A new drug injection module and control system thereof

Abstract

The utility model discloses a novel medicine injection module and control system thereof, including valve subassembly, the valve subassembly includes the serially connected setting of several rotary valves in proper order before and after, realizes the switching of valve subassembly different pass by controlling the valve control handle rotation of each rotary valve, and several rotary valves include an output control valve and at least one medicine liquid supply valve, the output channel of valve subassembly is linked with the first output port of output control valve, and multiple medicine liquid supply valves are connected different medicine liquid supply device respectively. Medicine injection module and medicine injection control system cooperate with each other, can replace the injection of contrast medium, heparin saline, nitroglycerin etc. of the doctor in the radiation environment, avoid the radiation harm of doctor, and can make the automatic of complicated valve control and syringe bolus operation, avoid the situation that different doctors cooperate is not smooth.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a novel drug injection module and its control system. Background Technology

[0002] Minimally invasive interventional therapy is a major treatment method for cardiovascular and cerebrovascular diseases. Guided by fluoroscopic imaging equipment, interventional instruments are used to diagnose and treat diseases through physiological cavities. Compared with traditional surgery, it has significant advantages such as better efficacy, higher safety, smaller incisions, and shorter postoperative recovery time.

[0003] The main steps in vascular interventional surgery include femoral / radial artery puncture, coordinated advancement of the guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of the treatment guidewire and balloon catheter, and placement of the vascular stent. The coordinated advancement of the guidewire, catheter, and balloon catheter is the most time-consuming step and requires X-ray-guided image navigation. Currently, vascular interventional surgery is usually performed manually by a surgeon. During the procedure, because DSA emits X-rays, the surgeon needs to wear a heavy lead apron, which leads to a rapid decline in physical strength, reduced attention, and decreased stability, resulting in decreased operational precision and an increased risk of accidents such as endothelial damage, vascular perforation, and rupture due to improper pushing force, endangering the patient's life. Furthermore, long-term wearing of lead aprons can damage the surgeon's spine. Secondly, the cumulative damage from long-term ionizing radiation significantly increases the surgeon's risk of leukemia, cancer, and acute cataracts. Therefore, to protect the health of surgeons and ensure surgical quality, research and development of interventional surgical robots are increasing, and more and more robots are being used clinically.

[0004] When administering medications (such as contrast agents, heparinized saline, or nitroglycerin) during cardiovascular interventional procedures, doctors need to inject the medication into the patient's vascular system through an interventional catheter for procedures such as vascular imaging. For example, when administering contrast agents, current technology requires a single doctor to perform the manual operation, which is not convenient for quantitative administration. This is because the doctor needs to rely on their own operational experience to perform stable quantitative administration, and the doctor also needs to cooperate closely with the surgeon. This places high demands on the doctor's skills, and the doctor is also exposed to radiation during the procedure. Summary of the Invention

[0005] The purpose of this invention is to provide a novel drug injection module and its control system to address existing technical deficiencies and unmet technical requirements.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A novel drug injection module includes a valve assembly comprising a plurality of rotary valves arranged in series. By controlling the rotation of the valve control handles of each rotary valve, the different pathways of the valve assembly can be switched. The plurality of rotary valves include an output control valve and at least one drug supply valve. The output channel of the valve assembly is connected to the first output port of the output control valve, and the plurality of drug supply valves are respectively connected to different drug supply devices.

[0008] Preferably, the system also includes a syringe, the output port of which is connected to the valve assembly via a pipe or directly. Each rotary valve is a three-way valve. The drug supply valve includes a first drug supply valve, a second drug supply valve, a third drug supply valve, and a fourth drug supply valve. The second output port of the output control valve is connected to the first output port of the first drug supply valve. The third output port of the first drug supply valve is connected to the first output port of the second drug supply valve. The third output port of the second drug supply valve is connected to the first output port of the third drug supply valve. The third output port of the third drug supply valve is connected to the first output port of the fourth drug supply valve. The third output port of the fourth drug supply valve is connected to the output port of the syringe.

[0009] Preferably, the system also includes a first pipeline, wherein the third output port of the output control valve is connected to the first pipeline, and a waste liquid collection bag is connected to the end of the first pipeline.

