Carbon dioxide pneumoperitoneum instrument based on self-adaptive PID (Proportion Integration Differentiation) control algorithm

Abstract

The invention discloses a carbon dioxide pneumoperitoneum instrument based on a self-adaptive PID control algorithm, and relates to the technical field of medical instruments, the carbon dioxide pneumoperitoneum instrument comprises a pneumoperitoneum instrument body, a control panel is arranged on the front side of the pneumoperitoneum instrument body, and a display area is arranged on the surface of the control panel; the display area comprises a preset pressure value display screen, a real-time pressure value display screen, a preset maximum flow value display screen and a carbon dioxide usage amount display screen, and the surface, located on one side of the display area, of the control panel is provided with a start-stop key and an air source pressure state indicator lamp. A power switch button and an air outlet are arranged on the surface, located on the other side of the display area, of the control panel, and a preset pressure adjusting button and a start-stop button are arranged on the surface, located below the display area, of the control panel. By means of the electronic proportioning valve and real-time pressure feedback, it is ensured that the gas injection flow is accurate and controllable, excessive or insufficient gas injection is avoided, and the operation effect is improved.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, and in particular to a carbon dioxide pneumoperitoneum instrument based on an adaptive PID control algorithm. Background Art

[0002] Carbon dioxide insufflator is mainly used in laparoscopic surgery, such as cholecystectomy, gastrectomy, intestinal resection, etc. Laparoscopic surgery is a minimally invasive surgical technique that can effectively expand the abdominal cavity space by injecting carbon dioxide gas into the abdominal cavity to form pneumoperitoneum, so as to provide a better surgical field of view and operating space.

[0003] As the main equipment for establishing artificial pneumoperitoneum in laparoscopic surgery, the development history and technological innovation of carbon dioxide insufflator have an important impact on the safety and effectiveness of the operation. Traditional insufflators have imprecise gas control, which leads to large fluctuations in intra-abdominal pressure and affects the surgical effect. Therefore, there is room for improvement. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and propose a carbon dioxide insufflator based on an adaptive PID control algorithm. Its advantages are that the gas injection flow rate is accurately controlled through an electronic proportional control valve and real-time pressure feedback, avoiding excessive or insufficient gas injection, and improving the effect of the operation.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A carbon dioxide insufflator based on an adaptive PID control algorithm, comprising an insufflator body, a control panel being arranged on the front of the insufflator body, a display area being arranged on the surface of the control panel, the display area comprising a preset pressure value display screen, a real-time pressure value display screen, a preset maximum flow value display screen and a carbon dioxide usage display screen, a start / stop button and a gas source pressure status indicator light being arranged on the surface of the control panel located on one side of the display area, a power switch button and an air outlet being arranged on the surface of the control panel located on the other side of the display area, and a preset pressure adjustment button and a start / stop button being arranged on the surface of the control panel located below the display area;

[0007] The interior of the pneumoperitoneum instrument body is provided with a gas supply system, a pneumoperitoneum pressure sensor, a proportional valve and a control system. The gas supply system includes a gas source and a pressure regulator. The pneumoperitoneum pressure sensor is used to monitor the abdominal cavity pressure in real time and transmit the data to the control system. The proportional valve is used to adjust the gas flow to accurately control the pneumoperitoneum pressure. The control system adjusts the pneumoperitoneum pressure according to the real-time pressure data using an adaptive PID algorithm.

[0008] The present invention is further configured such that in the initial stage of pneumoperitoneum, the actual pressure of the pneumoperitoneum instrument body is still a certain distance away from the set pressure. At this time, a large airflow staged air intake method is adopted. When the abdominal cavity pressure reaches a certain level, such as 30% of the target pressure, it is then switched to an adaptive PID control algorithm.

[0009] The present invention is further configured such that the adaptive PID control algorithm adjusts the PID parameters through real-time feedback to achieve accurate pneumoperitoneum pressure control, and the PID control formula is:

[0010]

[0011] Among them, P control (t) is the control output, indicating the target pneumoperitoneum pressure; e(t) is the pneumoperitoneum pressure error (the difference between the target pressure and the current pressure); K p , K i , K d are proportional, integral and differential coefficients respectively; is the error change rate; through the adaptive algorithm, the system dynamically adjusts K according to the error in real time p , K i , K d values ​​to suit different surgical environments and patient needs.

