CN116870293A - Refill screw pump for insulin injection - Google Patents

Abstract

A refill screw pump for insulin injection, housing, refill injection mechanism, first-level screw telescopic mechanism, second-level screw telescopic mechanism, power unit, power module and intelligent control module, power unit and first-level screw telescopic mechanism Transmission connection, the secondary screw telescopic mechanism is installed inside the primary screw telescopic mechanism and is transmission connected with the primary screw telescopic mechanism, the refill injection mechanism is arranged on the upper part of the secondary screw telescopic mechanism, and a button operation module is provided on the shell. A sensor assembly is provided on the first-stage screw telescopic mechanism. The power module provides power to the power unit and the intelligent control module respectively. The intelligent control module is connected to the power unit, the key operation module and the sensor assembly with signals respectively. The invention can accurately control the injection volume of insulin liquid, achieve high-precision drug delivery, significantly reduce the overall size, intelligently control the rotational torque and speed of the power motor, reduce impact intensity, reduce electrical energy consumption, and also has an anti-lock function. .

Description

A pen core screw pump for insulin injection

Technical Field

The invention relates to the technical field of insulin injection, in particular to a pen core screw pump for insulin injection.

Background Art

An insulin pump consists of an injection pump, a small syringe and an infusion tube connected to it. Its basic purpose is to inject insulin according to the required dose. However, the amount of insulin injected each time is very small. How to control the injection amount of insulin with high precision and at the same time require the injection pump to be small in size is a difficult problem that needs to be solved urgently.

After inquiry, there are some reports of relevant patent documents in the existing patent documents, mainly the following:

1. The invention patent with the authorization announcement number CN108159530 A and the name of "An integrated assembly structure of a driving rod and a motor for an insulin pump" belongs to the field of medical device technology. The driving rod and the motor integrated assembly structure of the patented insulin pump adopts an integrated assembly structure, and the two are fixed together on the same fixed seat to form a whole, which ensures the concentricity of the driving rod and the motor, so that the driving rod can be stably extended and retracted under the drive of the motor, maximizing the guarantee of the guide, reducing resistance, and extending the service life of the driving mechanism.

2. The invention patent with the authorization announcement number CN109529154 A and the name of "A new type of multi-stage submerged insulin pump propulsion mechanism" belongs to the field of medical device technology. This patent adopts a multi-stage submerged insulin pump propulsion mechanism. By setting a main guide, a secondary guide, and a main and secondary guide rod, it can replace the traditional square guide groove guide, which requires a higher processing accuracy of the equipment. It can avoid the phenomenon that when the processing accuracy is low, it is easy to get stuck during the propulsion and return process, causing the islet pump to malfunction and the failure of insulin infusion.

The above two patents only solve the problems of effectiveness and structural life of the driving mechanism, but do not involve improving injection accuracy and miniaturizing the injection pump body, which is exactly the problem that needs to be solved urgently in future precision medicine. Medical devices with high-precision drug delivery and good user experience are the mainstream direction of future development of insulin injection pumps.

Summary of the invention

The purpose of the present invention is to provide a pen core screw pump for insulin injection. The present invention can accurately control the injection volume of insulin solution, achieve high-precision drug delivery, significantly reduce the overall size, intelligently control the torque and speed of the power motor, reduce impact force, reduce electrical energy consumption, and also has an anti-locking function.

To achieve the above object, the present invention adopts the following technical solution:

A refill screw pump for insulin injection comprises a shell, a refill injection mechanism, a primary screw telescopic mechanism, a secondary screw telescopic mechanism, a power device, a power module and an intelligent control module. The refill injection mechanism, the primary screw telescopic mechanism and the secondary screw telescopic mechanism are coaxially and vertically arranged on the left side of the shell, the power device, the power module and the intelligent control module are all arranged on the right side of the shell, the power device is transmission-connected with the primary screw telescopic mechanism, the power device drives the primary screw telescopic mechanism to telescope, the secondary screw telescopic mechanism is installed inside the primary screw telescopic mechanism and transmission-connected with the primary screw telescopic mechanism, the primary screw telescopic mechanism drives the secondary screw telescopic mechanism to telescope, the refill injection mechanism is arranged on the upper part of the secondary screw telescopic mechanism and connected to the telescopic end of the secondary screw telescopic mechanism, the shell is provided with a key operation module, the primary screw telescopic mechanism is provided with a sensor assembly, the power module provides power to the power device and the intelligent control module respectively, and the intelligent control module is signal-connected with the power device, the key operation module and the sensor assembly respectively.

The bottom of the shell is open and fixedly connected to a bottom cover. An injection barrel with a pen holder structure is vertically integrated on the left side of the shell. The upper end of the injection barrel passes through the top of the shell upward, and the lower end of the injection barrel extends downward to the lower left part of the shell. An electrical inner cavity is provided in the lower right part of the shell, and a power module and an intelligent control module are arranged in the electrical inner cavity. The power device is arranged in the upper right part of the shell.

The refill injection mechanism comprises a refill and a refill piston, the refill is coaxially fixedly embedded in the injection barrel, the outer circle of the refill is in close contact with the inner circle of the injection barrel, the lower end of the refill is open, the lower end of the refill is located in the injection barrel and close to the lower end of the injection barrel, the upper end of the refill is integrally formed with a T-shaped hollow cylindrical head which is larger at the top and smaller at the bottom, the maximum circumferential diameter of the T-shaped hollow cylindrical head is smaller than the diameter of the refill, the lower end of the T-shaped hollow cylindrical head is connected to the upper end of the refill through a truncated cone cylinder which is thin at the top and thick at the bottom, the upper end of the injection barrel is coaxially threadedly connected with a needle cap, the T-shaped hollow cylindrical head is embedded in the needle cap, and the top center of the needle cap is coaxially integrally formed with A cylindrical protrusion, a first center hole is vertically opened in the center of the cylindrical protrusion, an injection hose is coaxially fixedly embedded in the first center hole, the upper end of the injection hose extends out of the upper end of the cylindrical protrusion and is connected to an injection needle, a second center hole coaxial with the first center hole is opened in the center of the needle cap, the inner diameter of the second center hole is smaller than the inner diameter of the first center hole, the upper end of the second center hole is connected to the lower end of the first center hole, a needle tube is coaxially fixedly embedded in the second center hole, the needle tube coaxially penetrates the T-shaped hollow cylindrical head and extends into the T-shaped hollow cylindrical head, the lower end of the needle tube is connected to the inside of the pen core, and the core piston is coaxially sealed and slidably arranged in the pen core.

The first-level screw telescopic mechanism includes a first-level fixed rod, a first-level tubular screw and a driving cylinder. The outer edge of the upper surface of the fixed seat is integrally formed with a circular convex edge. The center of the fixed seat is provided with a third center hole. The first-level fixed rod is coaxially arranged below the injection barrel. The upper end of the first-level fixed rod is located at the center of the lower end of the injection barrel. The lower end of the first-level fixed rod is fixedly connected to the third center hole. The first-level tubular screw is coaxially sleeved on the outside of the first-level fixed rod. The driving cylinder is coaxially sleeved on the outside of the first-level tubular screw and is arranged between the injection barrel and the fixed seat. The upper end of the driving cylinder is rotatably connected to the lower end of the injection barrel. The lower end of the driving cylinder is rotatably connected to the circular convex edge. The inner diameter of the driving cylinder is smaller than the inner diameter of the pen core. The inner circle of the upper end of the driving cylinder is provided with a first internal thread. The outer circle of the first-level tubular screw A first external thread matched with the first internal thread is axially provided, a second internal thread is provided on the inner circle of the upper end of the first-level tubular screw, the lower end of the first-level tubular screw is flush with the lower end of the driving cylinder and is higher than the upper surface of the fixing seat, the upper end of the first-level tubular screw is higher than the upper end of the driving cylinder, the outer circle of the upper end of the first-level tubular screw is fixedly sleeved with a limiting ring located above the upper end of the driving cylinder, the upper end surface of the driving cylinder is provided with a first wedge-shaped buckle convex upward, the lower end surface of the limiting ring is provided with a second wedge-shaped buckle convex downward, when the first-level tubular screw is retracted downward into the driving cylinder and moves down to the lower limit position, the second wedge-shaped buckle meshes with the first wedge-shaped buckle, the upper end surface of the limiting ring is provided with a third wedge-shaped buckle convex upward, and the outer circumference of the upper end of the driving cylinder is fixedly sleeved with a driving gear;

The secondary screw telescopic mechanism comprises a secondary fixed sleeve and a secondary tubular screw, the secondary fixed sleeve is coaxially slidably sleeved on the primary fixed rod, the secondary tubular screw is coaxially slidably sleeved on the secondary fixed sleeve and is located in the primary tubular screw, the outer circle of the secondary tubular screw is axially provided with a second external thread matched with the second internal thread, the upper end of the secondary fixed sleeve is flush with the upper end of the primary fixed rod, the lower end of the secondary fixed sleeve is flush with the lower end of the primary tubular screw, the upper end of the secondary tubular screw is higher than the upper end of the primary tubular screw and is fixedly connected with a limiting screw plug located above the limiting ring, the diameter of the limiting screw plug is smaller than the inner diameter of the pen core, the top of the limiting screw plug extends into the pen core and is fixedly connected to the bottom of the core piston Then, a fourth wedge-shaped buckle convex downwardly is provided on the bottom outer edge of the limiting screw plug, and when the secondary tubular screw is contracted downward into the primary tubular screw and moves downward to the lower limit position, the fourth wedge-shaped buckle is meshed with the third wedge-shaped buckle, and the lower end of the secondary tubular screw is higher than the lower end of the secondary fixed sleeve, and the outer side wall of the primary fixed rod is axially provided with a first limiting card groove open at the lower side and the outer side, and the inner wall of the lower end portion of the secondary fixed sleeve is integrally formed with a first limiting card block corresponding to the sliding card set in the first limiting card groove, and the outer side wall of the secondary fixed sleeve is axially provided with a second limiting card groove open at the lower side and the outer side, and the inner wall of the lower end portion of the secondary tubular screw is integrally formed with a second limiting card block corresponding to the sliding card set in the second limiting card groove;

The first internal thread, the first external thread, the second internal thread, and the second external thread are all trapezoidal threads with the same pitch.

