A multi-channel fluid proportioning control device and method of use thereof

Abstract

The application discloses a kind of multi-channel fluid proportion control device and its use method, the device includes: shell, injection execution mechanism, control mechanism.Shell provides bearing space;Injection execution mechanism provides power for the extraction and injection of liquid.Liquid pipeline group includes: main pipeline, several branch pipelines, several control valves;Main pipeline is communicated with injection execution mechanism;Several branch pipelines are arranged in parallel and are communicated with main pipeline;Each control valve is arranged on one branch pipeline to regulate the flow in each branch pipeline.Control mechanism includes: control module, control module is fixed inside shell;Control module is used to receive target total flow and target proportion to calculate the target flow of each branch pipe, control module controls injection execution mechanism operation, and according to the target flow of each branch pipe, the opening of control valve is adjusted, so that the actual flow in each branch pipeline approaches its corresponding target flow.The application realizes the accurate distribution operation and accurate mixing operation of multi-channel flow.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a multi-channel fluid proportional control device and its usage method. Background Technology

[0002] Contrast imaging typically involves injecting contrast agents to enhance tissue contrast, improve diagnostic accuracy, or guide interventional procedures. In practice, contrast agents are often administered using contrast injectors or high-pressure injectors, suitable for single-channel injection. However, in various interventional procedures (such as left atrial appendage occlusion and interventional treatment of chronic total coronary artery occlusion) and clinical scenarios requiring simultaneous multi-channel contrast imaging, it is often necessary to simultaneously inject contrast agents into different target locations using two or more catheters of different diameters and lengths. However, due to significant differences in fluid resistance (flow resistance) among the catheters (e.g., large-diameter, short-length sheath channels have low flow resistance; small-diameter, long pigtail catheter channels have high flow resistance), when a single high-pressure injection pump simultaneously drives multiple parallel channels, the fluid will preferentially flow to the low-resistance channels, resulting in insufficient fluid flow to the high-resistance channels and failing to achieve the clinically required imaging effect.

[0003] In current clinical practice, the injection volume and speed of contrast agents are highly dependent on the operator's experience, making it difficult to ensure the consistency and repeatability of the injection protocol. A complete contrast agent injection process usually involves multiple sequential steps, but existing operating equipment cannot achieve automatic closed-loop adjustment and still relies on manual intervention by doctors, which is prone to errors. Moreover, in the interventional surgical environment, the operating equipment is often placed at the patient's bedside or near the X-ray tube. If the operator needs to adjust the injection parameters or perform the injection, he must remain in the radiation field or travel between the control room and the equipment, which increases the radiation exposure time and operational complexity.

[0004] Therefore, there is an urgent need for a multi-channel fluid proportional control device that can realize multi-channel flow distribution and automated workflow. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-channel fluid ratio control device and its usage method, which realizes the precise distribution of multi-channel flow rate in injection operation and the precise mixing ratio of liquid in liquid extraction operation.

[0006] To achieve the above objectives, the present invention provides a multi-channel fluid proportional control device, comprising: The casing provides the space for load-bearing. An injection actuator, fixed to the housing, provides power for the extraction and injection of liquid; The liquid piping assembly, mounted on the housing, includes: a main pipeline, several branch pipelines, and several control valves; the main pipeline is connected to the injection actuator; the several branch pipelines are arranged in parallel and are all connected to the main pipeline, each branch pipeline is equipped with a flow detector to obtain the actual flow of each branch pipeline; each control valve is installed on a branch pipeline to regulate the flow in each branch pipeline. The control mechanism includes: a control module fixed inside a housing; the control module stores the opening-flow calibration curves of each control valve, and is used to receive the target total flow and target proportion to calculate the target flow of each branch pipe; the control module is signal-connected to the control valves, calculates the initial opening of each control valve based on the target flow of each branch pipe and the opening-flow calibration curves of each control valve, and adjusts the opening of the control valve to the initial opening; the control module is signal-connected to the injection actuator to ensure flow in each branch pipe; the control module is signal-connected to the flow detector to obtain the actual flow of each branch pipe; the control module is signal-connected to all control valves, and adjusts the opening of the control valves based on the actual flow of each branch pipe to make the actual flow in each branch pipe approach its corresponding target flow; wherein, the opening-flow calibration curve represents the relationship between the control valve opening and the flow of the branch pipe.

[0007] Optionally, the control mechanism further includes: a control panel; The control panel is placed on the housing; the control panel is used to set the target total flow and target ratio; the control panel is signal-connected to the control module and sends the target total flow and target ratio to the control module.

[0008] Optionally, the injection actuator includes: A fixing sleeve is fixed to the housing, and the fixing sleeve is provided with a fixing groove; A syringe includes a syringe barrel and a plunger. The syringe barrel is fitted in a fixed groove, and a first end of the syringe barrel is connected to a main pipeline. A first end of the plunger is inserted from a second end of the syringe barrel and is movably connected to the syringe barrel. The first end of the plunger is press-fitted against the inner wall of the syringe barrel to prevent leakage at the contact point. The drive assembly is connected to the push rod and is used to push the push rod to move; The control module is connected to the drive component via signals to control the direction and speed of the push rod's movement.

[0009] Optionally, the driving component includes: Several sliding rods are arranged parallel to the syringe, and one end of each sliding rod is fixed to the fixing sleeve; A slider has its bottom end fitted onto a slide rod and is movably connected to the slide rod; the top end of the slider has a positioning groove to hold the second end of the push rod; the interior of the slider has a first through hole parallel to the extension direction of the slide rod, the first through hole being used to fix the lead screw nut. A lead screw is arranged parallel to the slide bar, and the first end of the lead screw passes through the lead screw nut fixed in the slide bar and extends toward the fixed sleeve; and the lead screw and the lead screw nut are connected by threads. The first drive motor is connected to the second end of the lead screw to drive the lead screw to rotate.

[0010] Optionally, the control valve includes: The second drive motor is mounted on the housing. The gear is connected at its center to the output end of the second drive motor, so that the second drive motor drives the gear to rotate. The first clamping arm is fixed to the housing on one side and is located between the housing surface and the branch pipe; The second clamping arm is located between the first clamping arm and the gear, and the first wall surface of the second clamping arm is in contact with the surface of the first clamping arm; the first wall surface is also provided with a clamping protrusion, which is disposed opposite to the first clamping arm and there is a gap between them to accommodate the branch pipe; the second wall surface of the second clamping arm opposite to the first wall surface is provided with a plurality of teeth that match the gear, so that the second clamping arm and the gear mesh and connect.

[0011] Optionally, the types of branch pipes include: inlet branch pipes and outlet branch pipes; the first end of each inlet branch pipe is connected to the main pipe, and the second end is connected to a liquid supply source; the first end of each outlet branch pipe is connected to the main pipe, and the second end is connected to an outlet conduit.

