Master slave separated embolization agent mixing and bolus injection device

Abstract

The application discloses a master-slave separated embolism agent mixed injection device, which solves the liquid layering phenomenon in the operation process, and comprises an execution end arranged in an operating room and a control end arranged in a control room and capable of controlling the execution end. The control end comprises an embedded controller, a signal collector and an injection handle, the control end and the execution end are in wireless communication, the execution end comprises a drug carrying module, a shaking module and an injection module; the drug carrying module is used for carrying a needle cylinder carrying a drug; the injection module is used for pushing the needle cylinder on the drug carrying module in an injection direction to perform injection; and the shaking module is used for reciprocating the needle cylinder in the drug carrying module in a direction perpendicular to the injection direction. In the application, the shaking module realizes reciprocating operation by cooperation of a rack and a non-complete gear, the needle cylinder can realize small-range shaking in a horizontal plane, and finally the purpose of mixing the drug liquid is achieved, which is close to the artificial mixing process.

Description

Technical Field

[0001] This invention relates to the field of medical supplies, specifically to a device for mixing and injecting embolic agents with a master-slave separation mechanism. Background Technology

[0002] Currently, transarterial embolization (TACE) is the preferred treatment for intermediate and advanced liver cancer, its core being the precise injection of embolic agents into the tumor-feeding arteries. However, during TACE, surgeons must manually adjust the injection rate and dosage under continuous X-ray irradiation, visually observing blood flow and contrast agent dynamics. This procedure is not only labor-intensive and inefficient, but also highly susceptible to reflux of the embolic agent due to the lack of real-time, quantitative blood flow feedback mechanisms. Reflux can lead to ischemia and necrosis of non-target tissues and even serious complications. Therefore, achieving precise control of reflux risk while ensuring injection efficiency has become a critical issue that urgently needs to be addressed in current TACE procedures.

[0003] Existing drug injection techniques cannot meet the precise control and reflux avoidance requirements of TACE surgery. Although some vascular interventional surgical robotic systems have been developed, most focus on guidewire and catheter delivery control, lacking dedicated feedback systems for the drug injection phase. This means they still cannot avoid reflux in the most critical injection stage. Furthermore, because interventional embolization surgeries often last a long time, drug-solution stratification due to the immiscibility of the embolic drug and its solvent is common during the procedure. Chinese patent (CN112494093A) discloses a remotely controllable drug and embolic particle mixing and injection device. While it can basically achieve drug injection, it only achieves drug mixing by in-situ vibration of a vibrator (eccentric rotor) attached to the syringe. Its actual performance is far from ideal, often failing to achieve proper drug mixing. Moreover, the manual operation of the device provides a poor user experience and requires further optimization. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the technical problem this invention aims to solve is to provide a master-slave separation embolic agent mixing and injection device for embolic agent injection in TACE clinical surgery, and to solve the problem of drug solution stratification during the operation.

[0005] The technical solution adopted by the present invention to solve the aforementioned technical problem is as follows: A master-slave separation embolic agent mixing and injection device to solve the problem of drug solution stratification during surgery includes an execution end placed in the operating room and a control end placed in the control room to control the execution end. The control end includes an embedded controller, a signal acquisition device and an injection handle. The control end and the execution end communicate wirelessly. The execution terminal includes a drug loading module, an oscillation module, and an injection module; The drug-carrying module is used to carry the syringe containing the drug; The injection module is used to push the syringe on the drug-carrying module to inject the drug along the injection direction; The oscillation module is used to make the syringe in the drug-carrying module reciprocate along a direction perpendicular to the injection direction.

[0006] Furthermore, the oscillation module includes an oscillation motor and an oscillation gear set; the oscillation motor and the oscillation gear set are connected by a synchronous belt and a synchronous pulley; An oscillating transmission rack is provided at the lower part of the drug-carrying module. The oscillating gear set meshes with the transmission rack of the drug-carrying module. The oscillating motor is electrically connected to the embedded controller to provide power, which is transmitted to the oscillating transmission rack through the oscillating gear set, thereby driving the drug-carrying module to perform reciprocating motion in the horizontal plane perpendicular to the injection direction, thus realizing the function of oscillating the drug solution.