The power device includes a power motor, which is fixedly installed on the upper right part of the shell. The output shaft of the power motor is vertically arranged on the lower side of the power motor. A motor gear is coaxially fixedly installed on the lower end of the output shaft of the power motor. The motor gear is located on the right side of the driving gear and is meshingly connected with the driving gear. The power module is electrically connected to the power motor, and the intelligent control module is signal-connected to the power motor.

The sensor assembly includes a position sensor, which is arranged on the lower side surface of the trapezoidal thread at the tail end of the lower end of the first internal thread. A wiring harness channel is axially opened on the cylinder body of the driving cylinder corresponding to the position sensor. A mounting hole with a diameter larger than the wiring harness channel is coaxially arranged at the lower end of the wiring harness channel. The lower end of the wiring harness channel is opened on the lower end surface of the driving cylinder. An elastic conductor is fixedly arranged in the upper part of the mounting hole. A first signal wire is passed through the wiring harness channel. The upper end of the first signal wire is connected to the position sensor, and the lower end of the first signal wire is connected to the elastic conductor. The lower end of the elastic conductor is fixedly connected to a conductive ball located in the lower part of the mounting hole. The lower side of the conductive ball protrudes downward from the lower end of the mounting hole. A conductive sheet is fixedly arranged on the upper surface of the fixing seat. The conductive sheet and the conductive ball are in corresponding rolling contact up and down. The conductive sheet is connected to the intelligent control module signal through a second signal wire that passes through the lower surface of the fixing seat and is introduced into the electrical inner cavity.

The pen core is made of transparent material. A camera embedded in the inner wall of the syringe and equipped with its own light is arranged in the middle position of the outer wall of the pen core. The power module is electrically connected to the camera, and the intelligent control module is connected to the camera signal.

The intelligent control module is a microcomputer with an embedded processor. The intelligent control module also has a built-in soft limit of the secondary screw telescopic mechanism. Its soft limit parameters are determined by the geometric parameters of the primary tubular screw and the secondary tubular screw: pitch, total length and working length. Therefore, when the second limit block on the inner wall of the lower end of the secondary tubular screw slides upward to the upper end of the second limit slot and is pulled, and the secondary tubular screw shrinks downward into the primary tubular screw and moves down to the lower limit position, the intelligent control module immediately controls the power motor to stop rotating.

Using the above technical solution, a method for intelligently controlling a cartridge-type insulin screw injection pump specifically comprises the following steps:

(a) Start the screw pump of the pen cartridge, operate the key operation module, and the intelligent control module controls the power device to work. The power device drives the first-stage screw telescopic mechanism and the second-stage screw telescopic mechanism to contract, and the prefabricated insulin solution is filled into the injection mechanism of the pen cartridge;

(ii) Operate the button operation module, the intelligent control module controls the power device to work, the power device drives the primary screw telescopic mechanism to extend first, when the primary screw telescopic mechanism extends to the limit, the sensor assembly transmits a signal to the intelligent control module, the intelligent control module controls the power device to reduce the speed to reduce the impact of the primary screw telescopic mechanism, then the secondary screw telescopic mechanism begins to extend, until the secondary screw telescopic mechanism extends to the maximum limit position, the intelligent control module controls the power device to stop; during the extension process of the primary screw telescopic mechanism and the secondary screw telescopic mechanism, the pen core injection mechanism injects insulin solution;

(iii) After the insulin solution injection is completed, repeat step (i), refill the insulin solution and prepare for the next injection.

Step (i) is specifically as follows: turn on the power module, initialize the intelligent control module, insert the injection needle into the insulin injection bottle, operate the button operation module, the intelligent control module controls the power motor to reverse, the output shaft of the power motor drives the driving cylinder to reverse through the motor gear and the driving gear, the driving cylinder drives the primary tubular screw to retract downward into the driving cylinder through the first internal thread and the first external thread, the primary tubular screw then drives the secondary fixed tube sleeve and the secondary tubular screw to move downward relative to the primary fixed rod, the secondary tubular screw drives the limit screw plug and the core piston to move downward, so that the core piston can draw the insulin solution in the insulin injection bottle into the pen core through the injection needle, the injection hose and the needle tube, when the primary tubular screw retracts downward into the driving cylinder and moves down to the lower limit position, the second wedge buckle engages with the first wedge buckle, and the primary tubular screw cannot continue to move. As the pen continues to move downward, the driving cylinder drives the primary tubular screw to rotate in the opposite direction through the first wedge-shaped buckle and the second wedge-shaped buckle, the primary tubular screw and the secondary tubular screw rotate relative to each other, and the primary tubular screw drives the secondary tubular screw to retract downward into the primary tubular screw through the second internal thread and the second external thread. The secondary tubular screw continues to drive the limit screw plug and the core piston to move downward, and the core piston continues to draw the insulin solution in the insulin injection bottle into the pen core through the injection needle, the injection hose and the syringe. When the secondary tubular screw retracts downward into the primary tubular screw and moves downward to the lower limit position, the fourth wedge-shaped buckle engages with the third wedge-shaped buckle, and the secondary tubular screw cannot move downward any further. The intelligent control module immediately controls the power motor to stop rotating, the pen core is filled with insulin solution, the insulin solution filling operation is completed, and a new injection needle is replaced to prepare for injection.

Step (ii) is specifically as follows: operate the button operation module, the intelligent control module controls the power motor to rotate forward, the output shaft of the power motor drives the motor gear to rotate, the motor gear meshes with the transmission drive gear, the drive gear drives the drive cylinder to rotate forward, the drive cylinder and the primary tubular screw rotate relative to each other, the drive cylinder drives the primary tubular screw to extend upward out of the drive cylinder through the first internal thread and the first external thread, the primary tubular screw drives the secondary fixed pipe sleeve and the secondary tubular screw to move upward relative to the primary fixed rod, the first limiting block on the inner wall of the lower end of the secondary fixed pipe sleeve slides upward along the first limiting groove on the outer wall of the primary fixed rod, the secondary tubular screw pushes the limiting screw plug and the core piston to move upward, thereby the core piston The insulin liquid in the pen core is pushed out and injected through the needle tube, injection hose and injection needle. Since the first internal thread, the first external thread, the second internal thread and the second external thread are all trapezoidal threads with the same pitch, the driving cylinder rotates one circle to realize the primary tubular screw moving upward by a pitch length, and the conductive ball rolls and contacts the conductive sheet once, then the position sensor transmits the signal to the intelligent control module once, and the intelligent control module obtains the number of rotations of the driving cylinder by collecting the signal of the position sensor. The intelligent control module obtains the distance the primary tubular screw moves upward according to the number of rotations of the driving cylinder. At the same time, the intelligent control module uses the pyramid YOLO7 algorithm to The image collected by the camera is processed to identify the position of the core piston, and then the injected amount of insulin solution in the pen core is measured. The intelligent control module controls the power motor to change the torque and speed to reduce the impact force between the primary tubular screw and the driving barrel, until the primary tubular screw moves upward to the upper limit position, that is, the primary tubular screw and the driving barrel can no longer continue to rotate relative to each other, and at the same time, the first limit block slides upward to the upper end of the first limit slot and is pulled, the primary tubular screw and the driving barrel are transmission-connected as one, and the movement form of the primary tubular screw changes from moving up and down in the vertical direction to rotating with the driving barrel, then the primary tubular screw rotates relative to the secondary tubular screw, and the primary tubular screw The rod drives the secondary tubular screw to extend upward from the primary tubular screw through the second internal thread and the second external thread, and the secondary tubular screw moves upward relative to the secondary fixed tube sleeve, and the secondary tubular screw continues to push the limiting screw plug and the core piston upward, and the core piston continues to push out the insulin solution in the pen core and inject it through the syringe, injection hose and injection needle. When the second limiting block on the inner wall of the lower end of the secondary tubular screw slides upward to the upper end of the second limiting slot and is pulled, the secondary tubular screw moves upward to its upper limit position, and the primary tubular screw and the secondary tubular screw cannot continue to rotate relative to each other, the intelligent control module controls the power motor to stop rotating, and the entire insulin solution injection process is completed.

