance is found, the injection should be stopped immediately. The microcatheter should not be unblocked by increasing the injection pressure. Blindly increasing the injection pressure may cause the microcatheter to rupture or embolize non-target areas.

[0042] Existing remote control devices for injection devices include a console and an actuator. The console is connected to the actuator and remotely controls the actuator to perform injections. The operator controls the injection speed and pressure of the injection device in the actuator at the console by manipulating the speed control rocker and pressure control rocker. While existing remote control devices can remotely control the injection pressure, they cannot accurately provide feedback on the injection resistance of the injection device during injection.

[0043] In order to enable a remote control device to provide real-time feedback on the injection resistance of an injection device during injection, so that an operator can accurately control the injection pressure, the present application provides an injection system.

[0044] See also Figure 1 , Figure 1 FIG1 is a schematic diagram of the structure of an embodiment of the injection system of the present application. The dotted lines in the figure represent control connections.

[0045] The injection system includes an injection device 100 , a remote control device 200 , and a detection device 300 .

[0046] The injection device 100 is used to inject a target liquid.

[0047] The detection device 300 is used to detect the injection resistance during injection by the injection device 100. In one embodiment, the detection device 300 is a pressure sensor. In this embodiment, the detection device 300 is provided independently of the injection device 100. In other embodiments, the detection device 300 may also be a component of the injection device 100, that is, the injection device 100 itself can detect the injection resistance during injection.

[0048] The remote control device 200 is connected to the injection device 100 and the detection device 300. The operator uses the remote control device 200 to control the injection device 100 and perform the injection operation. The remote control device 200 generates feedback resistance that matches the injection resistance, allowing the operator to precisely control the injection device 100.

[0049] In one application scenario, the injection system is used for interventional embolization therapy. The injection device 100 and the detection device 300 are arranged in an isolation room 400, and the operator and the remote control device 200 are located outside the isolation room 400. The isolation room 400 can shield radiation. The operator operates the remote control device 200 to control the injection device 100 to inject embolic material into the patient's body. The injection system can prevent the operator from being exposed to radioactive radiation for a long time during surgical treatment, thereby protecting the operator's safety. The remote control device 200 can provide real-time feedback on the injection resistance of the injection device 100 during injection, allowing the operator to accurately control the injection pressure.

[0050] The remote control device is described in detail below.

[0051] See also Figure 2 , Figure 2 It is a three-dimensional structural diagram of an embodiment of the remote control device of the present application.

[0052] The remote control device includes a mounting base 4, a movable member 30, a position sensor 3, a force feedback assembly 40 and a controller (not shown).

[0053] The movable member 30 is movably disposed on the mounting base 4 and can move relative to the mounting base 4 along the first direction D1 .

[0054] The position sensor 3 is used to detect the position information of the movable member 30 relative to the mounting seat 4 .

[0055] The force feedback assembly 40 is used to generate an adjustable feedback resistance force in the direction opposite to the first direction D1 on the movable member 30 , so as to prevent the movable member 30 from moving along the first direction D1 .

[0056] The controller is respectively connected to the injection device, the detection device, the position sensor 3 and the force feedback component 40. Specifically, the controller can be a computer, and the connection between the controller and the position sensor 3 and the force feedback component 40 includes wired connection or wireless connection.

[0057] The controller is used to control the injection device to perform injection operation according to the position information of the movable member 30 , and to control the force feedback component 40 to generate feedback resistance matching the injection resistance according to the injection resistance.

[0058] Specifically, the operator squeezes movable member 30 (generating injection pressure), and position sensor 3 transmits the position information of movable member 30 to the controller. The controller then controls the injection device to inject the drug with an equivalent displacement. The injection device then feeds back the injection resistance generated during injection into the patient's body to the controller. Based on this injection resistance, the controller controls force feedback assembly 40 to generate feedback resistance that matches the injection resistance. This allows the remote control device to provide real-time feedback on the injection resistance of the injection device during injection, allowing the operator to precisely control the injection pressure.

[0059] Please also refer to Figure 3 and Figure 4 , Figure 3 and Figure 4 They are Figure 2 Schematic diagram of the three-dimensional structure of the mounting base 4 in the remote control device at the first angle and the second angle.

[0060] In one embodiment, the remote control device includes at least two abutment portions 401 ( Figure 3 The number of the middle interference parts 401 is two).

