A pneumatic portable intelligent cardiopulmonary resuscitation machine

Abstract

The present invention provides a pneumatic portable intelligent cardiopulmonary resuscitation machine, comprising a compression actuator, a control system, a detection module and an air source device. The compression actuator of the present invention adopts a variable-range cylinder to adjust the appropriate compression depth according to the chest of different patients; the air source device adopts a portable gas cylinder and a pressure regulating valve to achieve the portability of the device and the adjustability of the compression force. The control system calculates the current compression parameter based on the detection value, determines whether the compression parameter is appropriate according to the physiological parameter signal, and calculates the control amount of adjusting the compression parameter when it is not appropriate, so as to control the action of the driving mechanism and the air pressure provided by the air source device. The present invention provides a new technical means for the development of intelligent first aid technology.

Description

Technical Field

[0001] The invention belongs to the technical field of cardiopulmonary resuscitation equipment, and in particular relates to a pneumatic portable intelligent cardiopulmonary resuscitation machine. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Once cardiac arrest occurs, if it is not rescued and resuscitated immediately, irreversible damage will be caused to the patient's brain and other important organs and tissues of the human body after 4 to 6 minutes. Cardiopulmonary resuscitation is a series of emergency measures to help patients with cardiac arrest quickly restore breathing and circulation, and ensure the blood oxygen supply to important organs such as the heart and brain. It is the most effective means to deal with cardiac arrest. Chest compression is the most important part of the cardiopulmonary resuscitation process. Its core is to promote the recovery of the patient's spontaneous circulation through continuous compression of the patient's chest, restore the patient's spontaneous breathing and spontaneous circulation, and avoid irreversible damage caused by long-term hypoxia of tissues and organs caused by cardiac arrest. Therefore, chest compression must be performed immediately after cardiac arrest to win the most precious time for further rescue.

[0004] Traditional chest compressions are mostly performed manually, which not only requires the rescuer's experience and skills, but also requires the rescuer to exert a lot of physical strength. It is difficult to ensure that the depth and strength of the compressions meet the requirements. As the compressions continue and the rescuer's fatigue increases, the quality of the compressions decreases significantly. Therefore, replacing manual compressions with automated devices has become a research hotspot in the current field of cardiopulmonary resuscitation. Currently available cardiopulmonary resuscitation machines are mostly standardized compression devices, which are characterized by constant compression frequency and depth, and cannot provide accurate compression treatment for different individual characteristics and physiological states. Moreover, such devices often need to be fixed on a treatment bed or treatment frame, and are less portable. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a pneumatic portable intelligent cardiopulmonary resuscitation machine. The compression actuator of the present invention adopts a variable-range cylinder to adjust the appropriate compression depth according to the chest of different patients; the gas source adopts a portable gas cylinder and a pressure regulating valve to achieve the portability of the device and the adjustability of the compression force, providing a new technical means for the development of intelligent first aid technology.

[0006] According to some embodiments, the present invention adopts the following technical solutions:

[0007] A pneumatic portable intelligent cardiopulmonary resuscitation machine, comprising a compression actuator, a control system, a detection module and an air source device, wherein:

[0008] The pressing actuator comprises a driving mechanism, a variable-range cylinder and a pressing suction cup, wherein the driving mechanism is used to adjust the stroke of the variable-range cylinder, and the output end of the variable-range cylinder is connected to the pressing suction cup;

[0009] The air source device is connected to the variable-range cylinder and is used to provide air pressure to the variable-range cylinder. By adjusting the size of the provided air pressure, the pressing force output by the variable-range cylinder is changed;

[0010] The detection module includes a pressure sensor and a six-dimensional force sensor arranged on the pressing suction cup, and a physiological detection module, which are used to detect the pressing force and acceleration, and the physiological parameter signal respectively;

[0011] The control system receives the detection value of the detection module and is configured to calculate the current compression parameter based on the detection value, determine whether the compression parameter is appropriate according to the physiological parameter signal, and calculate the control amount for adjusting the compression parameter when it is not appropriate, so as to control the action of the driving mechanism and the air pressure provided by the air source device.

