Portable chest and abdomen automated compression device and control method for narrow spaces

Abstract

The present invention discloses a portable chest and abdomen automated compression device for narrow spaces and a control method, comprising: a compression mechanism including a strap fixing module, a compression plate connected to the strap fixing module, and a compression piston provided on one side of the compression plate; a detection module including a displacement sensor and a pressure sensor; a control module receiving compression depth and compression pressure, and obtaining a compensation value for a single compression time according to the compression depth and the target depth, thereby controlling the action of the driving mechanism during chest compression; an abdominal mechanical model is constructed according to the compression depth and compression pressure, and the compression depth is compensated according to the target pressure, thereby controlling the action of the driving mechanism during abdominal compression. Functionally, force feedback-based abdominal compression is introduced, and in terms of volume, a split design of the compression mechanism and the control module is proposed. The device has an automated cardiopulmonary resuscitation function and is small in size and light in weight, making it easy to deploy and operate in narrow spaces.

Description

Technical Field

[0001] The present invention relates to the technical field of cardiopulmonary resuscitation equipment, and in particular to a portable automatic chest and abdomen compression device for use in narrow spaces and a control method thereof. 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] When trapped individuals experience cardiac arrest in confined or claustrophobic environments, their physical and psychological stress can be exacerbated by the lack of physical and information exchange with the outside world, threatening their safety and increasing the difficulty of rescue. Furthermore, the cramped space, lack of supplies, and the negative emotions of panic and anxiety caused by the confinement can lead to significant mental stress and potentially secondary trauma.

[0004] In trapped environments, it is extremely difficult for rescuers to implement continuous and accurate cardiopulmonary resuscitation measures or for trapped people to implement timely and accurate self-rescue measures. Conventional cardiopulmonary resuscitation methods require rescuers to implement standardized cardiopulmonary resuscitation for a long time, which places high demands on the mental and physical fitness of rescuers or self-rescuers. In special circumstances, effective rescue measures are often not implemented, resulting in unnecessary personal injuries.

[0005] At the same time, cardiopulmonary resuscitation requires high physical fitness for the rescuer or the self-rescuer. During a long period of cardiopulmonary resuscitation, the depth and frequency of chest compressions are often not guaranteed, which can easily cause secondary symptoms such as fractures and soft tissue contusions, or miss the best time for treatment due to non-standard chest compressions.

[0006] Therefore, in confined spaces, automated CPR equipment can be used to perform standard and sustained CPR. However, currently used automated CPR machines are large in size, heavy in weight, and difficult to carry, making them inconvenient to deploy and operate in special confined spaces. Conventional automated CPR equipment is based on electric and pneumatic principles and requires an air source and large batteries for power during operation, further increasing the difficulty of use. Conventional strap structures concentrate the weight of the entire compression mechanism on the patient's chest and abdomen, causing unnecessary compression and impairing blood circulation.

[0007] In addition, when the chest or upper limbs of the trapped person are damaged, traditional chest compression cannot be carried out, and traditional chest compression devices are not convenient to be used directly on the abdomen, which is not conducive to the normal treatment of the patient; and because the abdominal characteristics of patients vary greatly, fixed compression depth or fixed compression pressure cannot meet the needs of continuous abdominal compression for different patients. Summary of the Invention

[0008] In order to solve the above problems, the present invention proposes a portable automated chest and abdominal compression device and control method for confined spaces. On the premise of meeting the functional requirements of external chest compression, it introduces abdominal compression based on force feedback, and proposes a split design of the pressing mechanism and the control module in terms of volume. It has the function of automated cardiopulmonary resuscitation and is small in size and light in weight, making it easy to deploy and operate in a confined space.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] In a first aspect, the present invention provides a portable automated chest and abdomen compression device for use in narrow spaces, comprising: a compression mechanism, a drive mechanism, a detection module, and a control module;

