An endoscopic surgical system with automatic hydraulic monitoring function

Abstract

An endoscopic surgical system with automatic hydraulic monitoring function includes a control system, a platform kit and endoscope accessories. The control system includes a processor, a touch display, an infusion pump, a negative pressure pump, etc. The platform kit includes a platform, an infusion tube and a suction tube. The endoscope accessories include a pressure measuring guide sheath, a hydraulic sensor and an electronic mirror. While observing with an endoscope, the amount of liquid infusion of the endoscopic instrument can be controlled, and the pressure of the cavity liquid in the organ can be monitored and controlled to achieve precise control of the intracavitary pressure during surgery. The real-time monitoring module monitors the pressure of the liquid in the organ in real time and provides data to the control system. Intelligent PID control is used to calculate the state of the cavity pressure from the real-time data obtained from the hydraulic sensor to maintain the cavity pressure within a safe range. Continuous water circulation maintains a clear field of view in the cavity, quickly removes the heat generated by energy equipment such as holmium lasers, and attracts and removes the collected pathological specimens in the cavity.

Description

Technical Field

[0001] The present invention belongs to the field of medical device technology and intelligent medical care, and in particular relates to an endoscopic surgical system with an automatic hydraulic monitoring function. Background Art

[0002] Endoscopic diagnosis and treatment technology refers to a technology that establishes a channel through the natural cavity of the human body or through the skin to the hollow organ, and inserts an endoscope into a certain hollow organ of the patient for diagnosis and treatment. Endoscopes are used for observation and treatment inside narrow body cavities or channels, and continuous perfusion with normal saline is required to keep the endoscope clear. Certain specific endoscopic diagnosis and treatment operations also have specific requirements for the amount of liquid perfusion and the circulation speed in the cavity to achieve specific purposes and effects, such as eliminating the damage to soft tissue caused by the heat energy of holmium laser lithotripsy, improving the clarity of vision under lithotripsy or bleeding, and relying on liquid circulation to bring the specimens in the cavity out of the body. Due to different functions and structures, each organ of the human body has its own physiological pressure. If the amount of liquid infused into the cavity is too large or the liquid extraction channel is blocked, the pressure of the liquid in the cavity will increase. When the limit pressure value is exceeded, the liquid in the cavity, the bacterial toxins in the cavity, and the pathological tissue will reflux through the tissue gap, lymphatic system, and venous system, leading to various complications. At present, various traditional endoscopic diagnosis and treatment technologies, which use the existing domestic and foreign surgical instrument functions and liquid infusion and suction equipment, are unable to accurately infuse the amount of liquid required during the operation, and are even more unable to monitor and effectively control the intracavitary liquid pressure.

[0003] An infusion pump is a pump that uses a liquid medium to pressurize and expand a cavity to form a visible space and can clean blood stains in the cavity. It is usually connected to an endoscope with an infusion tube for infusion, making the field of view clearer during endoscopic observation and surgery; a negative pressure pump uses a vacuum pump unit as a negative pressure source. The suction of the vacuum pump allows the suction system pipeline to reach the required negative pressure value, and is used to remove sputum, blood, pus, infusion fluid and other contaminants from the patient's body; a guide sheath refers to a catheter used to assist the endoscope and surgical instruments to enter the body cavity, that is, to establish a channel through a natural cavity or percutaneous puncture expansion. The catheter can also be connected to a suction device.

[0004] In the prior art, the above-mentioned perfusion pump, negative pressure pump, guide sheath, etc. are usually independent units, and a system is formed by installing sensing elements in the corresponding independent units. For example, the patent application with application number CN201821477696.7 discloses a pressure measuring endoscope and a pressure detection system including the pressure measuring endoscope, while the patent application with application number CN201720092860.1 discloses a pressure measuring endoscope, including an endoscope and a pressure measuring device for detecting intracavitary pressure. The patent application with application number CN201410041761.1 discloses a medical perfusion and suction platform, which includes a main control unit, a perfusion device, a suction device, and a feedback device. The perfusion pump introduces saline into human organs, and the negative pressure pump extracts saline. The hydraulic sensor detects the pressure inside the organ so that when the pressure reaches a predetermined value, the main control unit adjusts the speed of perfusion and suction.

[0005] However, the above patents all add relatively independent pressure measuring devices to the endoscope system or the perfusion and suction system, which cannot achieve good coordination and data sharing.

[0006] In view of this, the present invention aims to provide an endoscopic surgical system with an automatic hydraulic monitoring function, which cleverly integrates a liquid injection device, a liquid suction device, a liquid pressure monitoring and control device, and a surgical endoscope, and can achieve real-time data sharing and excellent coordination. Specifically, it can control the amount of liquid injection of the endoscopic instrument, monitor and control the pressure of the cavity liquid in the organ (such as the renal pelvis, uterine cavity, biliary system, etc.) while observing with the endoscope, so as to achieve precise control of the intracavitary pressure during the operation, achieve sufficient liquid circulation according to different endoscopic surgical requirements, continuously maintain a clear state of intracavitary vision, and attract and remove intracavitary specimens. More importantly, the hydraulic sensor in the present invention also has an intelligent recognition function, which can ensure the quality, sensing efficiency, sensing accuracy and stability of the hydraulic sensor, thereby improving the safety of the present invention. Summary of the invention

[0007] In order to solve the above problems, the present invention aims to provide an endoscopic surgical system with an automatic hydraulic monitoring function, which cleverly integrates a liquid injection device, a liquid suction device, a liquid pressure monitoring and control device, and a surgical endoscope, and can achieve real-time data sharing and excellent coordination. Specifically, it can control the amount of liquid injection of the endoscopic instrument, monitor and control the pressure of the cavity liquid in the organ (such as the renal pelvis, uterine cavity, biliary system, etc.) while observing with the endoscope, so as to achieve precise control of the intracavitary pressure during the operation, achieve sufficient liquid circulation according to different endoscopic surgical requirements, maintain a clear intracavitary field of vision, quickly take away the heat of the holmium laser, and attract and remove the intracavitary specimen. More importantly, the hydraulic sensor in the present invention also has an intelligent recognition function, which can ensure the quality, sensing efficiency, sensing accuracy and stability of the hydraulic sensor, thereby improving the safety of the present invention.

[0008] In order to solve the above problems, the present invention proposes the following technical solutions:

[0009] An endoscopic surgical system with automatic hydraulic monitoring function comprises a control system, a platform kit and endoscope accessories, wherein the control system comprises a processor, a touch display connected to the processor, an irrigation pump and a negative pressure pump, the platform kit comprises a platform, a collection container, an irrigation tube and a suction tube, the endoscope accessories comprise a pressure measuring guide sheath, a hydraulic sensor and an electronic mirror, the hydraulic sensor is a sensor with an identification function; the irrigation tube is provided with irrigation power by the irrigation pump, and the irrigation tube is connected to the irrigation channel of the electronic mirror; the electronic mirror is placed in the pressure measuring guide sheath to infuse liquid into the body cavity and can visualize the situation in the body cavity, the pressure measuring guide sheath is connected to one end of the suction tube and the pressure measuring tube of the hydraulic sensor, the other end of the suction tube is connected to the collection container and is provided with suction power by the negative pressure pump, and the hydraulic sensor is connected to the processor via a hydraulic sensor interface and a hardware processing module in turn.

