Flushing system based on ventricular catheter pump

Abstract

The embodiment of the invention provides a flushing system based on a ventricular catheter pump, which relates to the technical field of medical instruments and comprises a flushing pressure filtering module used for acquiring an initial flushing pressure signal acquired by a flushing pressure acquisition module and performing multi-stage filtering processing on the initial flushing pressure signal to obtain a flushing pressure signal; taking the processed initial flushing pressure signal as a target flushing pressure signal; the flushing control operation module is used for acquiring a target flushing pressure signal, a current flushing flow signal of the flushing device and a current motor current signal of the flushing driving motor, and performing operation processing on the target flushing pressure signal, the flushing flow signal and the motor current signal by adopting a preset closed-loop feedback mode; determining a motor control signal of the flushing driving motor; and the motor driving module is used for driving the flushing driving motor to operate according to the motor control signal. By applying the scheme provided by the embodiment of the invention, accurate and stable flushing control can be realized.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a flushing system based on a ventricular catheter pump. Background Art

[0002] A ventricular catheter pump is a device that provides support or assistance to patients with heart-related diseases, such as heart failure, to help the heart pump blood to other parts of the body.

[0003] The ventricular catheter pump is also connected to a flushing system, which is used to inject flushing fluid around the drive assembly in the ventricular catheter pump. The flushing pressure of the flushing fluid counteracts the blood pressure entering the drive assembly, thereby preventing blood from entering the drive assembly and causing subsequent thrombosis, pump failure and other medical accidents. At present, how to achieve accurate and stable control of the flushing system has become an urgent problem to be solved. Summary of the invention

[0004] The purpose of the embodiment of the present application is to provide a flushing system based on a ventricular catheter pump to achieve accurate and stable flushing control. The specific technical solution is as follows: In a first aspect, an embodiment of the present application provides a flushing system based on a ventricular catheter pump, wherein the flushing system comprises a flushing control device and a flushing device, wherein: the flushing device integrates a flushing pressure acquisition module and a flushing drive motor; the flushing control device integrates a flushing pressure filtering module, a flushing control operation module, and a motor drive module; wherein: The input end of the flushing pressure filter module is connected to the output end of the flushing pressure acquisition module, and the output end is connected to the input end of the flushing control operation module; the input end of the flushing control operation module is connected to the output end of the flushing pressure filter module, and the output end is connected to the input end of the motor drive module; the input end of the motor drive module is connected to the output end of the flushing control operation module, and the output end is connected to the input end of the flushing drive motor; The flushing pressure filtering module is used to obtain the initial flushing pressure signal collected by the flushing pressure collecting module, perform multi-stage filtering on the initial flushing pressure signal, and use the processed initial flushing pressure signal as the target flushing pressure signal; The flushing control calculation module is used to obtain the target flushing pressure signal, the current flushing flow signal of the flushing device and the current motor current signal of the flushing drive motor, and adopt a preset closed-loop feedback mode to calculate and process the target flushing pressure signal, the flushing flow signal and the motor current signal to determine the motor control signal of the flushing drive motor; The motor driving module is used to drive the flushing driving motor to operate according to the motor control signal.

[0005] In one embodiment of the present application, the flushing pressure filter module integrates a first filter circuit, an amplifier circuit, a second filter circuit, a third filter circuit and a fourth filter circuit, wherein: The input end of the first filter circuit is connected to the flushing pressure acquisition module, and the output end is connected to the amplifier circuit; the input end of the amplifier circuit is connected to the first filter circuit, and the output end is connected to the second filter circuit; the input end of the second filter circuit is connected to the amplifier circuit, and the output end is connected to the third filter circuit; the input end of the third filter circuit is connected to the second filter circuit, and the output end is connected to the fourth filter circuit; the input end of the fourth filter circuit is connected to the third filter circuit, and the output end is connected to the flushing control operation module; The first filtering circuit is used to filter out common-mode interference and differential-mode interference in the initial flushing signal, and use the filtered signal as the first flushing pressure signal; The amplifier circuit is used to amplify the first flushing pressure and use the amplified signal as the second flushing pressure signal; a second filtering circuit, configured to perform a low-pass filtering on the second flushing pressure signal, and use the filtered signal as a third flushing pressure signal; a third filtering circuit, used for matching the input signal impedance with the output signal impedance, and filtering the third flushing pressure signal by a second-order active low-pass filtering method, and using the filtered signal as a fourth flushing pressure signal; The fourth filtering circuit is used to perform low-pass filtering on the fourth flushing pressure signal and use the filtered signal as the target flushing pressure signal.