[0010] Preferably, the device also includes a bubble detection isolation component, which includes an isolation membrane and a detection tube. The detection tube includes pipe connection portions at both ends and a detection portion in the middle. The pipe connection portions of the detection tube extend to the outside of the isolation membrane. The pipe connection portion at one end of the detection tube is connected to the output channel of the valve assembly, and the detection portion of the detection tube extends to the inside of the isolation membrane.

[0011] A novel drug injection control system includes a syringe control module and a valve assembly control module. The syringe control module includes an axially movable piston handle drive seat, and the valve assembly control module includes multiple rotatable handle rotating seats, each of which is driven to rotate by a motor.

[0012] Preferably, the syringe control module is provided with a first locking seat, and the first locking seat is covered with a concave first isolation cover, which is used to hold the syringe barrel.

[0013] Preferably, the syringe control module is provided with a base and a linear guide structure. The first locking seat and the piston handle drive seat are slidably disposed on the linear guide structure. The first locking seat is connected to the base through a force sensor. The detection axis of the force sensor is parallel to the axis of the piston rod. When the piston handle drive seat drives the piston rod of the syringe to move, the force sensor can detect the push-pull force transmitted by the piston rod of the syringe to the syringe barrel, thereby detecting the push-pull force of the piston rod of the syringe.

[0014] Preferably, the device also includes a camera module, which includes a camera bracket and a camera. The camera bracket extends from the mounting plane where the valve assembly is located, and the camera is positioned at the end of the camera bracket. The camera is aimed at the valve assembly and the syringe for remote observation of the air bubbles inside the syringe.

[0015] Preferably, the valve assembly control module is further provided with an angle detection mechanism for detecting the rotation angle of the handle rotating seat. The handle rotating seat is coaxially connected to the second transmission shaft. The angle detection mechanism includes two microswitches, both of which are located on the periphery of the second transmission shaft. An abutment is provided on the outer surface of the second transmission shaft. Corresponding to the three different rotation angles of the valve control handle of the rotary valve, the abutment can trigger both microswitches simultaneously or trigger only one of the microswitches.

[0016] Preferably, a bubble sensor is also included, which is disposed on the side of the output channel of the valve assembly and is used to detect the bubble content in the injected liquid through the detection tube.

[0017] The beneficial effects of this utility model are as follows:

[0018] 1. The piston handle drive seat of the syringe control module is used to drive the piston handle of the syringe to move along its axis. The handle rotation seat of the valve assembly control module is used to drive the valve control handle of the corresponding rotary valve to rotate, realizing the switching of different channels of the valve assembly. The drug injection module and the drug injection control system work together to replace doctors in performing injections of contrast agents, heparin saline, nitroglycerin, etc. in a radiation environment, avoiding radiation damage to doctors. It can also automate complex valve control and syringe injection operations. This allows a surgeon to remotely control the slave device to deliver guidewires and catheters while injecting contrast agents, heparin saline, nitroglycerin, etc., avoiding the situation of poor cooperation between different doctors.

[0019] 2. The bubble sensor can detect the amount of air bubbles in the injected liquid, avoiding the injection of liquid containing air bubbles into the human body. The bubble detection isolation component can ensure the isolation between the sterile environment and the sterile environment without affecting the bubble sensor's detection of the amount of air bubbles in the injected liquid.

[0020] 3. The first isolation shield can isolate the syringe control module from the syringe, ensuring the isolation between the sterile environment and the sterile environment;

[0021] 4. The force sensing element can measure the pushing and pulling force on the piston handle drive seat in the axial direction of movement, thereby detecting the magnitude of the pushing and pulling force of the syringe piston handle and accurately controlling the pressure of the quantitative injection of drugs. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present utility model;

[0023] Figure 2 This is a schematic diagram of the structure of the drug-assisted injection device according to Embodiment 1 of this utility model;

[0024] Figure 3 This is a schematic diagram of the syringe control module according to Embodiment 1 of this utility model;

[0025] Figure 4 This is a schematic diagram of the valve assembly control module according to Embodiment 1 of this utility model;

[0026] Figure 5 This is a schematic diagram of the rotary valve isolation assembly according to Embodiment 1 of this utility model;

[0027] Figure 6 This is a schematic diagram of the syringe clamping and isolating assembly according to Embodiment 1 of this utility model;