[0007] Furthermore, the oscillation module also includes a support platform with an elongated hole at its center. Oscillating slide rails 2-31 are arranged on the support platform on both sides of the elongated hole along a direction perpendicular to the injection direction. The lower part of the drug-carrying module is slidably connected to the oscillation slide rails, allowing the drug-carrying module to move back and forth on the oscillation slide rails along a direction perpendicular to the injection direction. An oscillation transmission rack 2-32 is connected to the lower part of the drug-carrying module through the elongated hole via a connecting block. The length direction of the oscillation transmission rack is parallel to the direction of the oscillation slide rails. The oscillating gear set includes two motion control gears 2-33 and two motion transmission gears 2-34. The two motion transmission gears 2-34 are arranged side by side at the same height and mesh with each other. The output end of the oscillating motor is connected to a third synchronous belt 2-24, which is connected to a fourth synchronous pulley 2-22 via a synchronous belt. The fourth synchronous belt 2-22 is coaxially arranged with one motion transmission gear 2-34 of the oscillating gear set. When the fourth synchronous pulley 2-22 rotates, it can drive the motion transmission gear 2-34 to rotate, and at the same time, it drives the other motion transmission gear 2-34 to rotate through meshing. Two motion control gears 2-33 are coaxially installed on the other side of the two motion transmission gears 2-34. The two motion control gears 2-33 have the same structure and adopt an incomplete gear form. Both motion control gears 2-33 can mesh with the oscillating transmission rack. During operation, the oscillating transmission rack can only mesh with one of the motion control gears 2-33, and cannot mesh with both motion control gears 2-33 at the same time. Furthermore, during the meshing process with the oscillating transmission rack, the two motion control gears 2-33 cannot mesh with each other.

[0008] Furthermore, the control terminal includes an embedded controller, a display screen, operation buttons, a brake, a signal acquisition device, and an injection handle.

[0009] Furthermore, the embedded controller is connected to the display screen and the signal acquisition unit respectively, for detecting and displaying the device's injection operation parameters in real time. The embedded controller can also receive information from the execution end and output resistance through the brake, creating a sense of immersive experience.

[0010] Furthermore, the operation buttons include: a power-on button, a power-on / power-off button, an oscillation button, and an emergency stop button. The power-on button is used to provide the power required by the device; the power-on / power-off button is used to start and stop the device; the oscillation button is used to start the oscillation module of the actuator; and the emergency stop button is used to stop the operation of the device in an emergency.

[0011] Furthermore, the display screen is used to display the device injection parameters in real time, including injection speed, injection pressure, remaining drug volume, device status, etc.

[0012] Furthermore, the signal acquisition device is used to collect the displacement information of the injection handle, and outputs it to the slave end of the device via the embedded controller to control the injection of the drug solution.

[0013] Furthermore, the drug-carrying module includes a syringe support unit 3, a slide, and a fixing clamp. The syringe support unit includes a support slider and a syringe cover plate, which are connected by a hinge and connected to the slide via a groove at the bottom of the support slider, allowing it to slide along the injection direction on the slide. When the support slider reaches the preset installation position, it is clamped by the fixing clamp. The transmission rack is fixed to the bottom of the slide and is provided as an oscillation transmission rack for transmission with the oscillation module. Furthermore, the syringe carrying unit is divided into 5ml, 10ml, 20ml, and 50ml carrying sliders according to the different specifications of the syringes it carries.

[0014] Furthermore, the injection handle is manually operated by the doctor to control the injection speed of the syringe.

