A bolus injection device for a hot steam treatment device

Abstract

The present invention relates to the technical field of medical devices, and specifically discloses a pushing device for a hot steam treatment device, comprising: a syringe, a pushing assembly, a force sensor, a syringe bracket, a linear module, and a controller. The controller controls the pushing assembly to push the liquid in the syringe by driving a slider through the linear module; in the present invention, during the pushing treatment, the controller controls the speed of the slider in segments, and at the same time combines the pressure detected by the force sensor, and matches corresponding error compensation strategies according to different control stages, realizing the accurate conversion of the pushing speed and the pushing flow rate, ensuring that the treatment liquid is accurately pushed to the steam generating device according to the required flow rate during the steam treatment for steam ablation treatment.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly, to a pushing device for a hot steam treatment device. Background Art

[0002] In recent years, the steam ablation technology relying on hot steam treatment devices has received increasing attention. Taking the treatment of prostate tumors as an example, by injecting high-temperature steam into the prostate tissue, the heat released during the condensation of the steam is used to shrink or thermally eliminate prostate lesions or abnormal hyperplastic tissues. There is no need to implant foreign objects in the body, which can maximize the protection of normal tissues around the prostate.

[0003] Generally, a hot steam treatment device includes a syringe for pushing sterile water and a steam generating device for vaporizing the pushed sterile water. The pushing accuracy of the syringe is crucial for treatment. The current device has a low pushing flow accuracy, making it difficult to accurately control the injection amount and speed of the steam, which affects the treatment effect and use safety.

[0004] Therefore, it is necessary to design a pushing device for a hot steam treatment device to solve the problems of the existing pushing device with low flow accuracy, difficulty in accurately controlling the injection amount and speed of the steam, and affecting the treatment effect and use safety. Summary of the Invention

[0005] In view of this, the present invention provides a pushing device for a hot steam treatment device to solve the problems of the existing pushing device with low flow accuracy, difficulty in accurately controlling the injection amount and speed of the steam, and affecting the treatment effect and use safety.

[0006] The present invention provides a pushing device for a hot steam treatment device, comprising: a syringe, a pushing assembly, a force sensor, a syringe bracket, a linear module, and a controller;

[0007] A positioning member is provided above the syringe bracket, and a receiving cavity for receiving the syringe is formed on the positioning member. At least two limiting portions protruding towards the center of the receiving cavity are provided on the wall of the receiving cavity, and the syringe is limited between two corresponding limiting portions;

[0008] The syringe includes a container and a plunger. One end of the plunger extends into the container and is slidably connected to the container;

[0009] The pushing assembly includes a push rod and a support seat. The push rod is slidably connected to the support seat, and the push rod can move axially relative to the support seat; the support seat is used to support the push rod;

[0010] The force sensor is disposed in the support seat;

[0011] One end of the push rod is spaced from the force sensor;

[0012] One end of the linear module is fixedly connected to the syringe bracket, and the other end is slidably connected to the support seat through a slider, and the slider is used to drive the support seat to move axially;

[0013] The controller is electrically connected to the linear module and the force sensor. The controller is used to perform segmented control on the slider during the injection treatment process, and at the same time, in combination with the pressure data detected by the force sensor, match corresponding error compensation strategies according to different control stages to control the injection speed and injection flow rate of the slider.

[0014] Further, the controller includes:

[0015] An information storage unit for storing the volume, cross-sectional area of the syringe, and the preset injection standard pressure P, standard flow rate Q, and treatment duration T for different liquids for different diseases;

[0016] An information acquisition unit for receiving the pressure data collected by the force sensor;

[0017] A control unit for constructing a dynamic flow model based on the pressure data collected by the information acquisition unit; the control unit is also used to divide the treatment duration T into three injection treatment stages, namely a start-up compensation stage, a constant flow control section, and a buffer stop section, and adopt corresponding error compensation strategies according to different injection treatment stages and the dynamic flow model to control the injection speed and injection flow rate of the slider;

[0018] A flow rate adjustment unit for displaying the current liquid flow rate and adjusting the standard flow rate Q.

[0019] Further, the control unit is also used to:

[0020] Before starting the injection treatment, control the movement of the slider with a constant acceleration a, and collect the pressure data in the first 30 ms after the push rod contacts the force sensor, and obtain a real-time dynamic friction resistance model f(μ(t)) by least squares fitting:

[0021]

[0022] where kf is the viscous friction coefficient, bf is the static friction threshold, and v(t) is the real-time injection speed;

[0023] According to the real-time dynamic friction resistance model f(μ(t)), obtain a pressure compensation coefficient kp(t):

[0024]

[0025] Wherein, P is the preset bolus standard pressure, f(μ(t)) is the real-time dynamic friction resistance model, and P(t) is the real-time pressure value;

[0026] Establish a dynamic flow model Q(t):

[0027]

[0028] Wherein, v(t) is the real-time bolus speed, kp(t) is the pressure compensation coefficient, and A is the cross-sectional area of the syringe.

