A capacitive ureteral sheath and a method for controlling renal pelvic pressure thereof

Abstract

The present invention discloses a capacitive ureteral sheath and a method for controlling the renal pelvic pressure thereof. The capacitive ureteral sheath comprises a soft endoscope outer sheath, the front end of which is provided with an annular pressure sensor; the rear end of which is provided with an elastic outer cavity. The capacitive ureteral sheath is applied to the dynamic control of the renal pelvic pressure. The present invention has the characteristics of alleviating accidental high-pressure injuries, strong adaptability, and high-frequency dynamic control, and can perform dynamic control of the renal pelvic pressure according to patients of different ages and genders.

Description

Technical Field

[0001] The present invention relates to the field of medical devices and control algorithms thereof, and in particular to a capacitive ureteral sheath and a method for controlling renal pelvic pressure thereof. Background Art

[0002] A medical endoscope is an endoscopic tool used for minimally invasive medical treatment of the human body. It enters the human body through the natural cavity of the human body or through a small incision during surgery, and introduces the endoscope into the organ to be examined to directly obtain images. It has received widespread attention in clinical practice. During the operation, the ureteroscope lens needs to be flushed promptly and accurately to keep the endoscopic operation field clear. However, the fluctuation of renal pelvic pressure during the operation will inevitably affect the effect of the operation and even directly lead to the occurrence of postoperative complications. Therefore, if a capacitive ureteral sheath with adaptive abnormal high pressure suppression function can be found and the dynamic control of renal pelvic pressure can be performed according to patients of different ages and genders, it will be able to effectively improve the safety of the operation. Summary of the invention

[0003] The purpose of the present invention is to provide a capacitive ureteral sheath and its application. The present invention has the characteristics of alleviating accidental high-pressure injury, strong adaptability, and high-frequency dynamic control, and can control the renal pelvic pressure dynamics according to patients of different ages and genders.

[0004] The technical solution of the present invention is a capacitive ureteral sheath, which comprises a soft endoscope outer sheath, a front end of which is provided with an annular pressure sensor; and a rear end of which is provided with an elastic outer cavity.

[0005] The capacitive ureteral sheath has the elastic outer cavity, and the annular cross-section of the soft endoscope outer sheath contains evenly distributed circumferential cuts, and there are elastic parts between adjacent circumferential cuts.

[0006] The aforementioned capacitive ureteral sheath has an overall length of 45-55 cm for male patients and an overall length of 35-45 cm for female patients.

[0007] The aforementioned method for controlling the renal pelvic pressure of the capacitive ureteral sheath, wherein the dynamic control of the renal pelvic pressure comprises the following steps:

[0008] S1: The time domain signal of renal pelvic pressure is obtained based on the annular pressure sensor placed at the end of the capacitive ureteral sheath;

[0009] S2: Establish the summation angle field matrix of the time domain signal at the current moment;

[0010] S3: Calculate the orthogonal projection between the time domain signal summation angle field and the standard signal summation angle field matrix;

[0011] S4: Calculate the eigenvalues ​​of the orthogonal projection matrix and use it to control the rotation of the peristaltic pump to achieve dynamic control of the renal pelvic pressure.

[0012] In the application of the aforementioned capacitive ureteral sheath, in step S2, the algorithm for establishing the summed angle field matrix is:

[0013]

[0014] Among them, the symbol GASF x is the summed angular field matrix of signal x, is the normalized renal pelvis pressure time domain series, i and j are the time domain sequence index numbers.

[0015] In the aforementioned method for controlling the renal pelvic pressure of the capacitive ureteral sheath, in step S3, the orthogonal projection establishment algorithm is:

[0016]

[0017] Among them, the symbol GASF x is the summed angle field matrix of signal x, symbol GASF std is the summed angular field matrix of the standard signal std, T is the transposed symbol, Compute the symbol for the Moore-Penrose generalized inverse matrix, P x The orthogonal projection matrix calculated for the signal x.

[0018] In the aforementioned method for controlling the renal pelvic pressure of the capacitive ureteral sheath, in step S4, the rotation control algorithm of the peristaltic pump is:

[0019]

[0020] Among them, P x is the orthogonal projection matrix calculated for signal x, where the subscript i is the time domain sequence index, and x th is the preset renal pelvis pressure threshold, sum(·) is the summation operator, char(·) is the eigenvalue calculation operator, char th It is the preset feature value sum threshold.

[0021] Compared with the prior art, the present invention designs a capacitive elastic outer cavity on the outer wall of the rear end root of the soft endoscope outer sheath, which can achieve a smooth transition of the renal pelvic pressure through its own deformation, thereby preventing the kidney from being damaged by unexpected high pressure. The present invention sets a built-in annular pressure sensor at the end of the soft endoscope outer sheath, through which the real-time monitoring of the renal pelvic pressure can be achieved. The present invention has the characteristics of alleviating accidental high-pressure damage, strong adaptability, and high-frequency dynamic control, and can perform personalized dynamic control of the renal pelvic pressure for subjects of different ages and genders. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the capacitive ureteral sheath of the present invention;

[0023] Figure 2 for Figure 1 Rectangular double-dot dash line structure cross-section view;

[0024] Figure 3 for Figure 1 AA structure section view;

[0025] Figure 4 This is a flow chart of the personalized renal pelvic pressure dynamic control method of the present invention;

[0026] Figure 5 is the reference signal of Example 2;

[0027] Figure 6 is the signal to be measured in Example 2;

[0028] Figure 7 is the summed angular field matrix of the reference signal of Example 2;

[0029] Figure 8 is the summed angular field matrix of the signal to be tested in Example 2;

[0030] Fig. 9 is the calculated projection matrix.