[0015] Furthermore, a brake is also provided on the control end. The brake is electrically connected to the embedded controller. The output end of the brake 1-12 is connected to a pusher pulley, and the input end of the signal acquisition unit 1-9 is connected to another pusher pulley. The two pusher pulleys are connected by a synchronous belt. The pusher handle 1-6 is connected to the synchronous belt. When the pusher handle is pushed, the synchronous belt moves. The signal acquisition unit can detect the movement displacement of the pusher handle through the pusher pulley it is connected to, and output it to the pusher module at the execution end through the embedded controller to control the pusher of the medicine. The injection handle is manually operated by the doctor to control the injection speed of the syringe; A force sensor is installed in the injection module to measure resistance information. The force sensor is electrically connected to the embedded controller. After the resistance information is processed by the embedded controller, it drives the brake to apply the resistance information to the injection handle, creating a sense of immersion.

[0016] Furthermore, the injection module includes a drive motor, a transmission screw, a syringe pusher, and a force sensor; the drive motor and the transmission screw are connected via a synchronous belt and a synchronous pulley, and the syringe pusher is connected to the transmission screw via a screw slider, allowing the syringe pusher to move back and forth on the transmission screw. A force sensor is installed on the syringe pusher; the drive motor provides power, which drives the syringe pusher and the force sensor to perform linear motion via the transmission screw. The syringe is mounted on a syringe support unit, and the syringe pusher pushes the syringe 4 on the syringe support unit to inject.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention introduces a vibration module, replacing the form of a vibrator directly attached to the syringe. Through reciprocating movement perpendicular to the injection direction, it achieves thorough mixing of the drug and avoids drug stratification.

[0018] In this invention, the oscillation module adopts the form of an oscillation gear set, which uses the cooperation of rack and pinion and incomplete gear to achieve reciprocating operation. It converts the circular motion output by the drive motor into the horizontal motion of the syringe bearing unit perpendicular to the injection direction, so that the syringe can achieve a small range of shaking in the horizontal plane, and finally achieve the purpose of mixing the medicine, which is close to the manual mixing process.

[0019] This invention is simple and reliable to operate, optimizes the manual operation part of the control end, uses the injection handle to simulate the doctor's actual injection, and feeds back information to the doctor through the force sensor placed at the execution end, creating a sense of creative presence. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the external structure of the control terminal of the present invention; Figure 2 This is a schematic diagram of the internal structure of the control terminal of the present invention; Figure 3 This is a schematic diagram of the external structure of the execution end of the present invention; Figure 4 This is a schematic diagram of the internal structure of the execution end of the present invention; Figure 5 This is a schematic diagram of the transmission structure of the execution end of the present invention; Figure 6 Schematic diagrams of the structure of syringe support units of different specifications; Figure 7 This is a schematic diagram of the installation structure of the oscillation module and the drug delivery module in this invention: Figure 8 This is a schematic diagram showing the connection position between the oscillation module and the drug delivery module in this invention.

[0021] Figure 9 This is a schematic diagram of the internal structure of the oscillating gear set in one embodiment of the present invention: Explanation of reference numerals in the attached figures: Control Terminal 1: Display screen 1-1; Oscillation button 1-2; Power on / off button 1-3; Power on button 1-4; Emergency stop button 1-5; Injection handle 1-6; Control terminal information exchange port 1-7; Control terminal power supply port 1-8; Signal collector 1-9; First injection pulley 1-10; Second injection pulley 1-11; Brake 1-12; Embedded controller 1-13; Actuating end 2: First fixing clamp 2-1; First slide 2-2; Second fixing clamp 2-3; Second slide 2-4; Second syringe pusher 2-5; Second force sensor 2-6; Second drive motor 2-7; Sixth synchronous pulley 2-8; Fifth synchronous pulley 2-9; First synchronous pulley 2-10; Second synchronous pulley 2-11; First drive motor 2-12; First force sensor 2-13; First syringe pusher 2-14; Actuating end information exchange port 2-15; Actuating end power supply port 2-16; First limit photoelectric switch 2-1 7; First lead screw 2-18; First limit stop 2-19; ​​Second limit photoelectric switch 2-20; First oscillating gear set 2-21; Fourth synchronous belt pulley 2-22; First oscillating motor 2-23; Third synchronous belt pulley 2-24; Second oscillating motor 2-25; Seventh synchronous belt pulley 2-26; Eighth synchronous belt pulley 2-27; Second oscillating gear set 2-28; Second lead screw 2-29; Serial port display screen 2-30; Oscillating slide rail 2-31; Oscillating transmission rack 2-32; 2-33 Motion control gear; 2-34 Motion transmission gear; Syringe support unit 3: support slider 3-1; syringe cover plate 3-2; groove 3-3; 4 syringes. Detailed Implementation

