A cartridge type insulin screw injection pump intelligent control method

Abstract

A kind of refill insulin screw injection pump intelligent control method, specifically includes the following steps: (one), start the refill insulin screw injection pump, and the prefabricated insulin medicament of injection is filled into refill injection mechanism;(two), operate key operation module, and power device works under the control of intelligent control module, when primary screw telescopic mechanism is elongated to limit, sensor assembly transmits signal to intelligent control module, and intelligent control module controls the speed of power device to reduce, to reduce the impact degree of primary screw telescopic mechanism;Refill injection mechanism carries out insulin medicament injection;(three), after insulin medicament injection is completed, repeat step (one), refill insulin medicament, prepare next injection.The present application can accurately control the injection amount of insulin medicament, realize high-precision drug delivery, significantly reduce overall size, intelligent control the rotation torque and speed of power motor, reduce the impact degree, reduce the energy consumption of electric energy, also have anti-lock function.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of insulin injection, in particular to a pen cartridge type insulin screw injection pump intelligent control method. BACKGROUND

[0002] The insulin pump is composed of an injection pump, a small syringe and a connecting infusion tube. Its basic use is to inject insulin according to the required dose. However, the injection amount of insulin is very small each time, and how to control the injection amount of insulin with high precision and at the same time require the volume of the injection pump to be small is a difficult problem that needs to be solved urgently.

[0003] After inquiry, there are some related patent literatures reported in the existing patent literatures, mainly as follows:

[0004] 1. The patent with the authorized announcement number CN108159530 A and the name of "a driving rod and motor integrated assembly structure for an insulin pump" belongs to the technical field of medical devices. The driving rod and motor integrated assembly structure of the insulin pump adopts an integrated assembly structure, and the two are fixed on the same fixed seat to form a whole, which ensures the concentricity of the driving rod and the motor, enables the driving rod to smoothly stretch and retract under the driving of the motor, maximizes the straightness of the guide, reduces the resistance, and prolongs the service life of the driving mechanism.

[0005] 2. The patent with the authorized announcement number CN109529154 A and the name of "a new type of multi-section sinking cylinder type insulin pump pushing mechanism" belongs to the technical field of medical devices. The pushing mechanism of the multi-section sinking cylinder type insulin pump is adopted, and through the setting of the main guide rail, the auxiliary guide rail and the main and auxiliary guide rods, the phenomenon that the traditional square guide groove guide requires high machining precision of the equipment can be replaced, and when the machining precision is low, the phenomenon of being easily stuck in the pushing and returning process can be avoided, which causes the failure of the insulin pump and the failure of the insulin infusion.

[0006] The above two patents only solve the effectiveness and structure life problem of the driving mechanism, and do not involve the improvement of injection precision and the miniaturization of the injection pump body, which is the difficult problem that needs to be solved in the future precise medical treatment. The medical device with high precision and good user experience is the mainstream direction of the future development of the insulin injection pump. SUMMARY

[0007] The purpose of the present application is to provide a pen cartridge type insulin screw injection pump intelligent control method, which can accurately control the injection amount of insulin liquid, realize high-precision drug delivery, significantly reduce the overall size, intelligently control the rotation torque and speed of the power motor, reduce the impact force, reduce the energy consumption of electric energy, and has the function of preventing lock.

[0008] To achieve the above object, the present application adopts the following technical solutions:

[0009] A refill type insulin screw injection pump intelligent control method, the refill type insulin screw injection pump includes a shell, a refill injection mechanism, a first screw telescopic mechanism, a second screw telescopic mechanism, a power device, a power module and an intelligent control module, the refill injection mechanism, the first screw telescopic mechanism and the second screw telescopic mechanism are coaxially vertically arranged in the left side of the shell, the power device, the power module and the intelligent control module are arranged in the right side of the shell, the power device is in transmission connection with the first screw telescopic mechanism, the power device drives the first screw telescopic mechanism to extend and retract, the second screw telescopic mechanism is installed in the first screw telescopic mechanism and in transmission connection with the first screw telescopic mechanism, the first screw telescopic mechanism drives the second screw telescopic mechanism to extend and retract, the refill injection mechanism is arranged in the upper part of the second screw telescopic mechanism and connected with the extension end of the second screw telescopic mechanism, the shell is provided with a key operation module, the first screw telescopic mechanism is provided with a sensor assembly, the power module provides power for the power device and the intelligent control module respectively, and the intelligent control module is in signal connection with the power device, the key operation module and the sensor assembly respectively;

[0010] The intelligent control method specifically includes the following steps:

[0011] (I), starting the refill type insulin screw injection pump, operating the key operation module, the intelligent control module controls the power device to work, and the power device drives the first screw telescopic mechanism and the second screw telescopic mechanism to contract, so that the prefabricated insulin liquid of injection is filled into the refill injection mechanism;

[0012] (II), operating the key operation module, the intelligent control module controls the power device to work, and the power device drives the first screw telescopic mechanism to extend first, when the first screw telescopic mechanism extends to the limit, the sensor assembly transmits a signal to the intelligent control module, the intelligent control module controls the power device to reduce the rotating speed, so as to reduce the impact of the first screw telescopic mechanism, then the second screw telescopic mechanism starts to extend, until the second screw telescopic mechanism extends to the maximum limit position, the intelligent control module controls the power device to stop; in the process of extending the first screw telescopic mechanism and the second screw telescopic mechanism, the refill injection mechanism performs insulin liquid injection;

[0013] (III), after the insulin liquid injection is completed, step (I) is repeated to refill the insulin liquid, and the next injection is prepared.

[0014] The bottom of the shell is open and fixedly connected with a bottom cover, a injection barrel in a pen barrel structure is integrally formed on the left side of the inside of the shell in a vertical direction, the upper end of the injection barrel extends out of the top of the shell, the lower end of the injection barrel extends to the lower left part of the inside of the shell, an electrical inner cavity is arranged in the lower right part of the inside of the shell, a power module and a smart control module are arranged in the electrical inner cavity, and a power device is arranged in the upper right part of the inside of the shell.

[0015] The refill injection mechanism comprises a refill and a core piston, the refill is coaxially fixedly embedded in the injection barrel, the outer circle of the refill is in close contact with the inner circle of the injection barrel, the lower end of the refill is open, the lower end of the refill is located in the injection barrel and close to the lower end of the injection barrel, the upper end of the refill is integrally formed with a T-shaped hollow cylindrical head with a large upper part and a small lower part, the maximum circumferential diameter of the T-shaped hollow cylindrical head is smaller than the diameter of the refill, the lower end of the T-shaped hollow cylindrical head is connected with the upper end of the refill through a circular table barrel with a thin upper part and a thick lower part, the upper end of the injection barrel is coaxially screwed with a needle cap, the T-shaped hollow cylindrical head is embedded in the needle cap, the top center of the needle cap is coaxially integrally formed with a cylindrical protrusion, a first center hole is vertically arranged in the center of the cylindrical protrusion, a injection hose is coaxially fixedly embedded in the first center hole, the upper end of the injection hose extends out of the upper end of the cylindrical protrusion and is connected with a injection needle, a second center hole coaxial with the first center hole is arranged in the center of the needle cap, the inner diameter of the second center hole is smaller than the inner diameter of the first center hole, the upper end of the second center hole is connected with the lower end of the first center hole, a needle tube is coaxially fixedly embedded in the second center hole, the needle tube coaxially penetrates through the T-shaped hollow cylindrical head and extends into the T-shaped hollow cylindrical head, the lower end of the needle tube is in communication with the inside of the refill, and the core piston is coaxially and sealingly slidably arranged in the refill.

[0016] The primary screw telescopic mechanism comprises a primary fixed rod, a primary tubular screw and a driving cylinder, a circular ring flange is integrally formed on the outer edge of the upper surface of the fixed seat, a third central hole is formed in the center of the fixed seat, the primary fixed rod is coaxially arranged below the injection cylinder, the upper end of the primary fixed rod is located at the center of the lower end of the injection cylinder, the lower end of the primary fixed rod is fixedly connected in the third central hole, the primary tubular screw is coaxially sleeved outside the primary fixed rod, the driving cylinder is coaxially sleeved outside the primary tubular screw and arranged between the injection cylinder and the fixed seat, the upper end of the driving cylinder is rotatably connected to the lower end of the injection cylinder, the lower end of the driving cylinder is rotatably connected to the circular ring flange, the inner diameter of the driving cylinder is smaller than the inner diameter of the pen core, the first internal thread is arranged on the inner circle of the upper end of the driving cylinder, the first external thread is arranged on the outer circle of the primary tubular screw in the axial direction and threadedly matched with the first internal thread, the second internal thread is arranged on the inner circle of the upper end of the primary tubular screw, the lower end of the primary tubular screw is flush with the lower end of the driving cylinder and higher than the upper surface of the fixed seat, the upper end of the primary tubular screw is higher than the upper end of the driving cylinder, the limit ring above the upper end of the driving cylinder is fixedly sleeved on the outer circle of the upper end of the primary tubular screw, the first wedge-shaped buckle protruding upward is arranged on the upper end surface of the driving cylinder, the second wedge-shaped buckle protruding downward is arranged on the lower end surface of the limit ring, when the primary tubular screw is contracted into the driving cylinder and moves downward to the lower limit position, the second wedge-shaped buckle is engaged with the first wedge-shaped buckle, the third wedge-shaped buckle protruding upward is arranged on the upper end surface of the limit ring, and the driving gear is fixedly sleeved on the outer circle of the upper end of the driving cylinder.