[0006] In one embodiment of the present application, the first filter circuit includes: a first inductor L1, a second inductor L2, a first resistor R1, a second resistor R2, a first capacitor C1, a second capacitor C2, and a third capacitor C3, wherein: One end of the first inductor L1 is connected to the output end of the flushing pressure acquisition module, and the other end is connected to one end of the first resistor R1; One end of the first resistor R1 is connected to one end of the first inductor L1, and the other end is connected to one end of the first capacitor C1 and one end of the third capacitor C3 respectively; One end of the first capacitor C1 is connected to the other end of the first resistor R1, and the other end is grounded and connected to one end of the second capacitor C2; One end of the second inductor L1 is connected to the output end of the pressure acquisition module, and the other end is connected to one end of the second resistor R2; One end of the second resistor R2 is connected to one end of the second inductor L1, and the other end is connected to one end of the second capacitor C2 and one end of the third capacitor C3 respectively; One end of the second capacitor C2 is connected to the other end of the second resistor R2, and the other end is grounded and also connected to one end of the second capacitor C2; One end of the third capacitor C3 is respectively connected to one end of the first resistor R1 and the first input end of the amplifier circuit, and the other end is respectively connected to one end of the second resistor R2 and the second input end of the amplifier circuit.

[0007] In one embodiment of the present application, the above-mentioned amplifier circuit includes an amplifier U1 and a third resistor R3, wherein: The first input end of the amplifier U1 is connected to the first output end of the first filter circuit, and the second input end is connected to the second output end of the first filter circuit; The amplifier U1 is also connected in parallel with the third resistor R3; The output end of the amplifier U1 is connected to the input end of the second filter circuit.

[0008] In one embodiment of the present application, the second filtering circuit comprises a fourth resistor R4 and a fourth capacitor C4, wherein: One end of the fourth resistor R4 is connected to the output end of the amplifier circuit, and the other end is connected to one end of the fourth capacitor C4 and the input end of the third filter circuit respectively; One end of the fourth capacitor C4 is connected to one end of the fourth resistor R4, and the other end is grounded.

[0009] In one embodiment of the present application, the third filtering circuit includes a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, a fifth capacitor C5, a sixth capacitor C6, and a voltage follower U2; One end of the fifth resistor R5 is connected to the output end of the second filter circuit, and the other end is connected to one end of the fifth capacitor C5 and one end of the sixth resistor R6 respectively; One end of the sixth resistor R6 is connected to one end of the fifth resistor R5, and the other end is connected to the input end of the voltage follower U2 and one end of the sixth capacitor C6 respectively; One end of the fifth capacitor C5 is connected to one end of the fifth resistor R5, and the other end is connected to the output end of the fourth filter circuit; One end of the sixth capacitor C6 is connected to one end of the sixth resistor R6 and the input end of the voltage follower U2, and the other end is connected to one end of the seventh resistor R7; One end of the seventh resistor R7 is connected to one end of the sixth capacitor C6, and the other end is connected to the second input end of the voltage follower U2 and the input end of the fourth filter circuit respectively; The first input end of the voltage follower U2 is connected to the sixth resistor R6 and the sixth capacitor C6 respectively, and the second input end is connected to one end of the seventh resistor R7 and the input end of the fourth filter circuit respectively; The output end of the voltage follower U2 is connected to the input end of the fourth filter circuit.

[0010] In one embodiment of the present application, the fourth filtering circuit comprises an eighth resistor R8 and a seventh capacitor C7; wherein: One end of the eighth resistor R8 is connected to the output end of the third filter circuit, and the other end is connected to one end of the seventh capacitor C7 and the input end of the flushing control operation module respectively; One end of the seventh capacitor C7 is connected to the input end of the flushing control operation module, and the other end is grounded.

