Intelligent pressure control perfusion suction system and automatic flow control method thereof

Abstract

The application discloses an intelligent pressure control perfusion and suction system, which at least comprises a master control unit, a perfusion device, a suction device, a guide sheath, an endoscope sleeved on the guide sheath and a cavity pressure measuring device. The perfusion device comprises a first motor and a perfusion pipeline connected with the endoscope, and the first motor is connected with the perfusion pipeline. The suction device comprises a second motor and a suction pipeline connected with the guide sheath, and the second motor is connected with the suction pipeline. The cavity pressure measuring device is a pressure sensor arranged on the endoscope penetrating through the guide sheath, which is used for monitoring the current renal pelvis cavity pressure value under the action of the perfusion mode and the suction mode. The pulse frequency of the corresponding motor is controlled by the master control unit to control the perfusion flow into the cavity, and the duty cycle of the corresponding motor is controlled to control the suction flow out of the cavity, so that the renal pelvis cavity pressure reaches a dynamic balance, and the circulation level balance of the perfusion inflow and the suction outflow is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an intelligent pressure control perfusion and suction system and an automatic flow control method thereof. BACKGROUND

[0002] Urinary calculi is a common and frequently-occurring disease in urology, including kidney stones, ureteral calculi, bladder stones and urethral calculi. It generally causes kidney, ureter, bladder and urethral obstruction, and can cause severe kidney damage and failure. Current treatment methods include extracorporeal shock wave lithotripsy, percutaneous nephrolithotomy and ureteroscopy.

[0003] With the minimally invasive trend of surgical development in recent years, minimally invasive surgeries such as percutaneous nephrolithotomy and ureteroscopy have become the preferred method for treating calculi. However, in actual application, especially in primary hospitals, complications such as kidney injury, perirenal organ injury, bleeding, and even sepsis can easily occur.

[0004] In clinical practice, perfusion pumps are used for the above-mentioned minimally invasive surgeries. Because the intracavitary pressure cannot be judged, the perfusion of water flow into the cavity is relatively conservative, for fear of overpressure, which can result in insufficient perfusion, inability to form a clear visual field effect, and formation of an effective surgical space. If there is too much perfusion, it can cause intracavitary pressure to be too high, causing renal pelvis injury or reflux, affecting patient safety. Excessive suction can cause the organ to be sucked flat, with no surgical space, making it impossible to perform surgery, or too little suction, causing the renal pelvis pressure to be too high, affecting surgical safety.

[0005] Currently, intelligent pressure control systems are used in endoscopic surgery, which typically includes a perfusion device and a suction device. The perfusion device uses a liquid medium to pressurize and expand the patient's internal cavity to form a visible interval, and can clean the intracavity impurities, making the doctor's observation and surgical field clear. The suction device is used to suck the waste liquid in the patient's internal cavity out of the body. However, there are the following disadvantages: it is difficult to control the actual intracavitary pressure to remain within the set pressure range, and it is difficult to dynamically track the perfusion and suction flow, because the value is too small, it is difficult to maintain the stability of the actual intracavitary pressure, because the value is too small, a slight change will exceed the set pressure change, and the flow fluctuation during dynamic tracking will be large.

[0006] In summary, the automatic flow control effect of the prior art in the set pressure range for perfusion and suction flow is not good, resulting in unstable intracavitary pressure and affecting surgical safety. SUMMARY

[0007] The application aims to provide an intelligent pressure control perfusion and suction system and an automatic flow control method thereof, which can adjust the pressure in the renal pelvis cavity to reach dynamic balance, indirectly balance the circulation level of perfusion inflow and suction outflow, maintain the stability of the pressure in the cavity, and ensure the safety of the operation.

[0008] The application provides an intelligent pressure control perfusion and suction system, which comprises at least a main control unit, a perfusion device connected with the main control unit, a suction device connected with the main control unit, a guide sheath, an endoscope sleeved on the guide sheath, and a cavity pressure measuring device connected with the main control unit.

[0009] The cavity pressure measuring device is a pressure sensor arranged on the endoscope penetrating through the guide sheath, which is used to monitor the pressure in the renal pelvis cavity under the action of water flow in the perfusion mode and the suction mode in real time, obtain the current pressure value in the renal pelvis cavity, compare the current pressure value in the renal pelvis cavity with a preset cavity pressure value, obtain the pressure difference after comparison, perform fuzzy algorithm operation based on the pressure difference after comparison, obtain the operation result of the corresponding motor pulse and duty cycle, and feed back to the main control unit.

[0010] As preferably, the proximal end of the guide sheath is provided with a first adapter, the first adapter is partially penetrated in the suction pipeline, and the outer surface of the connection part of the first adapter and the suction pipeline is provided with one or more adjusting parts for adjusting the size of the suction pipeline inlet by applying external force, so as to buffer the fluctuation of the suction flow and coordinate the stability of the suction flow.

[0011] As preferably, the proximal end of the guide sheath is provided with a second adapter, the endoscope end of the second adapter is provided with a knob adjusting part, and the knob adjusting part is detachably connected with the second adapter, which is used to adjust the size of the suction pipeline inlet by controlling the tightness of the knob adjusting part, and to perform air compensation in the suction pipeline, so as to buffer the fluctuation of the suction flow and coordinate the stability of the suction flow.

[0012] As preferred, the perfusion device is provided with a flow sensor, the perfusion pipeline is clamped on the flow sensor for detecting the flow size in the perfusion pipeline, one end of the perfusion pipeline is connected with the infusion device, the other end of the perfusion pipeline is connected with the guide sheath for controlling the liquid amount in the input cavity; one end of the suction pipeline is connected with the guide sheath, the other end of the suction pipeline is connected with the waste liquid container for controlling the liquid amount suctioned into the waste liquid container outside the body; at the same time, the flow sensor is connected with the main control unit for judging whether the current liquid amount in the cavity is within the preset safety reference range in the cavity, wherein the current liquid amount in the cavity = the total liquid amount in the input cavity - the total liquid amount suctioned into the waste liquid container outside the body.

[0013] The application further provides an automatic flow control method of the intelligent pressure control perfusion and suction system, which is applied to the intelligent pressure control perfusion and suction system and includes the following steps.

