Intra-aortic balloon anti-bite pump control method and system

Abstract

The invention relates to the technical field of medical equipment, in particular to an intra-aorta balloon anti-bite pump control method, system and device, computer equipment and a storage medium. The method comprises the steps that in response to starting of target equipment, feature collection signals of a target object are obtained, and the feature collection signals comprise electrocardiosignals and blood pressure signals; determining a pressure control signal of the target equipment based on the blood pressure signal, wherein the pressure control signal comprises a peak blood pressure value when the target equipment is inflated and a minimum blood pressure value when the target equipment is deflated; determining a control time sequence signal of the target equipment based on the electrocardiosignal; and driving a pneumatic system of the target equipment based on the pressure control signal and the control time sequence signal so as to realize work control of the target equipment. By adopting the method, the control response efficiency and accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of medical equipment technology, and in particular to a control method, system, device, computer equipment and storage medium for an intra-aortic balloon counterpulsation pump. Background Art

[0002] The intra-aortic balloon counterpulsation pump is a pneumatic system that controls a special balloon catheter in the artery. It is controlled by an electronic and air source system to inflate the balloon during diastole and deflate during systole, which increases the diastolic pressure in the aorta and decreases the systolic pressure, thereby increasing coronary blood supply and reducing cardiac afterload. The intra-aortic balloon counterpulsation pump is currently the most commonly used left ventricular mechanical assist device to provide pneumatic assistance to failing or weakened hearts. Intra-aortic balloon counterpulsation therapy technology was introduced more than 50 years ago and has been proven to improve hemodynamic parameters and myocardial oxygen delivery in patients with myocardial ischemia and cardiogenic shock. However, a faster-responding intra-aortic balloon counterpulsation pump has always been the goal pursued by the industry.

[0003] In the related technology, the current intra-aortic balloon counterpulsation pump mainly includes a pneumatic system (power source, solenoid valve module), a signal acquisition system and a central processing system. Among them, the power source of the pneumatic system mainly includes two technologies: a diaphragm pump and a bellows pump. The solenoid valve module is an important component for controlling helium filling and balloon counterpulsation. Its response time, working noise, and diameter size are the basic parameters that affect the intra-aortic balloon counterpulsation pump. The signal acquisition system includes ECG signal acquisition and blood pressure signal acquisition. Both signals are important bases for controlling the timing of balloon inflation and deflation. The central processing system is the core processor for analyzing ECG and blood pressure signals; outputting power source and solenoid valve control signals; and collecting and analyzing the pressure inside the balloon in real time.

[0004] However, the current intra-aortic balloon pump system has the following technical problems:

[0005] The control response efficiency and accuracy of the current intra-aortic balloon pump control system are poor and need to be optimized. Summary of the invention

[0006] Based on this, it is necessary to provide an intra-aortic balloon counterpulsation pump control method, device, computer equipment, computer-readable storage medium and computer program product that can improve control response efficiency and accuracy in response to the above technical problems.

[0007] In a first aspect, the present application provides a method for controlling an intra-aortic balloon pump. The method comprises:

[0008] In response to the activation of the target device, acquiring a characteristic acquisition signal of the target object, wherein the characteristic acquisition signal includes an electrocardiogram signal and a blood pressure signal;

[0009] determining a pressure control signal of the target device based on the blood pressure signal, the pressure control signal comprising a peak blood pressure value when the target device is inflated and a minimum blood pressure value when the target device is deflated;

[0010] Determining a control timing signal of the target device based on the electrocardiogram signal;

[0011] The pneumatic system of the target device is driven based on the pressure control signal and the control timing signal to achieve operation control of the target device.

[0012] In one embodiment, determining the pressure control signal of the target device based on the blood pressure signal comprises:

[0013] Extracting peak characteristics and morphological characteristics of the blood pressure signal;

[0014] The pressure control signal is determined according to the peak characteristic and the morphological characteristic.

[0015] In one embodiment, determining the pressure control signal of the target device based on the blood pressure signal further includes:

[0016] Acquiring a normal blood pressure signal of the target object when the pneumatic system is closed;

[0017] The conventional blood pressure signal is compared with the pressure control signal to obtain a gain effectiveness index of the target device.

[0018] In one embodiment, after obtaining the characteristic acquisition signal of the target object in response to the activation of the target device, the method further includes:

[0019] The characteristic acquisition signal is subjected to multi-stage signal processing, wherein the multi-stage signal processing includes high-pass filtering processing, power frequency notch processing, and multiple filtering processing.

[0020] In one embodiment, determining the control timing signal of the target device based on the electrocardiogram signal comprises:

[0021] Acquire waveform features of candidate peaks in the electrocardiogram signal, wherein the waveform features include feature thresholds and peak slopes;

[0022] The target peak information among the candidate peaks is determined based on the waveform features.

[0023] In one embodiment, determining the control timing signal of the target device based on the electrocardiogram signal comprises:

[0024] According to the target wave peak information, obtaining the R wave interval between two consecutive R wave detection points in the electrocardiogram signal;

[0025] Based on the R wave interval and a preset interval coefficient, determining an interval interval between a pneumatic system control point and the R wave detection point, the interval interval being an interval of distance values ​​between a subsequent R wave detection point and a corresponding pneumatic system control point;

[0026] The pneumatic system control point is determined within the interval after the next R-wave detection point, and the control timing signal is generated based on the pneumatic system control point.