[0029] Furthermore, the control unit is further configured to:

[0030] During the start-up compensation stage, according to the preset standard flow rate Q, through the dynamic flow model Q(t), obtain the standard speed V1, and make the slider move at the standard speed V1, and during the period when the slider moves at the standard speed V1, the moving speed of the slider is corrected in real time to obtain the real-time corrected moving speed V of the slider:

[0031]

[0032] And make the slider move at the real-time corrected moving speed V.

[0033] Furthermore, the control unit is further configured to:

[0034] When entering the constant flow control section, according to the preset standard flow rate Q, obtain the real-time flow rate Qe(t) through the displacement differential-pressure compensation fusion algorithm:

[0035]

[0036] Wherein, is the displacement differential of the slider; according to the difference between the real-time flow rate Qe(t) and the preset standard flow rate Q, through adaptive PID control, the slider speed is corrected in real time.

[0037] Furthermore, the control unit is further configured to:

[0038] When entering the buffer stop section, at a preset exponential deceleration, reduce the real-time speed v(t) of the slider to 0;

[0039]

[0040] Wherein, v(t) is the real-time speed of the slider after entering the buffer stop section, V2 is the instantaneous speed of the slider when entering the buffer stop section, e is the natural constant, β is the buffer coefficient, and t is the time of the buffer stop section.

[0041] Further, a maximum pressure threshold value Pmax is preset in the controller. When the real-time pressure value P(t) ≥ Pmax, the control unit immediately controls the slider to stop moving.

[0042] Further, the injection device further includes:

[0043] A position-in-place sensor, one end of which is embedded in the bottom surface of the accommodation bin, and the other end extends into the accommodation bin. According to the detection information of the position-in-place sensor, the controller can determine whether the syringe is installed in place;

[0044] A bubble sensor. According to the detection information of the bubble sensor, the controller can determine whether the liquid in the container is mixed with bubbles;

[0045] A position sensor. According to the detection information of the position sensor, the controller can determine the position where the support seat is located;

[0046] An extreme position sensor. According to the detection information of the extreme position sensor, the controller can limit the movement of the support seat within a preset stroke range.

[0047] Further, the injection device further includes:

[0048] A first linear bearing, which is fixedly connected to the syringe support;

[0049] A second linear bearing, which is fixedly connected to the support seat;

[0050] The first linear bearing, the second linear bearing, the push rod and the syringe are coaxially distributed. One end of the push rod passes through the first linear bearing and extends towards the force sensor, and the other end of the push rod passes through the second linear bearing and extends towards the syringe;

[0051] An elastic member, one end of which is connected to the push rod, the other end of the elastic member is fixed relative to the force sensor, and the elastic member is in point contact or line contact with the force sensor.

[0052] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0053] 1. In this application, the controller controls the speed of the slider in segments, and at the same time combines the pressure detected by the force sensor, and matches the corresponding error compensation strategy according to different control stages, realizing the accurate conversion of the injection pressure and the injection flow rate, and ensuring that the treatment liquid is accurately pushed to the steam generating device according to the required flow rate during the steam treatment process.

[0054] 2. One end of the push rod of the present application is spaced from the force sensor. When disassembling the force sensor, there is no need to disassemble the force sensor and the push rod, which is more convenient for the disassembly or separation of the force sensor. Moreover, since one end of the push rod is spaced from the force sensor, the detection surface of the force sensor is not interfered or is minimally interfered, which helps to improve the service life and measurement accuracy of the force sensor.

[0055] On the other hand, the present application also provides a hot steam treatment device, which includes the injection device. The injection device can transfer the whole after vaporizing sterile water vapor to human or animal tissue to achieve the treatment purpose;

[0056] The hot steam treatment device further includes a fixing base, and the injection device is installed inside the hot steam treatment device through the fixing base. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered as limiting the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0058] Figure 1 is a schematic structural diagram of the injection device provided by an embodiment of the present invention;

[0059] Figure 2 is a partial schematic structural diagram of the injection device provided by an embodiment of the present invention;

[0060] Figure 3 is a partial schematic structural diagram of the mating part of the gravity sensor and the push rod of the injection device provided by an embodiment of the present invention;

[0061] Figure 4 is a partial schematic structural diagram of the mating part of the gravity sensor and the push rod of the injection device provided by an embodiment of the present invention;

[0062] Figure 5 is a partial schematic structural diagram of the injection device provided by an embodiment of the present invention;

[0063] Figure 6 is a functional block diagram of the controller of the injection device provided by an embodiment of the present invention.

