CN109998620A - A kind of automatic air pressure haemostat measurement and control system based on self adaptive control - Google Patents
A kind of automatic air pressure haemostat measurement and control system based on self adaptive control Download PDFInfo
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- CN109998620A CN109998620A CN201910156498.3A CN201910156498A CN109998620A CN 109998620 A CN109998620 A CN 109998620A CN 201910156498 A CN201910156498 A CN 201910156498A CN 109998620 A CN109998620 A CN 109998620A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B2017/12004—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for haemostasis, for prevention of bleeding
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Abstract
The present disclosure provides a kind of automatic air pressure haemostat measurement and control system based on self adaptive control, automatic air pressure haemostat is equipped with appendix, it include: processor, information acquisition module and alarm module, processor is connect with information acquisition module and alarm module respectively；The information acquisition module includes the first baroceptor, the second baroceptor, third baroceptor and sensor concentrator, the pipe that first baroceptor is located at appendix is first, second baroceptor is located at the middle part of appendix, third baroceptor is located at the pipe tail of appendix, first baroceptor, the second baroceptor and third baroceptor are connect with sensor concentrator respectively, and sensor concentrator is connect by I/O interface with processor；The automatic air pressure haemostat is equipped with pressure control device, and processor is connect with pressure control device, and self-adaptation control method and control parameter are stored in processor.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly to a kind of automatic gas based on self adaptive control
Press haemostat measurement and control system.
Background technique
China is most one of the country of world population, different accidents can all almost occur daily, in medical procedure
The middle cooperation for needing haemostat just can guarantee perfect the carrying out of the relief means such as operation.Currently, the hemostat device for being clinically
Mainly there are manual inflating homeostasis device and electronics air pressure haemostat, electronics air pressure haemostat is carried out using Small-sized C PU or computer
Control, it is transmitted using digital signal, with electronic-controlled hemostat device.Electronics air pressure haemostat is answered extensively now
For limb operation, such as orthopaedics, Burn and Plastic Surgery Dept., traumatology department, microsurgery are such as: reduction of the fracture internal fixation, limb
Body lump or cystectomy nerve, tendon, exploration of blood vessel/reparation/anastomosis bone grafting, arthrocsopic surgery, amputation refer to
Joint, elbow joint, knee surgery, amputation, severed finger, severed toe reunion art.Electronics air pressure haemostat can prevent to greatest extent
Wound bleeding is excessive, but if improper use or precision not enough this may result in soft tissue and weigh wounded, nerve, injury of blood vessel
Deng.
Although electronics air pressure haemostat can prevent to greatest extent wound bleeding excessive, if improper use or
Precision not enough this may result in soft tissue and weigh wounded, nerve, injury of blood vessel etc..
Summary of the invention
In view of the above problems, the purpose of the present invention is to provide a kind of, the automatic air pressure haemostat based on self adaptive control is examined
It surveys and control system, the strategy combined using self adaptive control and conditional electronic air pressure haemostat digital output modul strategy is tied
Close each index in clinical experience, carry out data monitoring using high-precision sensor, to air pressure carry out scientific and reasonable control with
It adjusts, when pneumatic parameter is beyond being expected, alarms, in order to avoid patient is caused serious injury.
The present invention to achieve the above object, is achieved through the following technical solutions: a kind of automatic gas based on self adaptive control
Haemostat measurement and control system is pressed, automatic air pressure haemostat is equipped with appendix characterized by comprising processor, information
Acquisition module and alarm module, processor are connect with information acquisition module and alarm module respectively；The information acquisition module packet
Include the first baroceptor, the second baroceptor, third baroceptor and sensor concentrator, the first baroceptor,
Second baroceptor and third baroceptor are each provided inside appendix, and the first baroceptor is located at the pipe of appendix
Head, the second baroceptor are located at the middle part of appendix, and third baroceptor is located at the pipe tail of appendix, the first air pressure sensing
Device, the second baroceptor and third baroceptor are connect with sensor concentrator respectively, and sensor concentrator is connect by I/O
Mouth is connect with processor；The automatic air pressure haemostat is equipped with pressure control device, and processor is connect with pressure control device,
Self-adaptation control method and control parameter are stored in processor.
Further, the self-adaptation control method uses self-adaptive model generation, the adaptive law that adaptive internal model uses
In amendment step-length be variable.