[0028] Figure 7 This is a schematic diagram of the structure of the first or second isolation cover in Embodiment 1 of this utility model;

[0029] Figure 8 This is a schematic diagram of the structure of the first snap-fit ​​seat or piston handle drive seat in Embodiment 1 of this utility model;

[0030] Figure 9 This is a schematic diagram of the isolation membrane and camera module structure in Embodiment 1 of this utility model;

[0031] Figure 10 This is a schematic diagram of the striking mechanism structure of Embodiment 1 of this utility model;

[0032] Figure 11 This is a side sectional view of the striking mechanism in Embodiment 1 of this utility model;

[0033] Figure 12 This is a schematic diagram of the second transmission shaft structure in Embodiment 1 of this utility model;

[0034] Figure 13 This is a schematic diagram of the force sensor structure according to Embodiment 1 of this utility model;

[0035] Figure 14 This is a schematic diagram of the structure of the drug injection device with an ultrasonic vibrator and a bubble sensor according to Embodiment 2 of this utility model;

[0036] Figure 15 for Figure 14 A schematic diagram of the structure after being isolated by the isolation membrane;

[0037] Figure 16 for Figure 14 A schematic diagram of the bubble detection pipeline after it is isolated by the isolation membrane. Detailed Implementation

[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0039] Example 1

[0040] A novel drug injection module includes a valve assembly comprising a plurality of rotary valves arranged in series. By controlling the rotation of the valve control handles of each rotary valve, the different pathways of the valve assembly can be switched. The plurality of rotary valves include an output control valve and at least one drug supply valve. The output channel of the valve assembly is connected to the first output port of the output control valve, and the plurality of drug supply valves are respectively connected to different drug supply devices.

[0041] like Figure 1 and Figure 2 The first pipeline 501 and the output channel 207 of the valve assembly are simultaneously connected to two passages of a rotary valve on the valve assembly. The valve assembly control module drives the valve control handle of the rotary valve to rotate, thereby controlling the closing and connection of the first pipeline 501 and the output channel 207 of the valve assembly, or the closing and connection of the syringe barrel of the syringe with the first pipeline 501, or the closing and connection of the syringe barrel of the syringe with the output channel 207 of the valve assembly.

[0042] like Figure 1 and Figure 2The valve assembly includes multiple rotary valves connected in series. The valve assembly control module drives the valve control handles of each rotary valve to rotate. The multiple rotary valves include an output control valve 201 and at least one drug supply valve. One end of the output channel 207 of the valve assembly is connected to the first output port of the output control valve 201, and the other end of the output channel 207 is connected to a branch of the bifurcation valve on the hand device 101. Blood can be drawn from the interventional consumables tubing of the hand device 101 or different drugs can be injected into the interventional consumables tubing by the syringe 1022070102 along the output channel 207. The third output port of the output control valve 201 is connected to one end of the first tubing 501.

[0043] The end of the first conduit 501 is connected to a waste liquid collection bag 202. When the output channel 207 of the valve assembly is connected to the syringe, the blood in the interventional consumable conduit is drawn into the syringe barrel through the syringe. When the first conduit 501 is connected to the syringe, the syringe discharges the blood in its syringe barrel into the waste liquid collection bag 202 through the first conduit 501.

[0044] like Figure 2 Each rotary valve is a three-way valve; this embodiment uses a five-way three-way valve. The liquid supply valve includes a first liquid supply valve 203, a second liquid supply valve 204, a third liquid supply valve 205, and a fourth liquid supply valve 206. The second output port of the output control valve 201 is connected to the first output port of the first liquid supply valve 203. The second output port of the first liquid supply valve 203 is connected to the first liquid supply device. The third output port of the first liquid supply valve 203 is connected to the first output port of the second liquid supply valve 204. The second liquid... The second output port of the supply valve 204 is connected to the second drug supply device. The third output port of the second drug supply valve 204 is connected to the first output port of the third drug supply valve 205. The second output port of the third drug supply valve 205 is connected to the third drug supply device. The third output port of the third drug supply valve 205 is connected to the first output port of the fourth drug supply valve 206. The second output port of the fourth drug supply valve 206 is connected to the fourth drug supply device. The third output port of the fourth drug supply valve 206 is connected to the output port of the syringe.