[0022] The following detailed description is provided in conjunction with the accompanying drawings. Specific embodiments are merely illustrative of the invention and do not limit the scope of protection of the claims in this application.

[0023] This invention discloses a master-slave separation embolic agent mixing and injection device, comprising as follows: Figure 1 , 2 The control terminal 1 shown and as follows Figure 3 , 4 The actuator 2 is shown. Both the control terminal 1 and the actuator 2 include a communication module, which can be connected via WiFi. They are also designed with an Ethernet port to provide third-party access and enable remote control.

[0024] Control terminal 1: Control terminal 1 is powered by power supply port 1-8 and exchanges information with external devices and execution terminal 2 through information exchange port 1-7. Embedded controller 1-13 is connected to display screen 1-1, signal acquisition device 1-9, and brake 1-12. Signal acquisition device 1-9 is used to collect displacement information of injection handle 1-6 and output it through embedded controller 1-13. Brake 1-12 outputs resistance to injection handle 1-6 based on the signal feedback from execution terminal, providing physicians with a sense of presence. Vibration button 1-2 is used to start the vibration module of execution terminal 2, power on / off button 1-3 is used to start and stop the device, power on button 1-4 is used to power control terminal 1 and execution terminal 2, and emergency stop button 1-5 is used for emergency braking in case of emergencies.

[0025] Execution end 2: The execution end of this invention includes a drug-loading module, an oscillation module, and an injection module. The drug-loading module includes a syringe support unit 3, a slide, a fixing clamp, and an oscillation transmission rack. The syringe support unit includes a support slider 3-1 and a syringe cover plate 3-2, which are connected by a hinge and connected to the slide (second slide 2-4 and first slide 2-2) via a groove 3-3 at the bottom of the support slider, allowing it to slide along the injection direction on the slide. When the support slider reaches a preset installation position, it can be clamped by the fixing clamp (second fixing clamp 2-3 and first fixing clamp 2-1). The oscillation transmission rack 2-32 is fixed to the bottom of the slide and meshes with the oscillation gear set.

[0026] The injection module includes a drive motor, a transmission screw (2-8, 2-29), a syringe pusher (2-5, 2-14), and a force sensor. The drive motor (2-12, 2-7) is connected to the transmission screw via a synchronous belt and synchronous pulleys (2-10, 2-9, 2-11, 2-8). The syringe pusher is connected to the transmission screw via a screw-slider, allowing it to move back and forth on the transmission screw. Force sensors (2-6, 2-13) are mounted on the syringe pusher (2-5, 2-14). The drive motor provides power, which drives the syringe pusher and force sensor to move linearly via the transmission screw. The syringe is mounted on a syringe support unit, and the syringe pusher pushes the syringe 4 on the syringe support unit for injection.

[0027] The oscillation module includes oscillation motors (2-23, 2-25) and an oscillation gear set. The oscillation motors and the oscillation gear set are connected via a synchronous belt and a synchronous pulley. The oscillation gear set meshes with the drive rack of the drug-carrying module. The oscillation motors provide power, which is transmitted to the drive rack via the oscillation gear set, driving the drug-carrying module to reciprocate in a horizontal plane, thereby realizing the function of oscillating the drug liquid.

[0028] The execution end is arranged symmetrically, so only one side needs to be introduced.