[0064] Among them, 101 - bolus injection assembly; 102 - elastic member; 110 - syringe; 111 - syringe neck; 120 - push rod; 121 - arc surface; 130 - support base; 131 - push rod support; 132 - sensor support; 133 - connecting member; 140 - force sensor; 150 - second linear bearing; 160 - first linear bearing; 170 - linear module; 171 - slider; 172 - motor; 180 - syringe support; 190 - positioning member; 191 - receiving chamber; 192 - limiting portion; 210 - bubble sensor; 220 - displacement scale; 240 - in-place sensor; 300 - fixed base. Detailed implementation manners

[0065] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0066] As Figures 1-5 shown, in some embodiments of the present application, the present embodiment provides a bolus injection device for a hot steam treatment device, including:

[0067] a syringe 110, a bolus injection assembly 101, a force sensor 140, a syringe 110 support, a linear module 170, and a controller;

[0068] A positioning member 190 is provided above the syringe 110 support. The positioning member 190 is provided with a receiving chamber 191 for receiving the syringe 110. At least two limiting portions 192 protruding toward the center of the receiving chamber 191 are provided on the wall of the receiving chamber 191. The syringe 110 is limited between two corresponding limiting portions 192;

[0069] The syringe 110 includes a container and a plunger. One end of the plunger extends into the container and is slidably connected to the container;

[0070] The bolus injection assembly 101 includes a push rod 120 and a support base 130. The push rod 120 is slidably connected to the support base 130. The push rod 120 can move axially relative to the support base 130; the support base 130 is used to support the push rod 120;

[0071] The force sensor 140 is disposed in the support base 130;

[0072] One end of the push rod 120 is spaced from the force sensor 140;

[0073] One end of the linear module 170 is fixedly connected to the bracket of the syringe 110, and the other end is slidably connected to the support base 130 through the slider 171. The slider 171 is used to drive the support base 130 to move axially.

[0074] The controller is electrically connected to the linear module 170 and the force sensor 140. The controller is used to perform segmented control on the slider 171 during the injection treatment process. At the same time, combined with the pressure data detected by the force sensor 140, corresponding error compensation strategies are matched according to different control stages to control the injection speed and injection flow rate of the slider 171.

[0075] Specifically, the support base 130 includes a push rod support 131, a sensor support 132, and a connecting member 133. Both the push rod support 131 and the sensor support 132 are fixed on the slider 171 of the linear module 170. The connecting member 133 connects the push rod support 131 and the sensor support 132 respectively, so that the linear module 170 drives the push rod support 131 and the sensor support 132 to move synchronously through the slider 171.

[0076] Specifically, during the injection process, the controller controls the slider 171 to move, driving the support base 130, the force sensor 140, and the push rod 120 towards the syringe 110. One end of the push rod 120 abuts against the force sensor 140, and the other end of the push rod 120 pushes the liquid in the container through the plunger. One end of the push rod 120 is in point contact with the force sensor 140.

[0077] Specifically, the syringe 110 includes a container and a plunger at least partially located in the container. After the controller controls the linear module to drive the injection assembly to move towards the syringe and contact the plunger, it can continue to push the plunger to move along the inner wall of the container, and the therapeutic liquid in the container is then pushed by the plunger towards the outlet of the syringe 110 to achieve injection. The therapeutic liquid includes but is not limited to sterile water.

[0078] Specifically, the injection assembly includes a push rod 120 and a support base 130. The support base 130 can support the push rod 120, and the push rod 120 can move axially relative to the support base 130. The force sensor 140 is installed on the support base 130. Before injecting the liquid, one end of the push rod 120 is spaced from the force sensor 140. During the injection process, the support base 130 can drive the force sensor 140 and the push rod 120 towards the syringe 110, one end of the push rod 120 abuts against the force sensor 140, and the other end of the push rod 120 pushes the liquid in the container through the plunger.

[0079] It can be understood that when the device is in the initial unused state, before the injection or after the injection is completed and the push rod 120 is reset to the initial state, there is no interaction force between the push rod 120 and the plunger. When the push rod 120 is at a certain distance from the plunger. After the injection starts, under the driving action of the linear module 170, the support seat 130 drives the force sensor 140 and the push rod 120 to move towards the syringe 110. The push rod 120 exerts a forward (i.e., towards the syringe 110 direction) force on the plunger, and the plunger will also exert a backward (i.e., away from the syringe 110 direction) reaction force on the push rod 120. Under the reaction force, one end of the push rod 120 moves backward relative to the support seat 130, making the push rod 120 abut against the force sensor 140. The force sensor 140 starts to measure the pressure applied to the liquid through the plunger, and the other end of the push rod 120 pushes the liquid in the container through the plunger.