[0012] The control valves include: inlet control valves and outlet control valves. The inlet control valve is installed on the inlet branch pipe to regulate the flow rate in the inlet branch pipe; the outlet control valve is installed on the outlet branch pipe to regulate the flow rate in the outlet branch pipe.

[0013] Optionally, the main pipeline is also provided with a waste liquid discharge pipe and a pressure detection pipe; the waste liquid discharge pipe is connected to the main pipeline and is used to discharge the waste liquid; and the waste liquid discharge pipe is provided with a waste liquid discharge valve to control the flow of the waste liquid discharge pipe; one end of the pressure detection pipe is connected to the main pipeline and the other end is connected to a pressure detector to detect the liquid pressure in the main pipeline; The control module is connected to the waste liquid discharge valve via a signal to control the opening and closing of the waste liquid discharge valve.

[0014] Optionally, the housing surface is provided with a cover plate, one end of which is hinged to the edge of the housing. The cover plate is used to cover the liquid piping assembly to protect the liquid piping assembly. The second end of the inlet branch pipe and the second end of the outlet branch pipe both extend to the outside of the cover plate.

[0015] Optionally, a bubble detector is provided on the main pipeline to detect whether there are bubbles in the liquid in the main pipeline; The control module is connected to the bubble detector to detect whether there are bubbles in the liquid flowing through the main pipeline. After the bubble detector detects the presence of bubbles in the liquid flowing through the main pipeline, the control module will open the waste liquid discharge valve and close all inlet and outlet control valves to discharge the liquid containing bubbles from the main pipeline.

[0016] In addition, the present invention also provides a method of using a multi-channel fluid proportional control device, the multi-channel fluid proportional control device comprising: Prepare the multi-channel fluid proportional control device; when performing the liquid injection operation, connect the corresponding liquid outlet conduit to the liquid outlet line; when performing the extraction operation, connect the liquid inlet conduit to the corresponding liquid supply source. After completing the preparations, preset the target total traffic and target percentage on the control panel; then send the target total traffic and target percentage to the control module through the control panel. The control module calculates the target flow rate of each branch pipe based on the target total flow rate and the target proportion; and calculates the initial opening of each control valve based on the target flow rate of each branch pipe and the opening-flow calibration curve of each control valve, thereby adjusting each control valve to the corresponding initial opening; the control module drives the first drive motor to work, so that each branch pipe has flow. The control module obtains the actual flow rate of each branch pipe from the flow detector and calculates the actual proportion of each branch pipe; then, it subtracts the target proportion and the actual proportion of each branch pipe to obtain the proportion error, and subtracts the target total flow rate from the sum of the actual flow rates of each branch pipe to obtain the total flow rate error. The control module adjusts the speed of the first drive motor according to the total flow error; when the total flow error is positive, the speed of the first drive motor is increased until the total flow error is zero; when the total flow error is negative, the speed of the first drive motor is decreased until the total flow error is zero. Adjust the opening of each control valve according to the proportional error of each branch pipe; when the proportional error is positive, decrease the opening of the corresponding control valve of the branch pipe until the proportional error is zero; when the proportional error is negative, increase the opening of the corresponding control valve of the branch pipe until the proportional error is zero. During the adjustment of the control valve opening, the sum of the openings of all similar control valves currently in operation is always the sum of the initial openings of all control valves.

[0017] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects: The device of this invention achieves proportional liquid extraction by setting multiple inlet branch lines on the main pipeline and installing an inlet control valve on each inlet branch line. Similarly, the main pipeline has multiple outlet branch lines, each with an outlet control valve, to control the flow rate of each outlet branch line, thus achieving proportional injection. Furthermore, the device uses a first drive motor and a lead screw to drive the syringe for liquid extraction and injection. This single-drive-source design eliminates the need for synchronous control of multiple drive sources (i.e., multiple pumps), avoids start / stop timing errors, and ensures more intuitive control of the flow rate in the main pipeline (i.e., total inlet or total outlet flow rate), avoiding the nonlinear superposition problem associated with multiple drive source control.

[0018] The device of this invention controls the injection or aspiration speed of the syringe via a control module to control the flow rate in the main pipeline; and controls the opening degree of the inlet and outlet control valves via the control module to control the flow rate in each inlet or outlet branch pipeline. Since the opening degree of the control valve and the flow rate of the branch pipeline are not linearly related, this invention uses the control module to pre-store the opening degree-flow rate calibration curve of each control valve and the branch pipeline flow rate. Based on the preset target total flow rate (target delivery total flow rate or target aspiration total flow rate) and preset target ratio (target split ratio or target aspiration ratio), the initial opening degree of the control valve on each branch pipeline is obtained based on the opening degree-flow rate calibration curve. The opening degree of the control valve is then adjusted in real time based on the actual flow rate of each branch pipeline, achieving precise distribution of flow in multiple channels (i.e., outlet branch pipelines) during injection operations and precise mixing ratio of liquids during aspiration operations. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the multi-channel fluid proportional control device of the present invention in its first state.

[0020] Figure 2 This is a schematic diagram of the multi-channel fluid proportional control device of the present invention in its second state.

[0021] Figure 3 This is a schematic diagram of the injection actuator in the multi-channel fluid proportional control device of the present invention.

[0022] Figure 4This is a schematic diagram of the liquid pipeline assembly in the multi-channel fluid proportional control device of the present invention.

[0023] Figure 5 This is a schematic diagram showing the connection between the injection actuator and the liquid pipeline group in the multi-channel fluid proportional control device of the present invention.

[0024] Figure 6 This is a schematic diagram of the control valve in the multi-channel fluid proportional control device of the present invention.

[0025] Figure 7 This is a diagram showing the relationship between the opening degree of the control valve and the flow rate in the branch pipeline in the multi-channel fluid proportional control device described in this invention.

[0026] In the diagram, 100-injection actuator, 110-syringe, 111-syringe cartridge, 112-push rod, 120-fixed sleeve, 130-lead screw, 140-slide bar, 150-slider, 160-first drive motor, 200-liquid piping assembly, 210-main pipeline, 211-bubble detector, 212-inlet section, 213-outlet section, 220-branch pipeline, 221-inlet branch pipeline, 222-outlet branch pipeline, 230-control valve, 2 31-Inlet control valve, 232-Outlet control valve, 233-Second drive motor, 234-Gear, 235-First clamping arm, 236-Second clamping arm, 2361-Clamping protrusion, 2362-Tooth, 240-Flow detector, 250-Waste liquid discharge pipe, 251-Waste liquid discharge valve, 260-Pressure detection pipe, 300-Housing, 310-Cover plate, 410-Control panel, 420-Power interface, 430-Data transmission interface. Detailed Implementation

[0027] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] like Figure 1 and Figure 2 As shown, this invention provides a multi-channel fluid proportioning control device to simultaneously inject contrast agent at corresponding flow rates into two or more target areas as needed. The device includes: a housing 300, an injection actuator 100, a liquid pipeline assembly 200, and a control mechanism. The housing 300 provides a supporting space for the injection actuator 100, the liquid pipeline assembly 200, and the control mechanism; the injection actuator 100 provides power for liquid extraction and injection; the liquid pipeline assembly 200 is used for liquid transport and is connected to the injection actuator 100 to realize liquid extraction or injection. The control mechanism is signal-connected to the injection actuator 100 to control its operation; the control mechanism is also signal-connected to the liquid pipeline assembly 200 to control the flow rate of the liquid in the liquid pipeline assembly 200.