[0029] The actuator 2 includes a housing. A serial port display screen 2-30 is mounted on the upper surface of the housing. A power supply port 2-16 and an information exchange port 2-15 are located on one side of the housing. Power is supplied by the power supply port 2-16, and the serial port display screen 2-30 communicates with the system via the information exchange port 2-15, displaying in real time the speeds of the drive motors 2-8 and 2-12, the trigger status of the limit photoelectric switches 2-17 and 2-20, and the data collected by the force sensors 2-6 and 2-13. On the other side of the housing, there are two channels for the second slide and the first slide 2-2 to move in and out. The second slide and the first slide 2-2 respectively drive the second fixing clamp 2-3 and the first fixing clamp 2-1 and their accessories to move in and out of the channels.

[0030] The first synchronous pulley 2-10 is fixed to the output end of the first drive motor 2-12 and is connected to the second synchronous pulley 2-11 fixed to the first lead screw 2-18 via a synchronous belt. The rotation of the first lead screw 2-18 drives the first syringe pusher 2-14 to move linearly. The first syringe pusher is equipped with a first force sensor 2-13, which collects the pressure information at the contact point with the syringe in real time and feeds it back to the control terminal through the information exchange port 2-15.

[0031] The first limit photoelectric switch 2-17 is fixed on the base of the first lead screw 2-18, and the first limit baffle 2-19 is fixed on the first syringe pusher 2-5. The limit photoelectric switch is used to limit the movement of the drive motor within a safe stroke. When the first limit baffle 2-19 moves with the first syringe pusher 2-5 to the first limit photoelectric switch 2-17, the first drive motor 2-12 stops moving towards the first limit photoelectric switch 2-17.

[0032] When the medication solution shows a tendency to separate during the procedure, the second drive motor 2-7 and the first drive motor 2-12 stop moving, while the first oscillating motor 2-23 and the second oscillating motor 2-25 receive the command and begin moving. The third synchronous pulley 2-24, fixed to the output end of the first oscillating motor 2-23, and the fourth synchronous pulley 2-22, fixed to the first oscillating gear set 2-21, are connected via a synchronous belt, driving the first slide 2-2 to reciprocate on a horizontal plane, thus achieving the purpose of oscillating the medication solution. A minimum syringe carrier unit includes a carrier slider 3-1 and a syringe cover plate 3-2. The carrier slider 3-1 is connected to the first slide 2-2 via a bottom groove 3-3 and is pressed in place by the first fixing clamp 2-1 to prevent displacement.

[0033] In this invention, the oscillation module can simulate human swaying motion, and the reciprocating motion range is preferably 2-5cm.

[0034] Specific Implementation Example 1: Manual Injection In this embodiment, the control terminal 1 and the execution terminal 2 are separated. The doctor sends command signals from the control terminal 1 to the execution terminal 2 to achieve remote control with master-slave separation, which can effectively reduce the doctor's radiation exposure. In manual injection mode, the doctor injects the drug by moving the injection handle 1-6. The signal acquisition device 1-9 collects the displacement information of the injection handle 1-6 and sends it to the embedded controller 1-13. After information conversion and transmission, it reaches the execution terminal 2, which controls the drive motors (2-7, 2-12) to run. The lead screws (first lead screw 2-18, second lead screw 2-29) drive the syringe pushers (first syringe pusher 2-14, second syringe pusher 2-5) to move linearly, pushing the syringe mounted on the support module 3-1 of the syringe support unit forward to achieve drug injection. Simultaneously, the force sensors (first force sensor 2-13 and second force sensor 2-6) measure resistance information and feed it back to control terminal 1. The embedded controller of control terminal 1 is electrically connected to the force sensors. After processing by the embedded controller, the brake 1-12 (the hand-push handle provides the opposite resistance) is driven to output resistance information to the injection handle 1-6, simulating the doctor's injection feel.

