Infusion control system

Abstract

The application belongs to the field of auxiliary devices for vascular interventional surgery and relates to a transfusion control system, which comprises a transfusion device, a transfusion pipeline, an adjusting valve and a control module. The transfusion device comprises a plurality of first transfusion mechanisms and a plurality of second transfusion mechanisms, the first transfusion mechanisms and the second transfusion mechanisms respectively store first medicinal liquid and second medicinal liquid, the transfusion pipeline is used for conveying and mixing the first medicinal liquid and the second medicinal liquid, the adjusting valve is arranged on the transfusion pipeline and is used for controlling the transfusion rate of the transfusion pipeline, the control module is connected with the first transfusion mechanisms, the second transfusion mechanisms and the adjusting valve, is used for calculating transfusion control information for conveying medicinal injection according to input injection medicinal liquid information, and controls the corresponding first transfusion mechanisms, the second transfusion mechanisms and the adjusting valve according to the transfusion control information to execute medicinal injection action. The application can effectively control the conveying rate of the transfusion pipeline conveying medicinal liquid, so as to improve the precision of medicinal liquid mixing.

Description

Technical Field

[0001] This application relates to the field of vascular interventional surgery auxiliary devices, and in particular to an infusion control system. Background Technology

[0002] A vascular interventional surgical robot is a medical device product that performs interventional surgical procedures and treatments within blood vessels using slender medical instruments such as catheters and guidewires. During the procedure, the vascular interventional surgical robot injects a pre-mixed drug solution into the patient's blood vessels via a catheter or guidewire. The injected drug solution is delivered by an infusion device connected to one end of the vascular interventional surgical robot. The infusion device stores a drug solution with predetermined components. When a drug solution with a specific effect is required, the operator analyzes the composition of the injected drug solution and, based on the analysis results, activates a device storing the corresponding drug solution to input different components into a mixing chamber for mixing. Finally, the drug solution is transported to the catheter of the vascular interventional surgical robot for output.

[0003] An infusion device generally includes a storage device for storing the medication, an infusion pipeline for transporting the medication, and a mixing chamber for mixing and storing the medication. The storage device is usually connected above the infusion pipeline, and an infusion switch is installed at the connection point. When the infusion switch is opened, the medication in the storage device flows downwards along the infusion pipeline by gravity, reaching the mixing chamber for mixing. When a predetermined ratio of medication needs to be prepared, a drive motor on the infusion device is used to push the medication to control its flow rate within the infusion pipeline. This ensures that medications with different components transported by different infusion pipelines are uniformly mixed in the mixing chamber according to the predetermined ratio. However, in actual operation, because the infusion pipeline is designed with bends and / or inclinations, and the flow rate of different medications within the pipeline varies depending on their concentration or viscosity, the actual flow rate of the medication within the pipeline may deviate from the set flow rate. This results in uneven mixing and a decrease in the accuracy of the medication mixing. Summary of the Invention

[0004] The purpose of this application is to propose an infusion control system to solve the problem of inaccurate mixing of medications during drug delivery.

[0005] To address the aforementioned technical problems, this application provides an infusion control system, which employs the following technical solution:

[0006] An infusion control system includes: an infusion device, an infusion line, a regulating valve, and a control module;

[0007] The infusion device includes several first infusion mechanisms and several second infusion mechanisms. The first and second infusion mechanisms store a first drug solution and a second drug solution, respectively. The infusion tubing is used to transport and mix the first and second drug solutions. The regulating valve is installed on the infusion tubing to control the infusion rate. The control module is connected to the first infusion mechanism, the second infusion mechanism, and the regulating valve. It is used to obtain the corresponding first and second infusion information based on the input injection drug solution information, calculate the infusion control information for transporting the injection drug based on the first and second infusion information, and control the corresponding first and second infusion mechanisms and the regulating valve according to the infusion control information to execute the drug injection action.

[0008] Furthermore, the infusion tubing includes a first infusion tubing, a second infusion tubing, and a third infusion tubing. The first infusion mechanism is connected to the first infusion tubing, the second infusion mechanism is connected to the second infusion tubing, and the third infusion tubing is connected to the end where the first infusion tubing and the second infusion tubing intersect. The first infusion mechanism and the second infusion mechanism are used to deliver the first drug solution and the second drug solution, respectively. The third infusion tubing is used to mix the first drug solution and the second drug solution and deliver the mixed drug solution to the outlet for drug injection.

[0009] Furthermore, the regulating valve includes a first regulating valve, a second regulating valve, and a third regulating valve. The first regulating valve is disposed on the first infusion line and is used to control the infusion rate of the first drug solution. The second regulating valve is disposed on the second infusion line and is used to control the infusion rate of the second drug solution. The third regulating valve is disposed on the third infusion line and is used to control the infusion rate of the mixed drug solution.

[0010] Furthermore, the first regulating valve, the second regulating valve, and the third regulating valve are also equipped with measuring sensors. The measuring sensors are used to measure the first actual infusion rate of the first drug solution, the second actual infusion rate of the second drug solution, and the third actual infusion rate of the mixed drug solution, respectively, and send the first actual infusion rate, the second actual infusion rate, and the third actual infusion rate to the control module for data feedback.

