CN108392698B - Intelligent muscle accurate injection instrument - Google Patents
Intelligent muscle accurate injection instrument Download PDFInfo
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- CN108392698B CN108392698B CN201810208794.9A CN201810208794A CN108392698B CN 108392698 B CN108392698 B CN 108392698B CN 201810208794 A CN201810208794 A CN 201810208794A CN 108392698 B CN108392698 B CN 108392698B
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Classifications
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- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
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- A—HUMAN NECESSITIES
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- A61M5/315—Pistons; Piston-rods; Guiding, blocking or restricting the movement of the rod or piston; Appliances on the rod for facilitating dosing ; Dosing mechanisms
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- A61M5/178—Syringes
- A61M5/31—Details
- A61M5/315—Pistons; Piston-rods; Guiding, blocking or restricting the movement of the rod or piston; Appliances on the rod for facilitating dosing ; Dosing mechanisms
- A61M5/31565—Administration mechanisms, i.e. constructional features, modes of administering a dose
- A61M5/31576—Constructional features or modes of drive mechanisms for piston rods
- A61M5/31578—Constructional features or modes of drive mechanisms for piston rods based on axial translation, i.e. components directly operatively associated and axially moved with plunger rod
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- A61M5/42—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests having means for desensitising skin, for protruding skin to facilitate piercing, or for locating point where body is to be pierced
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- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
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- A61M2005/2006—Having specific accessories
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- A—HUMAN NECESSITIES
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- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
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- A61M2005/206—With automatic needle insertion
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Abstract
The invention provides an intelligent muscle precise injection instrument which comprises a surface electromyographic electrode tube, a cavity needle electrode, a needle electrode depth control panel, a magnetic powder tube, an electromyographic signal preprocessing unit and a microprocessor, wherein after the surface electromyographic electrode plate of the surface electromyographic electrode tube collects the surface electromyographic signals of a human body, the surface electromyographic signals are processed by the electromyographic signal preprocessing unit and input to the microprocessor; the magnetic powder tube carries a liquid medicine bottle, the magnetic powder tube is externally provided with an electromagnetic coil, and is also provided with a motor, a transmission device and a motor driving circuit, and the microprocessor controls the injection dosage by utilizing the motor according to the preset injection dosage; the microprocessor controls the pulse current which generates a positive magnetic field through a coil driving circuit, the magnetic powder tube moves under the magnetic field force generated by an externally wound electromagnetic coil, and a cavity needle electrode connected to the liquid medicine bottle automatically finishes puncturing and enters target muscles; the puncture needle has the characteristics of accurate puncture positioning, accurate injection, accurate dosage, simple operation and automatic control.
Description
Technical Field
The technical field that this technique belongs to is the medicine injection field, specifically relates to accurate injection appearance of intelligent muscle.
Background
The micro-injection of the botulinum toxin for face thinning, wrinkle removal, shank thinning and the like becomes a micro-plastic technology which is deeply welcomed by vast beauty-seeking people. The injection micro-plastic of the botulinum toxin has the characteristics of small damage, no wound, quick response, no influence on work and the like. The market for botulinum toxin injection micro-plastic is in high demand, growing at a rate of approximately 8% per year. At present, the injection is still performed clinically by using a common medical injector, and the injection position, the injection level and depth, the injection amount and the injection speed are still determined by the experience of a doctor.
Is botulinum toxin injected accurately into the target muscle? Can the goal of optimum botulinum toxin injection dosage that both eliminates wrinkles and maximizes the preservation of proper motor function of the target muscle be achieved? How dose-effect relationship between dose of botulinum toxin and degree of reduction in the contractile function of target muscle fibers, how long the duration of effect after botulinum toxin injection and the length of time that the contractile function of target muscle fibers is reduced, how does the status of the contractile function of muscle fibers change after long-term regular use of botulinum toxin? Can the dose of subsequent injections of botulinum toxin be reduced? How to achieve fine adjustment of different facial expression muscles? In the prior art, these problems are not well solved, which relate to the accuracy of the amount of botulinum toxin used, the accuracy of the injection method, the elegance of the micro-plastic effect, the prevention and control of the side effects of botulinum toxin, etc.
Disclosure of Invention
In order to solve the technical problems, the invention provides an intelligent muscle precise injection instrument which has the characteristics of accurate puncture positioning, precise injection, precise dosage, simple operation and automatic control.