[0011] As can be seen from the above, the system provided by the embodiment of the present application includes a flushing control device and a flushing device. The flushing control device integrates a flushing pressure filtering module, a flushing control operation module and a motor drive module. The flushing pressure filtering module uses multi-stage filtering processing to accurately filter out the noise signal in the initial flushing pressure signal. The flushing control operation module uses a closed-loop feedback mode and uses the flushing pressure signal, flushing flow signal and motor current signal as feedback signals to achieve accurate and stable control of flushing control.

[0012] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0014] Figure 1 A schematic structural diagram of a ventricular catheter pump system provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a flushing system based on a ventricular catheter pump provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of a flushing pressure filter module provided in an embodiment of the present application; Figure 4A schematic diagram of the circuit structure of a first filter circuit provided in an embodiment of the present application; Figure 5 A schematic diagram of the circuit structure of an amplifier circuit provided in an embodiment of the present application; Figure 6 A schematic diagram of the circuit structure of a second filter circuit provided in an embodiment of the present application; Figure 7 A schematic diagram of the circuit structure of a third filter circuit provided in an embodiment of the present application; Figure 8 A schematic diagram of the circuit structure of the fourth filtering circuit provided in an embodiment of the present application. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0016] Before introducing the embodiments of the present application, Figure 1 The application scenario of this application is described.

[0017] Figure 1 The invention comprises a ventricular catheter pump 101 and a flushing system 102, wherein the flushing system 102 comprises a flushing control device 1021 and a flushing device 1022. The flushing control device 1021 is connected to the flushing device 1022, and the flushing device 1022 is connected to the ventricular catheter pump 101 through a flushing pipeline.

[0018] The ventricular catheter pump 101 is a device for assisting the patient's heart in pumping blood. The ventricular catheter pump 101 rotates at a high speed to assist the blood in the ventricle to be pumped into the artery. The ventricular catheter pump 101 can be a left ventricular catheter pump or a right ventricular catheter pump.

[0019] When the ventricular catheter pump 101 is running in the patient's body, blood may enter the driving component of the ventricular catheter pump 101, such as the motor, thereby causing a series of medical safety accidents such as subsequent thrombosis and pump failure. To avoid such accidents, the flushing system 102 is used to generate a flushing liquid in the opposite direction of the blood flow outside the driving component, and the flushing pressure of the flushing liquid is greater than the blood pressure, thereby preventing blood from flowing into the driving component.

[0020] The flushing device integrates a flushing pressure acquisition module and a flushing drive motor. The flushing pressure acquisition module is used to collect the flushing pressure signal of the flushing liquid pumped out by the flushing device; the flushing drive motor is one of the core components in the flushing device and is used to drive the flushing pump in the flushing device to operate. The start and stop are both driven by the flushing drive motor.

[0021] The flushing control device 1021 is used to control the operation of the flushing device 1022. The flushing control device is integrated with a flushing control circuit, which mainly controls the flushing drive motor in the flushing device to realize the operation of the flushing device.

[0022] The following is a detailed description of the embodiments of the present application.

[0023] See also Figure 2 , Figure 2 The present invention provides a schematic structural diagram of a flushing system based on a ventricular catheter pump according to an embodiment of the present invention. The flushing system includes a flushing control device 201 and a flushing device 202. The flushing device integrates a flushing pressure acquisition module 2021 and a flushing drive motor 2022. The flushing control device 201 integrates a flushing pressure filter module 2011, a flushing control operation module 2012, and a motor drive module 2013. The input end of the flushing pressure filter module 2011 is connected to the output end of the flushing pressure acquisition module 2021, and the output end is connected to the input end of the flushing control operation module 2012; the input end of the flushing control operation module 2012 is connected to the output end of the flushing pressure filter module 2011, and the output end is connected to the input end of the motor drive module 2013; the input end of the motor drive module 2013 is connected to the output end of the flushing control operation module 2012, and the output end is connected to the input end of the flushing drive motor 2022; The flushing pressure filtering module 2011 is used to obtain the initial flushing pressure signal collected by the flushing pressure collecting module, perform multi-stage filtering on the initial flushing pressure signal, and use the processed initial flushing pressure as the target flushing pressure signal.

[0024] The flushing pressure acquisition module may transmit the acquired initial flushing pressure signal to the flushing pressure filtering module 2011 .