[0012] The present invention is further configured such that the updating formula of the adaptive PID algorithm is as follows:

[0013] K p (t) = α·K p (t-1)+(1-α)·δP(t)

[0014] K i (t) = β·K i (t-1)+(1-β)·δP(t)

[0015] K d (t) = γ·K d (t-1)+(1-γ)·δP(t);

[0016] Among them, K p (t), K i (t), K d (t) are the proportional, integral and differential coefficients after dynamic adjustment; α, β, γ are adjustment coefficients used to control the weight of the adaptive algorithm; δP(t) is the change in pneumoperitoneum pressure; the adaptive algorithm can dynamically adjust the PID control parameters according to the real-time pressure feedback and the specific circumstances of the operation.

[0017] The present invention is further configured such that the adaptive PID algorithm has a feedback mechanism, and whenever the sensor detects that the pressure deviates from the target value, a feedback signal is transmitted to the control system.

[0018] The present invention is further configured such that the control system calculates a PID output value based on an error between a feedback signal and a target pressure, and adjusts a proportional valve to control a gas flow rate; this process is performed in real time to ensure that the pneumoperitoneum pressure is always within a set range.

[0019] A control method for a carbon dioxide insuffloscope based on an adaptive PID control algorithm comprises the following steps:

[0020] Step 1: Before the operation begins, the doctor sets the target intra-abdominal pressure, and the control unit initializes the system according to these parameters. When the operation begins, the control unit opens the valve of the gas delivery pipeline, and carbon dioxide gas begins to be delivered into the abdominal cavity;

[0021] Step 2: The monitoring unit monitors the intra-abdominal pressure in real time. If the monitored pressure exceeds the preset range, the control unit will automatically adjust the proportional regulating valve and the valve of the gas delivery pipeline to maintain the preset pressure;

[0022] Step 3: After the operation, the control unit will close the valve of the gas delivery pipeline and start the gas discharge program to safely discharge the carbon dioxide gas in the abdominal cavity.

[0023] The present invention is further configured such that if an emergency occurs, such as a sharp rise in intra-abdominal pressure, the control unit will immediately stop gas delivery and initiate an emergency release procedure to protect the patient's safety.

[0024] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0025] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0026] The beneficial effects of the present invention are:

[0027] 1. Accurate gas flow control: Through the electronic proportional control valve and real-time pressure feedback, the gas injection flow is ensured to be accurately controllable to avoid excessive or insufficient gas injection.

[0028] 2. Real-time monitoring and alarm: Through the high-precision pressure monitoring system and alarm function, abnormal situations can be detected in time and automatically adjusted to ensure the safety of the pneumoperitoneum process.

[0029] 3. Simple user operation interface: The user operation panel can easily adjust and view the working status of the equipment, which is intuitive and simple, and improves the operating experience.

[0030] 4. Automatic protection mechanism: The system can automatically close the air inlet valve and open the pressure relief valve to protect the patient's safety when excessive air injection causes excessive air pressure during pneumoperitoneum. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of a carbon dioxide insufflator based on an adaptive PID control algorithm proposed by the present invention;

[0032] Figure 2 This is a logical schematic diagram of a PID control algorithm of a carbon dioxide insufflator based on an adaptive PID control algorithm proposed by the present invention.

[0033] In the figure: 1. Preset pressure value display screen; 2. Real-time pressure value display screen; 3. Preset maximum flow value display screen; 4. Carbon dioxide usage display screen; 5. Power switch button; 6. Air outlet; 7. Preset flow adjustment button; 8. Preset pressure adjustment button; 9. Start / stop button; 10. Gas source pressure status indicator light. DETAILED DESCRIPTION

[0034] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0035] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0036] In the description of this patent, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this patent and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this patent.

[0037] In the description of this patent, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.

[0038] Reference Figure 1 , a carbon dioxide insufflator based on an adaptive PID control algorithm, comprising an insufflator body, a control panel is arranged on the front of the insufflator body, a display area is arranged on the surface of the control panel, the display area comprises a preset pressure value display screen, a real-time pressure value display screen, a preset maximum flow value display screen and a carbon dioxide usage display screen, a start / stop button and a gas source pressure status indicator light are arranged on the surface of the control panel located on one side of the display area, a power switch button and an air outlet are arranged on the surface of the control panel located on the other side of the display area, and a preset pressure adjustment button and a start / stop button are arranged on the surface of the control panel located below the display area;

[0039] The interior of the pneumoperitoneum instrument body is equipped with a gas supply system, a pneumoperitoneum pressure sensor, a proportional valve and a control system. The gas supply system includes a gas source and a pressure regulator. The pneumoperitoneum pressure sensor is used to monitor the abdominal cavity pressure in real time and transmit the data to the control system. The proportional valve is used to adjust the gas flow to accurately control the pneumoperitoneum pressure. The control system adjusts the pneumoperitoneum pressure according to the real-time pressure data using an adaptive PID algorithm.

