Automatic injection equipment and control method

Abstract

The invention discloses automatic injection equipment and a control method, provides an automatic control device, system and control method, and creatively provides accurate control of needle pushing and medicine pushing and retention time control of a needle head under enough negative pressure through improvement of a control program and an algorithm. Liquid leakage is effectively reduced, and the problem that due to the fact that liquid leakage of a needle of a traditional injection device is serious, the injection precision stability is poor is effectively solved; the actual injection amount injected into the body has a large deviation from the target injection amount, and a large accumulative error is formed in subsequent injection. The injection pain is reduced, the treatment effect is effectively improved, and the customer experience is relatively good.

Description

Technical Field

[0001] The present invention belongs to the technical field of syringes, and in particular relates to an automatic injection device and a control method. Background Art

[0002] In the prior art, for example, patent CN105979987A discloses an injection device and method, which mainly relies on vacuum suction pressure. When the needle assembly is close to the skin, the injection operation is performed so that a predetermined amount of medicine can be injected. After the predetermined amount of medicine is injected, the suction pressure is released and the needle assembly is controlled to leave. In this way, the operator does not need to operate the injection device additionally. The injection device automatically injects after sensing the vacuum suction pressure. This can reduce the fatigue of the operator, correctly inject the predetermined amount of medicine, adjust the vacuum suction pressure, and prevent congestion on the skin. The injection method and device mainly realize the automatic injection function by controlling the injection machine composed of a motor and a screw that controls the forward and backward operation of the piston of the syringe and the injection device of the main body of the drug injection.

[0003] However, the above-mentioned injection device directly pulls out the needle after the injection is completed, which will cause the needle to leak and lead to poor injection accuracy; the actual injection volume injected into the body deviates from the target injection volume, resulting in a large cumulative error in subsequent injections; in addition to affecting the problem of uniform injection volume throughout the entire injection process, it also enhances the pain of injection, the treatment effect is not obvious, and the customer experience is poor. Summary of the invention

[0004] In order to solve the problems of serious needle leakage and injection volume deviation in existing injection equipment and injection methods, the present invention provides an automatic injection equipment and an automatic injection control method.

[0005] The technical solution of the present invention is:

[0006] An automatic injection control method comprises the following steps:

[0007] S1: Collect injection data information:

[0008] The injection data includes fixed parameter data information that has been set by the system of the current injection device, parameter data to be set by the injector for the current pre-injection, and basic patient information related to the extraction of the injection data information;

[0009] S2: Calculate and obtain the matching data of the current injection:

[0010] Based on the injection data information collected in step S1, the matching data of the current injection is calculated and obtained, and the matching data of the current injection includes the needle pushing time T 1 , drug pushing time T 2 and needle retention time T3 , in which the needle must stay for a certain time T 3 >ΔT+T 2 , where ΔT is the time difference from stopping the needle push to starting the drug push;

[0011] S3: Control system performs drug injection operation

[0012] According to the data information obtained in steps S1 and S2, the negative pressure pumping operation, the needle pushing operation, and the medicine pushing operation are sequentially performed until the predetermined dose of medicine is injected, and the medicine pushing operation is terminated;

[0013] S4: Post-injection operations

[0014] After completing the medicine pushing operation in step S3, the needle continues to stay for a preset time T. δ , the T δ It is the needle retention time from stopping drug pushing to starting needle withdrawal; this retention time is reserved in order to perform decompression operation and needle withdrawal operation in sequence for sufficient absorption of the drug in the body.

[0015] Furthermore, the needle stays for a period of time T 3 The calculation method is as follows:

[0016] T 3 =ΔT+T 2 +T δ ;

[0017] Where T δ It is the needle retention time from the stop of drug pushing to the start of needle withdrawal.

[0018] Furthermore, the fixed parameter data to be collected in step S1 include: the standard injection dose value M of the target drug for the patient of the same age group given by the system based on the empirical value 标 , the system gives the target drug for injection in the age group according to the experience value in the standard injection dose M 标 The standard retention time of the needle from the time the drug is stopped to the time the needle is pulled out The system gives the standard weight value G for patients of the same age group based on experience 标 , the internal cross-sectional area of ​​the needle tube S;

[0019] The parameter data and basic patient information that need to be collected include: the patient's current age Y, the patient's current weight G 注 , patient gender, total dose of target drug injected at that time M 注 、The current pre-push needle depth H 1 , Set the pre-needle push speed V for the current injection 1 , set the pre-injection speed V for the current injection 2, the selected age group of the current patient, and the injection site influence coefficient k given by the system based on empirical values;

[0020] The calculation to obtain the matching data of the injection includes:

[0021] Calculate the push pin duration T 1 , drug pushing time T 2 and needle retention time T 3 .

[0022] Furthermore, the needle pushing time T 1 The calculation formula is as follows:

[0023]

[0024] The push needle duration is T 2 The calculation formula is as follows:

[0025]

[0026] The needle stays for a certain period of time, T 3 The calculation method is as follows:

[0027] T 3 =ΔT+T 2 +T δ ;

[0028] Where ΔT is the time interval from stopping the needle push to starting the drug push; T δ The needle retention time from the time the drug push is stopped to the time the needle is pulled out;

[0029] T δ The specific calculation expression is as follows:

[0030]

[0031] Among them, M 注 is the total dose value of the target drug injected at that time, M 标 G is the standard injection dose value of the target drug for patients of the same age group given by the system based on experience. 注 is the current patient's weight, G 标 is the standard weight value of patients in the same age group given by the system based on experience, k is the injection site influence coefficient given by the system based on experience, The system is based on the experience value of the target drug injection in the age group at the standard injection dose M 标 The standard retention time of the needle from the time the drug is stopped to the time the needle is pulled out.

