Orthopedic joint replacement operating table and control method

Abstract

The present invention relates to the technical field of operating tables, and in particular to an orthopedic joint replacement operating table and a control method, the method comprising: performing a preset number of simulated movements of a simulated patient's limb to be adjusted through a hydraulic device to be adjusted, and obtaining a duration, adjustment times, and movement speed sequence corresponding to each simulated movement process of the limb to be adjusted; determining a response timely factor and a target stability coefficient corresponding to each simulated movement process of the limb to be adjusted; performing a preset number of simulated movements of each other limb of the simulated patient, and obtaining a target displacement sequence corresponding to each simulated movement process of each other limb; correcting a proportional gain coefficient of a PID controller of the hydraulic device to be adjusted; and controlling the movement of the limb to be adjusted of the patient to be operated on. The present invention realizes an adaptive correction of the proportional gain coefficient, improves the rationality of the setting of the proportional gain coefficient, and thus improves the stability when controlling the movement of the limb.

Description

Technical Field

[0001] The present invention relates to the technical field of operating tables, and in particular to an orthopedic joint replacement operating table and a control method thereof. Background Art

[0002] An orthopedic joint replacement operating table is an operating table used for orthopedic joint replacement surgery. Orthopedic joint replacement surgery is a common and mature surgical method in the field of orthopedics. It is mainly used to treat joint dysfunction caused by arthritis, trauma or other pathological conditions. It improves the patient's quality of life, restores joint function, and improves the patient's mobility by replacing damaged joint parts or the entire joint. Hydraulic devices for controlling limb movement are often installed on orthopedic joint replacement operating tables. Generally, the hydraulic device can achieve movement control through a PID (Proportion Integration Differentiation) controller. At present, when controlling through a PID controller, the method usually adopted is: setting the proportional gain coefficient through manual experience, and controlling through a PID controller based on the set proportional gain coefficient.

[0003] However, when the proportional gain coefficient is set by manual experience and the patient's limbs are controlled to move by a PID controller based on the set proportional gain coefficient, the following technical problems often occur:

[0004] When the proportional gain coefficient is set through human experience, the proportional gain coefficient is often set based on human subjective experience, resulting in the set proportional gain coefficient being mainly affected by human subjective factors. Therefore, the setting result is often unreasonable. Therefore, when the proportional gain coefficient is set through human experience, the rationality of the setting of the proportional gain coefficient is often poor, resulting in poor stability when the limbs are moved according to the set proportional gain coefficient. Summary of the invention

[0005] In order to solve the technical problem of poor stability when limbs are moved according to the set proportional gain coefficient due to poor rationality of the proportional gain coefficient setting, the present invention proposes an orthopedic joint replacement operating table and a control method.

[0006] In a first aspect, the present invention provides a method for controlling an orthopedic joint replacement operating table, the method comprising:

[0007] Through the hydraulic device to be adjusted, the limb to be adjusted of the simulated patient is simulated to move a preset number of times, and the duration, number of adjustments and movement speed sequence corresponding to each simulated movement process of the limb to be adjusted are obtained;

[0008] Determine the response time factor corresponding to each simulated movement process of the limb to be adjusted according to the duration and the number of adjustments corresponding to each simulated movement process of the limb to be adjusted;

[0009] Determine the target stability coefficient corresponding to each simulated movement process of the limb to be adjusted according to the response time factor corresponding to each simulated movement process of the limb to be adjusted and the fluctuation of the movement speed sequence;

[0010] Performing a preset number of simulated movements on each other limb of the simulated patient, and obtaining a target displacement sequence corresponding to each simulated movement process of each other limb, wherein the target displacement in the target displacement sequence represents the displacement of the limb to be adjusted during the simulated movement process of the other limbs;

[0011] According to all target stability coefficients and all target displacement sequences, the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted is corrected to obtain the target proportional gain coefficient;

[0012] According to the target proportional gain coefficient, the limb to be adjusted of the patient to be operated is controlled to move.

[0013] In combination with the first aspect above, in a possible implementation, determining the response time factor corresponding to each simulated movement process of the limb to be adjusted according to the duration and the number of adjustments corresponding to each simulated movement process of the limb to be adjusted includes:

[0014] The product of the duration corresponding to each simulated movement process of the limb to be adjusted and the number of adjustments is determined as the movement state factor corresponding to each simulated movement process of the limb to be adjusted;

[0015] According to the movement state factor corresponding to each simulated movement process of the limb to be adjusted, the response time factor corresponding to each simulated movement process of the limb to be adjusted is determined, wherein the movement state factor is negatively correlated with the response time factor.

