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WO2018173480A1 - Medicinal liquid administering device - Google Patents

Medicinal liquid administering device Download PDF

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Publication number
WO2018173480A1
WO2018173480A1 PCT/JP2018/002621 JP2018002621W WO2018173480A1 WO 2018173480 A1 WO2018173480 A1 WO 2018173480A1 JP 2018002621 W JP2018002621 W JP 2018002621W WO 2018173480 A1 WO2018173480 A1 WO 2018173480A1
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WO
WIPO (PCT)
Prior art keywords
unit
drive
drive motor
rotation
chemical
Prior art date
Application number
PCT/JP2018/002621
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French (fr)
Japanese (ja)
Inventor
勝平 佐々木
Original Assignee
テルモ株式会社
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Publication date
Application filed by テルモ株式会社 filed Critical テルモ株式会社
Priority to JP2019507398A priority Critical patent/JPWO2018173480A1/en
Publication of WO2018173480A1 publication Critical patent/WO2018173480A1/en

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  • the present invention relates to a chemical solution administration device, and more particularly to a chemical solution administration device for performing continuous chemical solution administration such as an insulin pump.
  • a drug solution is continuously administered into a patient's body by subcutaneous injection or intravenous injection.
  • a treatment in which a minute amount of insulin is continuously infused into the body of the patient is performed.
  • a portable portable drug solution administration device (so-called insulin pump) fixed to the patient's body or clothes is used.
  • a syringe pump type device having a syringe for storing a chemical solution and a pusher driven inside the syringe has been proposed.
  • a pusher operation unit is connected to the pusher, and the driving force from the drive motor is transmitted to the pusher via this pusher operation unit (see, for example, Patent Document 1). Further, when the syringe is filled with the chemical solution, the connection between the pusher and the pusher operation unit is disconnected. And when a chemical
  • the drive speed of the drive motor is set to be slow in order to increase the torque of the drive motor in accordance with the maximum load value. Further, the drive speed of this drive motor was constant during preparation for drug solution administration. As a result, the conventional drug solution administration device has a problem that the time required for preparation for drug solution administration becomes long.
  • An object of the present invention is to provide a drug solution administration device that can reduce the time required for preparation for drug solution administration in consideration of the above-described problems.
  • a chemical liquid administration device of the present invention includes a chemical liquid storage unit filled with a chemical solution, a pusher member, a pusher operation unit, a drive unit, and rotation detection. Part and a control part.
  • the pusher member pushes out the chemical liquid filled in the chemical liquid storage section.
  • the pusher operation unit manipulates the movement of the pusher member.
  • the driving unit applies a driving force to the pusher operation unit.
  • the rotation detection unit detects the rotation of the drive unit.
  • the control unit controls driving of the driving unit.
  • the control unit detects a load applied to the drive unit based on the rotation signal of the drive unit detected by the rotation detection unit, and changes the torque generated by the drive unit.
  • the time required for preparation for drug solution administration can be shortened.
  • FIG. 1 is an exploded perspective view showing a drug solution administration device
  • FIG. 2 is a plan view showing the drug solution administration device.
  • the device shown in FIG. 1 is a portable insulin pump for continuously administering a drug solution into a patient's body, such as a patch-type or tube-type insulin pump, or other portable drug solution administration device.
  • the drug solution administration device 1 includes a drug solution administration unit 2, a cradle device 3 to which the drug solution administration unit 2 is detachably attached, and a connection port 6 to be attached to the cradle device 3.
  • the cradle device 3 is provided with a mounting portion 5 to which the connection port 6 is mounted.
  • the connection port 6 has a cannula 6a.
  • the connection port 6 is attached to the attachment portion 5 by sticking the cradle device 3 to the patient's skin and using a puncture mechanism (not shown).
  • a puncture mechanism not shown.
  • connection port 6 is accommodated in the rear surface storage portion of the casing 11 of the chemical solution administration unit 2 described later when the chemical solution administration unit 2 is installed in the state of being attached to the cradle device 3. And the connection port 6 is connected to the liquid feeding piping 19 of the chemical
  • the drug solution administration unit 2 includes a housing 11, a lid body 12, a drug solution storage unit 13, a transmission mechanism 14, a drive motor 15 that shows an example of a drive unit, a notification unit 16, and a power supply unit 17. ing.
  • the medicinal solution administration unit 2 includes a pusher member 18 that pushes out the medicinal solution filled in the medicinal solution storage unit 13, a liquid feeding pipe 19, a rotation detection unit 21, and a pusher operation unit 22 that operates the pusher member 18. ,have.
  • the housing 11 is formed in a hollow, substantially rectangular parallelepiped shape that is open on one side.
  • a first storage portion 11 a and a second storage portion 11 b are formed on the surface on the opening side of the housing 11, and a back surface storage portion is formed on the surface opposite to the front surface of the housing 11.
  • a drive motor 15, a power supply unit 17, a rotation detection unit 21, and a part of the transmission mechanism 14 are stored in the first storage unit 11a.
  • the second storage unit 11b stores the chemical solution storage unit 13, the pusher member 18, the pusher operation unit 22, and a part of the transmission mechanism 14.
  • the second storage part 11b is provided with a first bearing part 11c and a second bearing part 11d.
  • the 1st bearing part 11c and the 2nd bearing part 11d protrude toward the opening from the bottom face part of the 2nd accommodating part 11b.
  • a feed screw shaft 22b of a pusher operation unit 22 described later is rotatably supported by the first bearing unit 11c. Further, the shaft portion 23a of the operation gear 23 in the pusher operation portion 22 described later is rotatably supported by the second bearing portion 11d.
  • the lid 12 is formed in a substantially flat plate shape.
  • the lid 12 covers the first storage portion 11 a and the second storage portion 11 b formed on the surface of the housing 11 and closes the opening of the housing 11.
  • a transmission mechanism 14, a drive motor 15, a notification unit 16, a power supply unit 17, and a rotation detection unit 21 are attached to the lid 12.
  • the chemical solution storage unit 13 is formed in a cylindrical shape in which one end in the axial direction is closed and the other end in the axial direction is opened. A chemical solution is stored in the cylindrical hole 13 c of the chemical solution storage unit 13. A liquid feeding port 13 a and a filling port 13 b are formed at one end of the chemical liquid storage unit 13 in the axial direction.
  • the liquid supply port 13 a is connected to the liquid supply pipe 19.
  • the end of the liquid supply pipe 19 opposite to the liquid supply port 13 a is connected to the connection port 6.
  • the connection port 6 is punctured and placed in the patient's living body.
  • medical solution storage part 13 is discharged
  • a filling device (not shown) is connected to the filling port 13b. And a chemical
  • a pusher member 18 is slidably inserted into the cylindrical hole 13c of the chemical solution storage unit 13.
  • the pusher member 18 has a gasket 18a and a shaft portion 18b.
  • the gasket 18 a is slidably disposed in the cylindrical hole 13 c of the chemical liquid storage unit 13. The gasket 18a moves while being in liquid tight contact with the inner peripheral surface of the cylindrical hole 13c of the chemical solution storage unit 13.
  • the shape of the front end portion of the gasket 18a is formed corresponding to the shape of one end side in the axial direction of the cylindrical hole 13c of the chemical solution storage portion 13.
  • a shaft portion 18b is provided on the opposite side of the tip of the gasket 18a.
  • the shaft portion 18 b extends outward from an opening formed at the other end in the axial direction of the chemical solution storage portion 13.
  • a connecting portion 18c that is connected to a connecting nut 22c of a pusher operating portion 22 described later is provided at the end of the shaft portion 18b opposite to the gasket 18a.
  • the pusher operation unit 22 includes an operation gear 23, a feed screw shaft 22b, and a connection nut 22c.
  • the operation gear 23 meshes with a gear of the transmission mechanism 14 described later. Further, one end of the shaft portion 23a of the operation gear 23 is connected to an end portion in the axial direction of the feed screw shaft 22b. Furthermore, the other end of the shaft portion 23a of the operation gear 23 is rotatably supported by the second bearing portion 11d.
  • the feed screw shaft 22b is rotatably supported by the first bearing portion 11c. Further, the feed screw shaft 22b is arranged such that its axial direction is parallel to the shaft portion 18b. That is, the feed screw shaft 22b is arranged in parallel with the moving direction of the pusher member 18. A connecting nut 22c is screwed to the feed screw shaft 22b.
  • the connecting nut 22c When the connecting nut 22c is housed in the housing 11, the rotation of the feed screw shaft 22b around the circumferential direction is restricted. Thereby, when the operation gear 23 rotates and the feed screw shaft 22b rotates, the connecting nut 22c moves along the axial direction of the feed screw shaft 22b. After the connecting portion 18c of the pusher member 18 is engaged with the connecting nut 22c, the pusher member 18 moves along the axial direction of the feed screw shaft 22b together with the connecting nut 22c as the feed screw shaft 22b rotates. Move. Further, the drive force of the drive motor 15 is transmitted to the pusher operation unit 22 via the transmission mechanism 14.
  • the drive motor 15 for example, a stepping motor is applied.
  • the drive motor 15 is rotationally driven based on a drive signal from a calculation unit 101 (control unit) described later.
  • the drive motor 15 is connected to the electrode of the power supply unit 17 housed in the housing 11 and supplied with power in a state where the opening on the surface of the housing 11 is closed by the lid 12.
  • the drive shaft 15a of the drive motor 15 is provided with a rotation detector 21 that detects the rotation of the drive shaft 15a.
  • FIG. 3 is a perspective view showing the rotation detection unit 21.
  • the rotation detection unit 21 is a rotary encoder having a detection sensor 25 and a rotating body 26.
  • the rotator 26 includes a rotator body 26a fixed to the drive shaft 15a of the drive motor 15, three shielding plates 26b provided on the rotator body 26a, and a shaft provided on the rotator body 26a. 26d.
  • the rotating body main body 26a is formed in a substantially cylindrical shape.
  • the rotating body main body 26a rotates in synchronization with the rotation of the drive shaft 15a.
  • a shaft portion 26d protrudes on the opposite side of the rotating body main body portion 26a from the drive shaft 15a in the axial direction.
  • the shaft portion 26d is provided with a gear (not shown) and meshes with the gear of the transmission mechanism 14.
  • three shielding plates 26b are provided at equal angular intervals on the outer peripheral surface of the rotating body main body 26a. Therefore, three slits 26c are formed at equiangular intervals by the three shielding plates 26b on the periphery of the rotating body main body 26a.
  • the detection sensor 25 is arranged in the housing 11.
  • the optical sensor includes a light emitting unit 25a that emits light and a light receiving unit 25b that receives light emitted from the light emitting unit 25a.
  • the light emitted from the light emitting unit 25 a is blocked by the shielding plate 26 b of the rotating body 26 and passes through the slit 26 c of the rotating body 26.
