Artificial liver arteriovenous pipeline anti-displacement system based on multi-modal sensing and monitoring method thereof

Abstract

The invention discloses an artificial liver arteriovenous pipeline anti-displacement system based on multi-modal sensing and a monitoring method thereof.The system comprises a multi-modal sensing module and a control unit which are arranged corresponding to a catheter assembly, and the control unit is connected with the multi-modal sensing module; the multi-modal sensing module comprises a groin three-point pressure sensor array and an inertial sensor, the groin three-point pressure sensor array is used for collecting local pressure signals, and the inertial sensor is used for monitoring body position data; and the control unit is used for acquiring the information acquired by the multi-mode sensing module, calculating the pressure gradient, correlating the body position data to carry out catheter displacement risk analysis, and giving an alarm. When the system is used for monitoring, the corresponding pressure gradient threshold value can be automatically switched according to the change of the body position, so that the monitoring result can be better and more accurately reflected. Meanwhile, the system is additionally provided with an anti-displacement fixing device, so that the stability of the catheter is effectively improved, the patient is allowed to do limited activities, and the comfort is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to an artificial liver arteriovenous pipeline anti-displacement system based on multi-modal sensing. Background Art

[0002] Artificial liver treatment is a method used to temporarily replace liver function and promote the recovery and regeneration of hepatocytes. During artificial liver treatment, arteriovenous catheters are punctured and implanted, and the arteriovenous catheters need to be indwelled for a long time to achieve extracorporeal blood circulation. The defects of traditional artificial liver treatment methods include:

[0003] The catheter has poor stability, and changes in the patient's body position after surgery (such as turning over, sitting up, etc.) are likely to cause catheter displacement and kinking, resulting in blood flow interruption or bleeding at the puncture site;

[0004] There are blind spots in testing. Existing pressure sensors only test the internal hydraulic pressure of the pipeline and cannot sense the external mechanical pressure of the catheter caused by body position changes;

[0005] The response is lagging. There is a lack of real-time monitoring of body position and pipeline morphology. Early warning of complications resulting therefrom mostly relies on manual observation, which is inefficient and highly subjective. Summary of the Invention

[0006] The purpose of the present invention is to provide an artificial liver arteriovenous pipeline anti-displacement system based on multi-modal sensing and its monitoring method to solve one or more of the above-mentioned problems of the prior art.

[0007] One aspect of the present invention provides an artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing The system includes a multi-modal perception module and a control unit provided corresponding to the catheter assembly. The control unit is connected to the multi-modal perception module.

[0008] The multi-modal perception module includes an inguinal three-point pressure sensor array and an inertial sensor. The inguinal three-point pressure sensor array is used to collect local pressure signals, and the inertial sensor is used to monitor body position data;

[0009] The control unit is used to obtain the information collected by the multi-modal perception module, calculate the pressure gradient, and perform catheter displacement risk analysis by associating the body position data, and issue an alarm.

[0010] In some embodiments, the catheter assembly includes a femoral artery catheter, a femoral vein catheter, and an extracorporeal circulation pipeline;

[0011] The inguinal three-point pressure sensor array includes a first sensor, a second sensor, and a third sensor. The first sensor and the third sensor are symmetrically arranged obliquely at 45°. The first sensor and the third sensor are arranged corresponding to the femoral vein catheter and the femoral artery catheter, and the second sensor is located in the stress concentration area of the inguinal ligament;

[0012] The inertial sensor includes a first inertial sensor fixed to the patient's waist and is correspondingly arranged with the L3-4 vertebral body (the 3rd and 4th vertebral bodies).

[0013] In some embodiments, the extracorporeal circulation pipeline adopts a segmented stiffness design. The material of its proximal end near the body is flexible silica gel, and its distal end is a compressive corrugated pipe;

[0014] The first sensor is arranged outside the femoral artery puncture point, the second sensor is arranged below the midpoint of the inguinal ligament, and the third sensor is arranged at the midpoint of the line connecting the pubic tubercle and the anterior superior iliac spine.

[0015] In some embodiments, the pipeline within 20 cm from the body on the extracorporeal circulation pipeline is the proximal end near the body, and the bending radius of the proximal end near the body is less than or equal to 3 cm; the part other than the proximal end near the body on the extracorporeal circulation pipeline is the distal end, and a spiral shape memory alloy wire is embedded in the distal end.