[0080] Specifically, as Figure 3 shown, during the injection process, the liquid pushes the push rod 120 to move through the plunger, so that one end of the push rod 120 makes point contact with the force sensor 140.

[0081] It can be understood that in the prior art, the push rod 120 and the force sensor 140 are directly connected and fixedly connected. When the force sensor 140 needs to be replaced or repaired, not only the force sensor 140 needs to be separated from the support seat 130, but also the connection between the force sensor 140 and the push rod 120 needs to be disassembled. In the embodiment of the present application, one end of the push rod 120 is spaced apart from or abuts against the force sensor 140. When the force sensor 140 is disassembled, there is no need to disassemble the force sensor 140 and the push rod 120, which is more convenient for the disassembly or separation of the force sensor 140. Moreover, before the injection, since one end of the push rod 120 is spaced apart from the force sensor 140, the detection surface of the force sensor 140 is not disturbed or is hardly disturbed, which helps to improve the service life of the force sensor 140. After the injection, under the action of the liquid in the container, the force sensor 140 starts to measure the liquid pressure. Compared with before the injection, the measured value of the force sensor 140 will change greatly. That is to say, the change in the pressure difference measured by the force sensor 140 before and after the injection is larger, which is beneficial to improving the measurement accuracy.

[0082] Specifically, the linear module 170 serves as a driving source to provide a driving external force for the forward or backward movement of the push rod 120. The linear module 170 realizes multiple injection movements of the push rod 120 by driving the slider 171 to perform linear reciprocating motion. One end of the push rod 120 is installed on the push rod support 131, and the force sensor 140 is installed on the sensor support 132. The bottoms of the push rod support 131 and the sensor support 132 are both connected to the slider 171, and their tops are both connected to the connecting member 133. The linear module 170 is preferably a KK module. The motor 172 used in the linear module 170 is an integrated stepper motor.

[0083] It is understandable that the hot steam treatment device involves medical devices and has high requirements for injection accuracy. The existing push rod 120 and force sensor 140 are in surface contact. To ensure high injection accuracy, the contact surface needs to reach a very high level of flatness and fit, which will lead to an increase in manufacturing or assembly costs. Moreover, the push rod 120 and force sensor 140 are in a long-term moving state. After a long time of use, the flatness and fit of the contact surface may also shift due to vibration or equipment aging, affecting the measurement accuracy of the force sensor 140 and further affecting the injection accuracy. In the embodiment of the present application, the push rod 120 is in point contact with the force sensor 140, and the measurement position of the force sensor 140 is reduced to a "point", with less interference. Moreover, there is no problem with the flatness or fit between the push rod 120 and the force sensor 140, and the pressure measurement accuracy is higher, which can further improve the injection accuracy.

[0084] Specifically, as Figure 5 shown, the injection device further includes a positioning member 190, and the positioning member 190 is installed on the syringe support 180; the positioning member 190 is provided with a receiving cavity 191 for receiving the syringe 110, and at least two limiting portions 192 protruding towards the center of the receiving cavity are provided on the cavity wall of the receiving cavity 191, and the syringe 110 is limited between two corresponding limiting portions 192.

[0085] The top of the receiving cavity is open, and the syringe 110 can be placed into the interior of the receiving cavity 191 through the top opening. The limiting portions 192 are in close fit with the peripheral side of the syringe 110, making the syringe 110 more stably and reliably placed in the receiving cavity 191.

[0086] In some embodiments of the present application, the point contact between the push rod 120 and the force sensor 140 can be achieved in the following ways: 1. As Figure 3 shown, one end face of the push rod 120 is an arc surface 121, and the end face of the sensor facing the push rod 120 is a plane, and the push rod 120 can be tangent to the force sensor 140 through the arc surface 121. 2. As Figure 4 shown, one end face of the push rod 120 is a conical surface, and the push rod 120 can contact the force sensor 140 through the tip of the conical surface.

[0087] As Figure 6 shown, in some embodiments of the present application, the controller includes:

[0088] An information storage unit for storing the volume, cross-sectional area of the syringe 110, and the preset injection standard pressure P, standard flow rate Q, and treatment duration T for different liquids for different diseases;

[0089] An information acquisition unit for receiving the pressure data collected by the force sensor 140;

[0090] A control unit for constructing a dynamic flow model based on the pressure data collected by the information acquisition unit; the control unit is further configured to divide the treatment duration T into three bolus treatment phases, namely a start-up compensation phase, a constant flow control phase, and a buffer stop phase, and adopt corresponding error compensation strategies according to different bolus treatment phases and the dynamic flow model to control the bolus speed and bolus flow rate of the push rod;

[0091] A flow rate adjustment unit for displaying the current liquid flow rate and real-time adjusting the standard flow rate Q.

