Animal nerve traction injury modeling method and device

Abstract

The invention provides an animal nerve traction injury modeling method and device, and relates to the technical field of veterinary surgical instruments. The method comprises the following steps of traction evaluation judgment, traction force evaluation and traction displacement evaluation. According to the method, whether traction evaluation is carried out or not is judged according to the obtained traction data, if traction evaluation is carried out, the traction force data is obtained to obtain the traction force evaluation index, whether traction force adjustment is carried out or not is judged based on the traction force evaluation index, and if traction displacement evaluation is carried out, the traction displacement data is obtained to obtain the traction displacement evaluation index; whether the traction displacement is adjusted or not is judged based on the traction displacement evaluation index, multi-angle detection of the traction device is achieved, the stability of the traction device can be detected and analyzed in time, corresponding measures can be taken, the effect of improving the stability of the traction device in animal nerve traction injury modeling is achieved, and the safety of animal nerve traction injury modeling is improved. The problem that in the prior art, a traction device is unstable in operation is solved.

Description

Technical Field

[0001] The invention relates to the technical field of veterinary surgical instruments, and in particular to a method and equipment for modeling animal nerve traction injury. Background Art

[0002] Animal nerve stretch injury models are used to study the pathophysiological changes and repair mechanisms of peripheral or central nerves under mechanical stretch injury. Traditional methods are difficult to accurately control the stretching force or displacement, have poor repeatability, and cannot simulate the dynamic stretching process. Therefore, the development of equipment based on precise displacement and force control can achieve adjustable stretching parameters and provide a reliable injury model.

[0003] Existing animal nerve traction injury modeling technologies mostly use manual or simple mechanical devices to apply tension to the nerves, but these methods have problems such as low precision, uncontrollable parameters, and poor repeatability, making it difficult to simulate the mechanical environment of nerve strain in clinical practice. Some devices achieve injury models by adjusting tensile displacement or traction force, but most of them cannot accurately control the traction speed, duration and tensile strength at the same time, and lack dynamic mechanical monitoring functions, which affects the comparability and stability of experimental results. In addition, most of the current equipment does not combine the anatomical characteristics of the nerves, which may cause additional damage or uneven stress distribution. Therefore, the development of a modeling device that can accurately control traction force, displacement and speed, and monitor and record dynamic response parameters in real time, can significantly improve the accuracy and repeatability of the model and meet research needs. Summary of the invention

[0004] The present invention provides a method and device for modeling animal nerve traction injury, which can not only more accurately evaluate the accuracy of the traction force and traction displacement output by the traction device, but also can timely regulate the traction device by taking corresponding measures to ensure the accuracy of traction injury modeling, and accurately evaluate the stability of the traction device by monitoring the traction force and traction displacement and taking corresponding measures to adjust it in time, ultimately achieving the improvement of the stability of the traction device in animal nerve traction injury modeling.

[0005] In order to solve the above-mentioned invention object, the technical solution provided by the present invention is as follows:

[0006] A method for modeling an animal nerve traction injury comprises determining whether to perform a traction assessment based on acquired traction data, wherein the traction data comprises a force value curve linearity and a displacement curve linearity, and the traction assessment comprises a traction force assessment and a traction displacement assessment; if a traction force assessment is performed, the traction force data is acquired to obtain a traction force assessment index, and based on the traction force assessment index, determining whether to perform a traction force adjustment, and the traction force assessment index is used to assess the stability of the traction force of a traction device; if a traction displacement assessment is performed, the traction displacement data is acquired to obtain a traction displacement assessment index, and based on the traction displacement assessment index, determining whether to perform a traction displacement adjustment, and the traction displacement assessment index is used to assess the stability of the traction displacement of the traction device.

[0007] Optionally, the specific process of determining whether to perform a stretching assessment is as follows:

[0008] Step 1, obtaining reference pulling data from a preset database, wherein the reference pulling data includes a minimum value of the linearity of a force curve and a minimum value of the linearity of a displacement curve; Step 2, determining whether the linearity of the force curve and the linearity of the displacement curve are both not less than the corresponding minimum values ​​of the linearity of the force curve and the linearity of the displacement curve, if so, not performing pulling evaluation, otherwise executing step 3; Step 3, if the linearity of the force curve is less than the corresponding minimum value of the linearity of the force curve, performing pulling force evaluation, otherwise not performing pulling force evaluation; Step 4, if the linearity of the displacement curve is less than the corresponding minimum value of the linearity of the displacement curve, performing pulling displacement evaluation, otherwise not performing pulling displacement evaluation.

[0009] Optionally, the pulling force data includes pulling force value, pulling force response time, overshoot and drift rate; the pulling displacement data includes pulling displacement, pulling displacement response time, displacement overshoot and displacement drift rate.