[0017] The secondary screw telescopic mechanism comprises a secondary fixed tube sleeve and a secondary tubular screw, the secondary fixed tube sleeve is coaxially and slidingly sleeved on the primary fixed rod, the secondary tubular screw is coaxially and slidingly sleeved on the secondary fixed tube sleeve and located in the primary tubular screw, the second external thread is arranged on the outer circle of the secondary tubular screw in the axial direction and threadedly matched with the second internal thread, the upper end of the secondary fixed tube sleeve is flush with the upper end of the primary fixed rod, the lower end of the secondary fixed tube sleeve is flush with the lower end of the primary tubular screw, the upper end of the secondary tubular screw is higher than the upper end of the primary tubular screw and fixedly connected with the limit screw plug above the limit ring, the diameter of the limit screw plug is smaller than the inner diameter of the pen core, the top of the limit screw plug extends into the pen core and is fixedly connected with the bottom of the core piston, the fourth wedge-shaped buckle protruding downward is arranged on the bottom outer edge of the limit screw plug, when the secondary tubular screw is contracted into the primary tubular screw and moves downward to the lower limit position, the fourth wedge-shaped buckle is engaged with the third wedge-shaped buckle, the lower end of the secondary tubular screw is higher than the lower end of the secondary fixed tube sleeve, the first limit clamping groove is formed in the outer side wall of the primary fixed rod in the axial direction and open downward and outward, the first limit clamping block is integrally formed on the inner wall of the lower end of the secondary fixed tube sleeve and slidingly clamped in the first limit clamping groove, the second limit clamping groove is formed in the outer side wall of the secondary fixed tube sleeve in the axial direction and open downward and outward, and the second limit clamping block is integrally formed on the inner wall of the lower end of the secondary tubular screw and slidingly clamped in the second limit clamping groove.

[0018] The first internal thread, the first external thread, the second internal thread and the second external thread are all trapezoidal threads with the same pitch.

[0019] The power device comprises a power motor fixedly installed in the upper right part of the shell, an output shaft of the power motor vertically arranged at the lower side of the power motor, a motor gear coaxially fixedly installed at the lower end of the output shaft of the power motor, the motor gear located at the right side of the driving gear and in meshing transmission connection with the driving gear, the power module in electrical connection with the power motor, and the intelligent control module in signal connection with the power motor.

[0020] The sensor assembly comprises a position sensor arranged at the lower side of the lower end tail trapezoidal thread of the first internal thread, a wire harness channel axially formed on the cylinder body of the driving cylinder corresponding to the position sensor, an installation hole with a larger diameter than the wire harness channel coaxially arranged at the lower end of the wire harness channel, the lower end port of the installation hole arranged on the lower end surface of the driving cylinder, an elastic conductor fixedly arranged at the upper part of the installation hole, a first signal lead wire arranged in the wire harness channel, the upper end of the first signal lead wire connected with the position sensor, the lower end of the first signal lead wire connected with the elastic conductor, the lower end of the elastic conductor fixedly connected with a conductive ball bearing arranged at the lower part of the installation hole, the lower side of the conductive ball bearing protruding downward from the lower end port of the installation hole, a conductive sheet fixedly arranged on the upper surface of the fixed seat, the conductive sheet in up-and-down corresponding rolling contact with the conductive ball bearing, and the conductive sheet in signal connection with the intelligent control module through a second signal lead wire passing through the lower surface of the fixed seat and introduced into the electrical inner cavity.

[0021] The refill is made of transparent material, a camera with light arranged in the middle position of the outer wall of the refill and embedded in the inner wall of the injection cylinder, the power module in electrical connection with the camera, and the intelligent control module in signal connection with the camera.

[0022] The intelligent control module is a microcomputer with an embedded processor, and further comprises a soft limit of a two-stage screw telescopic mechanism, the soft limit parameters of which are determined by the geometric parameters of the one-stage and two-stage pipe screws, i.e., the pitch, total length and working length, so that when the second limit block on the inner wall of the lower end of the two-stage pipe screw slides upward to the upper end of the second limit slot and is pulled, and the two-stage pipe screw is retracted downward into the one-stage pipe screw and moves downward to the lower limit position, the intelligent control module immediately controls the power motor to stop rotating.

[0023] The step (one) is specifically: opening the power module, initializing the intelligent control module, inserting the injection needle into the insulin injection bottle, operating the key operation module, the intelligent control module controls the power motor to reverse, the output shaft of the power motor drives the driving cylinder to reverse through the motor gear and the driving gear, the driving cylinder drives the first-stage tubular screw rod to shrink into the driving cylinder through the first inner thread and the first outer thread, the first-stage tubular screw rod drives the second-stage fixed pipe sleeve and the second-stage tubular screw rod to move downward relative to the first-stage fixed rod, the second-stage tubular screw rod drives the limit screw plug and the core piston to move downward, so that the core piston can draw the insulin liquid in the insulin injection bottle into the pen core through the injection needle, the injection hose and the needle tube, when the first-stage tubular screw rod shrinks into the driving cylinder and moves to the lower limit position, the second wedge-shaped buckle engages with the first wedge-shaped buckle, the first-stage tubular screw rod cannot continue to move downward, the driving cylinder drives the first-stage tubular screw rod to rotate reversely through the first wedge-shaped buckle and the second wedge-shaped buckle, the first-stage tubular screw rod rotates relative to the second-stage tubular screw rod, the first-stage tubular screw rod drives the second-stage tubular screw rod to shrink into the first-stage tubular screw rod through the second inner thread and the second outer thread, the second-stage tubular screw rod continues to drive the limit screw plug and the core piston to move downward, the core piston continues to draw the insulin liquid in the insulin injection bottle into the pen core through the injection needle, the injection hose and the needle tube, when the second-stage tubular screw rod shrinks into the first-stage tubular screw rod and moves to the lower limit position, the fourth wedge-shaped buckle engages with the third wedge-shaped buckle, the second-stage tubular screw rod cannot continue to move downward, the intelligent control module immediately controls the power motor to stop rotating, the pen core is filled with the insulin liquid, the insulin liquid filling work is completed, a new injection needle is replaced, and the injection is prepared.

[0024] The step (two) is specifically: operating the key operation module, the intelligent control module controls the power motor to rotate forward, the output shaft of the power motor drives the motor gear to rotate, the motor gear meshes with the transmission driving gear, the driving gear drives the driving cylinder to rotate forward, the driving cylinder rotates relative to the first tubular screw, the driving cylinder drives the first tubular screw to stretch out of the driving cylinder through the first internal thread and the first external thread, the first tubular screw drives the second fixed pipe sleeve and the second tubular screw to move upward relative to the first fixed rod, the first limiting clamping block on the inner wall of the lower end of the second fixed pipe sleeve slides upward along the first limiting clamping groove on the outer side wall of the first fixed rod, the second tubular screw drives the limiting screw plug and the core piston to move upward, so that the core piston pushes the insulin liquid in the pen refill out and injects through the needle tube, the injection hose and the injection needle, wherein, since the first internal thread, the first external thread, the second internal thread and the second external thread are trapezoidal threads with the same pitch, one rotation of the driving cylinder can realize the upward movement of the first tubular screw by a pitch length, and the conductive ball and the conductive sheet roll in contact once, then the position sensor transmits a signal to the intelligent control module once, the intelligent control module obtains the rotation number information of the driving cylinder by collecting the signal of the position sensor, the intelligent control module obtains the distance of the upward movement of the first tubular screw according to the rotation number of the driving cylinder, at the same time, the intelligent control module processes the image collected by the camera by using the pyramid YOLO7 algorithm, identifies the position of the core piston, and then measures the injected amount of the insulin liquid in the pen refill, the intelligent control module controls the power motor to change the rotation torque and speed, so as to reduce the impact between the first tubular screw and the driving cylinder, until the first tubular screw moves upward to the upper limit position, that is, the first tubular screw and the driving cylinder cannot continue to rotate relative motion, at the same time, the first limiting clamping block slides upward to the upper end of the first limiting clamping groove and is pulled, the first tubular screw and the second tubular screw are connected as a whole, the movement form of the first tubular screw changes from vertical up-down movement to rotation with the driving cylinder, then the first tubular screw rotates relative to the second tubular screw, the first tubular screw drives the second tubular screw to stretch out of the first tubular screw through the second internal thread and the second external thread, the second tubular screw moves upward relative to the second fixed pipe sleeve, the second tubular screw continues to drive the limiting screw plug and the core piston to move upward, the core piston continues to push the insulin liquid in the pen refill out and inject through the needle tube, the injection hose and the injection needle, when the second limiting clamping block on the inner wall of the lower end of the second tubular screw slides upward to the upper end of the second limiting clamping groove and is pulled, the second tubular screw moves to the upper limit position, the first tubular screw and the second tubular screw cannot continue to rotate relative to each other, the intelligent control module controls the power motor to stop rotating, and the whole insulin liquid injection process is completed.

[0025] The action flow of the intelligent control module controlling the power motor to change the rotation torque and speed is as follows:

[0026] A) When the intelligent control module collects the position sensor signal times to reach the first set number of times, the rotation number of the drive cylinder reaches the first set number of turns, the first-stage tubular screw moves up to approach its upper limit position state, and the intelligent control module measures the injected amount of insulin liquid in the pen core through the camera to be greater than one-third and to approach one-half. The intelligent control module controls the drive current of the power motor to be raised to 125% of the standard state (50 mA), raises the rotation torque of the power motor, and reduces the speed of the power motor to 80% of the standard state (200 rpm / Sec) through PWM speed regulation.

[0027] B) The drive cylinder continues to rotate forward, and when the intelligent control module collects the position sensor signal times to reach the second set number of times, the rotation number of the drive cylinder reaches the second set number of turns, the first-stage tubular screw moves up to further approach its upper limit position state, and the intelligent control module identifies the further upward movement of the core piston through the camera and measures the injected amount of insulin liquid in the pen core to further approach one-half. The intelligent control module controls the drive current of the power motor to be raised to 150% of the standard state (50 mA), raises the rotation torque of the power motor, and reduces the speed of the power motor to 60% of the standard state (200 rpm / Sec) through PWM speed regulation.