[0032] Furthermore, the age groups of patients are divided into children, adults, and the elderly, where the age of children is 6-14 years old, and each age group corresponds to an age group; the age group of adults is 15-60 years old, and the age group of the elderly is over 60 years old. Based on historical experience values, the system stores the standard injection dose values ​​M of the injection target drugs corresponding to different genders and age groups. 标 , standard weight value G 标 , Standard retention time of needle After entering the current patient's age, gender, and weight information, the system automatically gives the corresponding standard value.

[0033] The present invention also discloses an automatic injection control system for executing the above automatic injection control method. The system specifically comprises:

[0034] Injection data acquisition module:

[0035] Used to collect data information of the automatic injection device, the injection data includes fixed parameter data information of the current injection device, set parameter data of the current pre-injection and basic information of the patient;

[0036] Injection data calculation module:

[0037] It is used to calculate and obtain the matching data required for the current injection according to the collected injection data information, and provide the calculated data to the control terminal module, which sends a control instruction to the injection control execution module to execute the current injection operation. The matching data for the current injection includes the needle pushing time T 1 , drug pushing time T 2 and needle retention time T 3 , where the needle stays for a certain period of time, T 3 >ΔT+T 2 , where ΔT is the time difference from stopping the needle push to starting the drug push;

[0038] Injection control execution module:

[0039] Used to receive control instructions from the control terminal and perform automatic injection operations;

[0040] Control terminal module:

[0041] Control terminal module: used for inputting injection data, data judgment, data storage, sending automatic injection instructions and displaying data information, receiving data information sent by the injection data acquisition module and / or injection data calculation module, and completing active injection work.

[0042] The control terminal module includes a receiving unit, an input and display unit, a judgment unit, a sending unit and a data storage unit.

[0043] The receiving unit is used to receive data information sent by the injection data acquisition unit and the injection data calculation unit, and forward the information to the input and display unit and / or the judgment unit;

[0044] Input and display unit, used for inputting injection information and displaying data information in real time;

[0045] A judgment unit, used for receiving the data information sent by the receiving unit and performing data judgment, sending corresponding control instructions according to the judgment result and displaying the corresponding judgment result to the input and display unit for display;

[0046] The sending unit is used to send control instructions to the injection control execution unit to execute motion control of the needle pushing motor, the medicine pushing motor, the negative pressure system and the silencer system to perform automatic injection operations;

[0047] The data storage unit is used to store the fixed parameter data information of the injection device, the set parameter data information of the current pre-injection and the input patient basic information.

[0048] The specific storage information of the data storage unit includes:

[0049] Store fixed parameter data, including: the standard injection dose value M of the target drug for patients of the same age group given by the system based on experience 标 , the system gives the target drug for injection in the age group according to the experience value in the standard injection dose M 标 The standard retention time of the needle from the time the drug is stopped to the time the needle is pulled out The system gives the standard weight value G for patients of the same age group based on experience 标 , the internal cross-sectional area of ​​the needle tube S;

[0050] Store the collected setting parameter data and basic patient information, including: patient's current age Y, patient's current weight G 注 , patient gender, total dose of target drug injected at that time M 注 、The current pre-push needle depth H 1 , Set the pre-needle push speed V for the current injection 1 , Set the pre-injection speed V for the current injection 2 , the selected age group of the current patient, and the injection site influence coefficient k given by the system based on empirical values;

[0051] Furthermore, the needle stay time T 3 The calculation method of T is as follows: 3 =ΔT+T 2 +T δ ,

[0052] Where T δThe needle retention time from the time the drug push is stopped to the time the needle is pulled out;

[0053] Furthermore, the needle pushing time T 1 The calculation formula is as follows:

[0054]

[0055] Furthermore, the needle pushing time T 2 The calculation formula is as follows:

[0056]

[0057] Furthermore, the needle stays for a period of time T 3 The calculation method is as follows:

[0058] T 3 =ΔT+T 2 +T δ ;

[0059] Where ΔT is the time interval from stopping the needle push to starting the drug push; T δ The needle retention time from the time the drug push is stopped to the time the needle is pulled out;

[0060] Furthermore, T δ The specific calculation expression is as follows:

[0061]

[0062] Among them, M 注 is the total dose value of the target drug injected at that time, M 标 G is the standard injection dose value of the target drug for patients of the same age group given by the system based on experience. 注 is the current patient's weight, G 标 is the standard weight value of patients in the same age group given by the system based on experience, k is the injection site influence coefficient given by the system based on experience, The system is based on the experience value of the target drug injection in the age group at the standard injection dose M 标 The standard retention time of the needle from the time the drug is stopped to the time the needle is pulled out.

[0063] The present invention also provides an automatic injection device, which can execute the automatic injection control method of the present invention, comprising:

[0064] Injection system,

[0065] The injection system comprises a multi-needle injection head, a needle tube, a piston, a driving assembly and a housing, wherein the multi-needle injection head is arranged at one end of the housing, and one end of the multi-needle injection head is connected to one end of the needle tube, and the piston is arranged at the other end of the needle tube, and the driving assembly comprises a needle-pushing motor, a medicine-pushing motor, a needle-pushing screw and a medicine-pushing screw, wherein the needle-pushing motor is driven to connect the needle-pushing screw, and the needle-pushing screw is connected to the multi-needle injection head, and the medicine-pushing motor is driven to connect the medicine-pushing screw, and the medicine-pushing screw is connected to the piston, and the needle tube, the piston and the driving assembly are all arranged in the housing;