[0010] As an improvement of the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the hydraulic sensor includes a programmable read-only memory, an output impedance and an input impedance, the output impedance is connected in parallel with the programmable read-only memory, the output impedance and the input impedance are both disconnectably connected to the hydraulic sensor interface, the input impedance is connected to a DC power supply through the hydraulic sensor interface and a sampling resistor, the sampling resistor voltage outputs a signal to the processor via a first analog-to-digital conversion module, the output impedance is connected to a second analog-to-digital conversion module and the processor respectively through the hydraulic sensor interface, and the second analog-to-digital conversion module outputs a signal to the processor.

[0011] As an improvement of the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the storage content of the programmable read-only memory includes a preamble code, time, serial number, flag bit and checksum; the preamble code is a frame header of the storage content, the time is the first time of recording, the serial number is a unique identification code of the hydraulic sensor, the flag bit is the recorded insertion status of the hydraulic sensor, and the function of the checksum is to verify the integrity of the preamble code, time, serial number and flag bit.

[0012] As an improvement of the endoscopic surgery system with automatic hydraulic monitoring function of the present invention, the recognition function of the hydraulic sensor includes:

[0013] A. Identification of connection and line sequence errors: When the hydraulic sensor is not connected to the sensor interface, the sensor interface is open, and the sampling resistor samples a voltage of zero volts, thereby determining that the hydraulic sensor is not connected; when the hydraulic sensor is connected to the sensor interface, the sampling resistor samples a corresponding voltage, thereby determining that the hydraulic sensor is connected, and determining whether the line sequence of the connected hydraulic sensor is correct;

[0014] B. Sensor matching identification: When the hydraulic sensor is inserted into the sensor interface, the processor compares the identification code in the system with the unique serial number stored in the programmable read-only memory. If they are the same, they match; if they are different, they do not match;

[0015] C. Identification of whether the sensor is used for the second time: A real-time clock circuit is provided in the processor. When the hydraulic sensor is inserted into the sensor interface, the processor reads the flag in the programmable read-only memory and determines whether the flag record is the first insertion: if it is the first insertion, the current time is written in the programmable read-only memory and the flag state is changed; if it is not the first time, the processor reads the time stored in the programmable read-only memory and compares it with the current time. If it times out, it is regarded as a second use.

[0016] As an improvement of the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the electronic mirror is an electronic soft mirror or an electronic hard mirror. The electronic mirror is a catheter with a camera and has a control button that can control the start and stop of the irrigation pump and adjust the irrigation volume.

[0017] As an improvement of the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the material of the irrigation tube and the suction tube is silicone.

[0018] As an improvement of the endoscopic surgery system with automatic hydraulic monitoring function of the present invention, the processor is an embedded processor running CFR (Core Full Register) embedded bottom layer software.

[0019] The processor is provided with a USB interface, a digital-analog video interface, a real-time monitoring module, a data storage module, an audio-visual alarm module, a hardware processing module and a coding and decoding module. The input end of the coding and decoding module is connected to the electronic mirror interface, the input end of the electronic mirror interface is connected to the electronic mirror, and the output end of the coding and decoding module is connected to the processor. The real-time monitoring module is used to monitor the pressure of the liquid in the organ in real time and provide the control system with necessary data to achieve precise control of the intracavitary pressure during surgery. It includes a plurality of high-precision hydraulic sensors, which are placed in the organ and close to the surgical area to measure the pressure of the liquid in the organ. The hydraulic sensor transmits the real-time pressure data to the control system via a data line connected to the control system or a wireless communication method. The intelligent PID control is used to calculate the state of the intracavitary pressure from the real-time data obtained from the hydraulic sensor, and the liquid infusion and extraction speed are adjusted according to the set target pressure to maintain the intracavitary pressure within a safe range, as follows:

[0020] The pressure change of the liquid in the cavity is described by the following difference equation:

[0021] P(t+1)=P(t)+ΔP in -ΔP out

[0022] Among them, ΔP in is the pressure change caused by fluid perfusion, ΔP out is the pressure change caused by liquid extraction, P(t) represents the pressure at time t, P(t+1) represents the pressure at time t(t+1), assuming that there are N exploration factors, each exploration factor represents a control strategy, and the position and speed of each exploration factor represent the parameter value of the control strategy. In each iteration, the position and speed of each exploration factor are updated, and its fitness value is calculated, where the parameters of the control strategy are represented by d dimensions, each dimension corresponds to a control parameter, and the control strategy is represented as a d-dimensional vector X, where X=(X1,X2,…,X d ), X1 represents the value of the first dimension parameter, X2 represents the value of the second dimension parameter, X d Represents the value of the d-th dimension parameter, and defines the objective function H(X) to evaluate the performance of each exploration factor, which is expressed as follows:

[0023] H(X)=w1∈(X)+w2k(X in +X out )

[0024] Among them, ∈ represents the pressure control error, X in represents the liquid perfusion speed parameter, X out represents the liquid extraction speed parameter, k(X in +Xout ) represents energy consumption, i.e., the energy required for liquid flow caused by the control strategy, k is a constant related to the energy consumption of the unit flow rate liquid, w1 and w2 are parameters used to balance the pressure control error and energy consumption weights, and the fitness function A(X) is defined as a function of H(X), where the objective function includes the pressure control error and energy consumption: A(X) = -H(X), and the position update model of each exploration factor i is expressed as:

[0025] X i (t+1)=X i (t)+ΔX i (t+1)

[0026] X i (t) represents the location of the exploration factor i at time t, which is a d-dimensional vector, ΔX i (t)+1) represents the position change of exploration factor i at time t+1. The speed update model of each exploration factor i is expressed as:

[0027] V i (t+1)=V i (t)+ΔV i (t+1)

[0028] Among them, V i (t) represents the speed of exploration factor i at time t, corresponding to the position update, which is a d-dimensional vector, ΔV i (t+1) represents the speed change of exploration factor i at time t+1. The exploration factors cooperate and adjust their positions and speeds through information exchange. The information exchange is represented by the following model:

[0029]

[0030]

[0031] represents the location of neighboring exploration factor i at time t, ΔX i (t+1) and ΔV i (t+1) is the change in position and speed, which are used to update the position and speed respectively. γ is the adjustment parameter that affects the weight of information exchange. T0 represents the initial time of statistics. * Indicates the statistical end time. and H2(X i (t),t) is the information exchange function with the neighboring exploration factor, which is used to adjust the position. and H4(X i (t),V i(t), t) is the information exchange function with the neighboring exploration factor, which is used to adjust the speed, l is the lag time, and pr is the probability function.