[0028] C) The drive cylinder continues to rotate forward, and when the intelligent control module collects the position sensor signal times to reach the third set number of times, the rotation number of the drive cylinder reaches the third set number of turns, the first-stage tubular screw moves up to almost approach its upper limit position state, and the intelligent control module identifies the further upward movement of the core piston through the camera and measures the injected amount of insulin liquid in the pen core to almost approach one-half. The intelligent control module controls the drive current of the power motor to be raised to 200% of the standard state (50 mA), raises the rotation torque of the power motor, and reduces the speed of the power motor to 20% of the standard state (200 rpm / Sec) through PWM speed regulation, to reduce the impact force of the first-stage tubular screw and the drive cylinder.

[0029] D) The drive cylinder continues to rotate forward, and when the intelligent control module collects the position sensor signal times to reach the fourth set number of times, the rotation number of the drive cylinder reaches the fourth set number of turns, the first-stage tubular screw moves up to its upper limit position state, and the intelligent control module identifies the further upward movement of the core piston through the camera and measures the injected amount of insulin liquid in the pen core to further reach one-half. The intelligent control module controls the drive current of the power motor to be raised to 300% of the standard state (50 mA), raises the rotation torque of the power motor, and reduces the speed of the power motor to 5% of the standard state (200 rpm / Sec) through PWM speed regulation, to further reduce the impact force of the first-stage tubular screw and the drive cylinder.

[0030] The pyramid YOLO7 algorithm inputs an image collected by a camera. The resolution of the real-time monitoring picture image of the camera is w x h pixels, w takes a value of 1280 pixels, and h takes a value of 720 pixels. The pyramid YOLO7 algorithm performs rectangular window clipping on the w x h pixel key frame of the original input image. The starting point and the ending point of the rectangular window clipping are marked as two points A (x1, y1) and B (x2, y2) respectively. The starting point A (x1, y1) and the ending point B (x2, y2) are determined as follows:

[0031] (1) Analyzing the historical detection data, the coordinates of the target object hotspot maximum circumscribed rectangle region marked by the pyramid YOLO7 algorithm with adaptive weights in the last 7 days are obtained, and are marked as S1{(x 11 , y 11 ), (x 21 , y 21 )}, S2{(x 12 , y 12 ), (x 22 , y 22 )}, S3{(x 13 , y 13 ), (x 23 , y 23 )}, and S n {(x 1n , y 1n ), (x 2n , y 2n )} respectively.

[0032] (2) x 11 , x 12 , x 13 , …, x 1n are sorted in ascending order, and the first 50% data series is taken, denoted as ; the X direction coordinate of the starting point A (x1, y1) is calculated, as shown in the following formula 1):

[0033]

[0034] In the above formula 1), [n / 2] is the integer part of n / 2; similarly, y 11 , y 12 , y 13 , …, y 1n are sorted in ascending order, and the first 50% data series is taken, denoted as ; the Y direction coordinate of the starting point A (x1, y1) is calculated, as shown in the following formula 2):

[0035]

[0036] , judge whether the coordinates of x1 and y1 are out of bounds, if the value of x1 or y1 is less than 1, then the value of x1 or y1 is 1, otherwise, respectively, take the integer part;

[0037] (3), x 21 , x 22 , x 23 , …, x 2n are sorted in descending order, and the first 50% of the data series are taken, denoted as ; the X direction coordinate of the end point B (x2, y2) is calculated, as shown in the following formula 3):

[0038]

[0039] ; similarly, y 21 , y 22 , y 23 , …, y 2n are sorted in descending order, and the first 50% of the data series are taken, denoted as , the Y direction coordinate of the end point B (x2, y2) is calculated, as shown in the following formula 4):

[0040]

[0041] , judge whether the coordinates of x2 and y2 are out of bounds, if x2 is greater than 1280, then the value of x2 is 1280, if the value of y2 is greater than 720, then the value of y2 is 720, otherwise, respectively, take the integer part;

[0042] (4), if the time accumulation days of historical data is less than 7 days, the coordinates of the start point A is set to (1, 1), and the coordinates of the end point B is set to (1280, 720), that is, x1=1, x2=1280, y1=1, y2=720.

[0043] The flow of the pyramid YOLO7 algorithm for image processing is as follows:

[0044] (I), when the pen core type insulin screw injection pump performs insulin liquid injection work, the intelligent control module obtains the image collected by the camera every 10ms, the pyramid YOLO7 algorithm judges whether the image threshold is greater than 5ml / hour, if it is greater than 5ml / hour, go to the next step (II), otherwise continue to execute the current step (I);

[0045] (II) If the current injection amount is less than half of the cartridge capacity, the key frame of the camera at the current time is obtained through the image after rectangular window cutting, denoted as image A; the key frame of the previous 500 ms and the previous 2 seconds is obtained through the image after rectangular window cutting, denoted as images B and C, respectively, and the next step (III) is entered;

[0046] (III) First, the pyramid YOLO7 algorithm performs YOLO7 target object detection on image A, calculates the maximum probability of the current image existing injection amount being less than or equal to 0, greater than 0 and less than 1 / 2 and 1, and marks it as P{a, b, c}. The YOLO7 algorithm is trained in advance for the above three targets; further, image A is divided into A1, A2, A3 and A4 four sub-images by 2 equal division in length and width direction, and the maximum probability of the current sub-image existing injection amount being less than or equal to 0, greater than 0 and less than 1 / 2 and 1 is calculated respectively, and marked as P1, P2, P3 and P4. The P1, P2, P3 and P4 are also three-dimensional vectors as the P; the maximum value of each dimension of P1, P2, P3 and P4 of the four sub-images is screened, and marked as P5{d, e, f}; further, image A is divided into 16 sub-images by 4 equal division in length and width direction, and the maximum probability of the current sub-image existing injection amount being less than or equal to 0, greater than 0 and less than 1 / 2 and 1 is calculated respectively, and marked as P 11 …A 44 The P 11 …P 44 The P 11 …P 44 is also a three-dimensional vector as the P; the maximum value of each dimension of P 11 …P 44 of the 16 sub-images is screened, and marked as P 55 {g, h, i}; after identification by three-layer pyramid YOLO7 algorithm, the final target detection probability P A of image A is as follows formula 5):

[0047]

[0048] Wherein, w1…w9 is weight, its value dynamically changes with the detection result of YOLO7, which is calculated as follows formula 6)~8):

[0049] ;

[0050] (IV) Then, referring to the pyramid YOLO7 method of adaptive weight for image A, images B and C are processed to obtain the final target detection probability of images B and C, denoted as P B and P C ;

[0051] (V), taking out the final target detection probability P corresponding to the three images A, B and C A , P B and P C The maximum value in the dimension, using the maximum value determination principle, the final detection result of the current injection speed and injection amount is obtained, that is, less than or equal to 0, greater than 0 less than 1 / 2 and 1, for example: when the calculation result is P A ={1, 0, 0}, P B ={0.56, 0.16, 0}, P C ={0.46, 0.09, 0}, P A , P B and P C The maximum value in the first dimension, so according to the maximum value determination principle, the current injection condition is less than or equal to 0;

[0052] (VI), after detection, re-enter the next round of detection, turn to step (I) for processing.

[0053] The present application has outstanding substantial characteristics and significant progress compared with the prior art. Specifically, the upper end of the drive cylinder is provided with a first internal thread, the outer circle of the primary tubular screw rod is provided with a first external thread in the axial direction which threadedly cooperates with the first internal thread, the upper end of the primary tubular screw rod is provided with a second internal thread, the outer circle of the secondary tubular screw rod is provided with a second external thread in the axial direction which threadedly cooperates with the second internal thread, the first internal thread, the first external thread, the second internal thread and the second external thread are all trapezoidal threads with the same pitch, so that the primary tubular screw rod or the secondary tubular screw rod can be extended or retracted by one pitch length when the drive cylinder rotates one circle, the injection amount of insulin liquid can be accurately controlled, high-precision drug delivery can be realized, and the overall size is significantly reduced. Therefore, during the entire insulin liquid injection process, the intelligent control module can calculate the number of rotation circles of the drive cylinder by collecting the signal of the position sensor, the intelligent control module can obtain the distance of upward movement of the primary tubular screw rod according to the number of rotation circles of the drive cylinder, the intelligent control module can process the image collected by the camera by using the pyramid YOLO7 algorithm, identify the position of the core piston, and then measure the injected amount of insulin liquid in the pen core, the intelligent control module can control the power motor to change the rotation torque and speed, reduce the impact force between the primary tubular screw rod and the drive cylinder, and reduce the energy consumption of electric energy; the intelligent control module is also provided with a soft limit of the secondary screw rod extension mechanism, the soft limit parameters are determined by the geometric parameters of the primary tubular screw rod and the secondary tubular screw rod, i.e. the pitch, the total length and the working length, and when the second limit block on the inner wall of the lower end of the secondary tubular screw rod slides upward to the upper end of the second limit slot and is pulled, and the secondary tubular screw rod is retracted downward into the primary tubular screw rod and moves downward to the lower limit position, the intelligent control module immediately controls the power motor to stop rotating, so as to avoid the secondary tubular screw rod being pulled tight or the secondary tubular screw rod being too tight in the primary tubular screw rod and being locked, and also to avoid the power motor being overloaded and the output shaft torque being too large and being damaged, thereby protecting the power motor, the primary tubular screw rod and the secondary tubular screw rod.