[0027] In a second aspect, the present application also provides an intra-aortic balloon pump control system, the system comprising:

[0028] A signal acquisition system, used to detect and acquire a characteristic acquisition signal of a target object, wherein the characteristic acquisition signal is used to characterize a characteristic state of the target object;

[0029] A central processing system connected to the signal acquisition system, configured to analyze the characteristic acquisition signal and output a control signal corresponding to the analysis result;

[0030] A pneumatic system connected to the central processing system, the pneumatic system is controlled by the central processing system, and is used to achieve interventional medical purposes under the control of the central processing system;

[0031] The signal acquisition system includes an ECG signal acquisition module and a blood pressure signal acquisition module, and the ECG signal acquisition module includes a high-pass filter unit and a power frequency trap unit;

[0032] The pneumatic system comprises a pressure monitoring unit, which is distributed on both the air side and the helium side of the pneumatic system;

[0033] When executed, the central processing system implements the steps in a method for controlling an intra-aortic balloon counterpulsation pump as described in any one of the first aspects.

[0034] In a third aspect, the present application also provides an intra-aortic balloon pump control device. The device comprises:

[0035] A startup response module, used for acquiring a characteristic acquisition signal of a target object in response to startup of the target device, wherein the characteristic acquisition signal includes an electrocardiogram signal and a blood pressure signal;

[0036] a pressure control module, configured to determine a pressure control signal of the target device based on the blood pressure signal, wherein the pressure control signal includes a peak blood pressure value when the target device is inflated and a minimum blood pressure value when the target device is deflated;

[0037] A timing signal module, used for determining a control timing signal of the target device based on the electrocardiogram signal;

[0038] A working control module is used to drive the pneumatic system of the target device based on the pressure control signal and the control timing signal to achieve working control of the target device.

[0039] In one embodiment, the pressure control module includes:

[0040] A blood pressure feature module, used to extract peak features and morphological features of the blood pressure signal;

[0041] A pressure control signal module is used to determine the pressure control signal according to the peak characteristics and the morphological characteristics.

[0042] In one embodiment, the pressure control module further includes:

[0043] A conventional signal module, used for obtaining a conventional blood pressure signal of the target object when the pneumatic system is closed;

[0044] The gain calculation module is used to compare the conventional blood pressure signal with the pressure control signal to obtain a gain effectiveness index of the target device.

[0045] In one embodiment, after starting the response module, the method further includes:

[0046] The signal processing module is used to perform multi-stage signal processing on the feature acquisition signal, and the multi-stage signal processing includes high-pass filtering processing, power frequency notch processing, and multiple filtering processing.

[0047] In one embodiment, the timing signal module includes:

[0048] A waveform feature module, used to obtain waveform features of candidate peaks in the electrocardiogram signal, wherein the waveform features include feature thresholds and peak slopes;

[0049] The target peak module is used to determine the target peak information among the candidate peaks based on the waveform features.

[0050] In one embodiment, the timing signal module includes:

[0051] An R wave interval module, used for obtaining an R wave interval between two consecutive R wave detection points in the electrocardiogram signal according to the target wave peak information;

[0052] A control point module, for determining an interval interval between a pneumatic system control point and the R-wave detection point based on the R-wave interval and a preset interval coefficient, wherein the interval interval is a distance value interval between the next R-wave detection point and the corresponding pneumatic system control point;

[0053] The timing generation module is used to determine the pneumatic system control point within the interval after the next R wave detection point, and generate the control timing signal based on the pneumatic system control point.

[0054] In a fourth aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps in the method for controlling an intra-aortic balloon pump as described in any one of the embodiments in the first aspect are implemented.

[0055] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in a method for controlling an intra-aortic balloon counterpulsation pump as described in any one of the embodiments in the first aspect.

[0056] In a sixth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps in the method for controlling an intra-aortic balloon counterpulsation pump as described in any one of the embodiments in the first aspect are implemented.

[0057] The above-mentioned intra-aortic balloon pump control method, device, computer equipment, storage medium and computer program product can achieve the following beneficial effects corresponding to the technical problems in the background technology by deducing the technical features in the claims:

[0058] The present application provides a control method for an intra-aortic balloon anti-pulsation pump, comprising: in response to the start-up of a target device, obtaining a characteristic acquisition signal of a target object, the characteristic acquisition signal including an electrocardiogram signal and a blood pressure signal; determining a pressure control signal of the target device based on the blood pressure signal, the pressure control signal including a peak blood pressure value when the target device is inflated and a minimum blood pressure value when it is deflated; determining a control timing signal of the target device based on the electrocardiogram signal; and driving a pneumatic system of the target device based on the pressure control signal and the control timing signal to achieve the operation control of the target device. In implementation, after the target device is started, the specified characteristics of the target object are detected to obtain a characteristic acquisition signal, thereby determining the electrocardiogram signal and the blood pressure signal of the target object. At this time, the pressure interval for controlling the intra-aortic balloon anti-pulsation pump, i.e., the peak blood pressure value and the minimum blood pressure value, can be determined based on the blood pressure signal, thereby improving the safety of the target object during the inflation and deflation of the intra-aortic balloon anti-pulsation pump and the anti-pulsation auxiliary effect on the target object. Determining the control timing of the target device through ECG signals helps to achieve stability and real-time performance of system control, so that the operation of the device meets the ECG characteristics and physiological states of different subjects, ultimately improving the control response efficiency and accuracy of the intra-aortic balloon counterpulsation pump. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is an application environment diagram of an intra-aortic balloon counterpulsation pump control method in an embodiment;

[0060] Figure 2 It is a first flow chart of a method for controlling an intra-aortic balloon counterpulsation pump in one embodiment;

[0061] Figure 3 It is a second flow chart of a method for controlling an intra-aortic balloon counterpulsation pump in another embodiment;

[0062] Figure 4 A third flow chart of a method for controlling an intra-aortic balloon counterpulsation pump in another embodiment;