[0045] It also includes a bubble sensor, which is disposed on the side of the output channel of the valve assembly and is used to detect the bubble content in the injected liquid through the output channel of the valve assembly.

[0046] It also includes a bubble detection isolation component, which includes an isolation membrane and a detection tube. The detection tube includes tubing connection portions at both ends and a detection portion in the middle. The tubing connection portions of the detection tube extend to the outside of the isolation membrane for connection to the output channel of the valve assembly and the branch of the bifurcation valve in a sterile environment. The detection portion of the detection tube extends to the inside of the isolation membrane for placement on the bubble sensor in a sterile environment. The isolation membrane is used to isolate the syringe control module from the power source portion of the valve assembly control module.

[0047] A novel drug injection control system, specifically, such as Figures 1-11 As shown, the device includes a syringe control module 10220701 and a valve assembly control module 10220702. The syringe control module 10220701 includes an axially movable piston handle drive seat, and the valve assembly control module 10220702 includes multiple rotatable handle rotating seats, each of which is driven to rotate by a motor.

[0048] The syringe control module 10220701 includes a syringe control host 1022070101. The syringe control host 1022070101 is equipped with a first locking seat 1022070103 and a piston handle drive seat 1022070104. The limiting structure of the syringe barrel of the syringe 1022070102 is fixedly mounted on the first locking seat 1022070103, and the limiting structure of the piston handle of the syringe 1022070102 is fixedly mounted on the piston handle drive seat 1022070104. The piston handle drive mechanism of the syringe control host 1022070101 controls the reciprocating movement of the piston handle drive seat 1022070104, thereby controlling the reciprocating movement of the piston handle of the syringe 1022070102. Figure 8 As shown, the first snap-fit ​​seat 1022070103 and the piston handle drive seat 1022070104 are provided with a first protruding limiting structure 1022070105.

[0049] The piston handle drive mechanism is one or more combinations of cam structure, crank-slider structure, connecting rod structure, gear and rack structure, and lead screw and nut structure. In this embodiment, the linear motion mechanism adopts the lead screw and nut structure.

[0050] like Figure 13 The piston handle drive seat is equipped with a force sensing element, which can measure the push and pull force on the piston handle drive seat in the axial movement direction. The force sensing element is a force sensor 10220806.

[0051] The lead screw and nut structure drives the push seat to reciprocate linearly along the axial direction of the piston rod handle. The piston handle drive seat moving seat 1022070104 is fixedly connected to the push seat of the lead screw and nut structure through the force sensor 10220806. The detection axis of the force sensor 10220806 is parallel to the axial direction of the piston handle rod of the syringe. When the push seat drives the piston handle drive seat moving seat, the force sensor 10220806 can detect the magnitude of the push and pull force of the piston handle rod of the syringe.

[0052] like Figure 3 and Figure 13 The syringe control module includes a base 401 and a linear guide structure. The first locking seat 1022070103 and the piston handle drive seat 1022070104 are slidably mounted on the linear guide structure. The first locking seat 1022070103 is connected to the base 401 via a force sensor 10220806. The detection axis of the force sensor 10220806 is parallel to the axis of the piston handle. When the piston handle drive seat 1022070104 drives the syringe piston handle, the force sensor 10220806 can detect the push-pull force transmitted from the syringe piston handle to the syringe barrel, thus detecting the push-pull force of the syringe piston handle. The linear guide structure consists of two parallel guide rails 301 mounted on the base. The first locking seat 1022070103 and the piston handle drive seat 1022070104 are respectively mounted on the guide rails 301 via sliders.

[0053] As an alternative, the piston handle drive seat is equipped with a force sensing element, which can measure the push-pull force on the piston handle drive seat in the axial direction of movement. The force sensing element is a force sensor. The lead screw and nut structure drives the push seat to reciprocate linearly along the axial direction of the piston handle. The piston handle drive seat is fixedly connected to the push seat of the lead screw and nut structure through the force sensor. The detection axis of the force sensor is parallel to the axial direction of the piston handle of the syringe. When the push seat drives the piston handle drive seat to move, the force sensor can detect the magnitude of the push-pull force on the piston handle rod of the syringe.