[0032] As an improvement of the endoscopic surgery system with automatic hydraulic monitoring function of the present invention, the dynamic behavior of liquid infusion and suction and the response of pressure are described by the following formula:

[0033]

[0034] in, Indicates the rate of change of pressure, Q in (t) represents the liquid injection rate at time t, Q out (t) represents the liquid absorption rate at time t, V represents the volume of the cavity, and the objective function J(t) is defined as:

[0035]

[0036] represents the performance index pursued by the system, and the objective function is the difference between the cavity pressure and the target pressure, that is, where P 目标 is the desired target pressure, and the output U(t) of the PID control algorithm is expressed as:

[0037]

[0038] Among them, τ is the time slot, e(t) is the error at the current moment, and K p , K i , K d are proportional, integral and differential gains, which are used to control the influence of proportional term, integral term and differential term respectively. The present invention performs nonlinear modeling on the proposed endoscopic surgery system with automatic hydraulic monitoring function:

[0039]

[0040] Wherein, x is the spatial coordinate, t is the time, and v is the kinematic viscosity. The present invention takes into account the multi-channel liquid flow situation and the coupling effect between channels. The channels influence each other by sharing liquid or having an interacting flow path, and the coupling term is introduced to model the flow, as shown below:

[0041] Q ij (x,t)=f ij (u i (x,t),p i (x,t),u j (x,u),p j ((x,t)))

[0042] Q ijrepresents the rate at which the liquid flows out of channel i and enters channel j, F(x, t, Q in (x,t),Q out (x, t)) represents the nonlinear control factor of the system, which is used to describe the relationship between the fluid flow and the control input, where u(x, t) is the flow rate, p(x, t) is the pressure, and ρ is the fluid density. The relationship between the flow rate and the hydraulic pressure of the fluid is usually modeled by the following equation:

[0043] Q=Aμ

[0044] Wherein, Q is the liquid flow rate, A is the flow cross-sectional area, and μ is the flow velocity. The present invention also considers introducing a hydraulic sensor into the model, assuming that there is a nonlinear relationship between the output of the hydraulic sensor and the hydraulic pressure in the cavity, which is expressed as follows:

[0045] P 传感器 =f(P 腔体 )

[0046] Among them, P 传感器 is the pressure measured by the sensor, P 腔体 is the actual pressure in the cavity, f(·) represents the nonlinear sensor model, and the state equation of the system is established to describe the dynamic behavior of the liquid in the cavity:

[0047]

[0048] Among them, P 腔体 is the pressure in the cavity, Q in and Q out are the injection rate and the absorption rate of the liquid respectively. The goal of the control system is to make the pressure P in the cavity 腔体 As close as possible to the expected value P 目标 , thereby minimizing the control error, The goal of the control system is to adjust the liquid injection and suction rate, i.e. Q in (t) and Q out (t), to minimize the control objective J(t), which is expressed as minimizing the following objective function with constraints:

[0049]

[0050] Among them, Q min and Q max are the minimum and maximum values ​​of the liquid flow rate.

[0051] As an improvement of the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the touch display has the functions of parameter setting, command input and on-screen display of perfusion suction, pressure detection and intracavitary image parameters.

[0052] As an improvement of the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, there are two touch displays with completely the same functions, which are used by doctors and nurses respectively, and have the functions of parameter setting, command input and same-screen display of perfusion suction, pressure detection and intracavitary image parameters. After receiving the start signal of the touch display or the endoscope accessory, the processor first determines whether the operating conditions of the system are normal, and the operating conditions include whether the system parameters are correctly set, whether the hydraulic sensor meets the conditions after identification, and whether the original signals connected, operated and collected by the pressure measuring guide sheath and the electronic mirror are normal; if the conditions are normal, the processor sends instructions to the perfusion pump and the negative pressure pump, and the perfusion pump starts to act on the perfusion tube, and perfusion pressure is formed in the perfusion tube, and physiological saline is poured into the body cavity through the electronic mirror. At the same time, the negative pressure pump works, so that the collection container, the suction tube and the pressure measuring guide sheath form a vacuum negative pressure, and the physiological saline or other pollutants poured into the body cavity are sucked out;

[0053] During the operation of the system, the hydraulic sensor collects the liquid pressure in the body cavity through the independent pressure measuring channel on the pressure measuring guide sheath. The pressure signal is converted into a voltage signal and then processed by hardware before reaching the processor for analysis. The processor then adjusts the suction force of the negative pressure pump to keep the pressure in the body cavity at the expected set value.

[0054] Beneficial effects of the present invention: Compared with the prior art, the present invention provides a surgical endoscope system with integrated hardware and software and standardized configuration, which cleverly integrates a liquid injection device, a liquid suction device, a liquid pressure monitoring and control device, and a surgical endoscope. While observing through the endoscope, it can control the amount of liquid injection of the endoscopic instrument, monitor and control the pressure in the cavity liquid pressure organ (such as the renal pelvis, uterine cavity, biliary system, etc.), so as to achieve precise control of the intracavitary pressure during surgery. According to the requirements of different endoscopic surgeries, the configuration of the scope sheath is standardized to meet the requirements of sufficient liquid circulation for various endoscopic surgeries, maintain a clear intracavitary field of view, and attract and remove intracavitary specimens. The real-time monitoring module uses intelligent PID control to calculate the state of the intracavitary pressure from the real-time data obtained from the hydraulic sensor, and adjusts the liquid infusion and extraction speed according to the set target pressure to maintain the intracavitary pressure within a safe range. The innovation lies in that the present invention uses a heuristic algorithm to construct an exploration factor, and the exploration factors cooperate and adjust the position and speed through information exchange, and build an information exchange model. Compared with the traditional algorithm, it is more inclined to the field of endoscopic surgery system with automatic hydraulic monitoring function involved in the present invention, and pays more attention to the interaction between information, and has robustness and reliability. In addition, the present invention uses a PID algorithm. Unlike the traditional method, the present invention performs nonlinear modeling for the proposed endoscopic surgery system with automatic hydraulic monitoring function, considers the multi-channel liquid flow, and considers the coupling effect between channels. The channels affect each other through shared liquid or interactive flow paths. The model is established by introducing coupling terms, and the system state equation is built to describe the dynamic behavior of the liquid in the cavity. Finally, it is expressed as a constrained objective function to make real-time and big data calculations portable and accelerate the response and execution capabilities of the system provided by the present invention.

[0055] In short, the present invention can not only meet the liquid flow rate, but also avoid the problem of various complications caused by excessive intracavitary pressure, and can provide safety warnings. More importantly, the hydraulic sensor in the present invention also has an intelligent recognition function, which can ensure the quality, sensing efficiency, sensing accuracy and stability of the hydraulic sensor, thereby improving the safety of the present invention. The present invention can be applied to medical equipment for urinary system, hepatobiliary system, uterine cavity system and other intracavitary surgeries that require liquid as a medium, and has a wide range of uses.