[0011] Furthermore, the control module includes an object determination unit, an information acquisition unit, a data processing unit, and a device control unit;

[0012] The object determination unit is used to parse the received injection liquid information to obtain liquid composition information, liquid ratio value, and standard liquid delivery rate. Based on the liquid composition information and the liquid ratio value, it determines the corresponding first liquid to be mixed and second liquid to be mixed. Based on the first liquid to be mixed and the second liquid to be mixed, it determines the corresponding first infusion device and second infusion device in the first infusion device and the second infusion device.

[0013] The information acquisition unit is connected to the object determination unit and is used to extract the first infusion information and the second infusion information from a preset database based on the first infusion device and the second infusion device, and send the first infusion information and the second infusion information to the data processing unit.

[0014] The data processing unit and the information acquisition unit are connected and are used to input the standard rate of drug delivery, the first infusion information and the second infusion information into the pre-trained neural network model to obtain the corresponding first drive control information and second drive control information.

[0015] The device control unit is connected to the data processing unit and is used to generate corresponding first drive control signal and second drive control signal according to the first drive control information and the second drive control information, and send the first drive control signal and the second drive control signal to the first infusion device, the second infusion device and the corresponding regulating valve for infusion control.

[0016] Furthermore, the drug delivery standard rate includes a first delivery standard rate, a second delivery standard rate, and a third delivery standard rate. The control module also includes an adjustment control unit, which is used to detect whether the difference between the feedback first actual infusion rate, second actual infusion rate, third actual infusion rate, and the first delivery standard rate, second delivery standard rate, and third delivery standard rate is less than a preset threshold. When the difference is greater than or equal to the preset threshold, the control unit adjusts the drive control of the first infusion device and the second infusion device according to preset drive adjustment information.

[0017] Furthermore, the first infusion mechanism includes an injection driving mechanism and a syringe. The first drug solution is stored in the syringe. One end of the syringe is connected to the first infusion line. The injection driving mechanism is connected to the other end of the syringe and is used to drive the first drug solution to be input into the first infusion line according to the first driving control signal and the driving adjustment information. The second infusion mechanism includes a reservoir bottle and an infusion driving component. The second drug solution is stored in the reservoir bottle. One end of the reservoir bottle is connected to the second infusion line. The infusion driving component is disposed on the second infusion line and is used to drive the second drug solution in the reservoir bottle to be input into the second infusion line according to the second driving control signal and the driving adjustment information.

[0018] Furthermore, the object determination unit includes a drug solution analysis subunit, a data verification subunit, an alarm notification subunit, a configuration adjustment subunit, and a device determination subunit;

[0019] The drug solution analysis subunit is used to receive the injection drug solution information and parse the injection drug solution information to obtain the drug solution component information, the drug solution ratio value, and the drug solution delivery standard rate;

[0020] The data verification subunit is connected to the drug solution analysis subunit and is used to extract the corresponding drug solution ratio threshold from the database based on the drug solution component information, and compare the drug solution ratio value with the drug solution ratio threshold.

[0021] The alarm notification subunit is connected to the data verification subunit and is used to send alarm notification information to a preset display interface to remind the user when the drug ratio value is greater than the drug ratio threshold.

[0022] The configuration adjustment subunit and the data verification subunit are connected and are used to extract the measured pressure value information when the drug ratio value is less than or equal to the drug ratio threshold, determine the current pressure level of the system based on the pressure value information and the preset pressure alarm threshold information, compare the current pressure level with the preset standard pressure level, and adjust the current pressure level to correspond to the standard pressure level when the current pressure level and the standard pressure level do not correspond.

[0023] The device determines the subunit and the configuration adjustment subunit, and is used to find the corresponding first and second drug solutions to be mixed in the first and second drug solutions according to the drug solution composition information when the current pressure level corresponds to the standard pressure level, and to designate the first infusion mechanism and the second infusion mechanism corresponding to the first and second drug solutions to be mixed as the first infusion mechanism and the second infusion mechanism to be infused.

[0024] Furthermore, the first infusion information includes the first drug attribute information corresponding to the first drug solution to be mixed and the first pipeline attribute information of the first infusion line corresponding to the first infusion device; the second infusion information includes the second drug attribute information corresponding to the second drug solution to be mixed and the second pipeline attribute information of the second infusion line corresponding to the second infusion device; the drug delivery standard rate includes the first drug delivery standard rate and the second drug delivery standard rate; and the data processing unit includes the first processing subunit and the second processing subunit.

[0025] The first computational subunit is used to input the first drug liquid attribute information, the first pipeline attribute information, and the first drug liquid delivery standard rate into the pre-trained neural network model to obtain the first drive control information;

[0026] The second computational subunit is used to input the second liquid attribute information, the second pipeline attribute information, and the second liquid delivery standard rate into the pre-trained neural network model to obtain the second drive control information.

[0027] Furthermore, the control module also includes a sensor detection unit, a system alarm unit, and a valve control unit;

[0028] The sensing and detection unit is used to acquire the status information of the measurement sensor and detect whether the status corresponding to the status information is a correct status.

[0029] The system alarm unit is connected to the sensor detection unit and is used to issue an alarm prompt to trigger a system alarm when the state corresponding to the state information is not the correct state.

[0030] The valve control unit is connected to the sensing and detection unit, and is used to receive the first drive control signal and the second drive control signal when the state corresponding to the state information is the correct state, and to perform valve flow control according to the first drive control signal and the second drive control signal.