[0035] The output end of the brake 1-12 is connected to the second pusher pulley 1-11, and the input end of the signal collector 1-9 is connected to the first pusher pulley 1-10. The second pusher pulley 1-11 and the first pusher pulley 1-10 are connected by a synchronous belt. The pusher handle 1-6 is connected to the synchronous belt. When the pusher handle is pushed, the synchronous belt moves, and the signal collector can detect its displacement through the first pusher pulley.

[0036] Specific Implementation Example 2: Automatic Injection In this embodiment, no manual drug injection is required from the doctor. Only key parameters such as the embolization endpoint and initial injection rate need to be input into the system before the surgery begins. During automatic injection, force sensors (first force sensor 2-13, second force sensor 2-6) installed on the execution terminal 2 collect data and feed it back to the control terminal 1. The internal program built into the embedded controller 1-13 calculates the degree of embolization and the drug injection rate (the specific program implementation can be based on the prior application with application number CN2025105335476), and controls the execution terminal 2 to inject the drug at this rate. When the degree of embolization is greater than or equal to the initially set embolization endpoint, the drug injection stops. During the surgery, the display screen 1-1 shows the current degree of embolization and injection rate in real time for the doctor to view. In case of an emergency, the doctor can press the emergency stop button 1-5 to stop the drug injection and prevent harm to the patient.

[0037] Specific Implementation Example 3: Drug Shaking This embodiment mainly addresses the phenomenon of drug stratification during surgery. When the drug shows a tendency to stratify, the doctor should stop the drug injection and press the oscillation button 1-2 located at the control end 1. The oscillation button 1-2 is electrically connected to the embedded controller, and the embedded controller is electrically connected to the oscillation motor on the oscillation module. The oscillation module at the execution end 2 is started. The circular motion output by the oscillation motor (first oscillation motor 2-23, second oscillation motor 2-25) is transmitted through the oscillation gear set (first oscillation gear set 2-21, second oscillation gear set 2-28) and converted into the reciprocating motion of the slides 2-2 and 2-4 along the direction perpendicular to the injection direction, thereby shaking the drug solution inside the syringe evenly. Specific Implementation Example 4 In this embodiment, the syringe carrying unit can carry syringes of different sizes, such as... Figure 6 As shown, the upper syringe limiting groove in the carrier slider has different specifications, such as accommodating 5ml syringes, 10ml syringes, 20ml syringes, 50ml syringes, etc. The syringe carrier unit can be modularly set according to the different specifications of the carrier slider, and can be replaced as a whole according to the actual syringe specifications. Specific Implementation Example 5 In this embodiment, the oscillation module includes an oscillation motor, an oscillation gear set, and a support platform (not shown in the figure). An elongated hole is provided in the center of the support platform. Oscillating slide rails 2-31 are arranged on both sides of the elongated hole along the support platform perpendicular to the injection direction. The lower part of the slide platform of the drug-carrying module is slidably connected to the oscillation slide rails, allowing the drug-carrying module to move back and forth on the oscillation slide rails perpendicular to the injection direction. An oscillation transmission rack 2-32 is connected to the lower part of the slide platform of the drug-carrying module through the elongated hole via a T-shaped connecting block. The length direction of the oscillation transmission rack is parallel to the direction of the oscillation slide rails, and the length of the oscillation transmission rack is less than the width of the slide platform but greater than the total meshing length of the two incomplete gears in the oscillation gear set.

[0040] The oscillating gear set includes two motion control gears 2-33 and two motion transmission gears 2-34. The two motion transmission gears 2-34 are arranged side by side at the same height and mesh with each other. The output end of the oscillating motor is connected to a third synchronous belt 2-24, which is connected to a fourth synchronous pulley 2-22 via a synchronous belt. The fourth synchronous pulley 2-22 is coaxially arranged with one motion transmission gear 2-34 of the oscillating gear set. Rotation of the fourth synchronous belt 2-22 drives the motion transmission gear 2-34 to rotate, and simultaneously drives the other motion transmission gear 2-34 to rotate through meshing. Two motion control gears 2-33 are coaxially mounted on the other side of the two motion transmission gears 2-34. The two motion control gears 2-33 have identical structures, adopting an incomplete gear form, and both motion control gears 2-33 can mesh with the oscillating transmission rack. During operation, the oscillating transmission rack can only mesh with one of the motion control gears 2-33, and cannot mesh with both motion control gears 2-33 simultaneously. Furthermore, during meshing with the oscillating transmission rack, the two motion control gears 2-33 cannot mesh with each other.