[0054] like Figure 4As shown, the valve assembly control module 10220702 includes a valve control mechanism 1022070201. The valve assembly includes a valve body 1022070202 and a valve control handle 1022070203. The valve body 1022070202 is fixedly mounted on the valve control mechanism 1022070201. The valve control mechanism 1022070201 is provided with a handle rotation seat 1022070204. The power source of the valve control mechanism 1022070201 drives the handle rotation seat 1022070204 to rotate, which in turn drives the corresponding valve control handle 1022070203 to rotate, thereby switching different paths. Figure 4 This is a schematic diagram of the state without the rotating isolation sleeve 1060202 installed. After the rotating isolation sleeve is installed, the handle rotation seat 1022070204 indirectly drives the valve control handle 1022070203 to rotate through the rotating isolation sleeve 1060202.

[0055] The valve control mechanism 1022070201 is equipped with a motor, and the output shaft of the motor drives the corresponding handle rotating seat 1022070204 to rotate through a rotating docking structure.

[0056] like Figure 9 It also includes a camera module. The syringe barrel is made of transparent material. The camera module includes a camera bracket 301 and a camera 302. The camera bracket 301 extends from the mounting plane where the valve assembly is located. The camera 302 is located at the end of the camera bracket 301. The camera 302 is aimed at the valve assembly and the syringe for remote observation of the air bubbles in the syringe.

[0057] The isolation membrane 106 is equipped with a syringe clamping isolation component 10601 and a rotary valve isolation component 10602. The rotary valve isolation component 10602 includes a valve isolation base plate 1060201 fixedly connected to the isolation membrane 106 and a rotary isolation sleeve 1060202 rotatably mounted on the valve isolation base plate 1060201. The valve isolation base plate 1060201 is fixedly connected to the valve control mechanism via a quick-release structure, and the rotary isolation sleeve 1060202 is worn over the corresponding valve. The valve body 1022070202 is locked and fixed to the valve isolation base plate 1060201 by the locking structure on the handle rotating seat 1022070204 of the door control mechanism. This allows the valve control handle 1022070203 of the valve assembly to be placed on the corresponding rotating isolation sleeve 1060202. The handle rotating seat of the valve control mechanism indirectly drives the valve control handle 1022070203 to rotate through the rotating isolation sleeve 1060202.

[0058] The locking structure also fixes the valve isolation base plate to the valve control mechanism. The locking structure is one or a combination of threaded structure, snap-fit ​​structure or locking structure.

[0059] The rotation axis of the rotating isolation sleeve 1060202 is perpendicular to the valve isolation base plate 1060201. Multiple rotating isolation sleeves 1060202 are provided on the valve isolation base plate 1060201. The positions of multiple handle rotating seats 1022070204, rotating isolation sleeves 1060202, and valve control handles 1022070203 correspond one-to-one.

[0060] The syringe clamping isolation assembly 10601 includes a first isolation cover 1060101 and a second isolation cover 1060102 fixedly connected to the isolation membrane 106. A first pressure cap is connected to the first isolation cover 1060101.

[0061] 1060103, A second pressure cover 1060104 is connected to the second isolation cover 1060102. The first isolation cover 1060101 is covered on the first snap-fit ​​seat 1022070103, and the second isolation cover 1060102 is covered on the piston handle drive seat 1022070104. The second isolation cover can move together with the piston handle drive seat. When the limiting structure of the syringe barrel is placed inside the first isolation cover 1060101, the first pressure cap 1060103 can press the limiting structure of the syringe barrel inside the first isolation cover 1060101 to prevent the syringe barrel from moving. When the limiting structure of the syringe piston handle is placed inside the second isolation cover 1060102, the second pressure cap 1060104 can press the limiting structure of the syringe piston handle inside the second isolation cover 1060102. Alternatively, the first isolation cover 1060101 can be fitted onto the piston handle drive seat 1022070104, and the second isolation cover 1060102 can be fitted onto the first locking seat 1022070103. The limiting structure of the syringe barrel can be a limiting block fixedly or integrally mounted on the syringe barrel, and the limiting structure of the piston handle can be a limiting block fixedly or integrally mounted on the piston rod.