[0011] The pressing mechanism includes a strap fixing module, a pressing plate connected to the strap fixing module, and a pressing piston provided on one side of the pressing plate;

[0012] The drive mechanism includes an action for driving a pressing piston;

[0013] The detection module includes a displacement sensor provided on the pressing piston and a pressure sensor provided on the other side of the pressing plate, for detecting the pressing depth and pressing pressure respectively;

[0014] The control module receives the compression depth and compression pressure and is configured to:

[0015] A compensation value for single compression time is obtained based on the compression depth and target depth, thereby controlling the action of the drive mechanism during chest compressions;

[0016] An abdominal mechanical model is constructed based on the compression depth and compression pressure. The abdominal mechanical model is used to compensate the compression depth according to the target pressure to control the action of the driving mechanism during abdominal compression.

[0017] As an optional embodiment, the strap fixing module includes a first base plate, a second base plate, a strap and a spring; the first base plate and the second base plate are connected by a snap, and a strap and a spring are connected on the opposite sides of the first base plate and the second base plate, and the springs are arranged on both sides of the strap.

[0018] As an optional implementation, the pressing mechanism is connected to the control module and the power supply via a cable, and the pressing mechanism is designed to be separate from the power supply and the control module.

[0019] As an optional implementation, the depth error e is obtained according to the pressing depth and the target depth. dx , according to the depth error e dx The compensation value Δt of the single press time is obtained as:

[0020]

[0021] Among them, K P , K I , K D are PID control coefficients; k is the number of presses.

[0022] As an optional embodiment, the rotation speed of the driving mechanism during chest compression is controlled according to a compensation value of a single compression time.

[0023] As an optional embodiment, the abdominal mechanical model is:

[0024] F ab =M d a q +D d v q +K d d q

[0025] Among them, F ab is the pressing pressure, M d 、D d and K d are acceleration coefficient, velocity coefficient and depth coefficient respectively, d q is the compression depth, v q is the running speed, a q is the running acceleration.

[0026] As an optional implementation, the acceleration coefficient, velocity coefficient and depth coefficient are updated according to the changes in the pressing depth and pressing pressure. The updated acceleration coefficient M d , speed coefficient D d and depth factor K d They are:

[0027]

[0028]

[0029]

[0030] As an optional embodiment, the compression depth is compensated based on the error between the target pressure and the compression pressure using an abdominal mechanics model, and the maximum compression depth during compression is changed by controlling the rotation speed of the driving mechanism.

[0031] In a second aspect, the present invention provides a method for controlling the portable automated chest and abdominal compression device for a narrow space as described in the first aspect, comprising:

[0032] After the pressing plate is set at the designated position, it is fixed by the strap fixing module, and the driving mechanism drives the pressing piston to perform pressing;

[0033] The pressing depth and pressing pressure are detected respectively by a displacement sensor provided on the pressing piston and a pressure sensor provided on the other side of the pressing plate;

[0034] During chest compressions, a compensation value for the single compression time is obtained based on the compression depth and target depth, thereby controlling the action of the driving mechanism during chest compressions;

[0035] During abdominal compression, an abdominal mechanical model is constructed based on the compression depth and compression pressure. The abdominal mechanical model is used to compensate the compression depth according to the target pressure to control the action of the driving mechanism during abdominal compression.

[0036] As an optional implementation, during chest compression, a depth error is obtained based on the compression depth and the target depth, a compensation value for a single compression time is obtained based on the depth error, and the rotational speed of the drive mechanism during chest compression is controlled based on the compensation value for the single compression time.

[0037] As an optional embodiment, during abdominal compression, the compression depth is compensated based on the error between the target pressure and the compression pressure using an abdominal mechanics model, and the maximum compression depth during compression is changed by controlling the rotation speed of the driving mechanism.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] The present invention proposes a portable automated chest and abdominal compression device for use in confined spaces. The device uses a motor to drive a pressing piston to complete the compression operation, and adapts to the patient's physiological parameters through straps on both sides. The device uses a spring structure to disperse the weight of the pressing structure and separates the pressing mechanism from the control module and power supply, ensuring that the pressing device can be operated separately within a certain distance, thereby reducing the size and weight of the device required to be deployed in special circumstances.