[0066] A negative pressure system, the negative pressure system comprising a double-head balanced negative pressure air pump and a solenoid valve, the double-head balanced negative pressure air pump is connected to the injection system, and the solenoid valve is connected to one end of the double-head balanced negative pressure air pump;

[0067] A silencing system, the silencing system comprising a shock-absorbing pad disposed below the double-head balanced negative pressure air pump and a buffer bottle connected to the other end of the double-head balanced negative pressure air pump;

[0068] An automatic injection control system, the automatic injection control system comprising an injection data acquisition unit, an injection data calculation unit, an injection control execution unit and a control terminal,

[0069] The injection data acquisition unit:

[0070] Used to collect data information of the automatic injection device, the injection data includes fixed parameter data information of the current injection device, set parameter data of the current pre-injection and basic information of the patient;

[0071] The injection data calculation unit:

[0072] It is used to calculate and obtain the matching data required for the current injection according to the collected injection data information, and provide the calculated data to the corresponding receiving unit, input and display unit and judgment unit of the control terminal, and the control terminal sends a control instruction to the injection control execution unit to execute the current injection operation. The matching data for the current injection includes the needle pushing time T 1 , drug pushing time T 2 and needle retention time T 3 , where the needle stays for a certain period of time, T 3 >ΔT+T 2 , where ΔT is the time difference from stopping the needle push to starting the drug push;

[0073] The injection control execution unit:

[0074] Used to receive control instructions from the control terminal, control the needle pushing motor, medicine pushing motor, negative pressure system and silencer system, and perform automatic injection operations;

[0075] Control terminal:

[0076] It is used for inputting injection data, sending automatic injection instructions, receiving data information sent by the injection data acquisition unit and / or the injection data calculation unit, and completing active injection control work.

[0077] Furthermore, the control terminal includes a receiving unit, an input and display unit, a judging unit, a sending unit and a data storage unit.

[0078] The receiving unit is used to receive the data information sent by the injection data acquisition unit and the injection data calculation unit, and forward the information to the input and display unit and / or the judgment unit;

[0079] Input and display unit: used for inputting injection information and displaying data information in real time;

[0080] A judgment unit, used for receiving the data information sent by the receiving unit and performing data judgment, sending corresponding control instructions according to the judgment result and displaying the corresponding judgment result to the input and display unit for display;

[0081] The data storage unit is used to store the fixed parameter data information of the injection device, the set parameter data information of the current pre-injection and the input patient basic information.

[0082] The beneficial effects of the present invention are:

[0083] (1) The technical solution of the present invention creatively discovers the technical deficiencies of inaccuracy and leakage in current automatic injection control, and creatively proposes targeted solutions. Specifically, by improving the control program and algorithm, the needle and drug pushing are accurately controlled, and the needle residence time under sufficient negative pressure is maintained, thereby effectively reducing the occurrence of leakage.

[0084] (2) Keep the needle for T 3 A control time model was built based on precise empirical values ​​according to individuals, age groups, genders, and injection sites. Standard empirical values ​​were introduced and a database was formed to obtain settlement for the control algorithm, thereby achieving more precise control of automatic injections and effectively avoiding leakage of injection fluids.

[0085] The technical solution provided by the present invention effectively solves the technical problems that the needle leakage of traditional injection devices is serious, resulting in poor injection accuracy and stability; the actual injection volume injected into the body deviates greatly from the target injection volume, resulting in a large accumulated error in subsequent injections; the pain of injection is reduced, the treatment effect is effectively improved, and the customer experience is also better. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1A flow chart of an automatic injection control method of the present invention;

[0087] Figure 2 It is a structural schematic diagram of an injection system of an automatic injection device of the present invention;

[0088] Figure 3 It is a schematic structural diagram of a negative pressure system and a silencing system of an automatic injection device of the present invention;

[0089] Figure 4 It is a schematic diagram of the overall structure of an automatic injection device of the present invention;

[0090] Figure numerals: 1. Injection system, 11. Multi-needle injection head, 12. Needle tube, 13. Piston, 14. Driving assembly, 141. Needle pushing motor, 142. Medicine pushing motor, 143. Needle pushing screw, 144. Medicine pushing screw, 2. Negative pressure system, 21. Double-head balanced negative pressure air pump, 22. Solenoid valve, 3. Silencer system, 31. Shock-absorbing pad, 32. Buffer bottle. DETAILED DESCRIPTION

[0091] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0092] The difference between a multi-needle syringe and a single-needle syringe is that the liquid medicine in the syringe needs to be injected multiple times and needs to be moved to different positions for injection; the existing multi-needle syringes still have needle leakage during the injection process. In the process of finding the cause, it was found that the problem of needle leakage can be effectively reduced by controlling the time the needle stays.

[0093] Reference Figure 1 The present invention provides an automatic injection control method, comprising the following steps:

[0094] S1: Collect injection data information:

[0095] The injection data includes the fixed parameter data information that has been set by the system of the current injection device, the parameter data to be set by the injector for the current pre-injection, and the basic patient information related to the extraction of the injection data information; the fixed parameter data that needs to be collected in step S1 include: the standard injection dose value M of the target drug for the patient of the same age group given by the system based on the empirical value 标 , the system gives the target drug for injection in the age group according to the experience value in the standard injection dose M 标 The standard retention time of the needle from the time the drug is stopped to the time the needle is pulled out The system gives the standard weight value G for patients of the same age group based on experience 标 , the internal cross-sectional area of ​​the needle tube S;

[0096] The parameter data and basic patient information that need to be collected include: the patient's current age Y, the patient's current weight G 注 , patient gender, total dose of target drug injected at that time M 注 、The current pre-push needle depth H 1 , Set the pre-needle push speed V for the current injection 1 , Set the pre-injection speed V for the current injection 2 , the selected age group of the current patient, and the injection site influence coefficient k given by the system based on empirical values;

[0097] Furthermore, the age groups of patients are divided into children, adults, and the elderly, where the age of children is 6-14 years old, and each age group corresponds to an age group; the age group of adults is 15-60 years old, and the age group of the elderly is over 60 years old. Based on historical experience values, the system stores the standard injection dose values ​​M of the injection target drugs corresponding to different genders and age groups. 标 , standard weight value G 标 , Standard retention time of needle After entering the current patient's age, gender, and weight information, the system automatically gives the corresponding standard value.