[0041] The number of teeth on the two incomplete gears can be set according to the magnitude of the oscillation displacement.

[0042] The oscillation module in this embodiment enables effective mixing of drugs within a limited space, avoiding drug stratification. Specific Implementation Example 6 In this embodiment, the number of teeth on the oscillating transmission rack is determined as follows: considering a safe oscillation stroke d of 5cm, the rack module m1 is set to 1, and the pressure angle is... Tooth tip height ;Tooth root height Total tooth height Tooth pitch mm; tooth thickness Therefore, the number of teeth on the oscillating transmission rack is... =50 / 3.14≈16.

[0044] Determining the number of teeth on the motion control gear: z1=2×z2×γ Where z1 is the number of teeth on the rack, which is derived from the desired oscillation stroke d; z2 is the number of teeth on the motion control gear, which can be converted into the desired unidirectional stroke; γ is the safety factor, which is 1.2 in this embodiment.

[0045] Calculations show that the number of teeth on the motion control gear is z2 = z1 / (2 × γ) ≈ 7; the module of the motion control gear is m2 = m1 = 1; and the pressure angle is... .

[0046] In this embodiment, it is ensured that the oscillating transmission rack meshes with only one motion control gear at a time, and the two motion control gears cannot mesh with each other. The number of teeth on the motion control gear is set to 1 / 3 of the number of teeth on a complete gear. Therefore, the total number of teeth is... .

[0047] This invention improves upon the original device by refining the drug agitation and manual control components, ensuring thorough mixing of the medication and enhancing the doctor's experience. It retains both manual and automatic injection modes, which can be switched via the display screen 1-1. In automatic injection mode, communication is established between the control terminal 1 and a third-party device, sending surgical parameters such as injection speed to the execution terminal 2 in real time, and detecting whether the drug agitation module is activated during the procedure.

[0048] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A master-slave separation embolic agent mixing and injection device to solve the problem of drug solution stratification during surgery, comprising an execution end placed in the operating room and a control end placed in the control room and capable of controlling the execution end, wherein the control end includes an embedded controller, a signal acquisition device, and an injection handle, and the control end and the execution end communicate wirelessly, characterized in that: The execution terminal includes a drug loading module, an oscillation module, and an injection module; The drug-carrying module is used to carry the syringe containing the drug; The injection module is used to push the syringe on the drug-carrying module to inject the drug along the injection direction; The oscillation module is used to make the syringe in the drug-carrying module reciprocate along a direction perpendicular to the injection direction.

2. The apparatus according to claim 1, characterized in that, The oscillation module includes an oscillation motor and an oscillation gear set; the oscillation motor and the oscillation gear set are connected by a synchronous belt and a synchronous pulley. An oscillating transmission rack is provided at the lower part of the drug-carrying module. The oscillating gear set meshes with the transmission rack of the drug-carrying module. The oscillating motor is electrically connected to the embedded controller to provide power, which is transmitted to the oscillating transmission rack through the oscillating gear set, thereby driving the drug-carrying module to perform reciprocating motion in the horizontal plane perpendicular to the injection direction, thus realizing the function of oscillating the drug solution.

