Puncture control system and control method

Abstract

The invention discloses a puncture control system and a control method, and relates to the technical field of medical equipment, the system comprises a liquid storage device and a flusher, the flusher comprises a perfusion pump system with injection and suction functions and a control device, and the liquid storage device is connected with the perfusion pump system with the injection and suction functions; the perfusion pump system with injection and suction functions and the liquid storage device are both connected with the control device; the liquid storage devices are used for storing perfusion liquid, and the liquid storage devices are automatically switched through the control device; the control device is used for controlling the perfusion pump system with the injection and suction functions based on the PID control and fuzzy control principle, controlling the speed of perfusion liquid and joint cavity liquid return, and then achieving dynamic balance of inflow and outflow of liquid. The infusion pump has the functions of liquid injection and liquid backflow suction at the same time, liquid inflow and outflow dynamic balance can be achieved, and meanwhile the infusion pump liquid depletion supplementing problem is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more specifically, to a puncture control system and a control method thereof. Background Art

[0002] In the fields of otolaryngology, sports medicine, spinal surgery, urology, etc., with the application and popularization of new surgical technologies such as lighting systems, endoscopes, and navigation technologies, as well as minimally invasive surgical instruments, rapid development has been achieved. At the same time, along with the overall trend of the pursuit of quality of life and consumption upgrading, the treatment needs of patients have become increasingly obvious, and the willingness to pay has increased significantly, which has greatly promoted the upgrading of medical services and brought new growth opportunities to the sports medicine and orthopedic surgery diagnosis and treatment market.

[0003] Arthroscopic surgery does have its unique advantages in the treatment of sports injuries, and radiofrequency ablation under low temperature plasma has been applied in arthroscopic surgery. The advantages of this technology are convenient operation, clear vision, small damage to patients, and satisfactory clinical effects, and it has been widely used clinically since it was reported. During the implementation of arthroscopic surgery, normal saline perfusion fluid is often required to fill the joint cavity to enable arthroscopic operation. During the process of injecting the perfusion fluid into the arthroscopic input pipeline, similar to the process of intravenous infusion of patients, currently, the perfusion pump only has an injection function and no negative pressure adsorption function.

[0004] Therefore, how to provide a puncture system and a control method that integrate puncture treatment and adsorption is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a puncture control system and a control method, which have both liquid injection and liquid reflux suction functions, can achieve dynamic balance of liquid inflow and outflow, and at the same time solve problems such as replenishment of the perfusion pump when the liquid is exhausted.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A puncture control system includes a liquid storage device and a rinser. The rinser includes a perfusion pump system with injection and suction functions and a control device. The liquid storage device is connected to the perfusion pump system, and both the perfusion pump system and the liquid storage device are connected to the control device;

[0008] The liquid storage device is used to store perfusion liquid and automatically switches the liquid storage device through the control device;

[0009] The control device adopts the PID control and fuzzy control principles to regulate the perfusion pump system, balance the perfusion liquid and the return liquid speed of the joint cavity, and thus achieve dynamic balance of liquid inflow and outflow.

[0010] Preferably, a trocar is further included;

[0011] The perfusion pump system includes a perfusion pump module, a liquid inlet tube, a flushing tube, a liquid suction tube, a liquid accumulation bag, an air suction tube, an inflow flow rate sensor, an outflow flow rate sensor, an inflow pressure sensor, and an outflow pressure sensor. The perfusion pump module is connected to a liquid storage device through the liquid inlet tube, the perfusion pump module is connected to the trocar through the flushing tube, the liquid suction tube is connected to the liquid inlet of the liquid accumulation bag, the liquid outlet of the liquid accumulation bag is connected to the perfusion pump module through the air suction tube, the inflow flow rate sensor and the inflow pressure sensor are arranged on the flushing tube, and the outflow flow rate sensor and the outflow pressure sensor are arranged on the liquid suction tube;

[0012] The inflow flow rate sensor, the outflow flow rate sensor, the inflow pressure sensor, and the outflow pressure sensor are all connected to the control device.

[0013] Preferably, the perfusion pump module includes a diaphragm pump and a suction pump. The diaphragm pump is respectively connected to the liquid inlet tube, the flushing tube, and the control device. The suction pump is respectively connected to the air suction tube and the control device. The diaphragm pump is used to inject the perfusion liquid and control the flow rate of the perfusion liquid. The suction pump is used to suck back the liquid in the joint cavity and control the flow rate of the liquid returning from the joint cavity.

[0014] Preferably, the liquid storage device includes a main liquid storage device, a standby liquid storage device, a perfusion liquid three-way interface, a liquid level sensor, and a solenoid valve. The main liquid storage device and the standby liquid storage device are connected to the perfusion liquid three-way interface through pipelines. The perfusion liquid three-way interface is connected to the solenoid valve. The liquid level sensor is arranged on the pipeline;

[0015] The liquid level sensor and the solenoid valve are both connected to the control device.

[0016] Preferably, a bubble detector and a mechanical vibration device are further included. The bubble detector and the mechanical vibration device are arranged on the flushing tube, and both the bubble detector and the mechanical vibration device are connected to the control device. The bubble detector is used to detect the bubbles in the flushing tube in real time. The mechanical vibration device is used to make the bubbles float by vibration and drain the bubbles in the pipeline.