[0025] During the process of the flushing device injecting flushing fluid into the ventricular catheter pump, the pressure of the flushing fluid will be disturbed by many factors, such as the complex blood environment inside the blood vessels, the operating environment of the ventricular catheter pump, etc. Therefore, in this embodiment, the initial flushing pressure signal is subjected to multi-stage filtering processing, which can effectively filter out the noise influence caused by the complex environment, realize accurate denoising of the initial flushing pressure signal, and make the filtered target flushing pressure signal closer to the accurate flushing pressure signal.

[0026] A multi-stage filter circuit structure can be used in the flushing pressure filter module. The multi-stage filter processing can be realized by using the above structure. The specific multi-stage filter circuit structure can be found in the subsequent Figure 3 The corresponding embodiments are not described in detail here.

[0027] The flushing control operation module 2012 is used to obtain the target flushing pressure signal, the current flushing flow signal of the flushing device and the current motor current signal of the flushing drive motor, and adopts a preset closed-loop feedback mode to perform operation processing on the target flushing pressure signal, flushing flow signal and motor current signal to determine the motor control signal of the flushing drive motor.

[0028] The flushing flow signal indicates the flow information of the flushing fluid injected into the ventricular catheter pump by the current flushing device. The flushing flow signal and the motor current signal can be acquired through corresponding sensors. In this embodiment, the flushing flow signal and the motor current signal are not filtered according to the multi-stage filtering method of the target flushing pressure signal. This is because compared with the flushing pressure, the flushing flow and the motor current are relatively stable, and the acquisition result is more accurate. Therefore, this method can effectively utilize resources, avoid the waste of invalid resources, reduce costs, and improve efficiency.

[0029] The flushing flow signal, motor current signal and flushing pressure signal are all collected in real time. The above three signals are used as feedback signals in the aforementioned closed-loop feedback mode. Through the closed-loop circuit in the closed-loop feedback mode, the flushing control operation module performs operations on the feedback signals. For example, the difference value between the feedback signal and the expected feedback signal can be determined, and the control signal corresponding to the difference value can be determined as the motor control signal of the flushing drive motor.

[0030] The motor driving module 2013 is used to drive the operation of the flushing driving motor according to the motor control signal.

[0031] As can be seen from the above, the system provided by the present embodiment includes a flushing control device and a flushing device. The flushing control device integrates a flushing pressure filtering module, a flushing control operation module and a motor drive module. The flushing pressure filtering module uses multi-stage filtering processing to accurately filter out the noise signal in the initial flushing pressure signal. The flushing control operation module uses a closed-loop feedback mode and uses the flushing pressure signal, flushing flow signal and motor current signal as feedback signals to achieve accurate and stable control of flushing control.

[0032] The foregoing Figure 2 In the corresponding embodiment, the flushing pressure filter module may include a multi-stage filter structure. Figure 3 , Figure 3This is a schematic diagram of the structure of a flushing pressure filter module provided in an embodiment of the present application. The flushing pressure filter module integrates a first filter circuit 301, an amplifier circuit 302, a second filter circuit 303, a third filter circuit 304 and a fourth filter circuit 305; wherein: The input end of the first filter circuit 301 is connected to the flushing pressure acquisition module, and the output end is connected to the amplifier circuit 302; the input end of the amplifier circuit 302 is connected to the first filter circuit 301, and the output end is connected to the second filter circuit 303; the input end of the second filter circuit 303 is connected to the amplifier circuit 302, and the output end is connected to the third filter circuit 304; the input end of the third filter circuit 304 is connected to the second filter circuit 303, and the output end is connected to the fourth filter circuit 305; the input end of the fourth filter circuit 305 is connected to the third filter circuit 304, and the output end is connected to the flushing control operation module; The first filtering circuit 301 is used to filter out the common-mode interference and the differential-mode interference in the initial flushing signal, and use the filtered signal as the first flushing pressure signal.

[0033] The amplifier circuit 302 is used to amplify the first flushing pressure and use the amplified signal as the second flushing pressure signal.

[0034] The second filter circuit 303 is used to perform low-pass filtering on the second flushing pressure signal and use the filtered signal as the third flushing pressure signal; The third filter circuit 304 is used to match the input signal impedance with the output signal impedance, and adopts a second-order active low-pass filtering method to filter the third flushing pressure signal, and uses the filtered signal as the fourth flushing pressure signal; The fourth filtering circuit 305 is used to perform low-pass filtering on the fourth flushing pressure signal and use the filtered signal as the target flushing pressure signal.