[0031] like Figure 1 and Figure 3 As shown, the injection actuator 100 is embedded in the housing 300 and includes: a fixing sleeve 120, a syringe 110, and a drive assembly. The fixing sleeve 120 is fixed to the housing 300 and has a fixing groove. The syringe 110 includes: an injection barrel 111 and a push rod 112. The injection barrel 111 is engaged in the fixing groove, and its first end is connected to the liquid pipeline assembly 200. The first end of the push rod 112 is inserted from the second end of the injection barrel 111 and is movably connected to the injection barrel 111; the first end of the push rod 112 is press-fitted against the inner wall of the injection barrel 111 to prevent leakage at the contact point.

[0032] like Figure 3As shown, the driving assembly is connected to the push rod 112 and is used to push the push rod 112 to move. The driving assembly includes: a plurality of slide rods 140, a slider 150, a lead screw 130, and a first drive motor 160. The plurality of slide rods 140 are arranged parallel to the syringe 110, and one end of each slide rod 140 is fixed to the fixing sleeve 120. The bottom end of the slider 150 is sleeved on the plurality of slide rods 140 and is movably connected to the slide rods 140, so that the slider 150 can move along the slide rods 140; the top end of the slider 150 is provided with a positioning groove to lock the second end of the push rod 112; the interior of the slider 150 is provided with a first through hole parallel to the extending direction of the slide rods 140, and the first through hole is used to fix the lead screw nut. The lead screw 130 is arranged parallel to the slide bar 140, and the first end of the lead screw 130 passes through the lead screw nut fixed in the slide bar 150 and extends toward the fixing sleeve 120; the lead screw 130 and the lead screw nut are connected by threads. The first drive motor 160 is connected to the second end of the lead screw 130 to drive the lead screw to rotate.

[0033] When the first drive motor 160 is working, it drives the lead screw 130 to rotate. Since the lead screw 130 is connected to the lead screw nut fixed in the slider 150 by a thread, the rotational motion of the lead screw 130 is converted into linear motion of the lead screw nut and the slider 150 fixedly connected to it along the axial direction of the slide rod 140. At the same time, as the slider 150 moves along the slide rod 140, it will drive the second end of the push rod 112, which is locked in the positioning groove of the slider 150, to move synchronously, so that the push rod 112 moves relative to the syringe 111. When the push rod 112 moves toward the syringe 111 (i.e., the slider 150 moves toward the fixing sleeve 120), the syringe 110 will complete the operation of injecting liquid. When the push rod 112 moves away from the syringe 111 (i.e., the slider 150 moves away from the fixing sleeve 120), the syringe 110 will complete the operation of drawing liquid.

[0034] In a preferred embodiment, the first drive motor 160 is a folding servo electric cylinder (e.g., Figure 3 As shown in the diagram, the axis of the first drive motor 160 is parallel to the axis of the lead screw 130, and the two transmit power through a synchronous belt pulley. This design makes the overall length of the drive assembly shorter, saving installation space and making it suitable for confined spaces.

[0035] like Figure 1 , Figure 4 and Figure 5 As shown, the liquid piping assembly 200 is mounted on the housing 300 and includes: a main pipe 210, several branch pipes 220, and several control valves 230. The first end of the main pipe 210 is sealed, and its second end is connected to the first end of the syringe 111 (e.g., Figure 5 (As shown).

[0036] like Figure 4 and Figure 5 As shown, several branch pipes 220 are connected in parallel, and one end of each branch pipe 220 is connected to the main pipe 210.

[0037] Specifically, the branch lines 220 include inlet branch lines 221 and outlet branch lines 222. The first end of each inlet branch line 221 is connected to the main line 210, and the second end is connected to a fluid supply source (e.g., an external contrast agent source or a saline source). The first end of each outlet branch line 222 is connected to the main line 210, and the second end is connected to an outlet catheter (e.g., a pigtail catheter or a sheath) to inject fluid into different parts of the patient's body.

[0038] Each control valve 230 is installed on a branch pipe 220 and is used to regulate the flow rate in the branch pipe 220. The control valves 230 include: inlet control valves 231 and outlet control valves 232. The inlet control valves 231 are installed on the inlet branch pipes 221 to regulate the flow rate in each inlet branch pipe 221; the outlet control valves 232 are installed on the outlet branch pipes 222 to regulate the flow rate in each outlet branch pipe 222.

[0039] In a preferred embodiment, such as Figure 4 As shown, the main pipeline 210 includes an inlet section 212, an infusion section, and an outlet section 213 connected in sequence. The first end of each outlet branch pipe 222 is connected to the outlet section 213 of the main pipeline 210; the first end of each inlet branch pipe 221 is connected to the inlet section 212 of the main pipeline 210. In this configuration, the inlet branch pipes 221 and the outlet branch pipes 222 are placed separately, effectively preventing operators from confusing the corresponding connected components of each branch pipe (e.g., outlet conduit, liquid supply source).

[0040] When liquid extraction is required, all outlet control valves 232 are closed, and inlet control valves 231 are opened as needed, connecting different inlet branch lines 221 to different liquid supply sources. During the movement of the slider 150 away from the fixed sleeve 120 driven by the first drive motor 160, different types of liquids sequentially enter the inlet section 212 of the main pipeline 210 through their corresponding inlet branch lines 221, and then flow into the syringe 111 to complete the mixing of different solutions. When liquid needs to be injected into the patient, all inlet control valves 231 are closed, and outlet control valves 232 are opened as needed, ensuring the outlet branch line 222 for which liquid injection is required is open. During the movement of the slider 150 towards the fixed sleeve 120 driven by the first drive motor 160, the liquid in the syringe 110 (i.e., the syringe 111) flows through the main pipeline 210 into the corresponding outlet branch lines 222, injecting the liquid into the appropriate part of the patient's body.

[0041] In a preferred embodiment, each pipe in the liquid pipeline assembly 200 is a disposable consumable, and to facilitate the replacement of the liquid pipeline assembly 200, the liquid pipeline assembly 200 is a multi-cavity pipeline made of high-resilience material in one piece.