[0062] like Figure 7 and Figure 8 As shown, the first isolation cover 1060101 and the second isolation cover 1060102 are respectively provided with a first housing limiting structure 1060105 in a protruding shape. The inner surface of the first housing limiting structure 1060105 is adapted to the shape of the first protruding limiting structure 1022070105 of the first snap-fit ​​seat 1022070103 and the piston handle drive seat 1022070104, respectively. The outer surface of the first housing limiting structure 1060105 is adapted to the shape of the limiting structure on the syringe barrel and the piston handle of the syringe, respectively.

[0063] The first protrusion limiting structure 1022070105 and the first shell limiting structure 1060105 are two concave shapes distributed on both sides, and the groove portions of the two concave shapes are arranged opposite each other.

[0064] It also includes a vibration module, which is used to drive the entire syringe control module to vibrate or drive the syringe on the syringe control module to vibrate, thereby controlling the air bubbles in the injected liquid in the syringe barrel to rise. The vibration module is one or a combination of ultrasonic vibration mechanism, reciprocating vibration mechanism, and tapping vibration mechanism.

[0065] When the vibration module adopts an ultrasonic vibration mechanism, it includes an ultrasonic vibrator, which is fixed on the syringe control module. The ultrasonic vibrator is connected to the syringe through an ultrasonic transmission component, and the ultrasonic vibrator drives the syringe to vibrate through the ultrasonic transmission component.

[0066] When the vibration module adopts a reciprocating vibration mechanism, the entire syringe control module is floating, rotating, or sliding on the base. A reciprocating motion mechanism is provided between the syringe control module and the base. Alternatively, the syringe is floating, rotating, or sliding on the syringe control module, and a reciprocating motion mechanism is provided between the syringe and the syringe control module. The reciprocating motion mechanism is one or more combinations of a crank-connecting rod mechanism, a cam mechanism, a gear and rack mechanism, a belt drive mechanism, and an electromagnetic reciprocating drive structure. When the reciprocating motion mechanism is activated, it drives the entire syringe control module to vibrate relative to the base, or drives the syringe to vibrate relative to the syringe control module.

[0067] When the vibration module adopts a tapping vibration mechanism, a tapping mechanism is provided on the base, and a tapping part is provided on the tapping mechanism. The tapping mechanism is a reciprocating tapping mechanism, which drives the tapping part to reciprocate through one or more combinations of crank-connecting rod mechanism, cam mechanism, gear and rack mechanism, belt drive mechanism, and electromagnetic reciprocating drive structure, thereby tapping the entire syringe control module or the syringe on the syringe control module; or the tapping mechanism is a rotary tapping mechanism, which drives the tapping part to rotate to cyclically tap the entire syringe control module or the syringe on the syringe control module.

[0068] The tapping part includes a tapping rotation shaft and a tapping head. The tapping head is provided with a flexible part. The flexible part causes the tapping head to deform or move relative to the tapping rotation shaft when the tapping head is subjected to an external force, thereby avoiding damage to the syringe on the syringe control module. The flexible part is one or a combination of spring, torsion spring, coil spring, and elastic sheet. When the tapping mechanism is a rotary tapping mechanism, one or more of the tapping heads are arranged radially on the tapping rotation shaft.

[0069] like Figure 2 , Figure 10 and Figure 11 In this embodiment, the vibration module adopts a tapping vibration mechanism. Specifically, the tapping mechanism is a rotary tapping mechanism, which drives the tapping part to rotate and cyclically tap the syringe.

[0070] The tapping mechanism 401 includes a tapping motor 4011, a tapping rotation shaft 4012, and a tapping head 4013. The output shaft of the tapping motor 4011 is fixedly connected to the tapping rotation shaft 4012. The tapping head 4013 is fixedly installed on the side of the tapping rotation shaft 4012. A protective frame 4014 is provided outside the tapping head 4013. The protective frame 4014 covers the tapping head 4013. An opening is provided on the side of the protective frame 4014. When the tapping motor 4011 drives the tapping head 4013 to rotate, the tapping head 4013 can extend out of the side of the protective frame 4014 to tap the syringe.

[0071] like Figure 12 The handle rotation seat 1022070204l is connected to the output shaft of the drive motor via the second transmission shaft 102581. One end of the handle rotation seat 1022070204l is fixedly connected to the second transmission shaft 102581. The handle rotation seat 1022070204l is located below the valve control handle 1022070203. The handle rotation seat 1022070204l is provided with a placement groove 1025821 that matches the shape of the valve control handle 1022070203. The handle rotation seat 1022070204l can drive the valve control handle 1022070203 to rotate. By setting an angle detection mechanism, the valve control handle 1022070203l can stop rotating in time after rotating to a certain angle. By setting a limit structure, the rotation stroke of the valve control handle 1022070203l is limited to avoid damage.

