CN114632217A - An automatic drug delivery device based on micro-displacement sensor - Google Patents

Abstract

The invention discloses an automatic drug delivery device based on a micro-displacement sensor. The syringe is fixed on the rack, the eddy current sensor is installed at the tail of the syringe push rod; the stepper motor is installed on the motor mounting frame, and the ball slider is installed on the linear guide. The trapezoidal screw sliding seat, the ball sliding block and the trapezoidal screw sliding seat are all connected with the dosing pusher; the zero-position photoelectric switch mounting seat and the end-point photoelectric switch mounting seat are arranged in sequence along the direction of the injection of the syringe push rod, on which Install the zero-position photoelectric switch and the end-point photoelectric switch respectively. The invention can autonomously measure the relative position information between the drug delivery pusher and the syringe pusher, and automatically switch the running speed of the drug delivery pusher when the distance between the two reaches a specified range, thereby improving the drug delivery work efficiency.

Description

An automatic drug delivery device based on micro-displacement sensor

technical field

The invention belongs to the technical field of drug delivery, in particular to an automatic drug delivery device based on a micro-displacement sensor.

Background technique

Clinically, when applying specific drugs to critically ill patients, the dosing speed must be strictly controlled to ensure uniform and extremely low-speed dosing, which requires the use of automatic dosing devices. When the syringe is fixed, the position of the tail of the syringe push rod changes with the amount of medicine to be injected. The current automatic drug delivery device requires medical staff to manually push the drug delivery pusher to contact the tail of the syringe push rod, and then start the drug delivery procedure, that is, the entire process requires the intervention of medical staff, and does not achieve fully automatic drug delivery; if After fixing the syringe, the administration procedure is started. At this time, there is still a distance between the administration pusher and the tail of the syringe pusher. Because the distance is unknown, in order to ensure the safety of medication, if the administration pusher moves at the administration speed, it will not move until it moves. Only after contact with the tail of the syringe push rod is the drug injected into the patient's body, it cannot be administered in time and the patient's treatment time is delayed.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the contradiction between timely drug administration and strict control of drug administration speed when critically ill patients use specific drugs, and to provide an automatic drug delivery device, which enables the system to start quickly, and the distance between the drug delivery pusher and the syringe push rod is reduced. When it reaches the range of several microns, change the speed of the dosing pusher to the set dosing speed, and strictly control the dosing speed to ensure the safety of medication while satisfying the timely medication. The invention can independently measure the relative position information between the drug delivery pusher and the syringe pusher, and automatically switch the running speed of the drug delivery pusher when the distance between the two reaches a specified range, thereby improving the drug delivery work efficiency.

The technical solution to achieve the purpose of the present invention is: an automatic drug delivery device based on a micro-displacement sensor, the device includes a base plate, and a motor mounting frame, a linear guide rail, a syringe mounting frame, and a terminal photoelectric switch mounting seat fixed on the base plate and zero-position photoelectric switch mounting seat; the syringe is fixed on the syringe mounting frame, and the eddy current sensor is installed at the tail of the syringe push rod; the trapezoidal screw stepping motor is installed on the motor mounting frame, and the ball slide is installed on the linear guide. The trapezoidal lead screw of the stepping motor is coaxially equipped with a trapezoidal lead screw slide, and the ball slide block and the trapezoidal lead lead slide are both connected with the drug delivery pusher; the zero position photoelectric switch mount, the end point The photoelectric switch mounting bases are arranged in sequence along the direction of the injector push rod to push the medicine injection, and the zero position photoelectric switch and the end photoelectric switch are respectively installed on it;

After the device is powered on, it is initialized and drives the trapezoidal screw stepping motor to rotate, and then drives the drug delivery pusher to move along the linear guide towards the zero-position photoelectric switch through the trapezoidal screw slide and ball slider. When the zero position photoelectric switch stops, the initialization of the device is completed; when the automatic drug delivery device starts to work, the trapezoidal screw stepping motor drives the drug delivery pusher to move in the direction of the syringe pusher at the speed V1, and the micro-displacement inside the drug delivery pusher is installed. The sensor probe detects the distance between the end face of the drug delivery pusher and the measured object of the eddy current sensor installed at the tail of the syringe pusher in real time, that is, the distance between the end face of the drug delivery pusher and the end face of the syringe pusher. When the distance reaches the specified range, the drug is administered. The push head continues to push the syringe push rod at the speed V2 required for the drug administration; when the output level of the photoelectric switch at the end point is reversed, the moving direction of the trapezoidal screw stepping motor changes, and moves in the direction of the zero position photoelectric switch at the speed V1, and finally stops. At the zero position, the device completes an automatic drug administration; where V1>>V2.