[0014] During the starting process of the intelligent pressure control perfusion and suction system, perfusion is performed according to the preset perfusion flow and suction is performed according to the preset suction flow;

[0015] The current renal pelvis cavity pressure value is obtained through the cavity pressure measuring device;

[0016] The current renal pelvis cavity pressure value is compared with the preset renal pelvis cavity pressure value to obtain a comparison pressure difference result;

[0017] Based on the pressure difference result, fuzzy algorithm operation is performed to obtain an operation result corresponding to the motor pulse and duty cycle and feedback to the main control unit;

[0018] The pulse frequency of the first motor is controlled by the main control unit to control the perfusion flow into the cavity and the duty cycle of the second motor to control the suction flow out of the cavity, while ensuring the flow balance between the perfusion flow into the cavity and the suction flow out of the cavity, so that the renal pelvis cavity pressure reaches dynamic balance and the circulation level balance of perfusion inflow and suction outflow.

[0019] As preferred, the suction according to the preset suction flow further includes:

[0020] The pre-tightening force of the endoscope is adjusted by adjusting the size of the suction pipeline inlet, so that air compensation operation is performed in the channel of the suction pipeline; or,

[0021] The connection between the suction pipeline and the guide sheath is adjusted by adjusting the size of the suction pipeline inlet, so that the fluctuation of the suction flow is buffered and the stability of the suction flow is coordinated.

[0022] As preferably, the perfusion according to the preset perfusion flow and the suction according to the preset suction flow during the starting process of the intelligent pressure-controlled perfusion and suction system further comprises:

[0023] judging whether the current renal pelvic cavity pressure value is the same as the preset renal pelvic cavity pressure value;

[0024] when the current renal pelvic cavity pressure value is greater than the preset renal pelvic cavity pressure value, the duty cycle of the second motor is relatively increased under the negative pressure suction of the suction pipeline, so as to increase the suction flow of the liquid medium in the renal pelvic cavity, and the corresponding increase of the duty cycle controls the corresponding increase of the suction intensity, so as to control the increase of the corresponding liquid amount flowing out of the cavity, so that the current renal pelvic cavity pressure value shows a gradually decreasing trend to realize the pressure balance in the renal pelvic cavity.

[0025] when the current renal pelvic cavity pressure value is less than the preset renal pelvic cavity pressure value, the duty cycle of the second motor is relatively reduced under the negative pressure suction of the suction pipeline, so as to reduce the suction flow of the liquid medium in the renal pelvic cavity, and the corresponding reduction of the duty cycle controls the corresponding reduction of the suction intensity, so as to control the reduction of the corresponding liquid amount flowing out of the cavity, so that the current renal pelvic cavity pressure value shows a gradually increasing trend to realize the renal pelvic cavity pressure reaching the target renal pelvic cavity pressure range.

[0026] As preferably, the perfusion according to the preset perfusion flow and the suction according to the preset suction flow during the starting process of the intelligent pressure-controlled perfusion and suction system further comprises:

[0027] if the current renal pelvic cavity pressure value is greater than the preset renal pelvic cavity pressure value, the target pressure threshold of the current renal pelvic cavity pressure value is set;

[0028] if the current renal pelvic cavity pressure value is less than the target pressure threshold, the perfusion process is suspended;

[0029] if the current renal pelvic cavity pressure value is greater than the target pressure threshold, the reverse pressure relief operation of the corresponding motor is performed on the perfusion process to decrease to the preset renal pelvic cavity pressure range;

[0030] if the current renal pelvic cavity pressure value is less than the preset renal pelvic cavity pressure value, the perfusion process is continued.

[0031] As preferably, the ensuring of the flow balance between the perfusion flow into the cavity and the suction flow out of the cavity further comprises:

[0032] gradually increasing or gradually decreasing the preset renal pelvic cavity pressure value;

[0033] The relative decrease or increase adjustment of the duty cycle of the second motor controls and reduces the fluctuation of the suction flow, thereby maintaining the stability of the cavity pressure; and / or,

[0034] The adjustment of the pulse frequency of the first motor controls the decrease and increase of the perfusion flow, and cooperates with the second motor to control the cavity pressure, so as to reduce the fluctuation of the cavity pressure caused by the change of the liquid flow.

[0035] Preferably, the comparison of the current renal pelvis cavity pressure value with the preset renal pelvis cavity pressure value further comprises:

[0036] When the perfusion process is paused, the duty cycle of the second motor is automatically increased within the preset duty cycle threshold range, so that the suction intensity is enhanced and the cavity pressure is in a downward trend and maintained within the preset renal pelvis cavity pressure range to ensure the dynamic balance of the renal pelvis cavity pressure;

[0037] When the perfusion process is reversed to release pressure, the duty cycle of the second motor is increased to the maximum duty cycle threshold, so that the cavity pressure is rapidly reduced and maintained within the preset renal pelvis cavity pressure range to ensure the dynamic balance of the renal pelvis cavity pressure;

[0038] When the perfusion process is continued, the duty cycle of the second motor is automatically reduced within the preset duty cycle threshold range, so that the suction intensity is reduced and the cavity pressure is gradually increased and maintained within the preset renal pelvis cavity pressure range to ensure the dynamic balance of the renal pelvis cavity pressure.

[0039] The present application has the following advantages and positive effects compared with the prior art due to the use of the above technical scheme:

[0040] 1. The present application uses an endoscope pressure sensor to monitor the renal pelvis cavity pressure under the action of the perfusion mode and the suction mode in real time to obtain the current renal pelvis cavity pressure value, compares the current renal pelvis cavity pressure value with the preset cavity pressure value, obtains a comparison result, performs fuzzy algorithm operation based on the comparison result, obtains the operation result of the corresponding motor pulse and duty cycle, and feeds back to the main control unit, controls the pulse frequency of the corresponding motor to control the perfusion flow into the cavity and the duty cycle of the corresponding motor to control the suction flow out of the cavity, while ensuring the flow balance between the perfusion flow into the cavity and the suction flow out of the cavity, so that the renal pelvis cavity pressure reaches dynamic balance and the circulation level balance of perfusion inflow and suction outflow.

[0041] 2、In order to reduce the influence of dynamic process tracking fluctuation, the attracting algorithm is improved in the application, instead of a specific numerical value, the original numerical value is gradually increased or gradually reduced, that is, the duty cycle of the driving negative pressure suction pump is continuously reduced or continuously increased, so that the change fluctuation of the suction flow can be minimized, and the intracavity pressure can be kept stable.

[0042] 3、Air compensation is made on the channel of the suction pipeline to buffer the too large suction flow fluctuation, and the stability of the suction flow is coordinated.

[0043] 4、In terms of perfusion flow, stepless speed regulation is continuously implemented on flow control, the pulse frequency is adjusted, the flow is continuously reduced when the flow is reduced, and the flow is continuously increased when the flow is increased, so that the fluctuation of intracavity pressure caused by the change of water flow is greatly increased.