[0010] Optionally, the specific acquisition process of the tension evaluation index is as follows: number the number of modeling tests and obtain reference tension data from a preset database, the reference tension data including a target tension value, a maximum response time, a maximum overshoot, and a maximum drift rate; compare the tension data with the reference tension data to determine whether it meets the judgment condition: if it meets the judgment condition, process the tension data and the reference tension data to obtain the tension evaluation index; if it does not meet the judgment condition, record the tension evaluation index as 0; the judgment condition indicates that the tension response time, overshoot, and drift rate are all less than the corresponding maximum response time, maximum overshoot, and maximum drift rate; the specific restriction expression of the tension evaluation index is as follows:

[0011]

[0012] Where n represents the number of modeling tests, n = 1, 2, ..., N, N represents the total number of modeling tests, FV n Indicates the pulling force value of the nth modeling test, RT n represents the tensile force response time of the nth modeling test, OS n Indicates the overshoot of the nth modeling test, DR n represents the drift rate of the nth modeling test, FV0 represents the target pulling force value, RT0 represents the maximum response time, OS0 represents the maximum overshoot, DR0 represents the maximum drift rate, TF n represents the tensile force evaluation index of the nth modeling test, and e represents a natural constant.

[0013] Optionally, the specific process of determining whether to adjust the pulling force is as follows: obtaining a pulling force threshold from a preset database, wherein the pulling force threshold is used to determine whether to adjust the pulling force; comparing a pulling force evaluation index with the pulling force threshold: if the pulling force evaluation index is not less than the pulling force threshold, no pulling force adjustment is performed; if the pulling force evaluation index is less than the pulling force threshold, a pulling force adjustment is performed; the pulling force adjustment includes increasing the sensor sampling frequency and adjusting the PID controller parameters.

[0014] Optionally, the specific acquisition process of the pulling displacement evaluation index is as follows: obtaining reference pulling displacement data from a preset database, the reference pulling displacement data including a target pulling displacement value, a maximum displacement overshoot, a maximum displacement drift rate and a preset displacement rate; comparing the displacement overshoot and the displacement drift rate with the corresponding maximum displacement overshoot and maximum displacement drift rate, respectively: if the displacement overshoot and the displacement drift rate are both smaller than the corresponding maximum displacement overshoot and maximum displacement drift rate, processing the pulling displacement data and the corresponding reference pulling displacement data to obtain the pulling displacement evaluation index; if the displacement overshoot or the displacement drift rate is not smaller than the corresponding maximum displacement overshoot and maximum displacement drift rate, recording the pulling displacement evaluation index as 0.

[0015] Optionally, the specific process of determining whether to perform a pulling displacement adjustment is as follows: obtaining a pulling displacement threshold from a preset database, wherein the pulling displacement threshold is used to determine whether to perform a pulling displacement adjustment; comparing a pulling displacement evaluation index with the pulling displacement threshold: if the pulling displacement evaluation index is not less than the pulling displacement threshold, no pulling displacement adjustment is performed; if the pulling displacement evaluation index is less than the pulling displacement threshold, a pulling displacement adjustment is performed; the pulling displacement adjustment includes segmented adjustment and increased damping; increased damping means that a physical damper is added to the pulling device by a preset voice prompt to the staff to reduce displacement overshoot.

[0016] Optionally, it also includes: if no traction evaluation is performed, the dynamic response time and the traction force response time in the traction force data and the traction displacement response time in the traction displacement data are obtained to obtain a dynamic response evaluation index, and whether to perform dynamic adjustment is determined based on the dynamic response evaluation index; the dynamic response evaluation index is used to evaluate the dynamic response capability of the traction device, and the dynamic response time includes an adjustment time and a rise time; the method for obtaining the dynamic response evaluation index is as follows: the traction force response time and the traction displacement response time are de-unitized and the lag time is obtained based on the traction force response time and the traction displacement response time; the adjustment time index is obtained based on the traction force response time, the traction displacement response time and the adjustment time; the rise time index is obtained based on the adjustment time and the rise time; the dynamic response evaluation index is obtained based on the lag time, the adjustment time index and the rise time index.

[0017] Optionally, the specific process of determining whether to perform dynamic adjustment is as follows: obtaining a dynamic adjustment threshold from a preset database, wherein the dynamic adjustment threshold is used to determine whether to perform dynamic adjustment; comparing a dynamic response evaluation index with the dynamic adjustment threshold: if the dynamic response evaluation index is not less than the dynamic adjustment threshold, no dynamic adjustment is performed; if the dynamic response evaluation index is less than the dynamic adjustment threshold, dynamic adjustment is performed; the dynamic adjustment includes optimizing PID parameters and improving the feedback loop; the improved feedback loop represents linearizing the feedback signal to avoid introducing nonlinear errors.

[0018] An electronic device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the animal nerve traction injury modeling method.

[0019] Compared with the prior art, the above technical solution has at least the following beneficial effects:

[0020] (1) By determining whether to perform a traction assessment based on the acquired traction data, if a traction force assessment is performed, the traction force data is acquired to obtain a traction force assessment index, and based on the traction force assessment index, it is determined whether to perform a traction force adjustment; if a traction displacement assessment is performed, the traction displacement data is acquired to obtain a traction displacement assessment index, and based on the traction displacement assessment index, it is determined whether to perform a traction displacement adjustment, thereby achieving multi-angle detection of the traction device, being able to timely detect and analyze the stability of the traction device and take corresponding measures, thereby achieving the improvement of the stability of the traction device in the animal nerve traction injury modeling.