[0016] In some embodiments, the anti-displacement fixation system for the artificial liver arteriovenous pipeline based on multi-modal sensing further includes an anti-displacement fixation device. The anti-displacement fixation device includes a magnetic attraction unit and a rotary joint. The magnetic attraction unit includes a magnetic anchor point and a magnetic metal strip. The magnetic metal strip is embedded on the outer walls of the femoral artery catheter and the femoral vein catheter, and the magnetic anchor point is attached to the patient's skin; the rotary joint is used to connect the femoral artery catheter with the extracorporeal circulation pipeline and the femoral vein catheter with the extracorporeal circulation pipeline to allow rotation within a range of 0°-90° between the femoral artery catheter and the extracorporeal circulation pipeline and between the femoral vein catheter and the extracorporeal circulation pipeline.

[0017] In some embodiments, the pressure value collected by the first sensor is S1, the pressure value collected by the second sensor is S2, and the pressure value collected by the third sensor is S3. At this time, the pressure gradient ΔP = |(S1 + S3) / 2 - S2|, and the threshold of the pressure gradient is set as required;

[0018] The body position data monitored by the first inertial sensor includes the body position angle. This body position angle is combined with the changes of S1, S2, and S3 to calculate the current posture change. The posture includes the whole body posture and the local posture. The types of the whole body posture include the supine position, the lateral position, and the sitting position. The types of the local posture include single lower limb movement or irregular body position movement. The thresholds of the pressure gradient corresponding to different posture types are different.

[0019] In some embodiments,

[0020] The whole body posture is the supine position, and the threshold of the pressure gradient is 5 mmHg;

[0021] The whole body posture is the lateral position, and the threshold of the pressure gradient is 8 mmHg;

[0022] The whole body posture is sitting position, and the threshold value of the pressure gradient is 10 mmHg.

[0023] In some embodiments, the inertial sensor further includes a second inertial sensor disposed on the outer side of the thigh. The body position data monitored by the second inertial sensor includes the hip flexion angle.

[0024] In some embodiments, the control unit is independently provided, and a wireless connection is adopted between the control unit and the multi-modal perception module. The control unit includes a central processor, a communication module, a light source indication module, and a sound control module. The communication module, the light source indication module, and the sound control module are all connected to the central processing module.

[0025] The light source indication module can at least emit three different colors of light to serve as the light warning information in the alarm.

[0026] The sound control module is used to emit sound to serve as the sound warning information in the alarm.

[0027] The communication module is used to connect the multi-modal perception module and an external intelligent terminal.

[0028] Another aspect of the present invention also provides a monitoring method for an artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing . The method applies the above-mentioned artificial liver arteriovenous pipeline anti-displacement system based on multi-modal sensing for monitoring. The specific monitoring method includes the following steps:

[0029] The patient is in the supine position, and the first sensor, the second sensor, the third sensor, and the inertial sensor are attached.

[0030] The control unit is initialized, the pressure gradient thresholds corresponding to different whole body postures are preset, and the current pressure gradient threshold in the supine position is set.

[0031] The control unit collects the body position data monitored by the inertial sensor.

[0032] The control unit collects the pressure values monitored and collected by the first sensor, the second sensor, and the third sensor.

[0033] The control unit judges the current posture of the patient according to the changes in the body position data and the pressure values.

[0034] When the posture changes, the control unit switches to the corresponding pressure gradient threshold according to the posture type.

[0035] The pressure gradient is calculated in real time. If the duration for which the pressure gradient exceeds the corresponding pressure gradient threshold exceeds the preset duration, an alarm is triggered.

[0036] In the present disclosure, a biomechanically sensitive area where arteriovenous catheter displacement occurs is covered by an inguinal three-point pressure sensor array, and a gradient algorithm is combined to distinguish postural interference from true movement, so as to more accurately and sensitively reflect catheter changes, effectively improving the reliability of monitoring results, in order to monitor postural changes in real time, timely adjust pipeline stress, prevent displacement / kinking of arterial and venous catheters, and effectively improve the safety of treatment and the comfort of patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic framework diagram of an artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing in some embodiments of the present invention;

[0038] Figure 2 is a schematic layout diagram of an inguinal three-point pressure sensor array in some embodiments of the present invention;

[0039] Figure 3 is a schematic diagram of a state of a connector for a control unit in some embodiments of the present invention;

[0040] Figure 4 is another schematic diagram of a state of a connector for a control unit in some embodiments of the present invention.