The invention is realized by the following steps: an intelligent muscle precise injection instrument comprises a surface myoelectric electrode tube, a cavity needle electrode, a needle electrode depth control disc, a magnetic powder tube, a myoelectric signal preprocessing unit and a microprocessor, wherein after a surface myoelectric electrode plate of the surface myoelectric electrode tube collects a human body surface myoelectric signal, the human body surface myoelectric signal is processed by the myoelectric signal preprocessing unit and then is input to the microprocessor;
the magnetic powder tube carries a liquid medicine bottle, the magnetic powder tube is externally provided with an electromagnetic coil, and is also provided with a motor, a transmission device and a motor driving circuit, and the microprocessor controls the injection dosage by utilizing the motor according to the preset injection dosage; the microprocessor controls the pulse current which generates the forward magnetic field through the coil driving circuit, the magnetic powder tube moves under the magnetic field force generated by the externally wound electromagnetic coil, the cavity needle electrode connected to the liquid medicine bottle automatically finishes puncturing and enters the target muscle, after the liquid medicine injection is finished, the microprocessor enables the electromagnetic coil to generate a reverse magnetic field, the magnetic powder tube carrying the liquid medicine bottle moves in the opposite direction, the cavity needle electrode is pulled out, and the injection is finished.
Furthermore, the center of the surface myoelectricity electrode plate is hollow to allow the cavity needle electrode to pass through during puncture, a depth control disc with the hollow center is arranged in the surface myoelectricity electrode tube, and scales are arranged on the inner wall of the surface myoelectricity electrode tube to display the position of the depth control disc.
Furthermore, the cavity needle electrode can be used as a recording electrode and can also be used as a stimulating electrode, the myoelectric signal recorded by the cavity needle electrode guides the liquid medicine to be accurately injected into the target muscle, and the accurate dosage of the liquid medicine injection is adjusted through the potential change induced by the electrical stimulation of the target muscle by the cavity needle electrode.
Furthermore, the magnetic powder tube is formed by coating magnetic powder on the outer wall of a plastic tube, the magnetic powder tube is formed by embedding two longitudinal half tubes, and two ends of the magnetic powder tube are clamped at two ends of the liquid medicine bottle.
Further, the motor adopts a stepping motor, an external thread is arranged on an output shaft of the stepping motor, a piston is arranged at the rear end of the liquid medicine bottle, an internal thread is arranged in the hollow part at the end part of the piston rod, the piston rod is connected with the output shaft of the stepping motor, and the microprocessor controls the rotating speed and the rotating angle of the stepping motor through a motor driving circuit.
Furthermore, the electrode pole piece of the surface electromyography electrode plate is made of copper, the surface of the electrode pole piece is plated with silver, and the surface electromyography electrode plate and one end of the connecting pipe are connected together to form the surface electromyography electrode pipe.
Furthermore, the needle tip of the hollow needle electrode is exposed and contacts with muscle, the needle stem is connected with a pintle, and the pintle is connected with the nipple of the liquid medicine bottle; the tail end of the needle stem of the cavity needle electrode can directly penetrate through a rubber plug of a liquid medicine bottle mouth to be inserted into a medicine bottle, the middle rear part of the needle stem of the cavity needle electrode is connected with a plug, two long and thin protrusions are arranged on the plug, the protrusions are inserted into an insulated wire port, and myoelectric signals are input into the myoelectric signal preprocessing unit through wires.
Furthermore, the electromyographic signal preprocessing unit comprises a high-pass filter circuit, a high-power amplifying circuit, a low-pass filter, a secondary amplifying circuit and a double-T-shaped wave trap; the myoelectric signals picked up by the surface myoelectric electrode plate or the cavity needle electrode are connected into a high-pass filter circuit and then sent into a high-power amplification circuit, an instrument amplifier is adopted in the high-power amplification circuit, the amplified signals are connected into a low-pass filter, then the signals are connected into a secondary amplification circuit, and power frequency noise is eliminated through a double-T-shaped wave trap.
Further, still include: the device comprises a storage module, a display module, a man-machine interaction module, a loudspeaker and a software system.
Compared with the prior art, the invention has the following beneficial effects:
the myoelectric puncture needle is characterized in that a cavity needle electrode guided by surface myoelectric signals automatically punctures a target muscle, myoelectric signals recorded by the cavity needle electrode guide a liquid medicine to be directly and automatically injected into the target muscle through the cavity needle electrode, myoelectric amplitude is monitored in real time, medicine dosage is regulated and controlled according to changes of the myoelectric amplitude, data such as target muscle name, myoelectric amplitude, medicine dosage, injection time, information of an injector and the like are automatically stored, and the whole process is fully automatically controlled, puncture positioning is accurate, injection is accurate, medicine dosage is accurate, and operation is simplified.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a surface electromyographic electrode plate according to the present invention;
FIG. 3 is a schematic diagram of a cavity needle electrode structure according to the present invention;
FIG. 4 is a schematic view of a depth control disc according to the present invention;
1. the device comprises a shell 2, a liquid medicine bottle 3, a magnetic powder tube 4, an electromagnetic coil 5, a piston 6, a piston 7, an output shaft 8, a motor 9, a cavity needle electrode 10, an electrode wire joint 11, a depth control disc 12, a surface myoelectricity electrode tube 13, a surface myoelectricity electrode plate 14, a microprocessor 15, a storage module 16, a myoelectricity signal preprocessing unit 17, a loudspeaker 18, a display module 19, an intermediate electrode 20, a differential electrode 21, an electrode strip 22 and an electrode strip joint tube
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting.