The intelligent control module controls the power motor to change the torque and speed action process as follows:

A) When the intelligent control module collects the position sensor signal for the first set number of times, the drive tube rotates for the first set number of times, and the primary tubular screw moves upward and begins to approach its upper limit position. At the same time, the intelligent control module measures through the camera that the amount of insulin solution injected in the pen cartridge is greater than one-third and begins to approach one-half. The intelligent control module controls the drive current of the power motor to increase to 125% of the standard state (50mA), increases the torque of the power motor, and reduces the speed of the power motor to 80% of the standard state (200rpm/Sec) through PWM speed regulation.

B) The drive tube continues to rotate forward. When the number of position sensor signals collected by the intelligent control module reaches the second set number, the number of rotations of the drive tube reaches the second set number, and the primary tubular screw moves upward further to its upper limit position. At the same time, the intelligent control module recognizes through the camera that the core piston moves further upward, and measures that the injected amount of insulin solution in the pen core is closer to one-half. The intelligent control module controls the driving current of the power motor to increase to 150% of the standard state (50mA), increases the torque of the power motor, and reduces the speed of the power motor to 60% of the standard state (200rpm/Sec) through PWM speed regulation.

C) The drive tube continues to rotate forward. When the number of position sensor signals collected by the intelligent control module reaches the third set number, the number of rotations of the drive tube reaches the third set number, and the primary tubular screw moves upward and is close to its upper limit position. At the same time, the intelligent control module recognizes through the camera that the core piston moves further upward and measures that the amount of insulin solution in the pen core has been injected is close to one-half. The intelligent control module controls the driving current of the power motor to increase to 200% of the standard state (50mA), increases the torque of the power motor, and reduces the speed of the power motor to 20% of the standard state (200rpm/Sec) through PWM speed regulation, reducing the impact of the primary tubular screw and the drive tube;

D) The drive tube continues to rotate forward. When the intelligent control module collects the position sensor signal for the fourth set number of times, the drive tube rotates for the fourth set number of times, and the primary tubular screw moves upward to its upper limit position. At the same time, the intelligent control module recognizes through the camera that the core piston has moved further upward, and measures that the injected amount of insulin solution in the pen core has further reached one-half. The intelligent control module controls the driving current of the power motor to increase to 300% of the standard state (50mA), thereby increasing the torque of the power motor, and through PWM speed regulation, reduces the speed of the power motor to 5% of the standard state (200rpm/Sec), thereby further reducing the impact force of the primary tubular screw and the drive tube.

The input image of the pyramid YOLO7 algorithm is the image captured by the camera. The resolution of the real-time monitoring screen image of the camera is w×h pixels, w is 1280 pixels, and h is 720 pixels. The pyramid YOLO7 algorithm performs rectangular window cropping on the w×h pixel key frame of the original input image. The starting point and end point of the rectangular window cropping are marked as A (x ₁ , y ₁ ) and B (x ₂ , y ₂ ) respectively. The starting point A (x ₁ , y ₁ ) and the end point B (x ₂ , y ₂ ) are determined as follows:

(1) Analyze the historical detection data and obtain the coordinates of the maximum circumscribed rectangular area of the target object hotspot marked by the adaptive weight pyramid YOLO7 algorithm in the last 7 days, which are marked as _S1 {( _x11 , _y11 ), ( _x21 , _y21 )}, _S2 {( _x12 , _y12 ), ( _x22 , _y22 )}, _S3 {( _x13 , _y13 ), ( _x23 , _y23 )}, _Sn {( _x1n , _y1n ), ( _x2n , _y2n )};

(2) Sort x ₁₁ , x ₁₂ , x ₁₃ , …, x _1n from small to large, and take the first 50% of the data series, denoted as ; Calculate the X-direction coordinate of the starting point A (x ₁ , y ₁ ), as shown in the following formula 1):

In the above formula 1), [n/2] is n/2 rounded down; similarly, sort y ₁₁ , y ₁₂ , y ₁₃ , …, y _1n from small to large, and take the first 50% of the data series, recorded as , calculate the Y-direction coordinate of the starting point A (x ₁ , y ₁ ), as shown in the following formula 2):

Determine whether the calculated coordinates of _x1 and _y1 are out of bounds. If the value of _x1 or _y1 is less than 1, then the value of _x1 or _y1 is 1, otherwise it is rounded down.

(3) Sort x ₂₁ , x ₂₂ , x ₂₃ , …, x _2n from large to small, and take the first 50% of the data series, denoted as ; Calculate the X-direction coordinate of the end point B (x ₂ , y ₂ ), as shown in the following formula 3):

Similarly, sort y ₂₁ , y ₂₂ , y ₂₃ , …, y _2n from large to small, and take the first 50% of the data series, denoted as , calculate the Y-direction coordinate of the end point B (x ₂ , y ₂ ), as shown in the following formula 4):

Determine whether the calculated coordinates of _x2 and _y2 are out of bounds. If _x2 is greater than 1280, then the value of _x2 is 1280. If the value of _y2 is greater than 720, then the value of _y2 is 720. Otherwise, they are rounded down.

(4) If the cumulative number of days of historical data is less than 7 days, the coordinates of the starting point A are set to (1, 1), and the coordinates of the end point B are set to (1280, 720), that is, _x1 = ₁ , x2 = 1280, _y1 = 1, _y2 = 720.

The process of image processing by the pyramid YOLO7 algorithm is as follows:

(I) When the screw pump of the pen core is injecting insulin solution, the intelligent control module obtains the image collected by the camera every 10ms, and the pyramid YOLO7 algorithm determines whether the image threshold is greater than 5ml/hour. If it is greater than 5ml/hour, it will proceed to the next step (II), otherwise it will continue to execute the current step (I);

(II) If the current injection volume is less than half of the refill capacity, obtain the image of the key frame of the camera at the current moment after clipping through the rectangular window, which is recorded as image A; take the current moment as the starting point, obtain the images of the key frames of the previous 500ms and the previous 2 seconds after clipping through the rectangular window, which are recorded as images B and C respectively, and proceed to the next step (III);

(III) First, the pyramid YOLO7 algorithm performs YOLO7 target object detection on image A, and calculates the maximum probability that the injection volume is less than or equal to 0, greater than 0 and less than 1/2, and 1 in the current image, which is marked as P{a, b, c}. The YOLO7 algorithm has been trained offline in advance for the above three targets; further, the image A is divided into two equal parts in length and width, and divided into four sub-images _A1 , _A2 , _A3 and _A4 , and the maximum probability that the injection volume is less than or equal to 0, greater than 0 and less than 1/2, and 1 in the current sub-image is calculated respectively, which are marked as _P1 , _P2 , _P3 and _P4 . The _P1 , _P2 , _P3 and _P4 are also three-dimensional vectors like the P; the maximum value of each dimension of _P1 , _P2 , _P3 and _P4 of the four sub-images is screened, which is recorded as _P5 {d, e, f}; further, the image A is divided into 4 equal parts in length and width, and is divided into 16 sub-images of A ₁₁ ...A ₄₄ , and the maximum probability of the existence of three types of targets less than or equal to 0, greater than 0 and less than 1/2, and 1 in the current sub-image is calculated respectively, and is marked as P ₁₁ ...P ₄₄ , and the P ₁₁ ...P ₄₄ is also a three-dimensional vector like the P; the maximum value of each dimension of P ₁₁ ...P ₄₄ of the 16 sub-images is screened, and is recorded as P ₅₅ {g, h, i}; after identification by the three-layer pyramid YOLO7 algorithm, the final target detection probability P _A of the image A is as follows:

Among them, w1…w9 are weights, and their values change dynamically with the detection results of YOLO7. They are calculated as follows:

(IV) Next, refer to the pyramid YOLO7 method for adaptive weighting of image A, process images B and C, and obtain the final target detection probability of images B and C, which are recorded as _PB and _PC ;

(V) Take out the maximum values of the dimensions of the final target detection probabilities _PA , _PB and _PC corresponding to the three images A, B and C, and use the maximum value judgment principle to obtain the final detection results of the injection speed and injection volume at the current moment, that is, less than or equal to 0, greater than 0 and less than 1/2, and 1. For example, when the calculation results are _PA = {1, 0, 0}, _PB = {0.56, 0.16, 0}, _PC = {0.46, 0.09, 0}, the maximum values of the dimensions of _PA , _PB and _PC appear in the first dimension, so according to the maximum value judgment principle, it is judged that the current injection situation is less than or equal to 0;

(VI) After the detection is completed, re-enter the next round of detection and transfer to step (I) for processing.