[0042] Furthermore, such as Figure 1 As shown, each branch pipe 220 (i.e., inlet branch pipe 221 or outlet branch pipe 222) is equipped with a flow detector 240 to measure the flow rate in each branch pipe 220.

[0043] Furthermore, such as Figure 4 and Figure 5 As shown, the main pipeline 210 is also equipped with a waste liquid discharge pipe 250 and a pressure detection pipe 260. The waste liquid discharge pipe 250 is connected to the outlet section 213 of the main pipeline 210 and is used to discharge the waste liquid from the main pipeline 210 or the syringe 111; and the waste liquid discharge pipe 250 is equipped with a waste liquid discharge valve 251 to control the flow of the waste liquid discharge pipe 250. One end of the pressure detection pipe 260 is connected to the inlet section 212 of the main pipeline 210, and the other end is connected to a pressure detector to detect the liquid pressure in the main pipeline 210.

[0044] Furthermore, such as Figure 1 As shown, a bubble detector 211 is provided on the infusion section of the main pipeline 210. The bubble detector 211 uses ultrasonic or optical principles to detect whether there are bubbles in the liquid in the main pipeline 210.

[0045] In a preferred embodiment, such as Figure 1 and Figure 2As shown, a cover plate 310 is provided on the surface of the housing 300. One end of the cover plate 310 is hinged to the edge of the housing 300. The cover plate 310 is used to cover the liquid piping assembly 200 to protect it. When the device is in operation, the cover plate 310 is placed on the liquid piping assembly 200. When the device is under maintenance (e.g., replacing the liquid piping assembly 200), the cover plate 310 is opened to facilitate maintenance operations by the operator. Meanwhile, to facilitate the connection of the inlet branch pipe 221 to the liquid supply source and the outlet branch pipe 222 to the outlet conduit, the second end of the inlet branch pipe 221 and the second end of the outlet branch pipe 222 both extend to the outside of the cover plate 310; and in some embodiments, the ends of the waste liquid discharge pipe 250 and the pressure detection pipe 260 away from the main pipe 210 also extend to the outside of the cover plate 310, so as to facilitate the discharge of waste liquid by the waste liquid discharge pipe 250 and the connection of the pressure detection pipe 260 to the pressure detector.

[0046] Furthermore, such as Figure 6 As shown, the control valve 230 includes: a second drive motor 233, a gear 234, a first clamping arm 235, and a second clamping arm 236. The second drive motor 233 is mounted on the housing 300; the center of the gear 234 is connected to the output end of the second drive motor 233, causing the second drive motor 233 to drive the gear 234 to rotate. One side of the first clamping arm 235 is fixed to the housing 300 and is located between the surface of the housing 300 and the branch pipe 220. The second clamping arm 236 is located between the first clamping arm 235 and the gear 234, and the first wall surface of the second clamping arm 236 is in contact with the surface of the first clamping arm 235; the first wall surface is also provided with a clamping protrusion 2361, which is disposed opposite to the first clamping arm 235 and there is a gap between them to accommodate the branch pipe 220; the second wall surface of the second clamping arm 236 opposite to the first wall surface is provided with a plurality of teeth 2362 that match the gear 234, so that the second clamping arm 236 and the gear 234 mesh and connect. When the inlet-side gear 234 rotates, it will cause the position of the teeth 2362 on the second clamping arm 236 that are in contact with the gear to move, so that the position of the second clamping arm 236 and the gear 234 will move relative to each other. At the same time, the second clamping arm 236 will move relative to the first clamping arm 235, thereby changing the distance between the clamping protrusion 2361 and the first clamping arm 235, and thus changing the effective flow area of ​​the branch pipe 220 (i.e., the cross-sectional area perpendicular to the liquid flow direction), thereby realizing the regulation of the flow rate in the branch pipe 220.

[0047] When it is necessary to adjust the flow rate in the branch pipe 220, the second drive motor 233 drives the gear 234 to rotate forward and backward, thereby changing the relative position of the second clamping arm 236 and the gear 234. This causes the clamping protrusion 2361 on the second clamping arm 236 to move closer to or further away from the first clamping arm 235, thereby changing the effective flow area of ​​the branch pipe 220 and increasing or decreasing the flow rate in the branch pipe 220.

[0048] The control mechanism includes: a control module and a control panel 410. For example... Figure 1 and Figure 2 As shown, the control panel 410 is placed on the housing 300 and is detachably connected to the housing 300. The control panel 410 is wirelessly connected to the control module, including but not limited to Bluetooth, Wi-Fi, Zigbee and other wireless communication protocols, to send data preset commands to the control module. The data preset commands are used to preset the target total flow rate (target delivery total flow rate or target aspiration total flow rate) and the target ratio (target split ratio or target extraction ratio) to control the flow rate in the main pipeline 210 and the extraction ratio of each inlet branch pipeline 221 or the split ratio of each outlet branch pipeline 222. Since the control panel 410 can be separated from the housing 300, the operator can remotely operate the control panel 410 and then control the operation of the syringe 110 to extract / inject liquid, and the opening changes of the inlet control valve 231 and the outlet control valve 232 through the control module. In the actual application of the device described in this invention, the operator can bring the control panel 410 into the control room or behind a lead screen so that the operator can remotely set injection parameters and start / stop injection from a safe location away from the radiation source.

[0049] The control module is fixed inside the housing 300; the control module stores the opening-flow calibration curves of each control valve 230, and can calculate the target flow of each branch pipe based on the target total flow and target ratio received from the control panel 410; the control module is signal-connected to each control valve 230, and calculates the initial opening of each control valve 230 based on the target flow of each branch pipe 220 and the opening-flow calibration curves of each control valve 230; and the control module is signal-connected to the first drive motor 160, controlling the first drive motor 160. The system operates (e.g., opening / closing, speed adjustment, etc.) to ensure flow in each branch pipe 220 and the main pipe 210, and to bring the actual flow in the main pipe 210 closer to the target total flow. The control module is signal-connected to the flow detector 240 to obtain the actual flow in each branch pipe 220. The control module is also signal-connected to all control valves 230 (i.e., the second drive motors 233 for all control valves 230), and adjusts the opening degree of the control valves 230 based on the actual flow in each branch pipe 220, so that the actual flow in each branch pipe 220 approaches the target flow. The opening-flow calibration curve represents the relationship between the opening degree of the control valve 230 and the flow in the branch pipe 220.

[0050] In some embodiments, the control module is signal-connected to the bubble detector 211 to determine whether air bubbles are present in the liquid flowing through the infusion section of the main pipeline 210. The control module is also signal-connected to the waste liquid discharge valve 251 to control its opening and closing. When the control module detects air bubbles in the infusion section of the main pipeline via the bubble detector 211, it controls the waste liquid discharge valve 251 to open and close all inlet control valves 231 and outlet control valves 232 to discharge the air-bubbly liquid from the main pipeline 210.