Further, the device also includes a system controller, which includes a main controller, a user control module, an information display module, a stepping motor driver, a micro-displacement sensor processing board, a voltage comparator and a potentiometer;

The main controller drives the trapezoidal lead screw stepping motor to rotate by controlling the stepping motor driver;

The micro-displacement sensor probe is connected with the micro-displacement sensor processing board. The analog signal output by the micro-displacement sensor processing board is converted into a digital level by a voltage comparator and then enters the main controller. The comparison voltage of the voltage comparator is adjusted by a potentiometer. ;

The digital signal output by the zero-position photoelectric switch and the end-point photoelectric switch directly enters the main controller;

The user control module is used to realize the operator's control of the entire device, including booting and starting;

The information display module is used to display relevant data information in the running process according to application requirements;

Based on the above system controller, when the device is powered on and initialized, under the control of the main controller, the stepper motor controller is used to drive the trapezoidal screw stepping motor to rotate; When the distance between the measured objects reaches the specified range, the output level of the voltage comparator is reversed, and the main controller recognizes the state change of the level, reduces the movement speed of the drug delivery pusher, and pushes the syringe pusher at the speed V2 required for drug delivery. ; When the output level of the photoelectric switch at the end point is reversed, the main controller changes the movement direction of the trapezoidal screw stepping motor, moves to the zero position photoelectric switch at the speed V1, and finally stops at the zero position.

Further, the comparative voltage of the voltage comparator can be set by adjusting the potentiometer according to the distance between the end face of the micro-displacement sensor probe and the end face of the drug delivery pusher, and the sensitivity information of the micro-displacement sensor, so as to realize the push between the end face of the drug delivery pusher and the syringe pusher. When the distance between the rod end faces reaches the specified range, the voltage comparator output level flips.

Further, the motor mounting frame is provided with a vertical long hole as a motor mounting hole. When the trapezoidal screw stepping motor is installed, the vertical long hole can be used to fine-tune the installation distance of the trapezoidal screw stepping motor in the vertical direction. , so that the trapezoidal screw rod is parallel to the linear guide rail, so that no jamming occurs when the drug delivery pusher moves along the linear guide rail.

Further, the micro-displacement sensor probe is installed in the mounting hole on the upper part of the drug delivery pusher, and is fixed by a fine-tuning locking device, and there is a certain distance between the end face of the micro-displacement sensor probe and the end surface of the drug delivery pusher.

Further, the device also includes a stroke block installed on the side of the drug delivery pusher. When the stroke block moves to the zero position photoelectric switch or the end point photoelectric switch, the output signals of the zero position photoelectric switch and the end point photoelectric switch will change, The signal is transmitted to the main controller, thereby judging the starting position and ending position of the dosing pusher movement.

Compared with the prior art, the present invention has the following significant advantages:

1) Dosing can be completed automatically without the intervention of medical staff.

2) The automatic drug delivery device adopts a high-precision non-contact micro-displacement sensor to detect the distance between the drug delivery pusher and the syringe push rod in real time, so as to ensure the rapid start of the system.

3) The relative position information between the dosing pusher and the syringe pusher can be measured independently. For different dosages, the dosing pusher can quickly reach the tail of the syringe pusher and switch to the drug delivery speed. Ensure medication safety.

The present invention will be described in further detail below with reference to the accompanying drawings.

Description of drawings

FIG. 1 is a mechanical structure diagram of an automatic drug delivery device based on a micro-displacement sensor in one embodiment.

Fig. 2 is a structural diagram of a drug delivery pusher driving transmission device in an embodiment.

Fig. 3 is a structural view of the installation structure of a probe with a micro-displacement sensor embedded in a drug delivery pusher according to an embodiment, wherein Fig. (a) is a top view and Fig. (b) is a side view.

FIG. 4 is a structural diagram of the object under test with a micro-displacement sensor embedded in the plunger of the syringe in one embodiment.

FIG. 5 is a structural diagram of the object under test of the micro-displacement sensor glued to the syringe plunger in one embodiment.