[0016] In combination with the first aspect above, in a possible implementation, determining the target stability coefficient corresponding to each simulated movement process of the limb to be adjusted according to the fluctuation of the response time factor and the movement speed sequence corresponding to each simulated movement process of the limb to be adjusted includes:

[0017] The variance of all movement speeds in the movement speed sequence corresponding to each simulated movement process of the limb to be adjusted is determined as the speed fluctuation factor corresponding to each simulated movement process of the limb to be adjusted;

[0018] According to the response timeliness factor and speed fluctuation factor corresponding to each simulated movement process of the limb to be adjusted, the target stability coefficient corresponding to each simulated movement process of the limb to be adjusted is determined, wherein the response timeliness factor is positively correlated with the target stability coefficient, and the speed fluctuation factor is negatively correlated with the target stability coefficient.

[0019] In combination with the first aspect above, in a possible implementation, the formula corresponding to the target stability coefficient corresponding to the simulated movement process of the limb to be adjusted is:

[0020] ;

[0021] in, The first limb to be adjusted The target stability coefficient corresponding to the simulated movement process; is the sequence number of the simulated movement process of the limb to be adjusted; is the hyperbolic tangent function; The first limb to be adjusted The response time factor corresponding to the simulated movement process; is a natural exponential function; The first limb to be adjusted The speed fluctuation factor corresponding to the simulated moving process.

[0022] In combination with the first aspect above, in a possible implementation, the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted is corrected according to all target stability coefficients and all target displacement sequences to obtain the target proportional gain coefficient, including:

[0023] According to all target stability coefficients, the stability representative coefficient is determined, wherein the target stability coefficient is positively correlated with the stability representative coefficient;

[0024] The mean value of all target displacements in the target displacement sequence corresponding to each simulated movement process of each other limb is determined as the reference representative displacement corresponding to each simulated movement process of each other limb;

[0025] Determine the overall driven displacement of the limb to be adjusted during the same number of simulated movements of all other limbs according to the reference representative displacement corresponding to the same number of simulated movements of all other limbs, wherein the reference representative displacement is positively correlated with the overall driven displacement;

[0026] According to all the overall driven displacements, the state maintenance factor is determined, wherein the overall driven displacement is negatively correlated with the state maintenance factor;

[0027] Determining a factor to be adjusted according to the stability representative coefficient and the state maintenance factor, wherein both the stability representative coefficient and the state maintenance factor are negatively correlated with the factor to be adjusted;

[0028] According to the factor to be adjusted, the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted is corrected to obtain a target proportional gain coefficient.

[0029] In combination with the first aspect, in a possible implementation manner, determining the stability representative coefficient according to all target stability coefficients includes:

[0030] The mean of all target stability coefficients is determined as the representative stability coefficient.

[0031] In combination with the first aspect, in a possible implementation, determining the overall driven displacement of the limb to be adjusted during the same number of simulated movements of all other limbs according to the reference representative displacement corresponding to the same number of simulated movements of all other limbs includes:

[0032] The accumulated value of the reference representative displacement corresponding to the simulated movement process of all other limbs with the same number of times is determined as the overall driven displacement of the limb to be adjusted during the simulated movement process of all other limbs with the same number of times.

[0033] In combination with the first aspect above, in a possible implementation manner, determining the state maintenance factor according to all overall driven displacements includes:

[0034] The mean value of all overall driven displacements is determined as the representative coefficient of driven displacement;

[0035] A state maintenance factor is determined according to the driven displacement representative coefficient, wherein the driven displacement representative coefficient is negatively correlated with the state maintenance factor.

[0036] In combination with the first aspect above, in a possible implementation, the formula corresponding to the factor to be adjusted is:

[0037] ;

[0038] in, S is the factor to be adjusted; is a natural exponential function; is the state maintenance factor; is the stability representative coefficient.

[0039] In a second aspect, the present invention provides an orthopedic joint replacement operating table, which comprises: a hydraulic device to be adjusted and a PID controller thereof for controlling the movement of a limb to be adjusted, a hydraulic device and a PID controller thereof for controlling the movement of other limbs, a data collector and a data processor, wherein the data processor is used for the control method of the above-mentioned orthopedic joint replacement operating table.