[0098] The standard weights for boys aged 6-14 are as follows: 21.2kg for six years old, 24.6kg for seven years old, 27.4kg for eight years old, 30.2kg for nine years old, 34.2kg for ten years old, 37.8kg for 11 years old, 12.1kg for 12 years old, 18kg for 13 years old, and 52.4kg for 14 years old;

[0099] The standard weight for girls aged 6-14 years old: 20kg for six years old, 23.1kg for seven years old, 25.4kg for eight years old, 28.9kg for nine years old, 32.8kg for 10 years old, 37.3kg for 11 years old, 41.5kg for 12 years old, 45.51kg for 13 years old and 47.9kg for 14 years old.

[0100] Furthermore, the injection site influence coefficient k is as follows: the k value of the abdomen is 1.0, the k value of the upper arm is 1.1, and the k value of the outer thigh and buttocks is 1.2.

[0101] For example, the order of absorption speed of insulin injection sites, from fast to slow, is the abdomen, upper arm, outer thigh and buttocks. This is mainly because there is a layer of subcutaneous fat tissue under these sites that can absorb insulin, and there are not many nerve distributions, so the discomfort during injection is relatively less. The abdomen is the preferred site for insulin injection. It not only has a high absorption rate, but also a fast absorption speed. At the same time, because the subcutaneous tissue in the abdomen is thicker, it can reduce the risk of injection into the muscle layer. Secondly, when injecting insulin into the upper arm, choose the middle 1 / 3 of the side or back part where the subcutaneous tissue is thicker, which is conducive to the absorption of insulin. The outer thigh and buttocks have the slowest absorption rate. Therefore, for different injection sites, different needle retention times after drug injection are used to ensure that the negative pressure release operation is performed after the drug is completely absorbed to avoid drug overflow caused by negative pressure release.

[0102] S2: Calculate and obtain the matching data of the current injection:

[0103] Based on the injection data information collected in step S1, the matching data of the current injection is calculated and obtained, and the matching data of the current injection includes the needle pushing time T 1 , drug pushing time T 2 and needle retention time T 3 , in which the needle must stay for a certain time T 3 >ΔT+T 2 , where ΔT is the time difference from stopping pushing the needle to starting pushing the medicine; considering that the purpose of this operation is to accurately study and segment the role of each part in the entire automatic injection process and the root causes of leakage and overall infusion deviation, the problem is solved through timeline analysis.

[0104] S3: Control system performs drug injection operation

[0105] According to the data information obtained in steps S1 and S2, the negative pressure extraction operation, the needle pushing operation, and the medicine pushing operation are performed in sequence until the predetermined dose of medicine is injected and the medicine pushing operation is terminated; wherein the negative pressure extraction operation is similar to the existing negative pressure extraction action, and belongs to the existing operation authorization and will not be described in detail, and the needle pushing and medicine pushing actions themselves also belong to the scope of conventional operations, and do not belong to the innovation of the present invention and will not be described in detail. For example, the air pump is controlled to start, and after a certain negative pressure is extracted, it is determined whether the current negative pressure value is equal to the preset air pressure value. If so, the needle is controlled to push the needle to perform the injection operation.

[0106] S4: Post-injection operations

[0107] After completing the medicine pushing operation in step S3, the needle continues to stay for a preset time T. δ , the T δThis is the retention time of the needle from the time the drug is stopped to the time the needle is pulled out; this retention time is reserved to allow the drug to be fully absorbed in the body and to perform decompression and needle removal operations in sequence. This part is one of the important innovations. After repeated experiments and studies, it can be confirmed that controlling the retention time after the drug is pushed can effectively reduce the risk of leakage and improve the overall accuracy of medication.

[0108] This embodiment of the solution specifically provides the needle stay time T 3 The calculation method is as follows:

[0109] T 3 =ΔT+T 2 +T δ ;

[0110] Where T δ It is the needle retention time from the stop of drug pushing to the start of needle withdrawal.

[0111] The calculation to obtain the matching data of the injection includes:

[0112] Calculate the push pin duration T 1 , drug pushing time T 2 and needle retention time T 3 .

[0113] Furthermore, the push needle time T 1 The calculation formula is as follows:

[0114]

[0115] The push needle duration is T 2 The calculation formula is as follows:

[0116]

[0117] The needle stays for a certain period of time, T 3 The calculation method is as follows:

[0118] T 3 =ΔT+T 2 +T δ ;

[0119] Where ΔT is the time interval from stopping the needle push to starting the drug push; T δ The needle retention time from the time the drug push is stopped to the time the needle is pulled out;

[0120] T δ The specific calculation expression is as follows:

[0121]

[0122] Among them, M 注 is the total dose value of the target drug injected at that time, M标 G is the standard injection dose value of the target drug for patients of the same age group given by the system based on experience. 注 is the current patient's weight, G 标 is the standard weight value of patients in the same age group given by the system based on experience, k is the injection site influence coefficient given by the system based on experience, The system is based on the experience value of the target drug injection in the age group at the standard injection dose M 标 This algorithm creatively uses empirical data, that is, for the target commonly used drugs, we repeatedly use age, weight and injection site as the three most influential factors affecting the absorption rate of injected drugs as the starting point, and introduce empirical data M 标 , G 标 , k and The needle retention time T from the time the drug was stopped to the time the needle was pulled out was constructed. δ Algorithm model, in order to finally obtain the needle retention time T that is more in line with the differentiated needs of different individuals 3 The data obtained provides key data support for solving the technical problems of this program.