As shown in fig. 1-4, an intelligent muscle precise injection instrument comprises a surface myoelectric electrode tube 12, a cavity needle electrode 9, a depth control panel 11, a magnetic powder tube 3, a myoelectric signal preprocessing unit 16 and a microprocessor 14, wherein after a surface myoelectric electrode plate 13 of the surface myoelectric electrode tube 12 collects a human body surface myoelectric signal, the human body surface myoelectric signal is processed by the myoelectric signal preprocessing unit 16 and then is input to the microprocessor 14;
the magnetic powder tube 3 carries a liquid medicine bottle 2, the magnetic powder tube 3 is externally provided with an electromagnetic coil 4, a motor 8, a transmission device and a motor driving circuit, and a microprocessor controls the injection dosage by using a motor according to the preset injection dosage;
the microprocessor 14 controls the pulse current which generates the positive magnetic field through the coil driving circuit, the magnetic powder tube 3 moves under the magnetic field force generated by the externally wound electromagnetic coil 4, the cavity needle electrode 9 which is connected on the liquid medicine bottle 2 automatically finishes the puncture and enters the target muscle,
after the injection of the liquid medicine is finished, the microprocessor 14 enables the electromagnetic coil to generate a reverse magnetic field, the magnetic powder tube carrying the liquid medicine bottle moves in the opposite direction, and the cavity needle electrode 9 is pulled out to finish the injection.
The magnetic powder tube 3 is formed by embedding two longitudinal half tubes, and the center of the front end section of the magnetic powder tube is provided with an opening, and the size of the opening can accommodate the nipple of the injector; the rear opening can accommodate an inner plunger or plunger rod sized to accommodate the plunger screw without obstruction. Thus, the syringe cylinder is just embedded in the magnetic powder tube, and the synchronous integral movement of the magnetic powder tube and the syringe cylinder is realized. The middle front part of the magnetic powder tube 3 is wound with a coil to form a solenoid, a pulse current is passed through the coil, a magnetic field is generated in the solenoid, the master control circuit controls the pulse current for generating a forward (reverse) magnetic field according to the setting of a user, and the magnetic powder tube moves rapidly under the action of the magnetic field force generated in the externally wound solenoid due to the magnetic powder tube characteristics, carries the syringe barrel and the needle (hollow needle electrode) and automatically completes puncture or needle extraction.
The magnetic powder tube 3 can be a tube for carrying the syringe cylinder or the liquid medicine bottle 2, a coil is wound at the middle front part of the carrying tube to form a solenoid, pulse current passes through the coil, and the magnetic induction intensity in the coil can be calculated by the Pieo-Sa law, wherein the formula is that B is equal to mu 0 Ni. In the formula, n is the number of turns, and I is the passing current. The direction of the internal magnetic field can be judged according to the right-hand spiral rule. The outer wall of the carrying tube is coated with magnetic powder to make it have the magnetic property. The master control circuit is used for controlling the pulse current for generating a forward (reverse) magnetic field, and the magnetic powder tube has the characteristics of a magnet, so that the syringe or the liquid medicine barrel is carried under the magnetic field force generated in the external disturbance solenoid of the tube to move, and the process of puncturing or pulling out the needle electrode is automatically completed. The carried syringe or the liquid medicine bottle is just embedded in the magnetic powder tube so as to be integrally moved. The syringe barrel can be a common medical 1ml or 2ml syringe, the front end of the syringe barrel is connected with the hollow needle electrode pintle, the rear end of the syringe barrel is provided with a piston, the hollow interior of the piston rod is screwed with threads, the output shaft of the stepping motor is screwed with external threads, the hollow interior of the piston rod and the external threads form a screw penetrating structure, and the piston moves back and forth by the rotation of the stepping motor.
Or the metal sealing sheet at the central part of the liquid medicine bottle mouth can be taken down without using an injector, the rubber sealing cover is exposed, and the needle stem part at the non-puncturing end of the hollow needle electrode directly punctures the rubber cover at the bottle mouth and is put into the bottle. The rear end of the liquid medicine bottle is provided with a piston, the hollow interior of the piston rod is screwed with threads, the output shaft of the stepping motor is screwed with external threads, the piston and the piston form a screw penetrating structure, and the piston moves back and forth by the rotation of the stepping motor.
The main control circuit drives the rotating speed and the rotating angle of the stepping motor according to the liquid medicine injection amount set by a user, so that the liquid medicine can be pushed into a patient body at a constant speed, and simultaneously, information such as the injection amount, time, real-time myoelectric change and the like is displayed through the liquid crystal display screen and stored in the storage chip.