[0031] Compared with the prior art, the embodiments of this application have the following main advantages:

[0032] This application establishes an infusion control system comprising an infusion device, infusion tubing, regulating valves, and a control module. This system identifies the corresponding drug solution to be mixed in the infusion device based on input injection drug information, acquires first and second infusion information corresponding to the drug solution to be mixed, calculates infusion control information for delivering the injection drug based on the first and second infusion information, and controls the corresponding first and second infusion mechanisms and regulating valves in the infusion device according to the infusion control information to execute the drug injection action. This effectively controls the infusion driving force of the first and second infusion mechanisms, reducing the error between the flow rate of the drug solution to be mixed in the infusion tubing and the set flow rate, thus achieving precise mixing of the drug solution. Attached Figure Description

[0033] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the device structure of the infusion control system of this application;

[0035] Figure 2 This is a schematic diagram of the control module of the infusion control system of this application;

[0036] Figure 3 This is a schematic diagram of the structure of the first and second infusion mechanisms of the infusion control system of this application;

[0037] Figure 4 This is a schematic diagram of the object determination unit of the infusion control system of this application;

[0038] Figure 5 This is a schematic diagram of the data processing unit of the infusion control system of this application;

[0039] Reference numerals: 1. Infusion device; 2. Infusion line; 3. Regulating valve; 4. Control module; 11. First infusion mechanism; 12. Second infusion mechanism; 21. First infusion line; 22. Second infusion line; 23. Third infusion line; 23. Output port A; 31. First regulating valve; 32. Second regulating valve; 33. Third regulating valve; 41. Object determination unit; 42. Information acquisition unit; 43. Data processing unit; 44. Device control unit; 45. Adjustment control unit; 46. Sensing and detection unit; 47. System alarm unit; 48. Valve control unit; 111. Injection drive mechanism; 112. Syringe; 121. Storage bottle; 122. Infusion drive component; 411. Drug analysis subunit; 412. Data verification subunit; 413. Alarm prompt subunit; 414. Configuration adjustment subunit; 415. Device determination subunit. Detailed Implementation

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0041] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0042] Embodiments of the infusion control system of this application

[0043] refer to Figures 1-2 The infusion control system of this application includes: an infusion device 1, an infusion pipeline 2, a regulating valve 3, and a control module 4;

[0044] The infusion device 1 includes several first infusion mechanisms 11 and several second infusion mechanisms 12. The first infusion mechanisms 11 and the second infusion mechanisms 12 respectively store a first drug solution and a second drug solution. The infusion tubing 2 is used to transport and mix the first drug solution and the second drug solution. The regulating valve 3 is disposed on the infusion tubing 2 to control the infusion rate of the infusion tubing 2. The control module 4 is connected to the first infusion mechanism 11, the second infusion mechanism 12 and the regulating valve 3. It is used to obtain the corresponding first infusion information and second infusion information according to the input injection drug information, and calculate the infusion control information for transporting the injection drug according to the first infusion information and the second infusion information. It controls the corresponding first infusion mechanism 11, second infusion mechanism 12 and regulating valve 3 according to the infusion control information to perform the drug injection action.

[0045] In this embodiment, the first drug solution includes at least a contrast agent, the second drug solution includes at least physiological saline, the first infusion mechanism 11 includes at least two, and the second infusion mechanism 12 includes at least three, which can be configured according to actual conditions. The components of the first drug solution stored in each first infusion mechanism 11 and the components of the second drug solution stored in each second infusion mechanism 12 are different. The infusion tubing 2 extends downward with a certain bending angle and tilt angle. The regulating valve 3 is located at the non-bending point of the infusion tubing 2. The control module 4 is connected to and controls the first infusion mechanism 11, the second infusion mechanism 12, and the regulating valve 3 via signals. The injection solution information is manually input by the operator and received by the control module 4. After calculating the infusion control information, the control module 4 generates a corresponding infusion control signal and sends it to the first infusion mechanism 11, the second infusion mechanism 12, and the regulating valve 3 for device control. The infusion control signal controls at least one of the first infusion mechanisms 11 and one of the second infusion mechanisms 12. The first infusion mechanism 11 adjusts the infusion driving force according to the corresponding infusion control signal to cooperate with the regulating valve 3 in delivering the first solution to the mixing area in the infusion line at a set infusion rate for mixing. The second infusion mechanism 12 delivers the second solution to the mixing area in the infusion line at a set infusion rate according to the corresponding infusion control signal for mixing. The regulating valve 3 opens the corresponding first infusion mechanism 11 and the second infusion mechanism 12 and controls the infusion flow rate according to the infusion rate contained in the infusion control signal.

[0046] This application establishes an infusion control system comprising an infusion device 1, an infusion line 2, a regulating valve 3, and a control module 4. This system identifies the corresponding drug solution to be mixed in the infusion device 1 based on the input injection drug solution information, acquires the first and second infusion information corresponding to the drug solution to be mixed, calculates infusion control information for delivering the injection drug based on the first and second infusion information, and controls the corresponding first infusion mechanism 11, second infusion mechanism 12, and regulating valve 3 in the infusion device 1 according to the infusion control information to execute the drug injection action. This effectively controls the infusion driving force of the first infusion mechanism 11 and second infusion mechanism 12, reducing the error between the flow rate of the drug solution to be mixed in the infusion line 2 and the set flow rate, thereby achieving precise mixing of the drug solution.