[0056] In summary, the advantages of the present invention can be summarized as follows:

[0057] 1. Provide complete and easy-to-use equipment solutions for various endoscopic diagnosis and treatment technologies.

[0058] 2. With liquid pressure detection system.

[0059] 3. The parameters of perfusion suction, pressure detection and intracavitary imaging are displayed on the same screen.

[0060] 4. Automatically adjust the negative pressure suction to reach the predetermined safe pressure value in the cavity.

[0061] 5. The perfusion flow rate can be adjusted and stopped by the surgeon, making it easy to obtain the ideal flow rate and reducing the number of operating steps.

[0062] 6. The present invention can solve the contradiction between the amount of liquid perfusion and the intracavitary pressure in clinical endoscopic surgery, achieve precise matching of perfusion flow, flow velocity, and intracavitary pressure, avoid the occurrence of complications, and provide a wider range of clinical applications and possibilities.

[0063] 7. The continuous water circulation of the present invention can reduce the heat generated by devices such as holmium lasers.

[0064] 8. The hydraulic sensor in the present invention adopts the "impedance measurement + key identification" method to improve the stability of pressure hardware, thereby improving the safety of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a structural block diagram of the present invention.

[0066] Figure 2 It is a diagram of the hydraulic sensor identification structure of the present invention. DETAILED DESCRIPTION

[0067] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] It should be noted that the descriptions of "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0069] The present invention provides an endoscopic surgical system with an automatic hydraulic monitoring function, comprising a control system 1, a platform kit 2 and an endoscope accessory 3. The control system 1 comprises a processor 9, a USB interface 4 connected to the processor 9, a digital-analog video interface 5, a data storage module 6, an audio-visual alarm module 7, a touch display 8, encoding and decoding 12, a hardware processing 11, an infusion pump 10 and a negative pressure pump 21. The platform kit 2 comprises a platform 14, an infusion tube 15, a collection container 16 and a suction tube 17. The endoscope accessory 3 comprises a pressure measuring guide sheath 18, a hydraulic sensor 19 and an electronic mirror 20. The infusion pump 10 provides infusion power to the infusion tube 15. The pressure measuring guide sheath 18 is connected to the input end of the suction tube 17 and the pressure measuring tube of the hydraulic sensor 19. The electronic mirror 20 is placed in the pressure measuring guide sheath 18. The output end of the suction tube 17 is connected to the collection container 16, and the suction power is provided by the negative pressure pump 21. The hydraulic sensor 19 is a hydraulic sensor with an identification function.

[0070] The platform is a device for fixing, installing and placing the control system 1, endoscope accessories 3, collection container 16, irrigation tube 15, and suction tube 17. At the same time, the device has casters and can be moved to meet the needs of the surgical site. The collection container 16 is used to collect waste liquid and other substances (such as stones) sucked out of the body. The irrigation tube 15 and the suction tube 17 are branches that provide water circulation and are made of silicone material. The hydraulic sensor 19 is an electronic component that collects the pressure in the body through a liquid medium. The pressure measuring guide sheath 18 is a pressure measuring channel, an instrument working channel, and a negative pressure suction port, and is an important part of the medical endoscope system. In order to maintain a safe water flow circulation, the present invention perfuses physiological saline into the body cavity by giving a certain size of execution signal to the irrigation pump 10 (the perfused physiological saline will increase the pressure of the liquid in the cavity), and the hydraulic sensor 19 collects the liquid pressure in the body cavity and feeds it back to the system (i.e., the processor 9). The processor 9 adjusts the suction force of the negative pressure pump 21 according to the feedback information (suction will reduce the pressure of the liquid in the cavity). The whole process is to obtain an expected relatively stable safety pressure in the body cavity.

[0071] The hydraulic sensor 19 includes a programmable read-only memory 22, an output impedance 23 and an input impedance 24. The output impedance 23 is connected in parallel with the programmable read-only memory 22. The output impedance 23 and the input impedance 24 are both disconnectably connected to the hydraulic sensor interface 25. The input impedance 24 branch is connected to the DC power supply 27 through the hydraulic sensor interface 25 and the sampling resistor 26. The sampling voltage of the sampling resistor 26 is output to the processor 9 through the first analog-to-digital conversion module 28. The output impedance branch is connected to the second analog-to-digital conversion module and the processor 9 respectively through the hydraulic sensor interface 25. The second analog-to-digital conversion module 28 outputs a signal to the processor 9. When the second analog-to-digital conversion module is working, the branch connected to the processor 9 (without passing through the second analog-to-digital conversion module) is floating, which is equivalent to an open circuit.

[0072] That is, the hydraulic sensor 19, the hydraulic sensor interface 25, the hardware processing module 11 and the processor 9 cooperate to realize the identification method of "impedance measurement + key identification". The method includes two parts: impedance measurement and key identification. The impedance measurement is judged by collecting the voltage of the sampling resistor 26 connected in series on the input impedance of the hydraulic sensor 19. The key identification is to set the key by sharing the input impedance 24 hardware circuit and carrying the programmable read-only memory 22, and select the identification period by controlling the pin to be left floating.

[0073] The storage content of the programmable read-only memory 22 includes a preamble, time, serial number, flag bit and checksum.

[0074] The hydraulic sensor 19 is an important component that enables the system to have automatic hydraulic monitoring and regulation functions. Its identification functions include:

[0075] A. Identification of connection and line sequence errors: When the hydraulic sensor 19 is not connected to the interface 25, the interface 25 is open, and the sampling voltage of the sampling resistor 26 is zero volts, thereby judging that the hydraulic sensor 19 is not connected; when the hydraulic sensor 19 is connected to the interface 25, the sampling resistor 26 samples the corresponding voltage, thereby judging that the hydraulic sensor 19 is connected, and judging whether the line sequence of the connected hydraulic sensor 19 is correct (different line sequences correspond to different sampling voltages);

[0076] B. Sensor matching identification: When the hydraulic sensor 19 is inserted into the system, the processor 9 reads the identification code on the hydraulic sensor 19, and then compares it with the unique serial number stored in the programmable read-only memory 22 (input by the production company when manufacturing). If they are the same, they match, and if they are different, they do not match. Specifically, when the hydraulic sensor 19 leaves the factory, a unique identification code is written into the programmable read-only memory 22, which corresponds to the serial number in the storage content. When the hydraulic sensor 19 is inserted into the device, the unique identification code is matched and identified, and a match means that it was produced by one's own company.