Fig. 6 is a structural diagram of the measured object of the micro-displacement sensor of the sleeve of the syringe push rod in one embodiment.

FIG. 7 is a block diagram of a system control circuit in one embodiment.

Fig. 8 is a schematic diagram of the administration process in an embodiment, wherein Fig. (a) is a schematic diagram of the administration process at a speed V1, and Fig. (b) is a schematic diagram of the administration process at a speed V2.

Among them: 1- base plate; 2- motor mounting frame; 3- linear guide rail; 4- syringe mounting frame; 5- end point photoelectric switch mounting seat; 6- zero position photoelectric switch mounting seat; 7- linear guide rail fixing screw; 8- syringe Mounting frame fixing screws; 9-Fixing screws for the end point photoelectric switch mounting seat; 10-Fixing screws for the zero position photoelectric switch mounting seat; 11- Trapezoidal screw stepping motor; 12-Stepping motor mounting screws; 13- Trapezoidal screw; 14 - Trapezoidal screw slide; 15- Ball slider; 16- Dosing pusher; 17- Zero position photoelectric switch; 18- End point photoelectric switch; 19- Stroke block; 20- Stroke block fixing screw; hole; 22-micro-displacement sensor probe; 23-sensor probe fixing screw; 24-micro-displacement sensor probe end face; 25-administration pusher end-face; 26-syringe; 27-syringe push rod; Measured object; 29- glued micro-displacement sensor measured object; 30- accessory micro-displacement sensor measured object; 31- vertical long hole.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

It should be noted that if there are directional indications (such as up, down, left, right, front, back, etc.) involved in the embodiments of the present invention, the directional indications are only used to explain a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.

In one embodiment, as shown in FIG. 1 , an automatic drug delivery device based on a micro-displacement sensor is provided, which includes a substrate 1 , a motor mount 2 , a linear guide 3 , a syringe mount 4 , and a terminal photoelectric switch mount 5 , Zero photoelectric switch mounting seat 6. Motor mount 2, linear guide 3, syringe mount 4, end-point photoelectric switch mount 5 and zero-position photoelectric switch mount 6 are all fixed on the base plate 1; the syringe 26 is fixed on the syringe mount 4, and the tail of the syringe push rod 27 The eddy current sensor is equipped with the measured object; the trapezoidal screw stepping motor 11 is fixed on the motor mounting frame 2, the linear guide 3 is installed with a ball slider 15, and the trapezoidal screw 13 of the stepping motor is coaxially equipped with a trapezoidal wire The rod sliding seat 14, the ball sliding block 15 and the trapezoidal screw sliding seat 14 are all connected with the dosing pusher 16; the end point photoelectric switch mounting seat 5 and the zero position photoelectric switch mounting seat 6 on the base plate 1 are respectively installed with end point photoelectric switches 18. Zero photoelectric switch 17. The motor mounting frame 2 is rectangular, with threaded holes at the bottom and through holes at the corresponding positions of the base plate 1. The motor mounting frame 2 is fixed on the base plate 1 by fixing screws on the back of the base plate 1; the linear guide rail 3 and the syringe mounting frame 4 are respectively It is fixed on the base plate 1 by the fixing screw 7 of the linear guide and the fixing screw 8 of the syringe mounting frame; the end point photoelectric switch mounting seat 5 and the zero position photoelectric switch mounting seat 6 are respectively fixed by the end point photoelectric switch mounting seat fixing screw 9 and the zero position photoelectric switch mounting seat. The fixing screws 10 are fixed on the base plate 1 .

As shown in FIG. 2 , the trapezoidal screw stepping motor 11 is fixed on the motor mounting frame 2 through the stepping motor mounting screws 12 . The trapezoidal screw 13 of the stepping motor is coaxially provided with a trapezoidal screw sliding seat 14 , and the linear guide 3 is provided with a ball sliding block 15 . The ball slider 15 is fixed on the drug delivery pusher 16 by screws, and the trapezoidal screw slide 14 is fixed on the drug delivery pusher 16 by screws. When the trapezoidal screw stepping motor 11 rotates, it drives the trapezoidal screw 13 to rotate together, thereby driving the drug delivery pusher 16 to reciprocate along the linear guide rail 3 through the trapezoidal screw sliding seat 14 .