[0044] 5、The application increases a flow sensor, which can not only satisfy the accuracy of perfusion flow, but also satisfy the stability of input flow, and can reduce the stability of intracavity pressure to a certain extent. At the same time, by calculation, the total amount of liquid input minus the total amount of liquid sucked into the waste liquid container, the amount of liquid in the cavity can be roughly judged, which is also a parameter for judging whether the cavity is safe.

[0045] 6、In the lithotripsy mode, the intelligent algorithm ensures that the cavity pressure maintains dynamic balance in perfusion and suction; and ensures the safety of the renal pelvis cavity pressure. The circulating physiological saline generated in suction and perfusion can carry away small particles, which is beneficial to the clear vision of the camera, and can also carry away the high temperature generated by laser lithotripsy, so as to ensure that the temperature of the renal pelvis does not exceed the temperature.

[0046] 7、In the stone clearing mode, the intelligent algorithm ensures that the cavity pressure maintains dynamic balance in perfusion and suction; and ensures the safety of the renal pelvis cavity pressure. The circulating physiological saline generated in suction and perfusion can carry away small particles, which is beneficial to the clear vision of the camera, and can also carry away the high temperature generated by laser lithotripsy, so as to ensure that the temperature of the renal pelvis does not exceed the temperature. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 It is a schematic diagram of the intelligent pressure control perfusion and suction system in the embodiment of the application;

[0048] Figure 2 It is a schematic diagram of the intelligent pressure control perfusion and suction system in the embodiment of the application;

[0049] Figure 3 It is an air supplement example diagram in the embodiment of the application;

[0050] Figure 4 The step schematic diagram of the automatic flow control method of the intelligent pressure control perfusion suction system in the embodiment of the present application;

[0051] Figure 5 The pressure-flow relationship diagram when the actual cavity pressure is large in the embodiment of the present application;

[0052] Figure 6 The pressure-flow relationship diagram when the actual cavity pressure is small in the embodiment of the present application;

[0053] Figure 7 The pressure-flow relationship diagram when the actual cavity pressure is greater than the set cavity pressure in the embodiment of the present application;

[0054] Figure 8 The pressure-flow relationship diagram when the actual cavity pressure is less than the set cavity pressure in the embodiment of the present application;

[0055] Figure 9 The process schematic diagram in the lithotripsy mode in the automatic flow control method of the intelligent pressure control perfusion suction system in the embodiment of the present application;

[0056] Figure 10 The process schematic diagram in the stone clearance mode in the automatic flow control method of the intelligent pressure control perfusion suction system in the embodiment of the present application. DETAILED DESCRIPTION

[0057] The present application can be implemented or applied in other different specific embodiments, and each detail in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second", and the like can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0058] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0059] Example 1

[0060] like Figures 1-2 As shown, the present invention provides an intelligent pressure-controlled perfusion and aspiration system 8, comprising at least a main control unit 1, a perfusion device 2 connected to the main control unit 1, an aspiration device 3 connected to the main control unit 1, a guide sheath 4, an endoscope 6 fitted onto the guide sheath 4, and an intracavitary pressure measuring device 5 connected to the main control unit 1. The perfusion device 2 includes a first motor 21 and a perfusion tubing 22 connected to the endoscope 6. The first motor 21 and the perfusion tubing 22 are connected to control the perfusion flow rate flowing into the cavity in the start perfusion mode. The aspiration device includes a second motor 31 and a aspiration tubing 32 connected to the guide sheath 4. The second motor 31 and the aspiration tubing 32 are connected to control the aspiration flow rate flowing out of the cavity in the start aspiration mode.

[0061] The intracavitary pressure measuring device 5 is a pressure sensor, which is installed on the endoscope 6 that passes through the guide sheath 4. It is used to monitor the intracavitary pressure of the renal pelvis in real time under the action of water flow in perfusion and suction modes to obtain the current intracavitary pressure value. The current intracavitary pressure value is compared with the preset intracavitary pressure value to obtain the pressure difference result. Based on the pressure difference result, fuzzy algorithm calculation is performed to obtain the calculation result of the corresponding motor pulse and duty cycle, and the result is fed back to the main control unit 1. The main control unit 1 controls the pulse frequency of the corresponding motor to control the perfusion flow rate into the cavity and the duty cycle of the corresponding motor to control the suction flow rate out of the cavity. At the same time, it ensures the flow balance between the perfusion flow rate into the cavity and the suction flow rate out of the cavity, so that the intracavitary pressure reaches dynamic balance and the circulating water balance of perfusion inflow and suction outflow is achieved.

[0062] The key point of the intelligent pressure control perfusion suction system 8 provided by the application is that the endoscope 6 is provided with a pressure sensor, which can detect the pressure in the renal pelvis cavity in real time and compare it with the set value, perform intelligent operation, feed back the operation result to the control program, and adjust the pressure in the renal pelvis cavity to achieve dynamic balance. The dynamic balance of the pressure in the renal pelvis cavity indirectly balances the circulation level of the perfusion inflow and the suction outflow. The realization of intelligent control: the pressure sensor on the endoscope 6 measures the pressure in the renal pelvis cavity in real time, compares the actual pressure with the set pressure, and obtains the pulse duty cycle data by intelligent fuzzy algorithm. The current pressure value in the renal pelvis cavity in the embodiment is the actual pressure value, and the preset cavity pressure value is the pressure set value. The first motor 21 in the embodiment can be a perfusion servo motor, a stepping motor or a brushless motor. The second motor 31 in the embodiment can be a suction direct current motor.

[0063] Referring to Figure 3 As shown in the figure, the proximal end of the guide sheath 4 is provided with a first connecting port 41, the first connecting port 41 is partially arranged in the suction pipeline 32, and the outer surface of the connection part of the first connecting port 41 and the suction pipeline 32 is provided with an adjusting part 9. The adjusting part 9 is in the form of a groove, which is used to adjust the size of the inlet of the suction pipeline 32 by applying external force, so as to buffer the fluctuation of the suction flow and coordinate the stability of the suction flow. In the embodiment, 2 or 3 or other number of grooves are arranged at the tail of the first connecting port 41, and the size of the suction flow is adjusted by manually squeezing the grooves by the doctor. The adjusting part 9 in the form of a groove can also be other protrusions or other shapes.