[0047] In an optional embodiment of this example, the infusion line 2 includes a first infusion line 21, a second infusion line 22, and a third infusion line 23. The first infusion mechanism 11 is connected to the first infusion line 21, the second infusion mechanism 12 is connected to the second infusion line 22, and the third infusion line 23 is connected to the end where the first infusion line 21 and the second infusion line 22 intersect. The first infusion mechanism 11 and the second infusion mechanism 12 are used to deliver the first drug solution and the second drug solution, respectively. The third infusion line 23 is used to mix the first drug solution and the second drug solution, and deliver the mixed drug solution to the outlet A for drug injection.

[0048] In this embodiment, refer to Figure 1 The first infusion line 21 refers to the section of the infusion line extending from the infusion port of the first infusion mechanism 11 to the intersection point where it meets the section extending from the second infusion mechanism 22. The second infusion line 22 refers to the section of the infusion line extending from the infusion port of the second infusion mechanism 12 to the intersection point where it meets the section extending from the first infusion mechanism 11. The third infusion line 23 refers to the section of the infusion line extending from the intersection point of the first infusion line 21 and the second infusion line 22 to the outlet A of the infusion line. In specific implementations, since there may be multiple first infusion mechanisms 11 and multiple second infusion mechanisms 12, the lengths of the infusion lines corresponding to different first infusion mechanisms 11 and different second infusion mechanisms 12 may vary. (Refer to...) Figure 1When the leftmost first infusion unit 11 and the leftmost second infusion unit 12 mix the medication, the lengths of the first infusion line 21 and the second infusion line 22 are relatively short. However, when the leftmost first infusion unit 11 and the rightmost second infusion unit 12 mix the medication, the lengths of the first infusion line 21 and the second infusion line 22 are relatively long. This is because the intersection points of the infusion lines from the first infusion unit 11 and the second infusion unit 12 are different. Therefore, for different first infusion units 11 and different second infusion units 12, the lengths and positions of the first infusion line 21, the second infusion line 22, and the third infusion line 23 are all different.

[0049] In an optional embodiment of this example, the regulating valve 3 includes a first regulating valve 31, a second regulating valve 32, and a third regulating valve 33. The first regulating valve 31 is disposed on the first infusion line 21 and is used to control the infusion rate of the first drug solution. The second regulating valve 32 is disposed on the second infusion line 22 and is used to control the infusion rate of the second drug solution. The third regulating valve 33 is disposed on the third infusion line 23 and is used to control the infusion rate of the mixed drug solution.

[0050] In this embodiment, the regulating valve 3 is set at a predetermined position on the corresponding infusion line 2. Specifically, the first regulating valve 31 is set on the first infusion line 21 near the infusion port of the first infusion mechanism 11, the second regulating valve 32 is set on the second infusion line 22 near the infusion drive component of the second infusion mechanism 12, and the third regulating valve 33 is set on the third infusion line 23 near the nearest intersection of the infusion lines. The above-mentioned positions of the first regulating valve 31, the second regulating valve 32, and the third regulating valve 33 are only examples. In actual settings, they can be adjusted according to the actual situation.

[0051] In this example, after the first and second medicinal solutions are mixed, the third regulating valve 33 can be closed as needed. At this time, the first and second medicinal solutions mix above the third regulating valve 33 to form a mixed solution. Therefore, in order to effectively mix the first and second medicinal solutions, the third regulating valve 33 can be set at a predetermined distance from the nearest intersection in the infusion pipeline 2. In this embodiment, the predetermined distance can be set to 10cm. This predetermined distance can be set according to actual needs to ensure that the mixed solution formed after the first and second medicinal solutions are mixed can be temporarily stored above the closed third regulating valve 33.

[0052] In an optional embodiment of this example, the first regulating valve 31, the second regulating valve 32, and the third regulating valve 33 are further equipped with measuring sensors (not shown in the figure). The measuring sensors are used to measure the first actual infusion rate of the first drug solution, the second actual infusion rate of the second drug solution, and the third actual infusion rate of the mixed drug solution, respectively, and send the first actual infusion rate, the second actual infusion rate, and the third actual infusion rate to the control module 4 for data feedback.

[0053] In this embodiment, the measuring sensor can be installed not only on the first regulating valve 31, the second regulating valve 32, and the third regulating valve 33, but also on or near the first infusion line 21, the second infusion line 22, and the third infusion line 23. The measuring sensor in this embodiment is a flow rate measuring sensor, used to measure the flow rate of the liquid, and its installation position can be adjusted according to actual conditions.

[0054] Continue to refer to Figure 2 In an optional embodiment of this example, the control module 4 includes an object determination unit 41, an information acquisition unit 42, a data processing unit 43, and a device control unit 44.

[0055] The object determination unit 41 is used to parse the received injection solution information to obtain the solution composition information, solution ratio value, and standard solution delivery rate. Based on the solution composition information and solution ratio value, it determines the corresponding first and second solutions to be mixed. Based on the first and second solutions to be mixed, it determines the corresponding first and second infusion units in the first and second infusion units 11 and 12. In this embodiment, the solution composition information is used to determine the corresponding solution objects in the first and second solutions. In this embodiment, the injection solution information is set with the total amount of mixed solution to be delivered. Based on the solution ratio value and the total amount of mixed solution, the delivery volume of the first and second solutions to be mixed is calculated. The infusion time is calculated using the standard solution delivery rate, the delivery volume of the first and second solutions to be mixed, and the delivery volume of the second solution to be mixed. The solution is then delivered based on the infusion time. In this embodiment, after determining the first and second drug solutions to be mixed, the first infusion unit 11 where the first drug solution to be mixed is stored is designated as the first infusion unit, and the second infusion unit 12 where the second drug solution to be mixed is stored is designated as the second infusion unit.