[0072] The angle detection mechanism includes at least one micro switch 102583, which is located around the second drive shaft 102581. An abutment portion 1025811 is provided on the outer surface of the second drive shaft 102581. After the abutment portion 1025811 rotates a certain angle with the second drive shaft 102581, it presses against the rocker arm of the micro switch 102583. The rocker arm triggers the contacts of the micro switch 102583, providing a signal to the external controller that the switch has rotated to that position. A roller 102584 can be further provided on the rocker arm to reduce frictional resistance and wear. Preferably, two microswitches 102583 are provided, with the first and second microswitches 102583 arranged opposite each other on the periphery of the second drive shaft 102581. Three contact portions 1025811 are provided: the first and second contact portions 1025811 are arranged opposite each other on the outer periphery of the second drive shaft 102581, and the third contact portion 1025811 is located between the first and second contact portions 1025811, forming a 90-degree angle with each of them. When the second drive shaft 102581 is in its initial position, the rocker arm of the first microswitch 102583 abuts against the first contact portion 1025811, and the rocker arm of the second microswitch 102583 abuts against the third contact portion 1025811. Two contact parts 1025811 abut against each other; when the second drive shaft 102581 rotates 90 degrees forward from its initial position, the rocker arm of the first micro switch 102583 abuts against the third contact part 1025811, and the rocker arm of the second micro switch 102583 disengages from the second contact part 1025811; when the second drive shaft 102581 rotates 90 degrees backward from its initial position, the rocker arm of the first micro switch 102583 disengages from the first contact part 1025811, and the rocker arm of the second micro switch 102583 disengages from the third contact part 1025811; thus, when the second drive shaft 102581 is at three different working angles, the triggering states of the two micro switches are "on-off", "on-on", and "off-on", respectively, which can satisfy the detection of the three rotation angles of the second drive shaft 102581. The microswitch can be replaced with other types of inductive switches, and the triggering order corresponding to the three working angles can also be changed, such as "on-on", "on-off", "off-on", etc. Alternatively, an encoder or potentiometer can be used to measure the rotation angle of the second drive shaft 102581. The encoder or potentiometer is directly connected or driven to the motor or valve control handle 1022070203.

[0073] Example 2

[0074] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0075] like Figures 14-16 As shown, the vibration module of this embodiment adopts an ultrasonic vibration mechanism. The syringe control module also includes a bubble vibration mechanism that can vibrate and float the bubble in the syringe. The bubble vibration mechanism is an ultrasonic vibrator 108. The ultrasonic vibrator is fixed on the syringe control host 1022070101. The ultrasonic vibrator 108 is connected to the syringe barrel of the syringe through an ultrasonic transmission component. The ultrasonic vibrator 108 drives the syringe barrel of the syringe to vibrate.

[0076] The ultrasonic wave conductor is a vibration clamping isolation assembly mounted on the isolation membrane 106. The vibration clamping isolation assembly includes a clamp seat 10802 fixedly connected to the isolation membrane 106, and a clamp 10801 connected to the clamp seat 10802. The clamp seat 10802 is fixedly connected to the ultrasonic vibrator 108 via a quick-release structure. A clamping groove adapted to the shape of the syringe barrel is formed between the clamp seat 10802 and the clamp 10801. When the syringe barrel is placed in the clamping groove, the clamp 10801 can press the syringe barrel against the clamp seat 10802, allowing ultrasonic waves to be smoothly transmitted from the ultrasonic vibrator 108 to the syringe barrel. The valve assembly control module also includes a bubble sensor 109 capable of detecting the bubble content in the injected liquid. The bubble sensor 109 is fixed on the valve control host and located below the isolation membrane 106.