[0092] Specifically, the control unit constructs a dynamic flow model based on the information collected by the information acquisition unit, and divides the bolus treatment duration T into a start-up compensation phase (starting time of the bolus treatment duration - t1), a constant flow control phase (t1 - t2), and a buffer stop phase (t2 - T) according to the real-time bolus time and the preset first time node t1 and second time node t2, where the time when the push rod contacts the force sensor is used as the starting time of the bolus treatment duration, and the bolus speed and bolus flow rate of the push rod are controlled by adopting corresponding error compensation strategies according to different bolus treatment phases and the dynamic flow model.

[0093] In some embodiments of the present application, the control unit is configured to:

[0094] Before starting the bolus treatment, drive the linear module 170 to drive the slider 171 to move with a constant acceleration a, and collect the pressure data in the first 30 ms after the push rod 120 contacts the force sensor, and obtain the real-time dynamic friction resistance model f(μ(t)) by least squares fitting:

[0095]

[0096] where kf is the viscous friction coefficient, bf is the static friction threshold, and v(t) is the real-time bolus speed;

[0097] According to the real-time dynamic friction resistance model f(μ(t)), obtain the pressure compensation coefficient k p (t):

[0098]

[0099] where P is the preset bolus standard pressure, f(μ(t)) is the real-time dynamic friction resistance model, and P(t) is the real-time pressure value;

[0100] Establish a dynamic flow model Q(t):

[0101]

[0102] where v(t) is the real-time bolus speed.

[0103] Specifically, when the bolus injection starts, specifically when the force sensor contacts the push rod, before starting the bolus injection treatment, a dynamic flow model is first established by least squares fitting, and then the normal treatment process is carried out.

[0104] It can be understood that the dynamic flow model combines the cross-sectional area of the syringe 110 and the real-time dynamic friction resistance model to achieve the preliminary conversion of the real-time flow rate and the speed of the push rod 120.

[0105] In some embodiments of the present application, the control unit is further configured to:

[0106] During the start-up compensation phase, according to the preset standard flow rate Q, through the dynamic flow model Q(t), the standard speed V1 is obtained, and the slider 171 is moved at the standard speed V1, and the moving speed of the slider 171 is corrected in real time during the movement of the slider 171 at the standard speed V1 to obtain the real-time corrected moving speed V of the slider 171:

[0107]

[0108] And the slider 171 is moved at the real-time corrected moving speed V.

[0109] Specifically, , which is the error compensation strategy for the start-up compensation section. When the bolus injection treatment time is 0 - t1, the control unit obtains the required standard speed V1 according to the preset standard flow rate Q through the established dynamic flow model, substitutes V1 into the error compensation strategy of the start-up compensation section, and corrects the moving speed of the slider 171 in real time to effectively eliminate the start-up flow lag caused by static friction.

[0110] In some embodiments of the present application, the control unit is further configured to:

[0111] After entering the constant flow control section, according to the preset standard flow rate Q, the real-time flow rate Q e (t) is obtained through the displacement differential-pressure compensation fusion algorithm:

[0112]

[0113] Wherein, is the displacement differential of the slider 171; according to the difference between the real-time flow rate Q e (t) and the preset standard flow rate Q, through adaptive PID control, the speed of the slider 171 is corrected in real time.

[0114] Specifically, the difference ΔQ between the real-time flow rate Q e (t) and the preset standard flow rate Q is calculated. In PID control: the proportional coefficient K p is dynamically adjusted with the pressure fluctuation:

[0115]

[0116] where α is the pressure sensitivity coefficient, and K p0 is the preset reference value of the proportionality coefficient;

[0117] According to the proportionality coefficient K p the proportional term P(t), the integral term I(t), and the derivative term D(t) are calculated. The speed correction amount Δv(t) of the slider 171 = proportional term P(t) + integral term I(t) + derivative term D(t).

[0118] Specifically, the proportional term P(t) = K p ×ΔQ;

[0119] Integral term:

[0120]

[0121] where Δt is the time interval for information acquisition;

[0122] Derivative term:

[0123] .

[0124] It can be understood that the role of the proportional term is to generate a control action proportional to the error according to the magnitude of the current error, so that the speed of the slider 171 can quickly respond to the flow error; the integral term is used to accumulate past errors to eliminate the steady-state error of the system. As time goes by, the integral term will gradually increase until the system reaches a stable state; the derivative term predicts the future error trend according to the change rate of the error, so as to adjust the control amount in advance, reduce the overshoot and improve the stability of the system.