[0021] (2) The number of modeling tests is numbered and reference tension force data is obtained from a preset database. The tension force data is then compared with the reference tension force data to determine whether the judgment conditions are met. If the judgment conditions are met, the tension force data and the reference tension force data are processed to obtain a tension force evaluation index. If the judgment conditions are not met, the tension force evaluation index is recorded as 0, thereby more accurately quantifying the stability of the tension force and taking corresponding measures in a timely manner to ensure the stability of the pulling device.

[0022] (3) By comparing the displacement overshoot and the displacement drift rate with the corresponding maximum displacement overshoot and maximum displacement drift rate respectively: if the displacement overshoot and the displacement drift rate are both smaller than the corresponding maximum displacement overshoot and maximum displacement drift rate, the pulling displacement data and the corresponding reference pulling displacement data are processed to obtain a pulling displacement evaluation index; otherwise, the pulling displacement evaluation index is recorded as 0, thereby more accurately quantifying the stability of the pulling displacement, and then realizing timely taking of corresponding measures to ensure the stability of the pulling device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0024] Figure 1 It is a structural schematic diagram of a method for modeling animal nerve traction injury according to the present invention;

[0025] Figure 2 It is a schematic diagram of the change of the pulling displacement evaluation index of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one", "one" or "the" do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0028] It should be noted that the terms "up", "down", "left", "right", "front", "back", etc. used in the present invention are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0029] The present invention aims to solve the problem that the traction device used in the existing animal nerve traction injury modeling method may have unstable operation during the modeling process, and provides a method that can improve the stability of the traction device in the animal nerve traction injury modeling, thereby improving the stability of the animal nerve traction injury modeling method.

[0030] like Figure 1 As shown, an embodiment of the present invention provides an animal nerve traction injury modeling method, including determining whether to perform traction evaluation based on acquired traction data, the traction data including force value curve linearity and displacement curve linearity, and the traction evaluation including traction force evaluation and traction displacement evaluation; if traction force evaluation is performed, the traction force data is acquired to obtain a traction force evaluation index, and based on the traction force evaluation index, it is determined whether to perform traction force adjustment, and the traction force evaluation index is used to evaluate the stability of the traction force of the traction device; if traction displacement evaluation is performed, the traction displacement data is acquired to obtain a traction displacement evaluation index, and based on the traction displacement evaluation index, it is determined whether to perform traction displacement adjustment, and the traction displacement evaluation index is used to evaluate the stability of the traction displacement of the traction device.

[0031] In this embodiment, the linearity of the force curve is obtained by recording the curve of the pulling force value changing with time, and the linearity of the displacement curve is obtained by recording the curve of the pulling displacement changing with time at a preset pulling rate (such as 0.5 mm / s or 1 mm / s); in the process of animal nerve pulling injury modeling, the pulling force is applied by using a pulling device to generate pulling displacement, so the stability of the pulling device operation has a non-negligible influence on the animal nerve pulling injury modeling. This embodiment helps to improve the stability of the pulling device in the animal nerve pulling injury modeling by analyzing the stability of the pulling device; by evaluating The linearity of traction force and traction displacement can monitor and optimize the performance of the experimental device in real time, ensure the output stability of traction force and displacement, and thus reduce random errors in the experiment. The use of traction force evaluation index and traction displacement evaluation index can quantify the output quality of the traction device, provide strong guarantee for the credibility of subsequent experimental data, and ensure that the experimental results are closer to the real biological response. Through the quantitative and standardized evaluation process, individual differences and equipment errors in the operation process can be reduced, making the experiment more repeatable. At the same time, it also improves the stability of the traction device in animal nerve traction injury modeling, thereby ensuring the stability of the modeling quality.

[0032] Among them, the specific process of judging whether to perform a pulling evaluation is as follows: step one, obtaining reference pulling data from a preset database, the reference pulling data including the minimum linearity value of the force curve and the minimum linearity value of the displacement curve; step two, judging whether the linearity of the force curve and the linearity of the displacement curve are both not less than the corresponding minimum linearity value of the force curve and the minimum linearity value of the displacement curve, if so, no pulling evaluation is performed, otherwise step three is executed; step three, if the linearity of the force curve is less than the corresponding minimum linearity value of the force curve (the linearity of the displacement curve is not less than the corresponding maximum linearity value of the displacement curve), pulling force evaluation is performed, otherwise pulling force evaluation is not performed; step four, if the linearity of the displacement curve is less than the corresponding minimum linearity value of the displacement curve, pulling displacement evaluation is performed, otherwise pulling displacement evaluation is not performed.

[0033] In this embodiment, the minimum linearity value of the force curve and the minimum linearity value of the displacement curve are both obtained from a preset database, and the minimum linearity value of the force curve and the minimum linearity value of the displacement curve are both 1. The closer the minimum linearity value of the force curve and the minimum linearity value of the displacement curve are to 1, the more stable the traction displacement and traction force are. Through this judgment process, accurate screening, quality control and optimized management of the traction process are achieved, which provides a scientific basis for subsequent traction evaluation and adjustment, and improves the efficiency, accuracy and intelligence of the experiment.