Compared with the prior art, the present invention has outstanding substantial features and significant progress. Specifically, the inner circle of the upper end of the driving cylinder of the present invention is provided with a first internal thread, the outer circle of the primary tubular screw is axially provided with a first external thread matching the first internal thread, the inner circle of the upper end of the primary tubular screw is provided with a second internal thread, and the outer circle of the secondary tubular screw is axially provided with a second external thread matching the second internal thread. The first internal thread, the first external thread, the second internal thread and the second external thread are all trapezoidal threads with the same pitch. Then, one rotation of the driving cylinder can realize the extension or contraction of the primary tubular screw or the secondary tubular screw by a length of one pitch, which can accurately control the injection amount of insulin solution, realize high-precision drug delivery, and significantly reduce the overall size. Then, during the entire insulin solution injection process, the intelligent control module can calculate the number of rotations of the driving cylinder by collecting the signal of the position sensor, and the intelligent control module obtains the upward movement distance of the primary tubular screw according to the number of rotations of the driving cylinder. At the same time, the intelligent control module adopts a pyramid YOLO7 The algorithm processes the image collected by the camera, identifies the position of the core piston, and then measures the injected amount of insulin solution in the pen core. The intelligent control module controls the power motor to change the torque and speed, reduces the impact force between the primary tubular screw and the drive cylinder, and reduces the energy consumption of electric energy; the intelligent control module also has a built-in soft limit of the secondary screw telescopic mechanism, and its soft limit parameters are determined by the geometric parameters of the primary tubular screw and the secondary tubular screw: pitch, total length and working length. When the second limit block on the inner wall of the lower end of the secondary tubular screw slides upward to the upper end of the second limit slot and is pulled, and the secondary tubular screw shrinks downward into the primary tubular screw and moves down to the lower limit position, the intelligent control module immediately controls the power motor to stop rotating, to prevent the secondary tubular screw from being tightened or the secondary tubular screw from entering the primary tubular screw too tightly and causing locking, and also to prevent the power motor from being overloaded and causing its output shaft to be damaged due to excessive torque, thereby protecting the power motor, the primary tubular screw and the secondary tubular screw.

When the present invention is filled with insulin liquid, the power motor drives the driving cylinder to reverse through the motor gear and the driving gear, so that the first-stage tubular screw is retracted downward into the driving cylinder. Since the outer circle of the upper end portion of the first-stage tubular screw is fixedly sleeved with a limiting ring located above the upper end of the driving cylinder, the upper end surface of the driving cylinder is provided with a first wedge-shaped buckle convex upward, the lower end surface of the limiting ring is provided with a second wedge-shaped buckle convex downward, the upper end surface of the limiting ring is provided with a third wedge-shaped buckle convex upward, and the bottom outer edge of the limiting screw plug is provided with a fourth wedge-shaped buckle convex downward. When the first-stage tubular screw is retracted downward into the driving cylinder and moves downward to the lower limit position, the second wedge-shaped buckle meshes with the first wedge-shaped buckle. At this time, a The secondary tubular screw rotates in the opposite direction with the driving cylinder to prevent the primary tubular screw from entering the driving cylinder too deeply or too tightly and causing locking. The primary tubular screw and the secondary tubular screw rotate relatively, and the primary tubular screw drives the secondary tubular screw to retract downward into the primary tubular screw through the second internal thread and the second external thread. Similarly, when the secondary tubular screw retracts downward into the primary tubular screw and moves downward to the lower limit position, the fourth wedge-shaped buckle engages with the third wedge-shaped buckle. At this time, the secondary tubular screw cannot continue to retract downward into the primary tubular screw. Since the second wedge-shaped buckle engages with the first wedge-shaped buckle and the fourth wedge-shaped buckle engages with the third wedge-shaped buckle, the structure can play an anti-locking role.

In summary, the present invention can accurately control the injection volume of insulin solution, achieve high-precision drug delivery, significantly reduce the overall size, intelligently control the torque and speed of the power motor, reduce impact force, reduce electrical energy consumption, and also has an anti-lock function.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the initial state of the present invention when it is filled with insulin solution and is ready for injection.

FIG. 2 is a schematic diagram of an intermediate state during the insulin solution injection process of the present invention (the primary tubular screw moves upward to the upper limit position).

FIG3 is a schematic diagram of the present invention after the insulin solution injection is completed (the secondary tubular screw moves upward to the upper limit position).

FIG. 4 is a schematic diagram of an intermediate state during the process of refilling insulin solution according to the present invention (the primary tubular screw moves downward to the lower limit position).

FIG5 is a schematic diagram of the present invention after refilling of insulin solution is completed (the secondary tubular screw moves downward to the lower limit position).

FIG6 is a schematic diagram of the working state of the limit ring when the primary tubular screw and the secondary tubular screw return to the initial state after the insulin solution is refilled.

7 is a schematic elevation view of the position sensor, elastic conductor, first signal wire and conductive ball on the driving cylinder of the present invention.

FIG8 is a schematic diagram of the pyramid YOLO7 algorithm of the present invention performing rectangular window cropping on the w×h pixel key frame of the original input image.

FIG9 is a schematic diagram of performing YOLO7 target object detection on image A using the pyramid YOLO7 algorithm of the present invention.

FIG. 10 is a partial enlarged view of point A in FIG. 1 .

FIG. 11 is a partial enlarged view of point B in FIG. 7 .

DETAILED DESCRIPTION

The embodiments of the present invention are further described below with reference to the accompanying drawings.

As shown in Figures 1-11, a refill screw pump for insulin injection includes a shell 1, a refill injection mechanism, a primary screw telescopic mechanism, a secondary screw telescopic mechanism, a power device, a power module and an intelligent control module. The refill injection mechanism, the primary screw telescopic mechanism and the secondary screw telescopic mechanism are coaxially and vertically arranged on the left side of the shell, the power device, the power module and the intelligent control module are all arranged on the right side of the shell 1, the power device is transmission-connected to the primary screw telescopic mechanism, the power device drives the primary screw telescopic mechanism to telescope, the secondary screw telescopic mechanism is installed inside the primary screw telescopic mechanism and is transmission-connected to the primary screw telescopic mechanism, the primary screw telescopic mechanism drives the secondary screw telescopic mechanism to telescope, the refill injection mechanism is arranged on the upper part of the secondary screw telescopic mechanism and is connected to the telescopic end of the secondary screw telescopic mechanism, the shell 1 is provided with a key operation module 2, the primary screw telescopic mechanism is provided with a sensor assembly, the power module provides power to the power device and the intelligent control module respectively, and the intelligent control module is signal-connected to the power device, the key operation module 2 and the sensor assembly respectively.

The bottom of the shell 1 is open and fixedly connected to the bottom cover 3. An injection cylinder 4 with a pen holder structure is vertically integrated on the left side inside the shell 1. The upper end of the injection cylinder 4 passes through the top of the shell 1 upward, and the lower end of the injection cylinder 4 extends downward to the lower left part of the shell 1. An electrical inner cavity 5 is provided in the lower right part of the shell 1. The power module and the intelligent control module are arranged in the electrical inner cavity 5, and the power device is arranged in the upper right part of the shell 1.

The refill injection mechanism includes a refill 6 and a refill piston 7. The refill 6 is coaxially fixedly embedded in the syringe 4. The outer circle of the refill 6 is in close contact with the inner circle of the syringe 4. The lower end of the refill 6 is open. The lower end of the refill 6 is located in the syringe 4 and close to the lower end of the syringe 4. The upper end of the refill 6 is integrally formed with a T-shaped hollow cylindrical head 8 that is larger at the top and smaller at the bottom. The maximum circumferential diameter of the T-shaped hollow cylindrical head 8 is smaller than the diameter of the refill 6. The lower end of the T-shaped hollow cylindrical head 8 is connected to the upper end of the refill 6 through a truncated cone 9 that is thin at the top and thick at the bottom. The upper end of the syringe 4 is coaxially threadedly connected with a needle cap 10. The T-shaped hollow cylindrical head 8 is embedded in the needle cap 10. The top center of the needle cap 10 is coaxially integrally formed. There is a cylindrical protrusion 11, and a first center hole is vertically opened in the center of the cylindrical protrusion 11. An injection hose 12 is coaxially fixedly embedded in the first center hole. The upper end of the injection hose 12 extends out of the upper end of the cylindrical protrusion 11 and is connected to an injection needle. A second center hole coaxial with the first center hole is opened in the center of the needle cap 10. The inner diameter of the second center hole is smaller than the inner diameter of the first center hole. The upper end of the second center hole is connected to the lower end of the first center hole. A needle tube 13 is coaxially fixedly embedded in the second center hole. The needle tube 13 coaxially penetrates the T-shaped hollow cylindrical head 8 and extends into the T-shaped hollow cylindrical head 8. The lower end of the needle tube 13 is connected to the inside of the pen core 6, and the core piston 7 is coaxially sealed and slidably arranged in the pen core 6.