The liquid medicine bottle 2 can be directly placed in the magnetic powder tube 3, a rubber plug is arranged in the liquid medicine bottle mouth, and the periphery of the bottle mouth is sealed by a metal cover. The central part of the metal sheet at the center of the bottle mouth is removed, and the rear end of the needle head (the cavity needle electrode) is directly inserted into the rubber plug of the bottle mouth. The rear end of the bottle mouth is provided with a piston which is provided with a screw. So that the medical fluid does not need to be drawn into the syringe for injection. The risks of liquid medicine scattering, air pollution and the like in the extraction process are avoided, and the operation times are reduced.
The motor 8 and the transmission part are composed of a precise micro stepping motor, a motor driver and a motor monitor. The output shaft of the stepping motor is screwed with external threads, the rear end of the injector is provided with a piston, the hollow interior of the piston rod is screwed with threads, and the piston rod and the piston form a screw transmission structure. The main control circuit drives the rotating speed and the rotating angle of the stepping motor through the motor driver according to the setting of a user, so that the liquid medicine can be pushed into the body of a patient at a constant speed.
A precision stepping motor with a step angle of 18 degrees is controlled by a trapezoidal wave micro-step method, and the stepping motor drives a transmission part to push a piston, so that the vibration of the motor is greatly reduced under the condition of ensuring the precision and the current driving force.
To ensure the safety of the injection process, the operating state of the motor 8 must be monitored. The rotation of the motor is monitored by arranging an induction disc on a rotating shaft of the stepping machine and installing a photoelectric switch, and the induction disc rotates synchronously with the motor, so that the control part judges whether the motor works normally according to the currently set working state of the motor and the detection result of the photoelectric switch. When the motor stops rotating or abnormally rotates due to an accident, an alarm is given in time.
Design of the surface myoelectric electrode tube 12: the electrode pole piece is made of copper, the surface of the electrode pole piece is plated with silver, the polarization voltage of the electrode pole piece is small, and stable myoelectric signals can be quickly obtained. The design form adopts a bipolar type, each electrode is 2mm wide and 6mm long, the distance between the two electrodes is 6-8mm, a reference electrode is inserted between the two electrodes, the introduced reference electrode is beneficial to reducing noise, and the common mode rejection capability is improved. The surface electromyographic electrode tube inputs the picked electromyographic signals into a signal conditioning circuit for pretreatment. The surface electrode is hollow in the center to allow the needle electrode to pass through.
The surface electromyographic electrode plate 13 comprises a middle electrode and two differential electrodes, and the electrode strip 21 is connected with an electrode strip connector tube 22.
The electrode plate and one end of the connecting pipe are connected together to form a surface myoelectric electrode pipe, the other end of the pipe is open and is embedded with the shell of the injection instrument through the pipe orifice, and the two electrode wires are directly inserted into the pipe grooves of the corresponding silver-plated copper pipes of the shell along the pipe wall.
Bending two silver-plated copper strips on an electrode plate at an angle vertical to or close to 90 degrees with the plane of the electrode plate, connecting the back of the electrode plate with a hollow medical plastic tube, wherein the tube is about 2-3cm long, the vertical parts of the two electrode copper strips are inserted into corresponding channels on the wall of the plastic tube and exceed the tail end of the tube by 5-8mm, the exposed two electrode parts are inserted into corresponding holes of silver-plated copper tubes of an injection instrument shell, and the silver-plated copper tubes are used as input ends for inputting the collected myoelectric signals into a myoelectric signal preprocessing circuit. The plastic tube with the surface electrode plate connected with the plastic tube is a disposable disinfection package, and the needle electrode is just positioned in the aseptic environment of the tube after the plastic tube is connected with the shell.
The wall of the surface myoelectricity electrode tube 12 is provided with screw threads, a disk which is hollow at the center and is provided with screw threads at the outer edge is called a needle electrode depth control disk 11, and the central hollow diameter is smaller than that of a needle bolt so as to control the depth of a cavity needle electrode inserting needle 9. The side wall of the surface myoelectricity electrode tube 12 is provided with a transparent window which penetrates through the whole tube by the whole length and is marked with scales to show the position of a depth control disc, and the needle inserting depth of the needle electrode is controlled by the control disc.
The cavity needle electrode 9 comprises a needle point, a needle stem and a pintle, wherein two plugs connected with the input lead are arranged on the side surface of the pintle, and the pintle is connected with the injector nipple. The entire needle electrode is coated with an insulating layer except for the exposed needle tip which contacts the muscle. Is a disposable sterilizing package.
The pintle of the cavity needle electrode 9 can be made into a hollow square or cylinder, the side surface of the square or cylinder is provided with two plugs connected with the input lead, the needle stalk directly passes through the hollow and extends backwards for about 1cm, and the rear end of the needle stalk is directly inserted into the rubber cover of the medicine bottle and enters the mouth of the medicine bottle.