Further, the self-adaptation control method includes the model of control pressurer system, controller mathematical model and air pressure
The mathematical model of control；
The model of the control pressurer system are as follows:
Wherein, GmIt (s) is the mathematical model of control pressurer system, τmS is pure delay time, kmFor proportional gain, TmS is
Time constant；
The controller mathematical model are as follows:
Wherein, GcIt (s) is controller mathematical model, kmFor proportional gain, TmS is time constant；
With the data instance used in experiment, according to test, the mathematical model of pressure control are as follows:
Wherein, G (s) be the mathematical model of pressure control, 18 be proportional gain, 1925s is time constant, 20s be it is pure late
Between delay.
Further, the processor is based on control parameter and real-time barometric information controls pressure control device；Work as needs
When Isobarically Control or slow inflation/deflation control, processor uses self-adaptation control method；When automatic air pressure haemostat has used
Finish, it is only necessary to which when bleeding off pressure, processor will use digital output modul.
Further, the biography digital output modul specifically: adding for automatic air pressure haemostat is directly controlled by switch level
The open and close of depressor.
Further, the processor receives the pressure value of all baroceptors acquisition simultaneously, and by all pressure values
Average value is as compression force reference value, if the pressure value of the acquisition of any baroceptor is greater than system reference value 5%, processing
Device issues alarm control signal to alarm module.
Further, the control parameter includes constant pressure value and peak；The constant pressure value is stopped for controlling electric automatic air pressure
The internal pressure of blood device, processor is by being compared current compression force reference value and constant pressure value, control automatic air pressure hemostasis
Device is inflated or deflates, and keeps compression force reference value equal with constant pressure value；The peak is that patient is able to bear in surgical procedure
Maximum pressure value.
Further, the processor uses the processor of model STM32F103 or STM32F107.
The prior art is compared, the beneficial effects of the invention are that: the present invention is wide for electronics air pressure haemostat use scope, inspection
Survey the stringent characteristic of parameter request, provide a kind of electronics air pressure haemostat measurement and control system, including multiple low energies,
The data obtaining module of the intelligent sensor node composition system of low-power consumption, can acquire the air pressure of appendix different location, stand
It is enough in surgical procedure and the exact numerical of air pressure required by different phase carries out real-time monitoring after operation, this is in electronics air pressure
The intelligent aspect of haemostat is a breakthrough progress, and the present invention is by multiple low energies, the intelligence sensor of low-power consumption
It is combined, the accurate detection inspection for not having to position, realizing to air pressure of gas-guide tube is distributed in reasonable sensor distribution density
It surveys.
The present invention is based on the automatic air pressure haemostat Monitoring and control system of self adaptive control with mature acquisition of information,
Transmission and processing technique can synergistically monitor, perceive and acquire the information of different location and monitoring object in real time, will be multiple
The pressure information of position is brought together by digitized form, sufficiently meets the real-time of Medical Devices monitoring, can be with
Accomplish zero propagation.Core processor of the present invention by high performance processor STM32 as system, does not need and computer
Equipment is attached, it is ensured that the use of equipment under various circumstances is swift in response without networking, system start-up time pole
It is short, it can accomplish plug and play.STM32 processor spy also extremely low with power consumption other than function intensified big Peripheral Interface
Point has fully ensured that the continuation of the journey of equipment.In the process of running, when monitoring data exceed setting range, system can be held the present invention
The operation of row alarm, reminds user to carry out relevant operation to automatic air pressure haemostat.
In addition, it is necessary to it is emphasized that the present invention in system uncertainty and external environment to system disturbance
Unpredictability, system two methods are controlled with traditional simple switch amount using the control of adaptive inner membrance in conjunction with controlling party
Method farthest realizes the accuracy and timeliness of control.Model needs this for pressure control are high, control accuracy requirement
Stringent situation uses self-adaptive model generation, can effectively improve the anti-interference ability of system.
It can be seen that compared with prior art, the present invention implementing with substantive distinguishing features outstanding and significant progress
Beneficial effect be also obvious.
Detailed description of the invention
Attached drawing 1 is system construction drawing of the invention.
Attached drawing 2 is self-adaptation control method schematic diagram of the invention.
Attached drawing 3 is adaptive inner membrance control system architecture figure of the invention.
Specific embodiment
It explains with reference to the accompanying drawing to a specific embodiment of the invention.