[0123] The present invention also discloses an automatic injection control system for executing the above automatic injection control method. The system specifically comprises:

[0124] Injection data acquisition module:

[0125] Used to collect data information of the automatic injection device, the injection data includes fixed parameter data information of the current injection device, set parameter data of the current pre-injection and basic information of the patient;

[0126] Injection data calculation module:

[0127] It is used to calculate and obtain the matching data required for the current injection according to the collected injection data information, and provide the calculated data to the control terminal module, which sends a control instruction to the injection control execution module to execute the current injection operation. The matching data for the current injection includes the needle pushing time T 1 , drug pushing time T 2 and needle retention time T 3 , where the needle stays for a certain period of time, T 3 >ΔT+T 2 , where ΔT is the time difference from stopping the needle to starting the drug push; by controlling the needle residence time to be greater than the sum of the drug push time and the time difference from stopping the needle to starting the drug push, it is to ensure that the subsequent program control leaves enough time for the drug to diffuse in the muscle after the main completion, thereby reducing leakage.

[0128] Injection control execution module: used to receive control instructions from the control terminal and execute automatic injection operations;

[0129] Control terminal module: used for inputting injection data, data judgment, data storage, sending automatic injection instructions and displaying data information, receiving data information sent by the injection data acquisition module and / or injection data calculation module, and completing active injection work.

[0130] The control terminal module includes a receiving unit, an input and display unit, a judgment unit, a sending unit and a data storage unit.

[0131] The receiving unit is used to receive data information sent by the injection data acquisition unit and the injection data calculation unit, and forward the information to the input and display unit and / or the judgment unit;

[0132] Input and display unit, used for inputting injection information and displaying data information in real time;

[0133] A judgment unit, used for receiving the data information sent by the receiving unit and performing data judgment, sending corresponding control instructions according to the judgment result and displaying the corresponding judgment result to the input and display unit for display;

[0134] The sending unit is used to send control instructions to the injection control execution unit to execute the motion control of the needle pushing motor, the medicine pushing motor, the negative pressure system and the silencer system to perform the automatic injection operation;

[0135] The data storage unit is used to store the fixed parameter data information of the injection device, the set parameter data information of the current pre-injection and the input patient basic information.

[0136] The specific storage information of the data storage unit includes:

[0137] Store fixed parameter data, including: the standard injection dose value M of the target drug for patients of the same age group given by the system based on experience 标 , the system gives the target drug for injection in the age group according to the experience value in the standard injection dose M 标 The standard retention time of the needle from the time the drug is stopped to the time the needle is pulled out The system gives the standard weight value G for patients of the same age group based on experience 标 , the internal cross-sectional area of ​​the needle tube S;

[0138] Store the collected setting parameter data and basic patient information, including: patient's current age Y, patient's current weight G 注 , patient gender, total dose of target drug injected at that time M 注 、The current pre-push needle depth H 1, Set the pre-needle push speed V for the current injection 1 , Set the pre-injection speed V for the current injection 2 , the selected age group of the current patient, and the injection site influence coefficient k given by the system based on empirical values;

[0139] Furthermore, the needle stay time T 3 The calculation method of T is as follows: 3 =ΔT+T 2 +T δ ,

[0140] Where T δ The needle retention time from the time the drug push is stopped to the time the needle is pulled out;

[0141] Furthermore, the needle pushing time T 1 The calculation formula is as follows:

[0142]

[0143] Furthermore, the needle pushing time T 2 The calculation formula is as follows:

[0144]

[0145] Furthermore, the needle stays for a period of time T 3 The calculation method is as follows:

[0146] T 3 =ΔT+T 2 +T δ ;

[0147] Where ΔT is the time interval from stopping the needle push to starting the drug push; T δ The needle retention time from the time the drug push is stopped to the time the needle is pulled out;

[0148] Furthermore, T δ The specific calculation expression is as follows:

[0149]

[0150] Among them, M 注 is the total dose value of the target drug injected at that time, M 标 G is the standard injection dose value of the target drug for patients of the same age group given by the system based on experience. 注 is the current patient's weight, G 标 is the standard weight value of patients in the same age group given by the system based on experience, k is the injection site influence coefficient given by the system based on experience, The system is based on the experience value of the target drug injection in the age group at the standard injection dose M标 The standard retention time of the needle from the time the drug is stopped to the time the needle is pulled out.

[0151] In one embodiment, for example, when injecting insulin into the abdomen, the needle stays in place for a period of time T 3 The value range is generally 0.3-3s. After the needle residence time expires, the solenoid valve is powered off to remove the air pump pressure, the pressure in the syringe is released, the pressure in the syringe is balanced with the atmospheric pressure, and the needle push motor is controlled to drive the needle to detach.