3. The apparatus according to claim 2, characterized in that, The oscillation module also includes a support platform with an elongated hole at its center. Oscillating slide rails are arranged on the support platform on both sides of the elongated hole along the direction perpendicular to the injection direction. The lower part of the drug-carrying module is slidably connected to the oscillation slide rails, allowing the drug-carrying module to move back and forth on the oscillation slide rails along the direction perpendicular to the injection direction. An oscillation transmission rack is connected to the lower part of the drug-carrying module through the elongated hole via a connecting block. The length direction of the oscillation transmission rack is parallel to the direction of the oscillation slide rails. The oscillating gear set includes two motion control gears and two motion transmission gears. The two motion transmission gears are arranged side by side at the same height and mesh with each other. The output end of the oscillating motor is connected to a third synchronous belt, which is connected to a fourth synchronous pulley via another synchronous belt. The fourth synchronous belt is coaxially mounted with one of the motion transmission gears of the oscillating gear set. When the fourth synchronous pulley rotates, it drives the motion transmission gear to rotate, and simultaneously drives the other motion transmission gear to rotate through meshing. Two motion control gears are coaxially mounted on the other side of the two motion transmission gears. The two motion control gears have the same structure and adopt an incomplete gear form. Both motion control gears can mesh with the oscillating transmission rack. During operation, the oscillating transmission rack can only mesh with one of the motion control gears and cannot mesh with both motion control gears simultaneously. Furthermore, during the meshing process with the oscillating transmission rack, the two motion control gears cannot mesh with each other.

4. The apparatus according to claim 3, characterized in that, The length of the oscillating transmission rack is less than the width of the drug-carrying module, but greater than the total meshing length of the two incomplete gears in the oscillating gear set.

5. The apparatus according to claim 1, characterized in that, The drug-carrying module includes a syringe support unit, a slide, and a fixing clamp. The syringe support unit includes a support slider and a syringe cover plate, which are connected by a hinge and connected to the slide via a groove at the bottom of the support slider, allowing it to slide along the injection direction on the slide. When the support slider reaches a preset installation position, it is clamped by the fixing clamp. The transmission rack is fixed to the bottom of the slide and is provided as an oscillation transmission rack for transmission with the oscillation module. The syringe carrying unit is divided into 5ml, 10ml, 20ml and 50ml carrying sliders according to the different specifications of the syringes it carries.

6. The apparatus according to claim 1, characterized in that, A display screen is provided on the control terminal, and the embedded controller is connected to the display screen and the signal acquisition device respectively, for detecting injection operation parameters and displaying them in real time.

7. The apparatus according to claim 6, characterized in that, A brake is also provided on the control end. The brake is electrically connected to the embedded controller. The output end of the brake is connected to one injection pulley, and the input end of the signal acquisition unit is connected to another injection pulley. The two injection pulleys are connected by a synchronous belt. The injection handle is connected to the synchronous belt. When the injection handle is pushed, the synchronous belt moves. The signal acquisition unit can detect the movement displacement of the injection handle through the injection pulley it is connected to, and output it to the injection module on the execution end through the embedded controller to control the injection of the medicine. The injection handle is manually operated by the doctor to control the injection speed of the syringe; A force sensor is installed in the injection module to measure resistance information. The force sensor is electrically connected to the embedded controller. After the resistance information is processed by the embedded controller, it drives the brake to apply the resistance information to the injection handle, creating a sense of immersion.

8. The apparatus according to claim 6, characterized in that, The control terminal is also equipped with operation buttons, including: a power-on button, a power-on / power-off button, an oscillation button, and an emergency stop button; the power-on button is used to provide the power required by the device; the power-on / power-off button is used to start and stop the device; the oscillation button is used to start the oscillation module of the actuator; and the emergency stop button is used to stop the operation of the device in an emergency.

9. The apparatus according to claim 6, characterized in that, The injection module includes a drive motor, a transmission screw, a syringe pusher, and a force sensor. The drive motor and the transmission screw are connected via a synchronous belt and a synchronous pulley. The syringe pusher is connected to the transmission screw via a screw slider, allowing the syringe pusher to move back and forth on the transmission screw. A force sensor is installed on the syringe pusher. The drive motor provides power, which drives the syringe pusher and the force sensor to move linearly via the transmission screw. The syringe is mounted on a syringe carrier unit, and the syringe pusher pushes the syringe on the syringe carrier unit to inject.

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