[0054] When the insulin medicine is filled, the power motor drives the driving cylinder to reverse through the motor gear and the driving gear, and the primary tubular screw is shrunk into the driving cylinder, the outer circle of the upper end of the primary tubular screw is fixedly sleeved with a limiting ring located above the upper end of the driving cylinder, the upper end surface of the driving cylinder is provided with a first wedge-shaped buckle protruding upward, the lower end surface of the limiting ring is provided with a second wedge-shaped buckle protruding downward, the upper end surface of the limiting ring is provided with a third wedge-shaped buckle protruding upward, and the bottom outer edge of the limiting screw plug is provided with a fourth wedge-shaped buckle protruding downward, when the primary tubular screw is shrunk into the driving cylinder and moves to the lower limit position, the second wedge-shaped buckle is engaged with the first wedge-shaped buckle, at this time, the primary tubular screw reversely rotates with the driving cylinder, so that the primary tubular screw is prevented from being locked due to being too deep or too tight in the driving cylinder, the primary tubular screw drives the secondary tubular screw to be shrunk into the primary tubular screw through the second inner thread and the second outer thread, and the secondary tubular screw is prevented from being locked due to being too deep or too tight in the primary tubular screw.

[0055] In conclusion, the insulin medicine injection amount can be accurately controlled, high-precision drug delivery can be realized, the overall size is significantly reduced, the rotation torque and speed of the power motor are intelligently controlled, the impact force is reduced, the energy consumption of electric energy is reduced, and the anti-locking function is also provided. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 is the initial state schematic diagram of the present application when the insulin medicine is filled and ready to be injected.

[0057] Figure 2 is an intermediate state schematic diagram of the present application in the process of injecting the insulin medicine (the primary tubular screw moves upward to the upper limit position).

[0058] Figure 3 is a schematic diagram of the present application after the insulin medicine injection is completed (the secondary tubular screw moves upward to the upper limit position).

[0059] Figure 4 is an intermediate state schematic diagram of the present application in the process of refilling the insulin medicine (the primary tubular screw moves downward to the lower limit position).

[0060] Figure 5 is a schematic diagram of the present application after the insulin medicine is refilled (the secondary tubular screw moves downward to the lower limit position).

[0061] Figure 6is the working state diagram of the limit ring when the primary pipe screw and the secondary pipe screw return to the initial state after the refill of the insulin liquid is completed

[0062] Figure 7 is the elevation view of the position sensor, the elastic conductor, the first signal conductor and the conductive ball on the driving cylinder of the present application.

[0063] Figure 8 is the schematic diagram of the rectangular window clipping of the w x h pixel key frame of the original input image by the pyramid YOLO7 algorithm of the present application.

[0064] Figure 9 is the schematic diagram of the target object detection of image A by the YOLO7 algorithm of the present application.

[0065] Figure 10 is Figure 1 is the local enlarged view of A in

[0066] Figure 11 is the local enlarged view of B in Figure 7 DETAILED DESCRIPTION

[0067] The embodiments of the present application are further illustrated below in combination with the drawings.

[0068] As shown in Figures 1-11 , an intelligent control method for a refillable insulin screw injection pump, the refillable insulin screw injection pump comprising a shell 1, a refill injection mechanism, a primary screw telescopic mechanism, a secondary screw telescopic mechanism, a power device, a power supply module and an intelligent control module, the refill injection mechanism, the primary screw telescopic mechanism and the secondary screw telescopic mechanism are coaxially and vertically arranged in the left side of the shell, the power device, the power supply module and the intelligent control module are arranged in the right side of the shell 1, the power device is in transmission connection with the primary screw telescopic mechanism, the power device drives the primary screw telescopic mechanism to extend and retract, the secondary screw telescopic mechanism is installed in the primary screw telescopic mechanism and in transmission connection with the primary screw telescopic mechanism, the primary screw telescopic mechanism drives the secondary screw telescopic mechanism to extend and retract, the refill injection mechanism is arranged in the upper part of the secondary screw telescopic mechanism and connected with the extension end of the secondary screw telescopic mechanism, the shell 1 is provided with a key operation module 2, the primary screw telescopic mechanism is provided with a sensor assembly, the power supply module provides power supply to the power device and the intelligent control module respectively, and the intelligent control module is in signal connection with the power device, the key operation module 2 and the sensor assembly respectively.

[0069] The intelligent control method specifically comprises the following steps:

[0070] ​(I), start the refill type insulin screw injection pump, operate the key operation module 2, the intelligent control module controls the power device to work, the power device drives the first level screw telescopic mechanism and the second level screw telescopic mechanism to contract, and the prefabricated insulin liquid medicine is filled into the refill injection mechanism;

[0071] (II), operate the key operation module 2, the intelligent control module controls the power device to work, the power device drives the first level screw telescopic mechanism to elongate first, when the first level screw telescopic mechanism elongates to the limit, the sensor assembly transmits the signal to the intelligent control module, the intelligent control module controls the power device to reduce the rotating speed, so as to reduce the impact of the first level screw telescopic mechanism, then the second level screw telescopic mechanism begins to elongate, until the second level screw telescopic mechanism elongates to the maximum limit position, the intelligent control module controls the power device to stop; during the elongation of the first level screw telescopic mechanism and the second level screw telescopic mechanism, the refill injection mechanism injects the insulin liquid medicine;

[0072] (III), after the insulin liquid medicine injection is completed, the insulin liquid medicine is refilled, and the next injection is prepared.

[0073] The bottom of the shell 1 is open and fixedly connected with the bottom cover 3, the inside left side of the shell 1 is integrally formed in the vertical direction and provided with the injection cylinder 4 similar to the structure of the pen barrel, the upper end of the injection cylinder 4 extends out of the top of the shell 1 upward, the lower end of the injection cylinder 4 extends to the lower left part in the shell 1 downward, the right lower part in the shell 1 is provided with the electrical inner cavity 5, the power module and the intelligent control module are arranged in the electrical inner cavity 5, and the power device is arranged in the right upper part in the shell 1.

[0074] The refill injection mechanism comprises a refill 6 and a core piston 7, the refill 6 is coaxially fixedly embedded in the injection cylinder 4, the outer circle of the refill 6 is in close contact with the inner circle of the injection cylinder 4, the lower end of the refill 6 is open, the lower end of the refill 6 is located in the injection cylinder 4 and close to the lower end of the injection cylinder 4, the upper end of the refill 6 is integrally formed with a T-shaped hollow cylindrical head 8 which is large at the top and small at the bottom, the maximum circumferential diameter of the T-shaped hollow cylindrical head 8 is smaller than the diameter of the refill 6, the lower end of the T-shaped hollow cylindrical head 8 is connected with the upper end of the refill 6 through a circular truncated cone barrel 9 which is thin at the top and thick at the bottom, the upper end of the injection cylinder 4 is coaxially screwed with a needle cap 10, the T-shaped hollow cylindrical head 8 is embedded in the needle cap 10, the top center of the needle cap 10 is coaxially integrally formed with a cylindrical protrusion 11, the center of the cylindrical protrusion 11 is vertically provided with a first central hole, a injection hose 12 is coaxially fixedly embedded in the first central hole, the upper end of the injection hose 12 extends out of the upper end of the cylindrical protrusion 11 and is connected with a injection needle, the center of the needle cap 10 is provided with a second central hole which is coaxial with the first central hole, the inner diameter of the second central hole is smaller than that of the first central hole, the upper end of the second central hole is connected with the lower end of the first central hole, a needle tube 13 is coaxially fixedly embedded in the second central hole, the needle tube 13 coaxially penetrates through the T-shaped hollow cylindrical head 8 and extends into the T-shaped hollow cylindrical head 8, the lower end of the needle tube 13 is in communication with the inside of the refill 6, the core piston 7 is coaxially and sealingly slidably arranged in the refill 6.

[0075] The first-stage screw telescopic mechanism comprises a first-stage fixed rod 15, a first-stage tubular screw 16 and a driving cylinder 17, the outer edge of the upper surface of the fixed seat 14 is integrally formed with a circular ring flange 18, the center of the fixed seat 14 is provided with a third central hole, the first-stage fixed rod 15 is coaxially arranged below the injection cylinder 4, the upper end of the first-stage fixed rod 15 is located at the center of the lower end of the injection cylinder 4, the lower end of the first-stage fixed rod 15 is fixedly connected in the third central hole, the first-stage tubular screw 16 is coaxially sleeved outside the first-stage fixed rod 15, the driving cylinder 17 is coaxially sleeved outside the first-stage tubular screw 16 and arranged between the injection cylinder 4 and the fixed seat 14, the upper end of the driving cylinder 17 is rotatably connected to the lower end of the injection cylinder 4, the lower end of the driving cylinder 17 is rotatably connected to the circular ring flange 18, the inner diameter of the driving cylinder 17 is smaller than the inner diameter of the pen core 6, the inner circle of the upper end of the driving cylinder 17 is provided with a first internal thread 19, the outer circle of the first-stage tubular screw 16 is provided with a first external thread 20 which is threadedly matched with the first internal thread 19 in the axial direction, the inner circle of the upper end of the first-stage tubular screw 16 is provided with a second internal thread 21, the lower end of the first-stage tubular screw 16 is flush with the lower end of the driving cylinder 17 and higher than the upper surface of the fixed seat 14, the upper end of the first-stage tubular screw 16 is higher than the upper end of the driving cylinder 17, the outer circle of the upper end of the first-stage tubular screw 16 is fixedly sleeved with a limiting ring 22 which is located above the upper end of the driving cylinder 17, the upper end surface of the driving cylinder 17 is provided with a first wedge-shaped buckle 23 which protrudes upward, the lower end surface of the limiting ring 22 is provided with a second wedge-shaped buckle 24 which protrudes downward, when the first-stage tubular screw 16 is contracted downward into the driving cylinder 17 and moves downward to the lower limit position, the second wedge-shaped buckle 24 is engaged with the first wedge-shaped buckle 23, the upper end surface of the limiting ring 22 is provided with a third wedge-shaped buckle 25 which protrudes upward, the outer circle of the upper end of the driving cylinder 17 is fixedly sleeved with a driving gear 26;