[0061] The two abutting portions 401 are respectively provided on opposite sides of the mounting base 4 for the operator's index finger and middle finger to push against the mounting base 4 in the opposite direction of the first direction D1. Specifically, the two abutting portions 401 are respectively provided on one side of the mounting base 4 close to the movable member 30.

[0062] The movable member 30 is used for being pushed by the thumb of an operator along the first direction D1 , so as to move relative to the mounting base 4 along the first direction D1 under the driving of the operator.

[0063] The operator can operate it with one hand, just like operating a conventional syringe, by holding the two abutting portions 401 of the mounting seat 4 with the index finger and the middle finger, and squeezing the movable member 30 with the thumb, so that the movable member 30 moves along the first direction D1.

[0064] Please also refer to Figure 5 and Figure 6 , Figure 5 yes Figure 2 A cross-sectional view of Figure 6 yes Figure 5An enlarged view of detail view A in FIG.

[0065] In one embodiment, the mounting base 4 has a cavity 403 extending along a first direction D1. A portion of the movable member 30 is inserted into the cavity 403 and slidably engages with the mounting base 4 along the first direction D1. The portion of the movable member 30 located outside the mounting base 4 is configured for the operator's thumb to push against along the first direction D1. Two abutment portions 401 are located on opposite radial sides of the cavity 403. The mounting base 4 and the two abutment portions 401 generally form a syringe shape, thereby making the remote control device more similar to a conventional syringe.

[0066] In one embodiment, the movable member 30 includes a guide portion 11 and a pushing portion 14 .

[0067] The guide portion 11 extends along the first direction D1, with one end inserted into the cavity 403 and slidingly engaged with the mounting base 4 along the first direction D1. Specifically, a guide sleeve 60 is disposed within the cavity 403 of the mounting base 4. The guide sleeve 60 is circumferentially secured by a flat key 20 mounted in the keyway 402, and axially secured by a retaining ring 10. The guide portion 11 is a guide rod, which is sleeved within the guide sleeve 60. The guide portion 11 and the guide sleeve 60 can be commercially available products.

[0068] The pushing portion 14 is located at the other end of the guide portion 11 and outside the cavity, and is used for the operator's thumb to push against along the first direction D1. The operator's thumb squeezes the pushing portion 14 to move the guide portion 11 along the first direction D1.

[0069] See also Figure 5 In one embodiment, the force feedback assembly 40 is disposed on the mounting base 4. In this way, the remote control device has a compact structure.

[0070] See also Figure 5 In one embodiment, the force feedback assembly 40 has a movable end that is floatingly disposed along the first direction D1, and the movable end can generate feedback resistance to the movable member 30. The movable end of the force feedback assembly 40 can move along the first direction D1 and in the opposite direction of the first direction D1.

[0071] Specifically, in Figure 5 In the example, the operator applies a leftward pushing force to the movable member 30, and the movable end (end 5) of the force feedback assembly 40 generates a rightward feedback resistance to the movable member 30. The pushing force is greater than the feedback resistance, causing the movable member 30 to move leftward (in the first direction D1), thereby controlling the injection device to perform the injection operation.

[0072] In some cases, the force feedback component 40 generates feedback resistance with a certain hysteresis. To solve this problem, in one embodiment, the remote control device includes an elastic member 6 .

[0073] The elastic member 6 is elastic in the first direction D1. The elastic member 6 transmits the force between the movable end of the force feedback assembly 40 and the movable member 30. Specifically, the elastic member 6 can be a compression spring. By providing the elastic member 6, the combined force of the feedback resistance and the elastic force is balanced with the thumb's squeezing force in real time.

[0074] The specific configuration of the elastic member 6 is as follows: In one embodiment, the two ends of the elastic member 6 along the first direction D1 elastically abut / connect the movable end of the force feedback assembly 40 and the movable member 30, respectively. That is, in operation, the elastic member 6 is in a compressed state or in a stretched state. In the illustrated embodiment, the two ends of the elastic member 6 along the first direction D1 elastically abut the movable end of the force feedback assembly 40 and the movable member 30, respectively.

[0075] In one embodiment, the force feedback assembly 40 includes a lead screw motor 2. The lead screw motor 2 can be a commercially available product. A lead screw motor is also known as an electric lead screw, electric push rod, push rod motor, electric cylinder, or linear actuator. A lead screw motor is an electric drive device that converts the rotational motion of an electric motor into the linear reciprocating motion of a push rod.