[0040] The present invention has the following beneficial effects:

[0041] The control method of an orthopedic joint replacement operating table of the present invention realizes adaptive correction of the proportional gain coefficient, solves the technical problem of poor stability when limbs are moved according to the set proportional gain coefficient due to poor rationality of the proportional gain coefficient setting, improves the rationality of the proportional gain coefficient setting, and thus improves the stability when controlling the movement of the limbs. The present invention uses the hydraulic device to be adjusted before the proportional gain coefficient is adjusted to simulate the patient's limbs for a preset number of times, quantifies the response time factor of the simulated movement based on the proportional gain coefficient before adjustment, quantifies the target stability coefficient of the simulated movement based on the proportional gain coefficient before adjustment, and also quantifies the target displacement that characterizes the influence of other limb movements, thereby realizing adaptive correction of the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted, improving the rationality of the proportional gain coefficient correction, and thus improving the stability of controlling the movement of the limbs to be adjusted of the patient to be operated on. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 The present invention is a flow chart of a control method of an orthopedic joint replacement operating table. DETAILED DESCRIPTION

[0044] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the technical solutions proposed by the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0045] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0046] refer to Figure 1 , showing the process of some embodiments of a control method of an orthopedic joint replacement operating table of the present invention. The control method of the orthopedic joint replacement operating table comprises the following steps:

[0047] Step S1, using the hydraulic device to be adjusted, simulates the movement of the limb to be adjusted of the simulated patient for a preset number of times, and obtains the duration, number of adjustments and movement speed sequence corresponding to each simulated movement process of the limb to be adjusted.

[0048] The hydraulic device to be adjusted may be a hydraulic device for controlling the movement of the limb to be adjusted. The limb to be adjusted may be a limb to be moved and adjusted during surgery. For example, the limb to be adjusted may be the left calf. The hydraulic device, also known as a hydraulic device, may be used for motion control. For example, the hydraulic device may be a hydraulic rod. That is, the hydraulic device to be adjusted may be a hydraulic rod installed on an orthopedic joint replacement operating table for controlling the movement of the limb to be adjusted. The orthopedic joint replacement operating table may be an operating table for performing orthopedic joint replacement surgery. Orthopedic joint replacement surgery is a common and mature surgical method in the field of orthopedics, mainly used to treat joint dysfunction caused by arthritis, trauma or other pathological conditions. It improves the patient's quality of life, restores the function of the joint, and improves the patient's mobility by replacing the damaged joint part or the entire joint. For example, the orthopedic joint may be a knee joint. A PID (Proportion Integration Differentiation) controller is installed on a hydraulic device. The simulated patient may be a patient who simulates the movement of a limb during surgery. It should be noted that the simulated patient is not necessarily a real patient, but may also be a healthy person. The preset number may be a preset number of simulated movements. For example, the preset number may be 10. The simulated movement process of the limb to be adjusted may be a process of performing simulated movement, that is, a process of moving the limb to be adjusted of the simulated patient to a preset position. The preset position may be a position to which the limb to be adjusted of the patient to be operated needs to be moved in the operation to be performed. The patient to be operated may be a patient to undergo orthopedic joint replacement surgery. The height and weight of the simulated patient may be similar to those of the patient to be operated. For example, the height difference between the simulated patient and the patient to be operated may be 2 cm, and the weight difference between the two may be 1 kg. The duration corresponding to the simulated movement process may be the duration from the start to the end of the simulated movement process. The number of adjustments corresponding to the simulated movement process may be the number of times the movement trajectory of the limb to be adjusted is adjusted during the simulated movement process, for example, it may be characterized by the number of times the movement direction of the limb to be adjusted is adjusted during the simulated movement process. The different movement speeds in the movement speed sequence corresponding to the simulated movement process may be equal to the corresponding rates of the limb to be adjusted at different times during the simulated movement process, which may be collected by a speed sensor. The movement speed sequence is a time series.

[0049] It should be noted that during the actual operation, the patient is often in an anesthetized state and his limbs are often unable to move autonomously. In order to ensure the smooth progress of the operation, it is often necessary to use hydraulic devices to assist the movement of the patient's limbs to adapt to the operation requirements of the operation.