As shown in Figure 1, the present invention provides a kind of automatic air pressure haemostat Detection & Controling system based on self adaptive control
System, automatic air pressure haemostat are equipped with appendix characterized by comprising processor, information acquisition module and alarm module,
Processor is connect with information acquisition module and alarm module respectively；The information acquisition module includes the first baroceptor, the
Two baroceptors, third baroceptor and sensor concentrator, the first baroceptor, the second baroceptor and third
Baroceptor is each provided inside appendix, and the pipe that the first baroceptor is located at appendix is first, and the second baroceptor is located at
The middle part of appendix, third baroceptor are located at the pipe tail of appendix, the first baroceptor, the second baroceptor and
Three baroceptors are connect with sensor concentrator respectively, and sensor concentrator is connect by I/O interface with processor；It is described from
It takes offence and haemostat is pressed to be equipped with pressure control device, processor is connect with pressure control device, is stored in processor adaptive
Control method and control parameter.
The placement of sensor: the present invention is made of the letter of system the intelligent sensor node of multiple low energies, low-power consumption
Breath obtains module, carries out real-time monitoring based on the air pressure mostly important for patient in operation, escorts shield for the operation of doctor
Boat.Since air pressure is pressed to form by appendix ventilation in surgical procedure, so can be led in the case where appendix bending
Cause the air pressure of different location is non-uniform to happen.First baroceptor, the second baroceptor and third air pressure sensing
Device is connect with sensor concentrator respectively, will be acquired the information of the different location reached and monitoring object, is concentrated by sensor
Device pools together, and STM32 processor is sent data to by way of digital quantity, realizes the complete transmission of data, and
And in assuring data security, with the cost for greatly reducing system while transmission timeliness.
The processor receives the pressure value of all baroceptor acquisitions simultaneously, and the average value of all pressure values is made
For compression force reference value, if the pressure value of the acquisition of any baroceptor is greater than system reference value 5%, processor is to alarm
Module issues alarm control signal, reminds user to check dangerous.
The processor uses the processor of model STM32F103 or STM32F107.Using in the Cortex of mainstream
Core.And have and enriches reasonable peripheral hardware, reasonable power consumption, reasonable prices and powerful software support.Chip model type
It is more, broad covered area and have powerful user base, had accumulated large quantities of user groups, in the stability of system operation
It is upper that there is greatly guarantee.
The parameter preset includes constant pressure value and peak, the maximum pressure that patient in surgical procedure is able to bear by the present invention
Peak of the power as setting can carry out the customization and setting of profession for different operations, while support the change in later period
With upgrading, versatility is stronger while preventing because malpractice occurs for the maloperation of doctor.Pressure is set as in the present invention
User's sets itself.In medical procedure, user can set a constant pressure value, system meeting automatic inflatable/air to setting
Value, inflation/deflation speed can individually be set by face button.
As shown in Fig. 2, self-adaptation control method of the invention is adjusted based on control parameter and real-time barometric information
Section, different control methods use simultaneously, using with the control of adaptive inner membrance and switching value control on the basis of set value calculation
The method of system is selected according to the target of control, and gradually adjusts setting value according to the information measured by sensor.
The processor is based on control parameter and real-time barometric information controls pressure control device；When needing Isobarically Control
Or slowly inflation/deflation control when, processor use self-adaptation control method；When automatic air pressure haemostat use finishes, it is only necessary to put
When pressure, processor will use digital output modul.The digital output modul specifically: automatic air pressure is directly controlled by switch level
The open and close of the pressurizer of haemostat.
As shown in figure 3, controlling automatic air pressure haemostat, this model needs are high, control the bad major accident that will lead to
Situation is controlled using adaptive inner membrance, there is the advantages of structure is simple, and on-line control parameter is few, strong robustness.Wherein adaptive law
In amendment step-length be not it is fixed, can be adjusted at any time according to the case where control system, and control is adjusted according to interior mould parameter at any time
The parameter of device processed, to improve the robustness of control system.If the model of pneumatic control system are as follows:
Wherein, GmIt (s) is the mathematical model of control pressurer system, τmS is pure delay time, kmFor proportional gain, TmS is
Time constant.
Controller mathematical model are as follows:
Wherein, GcIt (s) is controller mathematical model, kmFor proportional gain, TmS is time constant.
In use, many because being known as of air pressure are influenced, it is most important after determining that reduction aeration quantity is control amount
Interference is the variation of external pressure, in order to guarantee stable gas pressure, it is necessary to make a change in time, balance these interference.In experiment
The data instance of use, according to test, the mathematical model of pressure control are as follows:
Wherein, 18 be proportional gain, and 1925s is time constant, and 260s is the pure delay time.
It is this big that experiment shows that the control method proposed by the invention used can greatly improve the control of air pressure haemostat
The robustness of delay system.