[0064] In another embodiment, the proximal end of the guide sheath 4 is provided with a second adapter 411, the entry end of the second adapter 411 is provided with a knob adjusting member 412, and the knob adjusting member 412 is detachably connected with the second adapter 411, for adjusting the size of the inlet of the suction line 32 by controlling the tightness of the knob adjusting member 412, and air compensation is carried out in the suction line 32, so as to buffer the fluctuation of the suction flow and coordinate the stability of the suction flow. The knob adjusting member 412 is an adjustable knob that opens to adjust the size of the inlet of the suction line 32. It can be understood that a little air compensation is made on the channel of the suction line 32 to buffer the excessive fluctuation of the suction flow, and a better effect is achieved in coordinating the stability of the suction flow. In one embodiment, the perfusion device 2 is provided with a flow sensor 7, the perfusion line 22 is clamped on the flow sensor 7, for detecting the flow size in the perfusion line 22, one end of the perfusion line 22 is connected with the infusion device 10, the other end of the perfusion line 22 is connected with the guide sheath 4, for controlling the liquid amount in the input cavity; one end of the suction line 32 is connected with the guide sheath 4, the other end of the suction line 32 is connected with the waste liquid container, for controlling the liquid amount suctioned into the waste liquid container outside the body; at the same time, the flow sensor 7 is connected with the main control unit 1, for judging whether the current liquid amount in the cavity is within the preset safety reference range in the cavity, wherein the current liquid amount in the cavity = the total liquid amount in the input cavity - the total liquid amount suctioned into the waste liquid container outside the body. In this embodiment, the perfusion line 22 is driven by the intelligent control pressure flushing and suction system, and receives the physiological saline in the infusion device 10 through the intelligent control pressure flushing and suction system. The flow sensor used is controlled by the main control unit 1, which can not only satisfy the precision of perfusion flow, but also satisfy the stability of input flow, and to a certain extent, can reduce the stability of the cavity pressure. At the same time, by calculation, the total liquid amount that can be inputted is subtracted by the total liquid amount suctioned into the waste liquid container outside the body, the liquid amount in the cavity can be roughly judged, which is also a parameter for judging whether the cavity is safe.

[0065] The original basic use is perfusion pump perfusion, because the cavity pressure cannot be judged, the water flow is relatively conservative when perfused into the cavity, for fear of overpressure, which will cause insufficient perfusion, and cannot form a clear visual effect to form an effective surgical space. If too much perfusion occurs, it will cause kidney damage or reflux due to excessive pressure in the cavity, which will affect the safety of the patient. If the suction is too large, the organ will be sucked flat and there is no surgical space, which cannot be operated, or the suction is too small, which will cause excessive pressure in the kidney and affect the safety of the operation.

[0066] In this embodiment, the flow sensor is used to accurately control the outflow of the perfusion flow by the main control unit 1, to form an effective surgical space and ensure the safety of the operation.

[0067] As Figure 4As shown, the application also provides an automatic flow control method of the intelligent pressure control perfusion and suction system 8, which is applied to the intelligent pressure control perfusion and suction system 8 described in the embodiment of the application and includes the following steps:

[0068] S1: during the starting process of the intelligent pressure control perfusion and suction system 8, perfusion is performed according to a preset perfusion flow and suction is performed according to a preset suction flow;

[0069] S2: the current intracavitary pressure value of the renal pelvis is obtained by the intracavitary pressure measuring device 5;

[0070] S3: the current intracavitary pressure value of the renal pelvis is compared with the preset intracavitary pressure value of the renal pelvis to obtain a comparison pressure difference result;

[0071] S4: fuzzy algorithm operation is performed based on the pressure difference result to obtain an operation result of corresponding motor pulse and duty cycle and feedback to the main control unit 1;

[0072] S5: the pulse frequency of the first motor 21 is controlled by the main control unit 1 to control the perfusion flow into the cavity and the duty cycle of the second motor 31 to control the suction flow out of the cavity, while ensuring the flow balance between the perfusion flow into the cavity and the suction flow out of the cavity, so that the intracavitary pressure of the renal pelvis reaches dynamic balance and the circulation level balance of perfusion inflow and suction outflow.

[0073] In an embodiment, the step S1 during the starting process of the intelligent pressure control perfusion and suction system 8, perfusion is performed according to a preset perfusion flow and suction is performed according to a preset suction flow further includes:

[0074] S110: it is judged whether the current intracavitary pressure value of the renal pelvis is the same as the preset intracavitary pressure value of the renal pelvis;

[0075] S111: when the current intracavitary pressure value of the renal pelvis is greater than the preset intracavitary pressure value of the renal pelvis, the duty cycle of the second motor 31 is relatively increased under the negative pressure suction effect of the suction pipeline 32, so as to increase the suction flow of the liquid medium in the renal pelvis cavity, the increased duty cycle controls the corresponding increase of the corresponding suction intensity, so as to control the corresponding increase of the liquid amount out of the cavity, so that the current intracavitary pressure value of the renal pelvis presents a gradually decreasing trend to realize the intracavitary pressure balance of the renal pelvis; see Figure 5 the flow-pressure relationship diagram when the actual intracavitary pressure is large.

[0076] S112: When the current intrapelvic pressure value is less than the preset intrapelvic pressure value, the duty cycle of the second motor 31 is correspondingly reduced under the negative pressure suction of the suction pipeline 32, so as to reduce the suction flow of the liquid medium in the pelvis cavity, the reduced duty cycle controls the corresponding reduction of the suction intensity, thereby controlling the corresponding reduction of the liquid flow from the cavity, so that the current intrapelvic pressure value gradually increases to achieve the target intrapelvic pressure range, see Figure 6 the flow-pressure relationship diagram when the actual cavity pressure is large.

[0077] Those skilled in the art can understand that when the current intrapelvic pressure value, i.e., the detected intrapelvic pressure, is higher than the preset intrapelvic pressure value, i.e., the set value, the negative pressure suction will increase the duty cycle to increase the suction intensity, and the physiological saline in the pelvis will be sucked away, forcing the actual intrapelvic pressure to gradually decrease; the more the actual intrapelvic pressure is higher than the set value, the greater the duty cycle of the negative pressure suction will be increased, the greater the suction intensity will be, the more water will be sucked away, and the more rapidly the intrapelvic pressure will be decreased, thereby achieving the balance of the intrapelvic pressure.

[0078] In various embodiments of the present application, the step S1 of starting the intelligent pressure control perfusion and suction system 8 further comprises:

[0079] S120: If the current intrapelvic pressure value is greater than the preset intrapelvic pressure value, set the target pressure threshold of the current intrapelvic pressure value; in this embodiment, the target pressure threshold is set to 5 mmHg or other intracavity pressure range value.

[0080] S121: If the current intrapelvic pressure value is within the target pressure threshold, the perfusion process is paused; it can be understood that when the actual intracavity pressure is greater than the set value, see Figure 7 the figure, and the actual intracavity pressure is less than 5 mmHg, the perfusion is paused.