[0076] The secondary screw telescopic mechanism comprises a secondary fixed sleeve 27 and a secondary tubular screw 28. The secondary fixed sleeve 27 is coaxially sleeved on the primary fixed rod 15. The secondary tubular screw 28 is coaxially sleeved on the secondary fixed sleeve 27 and located in the primary tubular screw 16. The outer circle of the secondary tubular screw 28 is provided with a second external thread 29 which is threadedly connected with the second internal thread 21. The upper end of the secondary fixed sleeve 27 is flush with the upper end of the primary fixed rod 15. The lower end of the secondary fixed sleeve 27 is flush with the lower end of the primary tubular screw 16. The upper end of the secondary tubular screw 28 is higher than the upper end of the primary tubular screw 16 and is fixedly connected with a limiting screw plug 30 which is located above the limiting ring 22. The diameter of the limiting screw plug 30 is smaller than the inner diameter of the lead 6. The top of the limiting screw plug 30 extends into the lead 6 and is fixedly connected with the bottom of the core piston 7. The bottom outer edge of the limiting screw plug 30 is provided with a fourth wedge-shaped buckle 31 which is protruded downward. When the secondary tubular screw 28 is contracted downward into the primary tubular screw 16 and moves to the lower limit position, the fourth wedge-shaped buckle 31 is engaged with the third wedge-shaped buckle 25. The lower end of the secondary tubular screw 28 is higher than the lower end of the secondary fixed sleeve 27. The outer side wall of the primary fixed rod 15 is provided with a first limiting clamping groove 32 which is open downward and outward. The lower end of the secondary fixed sleeve 27 is integrally formed with a first limiting clamping block 33 which is correspondingly and slidingly clamped in the first limiting clamping groove 32. The outer side wall of the secondary fixed sleeve 27 is provided with a second limiting clamping groove 34 which is open downward and outward. The lower end of the secondary tubular screw 28 is integrally formed with a second limiting clamping block 35 which is correspondingly and slidingly clamped in the second limiting clamping groove 34.

[0077] The first internal thread 19, the first external thread 20, the second internal thread 21 and the second external thread 29 are all trapezoidal threads with the same pitch.

[0078] The power device comprises a power motor 36 which is fixedly installed in the upper right part of the shell 1. The output shaft of the power motor 36 is vertically arranged on the lower side of the power motor 36. The lower end of the output shaft of the power motor 36 is coaxially fixedly installed with a motor gear 37 which is located on the right side of the driving gear 26 and is in meshing transmission connection with the driving gear 26. The power motor 36 is electrically connected with the power supply module and is signal connected with the intelligent control module.

[0079] The sensor assembly comprises a position sensor 38 arranged on the lower side of the lower end butt trapezoidal thread of the first internal thread 19, and a wire harness passage 39 is axially arranged on the corresponding position of the barrel of the drive cylinder 17 to the position sensor 38, the lower end of the wire harness passage 39 is coaxially provided with a mounting hole 40 with a diameter larger than that of the wire harness passage 39, the lower end of the mounting hole 40 is arranged on the lower end surface of the drive cylinder 17, an elastic conductor 41 is fixedly arranged in the upper part of the mounting hole 40, a first signal wire 42 is arranged in the wire harness passage 39, the upper end of the first signal wire 42 is connected with the position sensor 38, the lower end of the first signal wire 42 is connected with the elastic conductor 41, the lower end of the elastic conductor 41 is fixedly connected with a conductive ball 43 arranged in the lower part of the mounting hole 40, the lower side of the conductive ball 43 protrudes downward from the lower end of the mounting hole 40, a conductive sheet 44 is fixedly arranged on the upper surface of the fixed seat 14, the conductive sheet 44 is in rolling contact with the conductive ball 43 in up-down correspondence, and the conductive sheet 44 is signal-connected with the intelligent control module through a second signal wire passing through the lower surface of the fixed seat 14 and introduced into the electrical inner cavity 5.

[0080] The refill 6 is made of transparent material, a camera with light is arranged in the middle position of the outer wall of the refill 6 and embedded in the inner wall of the syringe 4, the power module is electrically connected with the camera, and the intelligent control module is signal-connected with the camera.

[0081] The intelligent control module is a microcomputer with an embedded processor, and further comprises a soft limit of a two-stage screw telescopic mechanism, the soft limit parameters of which are determined by the geometric parameters of the one-stage pipe screw 16 and the two-stage pipe screw 28, i.e. pitch, total length and working length, so that when the second limit block on the inner wall of the lower end of the two-stage pipe screw 28 slides upward to the upper end of the second limit slot and is pulled, and the two-stage pipe screw 28 is retracted downward into the one-stage pipe screw 16 and moves downward to the lower limit position, the intelligent control module immediately controls the power motor 36 to stop rotating.

[0082] Step (one) is specifically: open the power module, the intelligent control module initialization, the injection needle inserted into the insulin syringe bottle, the operation of the button operation module 2, the intelligent control module control power motor 36 reverse, the output shaft of the power motor 36 through the motor gear 37 and drive gear 26 drive drive cylinder 17 reverse, drive cylinder 17 through the first internal thread 19 and the first external thread 20 drive the first level pipe screw rod 16 to shrink into the drive cylinder 17, the first level pipe screw rod 16 drives the second fixed sleeve 27 and the second pipe screw rod 28 to move downward relative to the first fixed rod 15, the second pipe screw rod 28 drives the limit screw plug 30 and the core piston 7 to move downward, so that the core piston 7 can draw the insulin liquid in the insulin syringe bottle into the pen core 6 through the injection needle, injection hose 12 and needle tube 13, when the first level pipe screw rod 16 shrinks into the drive cylinder 17 and moves to the lower limit position, the second wedge buckle 24 is engaged with the first wedge buckle 23, the first level pipe screw rod 16 cannot continue to move downward, the drive cylinder 17 drives the first level pipe screw rod 16 to rotate reversely through the first wedge buckle 23 and the second wedge buckle 24, the first level pipe screw rod 16 rotates relative to the second pipe screw rod 28, the first level pipe screw rod 16 drives the second pipe screw rod 28 to shrink into the first level pipe screw rod 16 through the second internal thread 21 and the second external thread 29, the second pipe screw rod 28 continues to drive the limit screw plug 30 and the core piston 7 to move downward, the core piston 7 continues to draw the insulin liquid in the insulin syringe bottle into the pen core 6 through the injection needle, injection hose 12 and needle tube 13, when the second pipe screw rod 28 shrinks into the first level pipe screw rod 16 and moves to the lower limit position, the fourth wedge buckle 31 is engaged with the third wedge buckle 25, the second pipe screw rod 28 cannot continue to move downward, the intelligent control module immediately controls the power motor 36 to stop rotating, the pen core 6 is filled with insulin liquid, the insulin liquid filling work is completed, a new injection needle is replaced, and the injection is prepared.

[0083] Step (two) is specifically: the operation of the key operation module 2, the intelligent control module controls the power motor 36 to rotate forward, the output shaft of the power motor 36 drives the motor gear 37 to rotate, the motor gear 37 engages the transmission drive gear 26, the drive gear 26 drives the drive cylinder 17 to rotate forward, the drive cylinder 17 rotates relative to the first tubular screw rod 16, the drive cylinder 17 drives the first internal thread 19 and the first external thread 20 to make the first tubular screw rod 16 extend out of the drive cylinder 17, the first tubular screw rod 16 drives the second fixed pipe sleeve 27 and the second tubular screw rod 28 to move upwards relative to the first fixed rod 15, the first limiting block 33 on the inner wall of the lower end of the second fixed pipe sleeve 27 slides upwards along the first limiting slot 32 on the outer side wall of the first fixed rod 15, the second tubular screw rod 28 drives the limiting screw plug 30 and the core piston 7 to move upwards, so that the core piston 7 pushes the insulin liquid in the pen refill 6 out and injects it through the needle tube 13, the injection hose 12 and the injection needle, wherein, since the first internal thread 19, the first external thread 20, the second internal thread 21 and the second external thread 29 are all trapezoidal threads with the same pitch, one rotation of the drive cylinder 17 can make the first tubular screw rod 16 move upwards by a pitch length, and the conductive ball 43 and the conductive sheet 44 roll in contact once, so the position sensor 38 sends a signal to the intelligent control module once, the intelligent control module obtains the rotation number information of the drive cylinder 17 by collecting the signal of the position sensor 38, the intelligent control module obtains the distance of the upward movement of the first tubular screw rod 16 according to the rotation number of the drive cylinder 17, at the same time, the intelligent control module processes the image collected by the camera by using the pyramid YOLO7 algorithm, identifies the position of the core piston 7, and then measures the injected amount of the insulin liquid in the pen refill 6, the intelligent control module controls the power motor 36 to change the rotation torque and speed, and reduces the impact force between the first tubular screw rod 16 and the drive cylinder 17, until the first tubular screw rod 16 moves upwards to the upper limit position, that is, the first tubular screw rod 16 and the drive cylinder 17 cannot continue to rotate relative to each other, at the same time, the first limiting block 33 slides upwards to the upper end of the first limiting slot 32 and is pulled, the first tubular screw rod 16 and the drive cylinder 17 are connected as a whole, the movement form of the first tubular screw rod 16 changes from vertical up-down movement to rotation with the drive cylinder 17, so the first tubular screw rod 16 rotates relative to the second tubular screw rod 28, the first tubular screw rod 16 drives the second tubular screw rod 28 to extend out of the first tubular screw rod 16 through the second internal thread 21 and the second external thread 29, the second tubular screw rod 28 moves upwards relative to the second fixed pipe sleeve 27, the second tubular screw rod 28 continues to drive the limiting screw plug 30 and the core piston 7 to move upwards, the core piston 7 continues to push the insulin liquid in the pen refill 6 out and inject it through the needle tube 13, the injection hose 12 and the injection needle, when the second limiting block 35 on the inner wall of the lower end of the second tubular screw rod 28 slides upwards to the upper end of the second limiting slot 34 and is pulled, the second tubular screw rod 28 moves to its upper limit position,The primary tubular screw 16 and the secondary tubular screw 28 cannot continue to rotate relative to each other, the intelligent control module controls the power motor 36 to stop rotating, and the entire insulin liquid injection process is completed.