[0034] It should be added that the pulling force data include pulling force value, pulling force response time, overshoot and drift rate; the pulling displacement data include pulling displacement, pulling displacement response time, displacement overshoot and displacement drift rate.

[0035] Specifically, the pulling force value is obtained by using a force sensor (such as a strain gauge sensor or a piezoelectric sensor) to monitor the force applied by the pulling device in real time and converting it into a readable numerical output; the pulling force response time is directly obtained through the control system of the pulling device; the overshoot represents the difference between the maximum pulling force value and the target pulling force value during the pulling process; the drift rate represents the ratio of the change in the pulling force value during the experiment to the test time; the pulling displacement is directly obtained by measuring the displacement of the device during the pulling process using a displacement sensor (such as a laser displacement sensor, an optical encoder or a potentiometer); the pulling displacement response time is also directly obtained through the control system of the pulling device; the displacement overshoot represents the difference between the maximum pulling displacement during the pulling process and the target pulling displacement; the displacement drift rate represents the ratio of the change in the pulling displacement during the experiment to the test time; the above data are helpful in detecting the stability of the pulling device and provide data support for the analysis of the stability of the pulling device.

[0036] Among them, the specific process of obtaining the tension force evaluation index is as follows: number the number of modeling tests and obtain reference tension force data from a preset database, the reference tension force data including the target tension force value, maximum response time, maximum overshoot and maximum drift rate; compare the tension force data with the reference tension force data to determine whether it meets the judgment conditions: if it meets the judgment conditions, process the tension force data and the reference tension force data to obtain the tension force evaluation index; if it does not meet the judgment conditions, record the tension force evaluation index as 0; the judgment condition indicates that the tension force response time, overshoot and drift rate are all less than the corresponding maximum response time, maximum overshoot and maximum drift rate.

[0037] The specific limiting expression of the pulling force evaluation index is as follows:

[0038]

[0039] Where n represents the number of modeling tests, n = 1, 2, ..., N, N represents the total number of modeling tests, FV n Indicates the pulling force value of the nth modeling test, RT n represents the tensile force response time of the nth modeling test, OS n Indicates the overshoot of the nth modeling test, DR n represents the drift rate of the nth modeling test, FV0 represents the target pulling force value, RT0 represents the maximum response time, OS0 represents the maximum overshoot, DR0 represents the maximum drift rate, TF nrepresents the tensile force evaluation index of the nth modeling test, and e represents a natural constant.

[0040] In this embodiment, the algorithm combines the pulling force data and the reference pulling force data for comprehensive analysis to obtain the pulling force evaluation index, wherein the pulling force data and the reference pulling force data are judged and analyzed in two cases. For example, when the pulling force response time, overshoot and drift rate are all less than the corresponding maximum response time, maximum overshoot and maximum drift rate, as the pulling force value is closer to the target pulling force value, and the pulling force response time, overshoot and drift rate are less than the corresponding maximum response time, maximum overshoot and maximum drift rate, the pulling force evaluation index is larger, indicating that the pulling force output by the pulling device is more stable. Otherwise, the pulling force is The force evaluation index is directly 0; the overshoot and drift rate are the two core characterization indicators of the dynamic performance and steady-state performance of the traction device, which are affected by the traction force response time and the traction force value. The shorter the traction force response time, the greater the overshoot may be in order to quickly reach the target traction force. The greater the overshoot, the longer the traction device may take to return to the stable value, resulting in an increased drift rate. The analysis of the traction force evaluation index is helpful to detect the impact of the stability of the traction force on the animal nerve traction injury modeling and take timely measures, thereby ensuring the stability of the animal nerve traction injury modeling process.

[0041] Specifically, the reference pulling force data is obtained from a preset database. In a specific embodiment, the reference pulling force data is set in advance by a preset tester according to the test requirements, and the test requirements specify the relevant data requirements of the animal nerve pulling injury modeling process. For example, if the test is a rat sciatic nerve pulling experiment, the target pulling force value can be obtained according to the test requirements as 15N, the maximum response time is 150ms, the maximum overshoot is 2N, and the maximum drift rate is 0.3N / S.

[0042] Among them, the specific process of judging whether to adjust the pulling force is as follows: obtaining a pulling force threshold from a preset database, and the pulling force threshold is used to judge whether to adjust the pulling force; comparing the pulling force evaluation index with the pulling force threshold: if the pulling force evaluation index is not less than the pulling force threshold, no pulling force adjustment is performed; if the pulling force evaluation index is less than the pulling force threshold, pulling force adjustment is performed; the pulling force adjustment includes increasing the sensor sampling frequency and adjusting the PID (Proportion Integration Differentiation Controller) controller parameters; adjusting the PID controller parameters includes increasing the proportional gain, increasing the integral gain and reducing the differential gain.

[0043] In this embodiment, by increasing the sensor sampling frequency, higher resolution data can be captured, reducing control lag and errors caused by insufficient sampling frequency, and adjusting the PID controller parameters can further optimize the dynamic response performance of the pulling force; through the dynamic adjustment mechanism, the efficiency of the experimental process is improved, unnecessary adjustment actions are reduced, and the credibility of the data is increased.