A kind of electronics air pressure haemostat measurement and control system is present embodiments provided, user can be made more easily
The exact value for obtaining air pressure has great importance to the research and development of other medical new products, at the same time as other influences because
The reference index of element research.And the present embodiment frees human labour power from complicated labour, so that user can
To do more things in the same time, more information are obtained, has supplied and has been wasted in traditional manual charger use process
Manpower, the low deficiency of data acquisition efficiency have stronger practical value.In addition, the present invention has hardware and software algorithm
Support, structure is simple, has stability high, and the strong feature of generalization can be transplanted in other Industry Controls.
With reference to the drawings and specific embodiments, the invention will be further described.It should be understood that these embodiments are merely to illustrate
The present invention rather than limit the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, this field
Technical staff can make various changes or modifications the present invention, and such equivalent forms equally fall within range defined herein.
Claims (8)
1. a kind of automatic air pressure haemostat measurement and control system based on self adaptive control, automatic air pressure haemostat is equipped with defeated
Tracheae characterized by comprising processor, information acquisition module and alarm module, processor respectively with information acquisition module and
Alarm module connection；
The information acquisition module includes the first baroceptor, the second baroceptor, third baroceptor and sensor
Concentrator, the first baroceptor, the second baroceptor and third baroceptor are each provided inside appendix, the first air pressure
The pipe that sensor is located at appendix is first, and the second baroceptor is located at the middle part of appendix, and third baroceptor is located at gas transmission
The pipe tail of pipe, the first baroceptor, the second baroceptor and third baroceptor are connect with sensor concentrator respectively,
Sensor concentrator is connect by I/O interface with processor；
The automatic air pressure haemostat is equipped with pressure control device, and processor connect with pressure control device, deposits in processor
Contain self-adaptation control method and control parameter.
2. the automatic air pressure haemostat measurement and control system according to claim 1 based on self adaptive control, feature
Be: the self-adaptation control method uses self-adaptive model generation, the amendment step in the adaptive law that adaptive internal model uses
A length of variable.
3. the automatic air pressure haemostat measurement and control system according to claim 1 based on self adaptive control, feature
Be: the self-adaptation control method includes the mathematics of the model of control pressurer system, controller mathematical model and pressure control
Model；
The model of the control pressurer system are as follows:
Wherein, GmIt (s) is the mathematical model of control pressurer system, τmS is pure delay time, kmFor proportional gain, TmS is that the time is normal
Number；
The controller mathematical model are as follows:
Wherein, GcIt (s) is controller mathematical model, kmFor proportional gain, TmS is time constant；
With the data instance used in experiment, according to test, the mathematical model of pressure control are as follows:
Wherein, G (s) is the mathematical model of pressure control, 18 is proportional gain, when 1925s is time constant, 20s is pure delays
Between.
4. the automatic air pressure haemostat measurement and control system according to claim 1 based on self adaptive control, feature
Be: the processor is based on control parameter and real-time barometric information control pressure control device；When need Isobarically Control or
When the slow inflation/deflation of person controls, processor uses self-adaptation control method；When automatic air pressure haemostat use finishes, it is only necessary to bleed off pressure
When, processor will use digital output modul.
5. the automatic air pressure haemostat measurement and control system according to claim 4 based on self adaptive control, feature
Be, the digital output modul specifically: by switch level directly control the unlatching of the pressurizer of automatic air pressure haemostat with
It closes.
6. the automatic air pressure haemostat measurement and control system according to claim 1 based on self adaptive control, feature
Be, the processor receives the pressure value of all baroceptors acquisition simultaneously, and using the average value of all pressure values as
Compression force reference value, if the pressure value of the acquisition of any baroceptor be greater than system reference value 5%, processor to alarm mould
Block issues alarm control signal.
7. the automatic air pressure haemostat measurement and control system according to claim 1 based on self adaptive control, feature
It is, the control parameter includes constant pressure value and peak；The constant pressure value is used to control the inside pressure of automatic air pressure haemostat
Power, processor by being compared to current compression force reference value and constant pressure value, control automatic air pressure haemostat be inflated or
It deflates, keeps compression force reference value equal with constant pressure value；The peak is the maximum pressure value that patient is able to bear in surgical procedure.
8. the automatic air pressure haemostat measurement and control system according to claim 1 based on self adaptive control, feature
Be: the processor uses the processor of model STM32F103 or STM32F107.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840578A (en) * | 2019-11-04 | 2020-02-28 | 清华大学 | Perineum dynamometer |
| CN112690864A (en) * | 2019-10-23 | 2021-04-23 | 苏州英途康医疗科技有限公司 | Medical instrument and automatic clamp feeding method |
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