[0041] In the figure:

[0042] 1, first sensor; 2, second sensor; 3, third sensor; 101, clamping part; 102, handle; 103, housing; 141, red indicator light; 142, yellow indicator light; 143, green indicator light. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The present invention will be further described in detail below with reference to the accompanying drawings.

[0044] An artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing, as Figure 1 shown, includes a multimodal perception module and a control unit provided corresponding to a catheter assembly. The control unit is connected to the multimodal perception module.

[0045] The multimodal perception module includes an inguinal three-point pressure sensor array and an inertial sensor. The inguinal three-point pressure sensor array is used to collect pressure signals in an area corresponding to the catheter assembly, and the inertial sensor is used to monitor body position data;

[0046] The control unit is used to obtain the information collected by the multimodal perception module, calculate the pressure gradient, and perform catheter displacement risk analysis in association with the body position data, and issue an alarm.

[0047] The above catheter assembly includes a femoral artery catheter, a femoral vein catheter, and an extracorporeal circulation pipeline. One end of the femoral artery catheter and one end of the femoral vein catheter are both implanted into the patient's body. The end of the femoral artery catheter outside the body and the end of the femoral vein catheter outside the body are connected to the extracorporeal circulation pipeline. Among them, the extracorporeal circulation pipeline adopts a segmented stiffness design. The material of its proximal end near the body is flexible silicone, and its distal end is a compressive corrugated pipe. Specifically, the pipeline within 20 cm from the body on the extracorporeal circulation pipeline is the proximal end near the body, and the bending radius of the proximal end near the body is less than or equal to 3 cm; the part outside the proximal end near the body on the extracorporeal circulation pipeline is the distal end, and a spiral shape memory alloy wire is embedded in the distal end, which is activated by body temperature to provide radial support force and maintain the pipeline diameter at body temperature.

[0048] The above groin three-point pressure sensor array includes a first sensor 1, a second sensor 2, and a third sensor 3. The first sensor 1, the second sensor 2, and the third sensor 3 can all be fixed to the patient's skin by attachment. Among them, the first sensor 1 and the third sensor 3 are symmetrically arranged obliquely at 45°, and the first sensor 1 and the third sensor 3 are arranged corresponding to the femoral vein catheter and the femoral artery catheter, and the second sensor 2 is located in the stress concentration area of the inguinal ligament. Combining Figure 2 With the content shown, the specific installation positions of the first sensor 1, the second sensor 2, and the third sensor 3 can be: the first sensor 1 is installed at 1.5 cm outside the femoral artery puncture point, the second sensor 2 is installed 3 cm below the midpoint of the inguinal ligament, and the third sensor 3 is installed at the midpoint of the line connecting the pubic tubercle and the anterior superior iliac spine. The pressure value detected by the first sensor 1 is S1, the pressure value detected by the second sensor 2 is S2, and the pressure value detected by the third sensor 3 is S3. At this time, the calculation formula for the pressure gradient ΔP is ΔP = |(S1 + S3) / 2 - S2|. In actual application, the first sensor 1, the second sensor 2, and the third sensor 3 can be set on a tripod with adjustable spacing, which can be pre-adjusted during clinical use and then the three sensors are attached to the above positions, or other means can also be used, which is not particularly limited.

[0049] The inertial sensor includes a first inertial sensor (IMU) fixed to the patient's waist. The first inertial sensor is arranged corresponding to the L3-4 vertebral body. The body position data monitored by the first inertial sensor includes body position angles. The body position angles combined with the changes of S1, S2 and S3 are used to deduce the current posture changes. The postures include whole-body postures and local postures. The types of whole-body postures include supine position, lateral position and sitting position. The types of local postures include single lower limb movement or irregular body position movement. Specifically, it can be realized as follows: taking the extension direction of the human vertebral body as the X-axis, setting the direction perpendicular to the X-axis on the horizontal plane as the Z-axis, and setting the Y-axis perpendicular to the X-axis on the plane vertically arranged relative to the horizontal plane. Taking the center of the first inertial sensor (IMU) as the origin, when the first inertial sensor monitors that it rotates around the X-axis or a straight line parallel to the X-axis in the range of 85° to 105° (positive direction) or -85° to -105° (negative direction) relative to the supine position and the duration exceeds 10 s, the control unit will determine that the patient enters the lateral position; when the first inertial sensor monitors that it rotates 85° to 105° around the Z-axis or a straight line parallel to the Z-axis relative to the supine position and the duration exceeds 10 s, the control unit will determine that the patient enters the sitting position; when the first inertial sensor monitors that the rotation angle floats in the range of 15° to 85° or -15° to -85° around the X-axis or a straight line parallel to the X-axis relative to the supine position for more than 15 s, and / or the rotation angle around the Z-axis or a straight line parallel to the Z-axis relative to the supine position floats in the range of 5° to 85° for more than 15 s, it is determined that the current posture type is irregular body position movement; when the first inertial sensor monitors that it rotates in the range of 0° to 15° or -0° to -15° around the X-axis or a straight line parallel to the X-axis relative to the supine position, and does not rotate around the Z-axis or a straight line parallel to the Z-axis relative to the supine position, but S1, S2 and S3 change, it is determined that the current posture type is single lower limb movement. The threshold values of the pressure gradient corresponding to different posture types are different. For example:

[0050] When the whole-body posture is the supine position, the threshold value of the pressure gradient is 5 mmHg;

[0051] When the whole-body posture is the lateral position, the threshold value of the pressure gradient is 8 mmHg;

[0052] When the whole-body posture is the sitting position, the threshold value of the pressure gradient is 10 mmHg.

[0053] In some specific implementation manners, in order to improve the monitoring accuracy of the inertial sensor, a second inertial sensor can also be added on the outer side of the thigh, and the body position data monitored includes the hip flexion angle.

[0054] The anti-displacement fixing device is also included in the artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing. The anti-displacement fixing device includes a magnetic attraction unit and a rotary joint. The magnetic attraction unit includes a magnetic anchor point and a magnetic metal strip. The magnetic metal strip is embedded in the outer walls of the femoral artery catheter and the femoral vein catheter (the magnetic metal strip here can be a neodymium iron boron coating). The surface of the magnetic metal strip can be covered with a medical silica gel layer to seal the magnetic metal strip through the medical silica gel layer. The magnetic anchor point can be fixed on the patient's skin by attachment (the magnetic anchor point here can include a base that can be attached to the skin on the back, a linear slide rail arranged on the base, and a magnetic block embedded on the slide rail (the intensity of the magnetic block can be set to 0.8T). The slide rail is correspondingly arranged with the corresponding catheter (femoral artery catheter / femoral vein guide rail), and the extending direction of the slide rail is the same as the extending direction of the corresponding catheter. With this design, only the magnetic block is allowed to slide translationally on the slide rail. In addition, a Hall sensor is arranged on the base corresponding to the magnetic block to detect the current magnetic attraction force of the magnetic block and feedback it to the control unit. If the feedback magnetic attraction force is less than a preset threshold, such as 0.5N, the control unit will issue an alarm for re-fixing. Based on the center point of the slide rail, the magnetic block can slide within a range of ±2 cm on the slide rail to adapt to the puncture point displacement caused by local edema or body position change after the operation); the rotary joint is used to connect the femoral artery catheter to the extracorporeal circulation pipeline and the femoral vein catheter to the extracorporeal circulation pipeline, so as to allow the femoral artery catheter and the extracorporeal circulation pipeline, and the femoral vein catheter and the extracorporeal circulation pipeline to rotate adaptively within the range of 0°-90° when the patient's limb moves. The use of the magnetic attraction unit and the rotary joint facilitates better resistance to the pulling force generated by the patient's limb movement (such as hip flexion, turning over), buffers the displacement caused by the self-gravity of the pipeline or external accidental pulling, and at the same time can effectively reduce the catheter twisting angle and avoid kinking, so as to ensure the stability of the catheter while allowing the patient to perform limited activities. The setting structure of the Hall sensor, the adaptive rotation technology, etc. involved here can all be directly realized by using the existing technology, so they will not be elaborated here.

[0055] The above-mentioned base can be fixed on the patient's skin through medical adhesive tape.

[0056] In some specific implementation modes, the specific setting parameters of the above-mentioned magnetic metal strip can be: the width (that is, when the catheter where the magnetic metal strip is located is flattened along the axis of the catheter, the length of the magnetic metal strip in the direction perpendicular to the corresponding axis) is 1 mm, and the length (that is, the length of the magnetic metal strip in the extending direction of the corresponding femoral artery catheter / femoral vein catheter) is 5 mm.