[0077] C. Identification of whether the sensor is used for the second time: The processor 9 is provided with a real-time clock circuit (containing a backup battery, and the device can operate normally even when the power is off). When the hydraulic sensor 19 is inserted into the system, the processor 9 reads the flag bit in the programmable read-only memory 22, and determines whether the flag bit record is the first insertion: if it is the first insertion, the current time is written in the programmable read-only memory 22; if it is not the first time, the processor 9 reads the time stored in the programmable read-only memory 22 and compares it with the current time. If it times out (within the non-valid time), it is regarded as a second use.

[0078] In summary, the identification functions of the hydraulic sensor 19 in the present invention are mainly: First: first, identify whether there is a hardware error, such as whether the interface is connected, whether there is a line sequence error. Second: identify whether it is produced by your own company: Third: identify whether the sensor is used for the second time. Since the hydraulic sensor 19 has an automatic identification function, it can ensure that the hydraulic sensor 19 used in the system has no hardware errors and is not used for the second time, and is produced by its own company (to prevent the hydraulic sensors 19 produced by other companies from being mismatched or of unreliable quality), which can ensure the quality, sensing efficiency, sensing accuracy and stability of use of the hydraulic sensor 19, thereby improving the safety of the present invention and ensuring the accurate realization of the hydraulic monitoring function of the present invention.

[0079] The processor 9 is provided with a USB interface 4, a digital-analog video interface 5, a data storage module 6, an audio-visual alarm module 7, a hardware processing module 11 and a coding-decoding module 12. The input end of the coding-decoding module 12 is connected to the electronic mirror interface 13, and the input end of the hardware processing module 11 is connected to the sensor interface 25. Among them, the USB interface 4 is used to connect a printer, output export and system upgrade, and the analog-digital video interface 5 is used to connect an external standard display. The data storage module 6 is used to save system operation data. The audio-visual alarm module 7 is a system-provided alarm system, which has three different levels. Low-priority alarms are abnormal states when the equipment is not running, that is, errors detected when the system is not running, such as hardware initialization errors, memory overflows, and unreasonable parameter settings. The light form is yellow and is normally open; medium-priority alarms are abnormal states when the equipment is running, that is, unacceptable abnormal signals are detected when the system is running, such as the perfusion flow is close to the critical value, and the pressure monitoring is close to the warning. This alarm is a prompt alarm. When the system is running normally, the light form is 0.6Hz and yellow; high-priority alarms are fault states that occur when the equipment is running, that is, the system detects unacceptable signals and shuts down. The light form is 1.6Hz red, and the alarm is given simultaneously in the form of a two-color light and sound.

[0080] The infusion pump 10 is an infusion device that infuses liquid into the human body by rolling, and can be adjusted by the human-machine interactive touch display 8, mechanical knobs, and mechanical buttons. The negative pressure pump 21 is a suction device that forms a vacuum negative pressure. The device receives feedback signals from the hydraulic sensor 19, and sends a driving signal for adjustment after being processed by the hardware processing module 11 and the processor 9. The encoding and decoding module 12 decodes the electronic mirror 20, and the data is transmitted to the touch display 8 and the analog-to-digital video interface 5 through the processor 9.

[0081] The hardware processing module 11 converts the analog signal collected by the hydraulic sensor 19 into a digital signal, and then transmits it to the processor 9 for processing.

[0082] The electronic scope 20 is an electronic soft scope or an electronic hard scope, and the electronic scope 20 is placed in the pressure measurement guide sheath 18 .

[0083] The electronic scope 20 is a catheter with a camera, and the electronic scope 20 is connected to the perfusion tube 15. The catheter channel can be placed with other instruments (such as holmium laser fiber) and the perfusion channel of the liquid, and the original image signal is transmitted to the control system. In order for the operator to directly control the start, stop and adjustment of the perfusion pump 10, the present invention sets a control button on the electronic soft / hard scope.

[0084] The processor 9 is an embedded processor, running the independently developed CFR (Core Full Register) embedded bottom-level software. The processor 9 is a microprocessor, which is the control center of the entire system instruction. It has the characteristics of direct register drive, small running memory, fast response speed, etc. The touch display 8 is an image display and human-computer interaction, and the content includes operating status, operating mode, pressure digital display, pressure regulation, flow regulation and image calibration.

[0085] The workflow of the present invention is as follows: the operator sets the parameters of the system through the touch display 8, and the parameters include the intracavitary pressure control value (target value), the warning pressure value (alarm value), the perfusion flow value, the image adjustment value, and the system parameter value; then the system is started, and there are two ways to start, one is the start signal from the touch display 8, and the other is the start signal from the endoscope accessory 3; after the processor 9 receives the start signal from the touch display 8 or the endoscope accessory 3, it first determines the operating conditions of the system, and the operating conditions include whether the system parameters are correctly set, whether the hydraulic sensor 19 meets the conditions after identification, and whether the pressure measuring guide sheath and the electronic mirror 20 are connected, operated, and the collected original signals are normal (the identification function is the condition for the hydraulic sensor 19 to enter the system normally, and the normal entry Afterwards, it will switch to the working mode, and the identification function will not work at this time); secondly, when the conditions are normal, the processor 9 sends instructions to the perfusion pump 10 and the negative pressure pump 21, and the perfusion pump 10 starts to act on the perfusion tube 15, and perfusion pressure is formed in the perfusion tube 15, and physiological saline is poured into the cavity through the electronic mirror 20 (the electronic mirror 20 can collect image signals, transmit them to the encoding and decoding module 12 controlled by the processor 9 through the electronic mirror interface 13, and then display a clear image on the touch display 8, so as to maintain a clear state of vision in the cavity), and at the same time, the negative pressure pump 21 starts to work. The device is a vacuum negative pressure source, so that the collection container 16, the suction tube 17 and the pressure measuring guide sheath 18 form a vacuum negative pressure, and the physiological saline or other contaminants (such as stones, pathological tissues) poured into the body cavity are sucked out. If the conditions are not met, the system cannot be started; finally, during the operation of the system, the hydraulic sensor 19 collects the liquid pressure in the body cavity (with liquid as the medium) through the independent pressure measuring channel on the pressure measuring guide sheath 18, and the pressure signal is converted into a voltage signal through a pressure resistor bridge, and then passes through the sensor interface 25 and the hardware processing module 11. The signal reaches the processor 9 for analysis and then adjusts the suction force of the negative pressure pump 21 to keep the pressure in the body cavity at the expected set value.