[0081] S122: If the current intrapelvic pressure value is greater than the target pressure threshold, the perfusion process is reversed to release pressure to reduce the intrapelvic pressure to the preset intrapelvic pressure range; it can be understood that when the actual intracavity pressure is greater than the set value, and the actual intracavity pressure is greater than 5 mmHg, the perfusion will be reversed to release pressure, this function is to quickly decrease to or close to the set value, when the actual intracavity pressure is less than or equal to the set value, the perfusion will automatically resume operation.

[0082] S123: If the current intrapelvic pressure value is less than the preset intrapelvic pressure value, see Figure 8As shown, the perfusion process continues to be executed. When the actual cavity pressure of the renal pelvis is detected to be lower than the set value, the negative pressure suction reduces the duty cycle to reduce the suction strength, and the physiological saline sucked away from the renal pelvis is reduced, forcing the actual cavity pressure of the renal pelvis to gradually rise. The cavity pressure in the renal pelvis reaches the theoretical value range.

[0083] For example, the set value is a horizontal straight line, and the actual cavity pressure value is a curve fluctuating above and below the horizontal line. The perfusion flow is also a horizontal line when the cavity pressure meets the set pressure range, coinciding with the set flow line. When the cavity pressure exceeds the set pressure range, the flow is a line gradually decreasing to stop until the flow is reduced to zero and the machine stops, and there is no perfusion output.

[0084] When the cavity pressure is greater than the set pressure by 5 mmHg or more, the perfusion flow line becomes a negative line below the X-axis, indicating that the pressure relief is reversed. At this time, it is a process from stopping to reversing until the cavity pressure returns to the safe value range.

[0085] The suction flow is a curve that changes with the actual value of the cavity pressure, fluctuating up and down with the change of the cavity pressure.

[0086] When the cavity pressure is relatively low, the suction flow is also relatively small. As the cavity pressure gradually approaches the design pressure value, the suction gradually increases. When the cavity pressure gradually exceeds the design pressure value, the suction flow also gradually increases. When the cavity pressure decreases, the suction flow also gradually decreases until it stops.

[0087] It can be understood that those skilled in the art can understand, see Figures 9-10 As shown, the system also has the functions of perfusion pressure relief, perfusion pause and perfusion continuation in the lithotripsy mode and the stone clearance mode. In the lithotripsy mode, the intelligent algorithm ensures that the cavity pressure is maintained in dynamic balance during perfusion and suction, and ensures the safety of the renal pelvis cavity pressure. The circulating physiological saline generated during suction and perfusion can carry away small particles, which is beneficial to the clear vision of the camera, and can also carry away the high temperature generated by laser lithotripsy to ensure that the temperature of the renal pelvis does not exceed the temperature. In the stone clearance mode, the intelligent algorithm ensures that the cavity pressure is maintained in dynamic balance during perfusion and suction, and ensures the safety of the renal pelvis cavity pressure. The circulating physiological saline generated during suction and perfusion can carry away small particles, which is beneficial to the clear vision of the camera, and the large flow generated by perfusion can produce a large water flow around the stone, which is beneficial to the positioning of the stone and the suction; the increased suction duty cycle produces greater negative pressure suction, which is beneficial to the extraction of the stone.

[0088] Further, the comparison of the current renal pelvis cavity pressure value with the preset renal pelvis cavity pressure value in step S3 further comprises:

[0089] S310: When the perfusion process is paused, the duty cycle of the second motor is automatically increased within a preset duty cycle threshold range, so that the suction intensity is enhanced and the cavity pressure is gradually reduced to maintain within a preset renal pelvis cavity pressure range to ensure dynamic balance of the renal pelvis cavity pressure; in the lithotripsy mode, after perfusion is paused, the suction duty cycle is automatically increased to 15-50%, so that the suction is enhanced, the cavity pressure is gradually reduced, and is maintained around the set value, dynamically balanced. In the stone clearance mode, after perfusion is paused, the suction duty cycle is automatically increased to 30-90%, so that the suction is enhanced, the cavity pressure is gradually reduced, and is maintained around the set value, dynamically balanced.

[0090] S311: When the perfusion process is reversed and decompressed, the duty cycle of the second motor 31 is increased to the maximum duty cycle threshold, so that the cavity pressure is rapidly reduced to maintain within a preset renal pelvis cavity pressure range to ensure dynamic balance of the renal pelvis cavity pressure; in the lithotripsy mode, after perfusion is reversed and decompressed, the suction duty cycle is increased to a maximum of 50%, so that the cavity pressure is rapidly reduced, and is maintained around the set value, dynamically balanced. In the stone clearance mode, after perfusion is reversed and decompressed, the suction duty cycle is increased to a maximum of 90%, so that the cavity pressure is rapidly reduced, and is maintained around the set value, dynamically balanced.

[0091] S312: When the perfusion process is continued, the duty cycle of the second motor 31 is automatically reduced within a preset duty cycle threshold range, so that the suction is reduced and the cavity pressure is gradually increased to maintain within a preset renal pelvis cavity pressure range to ensure dynamic balance of the renal pelvis cavity pressure. In the lithotripsy mode, after perfusion is continued, the suction duty cycle is automatically reduced to 50-15%, so that the suction is reduced, the cavity pressure is gradually increased, and is maintained around the set value, dynamically balanced. In the stone clearance mode, after perfusion is continued, the suction duty cycle is automatically reduced to 90-30%, so that the suction is reduced, the cavity pressure is gradually increased, and is maintained around the set value, dynamically balanced.

[0092] The intelligent pressure control perfusion suction system adopted by the embodiment of the present application has the difficulty of ensuring that the actual cavity pressure is maintained within the set pressure range to dynamically control the perfusion and suction flow. Only when the perfusion flow and the suction flow are equal can the basic stability of the actual cavity pressure be ensured. The difficulty of dynamic tracking of perfusion and suction flow is the algorithm after comparison of the set pressure, the cavity pressure, the perfusion flow and the suction flow, which is complex, difficult to debug, and difficult to maintain the stability of the actual cavity pressure, because the value is too small, generally within 20mmHg, a little change will exceed a pressure change of more than 5mmHg. We try to ensure the stability of perfusion flow and suction flow when doing the algorithm, and the fluctuation in the dynamic tracking process will be larger.