The inner wall of the surface myoelectricity electrode tube 12 is provided with threads, a thin hollow spiral disk is arranged in the tube, the center of the spiral disk is hollow, and the size of the spiral disk is just smaller than that of the needle electrode bolt; one side of the tube is provided with a longitudinal window, the edge of the window is provided with scales, the window is sealed by transparent materials, and the scales mark the position of the spiral plate. The screw disk is screwed to move forwards or backwards so as to control the depth of the cavity needle electrode entering the human body.
The surface myoelectric electrode tube 12 is a disposable sterilizing package.
The outer surface of the cavity needle electrode 9, which is contacted with a human body, is coated with an injection needle type guide needle electrode made of insulating materials, the needle point is exposed and contacted with muscle, the needle stem is connected with a pintle, and the pintle is connected with the injector nipple. The pintle has two elongated projections on one side that are inserted into the insulated wire ports and fed through the wires into the filter amplifier. The cavity needle electrode can be used for both stimulating and recording electrodes and injecting liquid medicine, and medicine can be injected into the nerve myoelectric part guided by the needle electrode through the cavity tube.
The tail end of the needle stem of the cavity needle electrode 9 can directly penetrate through a rubber plug of a liquid medicine bottle mouth to be inserted into a medicine bottle, a plug is connected to the middle rear 1/3 position of the needle stem of the cavity needle electrode, two long and thin protrusions are arranged on the plug, the two protrusions are inserted into an insulated wire port, and the insulated wire port is input into the filter amplifier through a wire. The proposal is that a liquid medicine bottle is used for replacing an injector.
The cavity needle electrode 9 is a disposable sterilizing package.
The signal conditioning circuit (i.e. the electromyographic signal preprocessing unit 16) mainly comprises a high-pass filter, a high-power amplifier, a low-pass filter, a secondary amplifier and a double-T-shaped wave trap.
The myoelectric signals picked up by the surface myoelectric electrode plate 13 or the cavity needle electrode are connected into a high-pass filter circuit and then sent into a high-power amplifying circuit. An instrument amplifier is adopted in the high-power amplifying circuit. To filter out high frequency noise, the amplified signal is passed to a low pass filter. Then the signal is connected to a secondary amplifying circuit. And eliminating power frequency noise through a double-T-shaped wave trap.
The design of the voltage lifting circuit is as follows: to realize a/D conversion of the collected electromyographic signals with higher accuracy, the amplitude range of the effective signals should be increased to between 1/3 and 3/3 of the input range of the a/D. The design selects LM385D-2.5 micro-power consumption voltage reference diode of national semiconductor company.
A power supply unit: a rechargeable lithium battery is adopted as a power supply scheme of a power supply. The voltage stabilizing module is used for outputting and then electrifying the whole system. By adopting the TPS63031 adjustable DC/DC chip of TI company, the output voltage is 3.3V, the maximum 800mA output current can be provided, and the power supply requirements of a stepping motor and other circuit units are met.
The battery power monitoring directly utilizes an ADC module of an AT91SAM7SE512 microprocessor to monitor the voltage of the lithium battery, converts the voltage signal of the lithium battery into a digital signal and then compares the digital signal with a discharge curve of the lithium battery, and a threshold value of low battery power is set in software to realize the real-time monitoring of the battery power of the lithium battery.
The hardware circuit designed by the main control part adopts an AT91SAM7SE512 microprocessor of an Atmel company as a control core, and the AT91SAM7SE512 is a 32-bit embedded MCU which can be used for various embedded applications such as interactive terminals, industrial control and the like. A bottom plate of a core board is provided with 8MB storage chips such as SDRAM (synchronous dynamic random access memory) and NANHLAS (embedded volatile memory) of IGB (integrated gate BUS), communication interfaces such as USB (universal serial BUS), UART (universal asynchronous receiver/transmitter), SPI (serial peripheral interface), TWI (12C) and system high-speed parallel BUS (BUS) are provided for the outside, and other external modules are dispatched in a unified mode.
The work flow of the whole system is as follows: the surface electromyogram signals are picked up by a surface electrode, amplified by hardware and subjected to analog filtering, and then sent into a channel 16bADC for 2500Hz sampling and A/D conversion; the converted data is sent to an AT91SAM7SE512 for processing through an SPI bus interface; the main control circuit controls the pulse current which generates a positive (reverse) magnetic field through the coil driving circuit, and because the magnetic powder tube carrying the liquid medicine bottle or the injector has the characteristics of a nourishing body, the magnetic powder tube moves under the magnetic field force generated in the externally wound solenoid of the magnetic powder tube, and the needle electrode connected to the liquid medicine bottle or the injector cylinder automatically finishes the puncture and enters the target muscle; the needle electrode picks up the myoelectric signal, and the myoelectric signal is sent into a channel 16bADC for 2500Hz sampling and A/D conversion after being amplified by hardware and filtered in an analog mode; the converted data is sent to an AT91SAM7SE512 for processing through an SPI bus interface; the main control circuit accurately controls the injection dosage by using a micro stepping motor according to the preset injection amount, and pushes a piston in a liquid medicine bottle or a syringe cylinder to enable liquid medicine to be injected into target muscles at a constant speed; the injection dosage can be adjusted in real time by using a microprocessor according to the amplitude change of the myoelectric signals collected by the surface electrode and the needle electrode, and the injection and drug pushing process can be accurately controlled. After the injection of the liquid medicine is finished, the main control circuit enables the solenoid to generate a reverse magnetic field, and the magnetic powder tube carrying the liquid medicine bottle or the injector moves in the opposite direction to pull out the needle head, so that the injection is finished. And records the corresponding data onto the memory chip.