[0050] As an example, if the preset number is 2, and the limb to be adjusted is the left calf, the PID controller of the hydraulic device to be adjusted can be used to control the simulated patient's left calf to move from the reference position to the preset position, and this process can be used as the first simulated movement process of the simulated patient's limb to be adjusted, wherein the reference position can be the position where the limb to be adjusted of the patient to be operated on is fixed before the operation. Similarly, the position of the simulated patient's left calf can be restored to the reference position, and the PID controller of the hydraulic device to be adjusted can be used to control the simulated patient's left calf to move from the reference position to the preset position, and this process can be used as the second simulated movement process of the simulated patient's limb to be adjusted.

[0051] It should be noted that, when performing each simulated movement of the simulated patient's limb to be adjusted, it is not necessary to control the movement of other limbs of the simulated patient except for the limb to be adjusted through the hydraulic device used to control other limbs, that is, when performing each simulated movement of the simulated patient's limb to be adjusted, it is only necessary to control the movement of the limb to be adjusted, and it is not necessary to adjust the position of other limbs. Secondly, before the simulated movement of the limb to be adjusted begins, the simulated patient can be placed on the operating table by a temporary doctor or a surgical team, and the operating table can be moved to the position where it needs to be placed, and the operating table can be fixed by the fixing device on the moving mechanism of the operating table to ensure that the operating table will not move during the simulated operation. Then, the simulation is performed according to the actual surgical operation process. The simulated movement process in the embodiment of the present invention refers to the process of controlling the limbs to perform corresponding movements according to the surgical process.

[0052] Step S2, determining a response time factor corresponding to each simulated movement process of the limb to be adjusted according to the duration and the number of adjustments corresponding to each simulated movement process of the limb to be adjusted.

[0053] As an example, this step may include the following steps:

[0054] In the first step, the product of the duration corresponding to each simulated movement process of the limb to be adjusted and the number of adjustments is determined as the movement state factor corresponding to each simulated movement process of the limb to be adjusted.

[0055] The second step is to determine the response time factor corresponding to each simulated movement process of the limb to be adjusted according to the movement state factor corresponding to each simulated movement process of the limb to be adjusted.

[0056] Among them, the mobility status factor can be negatively correlated with the response timeliness factor.

[0057] For example, the formula for determining the response time factor corresponding to the simulated movement process of the limb to be adjusted can be:

[0058] ;

[0059] in, The first limb to be adjusted The response time factor corresponding to the simulated movement process. It is the sequence number of the simulated movement process of the limb to be adjusted. is a natural exponential function. The first limb to be adjusted The number of adjustments corresponding to each simulated moving process. The first limb to be adjusted The duration corresponding to each simulated movement process. The first limb to be adjusted The mobile state factor corresponding to the simulated mobile process.

[0060] It should be noted that in actual situations, during the process of limb control movement, if the proportional gain coefficient of the PID controller is set reasonably, the limb position can often be adjusted in a timely manner during movement control through the PID controller, thereby reducing the number of limb adjustments and the duration of the simulated movement process to a certain extent. The larger the size, the more likely it is that the limb to be adjusted The more times the limb to be adjusted needs to be adjusted during the simulated movement, the more likely it is that the response to the movement control using the proportional gain coefficient before correction is less timely, and the more likely it is that the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted needs to be increased. When the size is larger, it often indicates that the first The longer the duration of the simulated movement process, the less likely it is that the response will be timely when the proportional gain coefficient before correction is used to control the movement, which means that it is more likely that the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted needs to be increased. The larger the value is, the more timely the response is when the proportional gain coefficient before correction is used to control the movement, which means that there is no need to correct the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted.

[0061] Step S3, determining the target stability coefficient corresponding to each simulated movement process of the limb to be adjusted according to the response time factor corresponding to each simulated movement process of the limb to be adjusted and the fluctuation of the movement speed sequence.

[0062] As an example, this step may include the following steps:

[0063] In the first step, the variance of all movement speeds in the movement speed sequence corresponding to each simulated movement process of the limb to be adjusted is determined as the speed fluctuation factor corresponding to each simulated movement process of the limb to be adjusted.

[0064] In the second step, the target stability coefficient corresponding to each simulated movement process of the limb to be adjusted is determined according to the response time factor and the speed fluctuation factor corresponding to each simulated movement process of the limb to be adjusted.