[0152] The present invention also provides an automatic injection device, which can execute the automatic injection control method of the present invention, comprising:

[0153] Injection system 1,

[0154] The injection system 1 includes a multi-needle injection head 11, a needle tube 12, a piston 13, a drive assembly 14 and a housing 15. The multi-needle injection head 11 is arranged at one end of the housing 15, and one end of the multi-needle injection head 11 is connected to one end of the needle tube 12. The piston 13 is arranged at the other end of the needle tube 12. The drive assembly 14 includes a needle-pushing motor 141, a medicine-pushing motor 142, a needle-pushing screw 143 and a medicine-pushing screw 144. The needle-pushing motor 141 drives and connects the needle-pushing screw 143, and the needle-pushing screw 143 is connected to the multi-needle injection head 11. The medicine-pushing motor 142 drives and connects the medicine-pushing screw 144, and the medicine-pushing screw 144 is connected to the piston 13. The needle tube 12, the piston 13 and the drive assembly 14 are all arranged in the housing 15.

[0155] A negative pressure system 2, wherein the negative pressure system 2 comprises a double-head balanced negative pressure air pump 21 and a solenoid valve 22, wherein the double-head balanced negative pressure air pump 21 is connected to the injection system 1, and the solenoid valve 22 is connected to one end of the double-head balanced negative pressure air pump 21;

[0156] A silencer system 3, the silencer system 3 comprising a shock-absorbing pad 31 disposed below the double-head balanced negative pressure air pump 21 and a buffer bottle 32 connected to the other end of the double-head balanced negative pressure air pump 21;

[0157] An automatic injection control system, the automatic injection control system comprising an injection data acquisition unit, an injection data calculation unit, an injection control execution unit and a control terminal,

[0158] The injection data acquisition unit:

[0159] Used to collect data information of the automatic injection device, the injection data includes fixed parameter data information of the current injection device, set parameter data of the current pre-injection and basic information of the patient;

[0160] The injection data calculation unit:

[0161] It is used to calculate and obtain the matching data required for the current injection according to the collected injection data information, and provide the calculated data to the corresponding receiving unit, input and display unit and judgment unit of the control terminal, and the control terminal sends a control instruction to the injection control execution unit to execute the current injection operation. The matching data for the current injection includes the needle pushing time T 1 , drug pushing time T 2 and needle retention time T 3 , where the needle stays for a certain period of time, T 3 >ΔT+T 2 , where ΔT is the time difference from stopping the needle push to starting the drug push;

[0162] The injection control execution unit may be a controller for receiving control instructions from the control terminal, controlling the needle pushing motor, the medicine pushing motor, the negative pressure system and the muffler system, and performing automatic injection operation;

[0163] The control terminal is the micro control background of the device: it is used to input injection data, send automatic injection instructions, receive data information sent by the injection data acquisition unit and / or the injection data calculation unit, and complete active injection control. The control terminal includes a receiving unit, an input and display unit, a judgment unit, a sending unit, and a data storage unit.

[0164] The receiving unit is used to receive the data information sent by the injection data acquisition unit and the injection data calculation unit, and forward the information to the input and display unit and / or the judgment unit;

[0165] Input and display unit: used for inputting injection information and displaying data information in real time;

[0166] A judgment unit, used for receiving the data information sent by the receiving unit and performing data judgment, sending corresponding control instructions according to the judgment result and displaying the corresponding judgment result to the input and display unit for display;

[0167] The data storage unit is used to store the fixed parameter data information of the injection device, the set parameter data information of the current pre-injection and the input patient basic information.

[0168] Reference Figure 2-Figure 4 The present invention also discloses a specific embodiment of an automatic injection device, which can execute the above-mentioned automatic injection control method, including:

[0169] An injection system 1, the injection system 1 comprises a multi-needle injection head 11, a needle tube 12, a piston 13, a drive assembly 14 and a housing 15, wherein the multi-needle injection head 11 is arranged at one end of the housing 15, and one end of the multi-needle injection head is connected to one end of the needle tube 12, and the piston 13 is arranged at the other end of the needle tube 12, and comprises a needle-pushing motor 141, a medicine-pushing motor 142, a needle-pushing screw 143 and a medicine-pushing screw 144, wherein the needle-pushing motor 141 is driven to connect to the needle-pushing screw 143, the needle-pushing screw 143 is connected to the multi-needle injection head 11, the medicine-pushing motor 142 is driven to connect to the medicine-pushing screw 144, the medicine-pushing screw 144 is connected to the piston 13, and the needle tube 12, the piston 13 and the drive assembly 14 are all arranged in the housing 15, wherein the multi-needle injection head 11, the needle tube 12 and the piston 13 are detachable and replaceable parts;

[0170] A negative pressure system 2, wherein the negative pressure system 2 comprises a double-head balanced negative pressure air pump 21 and a solenoid valve 22, wherein the double-head balanced negative pressure air pump 21 is connected to the injection system 1, and the solenoid valve 22 is connected to one end of the double-head balanced negative pressure air pump 21, and the double-head balanced negative pressure air pump 21 is used for negative pressure adsorption of the skin, and the solenoid valve 22 can control the operation of the double-head balanced negative pressure air pump 21, control the negative pressure to be turned off or on, and insert the needle during the process of the skin being adsorbed, and the adsorption effect can reduce the direct stimulation of the local nerve endings when the needle is inserted by pulling and dispersing the skin tissue, thereby alleviating the pain; it can also promote local blood circulation and increase blood supply, thereby reducing local hypoxia and pain; it can also generate negative pressure on the skin surface, reduce skin tension, reduce the resistance when the needle is inserted, and alleviate the pain;

[0171] The silencer system 3 includes a shock-absorbing pad 31 disposed below the double-head balanced negative pressure air pump 21 and a buffer bottle 32 connected to the other end of the double-head balanced negative pressure air pump 21. Specifically, the air outlet of the double-head balanced negative pressure air pump 21 is connected to the silencer, and the buffer bottle 32 is connected to the silencer. The buffer bottle is a container for storing gas or liquid, and is made of steel, aluminum or other materials. It can stabilize pressure, balance flow and reduce vibration during the storage and transportation of gas or liquid, thereby further enhancing the silencer effect;

[0172] The technical solution of the present invention creatively discovers the technical deficiencies of inaccuracy and leakage in current automatic injection control, and creatively proposes targeted solutions. Specifically, through the improvement of control procedures and algorithms, it accurately controls the pushing of needles and medicines, and maintains sufficient needle residence time under negative pressure, thereby effectively reducing the occurrence of leakage.