[0057] In some specific implementation modes, a limiting groove (the width of the limiting groove can be 1.2 mm and the depth can be 0.5 mm) is arranged on the above-mentioned slide rail. A magnetic attraction base adapted to the slide rail is arranged at the bottom of the above-mentioned magnetic block, and a protrusion is arranged on the magnetic attraction base. The limiting groove is adapted to the protrusion to prevent the magnetic block from laterally shifting and further ensure the stability of the magnetic block during the smooth process.

[0058] In some specific implementation manners, the requirements for the relative positions of the above-mentioned magnetic blocks and the catheter (femoral artery catheter / femoral vein catheter) may include the following:

[0059] Extension direction of the catheter: The catheter extends from the puncture point to the outside of the body, and the axis direction of the catheter is defined as the catheter extension direction (X-axis);

[0060] Sliding direction: The sliding direction of the magnetic block on the slide rail is parallel to the extension direction of the catheter (i.e., the magnetic block only moves along the X-axis), ensuring that the catheter axis does not twist or deviate laterally during adjustment;

[0061] Prohibit sliding in other directions: Physical limit designs (such as side baffles, etc.) can be added to the base to prevent the static magnetic block from sliding in the Y-axis (direction perpendicular to the skin) and Z-axis (direction parallel to the skin but perpendicular to the X-axis), avoiding catheter prolapse or puncture site tearing.

[0062] The above control unit is independently arranged, and a wireless connection is adopted between the control unit and the multi-modal perception module. The control unit includes a central processing unit, a communication module, a light source indication module, and a sound control module. The communication module, the light source indication module, and the sound control module are all connected to the central processing module.

[0063] The light source indication module can at least emit three different colors of light to serve as the light warning information in the alarm;

[0064] The sound control module is used to emit sounds to serve as the sound warning information in the alarm;

[0065] The communication module is used to connect the multi-modal perception module and an external intelligent terminal (such as a medical PDA).

[0066] The control unit can be fixed to the patient's hospital bed by means of fixing tool structures such as clamps and clips. Taking the clip as an example, combined with Figure 3 and Figure 4 The content shown, the structure of the control unit can be:

[0067] A clip connected to the control unit. One side of the clip is a clamping part 101. Rubber or the like can be embedded on the inner wall of the clamping part 101 to increase the friction between the inner wall of the clamping part 101 and the clamped component (such as the railing of a hospital bed), thereby enhancing the clamping stability. The other side of the clip is an operation end, which can be connected to a handle 102 in a snap-fit manner for better fixing of the clip. After the fixing is completed, the handle 102 can be removed. At the bottom of the housing 103 of the control unit, a fixing groove is provided corresponding to the operation end. On the inner side wall of the fixing groove, a snap-fit component that can rotate and move is provided corresponding to the movable direction of the operation end. The part below the rotation center point is a clamping block. A spring is provided between one side of the clamping block and the housing. The other side of the clamping block is correspondingly arranged with the operation end. After the operation end is inserted into the fixing groove, the clamping block will be stuck to the operation end under the elastic force of the spring. Such a structural setting can not only prevent others from accidentally touching the clip and loosening it during the use of the control unit, but also directly replace the clip when the clip is aged, worn, etc., effectively controlling the cost input. The part above the rotation center point is an auxiliary handle. A groove (through hole) is provided on the side surface of the housing corresponding to the auxiliary handle. When the control unit needs to disconnect from the clip, use a finger to push the auxiliary handle inward through the groove, so that the clamping block on the lower side compresses the spring and moves outward, thereby releasing the clamping of the clamping block on the operation end. Subsequently, the clip can be directly removed through the operation end or a handle 102 added later on the operation end. At least three indicator lights are also provided on the housing 103. The colors of the three indicator lights are a red indicator light 141, a yellow indicator light 142, and a green indicator light 143. A display screen can also be added to the surface of the housing 103 to display information such as various pressure values, body position data, magnetic suction force, etc. obtained by the control unit.

[0068] When monitoring using the above artificial liver arteriovenous pipeline anti-displacement system based on multi-modal sensing, different pressure gradient thresholds corresponding to different whole body postures, thresholds corresponding to magnetic suction force, duration (such as set to 10 s), S1 decrease limit value (such as the current value of S1 is less than or equal to 80% of the previous value of S1), and S3 increase limit value (such as the current value of S3 is greater than or equal to 115% of the previous value of S3) are preset in the control unit in advance. This monitoring method includes the following steps:

[0069] S1. The patient lies flat, and the first sensor, the second sensor, the third sensor, and the inertial sensor are attached.