[0063] Figure 5 It is a fourth flow chart of a method for controlling an intra-aortic balloon counterpulsation pump in another embodiment;

[0064] Figure 6 It is a fifth flow chart of a method for controlling an intra-aortic balloon counterpulsation pump in another embodiment;

[0065] Figure 7 It is a sixth flow chart of a method for controlling an intra-aortic balloon counterpulsation pump in another embodiment;

[0066] Figure 8It is a schematic diagram of the system architecture of an intra-aortic balloon counterpulsation pump control system in a specific embodiment;

[0067] Fig. 9 It is a structural schematic diagram of a pneumatic system in a specific embodiment;

[0068] Fig.10 A timing diagram of the gas charging and discharging control in a specific embodiment;

[0069] Fig.11 It is a structural block diagram of a control device of an intra-aortic balloon counterpulsation pump in one embodiment;

[0070] Fig.12 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0072] In the related technology, the current intra-aortic balloon counterpulsation pump mainly includes a pneumatic system (power source, solenoid valve module), a signal acquisition system and a central processing system. Among them, the power source of the pneumatic system mainly includes two technologies: a diaphragm pump and a bellows pump. The solenoid valve module is an important component for controlling helium filling and balloon counterpulsation. Its response time, working noise, and diameter size are the basic parameters that affect the intra-aortic balloon counterpulsation pump. The signal acquisition system includes ECG signal acquisition and blood pressure signal acquisition. Both signals are important bases for controlling the timing of balloon inflation and deflation. The central processing system is the core processor for analyzing ECG and blood pressure signals; outputting power source and solenoid valve control signals; and collecting and analyzing the pressure inside the balloon in real time.

[0073] However, the current intra-aortic balloon pump system has the following technical problems:

[0074] The control response efficiency and accuracy of the current intra-aortic balloon pump control system are poor and need to be optimized.

[0075] Based on this, the embodiments of the present application provide a method, system, device, computer equipment and storage medium for controlling an intra-aortic balloon counterpulsation pump.

[0076] The control method of an intra-aortic balloon pump provided in the embodiment of the present application can be applied to Figure 1The control system of an intra-aortic balloon counterpulsation pump shown includes a signal acquisition system 102, a central processing system 104 and a pneumatic system 106. The signal acquisition system 102 is used to detect and obtain a characteristic acquisition signal of a target object, and the characteristic acquisition signal is used to characterize the characteristic state of the target object. The central processing system 104 is connected to the signal acquisition system 102, and is used to analyze the characteristic acquisition signal and output a control signal corresponding to the analysis result. The pneumatic system 106 is connected to the central processing system 104, and the pneumatic system 106 is controlled by the central processing system 104, and is used to achieve interventional medical purposes under the control of the central processing system 104.

[0077] In one embodiment, Figure 2 As shown, a control method for an intra-aortic balloon pump is provided, and the method is applied to Figure 1 Taking the central processing system 104 in FIG. 1 as an example, the following steps are included:

[0078] Step 202: In response to the activation of the target device, a feature acquisition signal of the target object is acquired.

[0079] Among them, the characteristic acquisition signals include electrocardiogram signals and blood pressure signals.

[0080] Exemplarily, the central processing system may control the signal acquisition system to acquire the characteristic acquisition signal of the target object in response to the activation of the target device.

[0081] Step 204: Determine a pressure control signal of the target device based on the blood pressure signal, wherein the pressure control signal includes a peak blood pressure value when the target device is inflated and a minimum blood pressure value when the target device is deflated.

[0082] Exemplarily, the central processing system can analyze the collected signals to effectively evaluate the effect of balloon inflation, including determining the highest peak blood pressure when the balloon is inflated and the lowest blood pressure when the balloon is deflated.

[0083] Step 206: Determine a control timing signal of the target device based on the electrocardiogram signal.

[0084] For example, the ECG (electrocardiogram) signal obtained by the signal acquisition system can be used to monitor the electrical activity of the heart, and the IABP (intra-aortic balloon pump) timing controlled based on the signal can help improve the perfusion and output of the heart. The central processing system can determine the control timing signal of the target device based on the ECG signal.

[0085] Step 208: driving the pneumatic system of the target device based on the pressure control signal and the control timing signal to achieve operation control of the target device.

[0086] In the above-mentioned intra-aortic balloon counterpulsation pump control method, reasonable deduction is made in combination with the technical features in the embodiment to achieve the following beneficial effects of solving the technical problems raised in the background technology:

[0087] The present application provides a control method for an intra-aortic balloon anti-pulsation pump, comprising: in response to the start-up of a target device, obtaining a characteristic acquisition signal of a target object, the characteristic acquisition signal including an electrocardiogram signal and a blood pressure signal; determining a pressure control signal of the target device based on the blood pressure signal, the pressure control signal including a peak blood pressure value when the target device is inflated and a minimum blood pressure value when it is deflated; determining a control timing signal of the target device based on the electrocardiogram signal; and driving a pneumatic system of the target device based on the pressure control signal and the control timing signal to achieve the operation control of the target device. In implementation, after the target device is started, the specified characteristics of the target object are detected to obtain a characteristic acquisition signal, thereby determining the electrocardiogram signal and the blood pressure signal of the target object. At this time, the pressure interval for controlling the intra-aortic balloon anti-pulsation pump, i.e., the peak blood pressure value and the minimum blood pressure value, can be determined based on the blood pressure signal, thereby improving the safety of the target object during the inflation and deflation of the intra-aortic balloon anti-pulsation pump and the anti-pulsation auxiliary effect on the target object. Determining the control timing of the target device through ECG signals helps to achieve stability and real-time performance of system control, so that the operation of the device meets the ECG characteristics and physiological states of different subjects, ultimately improving the control response efficiency and accuracy of the intra-aortic balloon counterpulsation pump.