The collected electromyographic signal is processed in two situations: when the PC terminal is not connected for use, real-time filtering, simple analysis, display and storage are locally carried out; when the PC end is used in connection, data are transmitted to the PC end in real time through the USB interface or the Xbee wireless communication module for processing. In addition, when there is already stored data, playback of data such as a surface electromyogram waveform can be performed.
Further comprising: a storage module 15, a display module 18, a man-machine interaction module, a loudspeaker 17 and a software system.
As for the overall design of the software system, an embedded real-time operating system (RTOS) is adopted to develop a real-time multitask system. The RTOS can provide important services such as multi-task scheduling, time management, inter-task communication, memory management and the like, so that the embedded application program is easy to design and expand. The uC/OS-II has the advantages of open source codes, extremely small code scale, stable operation, high execution efficiency, good real-time performance and the like. The code is written by ANSIC, so that the method has strong portability and better tailorability, and only some codes related to the processor need to be modified in the transplanting process.
In order to enhance the operability of software, the system transplants a graphic development system mu C/GUI developed by Micrisum corporation for embedded systems on the basis of mu C/OS-II and is used as a user graphic interface design. The μ C/GUI is used to provide an efficient processor and LCD controller independent graphical user interface for any application using LCD graphical displays, suitable for single or multi-tasking system environments, and suitable for real or virtual displays of any size under any LCD controller and CPU.
In order to facilitate the storage and operation of clinical data and data, a FATFS file system is transplanted on an SD card storage mechanism. FATFS is a FAT file system module that is completely free of charge and is designed specifically for small embedded systems. The system is completely written in the standard C language, so that the system has good hardware platform independence and can be transplanted to various platforms only by simple modification. What the user is required to write the migration code is the underlying interface provided by FATFS, which includes the storage medium read/write interface diskoi and the real-time clock that supplies the file creation modification time.
A surface myoelectricity acquisition task, a needle electrode muscle puncture task, a needle electrode myoelectricity acquisition task, a needle electrode muscle stimulation task, a liquid medicine injection task, a needle electrode extraction task, a liquid crystal screen display task, a touch screen input task and a data playback task are designed under the condition of mu C/OS-II. Other required functions are made into modules and integrated in a certain task.
The several tasks and functional modules are described separately below.
Myoelectricity collection task
Based on the real-time requirements of surface myoelectricity collection, needle electrode puncture, needle electrode myoelectricity collection, needle electrode target muscle stimulation, liquid medicine injection and needle electrode extraction, in a micro C/0S-II operating system, the tasks are set to be the highest priority except the priority used by a system kernel, and meanwhile, in order to meet the accuracy requirement of myoelectricity collection, the myoelectricity collection task is operated by starting a timer to interrupt.
The myoelectricity collection task operates in two conditions: firstly, local myoelectricity collection and display are carried out, a storage file name is required to be input before the task is run, then a myoelectricity filtering module below is called to carry out filtering and a file storage module is called to carry out real-time data storage while myoelectricity is collected, and the filtered myoelectricity data and the collected time are sent to a liquid crystal display screen to be synchronously displayed in the task below; and secondly, myoelectricity collection and interaction with a PC (personal computer) end, wherein at the moment, the start task needs to select one of USB communication and Xbee wireless module communication, then the myoelectricity collection task can be started, and the original myoelectricity data is transmitted to the PC end for processing.
Myoelectric playback task
The electromyography playback task is designed in order to enable a user to play back stored local electromyography data at any time. Myoelectric data in a file is read in a timing mode through timer interruption, and the myoelectric data are sent to a liquid crystal display task below to achieve restoration display of waveforms. Meanwhile, in order to facilitate the user to watch a certain section of waveform repeatedly, the task supports the display and pause of the electromyographic waveform and the forward turning and backward turning one screen operation of the waveform display.
LCD screen display task
In order to enable a user to know the current state of the system and simultaneously enable the user to interact with the system, a liquid crystal display task is designed on the basis of the mu C/OS-II and the mu C/GUI. The LCD display task is responsible for informing the current system state and operation process, including various graphical interfaces supported by the μ C/GUl. Specifically, the system integrates graphical interfaces of information display and playback, time display, data storage, data USB or Xbee transmission and the like of surface myoelectricity acquisition, needle electrode puncture and myoelectricity acquisition, medicine amount design, medicine liquid injection, needle electrode extraction and the like. Because the real-time performance requirement of the task is not high, the lowest task priority is designed for the task.