[0084] The intelligent control module controls the power motor 36 to change the rotating torque and speed action process as follows:

[0085] A) When the intelligent control module collects the position sensor 38 signal times to reach the first set number of times, the rotation number of the drive cylinder 17 reaches the first set number of turns, the primary tubular screw 16 moves upward to approach the upper limit position state, and at the same time the intelligent control module measures that the injected amount of insulin liquid in the pen core 6 is greater than one-third and approaches one-half, the intelligent control module controls the drive current of the power motor 36 to be raised to 125% of the standard state (50mA), the rotating torque of the power motor 36 is raised, and through PWM speed regulation, the speed of the power motor 36 is reduced to 80% of the standard state (200rpm / Sec);

[0086] B) The drive cylinder 17 continues to rotate forward, and when the intelligent control module collects the position sensor 38 signal times to reach the second set number of times, the rotation number of the drive cylinder 17 reaches the second set number of turns, the primary tubular screw 16 moves upward to further approach the upper limit position state, and at the same time the intelligent control module identifies that the core piston 7 further moves upward, and measures that the injected amount of insulin liquid in the pen core 6 further approaches one-half, the intelligent control module controls the drive current of the power motor 36 to be raised to 150% of the standard state (50mA), the rotating torque of the power motor 36 is raised, and through PWM speed regulation, the speed of the power motor 36 is reduced to 60% of the standard state (200rpm / Sec);

[0087] C) The drive cylinder 17 continues to rotate forward, and when the intelligent control module collects the position sensor 38 signal times to reach the third set number of times, the rotation number of the drive cylinder 17 reaches the third set number of turns, the primary tubular screw 16 moves upward to approach the upper limit position state, and at the same time the intelligent control module identifies that the core piston 7 further moves upward, and measures that the injected amount of insulin liquid in the pen core 6 approaches one-half, the intelligent control module controls the drive current of the power motor 36 to be raised to 200% of the standard state (50mA), the rotating torque of the power motor 36 is raised, and through PWM speed regulation, the speed of the power motor 36 is reduced to 20% of the standard state (200rpm / Sec), reducing the impact of the primary tubular screw 16 and the drive cylinder 17;

[0088] D), the intelligent control module collects the position sensor signal to the fourth set number of times, the rotation number of the drive cylinder 17 reaches the fourth set number of turns, the primary tubular screw rod 16 moves up to its upper limit position state, and at the same time the intelligent control module identifies the further upward movement of the core piston 7 through the camera, measures that the injected amount of insulin liquid in the pen core 6 further reaches one-half, and the intelligent control module controls the driving current of the power motor 36 to be raised to 300% of the standard state (50 mA), raises the rotation torque of the power motor 36, and reduces the speed of the power motor 36 to 5% of the standard state (200 rpm / Sec) through PWM speed regulation, further reducing the impact force of the primary tubular screw rod 16 and the drive cylinder 17.

[0089] The pyramid YOLO7 algorithm inputs an image collected by a camera. The resolution of the real-time monitoring picture image of the camera is w x h pixels, w is 1280 pixels, and h is 720 pixels. The pyramid YOLO7 algorithm performs rectangular window clipping on the w x h pixel key frame of the original input image. The starting point and the ending point of the rectangular window clipping are marked as two points A (x1, y1) and B (x2, y2) respectively. The starting point A (x1, y1) and the ending point B (x2, y2) are determined as follows:

[0090] (1) Analyze the historical detection data to obtain the coordinates of the target object hotspot maximum bounding rectangle region marked by the pyramid YOLO7 algorithm with adaptive weight in the last 7 days, respectively marked as S1{(x 11 , y 11 ), (x 21 , y 21 )}、S2{(x 12 , y 12 ), (x 22 , y 22 )}、S3{(x 13 , y 13 ), (x 23 , y 23 )}、S n {(x 1n , y 1n ), (x 2n , y 2n )};

[0091] (2) Sort x 11 , x 12 , x 13 , …, x 1n from small to large, take the first 50% data series, and mark it as ; Calculate the X direction coordinate of the starting point A (x1, y1), as shown in the following formula 1) :

[0092]

[0093] In the above formula 1), [n / 2] is the integer part of n / 2; similarly, y 11 , y 12 , y 13 , …, y 1n are sorted in ascending order, and the first 50% of the data series are recorded as The Y direction coordinate of the starting point A (x1, y1) is calculated as shown in the following formula 2):

[0094]

[0095] It is judged whether the coordinates of x1 and y1 are out of bounds, and if the value of x1 or y1 is less than 1, the value of x1 or y1 is 1, otherwise, the integer part is taken respectively;

[0096] (3) x 21 , x 22 , x 23 , …, x 2n are sorted in descending order, and the first 50% of the data series are recorded as The X direction coordinate of the ending point B (x2, y2) is calculated as shown in the following formula 3):

[0097]

[0098] Similarly, y 21 , y 22 , y 23 , …, y 2n are sorted in descending order, and the first 50% of the data series are recorded as The Y direction coordinate of the ending point B (x2, y2) is calculated as shown in the following formula 4):

[0099]

[0100] It is judged whether the coordinates of x2 and y2 are out of bounds, and if the value of x2 is greater than 1280, the value of x2 is 1280, if the value of y2 is greater than 720, the value of y2 is 720, otherwise, the integer part is taken respectively;

[0101] (4) If the time accumulation of the historical data is less than 7 days, the coordinates of the starting point A are set as (1, 1), and the coordinates of the ending point B are set as (1280, 720), that is, x1=1, x2=1280, y1=1, y2=720.

[0102] The flow of the pyramid YOLO7 algorithm for image processing is as follows:

[0103] (I), when the refill 6 screw pump is working for insulin liquid injection, the intelligent control module acquires the image collected by the camera every 10 ms, the pyramid YOLO7 algorithm judges whether the image threshold is greater than 5 ml / hour, if it is greater than 5 ml / hour, go to the next step (II), otherwise continue to execute the current step (I);

[0104] (II), if the current injection amount is less than half of the capacity of the refill 6, the key frame image of the camera at the current time is acquired through rectangular window clipping, denoted as image A; taking the current time as the starting point, the key frame images of the previous 500 ms and the previous 2 seconds are acquired through rectangular window clipping, denoted as images B and C respectively, and go to the next step (III);

[0105] (III), first, the pyramid YOLO7 algorithm performs YOLO7 target object detection on image A, calculates the maximum probability of the existence of injection amount less than or equal to 0, greater than 0 and less than 1 / 2 and 1 in the current image, and marks it as P{a, b, c}, the YOLO7 algorithm is trained in advance for the above three targets; further, image A is divided into four sub-images A1, A2, A3 and A4 by 2 equal division in length and width direction, the maximum probability of the existence of injection amount less than or equal to 0, greater than 0 and less than 1 / 2 and 1 in the current sub-image is calculated respectively, and marked as P1, P2, P3 and P4, the P1, P2, P3 and P4 are also three-dimensional vectors as the P; the maximum value of each dimension of P1, P2, P3 and P4 of the four sub-images is screened, denoted as P5{d, e, f}; further, image A is divided into 16 sub-images by 4 equal division in length and width direction, the maximum probability of the existence of injection amount less than or equal to 0, greater than 0 and less than 1 / 2 and 1 in the current sub-image is calculated respectively, and marked as P 11 …A 44 , the P 11 …P 44 , the P 11 …P 44 is also a three-dimensional vector as the P; the maximum value of each dimension of P 11 …P 44 of the 16 sub-images is screened, denoted as P 55 {g, h, i}; after identification by three-layer pyramid YOLO7 algorithm, the final target detection probability P A of image A is as follows formula 5):

[0106]

[0107] Wherein, w1…w9 is the weight, its value dynamically changes with the detection result of YOLO7, which is calculated as follows formula 6)~8):

[0108] ;

[0109] (IV), then, referring to the pyramid YOLO7 method of adaptive weight for image A, image B and C are processed to obtain the final target detection probability of image B and C, denoted as P B and P C ;

[0110] (V), the final target detection probability P A , P B and P C corresponding to the three images A, B and C are taken out, the maximum value of the dimension is adopted, and the maximum value is determined according to the principle, the final detection result of the current injection speed and injection amount is obtained, that is, less than or equal to 0, greater than 0 less than 1 / 2 and 1, for example: when the calculation result is P A ={1, 0, 0}, P B ={0.56, 0.16, 0}, P C ={0.46, 0.09, 0}, P A , P B and P C The maximum value of the dimension appears in the first dimension, so according to the maximum value determination principle, it is judged that the current injection condition is less than or equal to 0;

[0111] (VI), after the detection is completed, re-enter the next round of detection, turn to step (I) for processing.