[0173] Keep the needle for T 3A control time model was built based on precise empirical values ​​according to individuals, age groups, genders, and injection sites. Standard empirical values ​​were introduced and a database was formed to obtain settlement for the control algorithm, thereby achieving more precise control of automatic injections and effectively avoiding leakage of injection fluids.

[0174] The technical solution provided by the present invention effectively solves the technical problems that the needle of the traditional injection device has serious leakage, resulting in poor injection accuracy and stability; the actual injection volume injected into the body has a large deviation from the target injection volume, resulting in a large cumulative error in subsequent injections; the injection pain is reduced, the treatment effect is effectively improved, and the customer experience is also better

[0175] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic injection control method, characterized in that: The following steps are involved: S1: Collect injection data information: The injection data includes fixed parameter data information of the current injection device, set parameter data of the current pre-injection and basic information of the patient; S2: Calculate and obtain the matching data of the current injection: Based on the injection data information collected in step S1, the matching data of the current injection is calculated and obtained, wherein the matching data of the current injection includes the needle pushing time T1, the medicine pushing time T2 and the needle stay time T3, wherein the needle stay time T3>ΔT+T2, wherein ΔT is the time difference from stopping the needle pushing to starting the medicine pushing; S3: Control and execute drug injection operation According to the data information obtained in steps S1 and S2, the negative pressure pumping operation, the needle pushing operation, and the medicine pushing operation are sequentially performed until the predetermined metered drug injection is completed, and the medicine pushing operation is terminated; S4: Post-injection operations After completing the medicine pushing operation in step S3, the needle continues to stay for a preset time T. δ , T δ It is the needle retention time from stopping drug pushing to starting needle withdrawal; perform decompression operation and needle withdrawal operation in sequence.

2. An automatic injection control method according to claim 1, characterized in that: The calculation method of needle retention time T3 is as follows: T3=ΔT+T2+T δ ; Where T δ It is the needle retention time from the stop of drug pushing to the start of needle withdrawal.

3. An automatic injection control method according to claim 2, characterized in that: The fixed parameter data to be collected in step S1 include: the standard injection dose value M of the target drug for patients of the same age group given by the system based on the empirical value 标 , the system gives the target drug for injection in the age group according to the experience value in the standard injection dose M 标 The standard retention time of the needle from the time the drug is stopped to the time the needle is pulled out The system gives the standard weight value G for patients of the same age group based on experience 标 , the internal cross-sectional area of ​​the needle tube S; The parameter data and basic patient information that need to be collected include: the patient's current age Y, the patient's current weight G 注 , patient gender, total dose of target drug injected at that time M 注 , the depth of the pre-needle push H1, the pre-needle push speed V1 set for the injection, the pre-drug push speed V2 set for the injection, the selected age group of the current patient, and the injection site influence coefficient k given by the system based on empirical values; The calculation to obtain the matching data of the injection includes: Calculate and obtain the needle pushing time T1, medicine pushing time T2 and needle stay time T3.

4. An automatic injection control method according to claim 3, characterized in that: The calculation formula of the needle pushing time T1 is as follows: The calculation formula of needle pushing time T2 is as follows: The needle dwell time T3 is calculated as follows: T3=ΔT+T2+T δ ; Where ΔT is the time interval from stopping the needle push to starting the drug push; T δ The needle retention time from the time the drug push is stopped to the time the needle is pulled out; T δ The specific calculation expression is as follows: Among them, M 注 is the total dose value of the target drug injected at that time, M 标 G is the standard injection dose value of the target drug for patients of the same age group given by the system based on experience. 注 is the current patient's weight, G 标 is the standard weight value of patients in the same age group given by the system based on experience, k is the injection site influence coefficient given by the system based on experience, The system is based on the experience value of the target drug injection in the age group at the standard injection dose M 标 The standard retention time of the needle from the time the drug is stopped to the time the needle is pulled out.

5. The automatic injection control method according to claim 4, characterized in that: The age groups of patients are divided into children, adults and the elderly. Children are aged 6-14 years old, and each age group corresponds to an age group; adults are aged 15-60 years old, and the elderly are those over 60 years old. Based on historical experience values, the system stores the standard injection dose values ​​M of the target drugs for different genders and age groups. 标 , standard weight value G 标 , Standard retention time of needle After entering the current patient's age, gender, and weight information, the system automatically gives the corresponding standard value.

6. The automatic injection control method according to claim 5, characterized in that: The injection site influence coefficient k is as follows: the k value of the abdomen is 1, the k value of the upper arm is 1.1, and the k value of the outer thigh and buttocks is 1.

2.

7. An automatic injection control system, characterized in that: Used to perform the method according to any one of claims 1 to 6, specifically comprising: Injection data collection module: used to collect data information of the automatic injection device, the injection data includes fixed parameter data information of the current injection device, set parameter data of the current pre-injection and basic information of the patient; Injection data calculation module: used to calculate and obtain the matching data required for the current injection according to the collected injection data information, and provide the calculated data to the control terminal module, which sends a control instruction to the injection control execution module to execute the current injection operation. The matching data for the current injection includes the needle pushing time T1, the medicine pushing time T2 and the needle stay time T3, wherein the needle stay time T3>ΔT+T2, wherein ΔT is the time difference from stopping the needle pushing to starting the medicine pushing; Injection control execution module: used to receive control instructions from the control terminal and execute automatic injection operations; Control terminal module: used for inputting injection data, data judgment, data storage, sending automatic injection instructions and displaying data information, receiving data information sent by the injection data acquisition module and / or injection data calculation module, and completing active injection work.