[0070] S2. The control unit is initialized, and the current pressure gradient threshold for the flat lying position is set.

[0071] S3. The control unit continuously collects the body position data monitored by the inertial sensor and the pressure values monitored and collected by the first sensor, the second sensor, and the third sensor.

[0072] S4. The control unit determines the current posture of the patient based on the changes in the body position data and the pressure value. If the posture changes to the lateral position or the sitting position, the current pressure gradient threshold is directly switched, and then it enters S5; if it becomes a single lower limb movement, it directly enters S5; if it becomes irregular body position movement, the control unit will control the yellow light to turn on, and send a prompt message of abnormal patient movement to the corresponding display screen and external intelligent terminal, and enter S5; if the posture does not change, it directly enters S5;

[0073] S5. Calculate the current pressure gradient, and compare the calculation result with the corresponding pressure gradient threshold. If the pressure gradient continuously exceeds the corresponding pressure gradient threshold within 10S, the control unit will control the red light to turn on, and send a warning message of arteriovenous catheter abnormality to the corresponding display screen and external intelligent terminal.

[0074] During the execution of S5, if the current S1 drops to the S1 drop limit value, S3 rises to the S3 rise limit value, and the current pressure gradient continuously exceeds the corresponding pressure gradient threshold, it is determined that there is a risk of local kinking of the current venous catheter and / or arterial catheter. The control unit will control the red light to turn on, and send a warning message of arteriovenous catheter abnormality to the corresponding display screen and external intelligent terminal. At the same time, the sound control module in the control unit will send a prompt sound to remind the patient to adjust the posture.

[0075] During the execution of S3, the control unit can also collect the magnetic suction force in real time. If the magnetic suction force is less than the preset threshold value, the control unit will control the red light to turn on, and send a warning message that the catheter needs to be re-fixed to the corresponding display screen and external intelligent terminal.

[0076] The above control unit can also be connected to the blood pump, and use the warning information generated by the control unit as a condition to trigger the blood pump, and timely adjust the flow rate of the blood pump.

[0077] The above attachment material attached to the patient's skin needs to pass the ISO10993 biocompatibility certification.

[0078] The arteriovenous pipeline anti-displacement system of the artificial liver based on multi-modal sensing supports continuous monitoring for 48 hours after surgery. And applying the above arteriovenous pipeline anti-displacement system of the artificial liver based on multi-modal sensing can reduce the incidence of catheter-related complications during the artificial liver treatment process from the traditional 34% to 6%. At the same time, through finite element analysis, it shows that the stress sensitivity of the above-mentioned inguinal three-point pressure sensor array layout to catheter displacement is 2.3 times higher than the existing two-point layout.

[0079] The above undisclosed matters can all be realized by the existing technology, so they will not be elaborated here.

[0080] The above description is only one implementation mode of the present invention. Where there is no detailed description in the text, the prior art can be adopted. It should be noted that for those of ordinary skill in the art, without departing from the inventive concept of the present invention, several similar modifications and improvements can be made, and these should also be regarded as within the protection scope of the present invention.

Claims

1. An artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing, characterized in that: Comprising a multi-modal sensing module and a control unit corresponding to the catheter assembly, the control unit being connected to the multi-modal sensing module; The multi-modal sensing module includes an inguinal three-point pressure sensor array and an inertial sensor, The inguinal three-point pressure sensor array is used to collect local pressure signals, and the inertial sensor is used to monitor body position data; The control unit is used to obtain the information collected by the multi-modal sensing module, calculate the pressure gradient, and perform catheter displacement risk analysis by associating the body position data, and issue an alarm.

2. The artificial liver arteriovenous pipeline anti-displacement system based on multi-modal sensing according to claim 1, characterized in that: The catheter assembly includes a femoral artery catheter, a femoral vein catheter and an extracorporeal circulation pipeline; The inguinal three-point pressure sensor array includes a first sensor, a second sensor and a third sensor. The first sensor and the third sensor are symmetrically arranged obliquely at 45°. The first sensor and the third sensor are arranged corresponding to the femoral vein catheter and the femoral artery catheter, and the second sensor is located in the stress concentration area of the inguinal ligament; The inertial sensor includes a first inertial sensor fixed to the patient's waist and is arranged corresponding to the L3-4 vertebral body.