[0035] In this embodiment, a multi-stage filter circuit structure is adopted to improve the denoising effect of the flushing pressure signal. Among them, the first filter circuit filters out the common mode and differential mode interference of the flushing pressure signal, and better ensures that the clutter in the flushing pressure signal after entering the amplifier circuit is not amplified; the second filter circuit and the fourth filter circuit ensure the quality of the output signal through low-pass filtering; the third filter circuit achieves buffer isolation by matching the front and rear impedances in the second-order active low-pass filter, avoids mutual influence between the front and rear circuits, improves the load capacity, and ensures the stability and reliability of the filter circuit.

[0036] Moreover, under the multi-stage filtering circuit, only one stage of amplification circuit is used, the circuit is more streamlined, the response speed is faster, the introduction of noise is smaller, and higher reliability is provided for subsequent signal calculation and processing.

[0037] The foregoing Figure 3The corresponding embodiment includes multiple circuits, and the multiple circuits are described below respectively.

[0038] See also Figure 4 , Figure 4 : is a schematic diagram of the circuit structure of the first filter circuit, the first filter circuit includes: a first inductor L1, a second inductor L2, a first resistor R1, a second resistor R2, a first capacitor C1, a second capacitor C2, and a third capacitor C3, wherein: One end of the first inductor L1 is connected to the output end of the flushing pressure acquisition module, and the other end is connected to the first resistor R1; One end of the first resistor R1 is connected to one end of the first inductor L1, and the other end is connected to one end of the first capacitor C1 and one end of the third capacitor C3 respectively; One end of the first capacitor C1 is connected to the other end of the first resistor R1, and the other end is grounded and connected to one end of the second capacitor C2; One end of the second inductor L1 is connected to the output end of the pressure acquisition module, and the other end is connected to one end of the second resistor R2; One end of the second resistor R2 is connected to one end of the second inductor L1, and the other end is connected to one end of the second capacitor C2 and one end of the third capacitor C3 respectively; One end of the second capacitor C2 is connected to the other end of the second resistor R2, and the other end is grounded and also connected to one end of the second capacitor C2; One end of the third capacitor C3 is respectively connected to one end of the first resistor R1 and the first input end of the amplifier circuit, and the other end is respectively connected to one end of the second resistor R2 and the second input end of the amplifier circuit.

[0039] In this embodiment, the differential signal output by the flushing pressure acquisition module is connected to the first filter circuit through the first inductor L1 and the second inductor L2. The first inductor L1, the second inductor L2 and the third capacitor C4 perform differential mode filtering on the differential signal, and the first resistor R1, the first capacitor C1, the second resistor R2 and the second capacitor C2 perform common mode filtering on the differential signal.

[0040] In one embodiment of the present application, the value of the first inductor L1 = the value of the second inductor L2, the value of the first resistor R1 = the value of the second resistor R2, and the value of the first capacitor C1 = the value of the second capacitor C2.

[0041] See also Figure 5 , Figure 5 Schematic diagram of the circuit structure of the amplifier circuit, the amplifier circuit includes: an amplifier U1 and a third resistor R3, wherein: The first input terminal of the amplifier U1 is connected to the first output terminal of the first filter circuit, and the second input terminal of the amplifier U1 is connected to the second output terminal of the first filter circuit; The amplifier U1 is also connected in parallel with a third resistor R3; The output terminal of the amplifier U1 is connected to the input terminal of the second filter circuit.

[0042] In one embodiment of the present application, the amplifier U1 may be a low-power instrumentation amplifier, the third resistor R3 is a gain adjustment resistor, R3=49.4KΩ / (G-1), and G is a preset gain multiple.

[0043] See also Figure 6 , Figure 6 : is a schematic diagram of the circuit structure of the second filtering circuit, the second filtering circuit includes a fourth resistor R4 and a fourth capacitor C4, wherein: One end of the fourth resistor R4 is connected to the output end of the amplifier circuit, and the other end is respectively connected to one end of the fourth capacitor C4 and the input end of the third filter circuit; One end of the fourth capacitor C4 is connected to one end of the fourth resistor R4, and the other end is grounded.