[0088] In one embodiment, the Figure 3 As shown, step 204 includes:

[0089] Step 302: extracting the peak characteristics and morphological characteristics of the blood pressure signal.

[0090] Exemplarily, the central processing system can extract the peak characteristics and morphological characteristics of the blood pressure signal. Specifically, during balloon inflation, by analyzing the signal of each cardiac cycle, the highest point in each cardiac cycle, i.e., the systolic pressure, is identified. The use of a peak detection algorithm can help automatically identify these points. The same method can be used to identify the lowest point in each cardiac cycle, representing the diastolic pressure. The central processing system can also analyze the waveform characteristics of the signal and observe the changes in the blood pressure waveform under inflation and natural conditions. This can be achieved by calculating parameters such as heart rate variability, the rise and fall time of the waveform, etc.

[0091] Step 304: Determine the pressure control signal according to the peak characteristics and the morphological characteristics.

[0092] In this embodiment, in the process of blood pressure signal acquisition, the peak characteristics and signal morphology characteristics in the blood pressure signal are extracted to determine the highest peak value and the lowest valley value in each cardiac cycle of the target object, thereby improving the accuracy of intra-aortic balloon counterpulsation pump control.

[0093] In one embodiment, the Figure 4 As shown, the step 204 also includes:

[0094] Step 402: Acquire a normal blood pressure signal of the target object when the pneumatic system is closed.

[0095] Step 404: Compare the conventional blood pressure signal with the pressure control signal to obtain a gain effectiveness index of the target device.

[0096] In this embodiment, by comparing the pressure control signal with the conventional blood pressure signal, the systolic and diastolic pressures before and after the intra-aortic balloon counterpulsation pump intervention can be determined, thereby determining the effectiveness and value of the intervention effect of the intra-aortic balloon counterpulsation pump on the target object, which helps provide a basis for further decision-making.

[0097] In one embodiment, the Figure 5 As shown, after step 202, the following further includes:

[0098] Step 502: performing multi-stage signal processing on the feature acquisition signal, wherein the multi-stage signal processing includes high-pass filtering processing, power frequency notch processing, and multiple filtering processing.

[0099] In this embodiment, after acquiring the feature acquisition signal, multiple feature acquisition signals are processed to eliminate problems such as power frequency interference and baseline drift in the acquisition signal, improve the signal quality of the acquisition signal, help improve the control stability of the system, and improve the intervention effect of the system.

[0100] In one embodiment, the Figure 6 As shown, step 206 includes:

[0101] Step 602: Obtain waveform features of candidate peaks in the electrocardiogram signal, wherein the waveform features include feature thresholds and peak slopes.

[0102] Among them, in order to achieve system control, R wave detection can be performed on the ECG signal, with the R wave as the target waveform. The R wave is one of the most characteristic waveforms in the ECG signal, which represents the depolarization of the ventricle and marks the beginning of cardiac contraction. The characteristic threshold can refer to the reference level used to distinguish the R wave from other signals. In R wave detection, the characteristic threshold is usually set at a specific voltage level, and any signal exceeding this level is considered to be a possible R wave. The peak slope refers to the speed at which the signal rises or falls. In R wave detection, the peak slope is used to distinguish the fast rising edge of the R wave from changes in other signals. The R wave usually has a very steep rising edge, which is one of its significant characteristics. By considering the peak slope, the accuracy of R wave detection can be further improved.

[0103] Step 604: Determine target peak information among the candidate peaks based on the waveform features.

[0104] Exemplarily, the central processing system can determine the target peak information in the candidate peaks based on the waveform features. Specifically, the R wave is the highest peak in the ECG signal, so the position of the R wave is generally determined by the highest value of the peak, but sometimes a high peak does not necessarily mean that it is an R wave, because there are abnormal ECGs with tall T waves, so the slope parameter is added. Only when both parameters meet the expected form will the peak be determined to be an R wave. The timeliness of R wave detection can be controlled by adjusting the threshold.

[0105] In this embodiment, in the specific development of determining the control timing signal based on the ECG signal, the waveform characteristics of each candidate peak in the ECG signal can be calculated separately, so as to determine special waveforms such as the R wave in the ECG signal based on the waveform characteristics, thereby helping to improve the accuracy of ECG signal analysis and improve the overall control accuracy of the system.

[0106] In one embodiment, the Figure 7 As shown, step 206 includes:

[0107] Step 702: According to the target wave peak information, the R wave interval between two consecutive R wave detection points in the electrocardiogram signal is obtained.

[0108] Step 704: Based on the R wave interval and a preset interval coefficient, determine the interval interval between the pneumatic system control point and the R wave detection point, the interval interval being the distance value interval between the next R wave detection point and the corresponding pneumatic system control point.

[0109] Step 706: Determine the pneumatic system control point within the interval after the next R-wave detection point, and generate the control timing signal based on the pneumatic system control point.

[0110] For example, the R wave detection point and the pneumatic system control point obtained by real-time calculation can respectively control the inflation and deflation working states of the pneumatic system. For example, when the R wave interval is TRR, the interval interval can be TRR×(0.35-0.6). In implementation, the specific interval coefficient can be determined according to actual application requirements.

[0111] In this embodiment, in the process of generating the control timing signal, the determined control point depends on two known R-wave detection points and is predicted backward, that is, the position of the pneumatic system control point determined according to the two R-wave detection points is behind the two R-wave detection points. Therefore, the control timing signal is predictive. Compared with the traditional scheme of real-time detection and analysis to determine the control point within the time of the detection result, it helps to improve the efficiency of control timing generation and thus improve the control efficiency of the system.