[0093] To reduce the influence of dynamic process tracking fluctuation too large, the step S5 ensures the flow balance between perfusion flow into the cavity and suction flow out of the cavity further includes:

[0094] Gradually increasing or decreasing the preset renal pelvis cavity pressure value;

[0095] The duty cycle of the second motor is adjusted by corresponding parameters, and the change fluctuation of the suction flow is controlled and reduced, so as to keep the cavity pressure stable.

[0096] The skilled person in the art can understand that the improvement of the suction algorithm is no longer a specific numerical value, but gradually increasing or decreasing the original numerical value, that is, continuously reducing or increasing the duty cycle of the driving negative pressure suction pump, so as to minimize the change fluctuation of the suction flow as much as possible, which is beneficial to keep the cavity pressure stable.

[0097] At the same time, we do a little air compensation on the channel of the suction pipeline 32, and the suction according to the preset suction flow further includes:

[0098] The pre-tightening force is adjusted by adjusting the size of the inlet of the suction pipeline 32 to adjust the endoscope, so as to perform air compensation operation in the channel of the suction pipeline 32; or,

[0099] The pre-tightening force is adjusted by adjusting the size of the inlet of the suction pipeline 32 to adjust the endoscope, so as to perform air compensation operation in the channel of the suction pipeline 32; or,

[0100] The skilled person in the art can understand that a knob is made on the endoscope of the suction pipeline 32 to adjust the size of the pipeline inlet, which can buffer the fluctuation of the suction flow and coordinate the stability of the suction flow.

[0101] Further, the step S5 ensures the flow balance between perfusion flow into the cavity and suction flow out of the cavity further includes:

[0102] The first motor 21 is adjusted by stepless speed control pulse frequency to control the reduction and increase of perfusion flow, and the second motor is coordinated to control the cavity pressure, so as to reduce the fluctuation of the cavity pressure caused by the change of the liquid flow size.

[0103] In terms of perfusion flow, on the algorithm, the specific technical approach is to continuously implement infinitely variable speed control for flow control, continuously reduce the pulse frequency when reducing the flow, and continuously increase the pulse frequency when increasing the flow, which greatly increases the fluctuation of the intracavity pressure caused by the change of the water flow. In order to make the fluctuation smaller, a flow sensor is added, which can not only satisfy the accuracy of perfusion flow, but also satisfy the stability of input flow, and to a certain extent, can reduce the stability of the intracavity pressure. At the same time, by calculating the total amount of liquid input minus the total amount of liquid attracted from the outside to the waste liquid container, the amount of liquid in the cavity can be roughly judged, which is also a parameter for judging whether the cavity is safe.

[0104] The original basic use is perfusion pump perfusion, because the intracavity pressure cannot be judged, the water flow is relatively conservative when perfusing into the cavity, for fear of overpressure, which will cause insufficient perfusion and unable to form a clear visual effect to form an effective surgical space. If there is too much perfusion, it will cause the intracavity pressure to be too large, causing renal pelvis damage or reflux, affecting patient safety. If the suction is too large, it will cause the organ to be sucked flat and there is no surgical space, which cannot be operated, or the suction is too small, causing the renal pelvis pressure to be too large, affecting the safety of the operation. The intelligent pressure control perfusion and suction system in the embodiment can control the stability of the renal pelvis pressure, can form a clear visual effect, can form an effective surgical space, and can ensure the safety of the operation.

[0105] The working principle of the application in the lithotripsy mode is as follows: when performing laser lithotripsy, small particles and powders generated after the high-energy laser impact on the stones will blur the camera view, which is not conducive to the observation of the affected area during the operation. Moreover, the laser energy during the lithotripsy process will gradually increase the temperature of the renal pelvis, and once the temperature is too high, it will cause serious damage to the renal pelvis. It is also necessary to control the intracavity pressure of the renal pelvis, and excessive pressure will also cause damage to the renal pelvis. To solve this problem, we designed a lithotripsy working mode.

[0106] In the lithotripsy mode, the perfusion normal flow is set to 50 mL / min, and the perfusion flow can be modified according to the actual situation. The suction flow is usually set according to the gear position. The suction flow can be controlled and modified according to the actual situation. The cavity pressure is usually set to 20 mmHg, and the pressure value can be modified according to the actual situation.

[0107] When performing laser lithotripsy, after starting perfusion and suction, the machine perfuses according to the set flow, and physiological saline is injected into the renal pelvis. At this time, the inflowing physiological saline flushes the turbid particles and powders, and the negative pressure suction can suck out the turbid particles and powders, so that the camera view becomes clear. At the same time, the circulation of the inflowing water of the perfusion and the outflowing water of the negative pressure suction can carry away the high energy generated during laser lithotripsy, thereby protecting the renal pelvis at a safe temperature.

[0108] The endoscope used in this embodiment is provided with a pressure sensor, and the main control unit will intelligently calculate according to the comparison between the actual cavity pressure and the set cavity pressure:

[0109] When the actual cavity pressure is too high, perfusion is paused, and the negative pressure suction will automatically adjust the strength according to the pressure difference. When the actual cavity pressure is too high, the strength of the suction will become larger when the pressure difference is large, and the strength of the suction will become smaller when the pressure difference is small. The size of the pressure difference determines how much physiological saline is sucked from the renal pelvis, forcing the renal pelvis pressure to gradually decrease. Once the actual cavity pressure drops to the set value, perfusion is restored, and the renal pelvis cavity pressure achieves dynamic balance. When the actual cavity pressure exceeds the set value by 5mmHg or more, the negative pressure suction strength will become larger, and at the same time, the perfusion will reverse the pressure relief, forcing the pressure to drop rapidly, so that the actual cavity pressure and the set cavity pressure reach dynamic balance.

[0110] When the actual cavity pressure is too low, the negative pressure suction will automatically adjust the strength according to the pressure difference. In this way, less physiological saline is removed from the renal pelvis, and the perfusion still operates according to the set flow rate. The renal pelvis cavity pressure will gradually rise, so that the actual cavity pressure and the set cavity pressure reach dynamic balance.

[0111] The negative pressure suction force is pulsed and intermittent, which is automatically adjusted by the intelligent fuzzy algorithm between the actual cavity pressure and the set cavity pressure:

[0112] When the actual cavity pressure is less than the set cavity pressure, the duty cycle of the negative pressure suction is automatically reduced, and the minimum duty cycle is 15%. This minimum suction can also ensure the strength of the negative pressure suction, allowing the physiological saline in the renal pelvis to circulate.

[0113] When the actual cavity pressure is greater than the set cavity pressure, the duty cycle of the negative pressure suction is automatically increased, and the maximum duty cycle is 50%. The increased duty cycle will make the negative pressure suction force larger, so that the renal pelvis cavity pressure decreases rapidly, and the actual cavity pressure is controlled within the set value range.