Touch screen input task
In order to facilitate human-computer interaction and simplify the whole system, the touch screen is adopted to realize human-computer interaction input. The task starts to work when the system is started, information input by a user through a touch liquid crystal screen is collected and processed, and the obtained user command is sent to the mu C/0S-II and the mu C/GUl to complete man-machine interaction.
Because the user input must ensure certain real-time performance so that the user can not feel the large delay of the system, the third highest priority level which is only lower than the myoelectricity acquisition task, the needle electrode puncture and acquisition task, the needle electrode stimulation task, the liquid medicine injection and needle electrode extraction task and the myoelectricity playback task is designed for the touch screen input task.
Other functional modules
Besides the tasks, a plurality of functional modules are designed to assist the tasks, and the following are specific:
(1) and a real-time clock module. A real-time clock PCF8563 is extended out of an AT91SAM7SE512 chip and used for providing a real-time clock value for the system so as to record the specific time of user electromyographic data acquisition and medicine liquid injection. The PCF8563 communicates with the AT91SAM7SE512 chip over a TWI (I2C) interface.
(2) A timer interrupt module. A timer interrupt is started in an AT91SAM7SE512 chip to support a myoelectricity acquisition task and a myoelectricity playback task. The interrupt frequency of the timer is designed to be 2500Hz, and the timer is used for sending a sampling conversion instruction to the ADC at fixed time in the electromyography acquisition task and reading data of the two-channel electromyography signals or reading the two-channel electromyography data from the electromyography file at fixed time in the electromyography playback task.
(3) And a file system module. In order to facilitate storage and processing of the electromyographic data in the SD card, a FATFS file system module is transplanted to manage the electromyographic data on the basis of reading and writing the SD card in an SPI mode. The FATFS can make the user conveniently store the data file, read the data file and delete the useless file.
(4) And a communication module. In order to transmit the collected myoelectricity to a PC (personal computer) for processing in real time, a USB (universal serial bus) wired communication module and an Xbee wireless communication module are designed. USB wired communication, which realizes data interaction with a PC end by utilizing an on-chip USB peripheral interface; xbee wireless communication, namely operating the local Xbee wireless module to communicate with the Xbee wireless module at the PC end by using the UART interface on chip, thereby realizing the function of transmitting data to the PC end for processing in a wireless manner.
(6) And a user setting module. For each device, there are some settings that require user modification, such as user ID. To facilitate the preservation of such information in the power down state, a piece of non-volatile ferroelectric memory FM24CL64 is employed to preserve such information. The memory chip communicates with the main chip through a TWI (I2C) interface, and can read and store user setting information at any time. And when the system is started, the stored setting information of the user can be automatically read in each time.
(7) And the myoelectricity filtering and analyzing module. The frequency range of the surface electromyographic signals is 10-500 Hz. Because the interference of 50Hz power frequency noise is in the frequency band with concentrated surface electromyogram signal energy and the amplitude is large, if not processed, the electromyogram signal will be submerged by the power frequency noise. Therefore, when the comb filter is locally acquired and displayed, the comb filter which is widely applied in an embedded environment is selected. The comb filter can effectively filter 50Hz power frequency interference and baseline drift, has a high Q value, influences effective electromyographic signals as little as possible, has little calculation amount and no floating point operation, and is very suitable for being used in an embedded environment. In addition, in order to enable a user to intuitively feel the myoelectric signal, a balloon capable of floating up and down is arranged beside the myoelectric waveform display window, and the balloon floats up and down according to the difference value of the myoelectric data after local filtering, which is subjected to smooth averaging and comparison with a reference value.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An intelligent muscle precise injection instrument is characterized by comprising a surface myoelectric electrode tube, a cavity needle electrode, a depth control disc, a magnetic powder tube, a myoelectric signal preprocessing unit and a microprocessor, wherein after a surface myoelectric electrode plate of the surface myoelectric electrode tube collects a human body surface myoelectric signal, the human body surface myoelectric signal is processed by the myoelectric signal preprocessing unit and then is input to the microprocessor;
the magnetic powder tube carries a liquid medicine bottle, the magnetic powder tube is externally provided with an electromagnetic coil, and is also provided with a motor, a transmission device and a motor driving circuit, and the microprocessor controls the injection dosage by utilizing the motor according to the preset injection dosage;
the microprocessor controls the pulse current which generates the positive magnetic field through the coil driving circuit, the magnetic powder tube moves under the magnetic field force generated by the externally wound electromagnetic coil, the cavity needle electrode connected on the liquid medicine bottle automatically finishes the puncture and enters the target muscle,
after the injection of the liquid medicine is finished, the microprocessor enables the electromagnetic coil to generate a reverse magnetic field, the magnetic powder tube carrying the liquid medicine bottle moves in the opposite direction, and the cavity needle electrode is pulled out to finish the injection;
the cavity needle electrode can be used as a recording electrode and a stimulating electrode, the myoelectric signal recorded by the cavity needle electrode guides the liquid medicine to be accurately injected into the target muscle, and the accurate dosage of the liquid medicine injection is adjusted through the potential change induced by the electrical stimulation of the target muscle by the cavity needle electrode.