[0065] Among them, the timely response factor may be positively correlated with the target stability coefficient, and the speed fluctuation factor may be negatively correlated with the target stability coefficient.

[0066] For example, the formula for determining the target stability coefficient corresponding to the simulated movement process of the limb to be adjusted can be:

[0067] ;

[0068] in, The first limb to be adjusted The target stability coefficient corresponding to the simulated movement process. It is the sequence number of the simulated movement process of the limb to be adjusted. is the hyperbolic tangent function. The first limb to be adjusted The response time factor corresponding to the simulated movement process. is a natural exponential function. The first limb to be adjusted The speed fluctuation factor corresponding to the simulated moving process.

[0069] It should be noted that when The larger the value is, the more timely the response is when the proportional gain coefficient before correction is used to control the movement, which means that it is less necessary to correct the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted. The smaller the size, the more likely it is that the During the simulated movement, the more stable the speed of the limb to be adjusted is, the more the movement state of the limb to be adjusted is in line with the requirements of the actual surgery. The larger it is, the less need there is to correct the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted.

[0070] Step S4, performing a preset number of simulated movements on each other limb of the simulated patient, and obtaining a target displacement sequence corresponding to each simulated movement process of each other limb.

[0071] The target displacement in the target displacement sequence may represent the displacement of the limb to be adjusted during the simulated movement of other limbs. The target displacement sequence may be a time series.

[0072] It should be noted that during the operation, multiple limbs may be moved. For any limb, the movement of other limbs other than the limb may drive the movement of the limb, causing it to move beyond the requirements. The target displacement in the embodiment of the present invention can represent such movement beyond the requirements. Each limb can be controlled to move by a hydraulic device.

[0073] As an example, any other limb of all limbs of the simulated patient except the limb to be adjusted is determined as a marked limb, and each limb of all limbs of the simulated patient except the marked limb is determined as a candidate limb. After each candidate limb of the simulated patient is moved to its corresponding candidate position, its movement is no longer controlled by its corresponding hydraulic device, and the candidate limb is not fixed at this time. The position of the marked limb is restored to the original position. At this time, the marked limb is controlled to move from the original position to the expected position by the marked hydraulic device. This movement process can be recorded as a simulated movement process of the marked limb, and the displacement between the position of the limb to be adjusted at each moment in the movement process and its corresponding candidate position is collected by the displacement sensor as the target displacement. All target displacements collected during the movement process constitute the target displacement sequence corresponding to the simulated movement process. Among them, the candidate position corresponding to the candidate limb can be a position randomly selected by the staff from all positions to which the candidate limb can be moved in advance. The hydraulic device corresponding to the candidate limb can be a hydraulic device for controlling the movement of the candidate limb. The marking hydraulic device can be a hydraulic device for controlling the movement of the marked limb. The original position can be the position where the marked limb needs to be fixed before the operation. The expected position can be the position to which the staff hopes the marked limb will be moved in advance.

[0074] Step S5, correcting the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted according to all target stability coefficients and all target displacement sequences to obtain a target proportional gain coefficient.

[0075] As an example, this step may include the following steps:

[0076] The first step is to determine the representative stability coefficient based on all target stability coefficients.

[0077] Among them, the target stability coefficient can be positively correlated with the stability representative coefficient.

[0078] For example, the average of all target stability coefficients can be determined as the stability representative coefficient.

[0079] In the second step, the mean of all target displacements in the target displacement sequence corresponding to each simulated movement process of each other limb is determined as the reference representative displacement corresponding to each simulated movement process of each other limb.

[0080] For example, the formula for determining the reference representative displacement corresponding to the simulated movement process of the limbs other than the limb to be adjusted may be:

[0081] ;

[0082] in, It is The other limb The reference representative displacement corresponding to the simulated movement process. It is the serial number of the limbs other than the limb to be adjusted. It is the sequence number of the simulated movement process of other limbs. It is The other limb The number of target displacements in the target displacement sequence corresponding to the simulated movement process. It is The other limb The sequence number of the target displacement in the target displacement sequence corresponding to the simulated movement process. It is The other limb The target displacement sequence corresponding to the simulated movement process Target displacement.