[0040] In this embodiment, in the initial stage of pneumoperitoneum, the actual pressure of the pneumoperitoneum instrument body is still a certain distance away from the set pressure. At this time, a large airflow staged air intake method is adopted. When the abdominal cavity pressure reaches a certain level, such as 30% of the target pressure, it is then switched to an adaptive PID control algorithm.

[0041] Reference Figure 2 , the adaptive PID control algorithm adjusts the PID parameters through real-time feedback to achieve accurate pneumoperitoneum pressure control. The PID control formula is:

[0042]

[0043] Among them, P control (t) is the control output, indicating the target pneumoperitoneum pressure; e(t) is the pneumoperitoneum pressure error (the difference between the target pressure and the current pressure); K p , K i , K d are proportional, integral and differential coefficients respectively; is the error change rate; through the adaptive algorithm, the system dynamically adjusts K according to the error in real time p , K i , Kd values ​​to suit different surgical environments and patient needs.

[0044] The update formula of the adaptive PID algorithm is as follows:

[0045] K p (t) = α·K p (t-1)+(1-α)·δP(t)

[0046] K i (t) = β·K i (t-1)+(1-β)·δP(t)

[0047] K d (t) = γ·K d (t-1)+(1-γ)·δP(t);

[0048] Among them, K p (t), K i (t), K d (t) are the proportional, integral and differential coefficients after dynamic adjustment; α, β, γ are adjustment coefficients used to control the weight of the adaptive algorithm; δP(t) is the change in pneumoperitoneum pressure; the adaptive algorithm can dynamically adjust the PID control parameters according to the real-time pressure feedback and the specific circumstances of the operation.

[0049] Furthermore, the adaptive PID algorithm has a feedback mechanism. Whenever the sensor detects that the pressure deviates from the target value, the feedback signal will be transmitted to the control system; the control system calculates the PID output value based on the error between the feedback signal and the target pressure, and adjusts the proportional valve to control the gas flow; this process is carried out in real time to ensure that the pneumoperitoneum pressure is always within the set range; by real-time monitoring of the pneumoperitoneum pressure and closed-loop adjustment based on the feedback data, the defect of traditional pneumoperitoneum instruments that cannot adjust the pressure in time is overcome.

[0050] Through the high-precision pneumoperitoneum pressure sensor and proportional valve control system, combined with the adaptive PID algorithm, the intra-abdominal pneumoperitoneum pressure can be accurately adjusted; specifically, when the pneumoperitoneum pressure fluctuates, the control system will immediately adjust the opening of the proportional valve to quickly compensate for the pressure difference and maintain the stability of the pneumoperitoneum pressure.

[0051] A control method for a carbon dioxide insuffloscope based on an adaptive PID control algorithm comprises the following steps:

[0052] Step 1: Before the operation begins, the doctor sets the target intra-abdominal pressure, and the control unit initializes the system according to these parameters. When the operation begins, the control unit opens the valve of the gas delivery pipeline, and carbon dioxide gas begins to be delivered into the abdominal cavity;

[0053] Step 2: The monitoring unit monitors the intra-abdominal pressure in real time. If the monitored pressure exceeds the preset range, the control unit will automatically adjust the proportional control valve and the valve of the gas delivery pipeline to maintain the preset pressure. If an emergency occurs, such as a sharp rise in intra-abdominal pressure, the control unit will immediately stop gas delivery and start the emergency release procedure to protect the patient's safety.

[0054] Step 3: After the operation, the control unit will close the valve of the gas delivery pipeline and start the gas discharge program to safely discharge the carbon dioxide gas in the abdominal cavity.