[0112] Based on the same inventive concept, an embodiment of the present application also provides an intra-aortic balloon counterpulsation pump control system, which includes a signal acquisition system, a central processing system and a pneumatic system.

[0113] The signal acquisition system is used to detect and acquire a characteristic acquisition signal of a target object, and the characteristic acquisition signal is used to characterize a characteristic state of the target object.

[0114] Wherein, the central processing system is connected to the signal acquisition system, and is used to analyze the characteristic acquisition signal and output a control signal corresponding to the analysis result.

[0115] Wherein, the pneumatic system is connected to the central processing system, and the pneumatic system is controlled by the central processing system, and is used to achieve interventional medical purposes under the control of the central processing system.

[0116] Exemplarily, the signal acquisition system includes an electrocardiogram signal acquisition module and a blood pressure signal acquisition module, and the electrocardiogram signal acquisition module includes a high-pass filter unit and a power frequency trap unit.

[0117] Exemplarily, the pneumatic system comprises a pressure monitoring unit, which is distributed on both the air side and the helium side of the pneumatic system.

[0118] Exemplarily, when executed, the central processing system implements the steps of a method for controlling an intra-aortic balloon counterpulsation pump as described in any one of the above embodiments.

[0119] Specifically, for example, Figure 8As shown, the intra-aortic balloon counterpulsation pump can use the multi-core heterogeneous core processor AM5708 as the central processing system, its internal DSP (digital signal processor) is used for signal analysis, and ARM is used to issue control instructions; in addition, it cooperates with the i.MX 8 application processor to control the screen display. Among them, the signal analysis performed by the DSP mainly includes human blood pressure signal analysis, human electrocardiogram signal analysis, and pressure signal analysis in the pneumatic system. The human blood pressure signal is transmitted to the DSP through the signal acquisition system from the external pressure sensor on the right side of the diaphragm disk, such as an invasive blood pressure sensor, a fiber optic pressure sensor, or a micro force sensor, for analysis. It is mainly used to judge the effect evaluation during IABP treatment, or to calculate the inflation and deflation timing of the balloon based on the blood pressure signal.

[0120] Specifically, for example, Figure 8 As shown, the system has two power supply modes, namely, network power supply and battery power supply. It has the function of power management. When the network power is connected, the battery is automatically charged and the charging stops when it is full. If the network power is disconnected, the system can automatically switch to battery power supply and will not shut down due to power failure in the middle. The system includes two types of processors, namely, AM 5708 multi-core heterogeneous processor and i.MX 8 application processor. When the system is powered on, power is provided to the multi-core heterogeneous core processor, and power is provided to the i.MX 8 processor, printer, solenoid valve, and power source (air pump) through wired connection. The multi-core heterogeneous core processor AM 5708 is connected to the human body through an ECG cable to monitor the human body's ECG signal, and can be connected to a blood pressure monitoring sensor (invasive blood pressure sensor, optical fiber pressure sensor, micro pressure sensor) to monitor the human body's blood pressure signal; at the same time, the pressure signal in the pneumatic system can also be transmitted to AM 5708 for analyzing the pneumatic system status so as to detect abnormalities and alarm in time.

[0121] The collected human ECG signals, blood pressure signals, and pneumatic system pressure signals are transmitted to i.MX8 via Ethernet and displayed on the display screen interface, and the display is refreshed in real time. The operator can control the system to start or stop the balloon counterpulsation through the control interface of i.MX 8, and the balloon counterpulsation is realized by the control sequence of the solenoid valve issued by AM 5708. During the balloon counterpulsation process, the printer can be controlled to print parameters such as human ECG signals, blood pressure signals, and balloon pressure waveforms to achieve permanent information retention.

[0122] Specifically, for example, Fig. 9 and Fig.10As shown, after the system is turned on, the air pump cooperates with the pressure-stabilizing valve to stabilize the vacuum chamber and the pressure chamber within the predetermined pressure range; when the system starts the balloon counterpulsation action, the system first starts the solenoid valve 3 to evacuate the inside of the balloon to reduce the amount of air in the balloon, and then closes the solenoid valve 3, and then fills the balloon with helium through the helium bottle, the pressure reducing valve and the solenoid valve 4. During the helium filling process, the diaphragm in the diaphragm disk is on the left side of the picture. Generally, the helium pressure filled is 200-680 mmHg absolute pressure. After the balloon is filled, the solenoid valve 4 is closed. At this time, the system controls the solenoid valve 2 to connect the left side of the diaphragm disk with the vacuum chamber or the pressure chamber. When the pressure chamber is connected to the diaphragm disk, the pressurized gas pushes the diaphragm to move to the right, thereby increasing the pressure of the gas in the balloon and filling the balloon; when the solenoid valve controls the vacuum chamber to connect with the diaphragm disk, the diaphragm moves to the left side of the diaphragm disk, and at this time, the gas pressure in the balloon is reduced, so that the balloon is in a contracted state.