[0044] Specifically, the pulling force threshold is obtained from a preset database. In a specific embodiment, the pulling force data of the failed nerve pulling injury modeling of the corresponding animal in the historical data is substituted into the specific restriction expression of the pulling force evaluation index to obtain the corresponding data set, and the result of the mean operation of the data set is recorded as the pulling force threshold.

[0045] Among them, the specific acquisition process of the pulling displacement evaluation index is as follows: obtain reference pulling displacement data from a preset database, the reference pulling displacement data including a target pulling displacement value, a maximum displacement overshoot, a maximum displacement drift rate and a preset displacement rate; compare the displacement overshoot and the displacement drift rate with the corresponding maximum displacement overshoot and maximum displacement drift rate respectively: if the displacement overshoot and the displacement drift rate are both smaller than the corresponding maximum displacement overshoot and maximum displacement drift rate, process the pulling displacement data and the corresponding reference pulling displacement data to obtain the pulling displacement evaluation index; if the displacement overshoot or the displacement drift rate is not smaller than the corresponding maximum displacement overshoot and maximum displacement drift rate, record the pulling displacement evaluation index as 0.

[0046] The specific limiting expression of the pulling displacement evaluation index is as follows:

[0047]

[0048] Where n represents the number of modeling tests, n = 1, 2, ..., N, N represents the total number of modeling tests, PD n represents the pulling displacement of the nth modeling test, PT n represents the pulling displacement response time of the nth modeling test, DO n represents the displacement overshoot of the nth modeling test, DD n represents the displacement drift rate of the nth modeling test, PD0 represents the target pulling displacement value, DO0 represents the maximum displacement overshoot, DD0 represents the maximum displacement drift rate, PR represents the preset displacement rate, TD n represents the pulling displacement evaluation index of the nth modeling test, and e represents the natural constant.

[0049] In this embodiment, the algorithm combines the pulling displacement evaluation data and the reference pulling displacement data for comprehensive analysis to obtain the pulling displacement evaluation index, wherein as the pulling displacement is closer to the target pulling displacement, the pulling displacement evaluation index is larger, indicating that the pulling displacement output by the pulling device is more stable. When the product of the preset displacement rate and the pulling displacement response time (i.e., PT n *PR) is closer to the target traction displacement value, the stability of the traction response time is further ensured, and if the displacement overshoot and the displacement drift rate are smaller than the corresponding maximum displacement overshoot and maximum displacement drift rate, the value of the traction displacement evaluation index will increase accordingly, indicating that the fluctuation of the traction displacement output by the traction device is also more stable; the traction displacement and the traction displacement response time determine the dynamic process of traction, while the displacement overshoot and the displacement drift rate reflect the steady-state characteristics after the dynamic process, and the shorter the traction displacement response time, the greater the displacement overshoot and the displacement drift rate may be, and the traction displacement response time determines the speed at which the traction device reaches the target traction displacement value, and the faster the speed, the easier it is for the displacement overshoot to increase, and the closer the traction device is to the target traction displacement value, the smaller the impact on the displacement drift rate; through the analysis of the traction displacement evaluation index, it is helpful to timely monitor and analyze whether the traction displacement output by the traction device is stable, so as to take corresponding measures to adjust in time and improve the efficiency of animal nerve traction injury modeling.

[0050] Specifically, Figure 2 Schematic diagram of the change of the pull displacement evaluation index of the present invention, assuming that the target pull displacement value is 3mm, the maximum displacement overshoot is 3mm, the maximum displacement drift rate is 2mm / S and the preset displacement rate is 1mm / s. Figure 2 It can be seen that when the pull-displacement response time is 1ms, the displacement overshoot is 1.5mm and the displacement drift rate is 1mm / S, as the pull-displacement is closer to the target pull-displacement value of 3mm, the pull-displacement evaluation value is larger; when the pull-displacement is 3mm, the displacement overshoot is 1.5mm and the displacement drift rate is 1mm / S, as the product of the pull-displacement response time and the preset displacement rate 1mm / s is closer to the target pull-displacement value of 3mm, the value of the pull-displacement evaluation index is larger; when the pull-displacement is 3mm / s, the pull-displacement response time is 1ms and the displacement drift rate is 1mm / s, as the displacement overshoot increases, the value of the pull-displacement evaluation index is smaller, indicating that the pull-displacement is more unstable; when the pull-displacement is 3mm / s, the pull-displacement response time is 1ms and the displacement overshoot is 1.5mm, as the displacement drift rate increases, the value of the pull-displacement evaluation index is smaller, which also indicates that the pull-displacement is more unstable; Figure 2 The analysis more intuitively reflects the stability of the traction displacement, thereby more accurately analyzing the traction displacement evaluation index, and then regulating the stability of the traction device to ensure the stability of the animal nerve traction injury model.

[0051] Specifically, the reference traction displacement data is obtained from a preset database. In a specific embodiment, the reference traction displacement data is set in advance by a preset tester according to the test requirements, and the test requirements specify the relevant data requirements of the animal nerve traction injury modeling process. For example, if the test is a rat sciatic nerve traction experiment, the target traction displacement value can be obtained according to the test requirements as 8 mm, the maximum displacement overshoot is 0.8 mm, the maximum displacement drift rate is 0.2 mm / s, and the preset displacement rate is 2 mm / s.