[0051] Furthermore, the control module is connected to the pressure detector signal to obtain the pressure of the main pipeline 210 in real time and forward the pressure of the main pipeline 210 to the control panel 410.

[0052] In some embodiments, the device further includes: a remote master platform, which is signal-connected to the control module and used to back up the data in the control module (such as the opening-flow calibration curves corresponding to each control valve 230); the remote master platform can also set the target total flow and target ratio, and is signal-connected to the control module to send data preset instructions to the control module, so that the control module adjusts the movement direction and speed of the push rod 112 in the syringe 110 and the opening of each control valve 230 according to the preset target total flow (target delivery total flow or target suction total flow) and preset target ratio (target split ratio or target suction ratio).

[0053] Furthermore, such as Figure 2As shown, the housing 300 is provided with a power interface 420 and a data transmission interface 430. The power interface 420 is used to connect the device of the present invention to a power source to supply power to the device. The data transmission interface 430 can be used for network communication and data transmission of the control module.

[0054] When the control module controls the control valves 230 to adjust the flow rate of each branch pipe 220, since both the inlet branch pipe 221 and the outlet branch pipe 222 are made of elastic material, the effective flow cross section of the branch pipe 220 (inlet branch pipe 221 or outlet branch pipe 222) changes from a circular cross section to an elliptical cross section, then to a flattened cross section, until the pipe is completely closed during the compression process (i.e., the flow rate decreases). The recovery process of the branch pipe 220 (i.e., the flow rate increases) is the opposite of the compression process. Therefore, during the compression and recovery processes of the branch pipe 220, the valve opening α and the flow rate in the branch pipe 220 (i.e., the effective cross-sectional area A of the branch pipe) exhibit nonlinear deformation, and their relationship satisfies: A(α) = A max × (α) m Where m is the nonlinear exponent and A max It is the maximum effective flow cross-sectional area of ​​branch pipe 220 (i.e., the cross-sectional area of ​​branch pipe 220 when it is not compressed).

[0055] Please refer to Figure 7 The flow rate in branch pipe 220 and the corresponding opening degree of control valve 230 both exhibit three stages: When the opening degree of control valve 230 is between 0-30%, the effective flow cross-section of the pipe is still in a flattened shape, and the change in the opening degree of control valve 230 has little effect on the flow rate; When the opening degree of control valve 230 is between 30%-70%, the effective flow cross-section of the pipe increases rapidly with the increase in the opening degree of control valve 230, and the flow rate increases rapidly, with the change in the opening degree of control valve 230 having a significant effect on the flow rate; When the opening degree of control valve 230 is between 70%-100%, the effective flow cross-section of the pipe increases slowly with the increase in the opening degree of control valve 230, at which point control valve 230 is close to fully open, and the flow rate in the pipe gradually approaches the maximum flow rate.

[0056] Meanwhile, for the outlet branch pipes 222, since different outlet branch pipes 222 connect to different outlet conduits, the fluid resistance generated by different outlet conduits varies based on their structure (e.g., dimensions, length, and curvature). This results in different flow rates in the outlet branch pipes 222 connected to different outlet conduits, even when the opening degree of the outlet control valve 232 is the same. Therefore, for outlet branch pipes 222 connected to different types of outlet conduits, an opening-flow rate calibration curve (see [link to relevant documentation]) can be obtained for the outlet branch pipes 222 connected to different types of outlet conduits. Figure 7(to obtain the relationship between the flow rate of the outlet branch pipe 222 and the opening degree of the outlet control valve 232).

[0057] Similarly, for the inlet branch pipe 221, the relationship between the flow rate of the inlet branch pipe 221 and the opening of the inlet control valve 231 can be obtained by acquiring the opening-flow calibration curve of the inlet control valve 231 and the flow rate of the inlet branch pipe 221.

[0058] When obtaining the opening-flow calibration curve of each control valve 230 (i.e., inlet control valve 231 and outlet control valve 232), the mapping relationship between the flow of the control valve 230 and its corresponding branch pipe 220 (inlet branch pipe 221 and outlet branch pipe 222) can be obtained through experiments. Then, based on the mapping relationship between the opening of the control valve 230 and the flow of the branch pipe 220, the control module draws and stores the opening-flow calibration curve, so as to facilitate the control module to adjust the opening of the corresponding control valve 230 based on the flow of each pipe.

[0059] In one embodiment, for a liquid outlet control valve 232, the flow rate in the liquid outlet branch pipe 222 when its opening degree is 10%, 20%, 30%, 50%, 70%, and 90% can be obtained, as shown in Table 1.

[0060] Table 1. Mapping Relationship between Control Valve Opening and Flow Rate of Outlet Branch Pipe In another embodiment, the liquid piping assembly 200 includes two outlet branch pipes 222, which are respectively connected to a sheath (i.e., a low-resistance channel) and a pigtail catheter (i.e., a high-resistance channel). Based on the above method, the mapping relationship between the opening degree of the control valve 230 and the flow rate of the outlet branch pipe 222 is obtained, and an opening degree-flow rate calibration curve is plotted, as shown below. Figure 7 As shown.

[0061] When using the device described in this invention, preparation work is performed on the device. When performing the liquid injection operation, the corresponding liquid outlet conduit is connected to the liquid outlet line; when performing the extraction operation, the liquid inlet conduit is connected to the corresponding liquid supply source.

[0062] Next, preset the target total traffic and target percentage on the control panel 410. Then, send the target total traffic and target percentage to the control module through the control panel 410.

[0063] The control module calculates the target flow rate of each branch pipe based on the target total flow rate and the target proportion; and calculates the initial opening of each control valve 230 based on the target flow rate of each branch pipe and the opening-flow calibration curve of each control valve 230, thereby adjusting each control valve 230 to the corresponding initial opening; at the same time, the control module drives the first drive motor 160 to work, so that each branch pipe 220 has flow.

[0064] The control module obtains the actual flow rate of each branch pipe from the flow detector 240 and calculates the actual ratio; then, it subtracts the target ratio and the actual ratio of each branch pipe 220 to obtain the corresponding ratio error, and subtracts the target total flow rate from the sum of the actual flow rates of each branch pipe 220 to obtain the total flow rate error.

[0065] The control module adjusts the speed of the first drive motor 160 according to the total flow error. When the total flow error is positive, it indicates that the flow in the branch pipe 220 has not reached its target flow, and the movement speed of the push rod 112 toward the injection cylinder 111 needs to be increased (i.e., the speed of the first drive motor 160 needs to be increased) until the total flow error is zero. When the total flow error is negative, it indicates that the flow in the branch pipe 220 exceeds its target flow, and the movement speed of the push rod 112 toward the injection cylinder 111 needs to be reduced (i.e., the speed of the first drive motor 160 needs to be reduced) until the total flow error is zero.