[0112] The upper end of the drive cylinder 17 is internally threaded with a first internal thread 19, the outer circle of the primary tubular screw rod 16 is axially provided with a first external thread 20 that threadedly cooperates with the first internal thread 19, the upper end of the primary tubular screw rod 16 is internally threaded with a second internal thread 21, the outer circle of the secondary tubular screw rod 28 is axially provided with a second external thread 29 that threadedly cooperates with the second internal thread 21, and the first internal thread 19, the first external thread 20, the second internal thread 21, and the second external thread 29 are all trapezoidal threads with the same pitch, so that one rotation of the drive cylinder 17 can achieve the extension or contraction of the primary tubular screw rod 16 or the secondary tubular screw rod 28 by one pitch length, accurately control the injection amount of insulin liquid, achieve high-precision drug delivery, and significantly reduce the overall size, so that during the entire insulin liquid injection process, the intelligent control module can calculate the number of rotations of the drive cylinder 17 by collecting the signal of the position sensor 38, the intelligent control module can obtain the distance of upward movement of the primary tubular screw rod 16 according to the number of rotations of the drive cylinder 17, the intelligent control module can process the image collected by the camera using the pyramid YOLO7 algorithm, identify the position of the core piston 7, and then measure the injected amount of insulin liquid in the pen core 6, the intelligent control module can control the power motor 36 to change the rotation torque and speed, and reduce the impact force between the primary tubular screw rod 16 and the drive cylinder 17; the intelligent control module also has a soft limit of the secondary screw rod extension mechanism, and the soft limit parameters are determined by the geometric parameters of the primary tubular screw rod 16 and the secondary tubular screw rod 28, i.e., the pitch, the total length, and the working length, so that when the second limit block on the inner wall of the lower end of the secondary tubular screw rod 28 slides upward to the upper end of the second limit slot and is pulled, and the secondary tubular screw rod 28 is contracted downward into the primary tubular screw rod 16 and moves downward to the lower limit position, the intelligent control module immediately controls the power motor 36 to stop rotating, avoids the secondary tubular screw rod 28 being pulled tight or the secondary tubular screw rod 28 being too tight in the primary tubular screw rod 16 to cause locking, and also avoids the power motor 36 being overloaded to cause the output shaft torque to be too large and damaged, thereby protecting the power motor 36, the primary tubular screw rod 16, and the secondary tubular screw rod 28.

[0113] When the insulin medicine is filled, the power motor 36 drives the driving cylinder 17 to reverse through the motor gear 37 and the driving gear 26, so that the primary tubular screw rod 16 is contracted downward into the driving cylinder 17, because the outer circle of the upper end of the primary tubular screw rod 16 is fixedly sleeved with the limiting ring 22 located above the upper end of the driving cylinder 17, the upper end surface of the driving cylinder 17 is provided with a first wedge-shaped buckle 23 protruding upward, the lower end surface of the limiting ring 22 is provided with a second wedge-shaped buckle 24 protruding downward, the upper end surface of the limiting ring 22 is provided with a third wedge-shaped buckle 25 protruding upward, and the bottom outer edge of the limiting screw plug 30 is provided with a fourth wedge-shaped buckle 31 protruding downward, when the primary tubular screw rod 16 is contracted downward into the driving cylinder 17 and moves downward to the lower limit position, the second wedge-shaped buckle 24 is engaged with the first wedge-shaped buckle 23, at this time, the primary tubular screw rod 16 reversely rotates with the driving cylinder 17, so that the primary tubular screw rod 16 is prevented from being locked due to being too deep or too tight in the driving cylinder 17, the primary tubular screw rod 16 drives the secondary tubular screw rod 28 to contract downward into the primary tubular screw rod 16 through the second inner thread 21 and the second outer thread 29, and the secondary tubular screw rod 28 cannot continue to contract downward into the primary tubular screw rod 16 when the secondary tubular screw rod 28 is contracted downward into the primary tubular screw rod 17 and moves downward to the lower limit position, because the second wedge-shaped buckle 24 is engaged with the first wedge-shaped buckle 23 and the fourth wedge-shaped buckle 31 is engaged with the third wedge-shaped buckle 25, so that the locking is prevented in structure.

[0114] The power module, the intelligent control module, the injection needle and the camera are not shown in the figure, the power module, the intelligent control module, the key operation module 2, the power motor 36, the injection needle and the camera are all conventional technologies, and the specific structure and working principle will not be described here, the control and calculation method of the intelligent control module of the application is conventional technology, and no new computer program is involved.

[0115] The above examples are only used to illustrate but not to limit the technical solutions of the application, although the application is described in detail with reference to the above examples, those skilled in the art should understand that the application can still be modified or replaced equivalently without departing from the spirit and scope of the application, any modification or partial replacement should be covered in the scope of the claims of the application.

Claims

1. A pen-type insulin screw injection pump, characterized in that: This pen-type insulin screw pump includes a housing, a pen-type injection mechanism, a primary screw telescopic mechanism, a secondary screw telescopic mechanism, a power unit, a power module, and an intelligent control module. The pen-type injection mechanism, the primary screw telescopic mechanism, and the secondary screw telescopic mechanism are coaxially and vertically arranged on the left side of the housing. The power unit, power module, and intelligent control module are all located on the right side of the housing. The power unit is driven by the primary screw telescopic mechanism, which drives the primary screw telescopic mechanism to extend and retract. The secondary screw telescopic mechanism is installed inside the primary screw telescopic mechanism and is driven by the primary screw telescopic mechanism, which drives the secondary screw telescopic mechanism to extend and retract. The pen-type injection mechanism is located on the upper part of the secondary screw telescopic mechanism and is connected to the telescopic end of the secondary screw telescopic mechanism. The housing has a button operation module, and the primary screw telescopic mechanism has a sensor assembly. The power module provides power to both the power unit and the intelligent control module. The intelligent control module is connected to the power unit, the button operation module, and the sensor assembly via signals. The intelligent control method for the pen-type insulin screw pump specifically includes the following steps: (i) Start the pen cartridge insulin screw injection pump, operate the button operation module, the intelligent control module controls the power unit to work, the power unit drives the first-stage screw telescopic mechanism and the second-stage screw telescopic mechanism to retract, filling the pre-made insulin solution into the pen cartridge injection mechanism; (II) Operation of the button module: The intelligent control module controls the power unit to work. The power unit drives the first-stage screw telescopic mechanism to extend first. When the first-stage screw telescopic mechanism extends to its limit, the sensor assembly transmits a signal to the intelligent control module. The intelligent control module controls the speed of the power unit to decrease in order to reduce the impact force of the first-stage screw telescopic mechanism. Then the second-stage screw telescopic mechanism begins to extend until it extends to its maximum limit position. At this point, the intelligent control module controls the power unit to stop. During the extension of the first-stage and second-stage screw telescopic mechanisms, the pen cartridge injection mechanism injects insulin. (III) After the insulin solution is injected, repeat step (I) to refill the insulin solution and prepare for the next injection; The primary screw telescopic mechanism includes a primary fixed rod, a primary tubular screw, and a drive cylinder. A circular raised edge is integrally formed on the outer edge of the upper surface of the fixed seat. A third center hole is opened in the center of the fixed seat. The primary fixed rod is coaxially positioned below the syringe barrel, with its upper end located at the center of the lower end of the syringe barrel. The lower end of the primary fixed rod is fixedly connected to the third center hole. The primary tubular screw is coaxially sleeved outside the primary fixed rod. The drive cylinder is coaxially sleeved outside the primary tubular screw and positioned between the syringe barrel and the fixed seat. The upper end of the drive cylinder is rotatably connected to the lower end of the syringe barrel, and the lower end of the drive cylinder is rotatably connected to the circular raised edge. The inner diameter of the drive cylinder is smaller than the inner diameter of the pen refill. A first internal thread is provided on the inner circle of the upper end of the drive cylinder. The outer circle of the primary tubular screw... The first external thread is provided along the axial direction to engage with the first internal thread. The inner circle of the upper end of the first-stage tubular screw is provided with a second internal thread. The lower end of the first-stage tubular screw is flush with the lower end of the drive cylinder and is higher than the upper surface of the fixed seat. The upper end of the first-stage tubular screw is higher than the upper end of the drive cylinder. A limiting ring located above the upper end of the drive cylinder is fixedly fitted on the outer circle of the upper end of the first-stage tubular screw. A first wedge-shaped buckle protruding upward is provided on the upper end face of the drive cylinder. A second wedge-shaped buckle protruding downward is provided on the lower end face of the limiting ring. When the first-stage tubular screw retracts downward into the drive cylinder and moves down to the lower limit position, the second wedge-shaped buckle engages with the first wedge-shaped buckle. A third wedge-shaped buckle protruding upward is provided on the upper end face of the limiting ring. A drive gear is fixedly fitted on the outer circumference of the upper end of the drive cylinder. The secondary screw telescopic mechanism includes a secondary fixed sleeve and a secondary tubular screw. The secondary fixed sleeve is coaxially and slidably fitted onto a primary fixed rod. The secondary tubular screw is coaxially and slidably fitted onto the secondary fixed sleeve and located within the primary tubular screw. The outer circumference of the secondary tubular screw is axially provided with a second external thread that mates with a second internal thread. The upper end of the secondary fixed sleeve is flush with the upper end of the primary fixed rod, and the lower end of the secondary fixed sleeve is flush with the lower end of the primary tubular screw. The upper end of the secondary tubular screw is higher than the upper end of the primary tubular screw and is fixedly connected to a limiting screw plug located above a limiting ring. The diameter of the limiting screw plug is smaller than the inner diameter of the pen refill. The top of the limiting screw plug extends into the pen refill and is fixedly connected to the bottom of the core piston. The bottom outer edge of the limiting screw plug is provided with a piece that... The fourth wedge-shaped buckle protrudes downwards. When the secondary tubular screw retracts downwards into the primary tubular screw and moves to its lower limit position, the fourth wedge-shaped buckle engages with the third wedge-shaped buckle. The lower end of the secondary tubular screw is higher than the lower end of the secondary fixed sleeve. The outer wall of the primary fixed rod is axially provided with a first limiting groove with lower and outer openings. The inner wall of the lower end of the secondary fixed sleeve is integrally formed with a first limiting block that is slidably engaged in the first limiting groove. The outer wall of the secondary fixed sleeve is axially provided with a second limiting groove with lower and outer openings. The inner wall of the lower end of the secondary tubular screw is integrally formed with a second limiting block that is slidably engaged in the second limiting groove. The first internal thread, the first external thread, the second internal thread, and the second external thread are all trapezoidal threads with the same pitch. The power unit includes a power motor, which is fixedly installed in the upper right part of the housing. The output shaft of the power motor is vertically arranged on the lower side of the power motor. A motor gear is coaxially fixedly installed at the lower end of the output shaft of the power motor. The motor gear is located on the right side of the drive gear and meshes with the drive gear for transmission. The power module is electrically connected to the power motor, and the intelligent control module is signal connected to the power motor. The sensor assembly includes a position sensor, which is located on the lower side of the trapezoidal thread at the lower end of the first internal thread. A wire harness channel is axially provided on the cylinder body corresponding to the position sensor. The lower end of the wire harness channel is coaxially provided with a mounting hole with a diameter larger than the wire harness channel. The lower port of the mounting hole is opened on the lower end face of the drive cylinder. An elastic conductor is fixedly provided in the upper part of the mounting hole. A first signal wire is passed through the wire harness channel. The upper end of the first signal wire is connected to the position sensor, and the lower end of the first signal wire is connected to the elastic conductor. A conductive ball located in the lower part of the mounting hole is fixedly connected to the lower end of the elastic conductor. The lower side of the conductive ball protrudes downward from the lower port of the mounting hole. A conductive sheet is fixedly provided on the upper surface of the fixed seat. The conductive sheet and the conductive ball are in corresponding rolling contact. The conductive sheet is connected to the intelligent control module through a second signal wire that passes through the lower surface of the fixed seat and is introduced into the electrical cavity. The pen refill is made of transparent material. A camera with its own light is embedded in the inner wall of the syringe in the middle of the outer wall of the pen refill. The power module is electrically connected to the camera, and the intelligent control module is connected to the camera signal. The intelligent control module is a microcomputer with an embedded processor. The intelligent control module also has a built-in soft limit for the secondary screw telescopic mechanism. Its soft limit parameters are determined by the geometric parameters of the primary and secondary tubular screws: pitch, total length, and working length. Therefore, when the second limit block on the inner wall of the lower end of the secondary tubular screw slides upward to the upper end of the second limit slot and is pulled up, and when the secondary tubular screw retracts downward into the primary tubular screw and moves to the lower limit position, the intelligent control module immediately controls the power motor to stop rotating.