[0083] It should be noted that, since the limb to be adjusted is not fixed during the simulated movement of other limbs, the limb to be adjusted during the simulated movement of other limbs can represent the limb to be adjusted that is moving at a certain moment. The other limbs in the embodiment of the present invention can also be the limb that needs to move simultaneously with the limb to be adjusted during the actual operation. The larger the The more other limbs move, the more likely it is that the limb to be adjusted will move beyond the required level, which often means that a timely response is needed, and the more likely it is that the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted needs to be increased.

[0084] The third step is to determine the overall driven displacement of the limb to be adjusted during the same number of simulated movements of all other limbs based on the reference representative displacement corresponding to the same number of simulated movements of all other limbs.

[0085] Among them, the reference representative displacement can be positively correlated with the overall driven displacement.

[0086] For example, the accumulated value of the reference representative displacement corresponding to the simulated movement process of all other limbs for the same number of times can be determined as the overall driven displacement of the limb to be adjusted during the simulated movement process of all other limbs for the same number of times.

[0087] For example, the formula for determining the overall displacement of the limb to be adjusted during the same number of simulated movements of all other limbs can be:

[0088] ;

[0089] in, The limb to be adjusted is the first among all other limbs. The overall displacement during the simulated movement. It is the sequence number of the simulated movement process of other limbs. It is the serial number of the limbs other than the limb to be adjusted. is the number of limbs other than the limb to be adjusted. It is The other limb The reference representative displacement corresponding to the simulated movement process.

[0090] It should be noted that when The larger the When other limbs move, the more likely it is that the limb to be adjusted will move beyond the required amount. This often means that the limb to be adjusted is more susceptible to the influence of other limbs, the more important the limb to be adjusted is, the more timely response is needed, and the more likely it is that the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted needs to be increased. Therefore, when The larger it is, the more likely it is that you need to increase the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted.

[0091] The fourth step is to determine the state maintenance factor based on all overall driven displacements.

[0092] Among them, the overall driven displacement can be negatively correlated with the state maintenance factor.

[0093] For example, determining the state maintenance factor may include the following sub-steps:

[0094] In the first sub-step, the mean of all the overall driven displacements is determined as the driven displacement representative coefficient.

[0095] In the second sub-step, the state maintenance factor is determined based on the above-mentioned driving displacement representative coefficient.

[0096] Among them, the above-mentioned driving displacement representative coefficient can be negatively correlated with the above-mentioned state maintenance factor.

[0097] For example, the formula for determining the state maintenance factor can be:

[0098] ;

[0099] ;

[0100] in, B It is the state maintenance factor. is a natural exponential function. is the representative coefficient of driving displacement. is the preset number, that is, the number of simulated movement processes for each other limb. It is the sequence number of the simulated movement process of other limbs. The limb to be adjusted is the first among all other limbs. The overall displacement during the simulated movement.

[0101] It should be noted that when The larger the value is, the more likely it is that you need to increase the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted. The larger the value is, the more likely it is that you need to increase the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted. B The larger it is, the less need there is to correct the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted.

[0102] The fifth step is to determine the factors to be adjusted based on the above-mentioned stability representative coefficient and the above-mentioned state maintenance factor.

[0103] Among them, the above-mentioned stability representative coefficient and the above-mentioned state maintenance factor can both be negatively correlated with the above-mentioned factor to be adjusted.

[0104] For example, the formula for determining the factor to be adjusted may be:

[0105] ;

[0106] in, is the factor to be adjusted. is a natural exponential function. B It is the state maintenance factor. D is the stability representative coefficient.

[0107] It should be noted that when B The smaller the value, the more likely it is that you need to increase the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted. D The smaller it is, the more likely it is that you need to increase the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted. S The larger it is, the more likely it is that you need to increase the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted.

[0108] The sixth step is to correct the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted according to the above-mentioned factors to be adjusted to obtain the target proportional gain coefficient.

[0109] It should be noted that the final proportional gain coefficient is often not higher than the maximum proportional gain coefficient allowed by the operating table. Therefore, the maximum proportional gain coefficient allowed by the operating table is recorded as the reference proportional gain coefficient. If the target proportional gain coefficient is higher than the reference proportional gain coefficient, the target proportional gain coefficient is set to the reference proportional gain coefficient.