[0056] The information acquisition unit 42 is connected to the object determination unit 41 and is used to extract the first infusion information and the second infusion information from a preset database based on the first infusion device and the second infusion device, and send the first infusion information and the second infusion information to the data processing unit 43. In this embodiment, the corresponding first infusion information and second infusion information can be extracted from the database based on the name or identification information (such as device ID) of the first infusion device and the name or identification information of the second infusion device.

[0057] The data processing unit 43 is connected to the information acquisition unit 42, and is used to input the standard drug delivery rate, the first infusion information, and the second infusion information into a pre-trained neural network model to obtain corresponding first drive control information and second drive control information. In this embodiment, the standard drug delivery rate includes a first delivery standard rate and a second delivery standard rate, wherein the first delivery standard rate corresponds to the first infusion information, and the second delivery standard rate corresponds to the second infusion information. The pre-trained neural network model can adopt a backpropagation neural network model. By inputting historical data or sample data of the infusion control system into the neural network model for training, the historical first and second infusion information are used as input parameters of the model to the input layer of the model for result prediction, and the output prediction result is compared with the actual result. The mean square error between the prediction result and the actual result is used as the loss function to determine the stable parameter in the input parameters. The mean square error calculation process is as follows: Suppose there are n input parameters k, where each input parameter k has a corresponding prediction result y. k and actual result t k Then calculate the difference y between the predicted result and the actual result. k -t k Then square the difference to get the squared difference (y). k -t k ) 2 Summing the squared differences of all input parameters k, we obtain the sum of squared differences ∑ k (y k -t k ) 2 The mean square error (1 / n*∑) is obtained by averaging the sum of squared differences among the n input parameters. k (y k -t k ) 2After determining the stable parameters, the gradients of the loss function and the parameter weights in the input parameters are calculated using gradient descent. The calculated gradients are then used to update the parameter weights in the input parameters, thereby optimizing the loss function to the expected accuracy standard of the model's predictions, resulting in an accurate neural network model. The formula for calculating the gradient is as follows: in, This represents the gradient of the function f at point x. The gradient represents the partial derivative of function f with respect to variable x1. The direction of the gradient points in the direction of the fastest change of the function at that point, and the magnitude of the gradient represents the rate of change of the function at that point. Function f corresponds to the loss function, and x corresponds to the weight of the parameters. The parameter weights at the corresponding point are adjusted in reverse according to the gradient direction to update the parameter weights. After the loss function optimizes the neural network model, the neural network model is used to predict the driving force required by the first infusion mechanism 11 and the second infusion mechanism 12 to reach the first and second standard delivery rates. In this embodiment, after the model prediction results are output, the driving force required by the first infusion mechanism 11 and the first standard drug delivery rate controlled by the first regulating valve 31 on the first infusion line 21 are used as the first driving control information, and the driving force required by the second infusion mechanism 12 and the second standard drug delivery rate controlled by the second regulating valve 32 on the second infusion line 22 are used as the second driving control information.

[0058] The device control unit 44 is connected to the data processing unit 43, and is used to generate corresponding first drive control signals and second drive control signals according to the first drive control information and the second drive control information, and send the first drive control signals and the second drive control signals to the first infusion device, the second infusion device, and the corresponding regulating valve 3 for infusion control. In this embodiment, the first drive control signal includes at least a first infusion device control signal and a first regulating valve control signal. The first infusion device control signal is used to control the driving force of the first infusion device, and the first regulating valve control signal is used to control the flow rate at the opening of the first regulating valve 21. The second drive control signal includes at least a second infusion device control signal and a second regulating valve control signal. The second infusion device control signal is used to control the driving force of the second infusion device, and the second regulating valve control signal is used to control the flow rate at the opening of the second regulating valve 22.

[0059] In practical implementation, the drive control signal sent to the regulating valve 3 also includes a third regulating valve control signal. This control signal can be generated by the system according to the third standard delivery rate in the standard delivery rate of the liquid medicine, or it can be generated according to the control instructions input by the operator.

[0060] In an optional embodiment of this example, the standard infusion rate includes a first standard infusion rate, a second standard infusion rate, and a third standard infusion rate. The control module 4 further includes an adjustment control unit 45, which is used to detect whether the difference between the feedback first actual infusion rate, second actual infusion rate, third actual infusion rate, and the first standard infusion rate, second standard infusion rate, and third standard infusion rate is less than a preset threshold. When the difference is greater than or equal to the preset threshold, the control unit adjusts the drive of the first infusion device and the second infusion device according to preset drive adjustment information.