[0052] Among them, the specific process of judging whether to perform the pulling displacement adjustment is as follows: obtaining the pulling displacement threshold from the preset database, and the pulling displacement threshold is used to judge whether to perform the pulling displacement adjustment; comparing the pulling displacement evaluation index with the pulling displacement threshold: if the pulling displacement evaluation index is not less than the pulling displacement threshold, no pulling displacement adjustment is performed; if the pulling displacement evaluation index is less than the pulling displacement threshold, pulling displacement adjustment is performed; the pulling displacement adjustment includes segmented adjustment and increased damping; segmented adjustment means loading the target pulling displacement value in segments, gradually increasing or decreasing the corresponding target pulling displacement value; increased damping means adding a physical damper to the pulling device to reduce displacement overshoot through voice prompts to preset staff.

[0053] In this embodiment, the segmented adjustment means that the target pulling displacement value is loaded in segments, and the target pulling displacement value is gradually increased or decreased to avoid sudden changes that cause instability of the pulling device; increasing damping means adding physical dampers to the machinery in the pulling device to reduce vibration or displacement overshoot; judging whether adjustment is needed by the pulling displacement threshold avoids unnecessary operations, thereby enhancing the adaptability of the pulling device. Through this adaptive mechanism, the pulling device can better cope with different test conditions, thereby improving the flexibility of the pulling device. In addition, this design optimizes the experimental resource allocation, improves the overall efficiency, and reduces the risk of errors caused by human intervention.

[0054] Specifically, the traction displacement threshold is obtained from a preset database. In a specific embodiment, the traction displacement data of the animal with failed nerve traction injury modeling in the historical data is substituted into the specific restriction expression of the traction displacement evaluation index to obtain the corresponding data set, and the result of the mean operation of the data set is recorded as the traction displacement threshold.

[0055] Wherein, if the pulling evaluation is not performed, the dynamic response time and the pulling force response time in the pulling force data and the pulling displacement response time in the pulling displacement data are obtained to obtain a dynamic response evaluation index, and whether to perform dynamic adjustment is determined according to the dynamic response evaluation index; the dynamic response evaluation index is used to evaluate the dynamic response capability of the pulling device, the dynamic response time includes the adjustment time and the rise time, the adjustment time indicates the time required for the pulling force value and the pulling displacement output by the pulling device to be maintained within the ±5% error range of the target value (i.e., the target pulling force value and the target pulling displacement value) from the beginning of the response, and the rise time indicates the time required for the pulling force value and the pulling displacement output by the pulling device to rise from the initial value (usually 0 or 10% of the target value) to 90% of the target value (i.e., the target pulling force value and the target pulling displacement value); the method for obtaining the dynamic response evaluation index is as follows: the pulling force response time and the pulling displacement response time are de-unitized and the hysteresis time (i.e., γ n ); obtain an adjustment time index based on the pulling force response time, the pulling displacement response time and the adjustment time; obtain a rise time index based on the adjustment time and rise time; obtain a dynamic response evaluation index based on the lag time, the adjustment time index and the rise time index.

[0056] The specific limiting expression of the dynamic response evaluation index is as follows:

[0057] DE n =sech(γ n +δ n +θ n );

[0058] γ n =PT n -RT n ;

[0059]

[0060] In the formula, n represents the number of modeling tests, n = 1, 2, ..., N, N represents the total number of modeling tests, RT n Indicates the tensile force response time of the nth modeling test, PT n represents the tensile displacement response time of the nth modeling test, AT n Indicates the adjustment time of the nth modeling test, ST n represents the rise time of the nth modeling test, γ n represents the lag time of the nth modeling test, δ n represents the adjustment time index of the nth modeling test, θ n Indicates the rise time index of the nth modeling test, DE nIt represents the dynamic response evaluation index of the nth modeling test, and π is an irrational number.

[0061] In this embodiment, the algorithm combines the dynamic response time and the pulling force response time in the pulling force data and the pulling displacement response time in the pulling displacement data for comprehensive analysis to obtain a dynamic response evaluation index, wherein, when the lag time is smaller, it means that the pulling force and the pulling displacement are more synchronized, and the dynamic response evaluation index is larger; when the adjustment time index is smaller, it means that the response time corresponding to the pulling force and the pulling displacement is closer to the adjustment time, and the response of the pulling device is more timely, and the corresponding dynamic response evaluation index is larger; when the rise time index is smaller, it means that the rise time is closer to the adjustment time, and the pulling device outputs the pulling force and the pulling displacement more timely, and the corresponding dynamic response evaluation index is larger; according to the lag time, the adjustment time index and the rise time index, the data change table of the dynamic response evaluation index is obtained, as shown in Table 1:

[0062] Table 1 Data changes of dynamic response evaluation index

[0063]