  • the rotating body 26 is formed with three shielding plates 26b and three slits 26c. Therefore, when the drive shaft 15a of the drive motor 15 rotates once, that is, the rotator 26 rotates once, the light receiving portion 25b of the detection sensor 25 passes through the slit 26c and “dark” where light is blocked by the shielding plate 26b. A pulse signal in which one set of “light” for detecting light is repeated three times is detected (see FIG. 9). Thereby, the detection sensor 25 detects the rotation of the drive motor 15.
  • the number of shielding plates 26b is not limited to three, and two or four or more may be provided. For this reason, the pulse signal generated when the rotating body 26 makes one rotation changes as appropriate according to the number of shielding plates 26b and slits 26c.
  • the detection sensor 25 outputs the detected rotation information of the drive motor 15 to the calculation unit 101 (control unit) described later.
  • the transmission mechanism 14 is connected to the drive shaft 15 a of the drive motor 15 via the rotation detector 21.
  • the transmission mechanism 14 transmits the driving force (rotation) of the drive motor 15 to the pusher operation unit 22.
  • the transmission mechanism 14 is composed of a plurality of gears. When the drive motor 15 is driven, a plurality of gears constituting the transmission mechanism 14 rotate, and the driving force of the drive motor 15 is transmitted to the operation gear 23. Therefore, the pusher member 18 is operated, and the chemical liquid stored in the chemical liquid storage unit 13 is pushed out by the gasket 18a.
  • the notification unit 16 is connected to a calculation unit 101 described later.
  • the notification unit 16 is driven by an instruction from the calculation unit 101 (control unit) described later when a malfunction occurs in the drug solution administration device 1 or when an obstruction is detected, and outputs an alarm.
  • an alarm output from the notification unit 16 for example, vibration or sound may be emitted alone, or vibration or sound may be emitted in combination.
  • the power supply unit 17 is for supplying power to each component constituting the drug solution administration device 1.
  • the power supply unit 17 includes, for example, a battery 17a, a battery box that houses the battery 17a, and a switch that turns on / off the supply of power from the battery.
  • FIG. 4 is a block diagram showing a control system of the drug solution administration device 1.
  • the drug solution administration device 1 includes the drive motor 15, the rotation detection unit 21, the notification unit 16, and the power supply unit 17 described above.
  • the drug solution administration device 1 includes a calculation unit 101, an example of a control unit, a communication unit 103, a storage unit 104, and a date / time management unit 105.
  • the drive motor 15, the rotation detection unit 21, the notification unit 16, the power supply unit 17, the communication unit 103, the storage unit 104, and the date / time management unit 105 are connected to the calculation unit 101.
  • the rotation information of the drive motor 15 detected by the detection sensor 25 (see FIG. 3) of the rotation detection unit 21 is output to the calculation unit 101.
  • the driving of the drive motor 15 is controlled by the calculation unit 101.
  • the communication unit 103 is connected to a controller (not shown) that operates the drug administration device 1, an external portable information processing terminal, and a PC (personal computer) via a wired or wireless network.
  • the communication unit 103 receives operation information operated by a user via a controller (not shown), a portable information processing terminal, or the like, or measurement data measured by an external device. Then, the communication unit 103 outputs the received operation information and measurement data to the calculation unit 101.
  • the communication unit 103 is controlled by the calculation unit 101, so that the blockage information, the information about the amount of the chemical stored in the chemical storage unit 13, and various kinds of information about the chemical solution administration device 1 such as the administration pattern are not illustrated. Output to a controller or portable information processing terminal.
  • the storage unit 104 is a part that stores various data.
  • the storage unit 104 stores a control program for controlling a dosing profile indicating a dosing pattern for dispensing a medicinal solution, threshold data used in a medicinal solution dispensing preparatory operation for occlusion detection, and the like. Further, the storage unit 104 stores information received by the communication unit 103, rotation information of the drive motor 15 detected by the rotation detection unit 21, and the like. Then, the storage unit 104 outputs a control program stored in advance, rotation information received from another processing unit, and the like to the calculation unit 101.
  • the date / time management unit 105 is a program part for performing date / time management, and may be mounted on a general microcomputer, and outputs date / time information based on a command from the calculation unit 101.
  • the date and time management unit 105 outputs accurate date and time information by supplying power even when the power is off.
  • the arithmetic unit 101 is loaded with programs for controlling various devices such as the drive motor 15, the communication unit 103, the storage unit 104, and the date and time management unit 105. And the calculating part 101 controls various operation
  • the calculation unit 101 detects a load applied to the drive motor 15 based on the received rotation information.
  • the calculation unit 101 sets a drive signal for driving the drive motor 15 based on the rotation information.
  • the calculating part 101 drives the drive motor 15 based on the set drive signal.
  • the calculation unit 101 drives the drive motor 15 based on the administration profile indicating the administration pattern of the medicinal solution stored in the storage unit 104. Thereby, the user is administered with a drug solution based on a predetermined administration profile.
  • the arithmetic unit 101 includes, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory) (not shown). ROM (Read Only Memory) may be the storage unit 104.
  • FIG. 5 is an explanatory diagram showing the relationship between the drive speed and torque of the drive motor 15 and the load.
  • FIG. 6 is an explanatory diagram showing a load applied to the drive motor in preparation for administration of a drug solution.
  • a predetermined amount of chemical solution is filled in the chemical solution storage unit 13 in advance.
  • the connecting nut 22 c of the pusher operating portion 22 is separated from the connecting portion 18 c of the pusher member 18. For this reason, the connection between the connection nut 22c and the connection portion 18c is removed.
  • the load (load) applied to the connection nut 22c is small, so the load applied to the drive motor 15 is also reduced.
  • the connecting nut 22c and the connecting portion 18c are connected. Then, the pusher member 18 is operated by the pusher operation unit 22, and the gasket 18 a is slid in the cylindrical hole 13 c of the chemical solution storage unit 13, so that the cylindrical hole 13 c, the liquid supply port 13 a and the liquid supply port of the chemical solution storage unit 13 are obtained. The air remaining in the pipe 19 is discharged from the liquid supply pipe 19.
  • the feed screw shaft 22b screwed with the connecting nut 22c receives a load opposite to the rotation direction via the connecting nut 22c.
  • a load in the direction opposite to the rotational direction is also applied to the operation gear 23 connected to the feed screw shaft 22b.
  • the load applied to the drive motor 15 via the transmission mechanism 14 increases, and the torque required for the drive motor 15 also increases.
  • FIG. 7 is a flowchart showing the chemical solution administration operation
  • FIG. 8 is an explanatory diagram showing the drive speed and torque of the drive motor in the chemical solution administration operation
  • FIG. 9 is a drive signal and rotation detection output to the drive motor by the arithmetic unit It is explanatory drawing which shows the relationship with the rotation signal which the part detected.
  • the calculation unit 101 sets the drive speed of the drive motor 15 (step S11).
  • the load applied to the drive motor 15 is small because the connection nut 22c is separated from the connection portion 18c. Therefore, as shown in FIG. 8, the calculation unit 101 sets the drive speed V of the drive motor 15 to the fastest first speed V 1 during the drug solution administration operation. In this case, the torque M of the drive motor 15, a first torque M 1.
  • the calculation unit 101 outputs a drive signal (motor drive pulse) corresponding to the drive speed (first speed V 1 ) set in the process of step S11 to the drive motor 15 to drive the drive motor 15 (step S12).
  • the drive signal output from the calculation unit 101 to the drive motor 15 is a signal for rotating the drive shaft 15a once in T1 seconds, as shown in FIG.
  • the drive motor 15 is driven, and the driving force is transmitted to the pusher operation unit 22 via the transmission mechanism 14.
  • the connecting nut 22c moves along the axial direction of the feed screw shaft 22b and approaches the connecting portion 18c. Further, when the drive shaft 15a of the drive motor 15 rotates, the rotating body 26 of the rotation detection unit 21 also rotates.
  • the calculation unit 101 determines whether or not a stop command has been input from the user via the communication unit 103 (step S13).
  • a stop command has been input from the user via the communication unit 103.
  • step S13 when it is determined that a stop command has not been input (NO determination in step S13), the calculation unit 101 determines whether a load is detected based on the rotation signal from the rotation detection unit 21. Judgment is made (step S14).
  • a rotation signal (rotation detection) detected by the rotation detection unit 21 in one pulse (T1 second) of the drive signal output from the calculation unit 101.
  • Part pulse is a signal in which “bright” and “dark” are repeated six times.
  • the drive motor 15 does not rotate normally. Therefore, the repetition pattern of “bright” and “dark” of the rotation signal (rotation detection unit pulse) detected by the rotation detection unit 21 changes in one pulse (T1 second) of the drive signal output by the calculation unit 101 (FIG. In the example shown in FIG. 9, “bright” is 2 times and “dark” is 4 times). Then, the calculation unit 101 determines that a load has been detected when a rotation signal in which a repeated pattern of “bright” and “dark” is changed is received.
  • step S14 If it is determined in step S14 that the load is not detected (NO determination in step S14), the calculation unit 101 returns to step S12 and drives the drive motor 15 without changing the drive speed V. .
  • step S14 If it is determined in step S14 that a load has been detected (YES determination in step S14), the operation unit 101 returns to step S11 and sets the drive speed V again.
  • the calculation unit 101 sets the second speed V 2 that is slower than the first speed V 1 . In this case, the torque M of the drive motor 15, the second the torque M 2 greater than the first torque M1.
  • the calculation unit 101 a drive signal corresponding to the driving speed set in the process of step S11 (second velocity V 2) is outputted to the drive motor 15 to drive the drive motor 15 (step S12).
  • the drive signal output from the calculation unit 101 to the drive motor 15 is a signal for rotating the drive shaft 15a once in T2 seconds longer than T1 seconds.
  • the voltage value or a current value applied to the drive motor 15 is the same value as the first velocity V 1.
  • the driving speed V of the drive motor 15, than the second speed V 2 is set to a slow third velocity V 3.
  • the drive speed V of the drive motor 15 is set as shown in FIG.
  • the fourth speed V 4 is set slower than the third speed V 3 .
  • the torque M of the drive motor 15 becomes the fourth torque M 4 that is larger than the third torque M 3 .
  • the drug solution administration device 1 of the present example changes the drive speed V stepwise according to the load applied to the drive motor 15.
  • the change in the driving speed V of the drive motor 15 is not limited to four stages, but is changed according to the load applied to the drive motor 15 during the preparation for drug administration. Therefore, the drive speed V of the drive motor 15 may change to three steps or less depending on the load applied to the drive motor 15, or may change to five steps or more.
  • step S13 a stop command is input from the user in the process of step S13.
  • the arithmetic unit 101 stops driving of the drive motor 15 (step S15).
  • step S15 the chemical
  • the drive speed of the drive motor 15 is set based on the rotation signal detected by the rotation detector 21.
  • the load applied to the drive motor 15 is relatively small, and the initial drive speed V of the drive motor 15 that starts the drug solution preparation operation can be increased.