[0110] For example, the formula for determining the target proportional gain coefficient may be:

[0111] ;

[0112] in, is the target proportional gain coefficient. It is the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted, that is, the proportional gain coefficient before correction corresponding to the PID controller of the hydraulic device to be adjusted. The proportional gain coefficient before correction can be a proportional gain coefficient set by manual experience. S is the factor to be adjusted.

[0113] It should be noted that when S When the value is larger, it often indicates that it is more likely to need to increase the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted. The proportional gain coefficient that needs to be adjusted in the end can be characterized.

[0114] Step S6, controlling the limb to be adjusted of the patient to be operated on to move according to the target proportional gain coefficient.

[0115] As an example, the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted can be updated to the target proportional gain coefficient, and the PID controller of the hydraulic device to be adjusted can be used to control the limb to be adjusted of the patient to be operated on to move from a reference position to a preset position, thereby realizing the movement of the limb to be adjusted of the patient to be operated on.

[0116] It should be noted that, for the PID controllers of the hydraulic devices that control the movement of different limbs, the above-mentioned method can be used to correct their proportional gain coefficients, thereby realizing the correction of the proportional gain coefficients of the PID controllers of all the hydraulic devices that control the movement of limbs on the operating table, thereby improving the stability during the operation and the safety of the operation.

[0117] The present invention provides an orthopedic joint replacement operating table, which may include a hydraulic device to be adjusted and a PID controller thereof for controlling the movement of a limb to be adjusted, a hydraulic device and a PID controller thereof for controlling the movement of other limbs, a data collector and a data processor, and the data processor is used to implement the above-mentioned control method of an orthopedic joint replacement operating table. Among them, the data collector may be composed of a speed sensor and a displacement sensor. The data processor may be a conventional single-chip microcomputer or other processor chip, such as: FPGA (Field Programmable Gate Array), CPU (Central Processing Unit), MCU (Main Computational Unit), etc. The data collector and the data processor may adopt a wired communication mode or a wireless communication mode.

[0118] In summary, the present invention uses the hydraulic device to be adjusted before the proportional gain coefficient is adjusted to perform a preset number of simulated movements of the simulated patient's limb to be adjusted, quantifies the response time factor of the simulated movement based on the proportional gain coefficient before adjustment, quantifies the target stability coefficient of the simulated movement based on the proportional gain coefficient before adjustment, and also quantifies the target displacement that characterizes the influence of other limb movements, thereby realizing adaptive correction of the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted, improving the rationality of the correction of the proportional gain coefficient, and thus improving the stability of controlling the movement of the limb to be adjusted of the patient to be operated on.

[0119] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A control method for an orthopedic joint replacement operating table, characterized in that: The following steps are involved: Performing a preset number of simulated movements of the simulated patient's limb to be adjusted through the hydraulic device to be adjusted, and obtaining the duration, number of adjustments, and movement speed sequence corresponding to each simulated movement process of the limb to be adjusted; Determine the response time factor corresponding to each simulated movement process of the limb to be adjusted according to the duration and the number of adjustments corresponding to each simulated movement process of the limb to be adjusted; Determine the target stability coefficient corresponding to each simulated movement process of the limb to be adjusted according to the response time factor corresponding to each simulated movement process of the limb to be adjusted and the fluctuation of the movement speed sequence; Performing a preset number of simulated movements on each other limb of the simulated patient, and obtaining a target displacement sequence corresponding to each simulated movement process of each other limb, wherein the target displacement in the target displacement sequence represents the displacement of the limb to be adjusted during the simulated movement process of the other limbs; According to all target stability coefficients and all target displacement sequences, the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted is corrected to obtain the target proportional gain coefficient; According to the target proportional gain coefficient, the limb to be adjusted of the patient to be operated is controlled to move.

2. The control method of an orthopedic joint replacement operating table according to claim 1, characterized in that: Determining the response time factor corresponding to each simulated movement process of the limb to be adjusted according to the duration and the number of adjustments corresponding to each simulated movement process of the limb to be adjusted includes: The product of the duration corresponding to each simulated movement process of the limb to be adjusted and the number of adjustments is determined as the movement state factor corresponding to each simulated movement process of the limb to be adjusted; According to the movement state factor corresponding to each simulated movement process of the limb to be adjusted, the response time factor corresponding to each simulated movement process of the limb to be adjusted is determined, wherein the movement state factor is negatively correlated with the response time factor.