[0040] The present invention proposes a portable automated chest and abdominal compression device and control method for confined spaces. While meeting the requirements of external chest compression, force feedback-based abdominal compression is introduced. The abdominal compression operation is completed by adopting the same mechanical structure as external chest compression, saving the device volume. The PID method is used to control the compression depth and frequency during chest compression, and admittance control is used to control the compression pressure and depth during abdominal compression, meeting personalized abdominal compression requirements.

[0041] The present invention proposes a portable automated chest and abdominal compression device and control method for confined spaces. The device uses compression pressure as a parameter for abdominal compression, establishes a personalized abdominal mechanical model for the patient, performs admittance control based on the abdominal mechanical model, and controls the output force at the end of the compression piston in real time to ensure pressure stability during abdominal compression and maintain normal blood circulation in the patient.

[0042] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, 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.

[0044] Figure 1(a)-Figure 1(c) Schematic diagram of a portable automated chest and abdominal compression device for use in narrow spaces, provided in Example 1 of the present invention;

[0045] Figure 2 This is a control flow chart of a portable automated chest and abdominal compression device for narrow spaces provided in Example 1 of the present invention;

[0046] Figure 3 A flow chart of chest compression control provided in Example 1 of the present invention;

[0047] Figure 4 This is a flow chart of abdominal compression control provided in Example 1 of the present invention;

[0048] Among them, 1. driving mechanism, 2. pressing piston, 3. reduction gear set, 4. cable, 5. pressure sensor, 6. displacement sensor, 7. strap, 8. spring, 9. first base plate, 10. second base plate, 11. display screen, 12. control module, 13. power supply, 14. switch. DETAILED DESCRIPTION

[0049] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0050] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0051] 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 the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0052] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0053] Example 1

[0054] This embodiment provides a portable automated chest and abdomen compression device for use in narrow spaces, comprising: a compression mechanism, a drive mechanism, a detection module, and a control module;

[0055] The pressing mechanism includes a strap fixing module, a pressing plate connected to the strap fixing module, and a pressing piston provided on one side of the pressing plate;

[0056] The drive mechanism includes an action for driving a pressing piston;

[0057] The detection module includes a displacement sensor provided on the pressing piston and a pressure sensor provided on the other side of the pressing plate, for detecting the pressing depth and pressing pressure respectively;

[0058] The control module receives the compression depth and compression pressure and is configured to:

[0059] A compensation value for single compression time is obtained based on the compression depth and target depth, thereby controlling the action of the drive mechanism during chest compressions;

[0060] An abdominal mechanical model is constructed based on the compression depth and compression pressure. The abdominal mechanical model is used to compensate the compression depth according to the target pressure to control the action of the driving mechanism during abdominal compression.

[0061] like Figure 1(a)-Figure 1(c) As shown, the strap fixing module includes a first base plate 9, a second base plate 10, a strap 7 and a spring 8; the first base plate 9 and the second base plate 10 are connected by a snap, and a strap 7 and a spring 8 are connected on the opposite sides of the first base plate 9 and the second base plate 10, and the spring 8 is arranged on both sides of the strap 7.

[0062] In confined spaces and emergency rescue environments, where it is difficult to transport the wounded and material transportation channels are limited, the automated cardiopulmonary resuscitation device must be small in size, light in weight, and portable, as well as quickly installed and deployed. Traditional chest compression devices with support frames and support arms are large in size and weight, making them inconvenient to carry and use. Therefore, this embodiment uses a strap-type structure to reduce size and weight, and a detachable base plate structure to meet the requirements of quick installation and deployment.