[0125] In some embodiments of the present application, the control unit is further configured to:

[0126] When entering the buffer stop section, the real-time speed v(t) of the slider is reduced to 0 at a preset exponential deceleration:

[0127]

[0128] where v(t) is the real-time speed of the slider after entering the buffer stop section, V2 is the instantaneous speed of the slider when entering the buffer stop section, e is the natural constant, β is the buffer coefficient, and t is the time of the buffer stop section.

[0129] It can be understood that after entering the buffer stop section, it indicates that the treatment is about to end. At this time, the speed of the slider 171 is decreased exponentially to 0, effectively buffering the impact force of the push rod 120 on the liquid and ensuring the stability of the liquid flow before the end of the treatment.

[0130] In some embodiments of the present application, a maximum pressure threshold Pmax is preset in the controller. When the real-time pressure value P(t) ≥ Pmax, the control unit immediately controls the slider 171 to stop moving.

[0131] It can be understood that when the real-time pressure exceeds the threshold, the injection is immediately stopped, which can effectively ensure the treatment safety.

[0132] As Figures 1-5 shown, in some embodiments of the present application, the injection device further includes:

[0133] A position-in-place sensor 240, one end of the position-in-place sensor 240 is embedded in the bottom surface of the accommodation chamber 191, and the other end extends into the accommodation chamber 191. According to the detection information of the position-in-place sensor 240, the controller can determine whether the syringe 110 is installed in place;

[0134] A bubble sensor, according to the detection information of the bubble sensor, the controller can determine whether the liquid in the container is mixed with bubbles;

[0135] A position sensor, according to the detection information of the position sensor, the controller can determine the position where the support seat 130 is located;

[0136] An extreme position sensor, according to the detection information of the extreme position sensor, the controller can limit the movement of the support seat 130 within a preset stroke range.

[0137] Specifically, at least a part of the position-in-place sensor 240 is located in the accommodation chamber. According to the detection information of the position-in-place sensor 240, the controller can determine whether the syringe 110 is installed in place; according to the detection information of the bubble sensor 210, the controller can determine whether the liquid in the container is mixed with bubbles; a hose or rubber coating can be provided on the neck 111 of the syringe. The bubble sensor 210 is connected to the neck 111 of the syringe by sleeving a silicone hose or rubber coating, etc., which can make the neck 111 of the syringe fit more closely with the bubble sensor 210, and can also more accurately detect the bubbles in the liquid inside the syringe 110, and this fitting method is also more reasonable, which can effectively reduce the hard friction between the syringe 110 and the bubble sensor and improve the service life of the bubble sensor 210. According to the detection information of the position sensor, the controller can determine the position where the support seat 130 is located; according to the detection information of the extreme position sensor, the controller can limit the movement of the support seat 130 within a preset stroke range; the displacement sensor can be Figure 1 the displacement scale 220 as shown.

[0138] It can be understood that using the above sensors can better realize the automatic control of the injection device, which is beneficial to improving the injection accuracy and user experience.

[0139] As Figures 1-5As shown, in some embodiments of the present application, the bolus injection device further includes:

[0140] A first linear bearing 160, fixedly connected to the syringe support 180;

[0141] A second linear bearing 150, fixedly connected to the support base 130;

[0142] The first linear bearing 160, the second linear bearing 150, the push rod 120, and the syringe 110 are coaxially distributed. One end of the push rod 120 passes through the first linear bearing 160 and extends towards the force sensor 140, and the other end of the push rod 120 passes through the second linear bearing 150 and extends towards the syringe 110;

[0143] An elastic member 102, one end of the elastic member 102 is connected to the push rod 120, the other end of the elastic member 102 is fixed relative to the force sensor 140, and the elastic member 102 is in point contact or line contact with the force sensor 140. [[ID=Y13]] [[ID=Y14]]

[0144] Specifically, one end of the elastic member 102 is connected to the push rod 120, and the other end of the elastic member 102 is fixed relative to the force sensor 140. When the external force received by the other end of the push rod 120 is less than the elastic force of the elastic member 102, this elastic force can drive the push rod 120 to move towards the syringe 110, so that one end of the push rod 120 and the force sensor 140 return to the spaced-apart distribution state. [[ID=1Y]] [[ID=1Z]]

[0145] It can be understood that during the bolus injection process, under the reaction of the plunger, the push rod 120 moves backward relative to the support base 130. When the push rod 120 contacts the force sensor 140, the push rod 120 also deforms the elastic member 102 to store elastic force. After the bolus injection is completed, the external force drives the support base 130 to move backward, away from the syringe 110. At this time, the plunger is separated from the other end of the push rod 120, and the plunger has no acting force on the other end of the push rod 120. The elastic member 102 releases the elastic force, and one end of the push rod 120 is again spaced apart from the force sensor 140, that is, the push rod 120 resets.