[0123] Specifically, the pressure signal in the pneumatic system is mainly monitored by the pressure sensor in the pneumatic system, which monitors the pressure on the left and right sides of the diaphragm pump respectively. One end is the driving pressure on the air side (pressure sensor 2), and the other end is the balloon shuttle pressure on the helium side (pressure sensor 1). The pressure detection can be used to determine the working state of the pneumatic system: when the positive pressure state of the driving pressure of the air measurement is lower than 330 mmHg or the negative pressure state is lower than -200 mmHg, the system will control the power source to increase the power to meet the air pressure requirements of the pressure chamber and the vacuum chamber. The pneumatic system is divided into two parts, the air side and the helium side, through the diaphragm disk. The air side is the vacuum and pressure chamber generated by the power source as the driving gas. The connection between the vacuum chamber or the pressure chamber and the diaphragm disk is controlled by the solenoid valve 2, which can control the diaphragm in the diaphragm disk to move left and right. When the diaphragm is on the left side of the figure, the balloon is in the exhaust state; when the diaphragm is on the right side of the figure, the balloon is in the inflated state. When the diaphragm is on the left, the volume is the largest, so the pressure is the lowest, so the balloon is in an exhausted state; if the balloon is on the right, the volume of the space becomes smaller, and the opposite pressure will increase, so the balloon is inflated and in a filled state. Generally, the total volume of the balloon pipeline is about 80 ml, and the volume of the diaphragm disc is about 65-80 ml. The vacuum chamber and the pressure chamber are connected to the air pump respectively. The air pump evacuates the vacuum chamber to achieve a negative pressure state. Generally, the negative pressure needs to be lower than -250 mmHg; the air pump replenishes the pressure chamber to achieve a positive pressure state. Generally, the positive pressure needs to be higher than 350 mmHg. The vacuum chamber and the pressure chamber achieve the stability of the pressure in the chamber through a pressure-stabilizing valve.

[0124] Among them, the present application also sets that the vacuum chamber and the pressure regulating valve 1 are connected through the electromagnetic valve 1. Such a design can realize two vacuum states of the vacuum chamber, a predetermined vacuum degree, and a limit vacuum degree. When the electromagnetic valve 1 connects the pressure regulating valve 1 and the vacuum chamber, the vacuum chamber is in a predetermined vacuum degree. Generally, the threshold of the pressure regulating valve is set to -250 mmHg ~ -300 mmHg, that is, the vacuum chamber is stabilized to the threshold of the pressure regulating valve. At this time, the pneumatic system is in a normal working state, and the balloon counterpulsation can be controlled. The predetermined vacuum degree is within a reasonable range and will not excessively damage the performance of the air pump. When the electromagnetic valve 1 disconnects the connection between the pressure regulating valve 1 and the vacuum chamber, the vacuum chamber is in a limit vacuum degree, which is a high vacuum state with a lower pressure. At this time, the electromagnetic valve 3 is in a connected state, and the vacuum chamber is connected to the balloon through the electromagnetic valve 3, which is used to evacuate the balloon before the balloon is filled with helium, and minimize the vacuum degree in the balloon before filling with helium, which can ensure the purity of the helium filled. The limit vacuum of the general pneumatic system is determined by the performance of the air pump. The present application sets the position of the solenoid valve 1 and uses the solenoid valve 1 to connect the pressure-stabilizing valve 1 and the vacuum chamber to achieve two different vacuum degrees, which can not only ensure the helium purity of the balloon, but also achieve the normal operation of the pneumatic system and avoid damaging the performance of the air pump.

[0125] The balloon is inflated by the helium cylinder directly filling the balloon through the pressure reducing valve and the solenoid valve 4. When the balloon is inflated, the diaphragm in the diaphragm pump is on the left. Generally, the balloon is inflated to a pressure of about -100 mmHg of gauge pressure. Considering the clinical application scenario, the balloon should not bulge when inflated to avoid affecting the patient's hemodynamics. In order to ensure that the purity of the helium filled in the balloon is higher than 99%, for example: when the helium needs to be inflated to an absolute pressure of 660 mmHg, in order to ensure that the helium purity is greater than 99%, the pressure in the balloon before inflation needs to be lower than the absolute pressure of 6 mmHg (based on the ideal gas state equation PV=RT). However, the absolute vacuum of 6 mmHg is more challenging for the air pump, so this application can also achieve the purity of the filled helium by multiple fillings. For example, when the ultimate absolute vacuum of the air pump is only 100 mmHg. After the balloon is evacuated to an absolute pressure of 100 mmHg and inflated to 660 mmHg, the purity of the helium is (660-100) / 660=85%. If the helium is filled again, the purity of the helium increases to 1-(1-0.85)×(1-0.85)=98%. The more filling times, the higher the helium purity. To achieve a helium purity of 99%, at least three cycles of evacuation and inflation are required.

[0126] It should be noted that when the solenoid valve 1 connects the pressure regulating valve 1 and the vacuum chamber, the vacuum chamber is at a predetermined vacuum degree, at which time the pneumatic system is in a normal working state, and the solenoid valve 3 is in a disconnected state. The vacuum chamber and the pressure chamber control the balloon counterpulsation through the solenoid valve 2, and the predetermined vacuum degree is within a reasonable range and will not excessively damage the performance of the air pump. When the solenoid valve 1 disconnects the pressure regulating valve 1 and the vacuum chamber, the vacuum chamber is at an extreme vacuum degree, at which time the solenoid valve 3 is in a connected state, and the vacuum chamber is connected to the balloon through the solenoid valve 3, which is used to minimize the vacuum degree in the balloon before filling with helium, thereby ensuring the purity of the helium filled.

[0127] The solenoid valve 2 described therein is an important channel for establishing a vacuum chamber, a pressure chamber and a safety disk. The designed solenoid valve has a power greater than 20 W and a diameter greater than 6 mm, and a buffer rubber ring is added to the solenoid valve motion structure to achieve silent operation of the solenoid valve. Generally, when a solenoid valve with a power exceeding 20 W works, the channel in the solenoid valve can be fully opened within 10 ms, which can reduce the system response time. In addition, the larger the diameter of the gas channel, the more conducive it is to gas shuttle. Limited by the physical size of the rectification system, the general diameter needs to be greater than 6 mm. For the vacuum chamber and the pressure chamber, the solenoid valve needs to be set in different inlet directions. When the solenoid valve is powered, the electromagnetic force overcomes the gas pressure and the spring force. By considering the gas pressure, the spring force during the design of the solenoid valve is reduced, which can improve the life of the solenoid valve and reduce the core impact noise at the moment of opening and closing the solenoid valve. Adding a rubber ring design at the core and the sealing surface is also conducive to reducing the impact noise and improving the life.