  • the drive motor 15 can generate torque corresponding to the load by decreasing the drive speed V stepwise. Thereby, it is possible to prevent the drive motor 15 from stopping against the user's intention due to the applied load.
  • an insulin pump that administers insulin is applied as the drug solution administration device.
  • the present invention is not limited to this.
  • various other drug solutions such as analgesics, anticancer therapeutic agents, HIV drugs, iron chelating agents, pulmonary hypertension therapeutic agents and the like may be used.
  • the example in which the torque M generated in the drive motor 15 is increased by making the voltage value or current value applied to the drive motor 15 constant and slowing the drive speed V has been described. It is not limited to this.
  • a booster circuit may be provided in the drive motor, and the voltage value or current value applied to the drive motor may be varied.
  • the torque M generated in the drive motor can be increased by increasing the voltage value or current value applied to the drive motor while keeping the drive speed V of the drive motor constant. As a result, it is possible to further reduce the time required for preparation for administration of the drug solution.
  • SYMBOLS 1 Chemical solution administration apparatus, 2 ... Chemical solution administration part, 3 ... Cradle apparatus, 5 ... Mounting part, 6 ... Connection port, 6a ... Cannula, 11 ... Housing
  • Rotation detection portion 22 ... Pusher operation portion, 22b ... Feed screw shaft, 22c ... Connection nut, 23 ... Operation gear, 25 ... Detection sensor, 25a ... Light emitting part, 25b ... Light receiving part, 26 ... Rotating body, 26a ... Rotating body main body part, 26b ... Shielding plate, 26c ... Slit, 101 ... Calculation part (control part), 104 ... Storage part, M ... Torque, V ... drive speed , V 1 ... first velocity, V 2 ... second velocity, V 3 ... third velocity, V 4 ... 4 Speed

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  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

This medicinal liquid administering device is provided with a medicinal liquid storage unit filled with a medicinal liquid, a plunger member, a plunger operating unit, a drive unit, a rotation detecting unit, and a control unit. The rotation detecting unit detects rotation of the drive unit. The control unit detects a load applied to the drive unit on the basis of a drive unit rotation signal detected by the rotation detecting unit, and causes a torque generated by the drive unit to be changed.

Description

薬液投与装置Chemical solution administration device
　本発明は、薬液投与装置に関し、例えばインスリンポンプのように持続的な薬液投与を行うための薬液投与装置に関する。 The present invention relates to a chemical solution administration device, and more particularly to a chemical solution administration device for performing continuous chemical solution administration such as an insulin pump.
　近年、皮下注射や静脈内注射などによって、患者の体内に薬液を持続的に投与する治療法が行われている。例えば、糖尿病患者に対する治療法として、患者の体内に微量のインスリンを持続的に注入する治療が実施されている。この治療法では、一日中患者に薬液（インスリン）を投与するために、患者の身体又は衣服に固定する持ち運び可能な携帯型の薬液投与装置（いわゆるインスリンポンプ）が用いられている。このような携帯型の薬液投与装置の一つとして、薬液が貯蔵されるシリンジと、シリンジの内部で駆動される押し子とを有するシリンジポンプ形式のものが提案されている。 In recent years, treatment methods have been performed in which a drug solution is continuously administered into a patient's body by subcutaneous injection or intravenous injection. For example, as a treatment method for diabetic patients, a treatment in which a minute amount of insulin is continuously infused into the body of the patient is performed. In this treatment method, in order to administer a drug solution (insulin) to a patient throughout the day, a portable portable drug solution administration device (so-called insulin pump) fixed to the patient's body or clothes is used. As one of such portable chemical solution administration devices, a syringe pump type device having a syringe for storing a chemical solution and a pusher driven inside the syringe has been proposed.
　また、押し子には、押し子操作部が連結され、この押し子操作部を介して駆動モータからの駆動力が押し子に伝達されている（例えば、特許文献１参照）。また、シリンジに薬液を充填する際には、押し子と押し子操作部の連結は、外されている。そして、シリンジに薬液が充填されて薬液投与の準備を行う際に、駆動モータを駆動させて押し子操作部を移動させ、押し子操作部と押し子とを連結している。 Also, a pusher operation unit is connected to the pusher, and the driving force from the drive motor is transmitted to the pusher via this pusher operation unit (see, for example, Patent Document 1). Further, when the syringe is filled with the chemical solution, the connection between the pusher and the pusher operation unit is disconnected. And when a chemical | medical solution is filled in a syringe and preparation for chemical | medical solution administration is performed, a drive motor is driven and a pusher operation part is moved and the pusher operation part and a pusher are connected.
特開２００５－２８７９４４号公報JP 2005-287944 A
　しかしながら、押し子と押し子操作部が連結する際には、駆動モータに加わる負荷が大きくなる。そのため、従来の薬液投与装置では、負荷の最大値に合わせて駆動モータのトルクを上げるために、駆動モータの駆動速度を遅く設定していた。また、この駆動モータの駆動速度は、薬液投与準備を行う間は、一定であった。その結果、従来の薬液投与装置では、薬液投与準備にかかる時間が長くなる、という問題を有していた。 However, when the pusher and the pusher operation unit are connected, the load applied to the drive motor increases. Therefore, in the conventional drug solution administration device, the drive speed of the drive motor is set to be slow in order to increase the torque of the drive motor in accordance with the maximum load value. Further, the drive speed of this drive motor was constant during preparation for drug solution administration. As a result, the conventional drug solution administration device has a problem that the time required for preparation for drug solution administration becomes long.
　本発明の目的は、上記の問題点を考慮し、薬液投与準備にかかる時間を短縮することができる薬液投与装置を提供することを目的とする。 An object of the present invention is to provide a drug solution administration device that can reduce the time required for preparation for drug solution administration in consideration of the above-described problems.
　上記課題を解決し、本発明の目的を達成するため、本発明の薬液投与装置は、薬液が充填された薬液貯蔵部と、押し子部材と、押し子操作部と、駆動部と、回転検出部と、制御部と、を備えている。
　押し子部材は、薬液貯蔵部に充填された薬液を押し出す。押し子操作部は、押し子部材の移動を操作する。駆動部は、押し子操作部に駆動力を与える。回転検出部は、駆動部の回転を検出する。制御部は、駆動部の駆動を制御する。また、制御部は、回転検出部が検出した駆動部の回転信号に基づいて駆動部に加わる負荷を検知し、駆動部により生じるトルクを変化させる。 In order to solve the above-described problems and achieve the object of the present invention, a chemical liquid administration device of the present invention includes a chemical liquid storage unit filled with a chemical solution, a pusher member, a pusher operation unit, a drive unit, and rotation detection. Part and a control part.
The pusher member pushes out the chemical liquid filled in the chemical liquid storage section. The pusher operation unit manipulates the movement of the pusher member. The driving unit applies a driving force to the pusher operation unit. The rotation detection unit detects the rotation of the drive unit. The control unit controls driving of the driving unit. The control unit detects a load applied to the drive unit based on the rotation signal of the drive unit detected by the rotation detection unit, and changes the torque generated by the drive unit.
　本発明の薬液投与装置によれば、薬液投与準備にかかる時間を短縮することができる。 According to the drug solution administration device of the present invention, the time required for preparation for drug solution administration can be shortened.
実施の形態例にかかる薬液投与装置を示す分解斜視図である。It is a disassembled perspective view which shows the chemical | medical solution administration device concerning the embodiment. 実施の形態例にかかる薬液投与装置を示す平面図である。It is a top view which shows the chemical | medical solution administration device concerning the embodiment. 実施の形態例にかかる薬液投与装置における回転検出部を示す斜視図である。It is a perspective view which shows the rotation detection part in the chemical | medical solution administration device concerning the embodiment. 実施の形態例にかかる薬液投与装置の制御系を示すブロック図である。It is a block diagram which shows the control system of the chemical | medical solution administration apparatus concerning the embodiment. 実施の形態例にかかる薬液投与装置における駆動モータの駆動速度及びトルクと負荷との関係を示す説明図である。It is explanatory drawing which shows the relationship between the drive speed and torque of a drive motor, and load in the chemical | medical solution administration apparatus concerning the Example. 実施の形態例にかかる薬液投与装置における薬液投与準備の際に駆動モータに加わる負荷を示す説明図である。It is explanatory drawing which shows the load added to a drive motor in the case of the chemical | medical solution administration preparation in the chemical | medical solution administration device concerning an embodiment. 実施の形態例にかかる薬液投与装置における薬液投与準備動作を示すフローチャートである。It is a flowchart which shows the chemical | medical solution administration preparation operation | movement in the chemical | medical solution administration device concerning an embodiment. 実施の形態例にかかる薬液投与装置における薬液投与動作での駆動モータの駆動速度とトルクを示す説明図である。It is explanatory drawing which shows the drive speed and torque of a drive motor in the chemical | medical solution administration operation | movement in the chemical | medical solution administration device concerning an embodiment. 実施の形態例にかかる薬液投与装置における薬液投与準備動作での駆動モータの駆動信号と回転検出部が検出した回転信号との関係を示す説明図である。It is explanatory drawing which shows the relationship between the drive signal of the drive motor in the chemical | medical solution administration preparation operation | movement in the chemical | medical solution administration apparatus concerning embodiment, and the rotation signal which the rotation detection part detected.
　以下、本発明の薬液投与装置の実施の形態例について、図１～図９を参照して説明する。なお、各図において共通の部材には、同一の符号を付している。また、本発明は、以下の形態に限定されるものではない。 Hereinafter, embodiments of the drug administration device of the present invention will be described with reference to FIGS. In addition, the same code | symbol is attached | subjected to the common member in each figure. The present invention is not limited to the following form.
１．実施の形態例
１－１．薬液投与装置の構成
　まず、図１～図３を参照して、実施の形態例（以下、「本例」という。）にかかる薬液投与装置の構成例について説明する。
　図１は、薬液投与装置を示す分解斜視図、図２は、薬液投与装置を示す平面図である。 1. Embodiment 1-1. First, a configuration example of a drug solution administration apparatus according to an embodiment (hereinafter referred to as “this example”) will be described with reference to FIGS. 1 to 3.
FIG. 1 is an exploded perspective view showing a drug solution administration device, and FIG. 2 is a plan view showing the drug solution administration device.
　図１に示す装置は、パッチ式や、チューブ式のインスリンポンプ、さらにその他の携帯型の薬液投与装置のように、患者の体内に持続的に薬液投与を行うための携帯型のインスリンポンプである。薬液投与装置１は、薬液投与部２と、薬液投与部２が着脱可能に装着されるクレードル装置３と、クレードル装置３に装着される接続ポート６とを有している。 The device shown in FIG. 1 is a portable insulin pump for continuously administering a drug solution into a patient's body, such as a patch-type or tube-type insulin pump, or other portable drug solution administration device. . The drug solution administration device 1 includes a drug solution administration unit 2, a cradle device 3 to which the drug solution administration unit 2 is detachably attached, and a connection port 6 to be attached to the cradle device 3.