[0064] It can be seen from Table 1 that the lag time, adjustment time index and rise time index are negatively correlated with the dynamic response evaluation index. As the lag time, adjustment time index and rise time index decrease, the dynamic response evaluation index increases. For example, the lag time decreases from 2 in the first row to 0.5 in the fifth row, the adjustment time index decreases from 0.35 in the first row to 0.18 in the fifth row, the rise time index decreases from 0.4 in the first row to 0.15 in the fifth row, and the dynamic response evaluation index increases from 0.127 in the first row to 0.733 in the fifth row, indicating that the smaller the lag time, adjustment time index and rise time index, the more timely the response of the traction device, and the more stable the dynamic response ability of the corresponding traction device; in general, the adjustment time index is The node time is usually greater than the rise time, and the rise time close to the adjustment time is usually an ideal situation, indicating that the traction device is both fast and stable. In addition, changes in the traction force usually drive changes in the traction displacement. Therefore, the traction force response time must precede or be equal to the traction displacement response time, and the adjustment time represents the time required for the traction force and traction displacement to stabilize near the target value (i.e., target traction force value, target traction displacement value), which usually includes the traction force response time, the traction displacement response time and the subsequent oscillation time. Therefore, the adjustment time must not be less than the traction force response time or the traction displacement response time. Therefore, through the analysis of the dynamic response evaluation index, it is helpful to more accurately understand the dynamic response capability of the traction device, thereby improving the stability of the dynamic response of the traction device.

[0065] Among them, the specific process of judging whether to perform dynamic adjustment is as follows: obtain the dynamic adjustment threshold from the preset database, and the dynamic adjustment threshold is used to judge whether to perform dynamic adjustment; compare the dynamic response evaluation index with the dynamic adjustment threshold: if the dynamic response evaluation index is not less than the dynamic adjustment threshold, no dynamic adjustment is performed; if the dynamic response evaluation index is less than the dynamic adjustment threshold, dynamic adjustment is performed; dynamic adjustment includes optimizing PID parameters and improving the feedback loop; optimizing PID parameters means increasing the proportional gain, reducing the differential gain and increasing the integral gain; improving the feedback loop means linearizing the feedback signal to avoid introducing nonlinear errors.

[0066] In this embodiment, by dynamically adjusting the threshold setting, the traction device can be flexibly adjusted according to actual conditions instead of operating according to fixed parameters, and optimizing PID parameters during dynamic adjustment (such as increasing proportional gain, reducing differential gain, and increasing integral gain) can significantly improve the control performance of the traction device, thereby improving the stability of the traction device in animal nerve traction injury modeling.

[0067] Specifically, the dynamic adjustment threshold is obtained from a preset database. In a specific embodiment, the dynamic response time corresponding to the failure of the nerve traction injury modeling of the corresponding animal in the historical data, the traction force response time in the traction force data, and the traction displacement response time in the traction displacement data are substituted into the specific restriction expression of the dynamic response evaluation index to obtain the corresponding data set, and the result of the mean operation of the data set is recorded as the dynamic adjustment threshold.

[0068] An embodiment of the present application also provides an electronic device, characterized in that the electronic device includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute an animal nerve traction injury modeling method.

[0069] There are a few points to note:

[0070] (1) The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention, and other structures may refer to the general design.

[0071] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is exaggerated or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be intermediate elements.

[0072] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0073] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for modeling animal nerve traction injury, characterized in that: include; Determining whether to perform a stretch assessment based on the acquired stretch data, wherein the stretch data includes a force value curve linearity and a displacement curve linearity, and the stretch assessment includes a stretch force assessment and a stretch displacement assessment; If a pulling force assessment is performed, the pulling force data is obtained to obtain a pulling force assessment index, and whether to adjust the pulling force is determined based on the pulling force assessment index, wherein the pulling force assessment index is used to assess the stability of the pulling force of the pulling device; If a pulling displacement assessment is performed, pulling displacement data is acquired to obtain a pulling displacement assessment index, and whether to perform pulling displacement adjustment is determined based on the pulling displacement assessment index, wherein the pulling displacement assessment index is used to assess the stability of the pulling displacement of the pulling device.

2. The method for modeling animal nerve traction injury according to claim 1, characterized in that: The specific process of determining whether to perform a stretching assessment is as follows: Step 1, obtaining reference pulling data from a preset database, wherein the reference pulling data includes a minimum linearity value of a force curve and a minimum linearity value of a displacement curve; Step 2: determine whether the linearity of the force curve and the linearity of the displacement curve are both not less than the corresponding minimum linearity of the force curve and the minimum linearity of the displacement curve. If so, do not perform the pulling evaluation, otherwise, execute step 3; Step 3: If the linearity of the force curve is less than the corresponding minimum linearity of the force curve, then the pulling force evaluation is performed; otherwise, the pulling force evaluation is not performed; Step 4: If the linearity of the displacement curve is less than the corresponding minimum linearity value of the displacement curve, a pulling displacement evaluation is performed; otherwise, a pulling displacement evaluation is not performed.

3. The method for modeling animal nerve traction injury according to claim 1, characterized in that: The pulling force data includes pulling force value, pulling force response time, overshoot and drift rate; The pulling displacement data includes pulling displacement, pulling displacement response time, displacement overshoot and displacement drift rate.