[0128] The instantaneous power of opening the solenoid valve is 20w, and then the solenoid valve enters the opening and holding stage, which is generally held for 50-300ms. In order to avoid the damage to the solenoid valve caused by the heat generated by high power, the power of the holding stage is generally set to 10w. Through pulse width modulation (PWM), the duty cycle is generally set to 50%, which can reduce the power of the solenoid valve in the holding stage and increase the life of the solenoid valve. In this embodiment, the solenoid valve is used to achieve the overall high-throughput and low-noise charging and discharging effect of the device, so that the device can be charged and discharged efficiently, while reducing noise interference to the target object and improving the user experience.

[0129] Furthermore, a drying tube is formed on the right side of the diaphragm disk and the balloon catheter. The drying tube is connected in parallel with the balloon catheter and is mainly used to dry the shuttle gas in the balloon. The drying tube includes physical penetration or thermoelectric condensation.

[0130] In the present embodiment, Nafion drying tube is selected, which is a copolymer of polytetrafluoroethylene and perfluoro-3,6-diepoxy-4-methyl-7-decene-sulfuric acid. Because it contains sulfonic acid groups, Nafion has extremely strong water permeability. In this chemical structure, the sulfonic acid group can accept up to 13 water molecules. Through the sulfonic acid group, a cross-linked ion channel is formed on the Nafion tube wall. After the water is absorbed by the sulfonic acid group on the tube wall surface, it is rapidly transferred to the other side of the tube wall through the ion channel and then evaporated. When water is transferred from the tube to the outside of the tube under the state of gas phase, there is no change in free energy, so no additional energy is needed to drive the reaction. The driving force of the reaction comes from the water concentration difference between the inside and outside of the tube.

[0131] The drying tube is connected in parallel with the balloon catheter, which can not only speed up the shuttle of helium in the balloon catheter, but also adjust the proportion of the gas flow passing through the drying tube each time to the total gas flow by changing the length of the drying tube.

[0132] Generally, the inner diameter of the drying tube is 2mm, and the inner diameter of the balloon catheter is 6mm. Therefore, according to the flow resistance calculation, it can be known that the flow resistance is proportional to the length and inversely proportional to the inner diameter. One end of the drying tube is connected to the diaphragm disk, and the other end is connected to the end of the balloon catheter. Generally, the length of the part connected in parallel with the drying tube does not exceed 10cm. The length of the drying tube is set to 1m, and about 3% of the total gas volume of helium passes through the drying tube each time. Since the dew point temperature of the gas after passing through the drying tube can reach -45℃, that is, the relative humidity at room temperature is 0.5%, when there is no drying tube, the relative humidity of the gas in the balloon catheter at room temperature is 100%. Through this drying design, the relative humidity of each gas shuttling process can be reduced by about 3%. Under ideal conditions, the relative humidity in the balloon catheter can be maintained as close to 0.5%, which can effectively avoid the gas in the balloon catheter from fogging, improve the gas purity, and thus increase the gas shuttling speed. In this embodiment, by providing a drying tube, water vapor exchange can be performed on the gas passing through the balloon, and the gas flowing through the balloon channel and inside the balloon can be dried to avoid mixing of water vapor, so that the purity of the gas in the balloon can be improved, thereby further improving the working effect of the equipment, enhancing the reaction sensitivity of the equipment, and increasing the inflation and deflation speed of the equipment.

[0133] In the embodiment of the present application, the real-time performance of the control instructions is increased, and the rising edge of the R wave is used as the deflation signal identification feature, so that the control signal can be sent in time to realize the exhaust action and avoid delayed exhaust and damage to the patient; the system response time is reduced, including the inflation method under low vacuum to achieve high-purity helium; a drying tube is set to reduce the relative humidity of helium in the working state, which also improves the purity of helium; a solenoid valve group with a large diameter, high opening power and low holding power is set to reduce the system response time.

[0134] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0135] Based on the same inventive concept, the embodiment of the present application also provides an intra-aortic balloon counterpulsation pump control device for implementing the above-mentioned intra-aortic balloon counterpulsation pump control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more embodiments of the intra-aortic balloon counterpulsation pump control device provided below can refer to the above-mentioned limitations on the intra-aortic balloon counterpulsation pump control method, and will not be repeated here.

[0136] In one embodiment, Fig.11 As shown, a control device for an intra-aortic balloon counterpulsation pump is provided, comprising: a start response module, a pressure control module, a timing signal module and a working control module, wherein:

[0137] A startup response module, used for acquiring a characteristic acquisition signal of a target object in response to startup of the target device, wherein the characteristic acquisition signal includes an electrocardiogram signal and a blood pressure signal;

[0138] a pressure control module, configured to determine a pressure control signal of the target device based on the blood pressure signal, wherein the pressure control signal includes a peak blood pressure value when the target device is inflated and a minimum blood pressure value when the target device is deflated;

[0139] A timing signal module, used for determining a control timing signal of the target device based on the electrocardiogram signal;

[0140] A working control module is used to drive the pneumatic system of the target device based on the pressure control signal and the control timing signal to achieve working control of the target device.

[0141] In one embodiment, the pressure control module includes:

[0142] A blood pressure feature module, used to extract peak features and morphological features of the blood pressure signal;

[0143] A pressure control signal module is used to determine the pressure control signal according to the peak characteristics and the morphological characteristics.