[0012] As an optional embodiment, the driving mechanism includes a driving motor, a screw and a fixer. The stroke of the variable-range cylinder is determined by the distance between the fixer and the cylinder. The driving motor is connected to the variable-range cylinder via a screw. The fixer moves along the screw. The driving motor rotates to move the fixer on the screw to change the position of the fixer, thereby realizing stroke adjustment.

[0013] As an optional implementation, the gas source device includes a gas cylinder, a connecting pipeline and a control valve, the gas cylinder is connected to the variable-range cylinder via the connecting pipeline, and the control valve is used to control the opening of the connecting pipeline.

[0014] As a further limitation, an air pressure detection module is provided on the connecting pipeline.

[0015] As a further limitation, the gas cylinder includes a power gas cylinder and a regulating gas cylinder, the regulating gas cylinder is used to provide adjustable pressing gas pressure to the variable-range gas cylinder, and the power gas cylinder is used to provide an initial constant gas pressure to the regulating gas cylinder.

[0016] As a further limitation, the gas cylinder is provided with a decompression valve.

[0017] As an optional implementation, the physiological detection module includes an end-tidal carbon dioxide acquisition module and / or a heart rate acquisition module.

[0018] As a further limitation, the control system is configured to calculate end-tidal carbon dioxide and / or heart rate data, calculate a current error value between the data and a normal value, and determine a control amount for adjusting compression parameters based on the current error value using fuzzy control.

[0019] As a further limitation, the control system is configured to convert the basic domain of the current error value into the fuzzy subset domain, determine the relationship between the control quantity and the error value based on the fuzzy set and fuzzy relationship theory, determine the actual control quantity based on the determined relationship, and then defuzzify to obtain the precise control quantity.

[0020] As a further limitation, the compression parameters include compression pressure, compression frequency and compression depth.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The pressing rod of the present invention adopts an adsorption type pressing plate, which can press the thorax downward during the pressing period and pull the thorax upward during the lifting period, thereby ensuring sufficient rebound of the thorax and promoting blood return and lung inflation.

[0023] The compression actuator of the present invention adopts a variable-range cylinder to adjust the appropriate compression depth according to the chest of different patients; the gas source adopts a portable gas cylinder and a pressure regulating valve to achieve the portability of the device and the adjustability of the compression force.

[0024] The control of the present invention adopts fuzzy control and introduces end-tidal CO 2 And heart rate parameters guide compression, ensuring more personalized and accurate control of compression effect.

[0025] The present invention can accurately evaluate the compression effect according to the patient's condition and compression state to change the compression parameters, which has important clinical significance. By using the mechanism of fuzzy control and machine learning, the basic compression parameters are dynamically adjusted according to the patient's various physiological parameters to achieve an intelligent compression method.

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0028] Figure 1 It is the front structure of the portable intelligent cardiopulmonary resuscitation machine;

[0029] Figure 2 It is the back structure of the portable intelligent cardiopulmonary resuscitation machine;

[0030] Figure 3 This is the back structure diagram of the gas source device;

[0031] Figure 4 It is the structural diagram of the pressing actuator;

[0032] Figure 5 This is a flow chart of a portable intelligent cardiopulmonary resuscitation machine;

[0033] Figure 6 This is a usage status diagram of a portable intelligent cardiopulmonary resuscitation machine.

[0034] Among them: 1 is the control panel button, 2 is the control panel display, 3 and 6 are the gas cylinder decompression ports, 4 and 5 are the connecting air pipes, 7 is the gas pressure gauge, 8 is the gas cylinder fixing bracket, 9 is the control panel shell, 10 is the lifting handle, 11 is the pressing control box, 12 and 14 are the physiological signal input interfaces, 13 is the emergency brake button, 15 and 17 are the gas cylinders, 16 is the fixing strap, 18 is the pressure sensor and the six-dimensional force sensor, 19 is the pressing suction cup, 20 is the control panel shell, 21 is the pressure regulating motor, 22 is the manual decompression valve, 23 is the stepping motor, 24 is the screw rod, and 25 is the bearing fixer. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] A pneumatic portable intelligent cardiopulmonary resuscitation machine, comprising a compression actuator, a control system, a detection module and an air source device, wherein:

[0039] The pressing actuator comprises a driving mechanism, a variable-range cylinder and a pressing suction cup, wherein the driving mechanism is used to adjust the stroke of the variable-range cylinder, and the output end of the variable-range cylinder is connected to the pressing suction cup;

[0040] The air source device is connected to the variable-range cylinder and is used to provide air pressure to the variable-range cylinder. By adjusting the size of the provided air pressure, the pressing force output by the variable-range cylinder is changed;

[0041] The detection module includes a pressure sensor and a six-dimensional force sensor arranged on the pressing suction cup, and a physiological detection module, which are used to detect the pressing force and acceleration, and the physiological parameter signal respectively;

[0042] The control system receives the detection value of the detection module and is configured to calculate the current compression parameter based on the detection value, determine whether the compression parameter is appropriate according to the physiological parameter signal, and calculate the control amount for adjusting the compression parameter when it is not appropriate, so as to control the action of the driving mechanism and the air pressure provided by the air source device.

[0043] Specifically, Figure 1 and Figure 2 As shown, the portable intelligent cardiopulmonary resuscitation machine includes a main board, and lifting handles are arranged on both sides of the main board. A fixing strap is arranged on the main board to help the patient fix the portable intelligent cardiopulmonary resuscitation machine. A pressing actuator is arranged through the main board. An air source device is arranged on one side of the main board to provide an air source for the cylinder of the pressing actuator.

[0044] The structure of the pressing actuator is as follows Figure 4 As shown in the figure, the end of the compression cylinder is designed with a suction cup structure, which can be attached to the patient's chest to provide compression and lifting effects during the compression process. A pressure sensor and a six-dimensional force sensor are installed at the bottom of the suction cup to monitor the compression force and acceleration to calculate the compression depth. The other end of the cylinder is designed as a screw rod. The stroke of the cylinder is determined by the distance between the fixture and the cylinder. The DC motor is rotated to move the fixture on the screw rod to change the position of the fixture and adjust the cylinder stroke.

[0045] In this embodiment, if Figure 3 As shown, the gas source device includes a gas cylinder, a connecting pipeline and a control valve, wherein the gas cylinder is connected to the variable range gas cylinder through the connecting pipeline, and the control valve is used to control the opening of the connecting pipeline. An air pressure detection module is provided on the connecting pipeline, and a decompression valve is provided on the gas cylinder.

[0046] The air source is connected to the PU pipe through interface 3, and the PU pipe is connected to the control valve (solenoid valve) to control the movement of the cylinder.

[0047] This embodiment uses dual gas cylinders to provide pressing power, and the gas enters the pipeline through a valve adjusted by a stepper motor. In the initial state, the air pressure in the two gas cylinders is different, and they are divided into a power gas cylinder and a regulating gas cylinder, wherein the air pressure in the regulating gas cylinder meets the standard initial pressing pressure. During the initial pressing process, pressing is performed only by relying on the gas in the regulating gas cylinder, and the valve of the power gas cylinder is closed. After a period of pressing, the pressing parameters are changed through the pressing data collected by the sensor and the input physiological data. If the pressing intensity needs to be changed, the internal pressure of the gas cylinder can be adjusted by opening or closing the valve of the power gas cylinder, thereby increasing or decreasing the pressing intensity.

[0048] In the initial state, there is a certain amount of gas in the regulating cylinder to provide the initial pressure. At this time, the regulating cylinder pressure may not be able to provide all the pressure required for compression, and the pressure in the regulating cylinder continues to decrease when the gas is continuously output, and the entire compression process cannot be completed in the end. Therefore, a power cylinder is required, which is filled with a large amount of high-pressure gas to support the entire compression process. When the gas in the regulating cylinder is insufficient, the gas in the power cylinder is injected to achieve a constant pressure value in the regulating cylinder, or the pressure is reduced by a pressure reducing valve, or the pressure in the regulating cylinder is increased by continuously injecting gas.