[0066] The opening of each control valve 230 is adjusted according to the proportional error of each branch pipe 220. When the proportional error is positive, it indicates that the actual flow rate in that branch pipe 220 is too high, and the opening of the corresponding control valve 230 needs to be reduced until the proportional error is zero. When the proportional error is negative, it indicates that the actual flow rate in that branch pipe is too low, and the opening of the corresponding control valve 230 needs to be increased until the proportional error is zero. During the adjustment of the control valve opening, the sum of the openings of all similar control valves 230 currently in operation is always the sum of the initial openings of all control valves 230, ensuring that the pressure in the main pipe 210 remains constant.

[0067] Specifically, when the device of the present invention performs liquid injection operation, the method by which the control module controls different liquid outlet branches 222 to achieve their target flow rates includes: Step A1: The operator sets the target total delivery flow rate through the control panel 410. And the target flow split ratio for each outlet branch 222 (e.g., in an embodiment with multiple outlet branch lines 222, the target flow split ratio is r1:r2:r3:…). The control panel 410 will deliver the set target total flow rate. The target split ratio is sent to the control module.

[0068] Step A2, the control module delivers the total flow rate according to the target. The target flow rate of each outlet branch pipe 222, calculated based on the target split ratio, can be expressed as: In the formula, The target delivery flow rate in the i-th outlet branch pipe; The target diversion percentage in the i-th outlet branch; This represents the target flow split ratio corresponding to the i-th outlet branch.

[0069] Step A3: The control module, based on the pre-stored opening-flow calibration curve, adjusts the target delivery flow rate in each outlet branch pipe 222. The initial opening degree of the corresponding liquid outlet control valve 232 is converted respectively, and the opening degree adjustment command is sent to the corresponding liquid outlet control valve 232; and the liquid inlet control valve 231 is kept in the closed state.

[0070] At the same time, the control module delivers the total flow rate according to the target. Generate injection drive commands (such as commands to control the rotation speed of the lead screw 130) for the first drive motor 160 in the injection actuator 100 to control the liquid delivery speed of the syringe 110 (i.e., the speed at which the push rod 112 moves toward the syringe barrel 111).

[0071] Step A4: After the liquid flows into each outlet branch pipe 222, the actual flow rate of each outlet branch pipe 222 is obtained by the flow detector 240 installed on each outlet branch pipe 222. And send the actual traffic to the control module.

[0072] In step A5, the control module calculates the split ratio error and the total flow error on the outlet side based on the actual flow rate of each outlet pipe.

[0073] The actual flow split ratio of each outlet branch pipe 222 is obtained based on the actual flow rate of each outlet branch pipe 222: In the formula, This represents the actual diversion percentage in the i-th outlet branch. This represents the actual flow rate in the i-th outlet branch pipe.

[0074] Calculate the flow ratio error based on the actual and target flow ratios of each outlet branch pipe 222. : The error in the total liquid-side flow rate is calculated based on the target total flow rate and the actual total flow rate. : Step A6: The control module adopts a proportional-total flow decoupling control algorithm, based on the total flow error on the outlet side. Adjust the delivery speed of syringe 110 according to the flow ratio error of each outlet branch 222. Adjust the opening degree of each liquid outlet control valve 232.

[0075] Specifically, based on the total flow error on the outlet side Adjust the delivery speed of syringe 110. When the total flow rate on the outlet side is incorrect... If the value is positive, it indicates that the flow rate in the outlet branch pipe 222 is not as expected, and the movement speed of the push rod 112 toward the syringe 111 needs to be increased until the total flow rate error on the outlet side is corrected. The total flow rate error on the outlet side is zero. If the value is negative, it indicates that the flow rate in the outlet branch pipe 222 exceeds the expected flow rate. The speed at which the push rod 112 moves towards the syringe barrel 111 needs to be reduced until the total flow rate on the outlet side is within acceptable limits. It is zero.

[0076] Based on the flow ratio error of each outlet branch pipe 222 Adjust the opening degree of each liquid outlet control valve 232. When the flow ratio error... If the value is positive, it indicates that the actual flow rate in the outlet branch pipe 222 is too high, and the opening of the corresponding outlet control valve 232 needs to be reduced until the proportional error is zero; when the flow ratio error is zero... If the value is negative, it indicates that the actual flow rate in the outlet branch pipe 222 is too low, and the opening of the corresponding outlet control valve 232 needs to be increased until the proportional error is zero. During the adjustment of the opening of the outlet control valve 232, the sum of the openings of all outlet control valves 232 is always the sum of their initial openings, ensuring that the pressure in the main pipe 210 remains constant.

[0077] It should be noted that the delivery speed (i.e., the speed at which the push rod 112 moves toward the syringe 111) mainly affects the flow rate in the main pipeline 210 (i.e., the sum of the flow rates in each outlet branch pipeline 222) and has a relatively small impact on the flow split ratio of each outlet branch pipeline 222; the opening change of the outlet control valve 232 mainly affects the flow split ratio of the outlet branch pipeline 222 and has a relatively small impact on the flow rate in the main pipeline 210. These two components form a dual closed-loop control structure, achieving independent and non-interfering regulation.

[0078] Repeat steps A4-A6 to achieve continuous control of the flow rate of the inlet branch pipe 221 by the control module.

[0079] In one specific embodiment, the fluid tubing assembly 200 includes two outlet branches 222, which are respectively connected to a sheath and a pigtail catheter. The sheath is a low-resistance channel, and the pigtail catheter is a high-resistance channel. When maintaining equal flow rates in the two outlet branches 222 using the above method, the opening of the outlet control valve 232 on the outlet branch 222 connected to the sheath is smaller, while the opening of the outlet control valve 232 on the outlet branch 222 connected to the pigtail catheter is larger. In left atrial appendage occlusion surgery, when the flow rates of both outlet branches 222 are set to 3 ml / s, the opening of the outlet control valve 232 on the outlet branch 222 connected to the sheath can be set to 40%, and the opening of the outlet control valve 232 on the outlet branch 222 connected to the pigtail catheter can be set to 70%, ensuring that the pigtail catheter receives sufficient fluid (i.e., contrast agent), thereby significantly improving the contrast effect.

[0080] When the device of the present invention performs a liquid extraction operation, the method by which the control module controls the flow rate in different liquid inlet branch pipes 221 according to a preset ratio includes: Step B1: The operator sets the target total suction flow rate via control panel 410. and the target pumping ratio of each inlet branch pipe 221 (For example, in an embodiment with multiple inlet branches 221, the target pumping ratio is k1:k2:k3:…). The control panel 410 sets the target total pumping flow rate. and the target pumping ratio of each inlet branch pipe 221 Send to the control module.

[0081] Step B2, the control module determines the target total suction flow rate. and the target pumping ratio of each inlet branch pipe 221 Calculate the target suction flow rate for each inlet branch pipe 221.