　クレードル装置３には、接続ポート６が装着される装着部５が設けられている。接続ポート６は、カニューレ６ａを有している。クレードル装置３を患者の皮膚に貼着し、不図示の穿刺機構を用いることにより、接続ポート６は装着部５に装着される。接続ポート６をクレードル装置３の装着部５に装着した際に、クレードル装置３における薬液投与部２が装着される側と反対側からカニューレ６ａが突出し、カニューレ６ａが生体に穿刺・留置される。 The cradle device 3 is provided with a mounting portion 5 to which the connection port 6 is mounted. The connection port 6 has a cannula 6a. The connection port 6 is attached to the attachment portion 5 by sticking the cradle device 3 to the patient's skin and using a puncture mechanism (not shown). When the connection port 6 is attached to the attachment part 5 of the cradle device 3, the cannula 6a protrudes from the opposite side of the cradle device 3 where the drug solution administration part 2 is attached, and the cannula 6a is punctured and placed in the living body.
　また、接続ポート６は、クレードル装置３に装着された状態において、薬液投与部２が装着されると、後述する薬液投与部２の筐体１１の裏面収納部に収納される。そして、接続ポート６は、後述する薬液投与部２の送液配管１９に接続される。 Further, the connection port 6 is accommodated in the rear surface storage portion of the casing 11 of the chemical solution administration unit 2 described later when the chemical solution administration unit 2 is installed in the state of being attached to the cradle device 3. And the connection port 6 is connected to the liquid feeding piping 19 of the chemical | medical solution administration part 2 mentioned later.
　薬液投与部２は、筐体１１と、蓋体１２と、薬液貯蔵部１３と、伝達機構１４と、駆動部の一例を示す駆動モータ１５と、報知部１６と、電源部１７とを有している。また、薬液投与部２は、薬液貯蔵部１３に充填された薬液を押し出す押し子部材１８と、送液配管１９と、回転検出部２１と、押し子部材１８を操作する押し子操作部２２と、を有している。 The drug solution administration unit 2 includes a housing 11, a lid body 12, a drug solution storage unit 13, a transmission mechanism 14, a drive motor 15 that shows an example of a drive unit, a notification unit 16, and a power supply unit 17. ing. The medicinal solution administration unit 2 includes a pusher member 18 that pushes out the medicinal solution filled in the medicinal solution storage unit 13, a liquid feeding pipe 19, a rotation detection unit 21, and a pusher operation unit 22 that operates the pusher member 18. ,have.
　筐体１１は、一面が開口した中空の略直方体状に形成されている。筐体１１の開口する側である表面には、第１収納部１１ａと、第２収納部１１ｂが形成され、筐体１１の表面と逆側の面には裏面収納部が形成されている。第１収納部１１ａには、駆動モータ１５と、電源部１７と、回転検出部２１と、伝達機構１４の一部が収納される。 The housing 11 is formed in a hollow, substantially rectangular parallelepiped shape that is open on one side. A first storage portion 11 a and a second storage portion 11 b are formed on the surface on the opening side of the housing 11, and a back surface storage portion is formed on the surface opposite to the front surface of the housing 11. A drive motor 15, a power supply unit 17, a rotation detection unit 21, and a part of the transmission mechanism 14 are stored in the first storage unit 11a.
　第２収納部１１ｂには、薬液貯蔵部１３と、押し子部材１８と、押し子操作部２２と、伝達機構１４の一部が収納される。また、第２収納部１１ｂには、第１軸受け部１１ｃと、第２軸受け部１１ｄが設けられている。第１軸受け部１１ｃと第２軸受け部１１ｄは、第２収納部１１ｂの底面部から開口に向けて突出している。第１軸受け部１１ｃには、後述する押し子操作部２２の送りねじ軸２２ｂが回転可能に支持される。また、第２軸受け部１１ｄには、後述する押し子操作部２２における操作歯車２３の軸部２３ａが回転可能に支持される。 The second storage unit 11b stores the chemical solution storage unit 13, the pusher member 18, the pusher operation unit 22, and a part of the transmission mechanism 14. The second storage part 11b is provided with a first bearing part 11c and a second bearing part 11d. The 1st bearing part 11c and the 2nd bearing part 11d protrude toward the opening from the bottom face part of the 2nd accommodating part 11b. A feed screw shaft 22b of a pusher operation unit 22 described later is rotatably supported by the first bearing unit 11c. Further, the shaft portion 23a of the operation gear 23 in the pusher operation portion 22 described later is rotatably supported by the second bearing portion 11d.
　蓋体１２は、略平板状に形成されている。蓋体１２は、筐体１１の表面に形成された第１収納部１１ａ及び第２収納部１１ｂを覆い、筐体１１の開口を閉じる。また、蓋体１２には、伝達機構１４、駆動モータ１５、報知部１６、電源部１７及び回転検出部２１が取り付けられる。 The lid 12 is formed in a substantially flat plate shape. The lid 12 covers the first storage portion 11 a and the second storage portion 11 b formed on the surface of the housing 11 and closes the opening of the housing 11. In addition, a transmission mechanism 14, a drive motor 15, a notification unit 16, a power supply unit 17, and a rotation detection unit 21 are attached to the lid 12.
　薬液貯蔵部１３は、軸方向の一端が閉塞し、軸方向の他端が開口した筒状に形成されている。この薬液貯蔵部１３の筒孔１３ｃ内には、薬液が貯蔵される。薬液貯蔵部１３の軸方向の一端部には、送液ポート１３ａと、充填ポート１３ｂが形成されている。 The chemical solution storage unit 13 is formed in a cylindrical shape in which one end in the axial direction is closed and the other end in the axial direction is opened. A chemical solution is stored in the cylindrical hole 13 c of the chemical solution storage unit 13. A liquid feeding port 13 a and a filling port 13 b are formed at one end of the chemical liquid storage unit 13 in the axial direction.
　送液ポート１３ａは、送液配管１９に接続されている。送液配管１９における送液ポート１３ａと反対側の端部は、接続ポート６に接続される。接続ポート６は、患者の生体に穿刺及び留置される。そして、薬液貯蔵部１３の筒孔１３ｃ内に貯蔵された薬液は、送液ポート１３ａから排出され、送液配管１９及び接続ポート６を通過して患者に投与される。 The liquid supply port 13 a is connected to the liquid supply pipe 19. The end of the liquid supply pipe 19 opposite to the liquid supply port 13 a is connected to the connection port 6. The connection port 6 is punctured and placed in the patient's living body. And the chemical | medical solution stored in the cylindrical hole 13c of the chemical | medical solution storage part 13 is discharged | emitted from the liquid feeding port 13a, passes through the liquid feeding piping 19 and the connection port 6, and is administered to a patient.
　充填ポート１３ｂには、不図示の充填装置が接続される。そして、充填ポート１３ｂを介して薬液貯蔵部１３の筒孔内に薬液が充填される。 A filling device (not shown) is connected to the filling port 13b. And a chemical | medical solution is filled in the cylinder hole of the chemical | medical solution storage part 13 via the filling port 13b.
　また、薬液貯蔵部１３の筒孔１３ｃ内には、押し子部材１８が摺動可能に挿入されている。押し子部材１８は、ガスケット１８ａと、シャフト部１８ｂとを有している。ガスケット１８ａは、薬液貯蔵部１３の筒孔１３ｃ内において摺動可能に配置されている。ガスケット１８ａは、薬液貯蔵部１３の筒孔１３ｃの内周面に液密に密着しながら移動する。 Further, a pusher member 18 is slidably inserted into the cylindrical hole 13c of the chemical solution storage unit 13. The pusher member 18 has a gasket 18a and a shaft portion 18b. The gasket 18 a is slidably disposed in the cylindrical hole 13 c of the chemical liquid storage unit 13. The gasket 18a moves while being in liquid tight contact with the inner peripheral surface of the cylindrical hole 13c of the chemical solution storage unit 13.
　ガスケット１８ａにおける先端部の形状は、薬液貯蔵部１３の筒孔１３ｃの軸方向の一端側の形状に対応して形成されている。これにより、ガスケット１８ａが薬液貯蔵部１３の軸方向の一端側に移動した際に、薬液貯蔵部１３内に充填された薬液を無駄なく送液ポート１３ａから排出させることができる。 The shape of the front end portion of the gasket 18a is formed corresponding to the shape of one end side in the axial direction of the cylindrical hole 13c of the chemical solution storage portion 13. Thereby, when the gasket 18a moves to one end side in the axial direction of the chemical liquid storage section 13, the chemical liquid filled in the chemical liquid storage section 13 can be discharged from the liquid supply port 13a without waste.
　ガスケット１８ａにおける先端部と反対側には、シャフト部１８ｂが設けられている。シャフト部１８ｂは、薬液貯蔵部１３の軸方向の他端に形成された開口から外側に延設されている。シャフト部１８ｂにおけるガスケット１８ａと反対側の端部には、後述する押し子操作部２２の連結ナット２２ｃと連結する連結部１８ｃが設けられている。連結部１８ｃが連結ナット２２ｃと連結されて押し子操作部２２が駆動すると、押し子部材１８は、薬液貯蔵部１３の軸方向に沿って移動する。 A shaft portion 18b is provided on the opposite side of the tip of the gasket 18a. The shaft portion 18 b extends outward from an opening formed at the other end in the axial direction of the chemical solution storage portion 13. A connecting portion 18c that is connected to a connecting nut 22c of a pusher operating portion 22 described later is provided at the end of the shaft portion 18b opposite to the gasket 18a. When the connecting portion 18 c is connected to the connecting nut 22 c and the pusher operating portion 22 is driven, the pusher member 18 moves along the axial direction of the chemical solution storage portion 13.
　押し子操作部２２は、操作歯車２３と、送りねじ軸２２ｂと、連結ナット２２ｃとを有している。操作歯車２３は、後述する伝達機構１４の歯車と歯合する。また、操作歯車２３の軸部２３ａの一端には、送りねじ軸２２ｂの軸方向の端部に接続されている。さらに、操作歯車２３の軸部２３ａの他端は、第２軸受け部１１ｄに回転可能に支持されている。 The pusher operation unit 22 includes an operation gear 23, a feed screw shaft 22b, and a connection nut 22c. The operation gear 23 meshes with a gear of the transmission mechanism 14 described later. Further, one end of the shaft portion 23a of the operation gear 23 is connected to an end portion in the axial direction of the feed screw shaft 22b. Furthermore, the other end of the shaft portion 23a of the operation gear 23 is rotatably supported by the second bearing portion 11d.