[0086] Specifically, the pressure change of the liquid in the cavity is described by the following difference equation:

[0087] P(t+1)=P(t)+ΔP in -ΔP out

[0088] Among them, ΔP in is the pressure change caused by fluid perfusion, ΔP outis the pressure change caused by liquid extraction, P(t) represents the pressure at time t, P(t+1) represents the pressure at time t(t+1), assuming that there are N exploration factors, each exploration factor represents a control strategy, and the position and speed of each exploration factor represent the parameter value of the control strategy. In each iteration, the position and speed of each exploration factor are updated, and its fitness value is calculated, where the parameters of the control strategy are represented by d dimensions, each dimension corresponds to a control parameter, and the control strategy is represented as a d-dimensional vector X, where X=(X1,X2,…,X d ), X1 represents the value of the first dimension parameter, X2 represents the value of the second dimension parameter, X d Represents the value of the d-th dimension parameter, and defines the objective function H(X) to evaluate the performance of each exploration factor, which is expressed as follows:

[0089] H(X)=w1∈(X)+w2k(X in +X out )

[0090] Among them, ∈ represents the pressure control error, X in represents the liquid perfusion speed parameter, X out represents the liquid extraction speed parameter, k(X in +X out ) represents energy consumption, i.e., the energy required for liquid flow caused by the control strategy, k is a constant related to the energy consumption of the unit flow rate liquid, w1 and w2 are parameters used to balance the pressure control error and energy consumption weights, and the fitness function A(X) is defined as a function of H(X), where the objective function includes the pressure control error and energy consumption: A(X) = -H(X), and the position update model of each exploration factor i is expressed as:

[0091] X i (t+1)=X i (t)+ΔX i (t+1)

[0092] X i (t) represents the location of the exploration factor i at time t, which is a d-dimensional vector, ΔX i (t+1) represents the position change of the exploration factor i at time t+1. The speed update model of each exploration factor i is expressed as:

[0093] V i (t+1)=V i (t)+ΔV i (t+1)

[0094] Among them, V i (t) represents the speed of exploration factor i at time t, corresponding to the position update, which is a d-dimensional vector, ΔVi (t+1) represents the speed change of exploration factor i at time t+1. The exploration factors cooperate and adjust their positions and speeds through information exchange. The information exchange is represented by the following model:

[0095]

[0096] represents the location of neighboring exploration factor i at time t, ΔX i (t+1) and ΔV i (t+1) is the change in position and speed, which are used to update the position and speed respectively. γ is the adjustment parameter that affects the weight of information exchange. T0 represents the initial time of statistics. * Indicates the statistical end time. and H2(X i (t),t) is the information exchange function with the neighboring exploration factor, which is used to adjust the position. and H4(X i (t),V i (t), t) is the information exchange function with the neighboring exploration factor, which is used to adjust the speed, l is the lag time, and pr is the probability function.

[0097] Specifically, the dynamic behavior of liquid infusion and absorption and the response of pressure are described by the following formula:

[0098]

[0099] in, Indicates the rate of change of pressure, Q in (t) represents the liquid injection rate at time t, Q out (t) represents the liquid absorption rate at time t, V represents the volume of the cavity, and the objective function J(t) is defined as:

[0100]

[0101] represents the performance index pursued by the system, and the objective function is the difference between the cavity pressure and the target pressure, that is, where P 目标 is the desired target pressure, and the output U(t) of the PID control algorithm is expressed as:

[0102]

[0103] Among them, τ is the time slot, e(t) is the error at the current moment, and K p , K i , K dare proportional, integral and differential gains, which are used to control the influence of proportional term, integral term and differential term respectively. The present invention performs nonlinear modeling on the proposed endoscopic surgery system with automatic hydraulic monitoring function:

[0104]

[0105] Wherein, x is the spatial coordinate, t is the time, and ν is the kinematic viscosity. The present invention takes into account the multi-channel liquid flow situation and the coupling effect between channels. The channels influence each other by sharing liquid or having an interacting flow path, and the coupling term is introduced to model the flow, as shown below:

[0106] Q ij (x,t)=f ij (u i (x,t),p i (x,t),u j (x,t),p j ((x,t)))

[0107] Q ij represents the rate at which the liquid flows out of channel i and enters channel j, F(s,t,Q in (x,t),Q out (x, t)) represents the nonlinear control factor of the system, which is used to describe the relationship between the fluid flow and the control input, where u(x, t) is the flow rate, p(x, t) is the pressure, and ρ is the fluid density. The relationship between the flow rate and the hydraulic pressure of the fluid is usually modeled by the following equation:

[0108] Q=Aμ

[0109] Wherein, Q is the liquid flow rate, A is the flow cross-sectional area, and μ is the flow velocity. The present invention also considers introducing a hydraulic sensor into the model, assuming that there is a nonlinear relationship between the output of the hydraulic sensor and the hydraulic pressure in the cavity, which is expressed as follows:

[0110] P 传感器 =f(P 腔体 )

[0111] Among them, P 传感器 is the pressure measured by the sensor, P 腔体 is the actual pressure in the cavity, f(·) represents the nonlinear sensor model, and the state equation of the system is established to describe the dynamic behavior of the liquid in the cavity:

[0112]

[0113] Among them, P 腔体 is the pressure in the cavity, Q in and Q outare the injection rate and the absorption rate of the liquid respectively. The goal of the control system is to make the pressure P in the cavity 腔体 As close as possible to the expected value P 目标 , thereby minimizing the control error, The goal of the control system is to adjust the liquid injection and suction rate, i.e. Q in (t) and Q out (t), to minimize the control objective J(t), which is expressed as minimizing the following objective function with constraints:

[0114]

[0115] Among them, Q min and Q max are the minimum and maximum values ​​of the liquid flow rate.

[0116] In summary, the present invention integrates the following functions: liquid supply, intracavitary liquid pressure detection, vacuum negative pressure suction, endoscopic imaging, image processing, and image display capabilities. According to different endoscopic techniques, the present invention provides continuous, stable and optimal liquid circulation volume under intelligent monitoring and control of the liquid pressure in organs (such as the renal pelvis, uterine cavity, bile duct, etc.), while directly observing the intracavitary conditions and attracting and removing intracavitary pathological specimens.

[0117] Beneficial effects of the present invention: Compared with the prior art, the present invention provides a surgical endoscope system with integrated hardware and software and standardized configuration, which cleverly integrates a liquid injection device, a liquid suction device, a liquid pressure monitoring and control device, and a surgical endoscope. While observing through the endoscope, it can control the amount of liquid injection of the endoscopic instrument, monitor and control the pressure in the cavity liquid pressure organ (such as the renal pelvis, uterine cavity, biliary system, etc.), so as to achieve precise control of the intracavitary pressure during surgery. According to the requirements of different endoscopic surgeries, the configuration of the scope sheath is standardized to meet the requirements of sufficient liquid circulation for various endoscopic surgeries, maintain a clear intracavitary field of view, and attract and remove intracavitary specimens. The real-time monitoring module uses intelligent PID control to calculate the state of the intracavitary pressure from the real-time data obtained from the hydraulic sensor, and adjusts the liquid infusion and extraction speed according to the set target pressure to maintain the intracavitary pressure within a safe range. The innovation lies in that the present invention uses a heuristic algorithm to construct an exploration factor, and the exploration factors cooperate and adjust the position and speed through information exchange, and build an information exchange model. Compared with the traditional algorithm, it is more inclined to the field of endoscopic surgery system with automatic hydraulic monitoring function involved in the present invention, and pays more attention to the interaction between information, and has robustness and reliability. In addition, the present invention uses a PID method. Different from the traditional method, the present invention performs nonlinear modeling for the proposed endoscopic surgery system with automatic hydraulic monitoring function, considers the multi-channel liquid flow, and considers the coupling effect between channels. The channels affect each other through shared liquid or interactive flow paths. The model is established by introducing coupling terms, and the system state equation is built to describe the dynamic behavior of the liquid in the cavity. Finally, it is expressed as a constrained objective function to make real-time and big data calculations portable and accelerate the response and execution capabilities of the system provided by the present invention.