[0146] Specifically, one end of the elastic member 102 can be installed on the push rod 120, and the other end of the elastic member 102 can be installed on the force sensor 140;

[0147] In some embodiments not shown in the present application, the other end of the elastic member 102 may not be installed on the force sensor 140. For example: the other end of the elastic member can be installed on the support base, as long as the other end of the elastic member remains relatively fixed relative to the force sensor, the elastic member 102 can reset the push rod 120.

[0148] It can be understood that the other end of the elastic member 102 abuts against the force sensor 140, and the elastic member 102 is in point contact with the force sensor 140. Point contact can reduce the contact area between the elastic member 102 and the force sensor 140, reduce the interference received by the force sensor 140, and is beneficial to improving the detection accuracy of the force sensor 140. More importantly, in the embodiment shown in the drawings of the present application, the elastic member 102 and the force sensor 140 always remain in abutment. This also means that before injection, when there is a gap between one end of the push rod 120 and the force sensor 140, the elastic member 102 also abuts against the force sensor 140, and the initial detection value of the force sensor 140 before detecting the sterile water pressure is not equal to 0, and this initial detection value is relatively stable. Furthermore, it is possible to determine whether the force sensor 140 is abnormal based on the initial detection value. This method of determining whether the force sensor 140 is abnormal is simple, convenient, timely, and effective. Once a sensor abnormality occurs, the controller can control the device to issue an alarm or reminder, stop the current treatment in a timely manner or repair the device in a timely manner, which is beneficial to improving the safety and reliability of the use of the hot steam treatment device.

[0149] Specifically, the first linear bearing 160 is installed on the syringe support 180; the second linear bearing 150 is installed on the support base 130. The first linear bearing 160, the second linear bearing 150, the push rod 120, and the syringe 110 are coaxially distributed. One end of the push rod 120 passes through the first linear bearing 160 and then extends towards the force sensor 140, and the other end of the push rod 120 passes through the second linear bearing 150 and then extends towards the syringe 110.

[0150] It can be understood that the structural design of the double linear bearings can ensure that the push rod 120 has good concentricity during the movement process, and better concentricity is beneficial to improving the stability and injection accuracy of the injection process. For example: the push rod 120 is Figure 1 shown as a slender rod shape. When its full stroke is 130 mm, the runout of the push rod 120 is within 0.04 mm, indicating that the push rod 120 can maintain good concentricity during the working process.

[0151] In some embodiments of the present application, the materials of the first linear bearing 160 and the second linear bearing 150 are both non-metallic materials. The non-metallic materials include but are not limited to engineering plastics. The first linear bearing 160 and the second linear bearing 150 made of non-metallic materials have lower noise during the movement process, are easier to maintain or even do not require maintenance, and have higher guiding accuracy.

[0152] In Figure 4As shown, in some embodiments of the present application, the elastic member 102 is an opposed wave spring. One end of the opposed wave spring is sleeved on one end of the push rod 120, and the other end of the opposed wave spring abuts against the force sensor 140 and applies a certain pressure to the force sensor 140, so that the initial measurement value of the force sensor 140 is greater than 0.

[0153] As Figure 1 shown, an embodiment of the present application also provides a hot steam treatment device:

[0154] The hot steam treatment device may further include a fixing base 300, and the injection device can be installed inside the hot steam treatment device through the fixing base 300.

[0155] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0156] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0157] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0158] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide for implementing the specified functions in the processFigure 1 One process or multiple processes and / or boxes Figure 1 Steps of the functions specified in one box or multiple boxes