　送りねじ軸２２ｂは、第１軸受け部１１ｃに回転可能に支持されている。また、送りねじ軸２２ｂは、その軸方向が、シャフト部１８ｂに対して平行に配置される。すなわち、送りねじ軸２２ｂは、押し子部材１８の移動方向と平行に配置される。この送りねじ軸２２ｂには、連結ナット２２ｃが螺合されている。 The feed screw shaft 22b is rotatably supported by the first bearing portion 11c. Further, the feed screw shaft 22b is arranged such that its axial direction is parallel to the shaft portion 18b. That is, the feed screw shaft 22b is arranged in parallel with the moving direction of the pusher member 18. A connecting nut 22c is screwed to the feed screw shaft 22b.
　連結ナット２２ｃは、筐体１１に収納された際に、送りねじ軸２２ｂの周方向回りの回転が規制される。これにより、操作歯車２３が回転し、送りねじ軸２２ｂが回転すると、連結ナット２２ｃは、送りねじ軸２２ｂの軸方向に沿って移動する。そして、連結ナット２２ｃに押し子部材１８の連結部１８ｃが係合された後には、送りねじ軸２２ｂの回転にともなって押し子部材１８は、連結ナット２２ｃと共に送りねじ軸２２ｂの軸方向に沿って移動する。また、押し子操作部２２には、伝達機構１４を介して駆動モータ１５の駆動力が伝達される。 When the connecting nut 22c is housed in the housing 11, the rotation of the feed screw shaft 22b around the circumferential direction is restricted. Thereby, when the operation gear 23 rotates and the feed screw shaft 22b rotates, the connecting nut 22c moves along the axial direction of the feed screw shaft 22b. After the connecting portion 18c of the pusher member 18 is engaged with the connecting nut 22c, the pusher member 18 moves along the axial direction of the feed screw shaft 22b together with the connecting nut 22c as the feed screw shaft 22b rotates. Move. Further, the drive force of the drive motor 15 is transmitted to the pusher operation unit 22 via the transmission mechanism 14.
　駆動モータ１５としては、例えば、ステッピングモータが適用される。そして、駆動モータ１５は、後述する演算部１０１（制御部）からの駆動信号に基づいて回転駆動する。 As the drive motor 15, for example, a stepping motor is applied. The drive motor 15 is rotationally driven based on a drive signal from a calculation unit 101 (control unit) described later.
　駆動モータ１５は、筐体１１の表面の開口を蓋体１２で閉塞した状態において、筐体１１に収納された電源部１７の電極に接続されて電力が供給される。駆動モータ１５の駆動軸１５ａには、駆動軸１５ａの回転を検出する回転検出部２１が設けられている。 The drive motor 15 is connected to the electrode of the power supply unit 17 housed in the housing 11 and supplied with power in a state where the opening on the surface of the housing 11 is closed by the lid 12. The drive shaft 15a of the drive motor 15 is provided with a rotation detector 21 that detects the rotation of the drive shaft 15a.
　図３は、回転検出部２１を示す斜視図である。
　図３に示すように、回転検出部２１は、検出センサ２５と、回転体２６とを有するロータリーエンコーダである。回転体２６は、駆動モータ１５の駆動軸１５ａに固定された回転体本体部２６ａと、回転体本体部２６ａに設けられた３枚の遮蔽板２６ｂと、回転体本体部２６ａに設けられた軸部２６ｄとを有している。 FIG. 3 is a perspective view showing the rotation detection unit 21.
As shown in FIG. 3, the rotation detection unit 21 is a rotary encoder having a detection sensor 25 and a rotating body 26. The rotator 26 includes a rotator body 26a fixed to the drive shaft 15a of the drive motor 15, three shielding plates 26b provided on the rotator body 26a, and a shaft provided on the rotator body 26a. 26d.
　回転体本体部２６ａは、略円柱状に形成されている。そして、回転体本体部２６ａは、駆動軸１５ａの回転に同期して回転する。回転体本体部２６ａの軸方向における駆動軸１５ａとは反対側には軸部２６ｄが突出している。軸部２６ｄには、不図示の歯車が設けられており、伝達機構１４の歯車と歯合する。 The rotating body main body 26a is formed in a substantially cylindrical shape. The rotating body main body 26a rotates in synchronization with the rotation of the drive shaft 15a. A shaft portion 26d protrudes on the opposite side of the rotating body main body portion 26a from the drive shaft 15a in the axial direction. The shaft portion 26d is provided with a gear (not shown) and meshes with the gear of the transmission mechanism 14.
　また、回転体本体部２６ａの外周面には、等角度間隔に３枚の遮蔽板２６ｂが設けられている。そのため、回転体本体部２６ａの周縁には、３つの遮蔽板２６ｂにより、３つのスリット２６ｃが等角度間隔に形成されている。 Further, three shielding plates 26b are provided at equal angular intervals on the outer peripheral surface of the rotating body main body 26a. Therefore, three slits 26c are formed at equiangular intervals by the three shielding plates 26b on the periphery of the rotating body main body 26a.
　検出センサ２５は、筐体１１に配置されている。光を出射する発光部２５ａと、発光部２５ａから出射された光を受光する受光部２５ｂとを有する光学式センサである。発光部２５ａから出射された光は、回転体２６の遮蔽板２６ｂにより遮られ、回転体２６のスリット２６ｃを通過する。 The detection sensor 25 is arranged in the housing 11. The optical sensor includes a light emitting unit 25a that emits light and a light receiving unit 25b that receives light emitted from the light emitting unit 25a. The light emitted from the light emitting unit 25 a is blocked by the shielding plate 26 b of the rotating body 26 and passes through the slit 26 c of the rotating body 26.
　上述したように、回転体２６には、３つの遮蔽板２６ｂと、３つのスリット２６ｃが形成されている。そのため、駆動モータ１５の駆動軸１５ａが１回転、すなわち回転体２６が１回転すると、検出センサ２５の受光部２５ｂは、遮蔽板２６ｂにより光が遮られた「暗」と、スリット２６ｃを通過した光を検出する「明」の１セットが３回繰り返されたパルス信号を検出する（図９参照）。これにより、検出センサ２５は、駆動モータ１５の回転を検出する。 As described above, the rotating body 26 is formed with three shielding plates 26b and three slits 26c. Therefore, when the drive shaft 15a of the drive motor 15 rotates once, that is, the rotator 26 rotates once, the light receiving portion 25b of the detection sensor 25 passes through the slit 26c and “dark” where light is blocked by the shielding plate 26b. A pulse signal in which one set of “light” for detecting light is repeated three times is detected (see FIG. 9). Thereby, the detection sensor 25 detects the rotation of the drive motor 15.
　なお、遮蔽板２６ｂの数は、３つに限定されるものではなく、２つ、あるいは４つ以上設けてもよい。そのため、回転体２６が１回転した際に生じるパルス信号は、遮蔽板２６ｂ及びスリット２６ｃの数に応じて適宜変化する。 Note that the number of shielding plates 26b is not limited to three, and two or four or more may be provided. For this reason, the pulse signal generated when the rotating body 26 makes one rotation changes as appropriate according to the number of shielding plates 26b and slits 26c.
　また、検出センサ２５は、検出した駆動モータ１５の回転情報を後述する演算部１０１（制御部）に出力する。 Further, the detection sensor 25 outputs the detected rotation information of the drive motor 15 to the calculation unit 101 (control unit) described later.
　図１及び図２に示すように、駆動モータ１５の駆動軸１５ａには、回転検出部２１を介して伝達機構１４が接続されている。伝達機構１４は、駆動モータ１５の駆動力（回転）を押し子操作部２２に伝達するものである。伝達機構１４は、複数の歯車から構成されている。駆動モータ１５が駆動すると、伝達機構１４を構成する複数の歯車が回転し、駆動モータ１５の駆動力が操作歯車２３に伝達される。そのため、押し子部材１８が操作されて、薬液貯蔵部１３に貯蔵された薬液がガスケット１８ａにより押し出される。 As shown in FIGS. 1 and 2, the transmission mechanism 14 is connected to the drive shaft 15 a of the drive motor 15 via the rotation detector 21. The transmission mechanism 14 transmits the driving force (rotation) of the drive motor 15 to the pusher operation unit 22. The transmission mechanism 14 is composed of a plurality of gears. When the drive motor 15 is driven, a plurality of gears constituting the transmission mechanism 14 rotate, and the driving force of the drive motor 15 is transmitted to the operation gear 23. Therefore, the pusher member 18 is operated, and the chemical liquid stored in the chemical liquid storage unit 13 is pushed out by the gasket 18a.
　報知部１６は、後述する演算部１０１に接続されている。報知部１６は、薬液投与装置１に誤作動が生じた場合や、閉塞を検知した場合等に後述する演算部１０１（制御部）からの指示により駆動し、警報を出力する。この報知部１６が出力する警報としては、例えば振動や音などを単独で発してもよく、または振動や音などを併用して発するようにしてもよい。 The notification unit 16 is connected to a calculation unit 101 described later. The notification unit 16 is driven by an instruction from the calculation unit 101 (control unit) described later when a malfunction occurs in the drug solution administration device 1 or when an obstruction is detected, and outputs an alarm. As an alarm output from the notification unit 16, for example, vibration or sound may be emitted alone, or vibration or sound may be emitted in combination.
　電源部１７は、薬液投与装置１を構成する各構成要素に電力を供給するためのものである。電源部１７としては、例えば電池１７ａ及びこれを収納する電池ボックス、さらには電池からの電力の供給をオン／オフするスイッチ等で構成されている。 The power supply unit 17 is for supplying power to each component constituting the drug solution administration device 1. The power supply unit 17 includes, for example, a battery 17a, a battery box that houses the battery 17a, and a switch that turns on / off the supply of power from the battery.
１－２．薬液投与装置の制御系
　次に、図４を参照して薬液投与装置１の制御系について説明する。
　図４は、薬液投与装置１の制御系を示すブロック図である。 1-2. Next, a control system of the drug solution administration device 1 will be described with reference to FIG.
FIG. 4 is a block diagram showing a control system of the drug solution administration device 1.
　図４に示すように、薬液投与装置１は、上述した駆動モータ１５と、回転検出部２１と、報知部１６と、電源部１７とを有している。また、薬液投与装置１は、制御部の一例を示す演算部１０１と、通信部１０３と、記憶部１０４と、日時管理部１０５とを有している。 As shown in FIG. 4, the drug solution administration device 1 includes the drive motor 15, the rotation detection unit 21, the notification unit 16, and the power supply unit 17 described above. In addition, the drug solution administration device 1 includes a calculation unit 101, an example of a control unit, a communication unit 103, a storage unit 104, and a date / time management unit 105.
　駆動モータ１５と、回転検出部２１と、報知部１６と、電源部１７と、通信部１０３と、記憶部１０４と、日時管理部１０５は、演算部１０１に接続されている。 The drive motor 15, the rotation detection unit 21, the notification unit 16, the power supply unit 17, the communication unit 103, the storage unit 104, and the date / time management unit 105 are connected to the calculation unit 101.