The primary screw telescopic mechanism includes a primary fixed rod 15, a primary tubular screw 16 and a driving cylinder 17. The outer edge of the upper surface of the fixed seat 14 is integrally formed with a circular convex edge 18. A third center hole is opened in the center of the fixed seat 14. The primary fixed rod 15 is coaxially arranged below the injection barrel 4. The upper end of the primary fixed rod 15 is located at the center of the lower end of the injection barrel 4. The lower end of the primary fixed rod 15 is fixedly connected to the third center hole. The primary tubular screw 16 is coaxially sleeved on the outside of the primary fixed rod 15. The driving cylinder 17 is coaxially sleeved on the outside of the primary tubular screw 16 and is arranged between the injection barrel 4 and the fixed seat 14. The upper end of the driving cylinder 17 is rotatably connected to the lower end of the injection barrel 4. The lower end of the driving cylinder 17 is rotatably connected to the circular convex edge 18. The inner diameter of the driving cylinder 17 is smaller than the inner diameter of the refill 6. The inner circle of the upper end of the driving cylinder 17 is provided with a first internal thread 19. The outer circle of the primary tubular screw 16 is A first external thread 20 threadably matched with the first internal thread 19 is axially provided, a second internal thread 21 is provided on the inner circle of the upper end of the primary tubular screw 16, the lower end of the primary tubular screw 16 is flush with the lower end of the driving cylinder 17 and is higher than the upper surface of the fixing seat 14, the upper end of the primary tubular screw 16 is higher than the upper end of the driving cylinder 17, the outer circle of the upper end of the primary tubular screw 16 is fixedly sleeved with a limiting ring 22 located above the upper end of the driving cylinder 17, the upper end surface of the driving cylinder 17 is provided with a first wedge-shaped buckle 23 convex upward, the lower end surface of the limiting ring 22 is provided with a second wedge-shaped buckle 24 convex downward, when the primary tubular screw 16 is retracted downward into the driving cylinder 17 and moves downward to the lower limit position, the second wedge-shaped buckle 24 meshes with the first wedge-shaped buckle 23, the upper end surface of the limiting ring 22 is provided with a third wedge-shaped buckle 25 convex upward, and the outer circumference of the upper end of the driving cylinder 17 is fixedly sleeved with a driving gear 26;

The secondary screw telescopic mechanism includes a secondary fixed sleeve 27 and a secondary tubular screw 28. The secondary fixed sleeve 27 is coaxially slidably sleeved on the primary fixed rod 15. The secondary tubular screw 28 is coaxially slidably sleeved on the secondary fixed sleeve 27 and is located in the primary tubular screw 16. The outer circle of the secondary tubular screw 28 is axially provided with a second external thread 29 threadably matched with the second internal thread 21. The upper end of the secondary fixed sleeve 27 is flush with the upper end of the primary fixed rod 15, and the lower end of the secondary fixed sleeve 27 is flush with the lower end of the primary tubular screw 16. The upper end of the secondary tubular screw 28 is higher than the upper end of the primary tubular screw 16 and is fixedly connected with a limiting screw plug 30 located above the limiting ring 22. The diameter of the limiting screw plug 30 is smaller than the inner diameter of the pen core 6. The top of the limiting screw plug 30 extends into the pen core 6 and is aligned with the bottom of the core piston 7. The fixing connection is that a fourth wedge-shaped buckle 31 convex downward is provided on the bottom outer edge of the limiting screw plug 30. When the secondary tubular screw 28 is retracted downward into the primary tubular screw 16 and moves downward to the lower limit position, the fourth wedge-shaped buckle 31 meshes with the third wedge-shaped buckle 25. The lower end of the secondary tubular screw 28 is higher than the lower end of the secondary fixed sleeve 27. The outer wall of the primary fixed rod 15 is axially provided with a first limiting card groove 32 open at the lower side and the outer side. The inner wall of the lower end portion of the secondary fixed sleeve 27 is integrally formed with a first limiting card block 33 correspondingly slidably clamped in the first limiting card groove 32. The outer wall of the secondary fixed sleeve 27 is axially provided with a second limiting card groove 34 open at the lower side and the outer side. The inner wall of the lower end portion of the secondary tubular screw 28 is integrally formed with a second limiting card block 35 correspondingly slidably clamped in the second limiting card groove 34.

The first internal thread 19 , the first external thread 20 , the second internal thread 21 , and the second external thread 29 are all trapezoidal threads with the same pitch.

The power device includes a power motor 36, which is fixedly installed on the upper right part of the shell 1. The output shaft of the power motor 36 is vertically arranged on the lower side of the power motor 36. A motor gear 37 is coaxially fixedly installed on the lower end of the output shaft of the power motor 36. The motor gear 37 is located on the right side of the driving gear 26 and is meshed and connected with the driving gear 26. The power module is electrically connected to the power motor 36, and the intelligent control module is signal-connected to the power motor 36.

The sensor assembly includes a position sensor 38, which is arranged on the lower side of the trapezoidal thread at the lower end of the first internal thread 19. A harness channel 39 is axially provided on the cylinder body of the driving cylinder 17 corresponding to the position sensor 38. A mounting hole 40 having a diameter larger than that of the harness channel 39 is coaxially provided at the lower end of the harness channel 39. The lower end of the mounting hole 40 is provided on the lower end surface of the driving cylinder 17. An elastic conductor 41 is fixedly provided in the upper part of the mounting hole 40. A first signal wire 42 is passed through each harness channel 39. The first signal wire 42 is provided with a The upper end is connected to the position sensor 38, the lower end of the first signal wire 42 is connected to the elastic conductor 41, the lower end of the elastic conductor 41 is fixedly connected to a conductive ball 43 located in the lower part of the mounting hole 40, the lower side of the conductive ball 43 protrudes downward from the lower port of the mounting hole 40, and a conductive sheet 44 is fixedly provided on the upper surface of the fixing seat 14, and the conductive sheet 44 is respectively in rolling contact with the conductive ball 43 above and below, and the conductive sheet 44 is connected to the intelligent control module signal through a second signal wire that passes through the lower surface of the fixing seat 14 and is introduced into the electrical inner cavity 5.

The refill 6 is made of a transparent material, and a camera embedded in the inner wall of the syringe 4 and equipped with its own light is provided in the middle of the outer wall of the refill 6 . The power module is electrically connected to the camera, and the intelligent control module is signal connected to the camera.

The intelligent control module is a microcomputer with an embedded processor. The intelligent control module also has a built-in soft limit of the secondary screw telescopic mechanism. Its soft limit parameters are determined by the geometric parameters of the primary tubular screw 16 and the secondary tubular screw 28: pitch, total length and working length. Therefore, when the second limit block on the inner wall of the lower end of the secondary tubular screw 28 slides upward to the upper end of the second limit slot and is pulled, and the secondary tubular screw 28 shrinks downward into the primary tubular screw 16 and moves down to the lower limit position, the intelligent control module immediately controls the power motor 36 to stop rotating.

The power module, intelligent control module, injection needle and camera are not shown in the figure. The power module, intelligent control module, key operation module 2, power motor 36, injection needle and camera are all conventional technologies, and the specific structure and working principle are not repeated. The built-in control and calculation methods of the intelligent control module of the present invention are conventional technologies and do not involve new computer programs.

Using the above technical solution, a method for intelligently controlling a cartridge-type insulin screw injection pump specifically comprises the following steps:

(i) Start the screw pump of the cartridge, operate the key operation module 2, and the intelligent control module controls the power device to work. The power device drives the primary screw telescopic mechanism and the secondary screw telescopic mechanism to contract, and the prefabricated insulin solution is filled into the cartridge injection mechanism;

(ii) Operation button operation module 2, the intelligent control module controls the power device to work, the power device drives the first-stage screw telescopic mechanism to extend first, when the first-stage screw telescopic mechanism extends to the limit, the sensor assembly transmits a signal to the intelligent control module, the intelligent control module controls the power device to reduce the speed to reduce the impact force of the first-stage screw telescopic mechanism, then the second-stage screw telescopic mechanism begins to extend, until the second-stage screw telescopic mechanism extends to the maximum limit position, the intelligent control module controls the power device to stop; during the extension process of the first-stage screw telescopic mechanism and the second-stage screw telescopic mechanism, the pen core injection mechanism injects insulin solution.

(iii) After the insulin solution injection is completed, repeat step (i), refill the insulin solution and prepare for the next injection.

Step (i) is specifically as follows: turn on the power module, initialize the intelligent control module, insert the injection needle into the insulin injection bottle, operate the button operation module 2, the intelligent control module controls the power motor 36 to reverse, the output shaft of the power motor 36 drives the drive cylinder 17 to reverse through the motor gear 37 and the drive gear 26, the drive cylinder 17 drives the primary tubular screw 16 to retract downward into the drive cylinder 17 through the first internal thread 19 and the first external thread 20, the primary tubular screw 16 drives the secondary fixed sleeve 27 and the secondary tubular screw 28 to move downward relative to the primary fixed rod 15, the secondary tubular screw 28 drives the limit screw plug 30 and the core piston 7 to move downward, so that the core piston 7 can draw the insulin liquid in the insulin injection bottle into the pen core 6 through the injection needle, the injection hose 12 and the needle tube 13, when the primary tubular screw 16 retracts downward into the drive cylinder 17 and moves down to the lower limit position, the second wedge buckle 24 engages with the first wedge buckle 23, and the primary tubular screw 16 cannot Continuing to move downward, the driving cylinder 17 drives the primary tubular screw 16 to rotate in the opposite direction through the first wedge-shaped buckle 23 and the second wedge-shaped buckle 24, and the primary tubular screw 16 rotates relatively with the secondary tubular screw 28. The primary tubular screw 16 drives the secondary tubular screw 28 to retract downward into the primary tubular screw 16 through the second internal thread 21 and the second external thread 29. The secondary tubular screw 28 continues to drive the limiting screw plug 30 and the core piston 7 to move downward, and the core piston 7 continues to draw the insulin solution in the insulin injection bottle into the pen core 6 through the injection needle, the injection hose 12 and the needle tube 13. When the secondary tubular screw 28 retracts downward into the primary tubular screw 16 and moves downward to the lower limit position, the fourth wedge-shaped buckle 31 engages with the third wedge-shaped buckle 25, and the secondary tubular screw 28 cannot continue to move downward. The intelligent control module immediately controls the power motor 36 to stop rotating, and the pen core 6 is filled with insulin solution, completing the insulin solution filling operation, replacing a new injection needle, and preparing for injection.