[0061] In this embodiment, the preset threshold can be set as a percentage value, such as 5%. The drive adjustment information includes a preset drive force adjustment coefficient. When the difference between any one or more of the first actual infusion rate, the second actual infusion rate, and the third actual infusion rate and the corresponding first standard delivery rate, the second standard delivery rate, and the third standard delivery rate is greater than or equal to 5%, the system obtains the preset drive force adjustment coefficient to adjust the drive force of one or more of the first and second infusion mechanisms. In this embodiment, different adjustment levels can be set according to the specific value of the difference, and different drive force adjustment coefficients can be set according to the adjustment levels to perform effective drive control adjustment. For example, when the difference is 5%-8%, the drive force adjustment coefficient is ±1.1; when the difference is 8%-10%, the drive force adjustment coefficient is ±1.15; and when the difference is 10%-12%, the drive force adjustment coefficient is ±1.2. The above differences are only examples and can be set and adjusted according to the actual situation.

[0062] Continue to refer to Figure 3 In an optional embodiment of this example, the first infusion mechanism 11 includes an injection drive mechanism 111 and a syringe 112. The first drug solution is stored in the syringe 112. One end of the syringe 112 is connected to the first infusion line 21, and the other end of the injection drive mechanism 111 and the syringe 112 are connected. The injection drive mechanism 111 is used to drive the first drug solution to be input into the first infusion line 21 according to the first drive control signal and the drive adjustment information. The second infusion mechanism 12 includes a storage bottle 121 and an infusion drive component 122. The second drug solution is stored in the storage bottle 121. One end of the storage bottle 121 is connected to the second infusion line 22. The infusion drive component 122 is disposed on the second infusion line 22 and is used to drive the second drug solution in the storage bottle 121 to be input into the second infusion line 22 according to the second drive control signal and the drive adjustment information.

[0063] In this embodiment, the injection drive mechanism 111 is used to push the first drug solution stored in the syringe 112 into the first infusion line 21. After acquiring the infusion control information, the first infusion mechanism 11 controls the injection drive mechanism 111 to apply a corresponding driving force to the syringe 112 according to the driving force control information contained in the infusion control information. In this embodiment, the infusion drive component 122 is preferably a peristaltic pump. The peristaltic pump is installed on the second infusion line 22. After acquiring the infusion control information, the second infusion mechanism 12 controls the motor of the peristaltic pump to rotate according to the driving force control information contained in the infusion control information, so as to draw the second drug solution from the reservoir bottle 121 of the second infusion mechanism 12 and input the second drug solution into the second infusion line 22.

[0064] Continue to refer to Figure 4 In an optional embodiment of this example, the object determination unit 41 includes a drug solution analysis subunit 411, a data verification subunit 412, an alarm prompting subunit 413, a configuration adjustment subunit 414, and a device determination subunit 415.

[0065] The drug solution analysis subunit 411 is used to receive the injection drug solution information and parse the injection drug solution information to obtain the drug solution component information, the drug solution ratio value, and the drug solution delivery standard rate. In this embodiment, the injection drug solution information is the information contained in the drug injection instruction, and the drug solution component information contains the main components of the drug solution, which correspond to at least one of the first drug solution and the second drug solution. The drug solution ratio value is the ratio value of the corresponding first drug solution and the second drug solution, which can be calculated based on the specific injection drug solution concentration. The drug solution delivery standard rate is the set rate at which the drug solution should be delivered in the infusion line 2.

[0066] The data verification subunit 412 is connected to the drug solution analysis subunit 411, and is used to extract the corresponding drug solution ratio threshold from the database according to the drug solution component information, and compare the drug solution ratio value with the drug solution ratio threshold. In this embodiment, the drug solution ratio threshold is a preset threshold based on drug solution safety information. When the drug solution ratio value is higher than the drug solution ratio threshold, it indicates that there is a certain danger after the drug solution is mixed according to the ratio value. In this embodiment, the drug solution ratio thresholds of different injection solutions are different, and can be set according to the actual stored first and second drug solutions.

[0067] The alarm notification subunit 413 and the data verification subunit 412 are connected and are used to send alarm notification information to a preset display interface for reminder when the drug ratio value is greater than the drug ratio threshold. In this embodiment, the display interface can be preset on a device that is remotely connected to the infusion control system, such as the main display of the vascular interventional surgery robot, so that the operator can obtain alarm notification information in a timely manner.

[0068] The configuration adjustment subunit 414 and the data verification subunit 412 are connected and used to extract the measured pressure value information when the drug ratio value is less than or equal to the drug ratio threshold. Based on the pressure value information and the preset pressure alarm threshold information, the current pressure level of the system is determined. The current pressure level is compared with the preset standard pressure level, and if the current pressure level and the standard pressure level do not correspond, the current pressure level is adjusted to correspond to the standard pressure level. In this embodiment, the pressure value information can be obtained by a pressure sensor. Each pressure level corresponds to a corresponding pressure alarm threshold. The current pressure level is determined by comparing the pressure value corresponding to the pressure value information with the pressure alarm threshold. This pressure level corresponds to the pressure inside the infusion tubing. The system sets a specific standard pressure level according to the current environment and the needs of the injected drug solution. When the system needs to inject the drug solution, the pressure level inside the infusion tubing should correspond to the standard pressure level.

[0069] The device determines that the subunit 415 and the configuration adjustment subunit 414 are connected. When the current pressure level corresponds to the standard pressure level, it searches for the corresponding first and second drug solutions to be mixed in the first and second drug solutions based on the drug composition information. The first and second infusion devices corresponding to the first and second drug solutions to be mixed are then designated as the first and second infusion devices to be infused. In this embodiment, after determining the first and second infusion devices to be infused, the device returns corresponding identification information to obtain the corresponding data.