4. The method for modeling animal nerve traction injury according to claim 3, characterized in that: The specific process of obtaining the pulling force evaluation index is as follows: Numbering the number of modeling tests and obtaining reference pulling force data from a preset database, wherein the reference pulling force data includes a target pulling force value, a maximum response time, a maximum overshoot, and a maximum drift rate; Compare the pulling force data with the reference pulling force data to determine whether they meet the judgment conditions: If the judgment condition is met, the pulling force data and the reference pulling force data are processed to obtain a pulling force evaluation index; If the judgment conditions are not met, the pulling force assessment index is recorded as 0; The judgment condition indicates that the pulling force response time, overshoot and drift rate are all less than the corresponding maximum response time, maximum overshoot and maximum drift rate; The specific limiting expression of the pulling force evaluation index is as follows: Where n represents the number of modeling tests, n = 1, 2, ..., N, N represents the total number of modeling tests, FV n Indicates the pulling force value of the nth modeling test, RT n represents the tensile force response time of the nth modeling test, OS n Indicates the overshoot of the nth modeling test, DR n represents the drift rate of the nth modeling test, FV0 represents the target pulling force value, RT0 represents the maximum response time, OS0 represents the maximum overshoot, DR0 represents the maximum drift rate, TF n represents the tensile force evaluation index of the nth modeling test, and e represents a natural constant.

5. The method for modeling animal nerve traction injury according to claim 4, characterized in that: The specific process of determining whether to adjust the pulling force is as follows: Acquire a pulling force threshold from a preset database, where the pulling force threshold is used to determine whether to adjust the pulling force; Compare the pull force assessment index to the pull force threshold: If the pulling force evaluation index is not less than the pulling force threshold, no pulling force adjustment is performed; If the pulling force assessment index is less than the pulling force threshold, the pulling force is adjusted; The pulling force adjustment includes increasing the sensor sampling frequency and adjusting the PID controller parameters.

6. The method for modeling animal nerve traction injury according to claim 3, characterized in that: The specific process of obtaining the pulling displacement evaluation index is as follows: Acquire reference pulling displacement data from a preset database, wherein the reference pulling displacement data includes a target pulling displacement value, a maximum displacement overshoot value, a maximum displacement drift rate, and a preset displacement rate; Compare the displacement overshoot and displacement drift rate with the corresponding maximum displacement overshoot and maximum displacement drift rate respectively: If the displacement overshoot and the displacement drift rate are both smaller than the corresponding maximum displacement overshoot and maximum displacement drift rate, the pulling displacement data and the corresponding reference pulling displacement data are processed to obtain a pulling displacement evaluation index; If the displacement overshoot or displacement drift rate is not less than the corresponding maximum displacement overshoot and maximum displacement drift rate, the pulling displacement evaluation index is recorded as 0.

7. The method for modeling animal nerve traction injury according to claim 6, characterized in that: The specific process of determining whether to perform pulling displacement adjustment is as follows: Acquire a pulling displacement threshold from a preset database, where the pulling displacement threshold is used to determine whether to perform pulling displacement adjustment; Compare the pull displacement assessment index to the pull displacement threshold: If the pulling displacement evaluation index is not less than the pulling displacement threshold, no pulling displacement adjustment is performed; If the pulling displacement evaluation index is less than the pulling displacement threshold, the pulling displacement adjustment is performed; The pulling displacement adjustment includes segmented adjustment and increased damping; The increasing damping means that the staff is preset to add a physical damper in the pulling device through voice prompts to reduce the displacement overshoot phenomenon.

8. The method for modeling animal nerve traction injury according to claim 1, characterized in that: Also includes: If the pulling evaluation is not performed, the dynamic response time and the pulling force response time in the pulling force data and the pulling displacement response time in the pulling displacement data are obtained to obtain a dynamic response evaluation index, and whether to perform dynamic adjustment is determined according to the dynamic response evaluation index; The dynamic response evaluation index is used to evaluate the dynamic response capability of the pulling device, and the dynamic response time includes the adjustment time and the rise time; The method for obtaining the dynamic response evaluation index is as follows: De-unitizing the pulling force response time and the pulling displacement response time, and obtaining the hysteresis time based on the pulling force response time and the pulling displacement response time; Based on the pulling force response time, pulling displacement response time and adjustment time, an adjustment time index is obtained; Get the rise time index based on the adjustment time and rise time; The dynamic response evaluation index is obtained based on the lag time, adjustment time index and rise time index.

9. The method for modeling animal nerve traction injury according to claim 8, characterized in that: The specific process of determining whether to perform dynamic adjustment is as follows: Acquire a dynamic adjustment threshold from a preset database, where the dynamic adjustment threshold is used to determine whether to perform dynamic adjustment; Compare the dynamic response evaluation index to the dynamic adjustment threshold: If the dynamic response evaluation index is not less than the dynamic adjustment threshold, no dynamic adjustment is performed; If the dynamic response evaluation index is less than the dynamic adjustment threshold, dynamic adjustment is performed; The dynamic adjustment includes optimizing PID parameters and improving feedback loops; The improving the feedback loop means performing linearization processing on the feedback signal to avoid introducing nonlinear errors.

10. An electronic device, characterized in that: The electronic device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute an animal nerve traction injury modeling method as described in any one of claims 1-9.

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