[0031] Reference numerals

[0032] 1. Annular pressure sensor; 2. Soft endoscope outer sheath; 3. Elastic outer cavity; 201. Circumferential incision; 202. Elastic part. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0034] Embodiment 1: A capacitive ureteral sheath, such as Figure 1-3 As shown, the capacitive ureteral sheath includes a soft endoscope outer sheath 2, and a ring-shaped pressure sensor 1 is provided at the front end of the soft endoscope outer sheath 2; an elastic outer cavity 3 is provided at the rear end of the soft endoscope outer sheath 2. For male patients, the overall length of the capacitive ureteral sheath is about 50 cm; for female patients, the overall length of the capacitive ureteral sheath is about 40 cm. Among them, the annular cross-section of the soft endoscope outer sheath 2 with the elastic outer cavity 3 contains uniformly distributed circumferential cuts 201, and there are elastic parts 202 between adjacent circumferential cuts 201. The circumferential cuts 201 and the elastic parts 202 can transmit the internal pressure to the elastic outer cavity 3, that is, if the renal pelvic pressure is too large, the elastic outer cavity bulges, so that the elastic outer cavity 3 can achieve a smooth transition of the renal pelvic pressure through its own deformation, thereby avoiding the kidney from being damaged by unexpected high pressure.

[0035] Example 2: An application of a capacitive ureteral sheath, wherein the capacitive ureteral sheath is applied in the dynamic control of renal pelvic pressure. The flow chart of the dynamic control is as follows: Figure 4 As shown, the following steps are included:

[0036] S1: The time domain signal of the renal pelvic pressure is obtained based on the annular pressure sensor placed at the end of the capacitive ureteral sheath. In this embodiment, the reference signal and the signal to be measured are respectively as shown in the attached Figure 5 , 6 As shown;

[0037] S2: Establish the summed angle field matrix of the time domain signal at the current moment. The specific algorithm is:

[0038]

[0039] Among them, the symbol GASF x is the summed angular field matrix of signal x, is the normalized renal pelvis pressure time domain sequence, i and j are the time domain sequence index numbers. In this embodiment, the summed angular field matrices of the reference signal and the signal to be measured are respectively as shown in the attached Figure 7 , 8 As shown;

[0040] S3: Calculate the orthogonal projection between the time domain signal summation angle field and the standard signal summation angle field matrix. The specific algorithm is:

[0041]

[0042] Among them, the symbol GASF x is the summed angular field matrix of signal x, symbol GASF std is the summed angular field matrix of the standard signal std, T is the transposed symbol, Compute the symbol for the Moore-Penrose generalized inverse matrix, P x is the orthogonal projection matrix after signal x is calculated. The orthogonal projection matrix calculated in this embodiment is as follows: Fig. 9 As shown;

[0043] S4: Calculate the eigenvalues ​​of the orthogonal projection matrix and use it to control the rotation of the peristaltic pump to achieve dynamic control of the renal pelvic pressure. The rotation control algorithm of the peristaltic pump is:

[0044]

[0045] Among them, P x is the orthogonal projection matrix calculated for signal x, where the subscript i is the time domain sequence index, and x th is the preset renal pelvis pressure threshold, sum(·) is the summation operator, char(·) is the eigenvalue calculation operator, charth It is the preset feature value sum threshold.

[0046] In summary, the present invention designs a capacitive elastic outer cavity on the outer wall of the rear end root of the soft endoscope outer sheath, which can achieve a smooth transition of the renal pelvic pressure through its own deformation, thereby preventing the kidney from being damaged by unexpected high pressure. The present invention arranges a built-in annular pressure sensor at the end of the soft endoscope outer sheath, through which the real-time monitoring of the renal pelvic pressure can be achieved. The present invention has the characteristics of alleviating accidental high-pressure damage, strong adaptability, and high-frequency dynamic control, and can perform personalized dynamic control of the renal pelvic pressure for subjects of different ages and genders.

Claims

1. A capacitive ureteral sheath, characterized in that: The capacitive ureteral sheath comprises a soft endoscope outer sheath (2), the front end of the soft endoscope outer sheath (2) is provided with an annular pressure sensor (1); the rear end of the soft endoscope outer sheath (2) is provided with an elastic outer cavity (3); The method for controlling the renal pelvic pressure of the capacitive ureteral sheath comprises the following steps: S1: The time domain signal of renal pelvic pressure is obtained based on the annular pressure sensor placed at the end of the capacitive ureteral sheath; S2: Establish the summation angle field matrix of the time domain signal at the current moment; The algorithm for establishing the summed angle field matrix is: ； Among them, the symbol For signal The summed angular field matrix, is the normalized renal pelvic pressure time domain series, , is the time domain sequence index number; S3: Calculate the orthogonal projection between the time domain signal summation angle field and the standard signal summation angle field matrix; The orthogonal projection establishment algorithm is: ； Among them, the symbol For signal The summed angular field matrix, symbol For standard signal The summed angular field matrix, is the transpose symbol, Computes the symbol for the Moore–Penrose generalized inverse matrix, For signal The calculated orthographic projection matrix; S4: Calculate the eigenvalue of the orthogonal projection matrix and use it to control the rotation of the peristaltic pump to achieve dynamic control of the renal pelvic pressure; In step S4, the rotation control algorithm of the peristaltic pump is: ； in, For signal The calculated orthogonal projection matrix, subscript is the time domain sequence index number, is the preset renal pelvic pressure threshold, For the sum operator, is the eigenvalue calculation operator, It is the preset feature value sum threshold.

2. The capacitive ureteral sheath according to claim 1, characterized in that: The annular cross-section of the soft endoscope outer sheath (2) having the elastic outer cavity (3) contains evenly distributed circumferential cuts (201), and elastic portions (202) are provided between adjacent circumferential cuts (201).

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