[0063] During use, the patient lies flat on his back, the first base plate and the second base plate are separated, the pressing mechanism is placed at the appropriate position on the patient's chest or abdomen, and the first base plate and the second base plate are connected by buckles on the patient's back or waist. The fixation is completed by adjusting the length of the strap. The length of the strap can be adjusted according to the chest and abdominal conditions of different patients to meet the usage requirements of most people, and achieve applicability, portability, rapid deployment and comfort for patients in small spaces.

[0064] Since conventional strap structures concentrate the weight of the entire pressing mechanism on the patient's chest and abdomen, it will cause unnecessary compression on the patient, which is not conducive to the patient's blood circulation. Therefore, this embodiment adds two nylon-covered steel wire spring structures on both sides of the strap that fixes the patient. When the rescuer adjusts the length of the strap and fixes it, the steel wire spring is squeezed and expanded outward. The tension generated by the spring reset is sufficient to offset the gravity of the pressing mechanism itself. Since the material used for the strap is an inextensible woven fabric, a balance can be achieved between the spring tension, the gravity of the pressing mechanism, and the strap tension. This ensures that the weight of the pressing mechanism will not be borne by the patient during the pressing process, and will not cause shaking due to the spring tension. The excessive weight of the pressing mechanism will not affect the patient's chest and abdominal blood circulation and respiratory ventilation, thereby ensuring the stability of the pressing mechanism position during the pressing process and its applicability to different patients.

[0065] The pressing device of this embodiment has a significantly reduced overall structure and weight compared to products on the market, and can be quickly deployed and used in emergency rescue environments. At the same time, a pressing plate is used to prevent the pressing mechanism from shifting during cardiopulmonary resuscitation, meeting the conditions for use during the transfer of the injured.

[0066] In this embodiment, a shell is provided on one side of the pressing plate, and a pressing piston 2, a displacement sensor 6 and a driving mechanism 1 are installed in the shell, and a display screen 11 is provided on the outer wall of the shell; the pressing piston 2 is connected to the displacement sensor 6 and the driving mechanism 1, the displacement sensor 6 is used to record the displacement of the piston in real time, and the driving mechanism 1 adopts a DC motor, which is provided with a reduction gear set 3. The pressing piston is driven by the rotation of the DC motor to perform a pressing operation, and the pressing depth and frequency are controlled by controlling the speed of the DC motor; a pressure sensor 5 is provided on the other side of the pressing plate, which is used to record the pressing pressure of the pressing piston on the chest or abdomen in real time.

[0067] In this embodiment, the pressing mechanism is connected to the control module 12 and the power supply 13 through a cable 4, and a switch 14 is provided on the control module 12; the power supply 13 is a 24V power supply, which separates the pressing mechanism from the power supply and control module. In some special cases, the pressing mechanism can be controlled within a certain distance by relying on the cable instead of moving the heavy power supply and control module.

[0068] During use, first fix the position of the pressing mechanism, set the pressing parameters to a pressing frequency of 80 to 120 times / minute and a pressing depth of 3.5 to 6.5 cm; after turning on the pressing, set the initial pressing depth to 3 cm, the number of pressings to 20 times, the pressing depth of each pressing increases by 0.1 cm, and the pressing frequency to 100 times / min for soft start to prevent fractures caused by excessive initial pressing depth; the parameters during normal pressing are set according to actual requirements. In theory, they should be set to a chest compression depth greater than 5 cm, an abdominal compression pressure greater than 400 N, and a compression frequency of not less than 100 times / minute.

[0069] In this embodiment, if Figure 2 As shown, chest and abdominal compressions are controlled separately. For chest compressions, the compression depth and frequency are set, and the compression depth increases gradually. PID control is then used to adjust parameters based on the actual compression depth and the set target compression depth. For abdominal compressions, the compression depth, pressure, and frequency are set, and the compression depth and pressure increase gradually. Admittance control is used to adjust parameters based on the construction of an abdominal mechanical model and the set target pressure. The following describes the two control methods in detail.