As shown in FIGS. 1 and 2 , the zero-position photoelectric switch 17 and the end-point photoelectric switch 18 in this embodiment are respectively fixed on the zero-position photoelectric switch mounting seat 6 and the end-point photoelectric switch mounting seat 5 , and the travel stopper 19 passes through the travel stopper. The plate fixing screw 20 is installed on the side of the drug delivery pusher 16. When the stroke block 19 moves to the zero position photoelectric switch 17 or the end photoelectric switch 18, the output signal of the zero position photoelectric switch 17 and the end photoelectric switch 18 will be reversed, the The signal is sent to the main controller, which is used to determine the starting position and the ending position of the movement of the drug delivery pusher 16 . The fixing hole on the lower surface of the photoelectric switch mounting seat 5 at the end point is a long hole 21, which is convenient for fine-tuning the position of the photoelectric switch mounting seat 5 at the end point, and determines the position where the drug is finally completed during the overall debugging.

As shown in FIGS. 3 and 4 , the micro-displacement sensor probe 22 in this embodiment is installed in the mounting hole on the upper part of the drug delivery pusher 16 , and is fixed by the sensor probe fixing screw 23 or a similar fine-tuning locking device. During the installation process, it should be ensured that the end face 24 of the micro-displacement sensor probe is at a certain distance from the end face 25 of the drug delivery pusher, so as to avoid the direct contact between the end face 24 of the micro-displacement sensor probe and the tail of the syringe push rod 27 during the drug delivery process, resulting in damage to the micro-displacement sensor probe 22. . In order to avoid the influence of the material of the drug delivery pusher 16 on the measurement, the material of the drug delivery pusher 16 can be selected from non-metallic materials such as PEEK, PTFE, and acrylic.

As shown in Fig. 4, Fig. 5, Fig. 6, the syringe 26 in this embodiment is fixed on the syringe mounting frame 4, and the tail of the syringe push rod 27 is equipped with an eddy current sensor in the form of inlay 28, glue 29 or accessories 30, etc. According to the actual application, the material can be selected from aluminum alloy, titanium alloy, etc.

As shown in FIG. 7 , the micro-displacement sensor-based automatic drug delivery device according to this embodiment further includes a system controller. The system controller includes the main controller, user control module, information display module, stepper motor driver, micro-displacement sensor processing board, voltage comparator and potentiometer. The main controller drives the trapezoidal screw stepping motor 11 to rotate by controlling the stepping motor driver; the micro-displacement sensor probe 22 is connected with the micro-displacement sensor processing board, and the analog signal output by the micro-displacement sensor processing board is converted into a voltage comparator. After the digital level enters the main controller, the comparison voltage of the voltage comparator can be adjusted by the potentiometer; the digital signals output by the zero-position photoelectric switch 17 and the end-point photoelectric switch 18 directly enter the main controller; the user control module is used by the operator to The control of the device includes functions such as power-on and startup; the information display module displays the relevant information during the operation according to the application requirements.

As shown in FIG. 8 , in the automatic drug delivery device based on the micro-displacement sensor described in this embodiment, when the system starts, if the drug delivery pusher 16 has not been in contact with the syringe pusher 27, the running speed of the drug delivery pusher 16 at this time is V1; when the drug delivery pusher 16 runs to contact with the syringe plunger 27, the system adjusts the running speed of the drug delivery pusher 16 to the required drug delivery speed V2. Normally, V1>>V2, which improves the working efficiency of the device.