[0049] By changing the physiological parameters, changing the pressing pressure requires the use of a power gas source to continuously adjust the gas output, and then adjust the gas cylinder pressure. The specific physiological parameters and pressing pressure can be determined based on experience, or the pressing depth of the pressing execution unit can be determined based on the pressing position information and pressure information. With the pressing depth and pressure information as input parameters, the output force value adjustment information of each pressing execution unit is determined using a deep learning algorithm.

[0050] The operation of the cylinder relies on the control of the solenoid valve. The control system connects the relay to change the voltage to control the movement of the solenoid valve. The operation of the solenoid valve includes two states, corresponding to the extension and retraction of the cylinder. The dynamic control of the solenoid valve state is achieved through the program, realizing the automation and intelligence of the pressing process.

[0051] The solenoid valve is the actuator of the control valve. It is used to adjust the gas cylinder to supply gas pressure to the cylinder. The solenoid valve has two operating states (on and off). The DC motor should be used to adjust the gas cylinder pressure and has nothing to do with the control valve.

[0052] The flow chart of equipment operation is as follows Figure 5 First, place the device, remove the gas cylinder, and use the fixed strap to fix the patient's shoulders. Press the start button and lower the compression head until it touches the patient's chest. Figure 6 As shown. Then the compression process begins, and the compression parameters can be manually changed by adjusting the button. After the compression is finished, press the end button, the compression stops, the compression head leaves the patient's chest, the fixing belt is unfastened, the gas cylinder is fixed, and the use process of the compression device is finished.

[0053] If end-tidal CO is introduced during compression 2 and heart rate acquisition module, the compression parameters will be automatically adjusted according to the data collected by the two. During the compression process, the real-time heart rate or end-tidal CO2 can be input through the input interface. 2 Data NR t , for the normal value N i , calculate the current error value:

[0054] e=NR t -N i(1)

[0055] According to the existing experimental data, the basic domain of error can be set as [-x e ,x e ], and set the basic domain of error change to [-x c ,x c ], set the basic domain of the output variable of the fuzzy controller to [-y u ,y u ]. Then fuzzification is required to receive the basic domain of physiological data [x a ,x b ] to the fuzzy subset domain [-y n ,y n The conversion formula of ] is:

[0056]

[0057] According to the theory of fuzzy sets and fuzzy relations, u is defined as the output control quantity, and the input-output relationship is obtained as follows:

[0058] u=f(e,R) (3)

[0059] The fuzzy relation R is defined as:

[0060] μR(x,y)=min[μA(x),μB(y)] (4)

[0061] Since the control rule base of this system is composed of several rules, a corresponding fuzzy relationship can be obtained for each inference rule. The fuzzy relationships corresponding to all the control rules of the whole system can be obtained for n fuzzy relationships R i (i=1,2,3,...,n) and we get:

[0062]

[0063] Fuzzy judgment of fuzzy control vector - clarification, using the center of gravity method to obtain the quantitative level u of the system control quantity:

[0064]

[0065] The calculation of fuzzy relations, fuzzy reasoning and fuzzy judgment can be performed off-line, and finally a definite relationship between the quantization level E of the fuzzy control input and the quantization level u of the output, i.e., the system control amount, is obtained.

[0066] The actual control amount u should be the quantization level U multiplied by the proportional factor. Assuming the actual control amount u ranges from [a, b] and the quantization level is (-n, -n+1, ​​..., 0, ..., n-1, n), the actual control amount should be:

[0067]

[0068] According to the "maximum membership principle", the fuzzy control quantity obtained by the fuzzy algorithm needs to be converted into an accurate control quantity to adjust the pressing parameters. The current collected pressure, frequency, and depth data are: F p0 , F R0 , D h0 Then the change of each parameter is F P (u), F R (u), D h (u), that is, the corresponding parameter change when the control amount is u. The pressure, frequency, and depth data after adjustment are: F P0 +F P (u), F R0 +F R (u),D h0 +D h (u), thereby achieving parameter adjustment during the pressing process.