[0070] In this embodiment, if Figure 3 As shown, when performing chest compressions, set the speed of the DC motor to v motor , the target depth is d x The single compression time required to reach the target depth or target pressure is t x , so there is a relationship as shown in formula (1):

[0071] d x=v motor *t x (1)

[0072] This embodiment sets the maximum duration T for a single press. x for:

[0073]

[0074] Among them, frequency is the set pressing frequency, theoretically ensuring T x >1.1*t x .

[0075] According to the obtained pressing depth and target depth, the depth error e is obtained. dx ,According to the depth error, the discrete PID control method is used to obtain the compensation value Δt of the single pressing time, and then the speed of the DC motor that needs to be adjusted is obtained according to formula (1);

[0076]

[0077] Among them, K P , K I , K D are PID control coefficients, which are constants; k is the number of presses.

[0078] In this embodiment, if Figure 4 As shown, a force feedback-based abdominal compression control method is designed for abdominal compressions. While the parameters for conventional abdominal compressions are unclear, current research has used compression pressure as an indicator. Therefore, this embodiment uses compression pressure as the abdominal compression indicator and uses an admittance control method to control pressure during compressions.

[0079] According to the robot's kinematic formula:

[0080]

[0081] Among them, τ ext is the actual output force; is the running acceleration matrix of the joint; is the running velocity matrix of the joint; is the displacement matrix of the joint operation; M d 、D d , K d is a constant matrix related to the robot joint parameters, namely the acceleration coefficient, velocity coefficient and depth coefficient.

[0082] The pressing device used in this embodiment can be approximated as a single-joint single-degree-of-freedom robot, and the dimension of its parameter matrix is ​​set to 1×1, that is, a single variable. During the pressing period, the rotation distance of the motor is set to d q, the motor's running speed is v q , the motor's running acceleration is a q , the final pressing pressure generated by pressing the end of the piston is F ab , then according to the admittance control principle, we can get:

[0083] F ab =M d a q +D d v q +K d d q (5)

[0084] At this time, M d 、D d , K d The relevant parameter constants for modeling abdominal mechanics are related to the patient's abdominal condition and vary slightly with compression time.

[0085] In the initial stage of abdominal compression, after setting the compression depth and target pressure, the compression depth increases gradually, and the peak pressure collected by the pressure sensor at the end of the compression piston also increases accordingly. Because the patient's abdominal mechanical condition is unknown under the initial conditions, a predictive model of the patient's abdomen is developed based on existing models:

[0086]

[0087] Among them, X r is the target position, i.e. the target pressing depth; X is the actual position, i.e. the current pressing depth; is the target speed, i.e. the target movement speed of the piston; is the actual speed, i.e. the current piston movement speed; is the target acceleration, i.e. the target acceleration of the piston motion; is the actual acceleration, that is, the acceleration of the current piston movement.

[0088] During operation, the measurement of speed and acceleration requires an increase in the number of sensors, which complicates the circuit and increases the weight of the device. Therefore, this embodiment uses displacement data as the pressing depth d q , using the time differential v of the displacement data q , the second differential of displacement data with respect to time a q As an input parameter, it can reduce the amount of calculation, namely:

[0089] X r -X=d q (7)

[0090]

[0091]

[0092] During the incremental compression process, the peak compression pressure at the corresponding compression depth is determined, and the abdominal mechanical model is constructed and updated in real time, thereby constructing a personalized abdominal mechanical model. The model updating method is shown in Equations (11)-(14):

[0093]

[0094]

[0095]

[0096] F ab ′=M d 'a q +D d ′v q +K d 'd q (14)

[0097] Among them, M d ′、D d ′、K d ′ are the updated acceleration coefficient, velocity coefficient and depth coefficient respectively.