The working principle of the automatic drug delivery device based on the micro-displacement sensor in this embodiment: when the device is installed, the end point photoelectric switch mounting seat 5 needs to be adjusted to ensure that when the syringe push rod 27 reaches the bottom of the syringe 26, the end point photoelectric switch 18 outputs the level Flip occurs. After the system is powered on, under the control of the main controller, the stepping motor controller drives the trapezoidal screw stepping motor 11 to rotate, and then drives the drug delivery pusher 16 along the linear guide 3 to the zero position through the trapezoidal screw sliding seat 14. The photoelectric switch 17 moves in the direction. When the dosing pusher 16 moves to the zero position, the fixed travel stopper 19 on the dosing pusher 16 will shield the light-receiving light path of the zero-position photoelectric switch 17, and the main controller will recognize that the output level of the zero-position photoelectric switch 17 occurs. Turn over, and stop the rotation of the trapezoidal screw stepping motor 11, so that the drug delivery pusher 16 stops at the zero position. When the operator presses the start button, the trapezoidal screw stepping motor 11 drives the drug delivery pusher 16 to move toward the syringe push rod 27 at a relatively high speed V1. The micro-displacement sensor probe 22 installed inside the drug delivery pusher 16 detects the distance between it and the eddy-current sensor measured object installed at the tail of the syringe pusher 27 in real time, and the micro-displacement sensor processing board converts the distance information into a voltage signal for transmission. into the voltage comparator. The comparison voltage of the voltage comparator can be set by adjusting the potentiometer according to the distance between the probe end face 24 of the micro-displacement sensor and the end face 25 of the drug delivery pusher, the sensitivity of the micro-displacement sensor, etc. When the distance between the end faces reaches the specified range, the output level of the comparator is inverted. The main controller recognizes the state change of the level, reduces the movement speed of the drug delivery pusher, and pushes the syringe pusher at the speed V2 required for drug delivery. When the output level of the photoelectric switch 18 at the end point is reversed, the main controller changes the movement direction of the trapezoidal screw stepping motor 11, moves to the zero position photoelectric switch 17 at a relatively fast speed V1, and finally stops at the zero position, and the system completes an automatic Dosing. The relevant information in the whole running process is displayed by the information display module.

The automatic drug delivery device of the present invention adopts a high-precision non-contact micro-displacement sensor to detect the distance between the drug delivery pusher and the syringe push rod in real time, so as to ensure the rapid start of the system. When the distance between the dosing pusher and the syringe pusher is within a few microns, change the speed of the dosing pusher to the set dosing speed, and strictly control the dosing speed to ensure the safety of medication while satisfying the timely medication.

The above-mentioned embodiments are only examples for clear description, and are not intended to limit the embodiments. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. And the obvious changes or changes derived from this are still within the protection scope of the present invention.

Claims (10)

1. An automatic drug delivery device based on a micro-displacement sensor is characterized by comprising a base plate (1), and a motor mounting rack (2), a linear guide rail (3), an injector mounting rack (4), a terminal photoelectric switch mounting seat (5) and a zero photoelectric switch mounting seat (6) which are fixed on the base plate (1); an injector (26) is fixed on the injector mounting rack (4), and a measured object of the eddy current sensor is mounted at the tail part of an injector push rod (27); a trapezoidal screw stepping motor (11) is fixedly installed on the motor installation frame (2), a ball sliding block (15) is installed on the linear guide rail (3), a trapezoidal screw sliding seat (14) is coaxially installed on a trapezoidal screw (13) of the stepping motor, and the ball sliding block (15) and the trapezoidal screw sliding seat (14) are both connected with a drug delivery push head (16); the zero photoelectric switch mounting seat (6) and the terminal photoelectric switch mounting seat (5) are sequentially arranged along the direction of pushing and injecting the medicine by the injector push rod (27), and a zero photoelectric switch (17) and a terminal photoelectric switch (18) are respectively mounted on the zero photoelectric switch mounting seat and the terminal photoelectric switch mounting seat;

the device is initialized after being electrified, the trapezoidal screw stepping motor (11) is driven to rotate, the medicine feeding push head (16) is driven to move towards the direction of the zero photoelectric switch (17) along the linear guide rail (3) through the trapezoidal screw sliding seat (14) and the ball sliding block (15), and the device is initialized when the medicine feeding push head (16) moves to the zero photoelectric switch (17); when the automatic dosing device is started to work, the trapezoidal lead screw stepping motor (11) drives the dosing push head (16) to move towards the direction of the injector push rod (27) at a speed V1, a micro-displacement sensor probe (22) arranged in the dosing push head (16) detects the distance between the end face (25) of the dosing push head and a measured object of an eddy current sensor arranged at the tail part of the injector push rod (27) in real time, namely the distance between the end face (25) of the dosing push head and the end face of the injector push rod, and when the distance reaches a specified range, the dosing push head (16) continues to push the injector push rod (27) at a speed V2 required by dosing; when the output level of the end-point photoelectric switch (18) is turned over, the movement direction of the trapezoidal lead screw stepping motor (11) is changed, the trapezoidal lead screw stepping motor moves towards the zero-position photoelectric switch (17) at a speed V1, and finally stops at the zero position, so that the device finishes one-time automatic dosing; wherein V1> > V2.