3. The control method of an orthopedic joint replacement operating table according to claim 1, characterized in that: Determining the target stability coefficient corresponding to each simulated movement process of the limb to be adjusted according to the response time factor corresponding to each simulated movement process of the limb to be adjusted and the fluctuation of the movement speed sequence thereof includes: The variance of all movement speeds in the movement speed sequence corresponding to each simulated movement process of the limb to be adjusted is determined as the speed fluctuation factor corresponding to each simulated movement process of the limb to be adjusted; According to the response timeliness factor and speed fluctuation factor corresponding to each simulated movement process of the limb to be adjusted, the target stability coefficient corresponding to each simulated movement process of the limb to be adjusted is determined, wherein the response timeliness factor is positively correlated with the target stability coefficient, and the speed fluctuation factor is negatively correlated with the target stability coefficient.

4. The control method of an orthopedic joint replacement operating table according to claim 3, characterized in that: The formula for the target stability coefficient corresponding to the simulated movement process of the limb to be adjusted is: ； in, The first limb to be adjusted The target stability coefficient corresponding to the simulated movement process; is the sequence number of the simulated movement process of the limb to be adjusted; is the hyperbolic tangent function; The first limb to be adjusted The response time factor corresponding to the simulated movement process; is a natural exponential function; The first limb to be adjusted The speed fluctuation factor corresponding to the simulated moving process.

5. The control method of an orthopedic joint replacement operating table according to claim 1, characterized in that: The method of correcting the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted according to all target stability coefficients and all target displacement sequences to obtain the target proportional gain coefficient includes: According to all target stability coefficients, the stability representative coefficient is determined, wherein the target stability coefficient is positively correlated with the stability representative coefficient; The mean value of all target displacements in the target displacement sequence corresponding to each simulated movement process of each other limb is determined as the reference representative displacement corresponding to each simulated movement process of each other limb; Determine the overall driven displacement of the limb to be adjusted during the same number of simulated movements of all other limbs according to the reference representative displacement corresponding to the same number of simulated movements of all other limbs, wherein the reference representative displacement is positively correlated with the overall driven displacement; According to all the overall driven displacements, the state maintenance factor is determined, wherein the overall driven displacement is negatively correlated with the state maintenance factor; Determining a factor to be adjusted according to the stability representative coefficient and the state maintenance factor, wherein both the stability representative coefficient and the state maintenance factor are negatively correlated with the factor to be adjusted; According to the factor to be adjusted, the proportional gain coefficient of the PID controller of the hydraulic device to be adjusted is corrected to obtain a target proportional gain coefficient.

6. The control method of an orthopedic joint replacement operating table according to claim 5, characterized in that: The stability representative coefficient is determined according to all target stability coefficients, including: The mean of all target stability coefficients is determined as the representative stability coefficient.

7. The control method of an orthopedic joint replacement operating table according to claim 5, characterized in that: The step of determining the overall displacement of the limb to be adjusted during the same number of simulated movements of all other limbs according to the reference representative displacement corresponding to the same number of simulated movements of all other limbs comprises: The accumulated value of the reference representative displacement corresponding to the simulated movement process of all other limbs with the same number of times is determined as the overall driven displacement of the limb to be adjusted during the simulated movement process of all other limbs with the same number of times.

8. The control method of an orthopedic joint replacement operating table according to claim 5, characterized in that: The state maintenance factor is determined based on all the overall driven displacements, including: The mean value of all overall driven displacements is determined as the representative coefficient of driven displacement; A state maintenance factor is determined according to the driven displacement representative coefficient, wherein the driven displacement representative coefficient is negatively correlated with the state maintenance factor.

9. The control method of an orthopedic joint replacement operating table according to claim 5, characterized in that: The formula corresponding to the factor to be adjusted is: ； in, S is the factor to be adjusted; is a natural exponential function; is the state maintenance factor; is the stability representative coefficient.

10. An orthopedic joint replacement operating table, characterized in that: It comprises a hydraulic device to be adjusted and a PID controller thereof for controlling the movement of a limb to be adjusted, a hydraulic device to be adjusted and a PID controller thereof, a data collector and a data processor for controlling the movement of other limbs, wherein the data processor is used to implement a control method for an orthopedic joint replacement operating table according to any one of claims 1 to 9.

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