　回転検出部２１の検出センサ２５（図３参照）で検出した駆動モータ１５の回転情報は、演算部１０１に出力される。そして、駆動モータ１５の駆動は、演算部１０１により制御される。 The rotation information of the drive motor 15 detected by the detection sensor 25 (see FIG. 3) of the rotation detection unit 21 is output to the calculation unit 101. The driving of the drive motor 15 is controlled by the calculation unit 101.
　通信部１０３は、薬液投与装置１を操作する不図示のコントローラや、外部の携帯情報処理端末や、ＰＣ（パーソナルコンピュータ）と有線又は無線のネットワークを介して接続されている。通信部１０３は、不図示のコントローラや携帯情報処理端末等を介して使用者が操作した操作情報や、外部の装置が計測した計測データを受信する。そして、通信部１０３は、受信した操作情報や計測データを演算部１０１に出力する。 The communication unit 103 is connected to a controller (not shown) that operates the drug administration device 1, an external portable information processing terminal, and a PC (personal computer) via a wired or wireless network. The communication unit 103 receives operation information operated by a user via a controller (not shown), a portable information processing terminal, or the like, or measurement data measured by an external device. Then, the communication unit 103 outputs the received operation information and measurement data to the calculation unit 101.
　また、通信部１０３は、演算部１０１により制御されることで、閉塞情報、薬液貯蔵部１３に貯蔵された薬液の量に関する情報や、投与パターン等の薬液投与装置１に関する各種情報を不図示のコントローラや携帯情報処理端末等に出力する。 In addition, the communication unit 103 is controlled by the calculation unit 101, so that the blockage information, the information about the amount of the chemical stored in the chemical storage unit 13, and various kinds of information about the chemical solution administration device 1 such as the administration pattern are not illustrated. Output to a controller or portable information processing terminal.
　記憶部１０４は、各種のデータを記憶する部分である。記憶部１０４には、薬液を投与するための投与パターンを示す投与プロファイル等を制御するための制御プログラム、閉塞検出に薬液投与準備動作で用いられる閾値データ等が記憶されている。さらに、記憶部１０４には、通信部１０３が受信した情報や、回転検出部２１が検出した駆動モータ１５の回転情報等が格納される。そして、記憶部１０４は、予め記憶されている制御プログラムや、他の処理部から受信した回転情報等を演算部１０１に出力する。 The storage unit 104 is a part that stores various data. The storage unit 104 stores a control program for controlling a dosing profile indicating a dosing pattern for dispensing a medicinal solution, threshold data used in a medicinal solution dispensing preparatory operation for occlusion detection, and the like. Further, the storage unit 104 stores information received by the communication unit 103, rotation information of the drive motor 15 detected by the rotation detection unit 21, and the like. Then, the storage unit 104 outputs a control program stored in advance, rotation information received from another processing unit, and the like to the calculation unit 101.
　日時管理部１０５は、日時管理を行うためのプログラム部分であり、一般的なマイコンに搭載されているものであって良く、演算部１０１からの指令に基づいて日時情報を出力する。この日時管理部１０５は、電源がオフの状態であっても電力が供給されることにより、正確な日時情報を出力する。 The date / time management unit 105 is a program part for performing date / time management, and may be mounted on a general microcomputer, and outputs date / time information based on a command from the calculation unit 101. The date and time management unit 105 outputs accurate date and time information by supplying power even when the power is off.
　演算部１０１には、駆動モータ１５、通信部１０３、記憶部１０４、日時管理部１０５等の各種装置を制御するプログラムが実装されている。そして、演算部１０１は、そのプログラムに基づいて薬液投与装置１の各種動作を制御する。また、演算部１０１は、回転検出部２１が検出した駆動モータ１５の回転情報等を受信する。演算部１０１は、受信した情報を記憶部１０４に格納する。 The arithmetic unit 101 is loaded with programs for controlling various devices such as the drive motor 15, the communication unit 103, the storage unit 104, and the date and time management unit 105. And the calculating part 101 controls various operation | movement of the chemical | medical solution administration apparatus 1 based on the program. In addition, the calculation unit 101 receives the rotation information of the drive motor 15 detected by the rotation detection unit 21. The calculation unit 101 stores the received information in the storage unit 104.
　また、演算部１０１は、受信した回転情報に基づいて、駆動モータ１５に加わる負荷を検知する。演算部１０１は、回転情報に基づいて駆動モータ１５を駆動させる駆動信号を設定する。そして、演算部１０１は、設定した駆動信号に基づいて駆動モータ１５を駆動させる。 Further, the calculation unit 101 detects a load applied to the drive motor 15 based on the received rotation information. The calculation unit 101 sets a drive signal for driving the drive motor 15 based on the rotation information. And the calculating part 101 drives the drive motor 15 based on the set drive signal.
　さらに、演算部１０１は、記憶部１０４に記憶された薬液の投与パターンを示す投与プロファイルに基づいて、駆動モータ１５を駆動させる。これにより、使用者には、所定の投与プロファイルに基づいた薬液が投与される。演算部１０１は、例えばここでの図示を省略したＣＰＵ（Central Processing Unit）、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）を備えたものである。ＲＯＭ（Read Only Memory）は、記憶部１０４であってもよい。 Furthermore, the calculation unit 101 drives the drive motor 15 based on the administration profile indicating the administration pattern of the medicinal solution stored in the storage unit 104. Thereby, the user is administered with a drug solution based on a predetermined administration profile. The arithmetic unit 101 includes, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory) (not shown). ROM (Read Only Memory) may be the storage unit 104.
１－３．駆動モータの駆動速度及びトルクと負荷との関係
　次に、上述した構成を有する薬液投与装置１における駆動モータ１５の駆動速度及びトルクと負荷との関係について図５を参照して説明する。
　図５は、駆動モータ１５の駆動速度及びトルクと負荷との関係を示す説明図である。 1-3. Next, the relationship between the drive speed and torque of the drive motor 15 and the load in the drug administration device 1 having the above-described configuration will be described with reference to FIG.
FIG. 5 is an explanatory diagram showing the relationship between the drive speed and torque of the drive motor 15 and the load.
　なお、駆動モータ１５に印加される電圧又は電流の値は一定である。そのため、図５に示すように、駆動モータ１５の駆動速度Ｖを上げると、トルクＭが小さくなり、駆動速度Ｖが下がると、トルクＭが大きくなる。 Note that the value of the voltage or current applied to the drive motor 15 is constant. Therefore, as shown in FIG. 5, when the drive speed V of the drive motor 15 is increased, the torque M decreases, and when the drive speed V decreases, the torque M increases.
　また、駆動モータ１５に加わる負荷が大きくなると、この負荷に合わせて駆動モータ１５のトルクＭを大きくする必要がある。そのため、駆動モータ１５に加わる負荷が大きくなると、トルクＭを大きくするために、駆動速度Ｖを下げる必要がある。 Further, when the load applied to the drive motor 15 increases, it is necessary to increase the torque M of the drive motor 15 according to this load. Therefore, when the load applied to the drive motor 15 increases, the drive speed V needs to be decreased in order to increase the torque M.
２．薬液投与装置の薬液投与準備動作例
　次に、上述した構成を有する薬液投与装置１における薬液投与準備動作例について説明する。 2. Next, an example of a chemical solution administration preparation operation in the chemical solution administration apparatus 1 having the above-described configuration will be described.
２－１．薬液投与準備動作時に加わる負荷
　まず、図６を参照して、薬液投与準備動作時に加わる負荷について説明する。
　図６は、薬液投与準備の際に駆動モータに加わる負荷を示す説明図である。 2-1. First, with reference to FIG. 6, the load applied at the time of the chemical solution preparation operation will be described.
FIG. 6 is an explanatory diagram showing a load applied to the drive motor in preparation for administration of a drug solution.
　薬液投与準備動作を行う前には、予め所定量の薬液が薬液貯蔵部１３に充填されている。このとき、図２に示すように、押し子操作部２２の連結ナット２２ｃは、押し子部材１８の連結部１８ｃから離反している。そのため、連結ナット２２ｃと連結部１８ｃの連結は、外されている。このとき、駆動モータ１５を駆動させて連結ナット２２ｃを移動させても、連結ナット２２ｃに加わる抗力（負荷）が小さいため、駆動モータ１５に加わる負荷も小さくなる。 Before performing the chemical solution administration preparation operation, a predetermined amount of chemical solution is filled in the chemical solution storage unit 13 in advance. At this time, as shown in FIG. 2, the connecting nut 22 c of the pusher operating portion 22 is separated from the connecting portion 18 c of the pusher member 18. For this reason, the connection between the connection nut 22c and the connection portion 18c is removed. At this time, even if the drive motor 15 is driven to move the connection nut 22c, the load (load) applied to the connection nut 22c is small, so the load applied to the drive motor 15 is also reduced.
　また、薬液投与準備動作では、連結ナット２２ｃと連結部１８ｃを連結させる。そして、押し子部材１８を押し子操作部２２で操作し、ガスケット１８ａを薬液貯蔵部１３の筒孔１３ｃ内を摺動させて、薬液貯蔵部１３の筒孔１３ｃ、送液ポート１３ａや送液配管１９内に残留する空気を送液配管１９から排出させる。 In addition, in the chemical solution administration preparation operation, the connecting nut 22c and the connecting portion 18c are connected. Then, the pusher member 18 is operated by the pusher operation unit 22, and the gasket 18 a is slid in the cylindrical hole 13 c of the chemical solution storage unit 13, so that the cylindrical hole 13 c, the liquid supply port 13 a and the liquid supply port of the chemical solution storage unit 13 are obtained. The air remaining in the pipe 19 is discharged from the liquid supply pipe 19.
　また、図６の斜線矢印に示すように、ガスケット１８ａを、筒孔１３ｃ内で摺動させる際は、ガスケット１８ａは、作用・反作用の法則により薬液から押し出す向きと反対向きに抗力（負荷）を受ける。ガスケット１８ａに加わった負荷は、シャフト部１８ｂを介して押し子操作部２２の連結ナット２２ｃに伝わる。また、連結ナット２２ｃを連結部１８ｃに連結させる際、連結ナット２２ｃは、連結部１８ｃから移動方向と反対向きに負荷を受ける。 Further, as shown by the hatched arrows in FIG. 6, when the gasket 18a is slid in the cylindrical hole 13c, the gasket 18a exerts a drag (load) in the direction opposite to the direction of pushing out from the chemical solution by the law of action / reaction. receive. The load applied to the gasket 18a is transmitted to the connecting nut 22c of the pusher operating portion 22 through the shaft portion 18b. Further, when connecting the connecting nut 22c to the connecting portion 18c, the connecting nut 22c receives a load in the direction opposite to the moving direction from the connecting portion 18c.