Step (ii) is specifically as follows: operate the button operation module 2, the intelligent control module controls the power motor 36 to rotate forward, the output shaft of the power motor 36 drives the motor gear 37 to rotate, the motor gear 37 meshes with the transmission drive gear 26, and the drive gear 26 drives the drive cylinder 17 to rotate forward, the drive cylinder 17 and the primary tubular screw 16 rotate relative to each other, the drive cylinder 17 drives the primary tubular screw 16 to extend upward from the drive cylinder 17 through the first internal thread 19 and the first external thread 20, the primary tubular screw 16 drives the secondary fixed pipe sleeve 27 and the secondary tubular screw 28 to move upward relative to the primary fixed rod 15, the first limiting block 33 on the inner wall of the lower end of the secondary fixed pipe sleeve 27 slides upward along the first limiting groove 32 on the outer wall of the primary fixed rod 15, and the secondary tubular screw 28 pushes the limiting screw plug 30 and the core activity The plug 7 moves upward, so that the core piston 7 pushes out the insulin liquid in the pen core 6 and injects it through the needle tube 13, the injection hose 12 and the injection needle. Since the first internal thread 19, the first external thread 20, the second internal thread 21 and the second external thread 29 are all trapezoidal threads with the same pitch, the driving cylinder 17 rotates one circle to realize the primary tubular screw 16 moving upward by a pitch length, and the conductive ball 43 rolls and contacts with the conductive sheet 44 once, then the position sensor 38 transmits the signal to the intelligent control module once, and the intelligent control module obtains the rotation number information of the driving cylinder 17 by collecting the signal of the position sensor 38. The intelligent control module obtains the upward movement distance of the primary tubular screw 16 according to the rotation number of the driving cylinder 17. At the same time, the intelligent control module adopts a pyramid YOL The O7 algorithm processes the image collected by the camera, identifies the position of the core piston 7, and then measures the injected amount of insulin solution in the pen core 6. The intelligent control module controls the power motor 36 to change the torque and speed to reduce the impact force between the primary tubular screw 16 and the drive cylinder 17 until the primary tubular screw 16 moves upward to the upper limit position, that is, the primary tubular screw 16 and the drive cylinder 17 can no longer continue to rotate relative to each other. At the same time, when the first limit block 33 slides upward to the upper end of the first limit slot 32 and is pulled, the primary tubular screw 16 and the drive cylinder 17 are connected in a transmission manner. The movement form of the primary tubular screw 16 changes from moving up and down in the vertical direction to rotating with the drive cylinder 17. Then, the primary tubular screw 16 rotates relative to the secondary tubular screw 28, and the primary tubular screw 1 The secondary tubular screw 28 is driven to extend upward from the primary tubular screw 16 through the second internal thread 21 and the second external thread 29, and the secondary tubular screw 28 moves upward relative to the secondary fixed sleeve 27, and the secondary tubular screw 28 continues to push the limiting screw plug 30 and the core piston 7 to move upward, and the core piston 7 continues to push out the insulin liquid in the pen core 6 and inject it through the needle tube 13, the injection hose 12 and the injection needle. When the second limiting block 35 on the inner wall of the lower end of the secondary tubular screw 28 slides upward to the upper end of the second limiting groove 34 and is pulled, the secondary tubular screw 28 moves upward to its upper limit position, the primary tubular screw 16 and the secondary tubular screw 28 cannot continue to rotate relative to each other, the intelligent control module controls the power motor 36 to stop rotating, and the entire insulin liquid injection process is completed.

The intelligent control module controls the power motor 36 to change the torque and speed as follows:

A) When the intelligent control module collects the signal of the position sensor 38 for the first set number of times, the rotation number of the drive tube 17 reaches the first set number of times, and the primary tubular screw 16 moves upward and begins to approach its upper limit position. At the same time, the intelligent control module measures through the camera that the injected amount of insulin liquid in the pen core 6 is greater than one-third and begins to approach one-half. The intelligent control module controls the driving current of the power motor 36 to increase to 125% of the standard state (50mA), increases the torque of the power motor 36, and reduces the speed of the power motor 36 to 80% of the standard state (200rpm/Sec) through PWM speed regulation;

B) The drive cylinder 17 continues to rotate forward. When the number of times the intelligent control module collects the signal of the position sensor 38 reaches the second set number, the number of rotations of the drive cylinder 17 reaches the second set number, and the primary tubular screw 16 moves upward further to its upper limit position state. At the same time, the intelligent control module recognizes through the camera that the core piston 7 moves further upward, and measures that the injected amount of insulin liquid in the pen core 6 is closer to one-half. The intelligent control module controls the driving current of the power motor 36 to increase to 150% of the standard state (50mA), increases the torque of the power motor 36, and reduces the speed of the power motor 36 to 60% of the standard state (200rpm/Sec) through PWM speed regulation;

C) The drive cylinder 17 continues to rotate forward. When the number of times the intelligent control module collects the position sensor 38 signal reaches the third set number, the number of rotations of the drive cylinder 17 reaches the third set number, and the primary tubular screw 16 moves upward and is close to its upper limit position. At the same time, the intelligent control module recognizes through the camera that the core piston 7 moves further upward, and measures that the injected amount of insulin liquid in the pen core 6 is close to one-half. The intelligent control module controls the driving current of the power motor 36 to increase to 200% of the standard state (50mA), increases the torque of the power motor 36, and reduces the speed of the power motor 36 to 20% of the standard state (200rpm/Sec) through PWM speed regulation, reducing the impact force of the primary tubular screw 16 and the drive cylinder 17;

D) The drive cylinder 17 continues to rotate forward. When the number of position sensor signals collected by the intelligent control module reaches the fourth set number, the number of rotations of the drive cylinder 17 reaches the fourth set number, and the primary tubular screw 16 moves upward to its upper limit position. At the same time, the intelligent control module recognizes through the camera that the core piston 7 moves further upward, and measures that the injected amount of insulin solution in the pen core 6 has further reached one-half. The intelligent control module controls the driving current of the power motor 36 to increase to 300% of the standard state (50mA), increases the torque of the power motor 36, and reduces the speed of the power motor 36 to 5% of the standard state (200rpm/Sec) through PWM speed regulation, further reducing the impact force of the primary tubular screw 16 and the drive cylinder 17.

The input image of the pyramid YOLO7 algorithm is the image captured by the camera. The resolution of the real-time monitoring screen image of the camera is w×h pixels, w is 1280 pixels, and h is 720 pixels. The pyramid YOLO7 algorithm performs rectangular window cropping on the w×h pixel key frame of the original input image. The starting point and end point of the rectangular window cropping are marked as A (x ₁ , y ₁ ) and B (x ₂ , y ₂ ) respectively. The starting point A (x ₁ , y ₁ ) and the end point B (x ₂ , y ₂ ) are determined as follows:

(1) Analyze the historical detection data and obtain the coordinates of the maximum circumscribed rectangular area of the target object hotspot marked by the adaptive weight pyramid YOLO7 algorithm in the last 7 days, which are marked as _S1 {( _x11 , _y11 ), ( _x21 , _y21 )}, _S2 {( _x12 , _y12 ), ( _x22 , _y22 )}, _S3 {( _x13 , _y13 ), ( _x23 , _y23 )}, _Sn {( _x1n , _y1n ), ( _x2n , _y2n )};

(2) Sort x ₁₁ , x ₁₂ , x ₁₃ , …, x _1n from small to large, and take the first 50% of the data series, denoted as ; Calculate the X-direction coordinate of the starting point A (x ₁ , y ₁ ), as shown in the following formula 1):

In the above formula 1), [n/2] is n/2 rounded down; similarly, sort y ₁₁ , y ₁₂ , y ₁₃ , …, y _1n from small to large, and take the first 50% of the data series, recorded as , calculate the Y-direction coordinate of the starting point A (x ₁ , y ₁ ), as shown in the following formula 2):

Determine whether the calculated coordinates of _x1 and _y1 are out of bounds. If the value of _x1 or _y1 is less than 1, then the value of _x1 or _y1 is 1, otherwise it is rounded down.