2. The pen-type insulin screw pump according to claim 1, characterized in that: The bottom of the housing is open and fixedly connected to a bottom cover. Inside the housing, on the left side, there is an injection cylinder with a pen-like structure formed vertically. The upper end of the injection cylinder extends upward through the top of the housing, and the lower end of the injection cylinder extends downward to the lower left part of the housing. The lower right part of the housing has an electrical cavity, in which the power module and intelligent control module are located. The power unit is located in the upper right part of the housing.

3. The pen-type insulin screw pump according to claim 2, characterized in that: The pen cartridge injection mechanism includes a pen cartridge and a piston. The pen cartridge is coaxially and fixedly embedded in the injection barrel, with the outer circumference of the pen cartridge in close contact with the inner circumference of the injection barrel. The lower end of the pen cartridge is open and located inside the injection barrel, close to its lower end. The upper end of the pen cartridge has an integrally formed T-shaped hollow cylindrical head, which is larger at the top and smaller at the bottom. The maximum circumferential diameter of the T-shaped hollow cylindrical head is smaller than the diameter of the pen cartridge. The lower end of the T-shaped hollow cylindrical head is connected to the upper end of the pen cartridge via a frustum-shaped cylinder that is thinner at the top and thicker at the bottom. A needle cap is coaxially threaded onto the upper end of the injection barrel, and the T-shaped hollow cylindrical head is embedded in the needle cap. The top center of the needle cap has an integrally formed coaxial shape. A cylindrical protrusion has a first central hole vertically formed at its center. An injection tube is coaxially fixedly embedded in the first central hole. The upper end of the injection tube extends out of the upper end of the cylindrical protrusion and is connected to an injection needle. A second central hole, coaxial with the first central hole, is formed at the center of the needle cap. The inner diameter of the second central hole is smaller than that of the first central hole. The upper end of the second central hole is connected to the lower end of the first central hole. A needle tube is coaxially fixedly embedded in the second central hole. The needle tube coaxially passes through the T-shaped hollow cylindrical head and extends into the T-shaped hollow cylindrical head. The lower end of the needle tube communicates with the inside of the pen refill. The core piston is coaxially and slidably disposed in the pen refill.

4. The pen-type insulin screw pump according to claim 3, characterized in that: Step (1) is as follows: Turn on the power module, initialize the intelligent control module, insert the injection needle into the insulin vial, operate the button to operate the module, the intelligent control module controls the power motor to reverse, the output shaft of the power motor drives the drive cylinder to reverse through the motor gear and drive gear, the drive cylinder drives the first-stage tubular screw to retract downward into the drive cylinder through the first internal thread and the first external thread, the first-stage tubular screw then drives the second-stage fixed sleeve and the second-stage tubular screw to move downward relative to the first-stage fixed rod, the second-stage tubular screw drives the limit screw plug and the core piston to move downward, so that the core piston can draw the insulin solution in the insulin vial into the pen cartridge through the injection needle, injection tubing and needle tube. When the first-stage tubular screw retracts downward into the drive cylinder and moves to the lower limit position, the second wedge buckle engages with the first wedge buckle, and the first-stage tubular screw can no longer continue. As it continues to move downwards, the drive cylinder drives the primary tubular screw to rotate in the opposite direction via the first and second wedge-shaped buckles. The primary and secondary tubular screws rotate relative to each other. The primary tubular screw drives the secondary tubular screw downwards into the primary tubular screw via the second internal and second external threads. The secondary tubular screw continues to drive the limit screw plug and the core piston downwards. The core piston continues to draw insulin solution from the insulin vial into the pen cartridge through the injection needle, injection tubing, and needle tube. When the secondary tubular screw retracts downwards into the primary tubular screw and moves to its lower limit position, the fourth wedge-shaped buckle engages with the third wedge-shaped buckle, and the secondary tubular screw can no longer move downwards. The intelligent control module immediately controls the power motor to stop rotating, the pen cartridge is filled with insulin solution, the insulin filling operation is completed, a new injection needle is replaced, and it is ready for injection.

5. The pen-type insulin screw pump according to claim 4, characterized in that: Step (II) is as follows: The operation button module controls the intelligent control module to rotate the power motor forward. The output shaft of the power motor drives the motor gear to rotate, and the motor gear meshes with the drive gear. The drive gear then drives the drive cylinder to rotate forward. The drive cylinder rotates relative to the primary tubular screw. The drive cylinder, through the first internal thread and the first external thread, drives the primary tubular screw to extend upwards out of the drive cylinder. The primary tubular screw then drives the secondary fixed sleeve and the secondary tubular screw to move upwards relative to the primary fixed rod. The first limiting block on the inner wall of the lower end of the secondary fixed sleeve slides upwards along the first limiting groove on the outer wall of the primary fixed rod. The secondary tubular screw pushes the limiting screw plug and the core piston upwards, thereby causing the core piston to... The insulin solution in the pen cartridge is ejected and injected through the syringe, injection tubing, and injection needle. Since the first internal thread, first external thread, second internal thread, and second external thread are all trapezoidal threads with the same pitch, one rotation of the drive cylinder moves the primary tubular screw upwards by one pitch. Each time the conductive ball makes contact with the conductive plate, the position sensor transmits a signal to the intelligent control module. The intelligent control module obtains the number of rotations of the drive cylinder by collecting the signal from the position sensor. Based on the number of rotations, the intelligent control module determines the upward distance of the primary tubular screw. Simultaneously, the intelligent control module uses a pyramid-shaped YOLOv7 algorithm to monitor the image. The image captured by the camera is processed to identify the position of the piston, and then the injected insulin volume in the cartridge is measured. The intelligent control module controls the power motor to change the torque and speed, reducing the impact force between the primary tubular screw and the drive cylinder. When the primary tubular screw moves upward to its upper limit position, meaning the primary tubular screw and drive cylinder can no longer rotate relative to each other, and the first limit block slides upward to the upper end of the first limit slot and is pulled in place, the primary tubular screw and drive cylinder are connected as one unit. The movement of the primary tubular screw changes from vertical up-and-down movement to rotation with the drive cylinder. Then, the primary tubular screw rotates relative to the secondary tubular screw. The rod drives the secondary tubular screw to extend upwards from the primary tubular screw via the second internal thread and the second external thread. The secondary tubular screw moves upwards relative to the secondary fixed sleeve. The secondary tubular screw continues to push the limiting screw plug and the core piston upwards. The core piston continues to push out the insulin solution in the pen cartridge and injects it through the needle tube, injection tubing, and injection needle. When the second limiting block on the inner wall of the lower end of the secondary tubular screw slides upwards to the upper end of the second limiting slot and is pulled, the secondary tubular screw moves upwards to its upper limit position. The primary tubular screw and the secondary tubular screw can no longer rotate relative to each other. The intelligent control module controls the power motor to stop rotating, and the entire insulin injection process is completed.

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