[0076] The screw 1 of the screw motor 2 extends along a first direction D1 .

[0077] The controller is connected to the lead screw motor 2 in a control manner, and the lead screw 1 can generate feedback resistance to the movable part 30 .

[0078] Specifically, after receiving the injection resistance of the injection device when injecting medicine into the patient's body, the controller controls the screw motor 2 to adjust the torque in real time, and the torque is converted into motor thrust through the screw 1.

[0079] In one embodiment, the force feedback assembly 40 includes an end 5 . The end 5 is disposed at one end of the lead screw 1 , forming the aforementioned moving end. The lead screw 1 applies feedback resistance via the end 5 .

[0080] Please also refer to Figure 4 In order to ensure the stability of the movement of the moving end of the force feedback component 40, in one embodiment, the mounting base 4 has a cavity 403 extending along the first direction D1, at least part of the extension section of the cavity 403 is of uniform cross-section, and the end head 5 is embedded in the uniform cross-section section of the cavity 403 and slidably cooperates with the mounting base 4. In the illustrated embodiment, the cavity 403 is Figure 5 The cross-sections at the left and right ends are different, and the distance from one end to the left end is the same cross-section.

[0081] The end head 5 and the mounting base 4 slide together along the first direction D1 to ensure stable movement of the end head 5 .

[0082] In one embodiment, the cross section of the equal cross section of the cavity 403 is rectangular, thereby limiting the terminal 5 to only having the degree of freedom in the first direction D1 or the opposite direction of the first direction D1, that is, the terminal 5 cannot rotate around the first direction D1.

[0083] In one embodiment, the mounting base 4 and the end head 5 are both made of engineering plastics. Engineering plastics are light and strong, and have a low friction coefficient, which reduces the resistance when the end head 5 moves relative to the mounting base 4.

[0084] In one embodiment, the mounting base 4 has a cavity 403 extending along a first direction D1. The elastic member 6 is accommodated in the cavity 403. A portion of the force feedback assembly 40 is inserted into the cavity 403 from one end of the cavity, such that the movable end of the force feedback assembly 40 is located within the cavity 403. A portion of the movable member 30 is inserted into the cavity 403 from the other end of the cavity 403. Specifically, the movable end of the force feedback assembly 40 and the movable end of the movable member 30 are inserted into the cavity 403 from opposite ends of the cavity of the mounting base 4, respectively, and move within the cavity. This improves the integration of the remote control device and reduces its size.

[0085] In this application, the feedback resistance of the force feedback assembly 40 matches the injection resistance. The feedback resistance can reflect changes in the injection resistance. In one application scenario, during the injection process, the feedback resistance increases significantly, which can alert the operator to an abnormality and the injection should be stopped.

[0086] The ratio of the feedback resistance of the force feedback assembly 40 to the injection resistance can be set as needed. In one embodiment, the feedback resistance of the feedback assembly is equal to the injection resistance of the injection device. In other embodiments, the feedback resistance of the feedback assembly can be greater or less than the injection resistance of the injection device.

[0087] See also Figure 2 and Figure 4 In one embodiment, the position sensor 3 is a pull-rod displacement sensor. The pull-rod displacement sensor can be a commercially available product. The pull-rod displacement sensor comprises a main body and a pull-rod. The main body is disposed on a mounting base 4. The pull-rod is capable of moving relative to the main body in a first direction D1 or in the opposite direction of the first direction D1. When the movable member 30 moves in the first direction D1, it can drive the pull-rod to move synchronously in the first direction D1.

[0088] Specifically, in the illustrated embodiment, the outer surface of the mounting base 4 is provided with a first positioning surface 404 and a second positioning surface 405, which secure the position of the pull-rod displacement sensor. The pull rod of the pull-rod displacement sensor is connected to the movable member 30. When an operator squeezes the movable member 30, the movable member 30 drives the pull rod to move, causing the pull-rod displacement sensor to collect a displacement signal from the movable member 30.

[0089] See also Figure 5 In one embodiment, the remote control device includes a pressure sensor 17 .

[0090] The pressure sensor 17 is used to detect the pushing force applied by the operator to the movable member 30 along the first direction D1 and send the detection result to the injection device. The injection device generates a matching injection pressure based on the pushing force detected by the pressure sensor 17.