[0070] Continue to refer to Figure 5 In an optional embodiment of this example, the first infusion information includes the first drug solution attribute information corresponding to the first drug solution to be mixed and the first pipeline attribute information of the first infusion line 21 corresponding to the first infusion device. The second infusion information includes the second drug solution attribute information corresponding to the second drug solution to be mixed and the second pipeline attribute information of the second infusion line 22 corresponding to the second infusion device. The drug delivery standard rate includes the first drug delivery standard rate and the second drug delivery standard rate. The data processing unit 43 includes the first processing subunit 431 and the second processing subunit 432. In this embodiment, the first drug solution attribute information includes the first drug solution liquid density and the first drug solution liquid viscosity. The first pipeline attribute information includes the first infusion line inclination, the first infusion line curvature, and the number of bends in the first infusion line. The second drug solution attribute information includes the second drug solution liquid density and the second drug solution liquid viscosity. The second pipeline attribute information includes the second infusion line inclination, the second infusion line curvature, and the number of bends in the second infusion line.

[0071] The first operation subunit 431 is used to input the first liquid attribute information, the first pipeline attribute information, and the first liquid delivery standard rate into the pre-trained neural network model to obtain the first drive control information;

[0072] The second operation subunit 432 is used to input the second liquid attribute information, the second pipeline attribute information, and the second liquid delivery standard rate into the pre-trained neural network model to obtain the second drive control information.

[0073] In this embodiment, the influence of temperature on the flow rate of the drug solution can also be considered. The acquired ambient temperature information and drug solution temperature information, along with the first infusion information, the second infusion information, and the standard drug solution delivery rate, are input into a pre-trained neural network model to obtain more accurate first drive control information and second drive control information.

[0074] In an optional embodiment of this example, the control module 4 further includes a sensing and detection unit 46, a system alarm unit 47, and a valve control unit 48;

[0075] The sensing and detection unit 46 is used to acquire the status information of the measurement sensor and detect whether the status corresponding to the status information is a correct status.

[0076] In this embodiment, the correct state of the measuring sensor can be identified by sending a response command to the sensor and obtaining its feedback information, or by checking whether the data measured by the sensor is within the normal range. In practice, the above detection method is merely an example and can be adjusted according to actual circumstances.

[0077] The system alarm unit 47 is connected to the sensor detection unit 46 and is used to issue an alarm prompt to trigger a system alarm when the state corresponding to the state information is not the correct state.

[0078] In this embodiment, when the status information corresponds to an incorrect status, an alarm prompt can be generated and sent to a preset display interface, such as the main controller screen, or a corresponding alarm sound can be set. When the status information corresponds to an incorrect status, a prompt command can be generated and sent to the system to trigger an alarm sound for alarm reminder.

[0079] The valve control unit 48 is connected to the sensing unit 46 and is used to receive the first drive control signal and the second drive control signal when the state corresponding to the state information is a correct state, and to perform valve flow control based on the first drive control signal and the second drive control signal. In this embodiment, the third regulating valve 33 also receives a third drive control signal and performs valve flow control based on the third drive control signal.

[0080] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. An infusion control system, characterized by, include: Infusion device, infusion tubing, regulating valve and control module; The infusion device includes several first infusion mechanisms and several second infusion mechanisms. The first infusion mechanisms and the second infusion mechanisms respectively store a first drug solution and a second drug solution. The infusion tubing is used to transport and mix the first drug solution and the second drug solution. The regulating valve is installed on the infusion tubing to control the infusion rate of the infusion tubing. The control module is connected to the first infusion mechanism, the second infusion mechanism, and the regulating valve. It is used to obtain the corresponding first infusion information and second infusion information based on the input injection drug solution information, calculate the infusion control information for transporting the injection drug based on the first infusion information and the second infusion information, and control the corresponding first infusion mechanism, second infusion mechanism, and regulating valve according to the infusion control information to execute the drug injection action. The control module includes an object determination unit, an information acquisition unit, a data processing unit, and a device control unit; The object determination unit is used to parse the received injection liquid information to obtain liquid composition information, liquid ratio value, and standard liquid delivery rate. Based on the liquid composition information and the liquid ratio value, it determines the corresponding first liquid to be mixed and second liquid to be mixed. Based on the first liquid to be mixed and the second liquid to be mixed, it determines the corresponding first infusion device and second infusion device in the first infusion device and the second infusion device. The information acquisition unit is connected to the object determination unit and is used to extract the first infusion information and the second infusion information from a preset database based on the first infusion device and the second infusion device, and send the first infusion information and the second infusion information to the data processing unit. The data processing unit and the information acquisition unit are connected and are used to input the standard rate of drug delivery, the first infusion information and the second infusion information into the pre-trained neural network model to obtain the corresponding first drive control information and second drive control information. The device control unit is connected to the data processing unit and is used to generate corresponding first drive control signal and second drive control signal according to the first drive control information and the second drive control information, and send the first drive control signal and the second drive control signal to the first infusion device, the second infusion device and the corresponding regulating valve for infusion control.

2. The infusion control system according to claim 1, characterized in that, The infusion tubing includes a first infusion tubing, a second infusion tubing, and a third infusion tubing. The first infusion mechanism is connected to the first infusion tubing, the second infusion mechanism is connected to the second infusion tubing, and the third infusion tubing is connected to the end where the first infusion tubing and the second infusion tubing intersect. The first infusion mechanism and the second infusion mechanism are used to deliver the first drug solution and the second drug solution, respectively. The third infusion tubing is used to mix the first drug solution and the second drug solution and deliver the mixed drug solution to the outlet for drug injection.