(3) Sort x ₂₁ , x ₂₂ , x ₂₃ , …, x _2n from large to small, and take the first 50% of the data series, denoted as ; Calculate the X-direction coordinate of the end point B (x ₂ , y ₂ ), as shown in the following formula 3):

Similarly, sort y ₂₁ , y ₂₂ , y ₂₃ , …, y _2n from large to small, and take the first 50% of the data series, recorded as , calculate the Y-direction coordinate of the end point B (x ₂ , y ₂ ), as shown in the following formula 4):

Determine whether the calculated coordinates of _x2 and _y2 are out of bounds. If _x2 is greater than 1280, then the value of _x2 is 1280. If the value of _y2 is greater than 720, then the value of _y2 is 720. Otherwise, they are rounded down.

(4) If the cumulative number of days of historical data is less than 7 days, the coordinates of the starting point A are set to (1, 1), and the coordinates of the end point B are set to (1280, 720), that is, _x1 = ₁ , x2 = 1280, _y1 = 1, _y2 = 720.

The process of image processing by the pyramid YOLO7 algorithm is as follows:

(I) When the 6-screw pump of the pen core is injecting insulin solution, the intelligent control module obtains the image collected by the camera every 10ms, and the pyramid YOLO7 algorithm determines whether the image threshold is greater than 5ml/hour. If it is greater than 5ml/hour, it proceeds to the next step (II), otherwise it continues to execute the current step (I);

(II) If the current injection volume is less than half of the capacity of the refill 6, obtain the image of the key frame of the camera at the current moment after being cropped through the rectangular window, which is recorded as image A; take the current moment as the starting point, obtain the images of the key frames of the previous 500ms and the previous 2 seconds after being cropped through the rectangular window, which are recorded as images B and C respectively, and proceed to the next step (III);

(III) First, the pyramid YOLO7 algorithm performs YOLO7 target object detection on image A, and calculates the maximum probability that the injection volume is less than or equal to 0, greater than 0 and less than 1/2, and 1 in the current image, which is marked as P{a, b, c}. The YOLO7 algorithm has been trained offline in advance for the above three targets; further, the image A is divided into two equal parts in length and width, and divided into four sub-images _A1 , _A2 , _A3 and _A4 , and the maximum probability that the injection volume is less than or equal to 0, greater than 0 and less than 1/2, and 1 in the current sub-image is calculated respectively, which are marked as _P1 , _P2 , _P3 and _P4 . The _P1 , _P2 , _P3 and _P4 are also three-dimensional vectors like the P; the maximum value of each dimension of _P1 , _P2 , _P3 and _P4 of the four sub-images is screened, which is recorded as _P5 {d, e, f}; further, the image A is divided into 4 equal parts in length and width, and is divided into 16 sub-images of A ₁₁ ...A ₄₄ , and the maximum probability of the existence of three types of targets less than or equal to 0, greater than 0 and less than 1/2, and 1 in the current sub-image is calculated respectively, and is marked as P ₁₁ ...P ₄₄ , and the P ₁₁ ...P ₄₄ is also a three-dimensional vector like the P; the maximum value of each dimension of P ₁₁ ...P ₄₄ of the 16 sub-images is screened, and is recorded as P ₅₅ {g, h, i}; after identification by the three-layer pyramid YOLO7 algorithm, the final target detection probability P _A of the image A is as follows:

Among them, w1…w9 are weights, and their values change dynamically with the detection results of YOLO7. They are calculated as follows:

(IV) Next, refer to the pyramid YOLO7 method for adaptive weighting of image A, process images B and C, and obtain the final target detection probability of images B and C, which are recorded as _PB and _PC ;

(V) Take out the maximum values of the dimensions of the final target detection probabilities _PA , _PB and _PC corresponding to the three images A, B and C, and use the maximum value judgment principle to obtain the final detection results of the injection speed and injection volume at the current moment, that is, less than or equal to 0, greater than 0 and less than 1/2, and 1. For example, when the calculation results are _PA = {1, 0, 0}, _PB = {0.56, 0.16, 0}, _PC = {0.46, 0.09, 0}, the maximum values of the dimensions of _PA , _PB and _PC appear in the first dimension, so according to the maximum value judgment principle, it is judged that the current injection situation is less than or equal to 0;

(VI) After the detection is completed, re-enter the next round of detection and transfer to step (I) for processing.

The inner circle of the upper end of the driving cylinder 17 of the present invention is provided with a first internal thread 19, the outer circle of the primary tubular screw 16 is axially provided with a first external thread 20 that is threadably matched with the first internal thread 19, the inner circle of the upper end of the primary tubular screw 16 is provided with a second internal thread 21, and the outer circle of the secondary tubular screw 28 is axially provided with a second external thread 29 that is threadably matched with the second internal thread 21. The first internal thread 19, the first external thread 20, the second internal thread 21 and the second external thread 29 are all trapezoidal threads with the same pitch. Then, one rotation of the driving cylinder 17 can realize that the primary tubular screw 16 or the secondary tubular screw 28 extends or contracts by a length of one pitch, can accurately control the injection amount of insulin solution, realize high-precision drug delivery, and significantly reduce the overall size. Then, during the entire insulin solution injection process, the intelligent control module can calculate the number of rotations of the driving cylinder 17 by collecting the signal of the position sensor 38, and the intelligent control module obtains the upward movement distance of the primary tubular screw 16 according to the number of rotations of the driving cylinder 17. At the same time, the intelligent control module uses the pyramid YOLO7 algorithm to collect the camera The image is processed to identify the position of the core piston 7, and then the amount of insulin solution injected in the pen core 6 is measured. The intelligent control module controls the power motor 36 to change the torque and speed to reduce the impact between the primary tubular screw 16 and the drive cylinder 17; the intelligent control module also has a built-in soft limit of the secondary screw telescopic mechanism, and its soft limit parameters are determined by the geometric parameters of the primary tubular screw 16 and the secondary tubular screw 28: pitch, total length and working length. Therefore, the second limit block on the inner wall of the lower end of the secondary tubular screw 28 is upward When it slides to the upper end of the second limit slot and is pulled, and the secondary tubular screw 28 shrinks downward into the primary tubular screw 16 and moves down to the lower limit position, the intelligent control module immediately controls the power motor 36 to stop rotating, to prevent the secondary tubular screw 28 from being tightened or the secondary tubular screw 28 from entering the primary tubular screw 16 too tightly and causing locking, and also to prevent the power motor 36 from being overloaded and causing its output shaft to be damaged due to excessive torque, thereby protecting the power motor 36, the primary tubular screw 16 and the secondary tubular screw 28.

When the present invention is filled with insulin liquid, the power motor 36 drives the driving cylinder 17 to reverse through the motor gear 37 and the driving gear 26, so that the primary tubular screw 16 shrinks downward into the driving cylinder 17. Since the upper end outer circle of the primary tubular screw 16 is fixedly sleeved with a limiting ring 22 located above the upper end of the driving cylinder 17, the upper end surface of the driving cylinder 17 is provided with a first wedge-shaped buckle 23 convex upward, the lower end surface of the limiting ring 22 is provided with a second wedge-shaped buckle 24 convex downward, the upper end surface of the limiting ring 22 is provided with a third wedge-shaped buckle 25 convex upward, and the bottom outer edge of the limiting screw plug 30 is provided with a fourth wedge-shaped buckle 31 convex downward. When the primary tubular screw 16 shrinks downward into the driving cylinder 17 and moves downward to the lower limit position, the second wedge-shaped buckle 24 meshes with the first wedge-shaped buckle 23. At this time, a The first-stage tubular screw 16 rotates in the opposite direction with the driving cylinder 17 to prevent the first-stage tubular screw 16 from entering the driving cylinder 17 too deeply or too tightly to cause locking. The first-stage tubular screw 16 and the second-stage tubular screw 28 rotate relatively, and the first-stage tubular screw 16 drives the second-stage tubular screw 28 to retract downward into the first-stage tubular screw 16 through the second internal thread 21 and the second external thread 29. Similarly, when the second-stage tubular screw 28 retracts downward into the first-stage tubular screw 17 and moves downward to the lower limit position, the fourth wedge-shaped buckle 31 engages with the third wedge-shaped buckle 25. At this time, the second-stage tubular screw 28 cannot continue to retract downward into the first-stage tubular screw 16. Since the second wedge-shaped buckle 24 engages with the first wedge-shaped buckle 23 and the fourth wedge-shaped buckle 31 engages with the third wedge-shaped buckle 25, the structure can play an anti-locking role.