[0098] Finally, based on the error between the set target pressure and the actual compression pressure, the abdominal mechanics model is used to compensate for the compression depth. By controlling the speed of the DC motor, the maximum compression depth during the compression period is changed, thereby achieving a continuous and stable abdominal compression operation based on force feedback.

[0099] In the case of chest or upper limb damage in trapped people, traditional chest compression cannot be carried out, and traditional chest compression devices are not convenient to be used directly on the abdomen, which is not conducive to the normal treatment of patients. Therefore, this embodiment introduces abdominal compression, which completes the abdominal compression operation by adopting the same mechanical structure as chest compression, saving the volume of the device. At the same time, a pressure sensor is used to collect compression pressure data, and the compression pressure is used as the parameter of abdominal compression, which solves the problem of insufficient fixed compression depth due to different physiological conditions of patients. In addition, this embodiment uses a strap structure to fix the compression device. Since the size of the abdomen is generally smaller than that of the chest, the use of a strap can save volume while meeting the size requirements of a larger span.

[0100] Because abdominal characteristics vary widely among patients, compression pressure settings require real-time adjustment based on individual patient conditions, allowing for the development of personalized CPR strategies. Therefore, this embodiment incorporates a pressure sensor at the end of the compression piston. Initial compressions establish a personalized abdominal mechanical model for the patient. Admittance control is then performed based on this abdominal mechanical model, allowing for real-time control of the output force at the end of the compression piston to maintain pressure stability during abdominal compressions and maintain normal blood circulation.

[0101] Compared with existing products, this embodiment introduces abdominal compression in terms of function and proposes innovative designs such as the separation of the pressing mechanism and the control module in terms of volume. It has automated cardiopulmonary resuscitation function and is small in size and light in weight, making it easy to deploy and operate in a small space. It provides a new technical means for rescue in a small space and cardiopulmonary resuscitation treatment strategies suitable for multiple injuries.

[0102] Example 2

[0103] This embodiment provides a control method for the portable automated chest and abdominal compression device for narrow spaces as described in Embodiment 1, including:

[0104] After the pressing plate is set at the designated position, it is fixed by the strap fixing module, and the driving mechanism drives the pressing piston to perform pressing;

[0105] The pressing depth and pressing pressure are detected respectively by a displacement sensor provided on the pressing piston and a pressure sensor provided on the other side of the pressing plate;

[0106] During chest compressions, a compensation value for the single compression time is obtained based on the compression depth and target depth, thereby controlling the action of the driving mechanism during chest compressions;

[0107] During abdominal compression, an abdominal mechanical model is constructed based on the compression depth and compression pressure. The abdominal mechanical model is used to compensate the compression depth according to the target pressure to control the action of the driving mechanism during abdominal compression.

[0108] Among them, during chest compression, the depth error is obtained based on the compression depth and the target depth, and the compensation value of the single compression time is obtained based on the depth error. The speed of the driving mechanism during chest compression is controlled based on the compensation value of the single compression time; during abdominal compression, the abdominal mechanical model is used to compensate for the compression depth based on the error between the target pressure and the compression pressure, adjust the position reached by the pressing piston, and control the speed of the DC motor.

[0109] It is understandable that if there is a solution that uses a pressing belt and a fixed structure such as a wire spring, it should be considered the same invention. If there is a solution that simply modifies the material of the structure involved in this patent, it should be considered the same invention. If there is a solution that simply modifies the appearance and structure of the pressing equipment, it should be considered the same invention. If there is a solution that simply modifies the force feedback control strategy of abdominal compression, it should be considered the same invention. If there is a solution that simply modifies the establishment of the abdominal model during abdominal compression and its related admittance control method, it should be considered the same invention.

[0110] Although the above describes the specific embodiments 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 any creative work are still within the scope of protection of the present invention.