[0091] Please also refer to Figure 7 and Figure 8 , Figure 7 yes Figure 2 The enlarged image on the middle right, Figure 8 3D schematic diagram of the housing 18 of the movable member 30 in one embodiment of the remote control device of the present application.

[0092] In one embodiment, the movable member 30 includes a main body 50 and a pushing portion 14 .

[0093] The main body 50 is movably disposed on the mounting base 4 and can move relative to the mounting base 4 along the first direction D1 .

[0094] The pushing portion 14 is disposed on the main body 50 in a floating manner along the first direction D1 .

[0095] The pressure sensor 17 is sandwiched between the main body 50 and the pushing portion 14 along the first direction D1 , and is used to detect a pushing force applied to the pushing portion 14 by an operator along the first direction D1 .

[0096] Specifically, in the illustrated embodiment, the main body 50 includes a guide portion 11 , an extension rod 12 , a shaft retaining ring 13 , an outer cover 15 , a force sensor transition ring 16 , a housing 18 and a fastener 19 .

[0097] The guide portion 11 extends along a first direction D1, with its left end inserted into the mounting seat 4. The housing 18 is removably attached to the right end of the guide portion 11 via a fastener 19. The fastener 19 can be a screw. The housing 18 is provided with a first groove 180 and a second groove 181. The extension rod 12 is parallel to the guide portion 11 and spaced apart from the guide portion 11. The left end of the extension rod 12 is connected to the position sensor 3, and the right end is connected to the housing 18 via a shaft retaining ring 13. The extension rod 12 is hollow and communicates with the second groove 181. The pressure sensor 17 is positioned within the first groove 180. The cable of the pressure sensor 17 can be routed through the second groove 181 and the cavity of the extension rod 12 to prevent the cable from being exposed. The force sensor transition ring 16 is annular and disposed within the first groove 180. The push portion 14 passes through the center of the force sensor transition ring 16 to contact the pressure sensor 17. The outer cover 15 seals the first groove 180 and the second groove 181 of the housing 18. A portion of the pushing portion 14 is protruded from the outer cover 15 for an operator to push against.

[0098] See also Figure 9 , Figure 9 It is a three-dimensional structural diagram of an embodiment of the remote control device of the present application.

[0099] In one embodiment, the remote control device includes a housing 7 that is waterproof and dustproof, thereby increasing the service life of the remote control device.

[0100] The housing 7 is mounted on the outside of the mounting base 4. The housing 7 serves to protect other components of the remote control device. Two abutment portions 401 are located outside the housing 7 and spaced apart from the mounting base 4 along the first direction D1. The gap between the abutment portions 401 and the housing 7 is designed to accommodate the operator's index and middle fingers. The movable member 30 is located outside the housing 7.

[0101] Specifically, the mounting base 4 is generally strip-shaped and extends along the first direction D1. The force feedback assembly 40 is disposed at the left end of the mounting base 4, the abutment portion 401 is disposed at the right end of the mounting base 4, and the movable member 30 is disposed at the right end of the mounting base 4. The housing 7 is disposed over the mounting base 4 and the force feedback assembly 40, with the right end of the mounting base 4 exposed from the housing 7.

[0102] In one embodiment, the remote control device further includes a protective cover 9. The protective cover 9 is a cylinder extending along the first direction D1 and is deformable along the first direction. The protective cover 9 may be a bellows.

[0103] Position sensor 3 is a pull-rod displacement sensor comprising a main body and a pull-rod capable of moving relative to the main body in a first direction D1 or in the opposite direction of D1. The main body is disposed within housing 7, and the pull-rod extends through the sidewall of housing 7 and is connected to movable member 30. A protective cover 9 is disposed over the pull-rod, with one end connected to housing 7 and the other end connected to movable member 30.

[0104] See also Figure 5 , the specific assembly process of the remote control device embodiment:

[0105] First, connect the guide portion 11 to the mounting base 4 using the flat key 20 and retaining ring 10. Then, connect the right end of the guide portion 11 to the housing 18 using the fastener 19. Next, connect the displacement sensor 3 to the extension rod 12, position and mount the displacement sensor 3 on the upper surface of the mounting base 4, insert the protective cover 9 onto the extension rod 12, and then connect it to the housing 18. Next, install the pressure sensor 17 into the first groove 180 of the housing 18. Then, install the force sensor transition ring 16 and the push portion 14 into the first groove 180 one by one, and install the gland 15 on the right side of the housing 18.