　連結ナット２２ｃに抗力が伝わることで、連結ナット２２ｃと螺合する送りねじ軸２２ｂには、連結ナット２２ｃを介して、回転方向と反対向きの負荷を受ける。そして、送りねじ軸２２ｂに接続された操作歯車２３にも、回転方向と反対向きの負荷が加わる。その結果、伝達機構１４を介して駆動モータ１５に加わる負荷が大きくなり、駆動モータ１５に必要なトルクも大きくなる。 When the drag is transmitted to the connecting nut 22c, the feed screw shaft 22b screwed with the connecting nut 22c receives a load opposite to the rotation direction via the connecting nut 22c. A load in the direction opposite to the rotational direction is also applied to the operation gear 23 connected to the feed screw shaft 22b. As a result, the load applied to the drive motor 15 via the transmission mechanism 14 increases, and the torque required for the drive motor 15 also increases.
２－２．薬液投与準備動作
　次に、図７～図９を参照して本例の薬液投与装置１における薬液投与準備動作について説明する。
　図７は、薬液投与準備動作を示すフローチャート、図８は、薬液投与動作での駆動モータの駆動速度とトルクを示す説明図、図９は、演算部が駆動モータに出力する駆動信号と回転検出部が検出した回転信号との関係を示す説明図である。 2-2. Next, a drug solution preparation operation in the drug solution administration device 1 of the present example will be described with reference to FIGS.
FIG. 7 is a flowchart showing the chemical solution administration operation, FIG. 8 is an explanatory diagram showing the drive speed and torque of the drive motor in the chemical solution administration operation, and FIG. 9 is a drive signal and rotation detection output to the drive motor by the arithmetic unit It is explanatory drawing which shows the relationship with the rotation signal which the part detected.
　まず、図７に示すように、演算部１０１は、駆動モータ１５の駆動速度を設定する（ステップＳ１１）。薬液投与準備動作を開始する際は、連結ナット２２ｃが、連結部１８ｃから離反しているため、駆動モータ１５に加わる負荷は、小さい。そのため、図８に示すように、演算部１０１は、駆動モータ１５の駆動速度Ｖを、薬液投与動作時において最も速い第１速度Ｖ１に設定する。このとき、駆動モータ１５のトルクＭは、第１トルクＭ１となる。 First, as shown in FIG. 7, the calculation unit 101 sets the drive speed of the drive motor 15 (step S11). When the chemical liquid administration preparation operation is started, the load applied to the drive motor 15 is small because the connection nut 22c is separated from the connection portion 18c. Therefore, as shown in FIG. 8, the calculation unit 101 sets the drive speed V of the drive motor 15 to the fastest first speed V 1 during the drug solution administration operation. In this case, the torque M of the drive motor 15, a first torque M 1.
　そして、演算部１０１は、ステップＳ１１の処理で設定した駆動速度（第１速度Ｖ１）に対応する駆動信号（モータ駆動パルス）を駆動モータ１５に出力し、駆動モータ１５を駆動させる（ステップＳ１２）。このとき、駆動モータ１５に演算部１０１から出力される駆動信号は、図９に示すように、Ｔ１秒で駆動軸１５ａが１回転する信号である。 Then, the calculation unit 101 outputs a drive signal (motor drive pulse) corresponding to the drive speed (first speed V 1 ) set in the process of step S11 to the drive motor 15 to drive the drive motor 15 (step S12). ). At this time, the drive signal output from the calculation unit 101 to the drive motor 15 is a signal for rotating the drive shaft 15a once in T1 seconds, as shown in FIG.
　これにより、駆動モータ１５が駆動し、その駆動力が伝達機構１４を介して押し子操作部２２に伝達される。その結果、連結ナット２２ｃが送りねじ軸２２ｂの軸方向に沿って移動し、連結部１８ｃに接近する。また、駆動モータ１５の駆動軸１５ａが回転することにより、回転検出部２１の回転体２６も回転する。 Thereby, the drive motor 15 is driven, and the driving force is transmitted to the pusher operation unit 22 via the transmission mechanism 14. As a result, the connecting nut 22c moves along the axial direction of the feed screw shaft 22b and approaches the connecting portion 18c. Further, when the drive shaft 15a of the drive motor 15 rotates, the rotating body 26 of the rotation detection unit 21 also rotates.
　次に、演算部１０１は、通信部１０３を介して使用者から停止命令が入力されたか否かを判断する（ステップＳ１３）。ここで、送液配管１９から薬液が排出された場合、薬液貯蔵部１３の筒孔１３ｃ、送液ポート１３ａ及び送液配管１９に残留する空気が全て排出される。そのため、使用者は、送液配管１９から薬液が排出されると、通信部１０３を介して停止命令を入力し、薬液投与準備動作を停止させる。 Next, the calculation unit 101 determines whether or not a stop command has been input from the user via the communication unit 103 (step S13). Here, when the chemical liquid is discharged from the liquid supply pipe 19, all the air remaining in the cylindrical hole 13 c, the liquid supply port 13 a and the liquid supply pipe 19 of the chemical liquid storage unit 13 is discharged. Therefore, when the chemical liquid is discharged from the liquid supply pipe 19, the user inputs a stop command via the communication unit 103 to stop the chemical liquid administration preparation operation.
　ステップＳ１３の処理において、停止命令が入力されていないと判断した場合（ステップＳ１３のＮＯ判定）、演算部１０１は、回転検出部２１からの回転信号に基づいて、負荷を検知したか否かを判断する（ステップＳ１４）。 In the process of step S13, when it is determined that a stop command has not been input (NO determination in step S13), the calculation unit 101 determines whether a load is detected based on the rotation signal from the rotation detection unit 21. Judgment is made (step S14).
　ここで、駆動モータ１５が正常に回転している場合、図９に示すように、演算部１０１が出力した駆動信号の１パルス（Ｔ１秒）において回転検出部２１が検出する回転信号（回転検出部パルス）は、「明」と「暗」が６回繰り返された信号となる。 Here, when the drive motor 15 is rotating normally, as shown in FIG. 9, a rotation signal (rotation detection) detected by the rotation detection unit 21 in one pulse (T1 second) of the drive signal output from the calculation unit 101. Part pulse) is a signal in which “bright” and “dark” are repeated six times.
　また、連結ナット２２ｃが連結部１８ｃに連結されたり、ガスケット１８ａの摺動抵抗が大きくなったりすることで、駆動モータ１５に加わる負荷が大きくなると、駆動モータ１５が正常に回転しなくなる。そのため、演算部１０１が出力した駆動信号の１パルス（Ｔ１秒）において回転検出部２１が検出する回転信号（回転検出部パルス）の「明」と「暗」の繰り返しのパターンが変化する（図９に示す例では、「明」が２回、「暗」が４回）。そして、演算部１０１は、「明」と「暗」の繰り返しのパターンが変化した回転信号を受信した際に、負荷を検知したと判断する。 Further, when the load applied to the drive motor 15 increases due to the connection nut 22c being connected to the connection portion 18c or the sliding resistance of the gasket 18a being increased, the drive motor 15 does not rotate normally. Therefore, the repetition pattern of “bright” and “dark” of the rotation signal (rotation detection unit pulse) detected by the rotation detection unit 21 changes in one pulse (T1 second) of the drive signal output by the calculation unit 101 (FIG. In the example shown in FIG. 9, “bright” is 2 times and “dark” is 4 times). Then, the calculation unit 101 determines that a load has been detected when a rotation signal in which a repeated pattern of “bright” and “dark” is changed is received.
　ステップＳ１４の処理において、負荷を検知していないと判断した場合（ステップＳ１４のＮＯ判定）、演算部１０１は、ステップＳ１２の処理に戻り、駆動速度Ｖを変化させずに駆動モータ１５を駆動させる。 If it is determined in step S14 that the load is not detected (NO determination in step S14), the calculation unit 101 returns to step S12 and drives the drive motor 15 without changing the drive speed V. .
　また、ステップＳ１４の処理において、負荷を検知したと判断した場合（ステップＳ１４のＹＥＳ判定）、演算部１０１は、ステップＳ１１の処理に戻り、再び駆動速度Ｖを設定する。再び駆動速度Ｖを設定する際、演算部１０１は、第１速度Ｖ１よりも遅い第２速度Ｖ２に設定する。このとき、駆動モータ１５のトルクＭは、第１トルクＭ１よりも大きい第２トルクＭ２となる。 If it is determined in step S14 that a load has been detected (YES determination in step S14), the operation unit 101 returns to step S11 and sets the drive speed V again. When setting the driving speed V again, the calculation unit 101 sets the second speed V 2 that is slower than the first speed V 1 . In this case, the torque M of the drive motor 15, the second the torque M 2 greater than the first torque M1.
　そして、演算部１０１は、ステップＳ１１の処理で設定した駆動速度（第２速度Ｖ２）に対応する駆動信号を駆動モータ１５に出力し、駆動モータ１５を駆動させる（ステップＳ１２）。このとき、駆動モータ１５に演算部１０１から出力される駆動信号は、図９に示すように、Ｔ１秒よりも長いＴ２秒で駆動軸１５ａが１回転する信号である。なお、駆動モータ１５に印加する電圧値又は電流値は、第１速度Ｖ１と同じ値である。 The calculation unit 101, a drive signal corresponding to the driving speed set in the process of step S11 (second velocity V 2) is outputted to the drive motor 15 to drive the drive motor 15 (step S12). At this time, as shown in FIG. 9, the drive signal output from the calculation unit 101 to the drive motor 15 is a signal for rotating the drive shaft 15a once in T2 seconds longer than T1 seconds. The voltage value or a current value applied to the drive motor 15 is the same value as the first velocity V 1.
　また、第２速度Ｖ２で駆動モータ１５を駆動している間に、演算部１０１が回転信号に基づいて負荷を検知した場合、図８に示すように、駆動モータ１５の駆動速度Ｖを、第２速度Ｖ２よりも遅い第３速度Ｖ３に設定する。そして、駆動モータ１５のトルクＭは、第２トルクＭ２よりも大きい第３トルクＭ３になる。 Further, while the drive motor 15 at a second velocity V 2, when the calculation unit 101 detects the load based on the rotation signal, as shown in FIG. 8, the driving speed V of the drive motor 15, than the second speed V 2 is set to a slow third velocity V 3. The torque M of the drive motor 15, to a third torque M 3 greater than the second torque M 2.
　さらに、第３速度Ｖ３で駆動モータ１５を駆動している間に、演算部１０１が回転信号に基づいて負荷を検知した場合、図８に示すように、駆動モータ１５の駆動速度Ｖを、第３速度Ｖ３よりも遅い第４速度Ｖ４に設定する。そして、駆動モータ１５のトルクＭは、第３トルクＭ３よりも大きい第４トルクＭ４になる。このように、本例の薬液投与装置１は、駆動モータ１５に加わる負荷に応じて駆動速度Ｖを段階的に変化させている。 Furthermore, when the calculation unit 101 detects a load based on the rotation signal while driving the drive motor 15 at the third speed V 3 , the drive speed V of the drive motor 15 is set as shown in FIG. The fourth speed V 4 is set slower than the third speed V 3 . Then, the torque M of the drive motor 15 becomes the fourth torque M 4 that is larger than the third torque M 3 . Thus, the drug solution administration device 1 of the present example changes the drive speed V stepwise according to the load applied to the drive motor 15.