2. The intelligent intramuscular accurate injection apparatus according to claim 1, wherein the center of the surface myoelectric electrode plate is hollow to allow the hollow needle electrode to pass through during puncture, a depth control plate with a hollow center is arranged in the surface myoelectric electrode tube, and scales are arranged on the inner wall of the surface myoelectric electrode tube to display the position of the depth control plate.
3. The intelligent type precise intramuscular injection instrument according to claim 1, wherein the magnetic powder tube is formed by coating magnetic powder on the outer wall of a plastic tube, the magnetic powder tube is formed by embedding two longitudinal half tubes, and two ends of the magnetic powder tube are clamped at two ends of the liquid medicine bottle.
4. The intelligent intramuscular precision injection apparatus according to claim 1 wherein the motor is a stepper motor,
the output shaft of the stepping motor is provided with external threads, the rear end of the liquid medicine bottle is provided with a piston, the hollow inner part at the end part of the piston rod is provided with internal threads, the piston rod is connected with the output shaft of the stepping motor, and the microprocessor controls the rotating speed and the rotating angle of the stepping motor through a motor driving circuit.
5. The intelligent precise muscle injection instrument according to claim 1, wherein the electrode plate of the surface myoelectric electrode plate is made of copper, the surface is plated with silver, and the surface myoelectric electrode plate and one end of the connecting pipe are connected together to form the surface myoelectric electrode pipe.
6. The intelligent muscle precise injection instrument according to claim 1, wherein the needle point of the cavity needle electrode is exposed to contact muscle, the needle stem is connected with a pintle, and the pintle is connected with the nipple of the liquid medicine bottle; the tail end of the needle stem of the cavity needle electrode can directly penetrate through a rubber plug of a liquid medicine bottle mouth to be inserted into a medicine bottle, the middle rear part of the needle stem of the cavity needle electrode is connected with a plug, two long and thin protrusions are arranged on the plug, the protrusions are inserted into an insulated wire port, and myoelectric signals are input into the myoelectric signal preprocessing unit through wires.
7. The intelligent type muscle precise injection instrument according to claim 1, wherein the electromyographic signal preprocessing unit comprises a high-pass filter circuit, a high-power amplifying circuit, a low-pass filter, a secondary amplifying circuit and a double-T-shaped wave trap; the myoelectric signals picked up by the surface myoelectric electrode plate or the cavity needle electrode are connected into a high-pass filter circuit and then sent into a high-power amplification circuit, an instrument amplifier is adopted in the high-power amplification circuit, the amplified signals are connected into a low-pass filter, then the signals are connected into a secondary amplification circuit, and power frequency noise is eliminated through a double-T-shaped wave trap.
8. The intelligent intramuscular precision injection apparatus according to claim 1 further comprising: the device comprises a storage module, a display module, a man-machine interaction module, a loudspeaker and a software system.
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| KR102454122B1 (en) | 2017-08-21 | 2022-10-14 | 일라이 릴리 앤드 캄파니 | Medication Delivery Device With Sensing System |
| CN109350297A (en) * | 2018-11-07 | 2019-02-19 | 浙江康瑞器械科技股份有限公司 | Smart veterinary auto-injector |
| WO2020176319A1 (en) * | 2019-02-27 | 2020-09-03 | Eli Lilly And Company | Medication delivery device with sensing system |
| CN112286249A (en) * | 2019-07-13 | 2021-01-29 | 宁波泽世医疗科技有限公司 | Medicine environment control device |
| CN112286248A (en) * | 2019-07-13 | 2021-01-29 | 宁波泽世医疗科技有限公司 | Medicine environment control device |
| CN112386309A (en) * | 2020-11-12 | 2021-02-23 | 山东大学齐鲁医院 | Automatic injection ligation device |
| CN113440690A (en) * | 2021-08-03 | 2021-09-28 | 复旦大学 | Intelligent quantitative drug administration electric needle injection device based on electromyographic signal feedback |
| CN113855190A (en) * | 2021-10-27 | 2021-12-31 | 北京大学第三医院（北京大学第三临床医学院） | A precision injection device that is automatically controlled by bioelectric feedback and avoids contamination |
| CN115887825A (en) * | 2022-07-04 | 2023-04-04 | 嘉兴森迈医疗科技有限公司 | Magnetic Drive Injection Unit |
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