[0118] In short, the present invention can not only meet the liquid flow rate, but also avoid the problem of various complications caused by excessive intracavitary pressure, and can provide safety warnings. More importantly, the hydraulic sensor in the present invention also has an intelligent recognition function, which can ensure the quality, sensing efficiency, sensing accuracy and stability of the hydraulic sensor, thereby improving the safety of the present invention. The present invention can be applied to medical equipment for urinary system, hepatobiliary system, uterine cavity system and other intracavitary surgeries that require liquid as a medium, and has a wide range of uses.

[0119] In summary, the advantages of the present invention can be summarized as follows:

[0120] 1. Provide complete and easy-to-use equipment solutions for various endoscopic diagnosis and treatment technologies.

[0121] 2. With liquid pressure detection system.

[0122] 3. The parameters of perfusion suction, pressure detection and intracavitary imaging are displayed on the same screen.

[0123] 4. Automatically adjust the negative pressure suction to reach the predetermined safe pressure value in the cavity.

[0124] 5. The perfusion flow rate can be adjusted and stopped by the surgeon, making it easy to obtain the ideal flow rate and reducing the number of operating steps.

[0125] 6. The present invention can solve the contradiction between the amount of liquid perfusion and the intracavitary pressure in clinical endoscopic surgery, achieve precise matching of perfusion flow, flow velocity, and intracavitary pressure, avoid the occurrence of complications, and provide a wider range of clinical applications and possibilities.

[0126] 7. The continuous water circulation of the present invention can reduce the heat generated by devices such as holmium lasers.

[0127] 8. The hydraulic sensor in the present invention adopts the "impedance measurement + key identification" method to improve the stability of pressure hardware, thereby improving the safety of the equipment.

[0128] This embodiment is a preferred implementation of the present invention. All other designs and processing techniques that are the same or similar to those of this embodiment, as well as designs and processing techniques that are similar in appearance, are within the protection scope of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of explanation and do not constitute any limitation to the present invention.

Claims

1. An endoscopic surgical system with automatic hydraulic monitoring function, characterized in that: It comprises a control system, a platform kit and an endoscope accessory, wherein the control system comprises a processor, a touch display connected to the processor, an irrigation pump and a negative pressure pump, the platform kit comprises a platform, an irrigation tube and a suction tube, the endoscope accessory comprises a pressure measuring guide sheath, a hydraulic sensor and an electronic mirror, the hydraulic sensor is a sensor with an identification function; the irrigation tube is provided with irrigation power by the irrigation pump, and the irrigation tube is connected to the irrigation channel of the electronic mirror; the electronic mirror is placed in the pressure measuring guide sheath, the pressure measuring guide sheath is connected to one end of the suction tube and the pressure measuring tube of the hydraulic sensor, the other end of the suction tube is provided with suction power by the negative pressure pump, and the hydraulic sensor is connected to the processor via a hydraulic sensor interface and a hardware processing module in sequence; The processor is provided with a USB interface, a digital-analog video interface, a real-time monitoring module, a data storage module, an audio-visual alarm module, a hardware processing module and a coding and decoding module. The input end of the coding and decoding module is connected to the electronic mirror interface, the input end of the electronic mirror interface is connected to the electronic mirror, and the output end of the coding and decoding module is connected to the processor. The real-time monitoring module is used to monitor the pressure of the liquid in the organ in real time and provide data to the control system to achieve precise control of the intracavitary pressure during surgery. It includes a plurality of high-precision hydraulic sensors, which are placed in the organ and close to the surgical area to measure the pressure of the liquid in the organ. The hydraulic sensor transmits the real-time pressure data to the control system via a data line connected to the control system or a wireless communication method. The intelligent PID control is used to calculate the state of the intracavitary pressure from the real-time data obtained from the hydraulic sensor, and the liquid infusion and extraction speed are adjusted according to the set target pressure to maintain the intracavitary pressure within a safe range, as follows: The pressure change of the liquid in the cavity is described by the following difference equation: P(t+1)=P(t)+ΔP in -ΔP out Among them, ΔP in is the pressure change caused by fluid perfusion, ΔP out is the pressure change caused by liquid extraction, P(t) represents the pressure at time t, P(t+1) represents the pressure at time t(t+1), assuming that there are N exploration factors, each exploration factor represents a control strategy, and the position and speed of each exploration factor represent the parameter value of the control strategy. In each iteration, the position and speed of each exploration factor are updated, and its fitness value is calculated, where the parameters of the control strategy are represented by d dimensions, each dimension corresponds to a control parameter, and the control strategy is represented as a d-dimensional vector X, where X=(X1,X2,…,X d ), X1 represents the value of the first dimension parameter, X2 represents the value of the second dimension parameter, X d Represents the value of the d-th dimension parameter, and defines the objective function H(X) to evaluate the performance of each exploration factor, which is expressed as follows: H(X)=w1∈(X)+w2k(X in +X out ) Among them, ∈ represents the pressure control error, X in represents the liquid perfusion speed parameter, X out represents the liquid extraction speed parameter, k(X in +X out ) represents energy consumption, i.e., the energy required for liquid flow caused by the control strategy, k is a constant related to the energy consumption of the unit flow rate liquid, w1 and w2 are parameters used to balance the pressure control error and energy consumption weights, and the fitness function A(X) is defined as a function of H(X), where the objective function includes the pressure control error and energy consumption: A(X) = -H(X), and the position update model of each exploration factor i is expressed as: X i (t+1)=X i (t)+ΔX i (t+1) X i (t) represents the location of the exploration factor i at time t, which is a d-dimensional vector, ΔX i (t+1) represents the position change of the exploration factor i at time t+1. The speed update model of each exploration factor i is expressed as: V i (t+1)=V i (t)+ΔV i (t+1) Among them, V i (t) represents the speed of exploration factor i at time t, corresponding to the position update, which is a d-dimensional vector, ΔV i (t+1) represents the speed change of exploration factor i at time t+1. The exploration factors cooperate and adjust their positions and speeds through information exchange. The information exchange is represented by the following model: represents the location of neighboring exploration factor i at time t, ΔX i (t+1) and ΔV i (t+1) is the change in position and speed, which are used to update the position and speed respectively. γ is the adjustment parameter that affects the weight of information exchange. T0 represents the initial time of statistics. * Indicates the statistical end time. and H2(X i (t),t) is the information exchange function with the neighboring exploration factor, which is used to adjust the position. and H4(X i (t),V i (t), t) is the information exchange function with the neighboring exploration factor, which is used to adjust the speed, l is the lag time, and pr is the probability function.

2. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 1, characterized in that: The hydraulic sensor includes a programmable read-only memory, an output impedance and an input impedance. The output impedance is connected in parallel with the programmable read-only memory. The output impedance and the input impedance are both disconnectably connected to the hydraulic sensor interface. The input impedance is connected to a DC power supply through the hydraulic sensor interface and a sampling resistor. The sampling resistor voltage outputs a signal to the processor via a first analog-to-digital conversion module. The output impedance is connected to a second analog-to-digital conversion module and the processor respectively through the hydraulic sensor interface. The second analog-to-digital conversion module outputs a signal to the processor.

3. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 2, characterized in that: The storage content of the programmable read-only memory includes a preamble, time, serial number, flag and checksum; the preamble is the frame header of the storage content, the time is the first time of recording, the serial number is the unique identification code of the hydraulic sensor, the flag is the recorded insertion status of the hydraulic sensor, and the function of the checksum is to verify the integrity of the preamble, time, serial number and flag.

4. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 2, characterized in that: The identification functions of the hydraulic sensor include: A. Identification of connection and line sequence errors: When the hydraulic sensor is not connected to the sensor interface, the sensor interface is open, and the sampling resistor samples a voltage of zero volts, thereby judging that the hydraulic sensor is not connected; when the hydraulic sensor is connected to the sensor interface, the sampling resistor samples a corresponding voltage, thereby judging that the hydraulic sensor is connected, and judging whether the line sequence of the connected hydraulic sensor is correct; B. Sensor matching identification: When the hydraulic sensor is inserted into the sensor interface, the processor compares the identification code in the system with the unique serial number stored in the programmable read-only memory. If they are the same, they match; if they are different, they do not match; C. Identification of whether the sensor is used for the second time: A real-time clock circuit is provided in the processor. When the hydraulic sensor is inserted into the sensor interface, the processor reads the flag in the programmable read-only memory and determines whether the flag record is the first insertion: if it is the first insertion, the current time is written in the programmable read-only memory and the flag state is changed; if it is not the first time, the processor reads the time stored in the programmable read-only memory and compares it with the current time. If it times out, it is regarded as a second use.

5. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 1, characterized in that: The electronic scope is an electronic soft scope or an electronic hard scope, and the electronic scope is a catheter with a camera.

6. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 5, characterized in that: The vehicle platform kit also includes a collection container, and the other end of the suction tube is connected to the collection container.

7. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 1, characterized in that: The processor is an embedded processor, running CFR (Core Full Register) embedded underlying software.

8. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 7, characterized in that: The dynamic behavior of liquid infusion and aspiration and the response of pressure are described by the following equations: in, Indicates the rate of change of pressure, Q in (t) represents the liquid injection rate at time t, Q out (t) represents the liquid absorption rate at time t, V represents the volume of the cavity, and the objective function J(t) is defined as: represents the performance index pursued by the system. The objective function is the difference between the intracavitary pressure and the target pressure, that is, where P(t) is the pressure at time t, P 目标 is the desired target pressure, and the output U(t) of the PID control algorithm is expressed as: Among them, τ is the time slot, e(t) is the error at the current moment, and K p , K i , K d are proportional, integral and differential gains, which are used to control the influence of proportional term, integral term and differential term respectively. The present invention performs nonlinear modeling on the proposed endoscopic surgery system with automatic hydraulic monitoring function: Wherein, x is the spatial coordinate, t is the time, and ν is the kinematic viscosity. The present invention takes into account the multi-channel liquid flow situation and the coupling effect between channels. The channels influence each other by sharing liquid or having an interacting flow path, and the coupling term is introduced to model the flow, as shown below: Q ij (x,t)=f ij (u i (x,t),p i (t),t),u j (x,t),p j ((x,t))) Q ij represents the rate at which the liquid flows out of channel i and enters channel j, F[x,t,Q in (x,t),Q out (x, t)) represents the nonlinear control factor of the system, which is used to describe the relationship between the fluid flow and the control input, where u(x, t) is the flow rate, p(x, t) is the pressure, and ρ is the fluid density. The relationship between the flow rate and the hydraulic pressure of the fluid is usually modeled by the following equation: Q=Aμ Wherein, Q is the liquid flow rate, A is the flow cross-sectional area, and μ is the flow velocity. The present invention also considers introducing a hydraulic sensor into the model, assuming that there is a nonlinear relationship between the output of the hydraulic sensor and the hydraulic pressure in the cavity, which is expressed as follows: P 传感器 =f(P 腔体 ) Among them, P 传感器 is the pressure measured by the sensor, P 腔体 is the actual pressure in the cavity, f(·) represents the nonlinear sensor model, and the state equation of the system is established to describe the dynamic behavior of the liquid in the cavity: Among them, P 腔体 is the pressure in the cavity, Q in and Q out are the injection rate and the absorption rate of the liquid respectively. The goal of the control system is to make the pressure P in the cavity 腔体 As close as possible to the expected value P 目标 , thereby minimizing the control error, The goal of the control system is to adjust the liquid injection and suction rate, i.e. Q in (t) and Q out (t), to minimize the control objective J(t), expressed as minimizing the following objective function with a bundle: Among them, Q min and Q max are the minimum and maximum values ​​of the liquid flow rate.

9. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 1, characterized in that: There are two touch displays with completely the same functions, which are used by doctors and nurses respectively. They have the functions of parameter setting, command input, and on-screen display of perfusion suction, pressure detection, and intracavitary imaging parameters. After receiving the start signal of the touch display or the endoscope accessory, the processor first determines whether the operating conditions of the system are normal. The operating conditions include whether the system parameters are correctly set, whether the hydraulic sensor meets the conditions after identification, and whether the original signals connected, operated, and collected by the pressure measuring guide sheath and the electronic mirror are normal; if the conditions are normal, the processor sends instructions to the perfusion pump and the negative pressure pump, and the perfusion pump starts to act on the perfusion tube, forming a perfusion pressure in the perfusion tube, and injecting physiological saline into the body cavity through the electronic mirror. At the same time, the negative pressure pump works, so that the collection container, the suction tube, and the pressure measuring guide sheath form a vacuum negative pressure, and the physiological saline or other contaminants injected into the body cavity are sucked out; During the operation of the system, the hydraulic sensor collects the liquid pressure in the body cavity through the independent pressure measuring channel on the pressure measuring guide sheath. The pressure signal is converted into a voltage signal and then processed by hardware before reaching the processor for analysis. The processor then adjusts the suction force of the negative pressure pump to keep the pressure in the body cavity at the expected set value.

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