[0077] It is also equipped with a bubble detection line, which includes a detection tube 10901 fixedly connected to the isolation membrane 106. The detection tube 10901 includes a tube connection portion 1090101 at both ends and a detection portion 1090102 in the middle. The tube connection portion 1090101 of the detection tube 10901 extends to the outside of the isolation membrane 106 for connection to the output channel of the valve assembly and the branch of the bifurcation valve in a sterile environment. The detection portion 1090102 of the detection tube 10901 extends to the inside of the isolation membrane 106 for placement on the bubble sensor 109 in a sterile environment. The bubble sensor 109 detects the content of injection liquid bubbles inside the detection tube 10901 through the tube wall of the detection tube 10901.

[0078] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0079] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A novel drug injection module, characterized in that, The system includes a valve assembly comprising several rotary valves arranged in series. By controlling the rotation of the valve control handles of each rotary valve, the different pathways of the valve assembly can be switched. Each rotary valve includes an output control valve and at least one liquid supply valve. The output channel of the valve assembly is connected to the first output port of the output control valve, and the multiple liquid supply valves are respectively connected to different liquid supply devices.

2. The novel drug injection module according to claim 1, characterized in that, It also includes a syringe, the output port of which is connected to the valve assembly via a pipe or directly. Each rotary valve is a three-way valve. The drug supply valve includes a first drug supply valve, a second drug supply valve, a third drug supply valve, and a fourth drug supply valve. The second output port of the output control valve is connected to the first output port of the first drug supply valve. The third output port of the first drug supply valve is connected to the first output port of the second drug supply valve. The third output port of the second drug supply valve is connected to the first output port of the third drug supply valve. The third output port of the third drug supply valve is connected to the first output port of the fourth drug supply valve. The third output port of the fourth drug supply valve is connected to the output port of the syringe.

3. The novel drug injection module according to claim 1, characterized in that, It also includes a first pipeline, the third output port of the output control valve is connected to the first pipeline, and a waste liquid collection bag is connected to the end of the first pipeline.

4. The novel drug injection module according to claim 1, characterized in that, It also includes a bubble detection isolation component, which includes an isolation membrane and a detection tube. The detection tube includes pipe connection parts at both ends and a detection part in the middle. The pipe connection parts of the detection tube extend to the outside of the isolation membrane. The pipe connection part at one end of the detection tube is connected to the output channel of the valve assembly. The detection part of the detection tube extends to the inside of the isolation membrane.

5. A novel drug injection control system for controlling the novel drug injection module according to any one of claims 1-4, characterized in that, The device includes a syringe control module and a valve assembly control module. The syringe control module includes an axially movable piston handle drive seat, and the valve assembly control module includes multiple rotatable handle rotating seats, each of which is driven to rotate by a motor.

6. A novel drug injection control system according to claim 5, characterized in that, The syringe control module is provided with a first locking seat, and the first locking seat is covered with a concave first isolation cover, which is used to hold the syringe barrel.

7. A novel drug injection control system according to claim 6, characterized in that, The syringe control module is provided with a base and a linear guide structure. The first locking seat and the piston handle drive seat are slidably mounted on the linear guide structure. The first locking seat is connected to the base through a force sensor. The detection axis of the force sensor is parallel to the axis of the piston rod. When the piston handle drive seat drives the piston rod of the syringe to move, the force sensor can detect the push-pull force transmitted by the piston rod of the syringe to the syringe barrel, thereby detecting the push-pull force of the piston rod of the syringe.

8. A novel drug injection control system according to claim 5, characterized in that, It also includes a camera module, which includes a camera bracket and a camera. The camera bracket extends from the mounting plane where the valve assembly is located, and the camera is located at the end of the camera bracket. The camera is aimed at the valve assembly and the syringe for remote observation of the air bubbles inside the syringe.

9. A novel drug injection control system according to claim 5, characterized in that, The valve assembly control module is also equipped with an angle detection mechanism for detecting the rotation angle of the handle rotating seat. The handle rotating seat is coaxially connected to the second transmission shaft. The angle detection mechanism includes two microswitches, both of which are located on the periphery of the second transmission shaft. An abutment is provided on the outer surface of the second transmission shaft. The abutment can trigger both microswitches simultaneously or trigger only one of the microswitches for three different rotation angles of the valve control handle of the rotary valve.

10. A novel drug injection control system according to claim 5, characterized in that, It also includes a bubble sensor, which is disposed on the side of the output channel of the valve assembly and is used to detect the bubble content in the injected liquid through the detection tube.

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