[0055] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0056] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0057] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A carbon dioxide insufflator based on an adaptive PID control algorithm, comprising an insufflator body, characterized in that: A control panel is provided on the front of the pneumoperitoneum instrument body, and a display area is provided on the surface of the control panel, and the display area includes a preset pressure value display screen, a real-time pressure value display screen, a preset maximum flow value display screen and a carbon dioxide usage display screen, and a start-stop button and a gas source pressure status indicator light are provided on the surface of the control panel on one side of the display area, and a power switch button and an air outlet are provided on the surface of the control panel on the other side of the display area, and a preset pressure adjustment button and a start-stop button are provided on the surface of the control panel below the display area; The interior of the pneumoperitoneum instrument body is provided with a gas supply system, a pneumoperitoneum pressure sensor, a proportional valve and a control system. The gas supply system includes a gas source and a pressure regulator. The pneumoperitoneum pressure sensor is used to monitor the abdominal cavity pressure in real time and transmit the data to the control system. The proportional valve is used to adjust the gas flow to accurately control the pneumoperitoneum pressure. The control system adjusts the pneumoperitoneum pressure according to the real-time pressure data using an adaptive PID algorithm.

2. A carbon dioxide insufflator based on an adaptive PID control algorithm according to claim 1, characterized in that: In the initial stage of pneumoperitoneum, the actual pressure of the pneumoperitoneum instrument body is still a certain distance away from the set pressure. At this time, a large airflow staged air intake method is adopted. When the abdominal cavity pressure reaches a certain level, such as 30% of the target pressure, it is then switched to an adaptive PID control algorithm.

3. The carbon dioxide insufflator based on the adaptive PID control algorithm according to claim 1, characterized in that: The adaptive PID control algorithm adjusts the PID parameters through real-time feedback to achieve accurate pneumoperitoneum pressure control. The PID control formula is: Among them, P control (t) is the control output, indicating the target pneumoperitoneum pressure; e(t) is the pneumoperitoneum pressure error (the difference between the target pressure and the current pressure); K p , K i , K d are proportional, integral and differential coefficients respectively; is the error change rate; through the adaptive algorithm, the system dynamically adjusts K according to the error in real time p , K i , K d values ​​to suit different surgical environments and patient needs.

4. The carbon dioxide insufflator based on the adaptive PID control algorithm according to claim 1, characterized in that: The update formula of the adaptive PID algorithm is as follows: K p (t)=α·K p (t-1)+(1-α)·δP(t) K i (t)=β·K i (t-1)+(1-β)·δP(t) K d (t)=γ·K d (t-1)+(1-γ)·δP(t); Among them, K p (t), K i (t), K d (t) are the proportional, integral and differential coefficients after dynamic adjustment; α, β, γ are adjustment coefficients used to control the weight of the adaptive algorithm; δP(t) is the change in pneumoperitoneum pressure; the adaptive algorithm can dynamically adjust the PID control parameters according to the real-time pressure feedback and the specific circumstances of the operation.

5. The carbon dioxide insufflator based on the adaptive PID control algorithm according to claim 4, characterized in that: The adaptive PID algorithm has a feedback mechanism, and whenever the sensor detects that the pressure deviates from the target value, a feedback signal is transmitted to the control system.

6. The carbon dioxide insufflator based on the adaptive PID control algorithm according to claim 5, characterized in that: The control system calculates the PID output value according to the error between the feedback signal and the target pressure, and adjusts the proportional valve to control the gas flow; this process is carried out in real time to ensure that the pneumoperitoneum pressure is always within the set range.

7. A control method for a carbon dioxide insuffloscope based on an adaptive PID control algorithm as claimed in claim 1, characterized in that: The following steps are involved: Step 1: Before the operation begins, the doctor sets the target intra-abdominal pressure, and the control unit initializes the system according to these parameters. When the operation begins, the control unit opens the valve of the gas delivery pipeline, and carbon dioxide gas begins to be delivered into the abdominal cavity; Step 2: The monitoring unit monitors the intra-abdominal pressure in real time. If the monitored pressure exceeds the preset range, the control unit will automatically adjust the proportional regulating valve and the valve of the gas delivery pipeline to maintain the preset pressure; Step 3: After the operation, the control unit will close the valve of the gas delivery pipeline and start the gas discharge program to safely discharge the carbon dioxide gas in the abdominal cavity.

8. The control method of a carbon dioxide insuffloscope based on an adaptive PID control algorithm according to claim 7, characterized in that: If an emergency occurs, such as a sharp rise in intra-abdominal pressure, the control unit will immediately stop gas delivery and initiate an emergency release procedure to protect the patient's safety.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to claim 7 or 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 7 or 8 are implemented.

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