[0044] See also Figure 7 , Figure 7 : is a schematic diagram of the circuit structure of the third filtering circuit, the third filtering circuit includes a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, a fifth capacitor C5, a sixth capacitor C6, and a voltage follower U2, wherein: One end of the fifth resistor R5 is connected to the output end of the second filter circuit, and the other end is connected to one end of the fifth capacitor C5 and one end of the sixth resistor R6 respectively; One end of the sixth resistor R6 is connected to one end of the fifth resistor R5, and the other end is connected to the input end of the voltage follower U2 and one end of the sixth capacitor C6 respectively; One end of the fifth capacitor C5 is connected to one end of the fifth resistor R5, and the other end is connected to the output end of the fourth filter circuit; One end of the sixth capacitor C6 is connected to one end of the sixth resistor R6 and the input end of the voltage follower U2, and the other end is connected to one end of the seventh resistor R7; One end of the seventh resistor R7 is connected to one end of the sixth capacitor C6, and the other end is connected to the second input end of the voltage follower U2 and the input end of the fourth filter circuit respectively; The first input terminal of the voltage follower U2 is respectively connected to one end of the sixth resistor R6 and one end of the sixth capacitor C6, and the second input terminal is respectively connected to one end of the seventh resistor R7 and the input terminal of the fourth filter circuit; The output end of the voltage follower U2 is connected to the input end of the fourth filter circuit.

[0045] See also Figure 8 , Figure 8: is a schematic diagram of the circuit structure of the fourth filter circuit, the fourth filter circuit includes an eighth resistor R8 and a seventh capacitor C7; wherein: One end of the eighth resistor R8 is connected to the output end of the third filter circuit, and the other end is respectively connected to one end of the seventh capacitor C7 and the input end of the flushing control operation module; One end of the seventh capacitor C7 is connected to the input end of the flushing control operation module, and the other end is grounded.

[0046] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0047] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0048] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A flushing system based on a ventricular catheter pump, characterized in that: The flushing system includes a flushing control device and a flushing device, wherein: the flushing device is integrated with a flushing pressure acquisition module and a flushing drive motor; the flushing control device is integrated with a flushing pressure filter module, a flushing control calculation module, and a motor drive module; wherein: The input end of the flushing pressure filter module is connected to the output end of the flushing pressure acquisition module, and the output end is connected to the input end of the flushing control operation module; the input end of the flushing control operation module is connected to the output end of the flushing pressure filter module, and the output end is connected to the input end of the motor drive module; the input end of the motor drive module is connected to the output end of the flushing control operation module, and the output end is connected to the input end of the flushing drive motor; The flushing pressure filtering module is used to obtain the initial flushing pressure signal collected by the flushing pressure collecting module, perform multi-stage filtering on the initial flushing pressure signal, and use the processed initial flushing pressure signal as the target flushing pressure signal; The flushing control calculation module is used to obtain the target flushing pressure signal, the current flushing flow signal of the flushing device and the current motor current signal of the flushing drive motor, and adopt a preset closed-loop feedback mode to calculate and process the target flushing pressure signal, the flushing flow signal and the motor current signal to determine the motor control signal of the flushing drive motor; The motor driving module is used to drive the flushing driving motor to operate according to the motor control signal.

2. The system according to claim 1, characterized in that The flushing pressure filter module integrates a first filter circuit, an amplifier circuit, a second filter circuit, a third filter circuit and a fourth filter circuit, wherein: The input end of the first filter circuit is connected to the flushing pressure acquisition module, and the output end is connected to the amplifier circuit; the input end of the amplifier circuit is connected to the first filter circuit, and the output end is connected to the second filter circuit; the input end of the second filter circuit is connected to the amplifier circuit, and the output end is connected to the third filter circuit; the input end of the third filter circuit is connected to the second filter circuit, and the output end is connected to the fourth filter circuit; the input end of the fourth filter circuit is connected to the third filter circuit, and the output end is connected to the flushing control operation module; The first filtering circuit is used to filter out common-mode interference and differential-mode interference in the initial flushing signal, and use the filtered signal as the first flushing pressure signal; The amplifier circuit is used to amplify the first flushing pressure and use the amplified signal as the second flushing pressure signal; a second filtering circuit, configured to perform a low-pass filtering on the second flushing pressure signal, and use the filtered signal as a third flushing pressure signal; a third filtering circuit, used for matching the input signal impedance with the output signal impedance, and filtering the third flushing pressure signal by a second-order active low-pass filtering method, and using the filtered signal as a fourth flushing pressure signal; The fourth filtering circuit is used to perform low-pass filtering on the fourth flushing pressure signal and use the filtered signal as the target flushing pressure signal.