[0106] The second step is to assemble the relevant parts of the screw motor 2. Connect the elastic member 6 to the end 5, and then connect the end 5 to the right end of the screw 1.

[0107] The third step is to connect the assembled parts to the screw motor 2 parts, and finally install the housing 7. Since there are fewer parts, each part is independent of each other and does not interfere with each other, which is convenient for disassembly and assembly.

[0108] The remote control device operates as if it were a conventional syringe. The operator holds the two abutment portions 401 with their index and middle fingers, and uses their thumb to squeeze the abutment portion 14 of the movable member 30 and push it to the left. The displacement sensor 3 on the mounting base 4 transmits real-time position information to the injection device, which then performs an equal displacement injection. There is resistance during injection, and this resistance value is fed back to the remote control device in real time. The operator then adjusts the thumb pressure to achieve the desired thrust.

[0109] Beneficial effects of remote control device:

[0110] The exposed front end portion of the remote control device is very similar to a conventional syringe. The operator can operate the remote control device in the same way as a conventional syringe, which better conforms to ergonomic characteristics and meets the operator's operational convenience.

[0111] Components such as the lead screw 1, end 5, elastic member 6, flat key 20, retaining ring 10, and guide 11 are all mounted within mounting base 4. Components such as the pusher 14, force sensor transition ring 16, and pressure sensor 17 are all housed within housing 18, resulting in a high level of integration. Furthermore, a housing 7 and protective cover 9 provide waterproof and dustproof protection, extending the life of the remote control device.

[0112] One end of the cavity 403 of the mounting seat 4 is a through hole with a quadrilateral cross section, and the end head 5 also has a quadrilateral outline, which can achieve guiding and positioning of the end head 5 and the mounting seat 4.

[0113] The shell 18 and the mounting base 4 are both made of engineering plastics, which are light in weight and relatively strong. Since the friction coefficient of engineering plastics is very small, the friction force is very small when pushed. The light weight and low resistance are conducive to the convenience and comfort of manual operation.

[0114] Most of the parts of the present invention are standard purchased parts, with few machined parts. Since the purchased parts have a short delivery time, low price, and their reliability has been verified by the manufacturer, the R&D cycle and production cycle can be greatly shortened, and the overall cost-effectiveness and reliability can be improved.

[0115] As can be seen from the above, the present invention features high integration, excellent operability, high cost-effectiveness, and easy assembly and disassembly. The injection volume and injection thrust of the injection device are remotely controlled by varying the displacement and force output by the remote control device. Simultaneously, the injection volume and injection thrust of the injection device are fed back to the remote control device in real time, thereby improving the accuracy and efficiency of diagnosis and treatment, significantly enhancing the safety of medical personnel, and satisfying the requirements for efficient injection operations.

[0116] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A remote control device for remotely controlling an injection device to perform an injection operation, characterized in that: include: Mounting seat; a movable member, the movable member being movably disposed on the mounting seat and capable of moving relative to the mounting seat along a first direction; A position sensor, the position sensor is used to detect the position information of the movable part relative to the mounting seat; a force feedback assembly, the force feedback assembly being disposed on the mounting seat and configured to generate an adjustable feedback resistance force in a direction opposite to the first direction to the movable member, thereby hindering the movable member from moving along the first direction; a controller, the controller being controllably connected to the position sensor and the force feedback assembly, and configured to control the injection device to perform an injection operation based on the position information of the movable member, and to control the force feedback assembly to generate a feedback resistance that matches the injection resistance based on the injection resistance; The elastic member comprises an elastic member, the mounting seat having a cavity extending along the first direction, the elastic member being accommodated in the cavity, the end of the force feedback component being inserted into the cavity from one end thereof so that the moving end of the force feedback component is located in the cavity, and a portion of the movable member being inserted into the cavity from the other end thereof, the two ends of the elastic member along the first direction respectively elastically pressing against / connecting the moving end of the force feedback component and the movable member.