[0144] In one embodiment, the pressure control module further includes:

[0145] A conventional signal module, used for obtaining a conventional blood pressure signal of the target object when the pneumatic system is closed;

[0146] The gain calculation module is used to compare the conventional blood pressure signal with the pressure control signal to obtain a gain effectiveness index of the target device.

[0147] In one embodiment, after starting the response module, the method further includes:

[0148] The signal processing module is used to perform multi-stage signal processing on the feature acquisition signal, and the multi-stage signal processing includes high-pass filtering processing, power frequency notch processing, and multiple filtering processing.

[0149] In one embodiment, the timing signal module includes:

[0150] A waveform feature module, used to obtain waveform features of candidate peaks in the electrocardiogram signal, wherein the waveform features include feature thresholds and peak slopes;

[0151] The target peak module is used to determine the target peak information among the candidate peaks based on the waveform features.

[0152] In one embodiment, the timing signal module includes:

[0153] An R wave interval module, used for obtaining an R wave interval between two consecutive R wave detection points in the electrocardiogram signal according to the target wave peak information;

[0154] A control point module, for determining an interval interval between a pneumatic system control point and the R-wave detection point based on the R-wave interval and a preset interval coefficient, wherein the interval interval is a distance value interval between the next R-wave detection point and the corresponding pneumatic system control point;

[0155] The timing generation module is used to determine the pneumatic system control point within the interval after the next R wave detection point, and generate the control timing signal based on the pneumatic system control point.

[0156] Each module in the above-mentioned intra-aortic balloon pump control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0157] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.12 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for controlling an intra-aortic balloon counterpulsation pump is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0158] Those skilled in the art will understand that Fig.12 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0159] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0160] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0161] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0162] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0163] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0164] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0165] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling an intra-aortic balloon pump, characterized in that: The method comprises: In response to the activation of the target device, acquiring a characteristic acquisition signal of the target object, wherein the characteristic acquisition signal includes an electrocardiogram signal and a blood pressure signal; determining a pressure control signal of the target device based on the blood pressure signal, the pressure control signal comprising a peak blood pressure value when the target device is inflated and a minimum blood pressure value when the target device is deflated; Determining a control timing signal of the target device based on the electrocardiogram signal; The pneumatic system of the target device is driven based on the pressure control signal and the control timing signal to achieve operation control of the target device.

2. The method according to claim 1, characterized in that: Determining the pressure control signal of the target device based on the blood pressure signal includes: Extracting peak characteristics and morphological characteristics of the blood pressure signal; The pressure control signal is determined according to the peak characteristic and the morphological characteristic.

3. The method according to claim 2, characterized in that The determining the pressure control signal of the target device based on the blood pressure signal further comprises: Acquiring a normal blood pressure signal of the target object when the pneumatic system is closed; The conventional blood pressure signal is compared with the pressure control signal to obtain a gain effectiveness index of the target device.

4. The method according to claim 1, characterized in that After the target device is activated and the characteristic acquisition signal of the target object is acquired, the method further includes: The characteristic acquisition signal is subjected to multi-stage signal processing, wherein the multi-stage signal processing includes high-pass filtering processing, power frequency notch processing, and multiple filtering processing.

5. The method according to claim 1, characterized in that The step of determining the control timing signal of the target device based on the electrocardiogram signal comprises: Acquire waveform features of candidate peaks in the electrocardiogram signal, wherein the waveform features include feature thresholds and peak slopes; The target peak information among the candidate peaks is determined based on the waveform features.

6. The method according to claim 5, characterized in that The step of determining the control timing signal of the target device based on the electrocardiogram signal comprises: According to the target wave peak information, obtaining the R wave interval between two consecutive R wave detection points in the electrocardiogram signal; Based on the R wave interval and a preset interval coefficient, determining an interval interval between a pneumatic system control point and the R wave detection point, the interval interval being an interval of distance values ​​between a subsequent R wave detection point and a corresponding pneumatic system control point; The pneumatic system control point is determined within the interval after the next R-wave detection point, and the control timing signal is generated based on the pneumatic system control point.

7. An intra-aortic balloon pump control system, characterized in that: The system comprises: A signal acquisition system, used to detect and acquire a characteristic acquisition signal of a target object, wherein the characteristic acquisition signal is used to characterize a characteristic state of the target object; A central processing system connected to the signal acquisition system, configured to analyze the characteristic acquisition signal and output a control signal corresponding to the analysis result; A pneumatic system connected to the central processing system, the pneumatic system is controlled by the central processing system, and is used to achieve interventional medical purposes under the control of the central processing system; The signal acquisition system includes an ECG signal acquisition module and a blood pressure signal acquisition module, and the ECG signal acquisition module includes a high-pass filter unit and a power frequency trap unit; The pneumatic system comprises a pressure monitoring unit, which is distributed on both the air side and the helium side of the pneumatic system; When executed, the central processing system implements the steps in the method for controlling an intra-aortic balloon counterpulsation pump as described in any one of claims 1 to 6.

8. An intra-aortic balloon pump control device, characterized in that: The device comprises: A startup response module, used for acquiring a characteristic acquisition signal of a target object in response to startup of the target device, wherein the characteristic acquisition signal includes an electrocardiogram signal and a blood pressure signal; a pressure control module, configured to determine a pressure control signal of the target device based on the blood pressure signal, wherein the pressure control signal includes a peak blood pressure value when the target device is inflated and a minimum blood pressure value when the target device is deflated; A timing signal module, used for determining a control timing signal of the target device based on the electrocardiogram signal; A working control module is used to drive the pneumatic system of the target device based on the pressure control signal and the control timing signal to achieve working control of the target device.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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