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific implementation manners of the present invention, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A bolus injection device for a hot steam treatment device, characterized in that, Comprising: A syringe, a bolus injection assembly, a force sensor, a syringe bracket, a linear module, and a controller; A positioning member is provided above the syringe bracket. An accommodation chamber for accommodating the syringe is defined on the positioning member. At least two limiting portions protruding towards the center of the accommodation chamber are provided on the wall of the accommodation chamber, and the syringe is limited between two corresponding limiting portions; The syringe includes a container and a plunger. One end of the plunger extends into the container and is slidably connected to the container; The bolus injection assembly includes a push rod and a support seat. The push rod is slidably connected to the support seat, and the push rod can move axially relative to the support seat along the axis of the push rod; the support seat is used to support the push rod; The force sensor is disposed in the support seat; One end of the push rod is spaced apart from the force sensor; One end of the linear module is fixedly connected to the syringe bracket, and the other end is slidably connected to the support seat through a slider. The slider is used to drive the support seat to move axially; The controller is electrically connected to the linear module and the force sensor. The controller is used to perform segmented control on the slider during the bolus injection treatment process. At the same time, in combination with the pressure data detected by the force sensor, a corresponding error compensation strategy is matched according to different control stages to control the bolus injection speed and bolus injection flow rate of the slider; The controller includes: An information storage unit for storing the volume, cross-sectional area of the syringe, and the preset bolus injection standard pressure P, standard flow rate Q, and treatment duration T for different diseases and different liquids; An information acquisition unit for receiving the pressure data collected by the force sensor; A control unit for constructing a dynamic flow model based on the pressure data collected by the information acquisition unit; The control unit is also used to divide the treatment duration T into three bolus injection treatment stages, namely a start-up compensation stage, a constant flow control section, and a buffer stop section, and adopt corresponding error compensation strategies according to different bolus injection treatment stages and the dynamic flow model to control the bolus injection speed and bolus injection flow rate of the slider; A flow rate adjustment unit for displaying the current liquid flow rate and adjusting the standard flow rate Q; The control unit is also used for: Before starting the bolus injection treatment, control the movement of the slider with a constant acceleration a, and collect the pressure data in the first 30 ms after the push rod touches the force sensor. Obtain the real-time dynamic friction resistance model f(μ(t)) by least squares fitting: where kf is the viscous friction coefficient, bf is the static friction threshold, and v(t) is the real-time bolus injection speed; Based on the real-time dynamic friction resistance model f(μ(t)), the pressure compensation coefficient k is obtained p (t): where P is the preset injection standard pressure, f(μ(t)) is the real-time dynamic friction resistance model, and P(t) is the real-time pressure value; Establish a dynamic flow model Q(t): where v(t) is the real-time bolus injection speed, k p (t) is the pressure compensation coefficient, and A is the cross-sectional area of the syringe; The control unit is also used for: During the startup compensation phase, according to a preset standard flow rate Q, the standard speed V1 is obtained through the dynamic flow model Q(t), and the slider is moved at the standard speed V1. During the movement of the slider at the standard speed V1, the moving speed of the slider is corrected in real time to obtain the real-time corrected moving speed V of the slider: And the slider is moved at the real-time corrected moving speed V; The control unit is also used for: When entering the constant current control section, based on the preset standard flow rate Q, the real-time flow rate Q is obtained through the displacement differential-pressure compensation fusion algorithm e (t): Wherein, is the displacement differential of the slider; according to the difference between the real-time flow rate Q e (t) and the preset standard flow rate Q, the slider speed is corrected in real time through adaptive PID control; The control unit is also used for: When entering the buffer stop section, the real-time speed v(t) of the slider is reduced to 0 at a preset exponential deceleration; wherein, v(t) is the real-time speed of the slider after entering the buffer stop section, V2 is the instantaneous speed of the slider when entering the buffer stop section, e is the natural constant, β is the buffer coefficient, and t is the time of the buffer stop section.

2. The bolus injection device for a hot steam treatment device according to claim 1, wherein, A maximum pressure threshold Pmax is preset in the controller. When the real-time pressure value P(t) ≥ Pmax, the control unit immediately controls the slider to stop moving.

3. The bolus injection device for a hot steam treatment device according to claim 2, characterized in that, The bolus injection device further includes: A position sensor. One end of the position sensor is embedded in the bottom surface of the accommodation chamber, and the other end extends into the accommodation chamber. According to the detection information of the position sensor, the controller can determine whether the syringe is installed in place; A bubble sensor. According to the detection information of the bubble sensor, the controller can determine whether the liquid in the container is mixed with bubbles; A position sensor. According to the detection information of the position sensor, the controller can determine the position where the support seat is located; Limit position sensor. According to the detection information of the limit position sensor, the controller can limit the movement of the support seat within a preset stroke range.

4. The bolus injection device for a hot steam treatment device according to claim 3, characterized in that, The injection device further includes: A first linear bearing fixedly connected to the syringe support; A second linear bearing fixedly connected to the support seat; The first linear bearing, the second linear bearing, the push rod and the syringe are coaxially distributed. One end of the push rod passes through the first linear bearing and extends towards the force sensor, and the other end of the push rod passes through the second linear bearing and extends towards the syringe; An elastic member, one end of the elastic member is connected to the push rod, the other end of the elastic member is fixed relative to the force sensor, and the elastic member is in point contact or line contact with the force sensor.

5. A hot steam treatment device, characterized in that, The hot steam treatment device includes the injection device according to any one of claims 1-4; The hot steam treatment device further includes a fixed seat, and the injection device is installed inside the hot steam treatment device through the fixed seat.

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