2. The remote control device according to claim 1, wherein: include: At least two abutting portions, the two abutting portions being protrudingly provided on opposite sides of the mounting seat, and being respectively used for being pushed in opposite directions by the index finger and the middle finger of the operator along the first direction; The movable member is used for being pushed by an operator's thumb along the first direction, so as to move relative to the mounting seat along the first direction under the drive of the operator.

3. The remote control device according to claim 2, wherein: The mounting seat has a cavity extending along the first direction, a portion of the movable member is inserted into the cavity and slidably engages with the mounting seat along the first direction, and a portion of the movable member located outside the mounting seat is used for being pushed against by an operator's thumb along the first direction; Wherein, the two abutting portions are respectively located on two opposite sides of the cavity in the radial direction.

4. The remote control device according to claim 3, characterized in that: The movable parts include: A guide portion extending along the first direction, one end of which is inserted into the cavity and slidably engaged with the mounting seat along the first direction; The pushing portion is located at the other end of the guide portion and outside the cavity, and is used for an operator's thumb to push along the first direction.

5. The remote control device according to claim 1, wherein: The force feedback component has a moving end that is arranged to float along the first direction, and the moving end can generate the feedback resistance on the movable part.

6. The remote control device according to claim 5, characterized in that: The elastic member is elastic in the first direction, and the elastic member transmits the force between the moving end of the force feedback assembly and the movable member.

7. The remote control device according to claim 5, characterized in that: The force feedback component includes: a lead screw motor, wherein the lead screw of the lead screw motor extends along the first direction; Wherein, the controller is control-connected to the lead screw motor, and the lead screw can generate the feedback resistance to the movable part.

8. The remote control device according to claim 7, characterized in that: The end head is provided at one end of the lead screw to form the moving end; Wherein, the lead screw applies the feedback resistance through the end head.

9. The remote control device according to claim 8, characterized in that: At least a portion of the extended section of the cavity has a constant cross-section, and the end head is embedded in the constant cross-section section of the cavity and slidably cooperates with the mounting seat.

10. The remote control device according to claim 9, characterized in that: The cross section of the equal cross section section of the cavity is rectangular.

11. The remote control device according to claim 1, wherein: The magnitude of the feedback resistance is equal to the magnitude of the injection resistance.

12. The remote control device according to claim 1, wherein: The position sensor is a pull-rod type displacement sensor, comprising a main body and a pull-rod, wherein the pull-rod can move relative to the main body along the first direction or in the opposite direction of the first direction; When the movable member moves along the first direction, it can drive the pull rod to move synchronously along the first direction.

13. The remote control device according to claim 1, wherein: include: A pressure sensor is used to detect a pushing force applied by an operator to the movable part along the first direction, and send a detection result to the injection device.

14. The remote control device according to claim 13, wherein: The movable parts include: a main body, the main body being movably disposed on the mounting seat and capable of moving relative to the mounting seat along a first direction; a pushing portion, the pushing portion being floatably disposed on the main body along the first direction; The pressure sensor is sandwiched between the main body and the pushing portion along the first direction, and is used to detect a pushing force applied to the pushing portion by an operator along the first direction.

15. The remote control device according to claim 3, characterized in that: include: shell; The outer shell is sleeved on the outside of the mounting seat, the two abutting portions are located outside the outer shell and spaced apart from the mounting seat along the first direction, and the movable member is located outside the outer shell.

16. The remote control device according to claim 15, characterized in that: include: a protective cover, the protective cover being a cylinder extending along the first direction and being deformable along the first direction; Among them, the position sensor is a pull rod type displacement sensor, which has a main body and a pull rod. The pull rod can move relative to the main body along the first direction or the opposite direction of the first direction. The main body is arranged in the shell, and the pull rod passes through the side wall of the shell and is connected to the movable part. The protective cover is sleeved on the outside of the pull rod, one end of which is connected to the shell, and the other end is connected to the movable part.

17. An injection system, characterized in that: include: an injection device, the injection device being used to inject a target liquid; The remote control device according to any one of claims 1 to 16, wherein the controller in the remote control device is control-connected to the injection device, and is used to control the injection device to perform an injection operation based on the position information of the movable part.

18. The injection system according to claim 17, wherein: include: a detection device, the detection device being used to detect the injection resistance during the injection process of the injection device; The controller in the remote control device is further connected to the detection device for controlling the force feedback component in the remote control device to generate the feedback resistance matching the injection resistance according to the injection resistance.

Images