3. The system according to claim 2, characterized in that The first filtering circuit comprises: a first inductor (L1), a second inductor (L2), a first resistor (R1), a second resistor (R2), a first capacitor (C1), a second capacitor (C2), and a third capacitor (C3), wherein: One end of the first inductor (L1) is connected to the output end of the flushing pressure acquisition module, and the other end is connected to one end of the first resistor (R1); One end of the first resistor (R1) is connected to one end of the first inductor (L1), and the other end is respectively connected to one end of the first capacitor (C1) and one end of the third capacitor (C3); One end of the first capacitor (C1) is connected to the other end of the first resistor (R1), and the other end is grounded and connected to one end of the second capacitor (C2); One end of the second inductor (L1) is connected to the output end of the pressure acquisition module, and the other end is connected to one end of the second resistor (R2); One end of the second resistor (R2) is connected to one end of the second inductor (L1), and the other end is respectively connected to one end of the second capacitor (C2) and one end of the third capacitor (C3); One end of the second capacitor (C2) is connected to the other end of the second resistor (R2), and the other end is grounded and also connected to one end of the second capacitor (C2); One end of the third capacitor (C3) is respectively connected to one end of the first resistor (R1) and the first input end of the amplifier circuit, and the other end is respectively connected to one end of the second resistor (R2) and the second input end of the amplifier circuit.

4. The system according to claim 3, characterized in that The amplifying circuit comprises an amplifier (U1) and a third resistor (R3), wherein: The first input end of the amplifier (U1) is connected to the first output end of the first filter circuit, and the second input end is connected to the second output end of the first filter circuit; The amplifier (U1) is also connected in parallel with the third resistor (R3); The output end of the amplifier (U1) is connected to the input end of the second filter circuit.

5. The system according to claim 4, characterized in that The second filtering circuit comprises a fourth resistor (R4) and a fourth capacitor (C4), wherein: One end of the fourth resistor (R4) is connected to the output end of the amplifier circuit, and the other end is respectively connected to one end of the fourth capacitor (C4) and the input end of the third filter circuit; One end of the fourth capacitor (C4) is connected to one end of the fourth resistor (R4), and the other end is grounded.

6. The system according to claim 5, characterized in that The third filtering circuit comprises a fifth resistor (R5), a sixth resistor (R6), a seventh resistor (R7), a fifth capacitor (C5), a sixth capacitor (C6), and a voltage follower (U2); One end of the fifth resistor (R5) is connected to the output end of the second filter circuit, and the other end is respectively connected to one end of the fifth capacitor (C5) and one end of the sixth resistor (R6); One end of the sixth resistor (R6) is connected to one end of the fifth resistor (R5), and the other end is respectively connected to the input end of the voltage follower (U2) and one end of the sixth capacitor (C6); One end of the fifth capacitor (C5) is connected to one end of the fifth resistor (R5), and the other end is connected to the output end of the fourth filter circuit; One end of the sixth capacitor (C6) is respectively connected to one end of the sixth resistor (R6) and the input end of the voltage follower (U2), and the other end is connected to one end of the seventh resistor (R7); One end of the seventh resistor (R7) is connected to one end of the sixth capacitor (C6), and the other end is respectively connected to the second input end of the voltage follower (U2) and the input end of the fourth filter circuit; The first input end of the voltage follower (U2) is respectively connected to the sixth resistor (R6) and the sixth capacitor (C6), and the second input end is respectively connected to one end of the seventh resistor (R7) and the input end of the fourth filter circuit; The output end of the voltage follower (U2) is connected to the input end of the fourth filter circuit.

7. The system according to claim 6, characterized in that The fourth filtering circuit comprises an eighth resistor (R8) and a seventh capacitor (C7); wherein: One end of the eighth resistor (R8) is connected to the output end of the third filter circuit, and the other end is connected to one end of the seventh capacitor (C7) and the input end of the flushing control operation module; One end of the seventh capacitor (C7) is connected to the input end of the flushing control operation module, and the other end is grounded.

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