2. The automatic drug delivery device based on the micro-displacement sensor, which is characterized in that the device further comprises a system controller, wherein the system controller comprises a main controller, a user control module, an information display module, a stepping motor driver, a micro-displacement sensor processing board, a voltage comparator and a potentiometer;

the main controller drives the trapezoidal screw rod stepping motor (11) to rotate by controlling a stepping motor driver;

the micro-displacement sensor probe (22) is connected with the micro-displacement sensor processing board, an analog signal output by the micro-displacement sensor processing board is converted into a digital level through a voltage comparator and then enters a main controller, and the comparison voltage of the voltage comparator is adjusted by a potentiometer;

digital signals output by the zero photoelectric switch (17) and the terminal photoelectric switch (18) directly enter the main controller;

the user control module is used for realizing the control of an operator on the whole device, including starting and starting;

the information display module is used for displaying related data information in the running process according to application requirements;

based on the system controller, when the device is electrified and initialized, the stepping motor controller drives the trapezoidal screw stepping motor (11) to rotate under the control of the main controller; when the distance between the end face (25) of the medicine push head and a measured object of an eddy current sensor arranged at the tail part of the push rod (27) of the injector reaches a specified range, the output level of the voltage comparator is reversed, the main controller identifies the state change of the level, the movement speed of the medicine administration push head (16) is reduced, and the push rod (27) of the injector is pushed at the speed V2 required by medicine administration; when the output level of the end photoelectric switch (18) is turned over, the main controller changes the movement direction of the trapezoidal lead screw stepping motor (11), moves towards the direction of the zero photoelectric switch (17) at a speed V1, and finally stops at the zero position.

3. The automatic drug delivery device based on the micro-displacement sensor as claimed in claim 2, wherein the comparison voltage of the voltage comparator can be set by adjusting a potentiometer according to the distance between the probe end face (24) of the micro-displacement sensor and the drug delivery pusher end face (25) and the sensitivity information of the micro-displacement sensor, so that the output level of the voltage comparator is inverted after the distance between the drug delivery pusher end face (25) and the syringe push rod end face reaches a specified range.

4. The automatic drug delivery device based on the micro-displacement sensor according to claim 1, wherein the motor mounting rack (2) is provided with a vertical slot (31) as a motor mounting hole, and when the trapezoidal lead screw stepping motor (11) is mounted, the mounting distance of the trapezoidal lead screw stepping motor (11) in the vertical direction can be finely adjusted through the vertical slot (31) so as to realize that the trapezoidal lead screw (13) is parallel to the linear guide rail (3), and the drug delivery pushing head (16) cannot be jammed when moving along the linear guide rail (3).

5. The automatic drug delivery device based on the micro-displacement sensor is characterized in that the micro-displacement sensor probe (22) is installed in a mounting hole at the upper part of the drug delivery push head (16) and is fixed by a locking device capable of being adjusted finely, and a certain distance is reserved between the end surface (24) of the micro-displacement sensor probe and the end surface (25) of the drug delivery push head.

6. The automatic drug delivery device based on the micro-displacement sensor is characterized in that the device further comprises a stroke blocking piece (19) arranged on the side surface of the drug delivery pushing head (16), when the stroke blocking piece (19) moves to the zero photoelectric switch (17) or the end photoelectric switch (18), the output signals of the zero photoelectric switch (17) and the end photoelectric switch (18) are changed, and the signals are transmitted to the main controller, so that the starting position and the ending position of the motion of the drug delivery pushing head (16) are judged.

7. The micro-displacement sensor based automatic drug delivery device according to claim 1, characterized in that the eddy current sensor is mounted at the tail of the syringe push rod (27) in an embedded manner, glued or fitted manner.

8. The micro-displacement sensor-based automatic drug delivery device according to claim 1, characterized in that the fixing hole between the end-point photoelectric switch mounting seat (5) and the base plate (1) is a long hole, the position of the end-point photoelectric switch mounting seat (5) can be finely adjusted through the hole, and the final drug delivery position is determined during the whole debugging process.

9. The micro-displacement sensor-based automatic drug delivery device as claimed in claim 1, wherein the material of the drug delivery push head (16) is PEEK or PTFE or acrylic non-metallic material.

10. The automatic drug delivery device based on the micro-displacement sensor as claimed in claim 1, wherein the material of the object to be tested of the eddy current sensor is selected from aluminum alloy or titanium alloy.

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