3. The artificial liver arteriovenous pipeline anti-displacement system based on multi-modal sensing according to claim 2, characterized in that: The extracorporeal circulation pipeline adopts a segmented stiffness design. The material of its proximal end is flexible silica gel, and its distal end is a compressive corrugated pipe; The first sensor is arranged outside the femoral artery puncture point, the second sensor is arranged below the midpoint of the inguinal ligament, and the third sensor is arranged at the midpoint of the line connecting the pubic tubercle and the anterior superior iliac spine.

4. The artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing according to claim 3, wherein: The pipeline within 20 cm from the body on the extracorporeal circulation pipeline is the proximal end, and the bending radius of the proximal end is less than or equal to 3 cm; the part outside the proximal end on the extracorporeal circulation pipeline is the distal end, and a spiral shape memory alloy wire is embedded in the distal end.

5. The artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing according to claim 4, wherein: The artificial liver arteriovenous pipeline anti-displacement system based on multi-modal sensing further includes an anti-displacement fixing device. The anti-displacement fixing device includes a magnetic attraction unit and a rotary joint. The magnetic attraction unit includes a magnetic anchor point and a magnetic metal strip. The magnetic metal strip is embedded on the outer walls of the femoral artery catheter and the femoral vein catheter, and the magnetic anchor point is attached to the patient's skin; the rotary joint is used to connect the femoral artery catheter to the extracorporeal circulation pipeline and the femoral vein catheter to the extracorporeal circulation pipeline to allow rotation within the range of 0°-90° between the femoral artery catheter and the extracorporeal circulation pipeline and between the femoral vein catheter and the extracorporeal circulation pipeline.

6. The artificial liver arteriovenous pipeline anti-displacement system based on multi-modal sensing according to claim 2, characterized in that: The pressure value collected by the first sensor is S1, the pressure value collected by the second sensor is S2, and the pressure value collected by the third sensor is S3. At this time, the pressure gradient ΔP = |(S1 + S3) / 2 - S2|, and the threshold of the pressure gradient is set as required; The body position data monitored by the first inertial sensor includes body position angles, and these body position angles, combined with the changes in S1, S2, and S3, are used to calculate the current posture changes. The postures include whole-body postures and local postures. The types of the whole-body postures include supine position, lateral position, and sitting position. The types of the local postures include single lower limb movement or irregular body position movement. The threshold values of the pressure gradients corresponding to different posture types are different.

7. The artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing according to claim 6, characterized in that: The whole-body posture is the supine position, and the threshold value of the pressure gradient is 5 mmHg; The whole-body posture is the lateral position, and the threshold value of the pressure gradient is 8 mmHg; The whole-body posture is the sitting position, and the threshold value of the pressure gradient is 10 mmHg.

8. The artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing according to claim 6, characterized in that: The inertial sensor further includes a second inertial sensor, which is arranged on the outer side of the thigh. The body position data monitored by the second inertial sensor includes hip flexion angle.

9. The artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing according to claim 6, wherein: The control unit is independently arranged, and a wireless connection is adopted between the control unit and the multimodal perception module. The control unit includes a central processor, a communication module, a light source indication module, and a sound control module. The communication module, the light source indication module, and the sound control module are all connected to the central processing module. The light source indication module can at least emit three different colors of light to be used as the light warning information in the alarm; The sound control module is used to emit sounds to be used as the sound warning information in the alarm; The communication module is used to connect the multimodal perception module and an external intelligent terminal.

10. Monitoring method of an artificial liver arteriovenous pipeline anti-displacement system based on multimodal sensing, characterized in that: When the artificial liver arteriovenous pipeline anti-displacement system according to claim 9 is used for monitoring, the specific monitoring method includes the following steps: The patient is in the supine position, and the first sensor, the second sensor, the third sensor, and the inertial sensor are attached; The control unit is initialized, the threshold values of the pressure gradients corresponding to different whole-body postures are preset, and the threshold value of the pressure gradient in the current supine position is set; The control unit collects the body position data monitored by the inertial sensor; The control unit collects the pressure values monitored and collected by the first sensor, the second sensor, and the third sensor; The control unit judges the current posture of the patient according to the changes in the body position data and the pressure values; When the posture changes, the control unit switches to the corresponding pressure gradient threshold according to the posture type; The pressure gradient is calculated in real time. If the duration for which the pressure gradient exceeds the corresponding pressure gradient threshold exceeds the preset duration, an alarm is triggered.

Images