[0114] Through the above design, the circulating water injected by perfusion and removed by suction solves the camera blur; at the same time, the circulating water carries away the heat generated by lithotripsy, reducing the temperature of the renal pelvis; intelligent pressure control maintains the safety of the renal pelvis cavity pressure; and the balance of physiological saline injected by perfusion and removed by suction.

[0115] The working principle of the invention in the stone clearance mode is as follows: after laser stone crushing, small stone particles are gathered in the renal pelvis, and the conventional equipment does not have a pressure sensor for detection. In the stone clearance process, the renal pelvis is over-pressured or under-pressured, which is easy to cause damage to the patient. It is also difficult to position the stones in the stone clearance. At the same time, the circulating water dynamic balance of perfusion and suction is considered. Therefore, the stone clearance mode is designed. In the stone clearance mode, the perfusion normal flow is set to 80 mL / min, and the perfusion flow can be modified according to the actual situation. The suction flow is usually set according to the gear, and the suction flow can be modified according to the gear according to the actual situation. The cavity pressure is usually set to 20 mmHg, and the cavity pressure setting value can be modified according to the actual situation. When starting perfusion and suction, the machine injects physiological saline into the renal pelvis according to the set perfusion flow. The larger perfusion water flow will form a vortex beside the stone particles, which can position the stones and not be washed away by the water flow. At this time, the larger negative pressure suction will adsorb the stone particles, which ensures that the stone particles are sucked out of the body and the stone clearance function is completed. The endoscope used in the embodiment has a pressure sensor, and the main control unit will compare the actual cavity pressure with the set cavity pressure and perform intelligent calculation:

[0116] When the actual cavity pressure is too high, the perfusion is paused, and the negative pressure suction will automatically increase in strength according to the pressure difference. When the actual cavity pressure is over-pressured, the suction strength will become larger when the pressure difference is large, and the suction strength will become smaller when the pressure difference is small. The size of the pressure difference determines how much physiological saline is sucked from the renal pelvis, forcing the renal pelvis pressure to gradually decrease. Once the actual cavity pressure decreases to the set value, the perfusion is restored. In this way, the renal pelvis cavity pressure achieves dynamic balance. When the actual cavity pressure exceeds the set value by 5 mmHg or more, the negative pressure suction strength will become larger, and at the same time, the perfusion will reverse and release pressure, forcing the pressure to quickly decrease, so that the actual cavity pressure and the set cavity pressure reach dynamic balance.

[0117] When the actual cavity pressure is too low, the negative pressure suction will automatically reduce in strength according to the pressure difference. In this way, less physiological saline is removed from the renal pelvis, and the perfusion still operates according to the set flow. The renal pelvis cavity pressure will gradually rise, so that the actual cavity pressure and the set cavity pressure reach dynamic balance.

[0118] During the stone clearance process, the perfusion flow will be greater than the mirror entry mode and the stone crushing mode. The appropriate perfusion flow can form a vortex beside the stones to prevent being washed away by the water flow, which is more conducive to stone suction and removal from the body.

[0119] The negative pressure suction force is intermittently sucked in a pulse mode, which is automatically adjusted by the intelligent algorithm of the pressure difference between the actual cavity pressure and the set cavity pressure:

[0120] When the actual cavity pressure is less than the set cavity pressure, the negative pressure suction duty cycle is automatically reduced, and the minimum duty cycle is 30%. This minimum suction can also ensure the negative pressure suction strength to suck the stone particles and remove them from the body.

[0121] When the actual cavity pressure is greater than the set cavity pressure, the negative pressure suction duty cycle is automatically increased, and the maximum duty cycle is 90%. The increased duty cycle will make the negative pressure suction force greater, so that the renal pelvis cavity pressure drops rapidly, and the actual cavity pressure is controlled within the set value range.

[0122] Through the above design, a larger perfusion flow forms a vortex beside the stone, which is beneficial to the suction of the stone; a larger negative pressure suction is beneficial to the suction of the stone; intelligent pressure control maintains the safety of the renal pelvis cavity pressure; and the perfusion inflow and the suction outflow of the physiological saline are balanced. Based on the same inventive concept, the application provides a computer device, which comprises a memory for storing a processing program and a processor for implementing the automatic flow control method of the intelligent pressure control perfusion and suction system when the processing program is executed.

[0123] Based on the same inventive concept, the application provides a readable storage medium having a processing program stored thereon, and the processing program is executed by a processor to implement the automatic flow control method of the intelligent pressure control perfusion and suction system.

[0124] Those skilled in the art can understand that all or part of the steps of the above method embodiments can be completed by program instruction related hardware, and the foregoing program can be stored in a computer readable storage medium, and the program is executed to perform the steps of the above method embodiments; and the foregoing storage medium includes a mobile storage device, a read-only memory (ROM), a magnetic disc or an optical disc and various storage medium capable of storing program codes.

[0125] The embodiments of the application are described in detail above with reference to the drawings, but the application is not limited to the above embodiments. Even if various changes are made to the application, as long as the changes fall within the scope of the claims of the application and equivalent technologies thereof, they still fall within the protection scope of the application.

Claims

1. An intelligent pressure controlled perfusion suction system, characterized in that, At least comprising a master control unit, a perfusion device connected with the master control unit, an aspiration device connected with the master control unit, a guide sheath, an endoscope sleeved on the guide sheath, and an intracavitary pressure measuring device connected with the master control unit, the perfusion device comprises a first motor and a perfusion pipeline connected with the endoscope, the first motor and the perfusion pipeline are connected, and are used for controlling the perfusion flow rate flowing into the cavity in the starting perfusion mode; the aspiration device comprises a second motor and an aspiration pipeline connected with the guide sheath, the second motor and the aspiration pipeline are connected, and are used for controlling the aspiration flow rate flowing out of the cavity in the starting aspiration mode; The intracavitary pressure measuring device is a pressure sensor, which is arranged on the endoscope penetrating the guide sheath, and is used for monitoring the current renal pelvis cavity pressure value in real time under the action of water flow in the perfusion mode and the aspiration mode. In the starting process of the intelligent pressure control perfusion and aspiration system, perfusion is performed according to the preset perfusion flow rate, and aspiration is performed according to the preset aspiration flow rate, and further comprising: The size of the aspiration pipeline inlet is adjusted by applying external force, so as to buffer the fluctuation of the aspiration flow rate and coordinate the stability of the aspiration flow rate, or the size of the aspiration pipeline inlet is adjusted by controlling the tightness of the knob adjusting member arranged at the endoscope, and air compensation operation is performed in the aspiration pipeline channel, so as to buffer the fluctuation of the aspiration flow rate and coordinate the stability of the aspiration flow rate. The current renal pelvis cavity pressure value is obtained through the intracavitary pressure measuring device. The current renal pelvis cavity pressure value is compared with the preset intracavitary pressure value, a comparison pressure difference result is obtained, a fuzzy algorithm operation is performed based on the pressure difference result, an operation result of corresponding motor pulse and duty cycle is obtained and fed back to the master control unit, the pulse frequency of the corresponding motor is controlled by the master control unit to control the perfusion flow rate flowing into the cavity and the duty cycle of the corresponding motor to control the aspiration flow rate flowing out of the cavity, while ensuring the flow balance between the perfusion flow rate flowing into the cavity and the aspiration flow rate flowing out of the cavity, so that the renal pelvis cavity pressure reaches dynamic balance, and the circulation level balance of perfusion inflow and aspiration outflow is achieved.