[0082] In the formula, Let be the target suction flow rate in the i-th inlet branch pipe; The target extraction ratio in the i-th inlet branch pipe 221; This is the ratio of the target pumping ratio corresponding to the i-th inlet branch.

[0083] In step B3, the control module converts the target suction flow of each inlet branch pipe 221 into the initial opening of the corresponding inlet control valve 231 according to the pre-stored opening-flow calibration curve, and sends an opening adjustment command to the corresponding inlet control valve 231; and controls the outlet control valve 232 to be in the closed state.

[0084] At the same time, the control module determines the target total suction flow rate. Generate a liquid-drawing drive command (such as a command to control the rotation speed of the lead screw 130) for the first drive motor 160 in the injection actuator 100 to control the liquid-drawing speed of the syringe 110 (i.e., the speed at which the push rod 112 moves away from the syringe barrel 111).

[0085] Step B4: After each liquid inlet branch pipe 221 starts to extract liquid, the flow detector 240 installed on each liquid inlet branch pipe 221 acquires the actual flow rate in each liquid inlet branch pipe 221 and sends the actual flow rate to the control module.

[0086] In step B5, the control module calculates the proportional error and the total flow error on the inlet side based on the actual flow rate in each inlet branch pipe 221.

[0087] Calculate the actual liquid extraction percentage of each inlet branch pipe 221 based on the actual flow rate in each inlet branch pipe 221: In the formula, The actual percentage of liquid pumped from the i-th inlet branch pipe; Let be the actual flow rate of the i-th inlet branch pipe.

[0088] The pumping ratio error is calculated based on the actual pumping ratio and the target diversion ratio of each inlet branch pipe 221. : Calculate the total inlet flow error based on the target total suction flow and the actual flow of each inlet branch pipe 221. : Step B6: The control module uses a proportional-integral (PI) regulation algorithm, based on the total flow error on the inlet side. Adjust the pumping speed of syringe 110 according to the pumping ratio error of each inlet branch 221. Adjust the opening degree of each liquid inlet control valve 231.

[0089] Specifically, based on the total flow error on the inlet side Adjust the pumping speed of syringe 110. When the total flow rate on the inlet side is incorrect... If the value is positive, it indicates that the flow rate in the inlet branch pipe 221 is not as expected. The speed at which the push rod 112 moves away from the syringe barrel 111 needs to be increased until the total flow rate error on the inlet side is corrected. The total flow rate error on the inlet side is zero. If the value is negative, it indicates that the flow rate in the inlet branch pipe 221 exceeds the expected flow rate. The speed at which the push rod 112 moves away from the syringe barrel 111 needs to be reduced until the total flow rate error on the inlet side is corrected. It is zero.

[0090] Based on the pumping ratio error of each inlet branch pipe 221 Adjust the opening degree of each liquid inlet control valve 231. When the liquid extraction ratio error... If the value is positive, it indicates that the actual flow rate in the inlet branch pipe 221 is too high, and the opening of the corresponding inlet control valve 231 needs to be reduced until the proportional error is zero; when the pumping ratio error is zero... If the value is negative, it indicates that the actual flow rate in the inlet branch pipe 221 is too low, and the opening of the corresponding inlet control valve 231 needs to be increased until the pumping ratio error is corrected. The value is zero. During the adjustment of the opening of the inlet control valve 231, the sum of the openings of all inlet control valves 231 is always the sum of the initial openings of all inlet control valves 231, ensuring that the pressure in the main pipeline 210 remains constant.

[0091] Similarly, the pumping speed (i.e., the speed at which the push rod 112 moves away from the syringe 111) mainly affects the flow rate in the main pipeline 210 (i.e., the sum of the flow rates in each inlet branch pipeline 221) while having a smaller impact on the pumping ratio of each inlet branch pipeline 221; the opening change of the inlet control valve 231 mainly affects the pumping ratio of the inlet branch pipeline 221 while having a smaller impact on the flow rate in the main pipeline 210. The two form a dual closed-loop control structure, achieving independent and non-interfering regulation.

[0092] Repeat steps B4-B6 to achieve continuous control of the flow rate of the inlet branch pipe 221 by the control module.

[0093] The device described in this invention has remotely controlled fluid aspiration and injection functions, enabling it to serve as an intelligent execution terminal within a robot-assisted surgical platform. When using the device, the operator only needs to set the target total flow rate and target proportion via the control panel, and through standardized communication protocols, real-time feedback mechanisms, and synchronous control logic, change the opening degree of the control valve and the injection speed of the syringe to complete the aspiration of the corresponding proportion of fluid, or to precisely inject fluid into the patient's body.

[0094] This design allows operators to safely control the device within a sterile area via a control panel, free from the constraints of cables. Especially during interventional procedures involving the injection of contrast fluid, operators can bring the control panel into the control room or behind a lead screen, remotely setting injection parameters, starting / stopping injections, and monitoring flow and pressure data in real time from a safe location away from radiation sources. Even in surgeries requiring the operator to remain in the operating room, the control panel can be placed behind a lead screen, wirelessly controlling the device to regulate the proportion and speed of fluid injection into different parts of the patient's body, avoiding the health risks associated with prolonged exposure to X-ray tubes. Furthermore, in some embodiments, the operator can pre-set the execution sequence and operational parameters (i.e., target total flow and target proportion) for fluid extraction and injection on the device's remote master platform according to pre-operative planning, allowing the operator to complete the entire procedure without entering the operating room, truly achieving "zero radiation" operation. This advantage is particularly significant for complex interventional procedures that require repeated angiography (such as interventional procedures for chronic total occlusion of coronary arteries, embolization of cerebral arteriovenous malformations, etc.), as it can greatly reduce the cumulative radiation dose to the operator and protect the health of medical personnel.

[0095] In summary, the device of the present invention sets up multiple branch pipelines on the main pipeline and sets up a control valve on each branch pipeline. The control module adjusts the opening degree of the control valve on each branch pipeline based on the target total flow and the target ratio to control the flow of each branch pipeline. This achieves precise distribution of multi-channel flow in injection operation and precise mixing ratio of liquid in liquid extraction operation.

[0096] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A multi-channel fluid proportional control device, characterized in that, include: The casing provides the space for load-bearing. An injection actuator, fixed to the housing, provides power for the extraction and injection of liquid; The liquid piping assembly, mounted on the housing, includes: a main pipeline, several branch pipelines, and several control valves; the main pipeline is connected to the injection actuator; the several branch pipelines are arranged in parallel and are all connected to the main pipeline, each branch pipeline is equipped with a flow detector to obtain the actual flow of each branch pipeline; each control valve is installed on a branch pipeline to regulate the flow in each branch pipeline. The control mechanism includes: a control module fixed inside a housing; the control module stores the opening-flow calibration curves of each control valve, and is used to receive the target total flow and target proportion to calculate the target flow of each branch pipe; the control module is signal-connected to the control valves, calculates the initial opening of each control valve based on the target flow of each branch pipe and the opening-flow calibration curves of each control valve, and adjusts the opening of the control valve to the initial opening; the control module is signal-connected to the injection actuator to ensure flow in each branch pipe; the control module is signal-connected to the flow detector to obtain the actual flow of each branch pipe; the control module is signal-connected to all control valves, and adjusts the opening of the control valves based on the actual flow of each branch pipe to make the actual flow in each branch pipe approach its corresponding target flow; wherein, the opening-flow calibration curve represents the relationship between the control valve opening and the flow of the branch pipe.