3. The infusion control system according to claim 2, characterized in that, The regulating valve includes a first regulating valve, a second regulating valve, and a third regulating valve. The first regulating valve is disposed on the first infusion line and is used to control the infusion rate of the first drug solution. The second regulating valve is disposed on the second infusion line and is used to control the infusion rate of the second drug solution. The third regulating valve is disposed on the third infusion line and is used to control the infusion rate of the mixed drug solution.

4. The infusion control system according to claim 3, characterized in that, The first regulating valve, the second regulating valve, and the third regulating valve are also equipped with measuring sensors. The measuring sensors are used to measure the first actual infusion rate of the first drug solution, the second actual infusion rate of the second drug solution, and the third actual infusion rate of the mixed drug solution, respectively, and send the first actual infusion rate, the second actual infusion rate, and the third actual infusion rate to the control module for data feedback.

5. The infusion control system according to claim 4, characterized in that, The drug delivery standard rate includes a first delivery standard rate, a second delivery standard rate, and a third delivery standard rate. The control module also includes an adjustment control unit, which is used to detect whether the difference between the feedback first actual infusion rate, second actual infusion rate, third actual infusion rate, and the first delivery standard rate, second delivery standard rate, and third delivery standard rate is less than a preset threshold. When the difference is greater than or equal to the preset threshold, the control unit adjusts the drive control of the first infusion device and the second infusion device according to preset drive adjustment information.

6. The infusion control system according to claim 5, characterized in that, The first infusion mechanism includes an injection drive mechanism and a syringe. The first drug solution is stored in the syringe. One end of the syringe is connected to the first infusion line. The injection drive mechanism is connected to the other end of the syringe and is used to drive the first drug solution to be input into the first infusion line according to the first drive control signal and the drive adjustment information. The second infusion mechanism includes a reservoir bottle and an infusion drive component. The second drug solution is stored in the reservoir bottle. One end of the reservoir bottle is connected to the second infusion line. The infusion drive component is disposed on the second infusion line and is used to drive the second drug solution in the reservoir bottle to be input into the second infusion line according to the second drive control signal and the drive adjustment information.

7. The infusion control system according to claim 1, characterized in that, The object determination unit includes a drug liquid analysis subunit, a data verification subunit, an alarm prompting subunit, a configuration adjustment subunit, and a device determination subunit; The drug solution analysis subunit is used to receive the injection drug solution information and parse the injection drug solution information to obtain the drug solution component information, the drug solution ratio value, and the drug solution delivery standard rate; The data verification subunit is connected to the drug solution analysis subunit and is used to extract the corresponding drug solution ratio threshold from the database based on the drug solution component information, and compare the drug solution ratio value with the drug solution ratio threshold. The alarm notification subunit is connected to the data verification subunit and is used to send alarm notification information to a preset display interface to remind the user when the drug ratio value is greater than the drug ratio threshold. The configuration adjustment subunit and the data verification subunit are connected and are used to extract the measured pressure value information when the drug ratio value is less than or equal to the drug ratio threshold, determine the current pressure level of the system based on the pressure value information and the preset pressure alarm threshold information, compare the current pressure level with the preset standard pressure level, and adjust the current pressure level to correspond to the standard pressure level when the current pressure level and the standard pressure level do not correspond. The device determines the subunit and the configuration adjustment subunit, and is used to find the corresponding first and second drug solutions to be mixed in the first and second drug solutions according to the drug solution composition information when the current pressure level corresponds to the standard pressure level, and to designate the first infusion mechanism and the second infusion mechanism corresponding to the first and second drug solutions to be mixed as the first infusion mechanism and the second infusion mechanism to be infused.

8. The infusion control system according to claim 1, characterized in that, The first infusion information includes the first drug solution attribute information corresponding to the first drug solution to be mixed and the first pipeline attribute information of the first infusion line corresponding to the first infusion device; the second infusion information includes the second drug solution attribute information corresponding to the second drug solution to be mixed and the second pipeline attribute information of the second infusion line corresponding to the second infusion device; the drug delivery standard rate includes the first drug delivery standard rate and the second drug delivery standard rate; and the data processing unit includes the first processing subunit and the second processing subunit. The first computational subunit is used to input the first drug liquid attribute information, the first pipeline attribute information, and the first drug liquid delivery standard rate into the pre-trained neural network model to obtain the first drive control information; The second computational subunit is used to input the second liquid attribute information, the second pipeline attribute information, and the second liquid delivery standard rate into the pre-trained neural network model to obtain the second drive control information.

9. The infusion control system according to claim 4, characterized in that, The control module also includes a sensor detection unit, a system alarm unit, and a valve control unit; The sensing and detection unit is used to acquire the status information of the measurement sensor and detect whether the status corresponding to the status information is a correct status. The system alarm unit is connected to the sensor detection unit and is used to issue an alarm prompt to trigger a system alarm when the state corresponding to the state information is not the correct state. The valve control unit is connected to the sensing and detection unit, and is used to receive the first drive control signal and the second drive control signal when the state corresponding to the state information is the correct state, and to perform valve flow control according to the first drive control signal and the second drive control signal.

Images