　なお、駆動モータ１５の駆動速度Ｖの変化は、４段階に限定されるものではなく、薬液投与準備動作の間に、駆動モータ１５に加わる負荷に応じて変化されるものである。そのため、駆動モータ１５の駆動速度Ｖは、駆動モータ１５に加わる負荷によって、３段階以下に変化する場合もあれば、５段階以上に変化する場合もある。 Note that the change in the driving speed V of the drive motor 15 is not limited to four stages, but is changed according to the load applied to the drive motor 15 during the preparation for drug administration. Therefore, the drive speed V of the drive motor 15 may change to three steps or less depending on the load applied to the drive motor 15, or may change to five steps or more.
　ステップＳ１３の処理において使用者から停止命令が入力されるまで上述した処理を繰り返す。そして、ステップＳ１３の処理において停止命令が入力されたと判断した場合（ステップＳ１３のＹＥＳ判定）、演算部１０１は、駆動モータ１５の駆動を停止させる（ステップＳ１５）。これにより、本例の薬液投与装置１における薬液投与準備動作が完了する。 The above process is repeated until a stop command is input from the user in the process of step S13. When it is determined that a stop command is input in the process of step S13 (YES determination of step S13), the arithmetic unit 101 stops driving of the drive motor 15 (step S15). Thereby, the chemical | medical solution administration preparation operation | movement in the chemical | medical solution administration apparatus 1 of this example is completed.
　本例の薬液投与装置１によれば、回転検出部２１が検出した回転信号に基づいて駆動モータ１５の駆動速度を設定している。これにより、駆動モータ１５に加わる負荷が比較的小さく、薬液投与準備動作を開始する初期の駆動モータ１５の駆動速度Ｖを速くすることができる。その結果、薬液投与準備にかかる時間を短縮することができる。そして、負荷を検知した際に、駆動速度Ｖを段階的に下げることで、負荷に対応したトルクを駆動モータ１５に発生させることができる。これにより、加わる負荷により使用者の意図に反して駆動モータ１５が止まることを防ぐことができる。 According to the drug administration device 1 of this example, the drive speed of the drive motor 15 is set based on the rotation signal detected by the rotation detector 21. As a result, the load applied to the drive motor 15 is relatively small, and the initial drive speed V of the drive motor 15 that starts the drug solution preparation operation can be increased. As a result, it is possible to shorten the time required for preparation for drug solution administration. When the load is detected, the drive motor 15 can generate torque corresponding to the load by decreasing the drive speed V stepwise. Thereby, it is possible to prevent the drive motor 15 from stopping against the user's intention due to the applied load.
　以上、本発明の実施の形態例について、その作用効果も含めて説明した。しかしながら、本発明の薬液投与装置は、上述の実施形態に限定されるものではなく、請求の範囲に記載した発明の要旨を逸脱しない範囲内で種々の変形実施が可能である。 The embodiment of the present invention has been described above including its effects. However, the drug solution administration device of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention described in the claims.
　上述した実施の形態例では、薬液投与装置としてインスリンを投与するインスリンポンプを適用した例を説明したが、これに限定されるものではない。投与する薬液としては、鎮痛薬、抗癌治療薬、ＨＩＶ薬、鉄キレート薬、肺高血圧症治療薬等のその他各種の薬液を用いてもよい。 In the above-described embodiment, an example in which an insulin pump that administers insulin is applied as the drug solution administration device has been described. However, the present invention is not limited to this. As the drug solution to be administered, various other drug solutions such as analgesics, anticancer therapeutic agents, HIV drugs, iron chelating agents, pulmonary hypertension therapeutic agents and the like may be used.
　また、上述した実施の形態例では、駆動モータ１５に印加する電圧値又は電流値を一定にし、駆動速度Ｖを遅くすることで、駆動モータ１５に生じるトルクＭを大きくした例を説明したが、これに限定されるものではない。例えば、昇圧回路を駆動モータに設け、駆動モータに印加する電圧値又は電流値を可変させてもよい。これにより、駆動モータの駆動速度Ｖを一定に保った状態で、駆動モータに印加する電圧値又は電流値を上昇させることで、駆動モータに生じるトルクＭを大きくすることができる。その結果、薬液投与準備にかかる時間をさらに短縮することができる。 In the above-described embodiment, the example in which the torque M generated in the drive motor 15 is increased by making the voltage value or current value applied to the drive motor 15 constant and slowing the drive speed V has been described. It is not limited to this. For example, a booster circuit may be provided in the drive motor, and the voltage value or current value applied to the drive motor may be varied. Thus, the torque M generated in the drive motor can be increased by increasing the voltage value or current value applied to the drive motor while keeping the drive speed V of the drive motor constant. As a result, it is possible to further reduce the time required for preparation for administration of the drug solution.
　１…薬液投与装置、　２…薬液投与部、　３…クレードル装置、　５…装着部、　６…接続ポート、　６ａ…カニューレ、　１１…筐体、　１１ｃ…第１軸受け部、　１１ｄ…第２軸受け部、　１２…蓋体、　１３…薬液貯蔵部、　１４…伝達機構、　１５…駆動モータ（駆動部）、　１５ａ…駆動軸、　１６…報知部、　１７…電源部、　１８…押し子部材、　１８ａ…ガスケット、　１８ｂ…シャフト部、　１８ｃ…連結部、　１９…送液配管、　２１…回転検出部、　２２…押し子操作部、　２２ｂ…送りねじ軸、　２２ｃ…連結ナット、　２３…操作歯車、　２５…検出センサ、　２５ａ…発光部、　２５ｂ…受光部、　２６…回転体、　２６ａ…回転体本体部、　２６ｂ…遮蔽板、　２６ｃ…スリット、　１０１…演算部（制御部）、　１０４…記憶部、　Ｍ…トルク、　Ｖ…駆動速度、　Ｖ１…第１速度、　Ｖ２…第２速度、　Ｖ３…第３速度、　Ｖ４…第４速度 DESCRIPTION OF SYMBOLS 1 ... Chemical solution administration apparatus, 2 ... Chemical solution administration part, 3 ... Cradle apparatus, 5 ... Mounting part, 6 ... Connection port, 6a ... Cannula, 11 ... Housing | casing, 11c ... 1st bearing part, 11d ... 2nd bearing part, DESCRIPTION OF SYMBOLS 12 ... Lid body, 13 ... Chemical solution storage part, 14 ... Transmission mechanism, 15 ... Drive motor (drive part), 15a ... Drive shaft, 16 ... Notification part, 17 ... Power supply part, 18 ... Pusher member, 18a ... Gasket, 18b ... Shaft portion, 18c ... Connection portion, 19 ... Liquid feed piping, 21 ... Rotation detection portion, 22 ... Pusher operation portion, 22b ... Feed screw shaft, 22c ... Connection nut, 23 ... Operation gear, 25 ... Detection sensor, 25a ... Light emitting part, 25b ... Light receiving part, 26 ... Rotating body, 26a ... Rotating body main body part, 26b ... Shielding plate, 26c ... Slit, 101 ... Calculation part (control part), 104 ... Storage part, M ... Torque, V ... drive speed , V 1 ... first velocity, V 2 ... second velocity, V 3 ... third velocity, V 4 ... 4 Speed

Claims (5)

  1. 　薬液が充填された薬液貯蔵部と、
    　前記薬液貯蔵部に充填された前記薬液を押し出す押し子部材と、
    　前記押し子部材の移動を操作する押し子操作部と、
    　前記押し子操作部に駆動力を与える駆動部と、
    　前記駆動部の回転を検出する回転検出部と、
    　前記駆動部の駆動を制御する制御部と、を備え、
    　前記制御部は、前記回転検出部が検出した前記駆動部の回転信号に基づいて前記駆動部に加わる負荷を検知し、前記駆動部により生じるトルクを変化させる
    　薬液投与装置。     A chemical storage section filled with the chemical,
    A pusher member for extruding the chemical solution filled in the chemical solution storage unit;
    A pusher operation unit for operating the movement of the pusher member;
    A driving unit for applying a driving force to the pusher operating unit;
    A rotation detection unit that detects rotation of the drive unit;
    A control unit for controlling the driving of the driving unit,
    The said control part detects the load added to the said drive part based on the rotation signal of the said drive part which the said rotation detection part detected, The chemical solution administration apparatus which changes the torque which the said drive part produces.
  2. 　前記駆動部には、一定の電圧値又は電流値が印加され、
    　前記制御部は、前記駆動部の駆動速度を変化させることで前記トルクを変化させる
    　請求項１に記載の薬液投与装置。     A constant voltage value or current value is applied to the driving unit,
    The medicinal-solution administration device according to claim 1, wherein the control unit changes the torque by changing a driving speed of the driving unit.
  3. 　前記制御部は、負荷を検知する毎に、前記駆動部の駆動速度を段階的に遅くする
    　請求項２に記載の薬液投与装置。     The medicinal-solution administration device according to claim 2, wherein the control unit slows down the driving speed of the driving unit in steps each time a load is detected.
  4. 　前記回転検出部は、
    　前記駆動部の駆動軸に固定された回転体と、
    　前記回転体の回転を検出する検出センサと、を有し、
    　前記検出センサは、
    　光を出射する発光部と、
    　前記発光部から出射された光を受光する受光部と、を有し、
    　前記回転体は、
    　回転方向に沿って間隔を空けて配置され、前記受光部から出射された光を遮蔽可能な複数の遮蔽板を有する
    　請求項１に記載の薬液投与装置。     The rotation detector
    A rotating body fixed to a drive shaft of the drive unit;
    A detection sensor for detecting the rotation of the rotating body,
    The detection sensor is
    A light emitting unit for emitting light;
    A light receiving portion that receives light emitted from the light emitting portion, and
    The rotating body is
    The medicinal-solution administration device according to claim 1, further comprising a plurality of shielding plates arranged at intervals along the rotation direction and capable of shielding light emitted from the light receiving unit.
  5. 　前記押し子操作部は、
    　前記駆動部により回転し、軸方向が前記押し子部材の移動方向と平行に配置される送りねじ軸と、
    　前記送りねじ軸に螺合され、前記押し子部材に連結する連結ナットと、を有する
    　請求項１に記載の薬液投与装置。     The pusher operation section is
    A feed screw shaft which is rotated by the drive unit and whose axial direction is arranged in parallel with the moving direction of the pusher member;
    The medicinal-solution administration device according to claim 1, further comprising: a connection nut that is screwed onto the feed screw shaft and connected to the pusher member.
PCT/JP2018/002621 2017-03-23 2018-01-29 Medicinal liquid administering device WO2018173480A1 (en)

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JP2020130222A (en) * 2019-02-13 2020-08-31 テルモ株式会社 Chemical administration device

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