2. The multi-channel fluid proportional control device according to claim 1, characterized in that, The control mechanism also includes: a control panel; The control panel is placed on the housing; the control panel is used to set the target total flow and target ratio; the control panel is signal-connected to the control module and sends the target total flow and target ratio to the control module.

3. The multi-channel fluid proportional control device according to claim 1, characterized in that, The injection actuator includes: A fixing sleeve is fixed to the housing, and the fixing sleeve is provided with a fixing groove; A syringe includes a syringe barrel and a plunger. The syringe barrel is fitted in a fixed groove, and a first end of the syringe barrel is connected to a main pipeline. A first end of the plunger is inserted from a second end of the syringe barrel and is movably connected to the syringe barrel. The first end of the plunger is press-fitted against the inner wall of the syringe barrel to prevent leakage at the contact point. The drive assembly is connected to the push rod and is used to push the push rod to move; The control module is connected to the drive component via signals to control the direction and speed of the push rod's movement.

4. The multi-channel fluid proportional control device according to claim 3, characterized in that, The driving component includes: Several sliding rods are arranged parallel to the syringe, and one end of each sliding rod is fixed to the fixing sleeve; A slider has its bottom end fitted onto a slide rod and is movably connected to the slide rod; the top end of the slider has a positioning groove to hold the second end of the push rod; the interior of the slider has a first through hole parallel to the extension direction of the slide rod, the first through hole being used to fix the lead screw nut. A lead screw is arranged parallel to the slide bar, and the first end of the lead screw passes through the lead screw nut fixed in the slide bar and extends toward the fixed sleeve; and the lead screw and the lead screw nut are connected by threads. The first drive motor is connected to the second end of the lead screw to drive the lead screw to rotate.

5. The multi-channel fluid proportional control device according to claim 1, characterized in that, The control valve includes: The second drive motor is mounted on the housing. The gear is connected at its center to the output end of the second drive motor, so that the second drive motor drives the gear to rotate. The first clamping arm is fixed to the housing on one side and is located between the housing surface and the branch pipe; The second clamping arm is located between the first clamping arm and the gear, and the first wall surface of the second clamping arm is in contact with the surface of the first clamping arm; the first wall surface is also provided with a clamping protrusion, which is disposed opposite to the first clamping arm and there is a gap between them to accommodate the branch pipe; the second wall surface of the second clamping arm opposite to the first wall surface is provided with a plurality of teeth that match the gear, so that the second clamping arm and the gear mesh and connect.

6. The multi-channel fluid proportional control device according to claim 1, characterized in that, The types of branch pipes include: inlet branch pipes and outlet branch pipes; the first end of each inlet branch pipe is connected to the main pipe, and the second end is connected to the liquid supply source; the first end of each outlet branch pipe is connected to the main pipe, and the second end is connected to the outlet conduit. The control valves include: inlet control valves and outlet control valves. The inlet control valve is installed on the inlet branch pipe to regulate the flow rate in the inlet branch pipe; the outlet control valve is installed on the outlet branch pipe to regulate the flow rate in the outlet branch pipe.

7. The multi-channel fluid proportional control device according to claim 1, characterized in that, The main pipeline is also equipped with a waste liquid discharge pipe and a pressure detection pipe; the waste liquid discharge pipe is connected to the main pipeline and is used to discharge the waste liquid; and the waste liquid discharge pipe is equipped with a waste liquid discharge valve to control the flow of the waste liquid discharge pipe; one end of the pressure detection pipe is connected to the main pipeline, and the other end is connected to a pressure detector to detect the liquid pressure in the main pipeline. The control module is connected to the waste liquid discharge valve via a signal to control the opening and closing of the waste liquid discharge valve.

8. The multi-channel fluid proportional control device according to claim 1, characterized in that, The housing surface is provided with a cover plate, one end of which is hinged to the edge of the housing. The cover plate is used to cover the liquid piping assembly to protect the liquid piping assembly. The second end of the inlet branch pipe and the second end of the outlet branch pipe both extend to the outside of the cover plate.

9. The multi-channel fluid proportional control device according to claim 1, characterized in that, A bubble detector is installed on the main pipeline to detect whether there are bubbles in the liquid in the main pipeline. The control module is connected to the bubble detector to detect whether there are bubbles in the liquid flowing through the main pipeline. After the bubble detector detects the presence of bubbles in the liquid flowing through the main pipeline, the control module will open the waste liquid discharge valve and close all inlet and outlet control valves to discharge the liquid containing bubbles from the main pipeline.

10. A method of using a multi-channel fluid proportional control device, characterized in that, The multi-channel fluid proportional control device according to claims 1-9 includes: Prepare the multi-channel fluid proportional control device; when performing the liquid injection operation, connect the corresponding liquid outlet conduit to the liquid outlet line; when performing the extraction operation, connect the liquid inlet conduit to the corresponding liquid supply source. After completing the preparations, preset the target total traffic and target percentage on the control panel; then send the target total traffic and target percentage to the control module through the control panel. The control module calculates the target flow rate of each branch pipe based on the target total flow rate and the target proportion; and calculates the initial opening of each control valve based on the target flow rate of each branch pipe and the opening-flow calibration curve of each control valve, thereby adjusting each control valve to the corresponding initial opening; the control module drives the first drive motor to work, so that each branch pipe has flow. The control module obtains the actual flow rate of each branch pipe from the flow detector and calculates the actual proportion of each branch pipe; then, it subtracts the target proportion and the actual proportion of each branch pipe to obtain the proportion error, and subtracts the target total flow rate from the sum of the actual flow rates of each branch pipe to obtain the total flow rate error. The control module adjusts the speed of the first drive motor according to the total flow error; when the total flow error is positive, the speed of the first drive motor is increased until the total flow error is zero; when the total flow error is negative, the speed of the first drive motor is decreased until the total flow error is zero. Adjust the opening of each control valve according to the proportional error of each branch pipe; when the proportional error is positive, decrease the opening of the corresponding control valve of the branch pipe until the proportional error is zero; when the proportional error is negative, increase the opening of the corresponding control valve of the branch pipe until the proportional error is zero. During the adjustment of the control valve opening, the sum of the openings of all similar control valves currently in operation is always the sum of the initial openings of all control valves.

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