Rotary motor based transdermal injection device

An apparatus for injectate delivery, said apparatus comprising:

• a cartridge containing a volume of an injectate and an exit port;
• a linear actuator configured for delivery of the injectate from the exit port of the cartridge, the linear actuator including a linkage;
• a rotary motor mechanically coupled to the linkage;
• and
• a controller coupled to the rotary motor, wherein the controller is configured to control a linear motion of the linear actuator in response to a control signal by controlling an electrical input supplied to the rotary motor in:
• a first interval during which the rotary motor is engaged with the cartridge to displace the injectate therefrom,
• a second interval during which the controller drives the rotary motor to maintain a jet of the injectate at or above a first speed selected to create a channel through a human tissue to a subcutaneous depth, and
• a third interval during which the controller drives the rotary motor at a second speed less than the first speed and maintained within a range selected to deliver the volume of the injectate at the subcutaneous depth;
• and
• a sensor system configured to detect when the apparatus is properly positioned to deliver the injectate in an injection to a patient,
• wherein the controller is configured to create a human-perceptible signal by the apparatus when the apparatus is properly positioned to deliver the injectate.