2. The smart controlled pressure perfusion aspiration system of claim 1, wherein, The guide sheath proximal end is provided with a first adapter, the first adapter is partially penetrated in the aspiration pipeline, and the outer surface of the connection part of the first adapter and the aspiration pipeline is provided with one or more adjusting parts, which are used for adjusting the size of the aspiration pipeline inlet by applying external force, so as to buffer the fluctuation of the aspiration flow rate and coordinate the stability of the aspiration flow rate.

3. The smart controlled pressure perfusion aspiration system of claim 1, wherein, The guide sheath proximal end is provided with a second adapter, the endoscope end of the second adapter is provided with a knob adjusting member, and the knob adjusting member is detachably connected with the second adapter, which is used for adjusting the size of the aspiration pipeline inlet by controlling the tightness of the knob adjusting member, and air compensation is performed in the aspiration pipeline, so as to buffer the fluctuation of the aspiration flow rate and coordinate the stability of the aspiration flow rate.

4. The smart controlled pressure perfusion aspiration system of claim 1, wherein, The perfusion device is provided with a flow sensor, the perfusion pipeline is clamped on the flow sensor, which is used for detecting the flow size in the perfusion pipeline, one end of the perfusion pipeline is connected with the infusion device, the other end of the perfusion pipeline is connected with the guide sheath, which is used for controlling the liquid amount in the input cavity; one end of the suction pipeline is connected with the guide sheath, the other end of the suction pipeline is connected with the waste liquid container, which is used for controlling the liquid amount suctioned into the waste liquid container outside the body; at the same time, the flow sensor is connected with the main control unit, which is used for judging whether the current liquid amount in the cavity is within the preset safety reference range in the cavity, wherein the current liquid amount in the cavity = the total liquid amount in the input cavity - the total liquid amount suctioned into the waste liquid container outside the body.

5. The smart controlled pressure perfusion aspiration system of claim 1, wherein, The perfusion and suction according to the preset perfusion flow and the preset suction flow during the starting process of the intelligent pressure control perfusion and suction system further comprises: judging whether the current renal pelvis cavity pressure value is the same as the preset renal pelvis cavity pressure value; when the current renal pelvis cavity pressure value is greater than the preset renal pelvis cavity pressure value, the suction pipeline relatively increases the duty cycle of the second motor under the negative pressure suction effect, thereby increasing the suction flow of the liquid medium in the renal pelvis cavity, the increased duty cycle controls the corresponding increase of the corresponding suction intensity, thereby controlling the corresponding increase of the liquid amount flowing out of the cavity, so that the current renal pelvis cavity pressure value presents a gradually decreasing trend to realize the pressure balance of the renal pelvis cavity; when the current renal pelvis cavity pressure value is less than the preset renal pelvis cavity pressure value, the suction pipeline relatively reduces the duty cycle of the second motor under the negative pressure suction effect, thereby reducing the suction flow of the liquid medium in the renal pelvis cavity, the reduced duty cycle controls the corresponding reduction of the corresponding suction intensity, thereby controlling the corresponding reduction of the liquid amount flowing out of the cavity, so that the current renal pelvis cavity pressure value presents a gradually increasing trend to realize the renal pelvis cavity pressure reaching the target renal pelvis cavity pressure range.

6. The smart controlled pressure perfusion aspiration system of claim 1, wherein, The perfusion and suction according to the preset perfusion flow and the preset suction flow during the starting process of the intelligent pressure control perfusion and suction system further comprises: if the current renal pelvis cavity pressure value is greater than the preset renal pelvis cavity pressure value, a target pressure threshold of the current renal pelvis cavity pressure value is set; if the current renal pelvis cavity pressure value is less than the target pressure threshold, the perfusion process is paused; if the current renal pelvis cavity pressure value is greater than the target pressure threshold, a reverse pressure relief operation of the corresponding motor is performed on the perfusion process to reduce it to the preset renal pelvis cavity pressure range; if the current renal pelvis cavity pressure value is less than the preset renal pelvis cavity pressure value, the perfusion process is continuously executed.

7. The smart pressure-controlled perfusion suction system of claim 1, wherein, The flow balance between the perfusion flow flowing into the cavity and the suction flow flowing out of the cavity is further ensured, which comprises: gradually increasing or gradually reducing the preset renal pelvis cavity pressure value; relatively reducing or increasing the parameter of the duty cycle of the second motor to control and reduce the change fluctuation of the suction flow, thereby keeping the cavity pressure stable; and / or, The first motor is controlled by pulse frequency modulation to control the perfusion flow rate, and the second motor is used to control the intracavity pressure to reduce the fluctuation of the intracavity pressure caused by the change of the liquid flow rate.

8. The smart pressure-controlled perfusion suction system of claim 6, wherein, The comparison of the current intracavity pressure value and the preset intracavity pressure value further comprises: When the perfusion process is paused, the duty cycle of the second motor is automatically increased within a preset duty cycle threshold range, so that the suction intensity is increased and the intracavity pressure is decreased, and the intracavity pressure is maintained within a preset intracavity pressure range to ensure the dynamic balance of the intracavity pressure; When the perfusion process is reversed to release pressure, the duty cycle of the second motor is increased to a maximum duty cycle threshold, so that the intracavity pressure is rapidly decreased and maintained within a preset intracavity pressure range to ensure the dynamic balance of the intracavity pressure; When the perfusion process is continued, the duty cycle of the second motor is automatically reduced within a preset duty cycle threshold range, so that the suction intensity is decreased and the intracavity pressure is gradually increased and maintained within a preset intracavity pressure range to ensure the dynamic balance of the intracavity pressure.

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