The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims (8)

1. A refill screw pump for insulin injection, characterized by: including a housing, a refill injection mechanism, a first-level screw telescopic mechanism, a second-level screw telescopic mechanism, a power unit, a power module and an intelligent control module. The pen The core injection mechanism, the first-level screw telescopic mechanism and the second-level screw telescopic mechanism are coaxially and vertically arranged on the left side of the casing. The power unit, power module and intelligent control module are all arranged on the right side of the casing. The power unit is connected to the first-level screw telescopic mechanism. The screw telescopic mechanism is transmission connected. The power unit drives the primary screw telescopic mechanism to telescope. The secondary screw telescopic mechanism is installed inside the primary screw telescopic mechanism and is transmission connected with the primary screw telescopic mechanism. The primary screw telescopic mechanism drives the secondary screw telescopic mechanism. Telescopic, the refill injection mechanism is set on the upper part of the secondary screw telescopic mechanism and is connected to the telescopic end of the secondary screw telescopic mechanism. The shell is provided with a button operation module. The primary screw telescopic mechanism is provided with a sensor assembly. The power module is respectively Provide power to the power unit and the intelligent control module, and the intelligent control module is connected to the power unit, the key operation module and the sensor component with signals respectively. 2. The refill screw pump for insulin injection according to claim 1, characterized in that: the bottom of the casing is open and fixedly connected with a bottom cover, and the left side of the casing is vertically integrally formed with a similar pen holder. The upper end of the syringe barrel extends upwards through the top of the casing, and the lower end of the syringe barrel extends downward to the lower left part of the casing. The lower right part of the casing is provided with an electrical inner cavity, and the power module and intelligent control module are arranged in the electrical cavity. In the cavity, the power device is arranged in the upper right part of the housing. 3. The refill screw pump for insulin injection according to claim 2, characterized in that: the refill injection mechanism includes a refill and a refill piston, the refill is coaxially fixed and embedded in the injection barrel, and the outer circle of the refill is It is in close contact with the inner circle of the syringe barrel. The lower end of the refill is open. The lower end of the refill is located in the syringe barrel and close to the lower end of the syringe barrel. The upper end of the refill is integrally formed with a T-shaped hollow cylindrical head that is large at the top and small at the bottom. , the maximum circumferential diameter of the T-shaped hollow cylindrical head is smaller than the diameter of the pen refill. The lower end of the T-shaped hollow cylindrical head is connected to the upper end of the pen refill through a cylindrical barrel that is thin at the top and thick at the bottom. The upper end of the syringe barrel is coaxially threaded and connected with a needle cap. , the T-shaped hollow cylindrical head is embedded in the needle cap. The top center of the needle cap is coaxially formed with a cylindrical protrusion. The center of the cylindrical protrusion has a first center hole along the vertical direction. The first center hole has the same The shaft is fixedly embedded with an injection hose. The upper end of the injection hose extends out of the upper end of the cylindrical protrusion and is connected to an injection needle. A second center hole coaxial with the first center hole is opened in the center of the needle cap. The inner diameter of the hole is smaller than the inner diameter of the first central hole. The upper end of the second central hole is connected to the lower end of the first central hole. A needle tube is coaxially fixed and embedded in the second central hole. The needle tube coaxially extends through the T-shaped hollow cylindrical head. After entering the T-shaped hollow cylindrical head, the lower end of the needle tube is connected with the inside of the pen core, and the core piston is coaxially sealed and slidably installed in the pen core. 4. The refill screw pump for insulin injection according to claim 3, characterized in that: the first-level screw telescopic mechanism includes a first-level fixed rod, a first-level tubular screw and a driving barrel, and the outer edge of the upper surface of the fixed seat One-piece molding has a ring convex edge, a third center hole is opened in the center of the fixed seat, the first-level fixed rod is coaxially arranged below the injection barrel, the upper end of the first-level fixed rod is located at the center of the lower end of the injection barrel, and the first-level fixed rod The lower end of the first-level tubular screw is fixedly connected in the third center hole, the first-level tubular screw is coaxially sleeved on the outside of the first-level fixed rod, and the driving barrel is coaxially sleeved on the outside of the first-level tubular screw and is set between the injection barrel and the fixed seat. , the upper end of the driving barrel is rotatably connected to the lower end of the syringe barrel, and the lower end of the driving barrel is rotatably connected to the convex edge of the ring. The inner diameter of the driving barrel is smaller than the inner diameter of the pen core. The upper end of the driving barrel is provided with a first internal thread in the inner circle. The outer circle of the first-stage tubular screw is provided with a first external thread that matches the first internal thread in the axial direction. The upper end of the first-stage tubular screw is provided with a second internal thread on the inner circle. The lower end of the first-stage tubular screw and the drive The lower end of the barrel is flush and higher than the upper surface of the fixed seat. The upper end of the first-stage tubular screw is higher than the upper end of the drive barrel. The upper end of the first-stage tubular screw is fixed with a limit ring located above the upper end of the drive barrel. , the upper end surface of the driving cylinder is provided with a first wedge-shaped buckle that projects upward, and the lower end surface of the limit ring is provided with a second wedge-shaped buckle that projects downward. When the first-stage tubular screw shrinks downward into the driving cylinder and moves down When reaching the lower limit position, the second wedge-shaped buckle meshes with the first wedge-shaped buckle, the upper end surface of the limit ring is provided with an upwardly protruding third wedge-shaped buckle, and the outer circumference of the upper end of the driving barrel is fixed with a driving gear; The secondary screw telescopic mechanism includes a secondary fixed pipe sleeve and a secondary tubular screw. The secondary fixed pipe sleeve is coaxially and slidingly sleeved on the primary fixed rod. The secondary tubular screw is coaxially slidably sleeved on the secondary fixed pipe sleeve. And it is located in the primary tubular screw. The outer circle of the secondary tubular screw is provided with a second external thread in the axial direction that matches the second internal thread. The upper end of the secondary fixed pipe sleeve is flush with the upper end of the primary fixed rod. Flat, the lower end of the secondary fixed pipe sleeve is flush with the lower end of the primary tubular screw. The upper end of the secondary tubular screw is higher than the upper end of the primary tubular screw and is fixedly connected with a limiting screw plug located above the limiting ring. , the diameter of the limit screw plug is smaller than the inner diameter of the pen core, the top of the limit screw plug extends into the pen core and is fixedly connected to the bottom of the core piston, the outer edge of the bottom of the limit screw plug is provided with a downwardly protruding third Four-wedge buckle. When the second-stage tubular screw shrinks downward into the first-stage tubular screw and moves down to the lower limit position, the fourth wedge-shaped buckle engages with the third wedge-shaped buckle. The lower end of the second-stage tubular screw is higher than the second-stage tubular screw. The lower end of the first-level fixed pipe sleeve, the outer wall of the first-level fixed rod has a first limiting slot with lower and outer openings along the axial direction, and the inner wall of the lower end of the second-level fixed pipe sleeve is integrally formed with a corresponding sliding clamp on The first limiting block in the first limiting slot, the outer wall of the secondary fixed pipe sleeve has a second limiting slot with lower and outer openings along the axial direction, the lower end of the secondary tubular screw The inner wall is integrally formed with a corresponding second limiting block that is slidably clamped in the second limiting slot; The first internal thread, the first external thread, the second internal thread and the second external thread are all trapezoidal threads with the same pitch. 5. The refill screw pump for insulin injection according to claim 4, characterized in that: the power device includes a power motor, the power motor is fixedly installed on the upper right part of the housing, and the output shaft of the power motor is vertically arranged on the power motor. On the lower side of the power motor, the lower end of the output shaft of the power motor is coaxially fixed with a motor gear. The motor gear is located on the right side of the drive gear and is engaged and transmission connected with the drive gear. The power module is electrically connected to the power motor, and the intelligent control module is signally connected to the power motor. . 6. The refill screw pump for insulin injection according to claim 4, characterized in that: the sensor assembly includes a position sensor, the position sensor is arranged on the lower side of the trapezoidal thread at the lower end of the first internal thread, and the barrel of the driving barrel The corresponding position sensor on the body has a wire harness channel along the axial direction. The lower end of the wire harness channel is coaxially provided with a mounting hole with a diameter larger than that of the wire harness channel. The lower port of the mounting hole is opened on the lower end face of the driving barrel. The upper part of the mounting hole is fixed with a The elastic conductor has a first signal wire running through the wire harness channel. The upper end of the first signal wire is connected to the position sensor. The lower end of the first signal wire is connected to the elastic conductor. The lower end of the elastic conductor is fixedly connected to the installation position. There is a conductive ball in the lower part of the hole. The lower side of the conductive ball protrudes downward from the lower port of the mounting hole. A conductive sheet is fixed on the upper surface of the fixed base. The conductive sheet is in rolling contact with the conductive ball up and down. The conductive sheet passes through a The second signal wire that passes through the lower surface of the fixed base and is introduced into the electrical cavity is connected to the signal of the intelligent control module. 7. The refill screw pump for insulin injection according to claim 6, characterized in that: the refill is made of transparent material, and the middle position of the outer wall of the refill is embedded with a light on the inner wall of the syringe barrel. The camera, the power module is electrically connected to the camera, and the intelligent control module is connected to the camera signal. 8. The refill screw pump for insulin injection according to claim 7, characterized in that: the intelligent control module is a microcomputer with an embedded processor, and the intelligent control module also has a built-in soft limiter of the secondary screw telescopic mechanism. position, its soft limit parameters are determined by the geometric parameters of the primary and secondary tubular screws: pitch, total length and working length. Therefore, the second limit card on the inner wall of the lower end of the secondary tubular screw When the block slides upward to the upper end of the second limit slot and is pulled, and the secondary tubular screw shrinks downward into the primary tubular screw and moves down to the lower limit position, the intelligent control module immediately controls the power motor to stop. Turn.