8. The automatic injection control system according to claim 7, characterized in that: The injection data calculation module is aimed at The needle stay time T3 is calculated as follows: T3 = ΔT + T2 + T δ , Where T δ The needle retention time from the time the drug push is stopped to the time the needle is pulled out; The calculation formula of the needle pushing time T1 is as follows: The calculation formula of the needle pushing time T2 is as follows: The calculation method of needle retention time T3 is as follows: T3=ΔT+T2+T δ ; Where ΔT is the time interval from stopping the needle push to starting the drug push; T δ The needle retention time from the time the drug push is stopped to the time the needle is pulled out; T δ The specific calculation expression is as follows: Among them, M 注 is the total dose value of the target drug injected at that time, M 标 G is the standard injection dose value of the target drug for patients of the same age group given by the system based on experience. 注 is the current patient's weight, G 标 is the standard weight value of patients in the same age group given by the system based on experience, k is the injection site influence coefficient given by the system based on experience, The system is based on the experience value of the target drug injection in the age group at the standard injection dose M 标 The standard retention time of the needle from the time the drug is stopped to the time the needle is pulled out.

9. An automatic injection device, characterized in that: The automatic injection device can execute the automatic injection control method according to any one of claims 1 to 6, comprising: injection system (1), negative pressure system (2), silencer system (3) and automatic injection control system, The injection system (1) comprises a multi-needle injection head (11), a needle tube (12), a piston (13), a drive assembly (14) and a housing (15); the multi-needle injection head (11) is arranged at one end of the housing (15), and one end of the multi-needle injection head (11) is connected to one end of the needle tube (12); the piston (13) is arranged at the other end of the needle tube (12); the drive assembly (14) comprises a needle pushing motor (141), a medicine pushing motor (142), a medicine pushing motor (143), a medicine pushing motor (144), a medicine pushing motor (145), a medicine pushing motor (146), a medicine pushing motor (147), a medicine pushing motor (148), a medicine pushing motor (149), a medicine pushing motor (151), a medicine pushing motor (152), a medicine pushing motor (153), a medicine pushing motor (154), a medicine pushing motor (155), a medicine pushing motor (156), a medicine pushing motor (157), a medicine pushing motor (158), a medicine pushing motor (159), a medicine pushing motor (159), a medicine pushing motor (151), a medicine pushing motor (159), a medicine pushing motor (15 A needle screw (143) and a medicine pushing screw (144), wherein the needle pushing motor (141) is driven and connected to the needle pushing screw (143), the needle pushing screw (143) is connected to the multi-needle injection head (11), the medicine pushing motor (142) is driven and connected to the medicine pushing screw (144), the medicine pushing screw (144) is connected to the piston (13), and the needle tube (12), the piston (13) and the driving assembly (14) are all arranged in the housing (15); The negative pressure system (2) comprises a double-head balanced negative pressure air pump (21) and a solenoid valve (22), wherein the double-head balanced negative pressure air pump (21) is connected to the injection system (1), and the solenoid valve (22) is connected to one end of the double-head balanced negative pressure air pump (21); The silencing system (3), the silencing system (3) comprises a shock-absorbing pad (31) arranged below the double-head balanced negative pressure air pump (21) and a buffer bottle (32) connected to the other end of the double-head balanced negative pressure air pump (21); The automatic injection control system includes an injection data acquisition unit, an injection data calculation unit, an injection control execution unit and a control terminal. The injection data collection unit is used to collect data information of the automatic injection device, and the injection data includes fixed parameter data information of the current injection device, set parameter data of the current pre-injection, and basic information of the patient; The injection data calculation unit is used to calculate and obtain the matching data required for the current injection according to the collected injection data information, and provide the calculated data to the control terminal, which sends a control instruction to the injection control execution module to execute the current injection operation. The matching data for the current injection includes the needle pushing time T1, the medicine pushing time T2 and the needle stay time T3, wherein the needle stay time T3>ΔT+T2, wherein ΔT is the time difference from stopping the needle pushing to starting the medicine pushing; The injection control execution unit is used to receive control instructions from the control terminal, control the needle pushing motor, the medicine pushing motor, the negative pressure system and the muffler system, and perform automatic injection operations; Control terminal: used for inputting injection data, data judgment, data storage, sending automatic injection instructions and displaying data information, receiving data information sent by the injection data acquisition module and / or injection data calculation module, and completing active injection work.

10. The automatic injection device according to claim 9, characterized in that: The control terminal includes a receiving unit, an input and display unit, a judgment unit, a sending unit and a data storage unit. The receiving unit is used to receive data information sent by the injection data acquisition unit and the injection data calculation unit, and forward the information to the input and display unit and / or the judgment unit; Input and display unit, used for inputting injection information and displaying data information in real time; A judgment unit, used for receiving the data information sent by the receiving unit and performing data judgment, sending corresponding control instructions according to the judgment result and displaying the corresponding judgment result to the input and display unit for display; The sending unit is used to send control instructions to the injection control execution unit to execute the motion control of the needle pushing motor, the medicine pushing motor, the negative pressure system and the silencer system to perform the automatic injection operation; The data storage unit is used to store the fixed parameter data information of the injection device, the set parameter data information of the current pre-injection and the input patient basic information.

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