[0069] If there is a solution based on fuzzy control using heart rate and end-tidal CO 2 Guiding compression should be considered as the same invention. If there is a scheme to set other types of physiological parameters to guide compression based on fuzzy control, it should be considered as the same invention. If there is a scheme to simply modify the appearance structure of the compression equipment, it should be considered as the same invention. If there is a scheme to simply modify the compression execution structure of the compression equipment, it should be considered as the same invention.

[0070] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0071] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0072] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0073] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0074] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A pneumatic portable intelligent cardiopulmonary resuscitation machine, Its characteristics are: It includes a pressing actuator, a control system, a detection module and an air source device, wherein: The pressing actuator comprises a driving mechanism, a variable-range cylinder and a pressing suction cup, wherein the driving mechanism is used to adjust the stroke of the variable-range cylinder, and the output end of the variable-range cylinder is connected to the pressing suction cup; The air source device is connected to the variable-range cylinder and is used to provide air pressure to the variable-range cylinder. By adjusting the size of the provided air pressure, the pressing force output by the variable-range cylinder is changed; The detection module includes a pressure sensor and a six-dimensional force sensor arranged on the pressing suction cup, and a physiological detection module, which are used to detect the pressing force and acceleration, and the physiological parameter signal respectively; The control system receives the detection value of the detection module, and is configured to calculate the current compression parameter based on the detection value, determine whether the compression parameter is appropriate according to the physiological parameter signal, and calculate the control amount for adjusting the compression parameter when it is not appropriate, so as to control the action of the driving mechanism and the air pressure provided by the air source device; The gas source device comprises a gas cylinder, a connecting pipeline and a control valve, wherein the gas cylinder is connected to the variable-range gas cylinder via the connecting pipeline, and the control valve is used to control the opening of the connecting pipeline; The gas cylinder comprises a power gas cylinder and a regulating gas cylinder, wherein the regulating gas cylinder is used to provide an adjustable pressing gas pressure to the variable range gas cylinder, and the power gas cylinder is used to provide an initial constant gas pressure to the regulating gas cylinder; The physiological detection module includes an end-tidal carbon dioxide acquisition module and / or a heart rate acquisition module; the control system is configured to convert the basic domain of the current error value into a fuzzy subset domain, determine the relationship between the control amount and the error value according to the fuzzy set and fuzzy relationship theory, determine the actual control amount according to the determined relationship, and then perform defuzzification to obtain an accurate control amount; the compression parameters include compression pressure, compression frequency and compression depth; The portable intelligent cardiopulmonary resuscitation machine comprises a main board, a pressing actuator is arranged through the main board, and a gas source device is arranged on one side of the main board.

2. A pneumatic portable intelligent cardiopulmonary resuscitation machine as claimed in claim 1, Its characteristics are: The driving mechanism includes a driving motor, a screw and a fixer. The stroke of the variable-range cylinder is determined by the distance between the fixer and the cylinder. The driving motor is connected to the variable-range cylinder through a screw. The fixer moves along the screw. The rotation of the driving motor causes the fixer to move on the screw to change the position of the fixer, thereby realizing the adjustment of the stroke.

3. A pneumatic portable intelligent cardiopulmonary resuscitation machine as claimed in claim 1, Its characteristics are: An air pressure detection module is arranged on the connecting pipeline.

4. A pneumatic portable intelligent cardiopulmonary resuscitation machine as claimed in claim 1, Its characteristics are: The gas cylinder is provided with a decompression valve.

5. A pneumatic portable intelligent cardiopulmonary resuscitation machine as claimed in claim 1, Its characteristics are: The control system is configured to calculate end-tidal carbon dioxide and / or heart rate data, calculate a current error value between the data and a normal value, and determine a control amount for adjusting compression parameters based on the current error value using fuzzy control.

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