Claims

1. A portable automated chest and abdominal compression device for narrow spaces, characterized by: It includes: a pressing mechanism, a driving mechanism, a detection module and a control module; The pressing mechanism includes a strap fixing module, a pressing plate connected to the strap fixing module, and a pressing piston provided on one side of the pressing plate; The drive mechanism includes an action for driving a pressing piston; The detection module includes a displacement sensor provided on the pressing piston and a pressure sensor provided on the other side of the pressing plate, for detecting the pressing depth and pressing pressure respectively; The control module receives the compression depth and compression pressure and is configured to: A compensation value for single compression time is obtained based on the compression depth and target depth, thereby controlling the action of the drive mechanism during chest compressions; An abdominal mechanical model is constructed based on the compression depth and compression pressure, and the compression depth is compensated according to the target pressure using the abdominal mechanical model to control the action of the driving mechanism during abdominal compression; The abdominal mechanical model is: in, is the pressing pressure, 、 and are acceleration coefficient, velocity coefficient and depth coefficient respectively, is the compression depth, is the running speed, For running acceleration: According to the changes in the pressing depth and pressing pressure, the acceleration coefficient, velocity coefficient and depth coefficient are updated. The updated acceleration coefficient , speed coefficient and depth coefficient They are: ； ； 。 2. The portable automated chest and abdominal compression device for narrow spaces according to claim 1, characterized in that: The strap fixing module includes a first base plate, a second base plate, a strap and a spring; the first base plate and the second base plate are connected by a buckle, and a strap and a spring are connected on the opposite sides of the first base plate and the second base plate, and the springs are arranged on both sides of the strap.

3. The portable automated chest and abdominal compression device for narrow spaces according to claim 1, characterized in that: The pressing mechanism is connected to the control module and the power supply through a cable, and the pressing mechanism is designed to be separate from the power supply and the control module.

4. The portable automated chest and abdominal compression device for narrow spaces according to claim 1, characterized in that: Get the depth error based on the pressing depth and target depth , according to the depth error Get the compensation value of single press time for: in, 、 、 All are PID control coefficients; is the number of presses.

5. The portable automated chest and abdomen compression device for narrow spaces according to claim 4, characterized in that: The speed of the driving mechanism during chest compression is controlled according to the compensation value of the single compression time.

6. The portable automated chest and abdominal compression device for narrow spaces according to claim 1, characterized in that: According to the error between the target pressure and the compression pressure, the abdominal mechanical model is used to compensate for the compression depth, and the maximum compression depth during the compression period is changed by controlling the rotation speed of the driving mechanism.

7. The portable automated chest and abdomen compression device for narrow spaces according to any one of claims 1 to 6, characterized in that: The invention also includes a control method for a portable automated chest and abdominal compression device for use in a narrow space, including: After the pressing plate is set at the designated position, it is fixed by the strap fixing module, and the driving mechanism drives the pressing piston to perform pressing; The pressing depth and pressing pressure are detected respectively by a displacement sensor provided on the pressing piston and a pressure sensor provided on the other side of the pressing plate; During chest compressions, a compensation value for the single compression time is obtained based on the compression depth and target depth, thereby controlling the action of the driving mechanism during chest compressions; During abdominal compression, an abdominal mechanical model is constructed based on the compression depth and compression pressure. The abdominal mechanical model is used to compensate the compression depth according to the target pressure to control the action of the driving mechanism during abdominal compression.

8. The portable automated chest and abdominal compression device for use in narrow spaces as claimed in claim 7, characterized in that: During chest compressions, a depth error is obtained based on the compression depth and the target depth, a compensation value for a single compression time is obtained based on the depth error, and the rotational speed of the driving mechanism during chest compressions is controlled based on the compensation value for the single compression time; During abdominal compression, the abdominal mechanics model is used to compensate for the compression depth based on the error between the target pressure and the compression pressure. The maximum compression depth during compression is changed by controlling the rotation speed of the drive mechanism.

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