[0017] Preferably, an infrared induction sensor is further included. The infrared induction sensor is arranged above the liquid suction tube. The infrared induction sensor is connected to the control device. The infrared induction sensor is used to detect the running state of the liquid returning in the liquid suction tube, and thus perceive whether there is a blockage in the pipeline in real time.

[0018] Preferably, the control device includes a data receiving unit, a data processing unit, and an alarm unit;

[0019] The data receiving unit is used to receive the liquid level signal sent by the liquid level sensor, the bubble signal detected by the bubble detector, the inflow velocity sent by the inflow velocity sensor, the outflow velocity sent by the outflow velocity sensor, the inflow pressure sent by the inflow pressure sensor, the outflow pressure sent by the outflow pressure sensor, and the pipeline operation status sent by the infrared induction sensor;

[0020] The data processing unit is used to control the solenoid valve according to the liquid level signal, and then control the switching between the main liquid storage device and the standby liquid storage device; control the speed of the perfusion liquid and the joint cavity return liquid according to the inflow velocity, outflow velocity, inflow pressure and outflow pressure and based on the PID control and fuzzy control principles, so as to realize the dynamic balance of liquid inflow and outflow; control the operation of the mechanical vibration device according to the bubble signal; and judge whether the pipeline is blocked according to the pipeline operation status;

[0021] The alarm unit is used to give an alarm when there is pipeline blockage, bubbles, abnormal flow velocity affected by pressure change, and the liquid level reaches the threshold.

[0022] Preferably, it further includes a plasma system, and the plasma system is connected to one of the liquid suction pipes;

[0023] and / or a shaver, and the shaver is connected to one of the liquid suction pipes;

[0024] The two liquid suction pipes are connected to the liquid inlet of the liquid accumulation bag through a return liquid three-way interface.

[0025] A puncture control method, implemented based on the above system, includes:

[0026] The control device controls the perfusion liquid to flow out of the liquid storage device and then into the perfusion pump system with injection and suction functions;

[0027] The control device controls the perfusion pump system with injection and suction functions based on the PID control and fuzzy control principles, balances the speed of the perfusion liquid and the joint cavity return liquid, and thus realizes the dynamic balance of liquid inflow and outflow.

[0028] Preferably, the PID control and fuzzy control principles specifically include:

[0029] Step 1: Obtain the inflow velocity, outflow velocity, inflow pressure and outflow pressure;

[0030] Step 2: Calculate the flow velocity difference according to the inflow velocity and the outflow velocity, and calculate the pressure difference according to the inflow pressure and the outflow pressure:

[0031]

[0032] Wherein, represents the flow velocity difference, represents the inflow velocity, represents the outflow velocity;

[0033]

[0034] wherein, represents the pressure difference, represents the inflow pressure, represents the outflow pressure;

[0035] Calculate the basic pump speed adjustment amount based on the flow velocity difference:

[0036]

[0037] wherein, respectively represent the proportional gain, integral gain, and derivative gain, represents the basic pump speed adjustment amount;

[0038] Step 3: Perform fuzzification processing on the flow velocity difference and pressure difference, map them to the fuzzy set, and obtain the membership degree values, specifically:

[0039] Determine the fuzzy set labels of the flow velocity difference and pressure difference according to the predefined fuzzy input range;

[0040] Convert the flow velocity difference and pressure difference into membership degree values in the fuzzy set according to the fuzzy set labels;

[0041] Step 4: Perform fuzzy inference according to the fuzzy rule table and membership degree values to determine the fuzzy value of the output adjustment amount, specifically:

[0042] Traverse all possible fuzzy rule combinations (Q label , P label ), where Q label is the fuzzy set label of the flow velocity difference, and P label is the fuzzy set label of the pressure difference;

[0043] Calculate the rule strength of each fuzzy rule: Take the smaller value of the membership degree values of the flow velocity difference and pressure difference in their respective fuzzy sets as the rule strength;

[0044] Calculate the corresponding output label in the fuzzy rule table according to the fuzzy set label of the flow velocity difference and the fuzzy set label of the pressure difference;

[0045] Update the membership degree value based on the output label and rule strength to obtain the fuzzy output, specifically including:

[0046] If the output label already exists, take the larger value of the output label and the rule strength; if the output label does not exist, take the rule strength as the updated membership degree value;

[0047] Use the defuzzification method to convert the fuzzy output into a specific numerical value to obtain the fuzzy control adjustment amount ;

[0048] Step Five: Calculate the final pump speed adjustment amount u based on the basic pump speed adjustment amount and the fuzzy control adjustment amount:

[0049] ;

[0050] Step Six: Calculate the diaphragm pump adjustment amount and the suction pump adjustment amount according to the pump speed adjustment amount:

[0051]

[0052] Among them, represents the diaphragm pump adjustment amount, represents the suction pump adjustment amount, and k represents the proportionality coefficient, which is dynamically adjusted during operation.

[0053] Through the above technical solutions, it can be seen that compared with the prior art, the present invention discloses a puncture control system and a control method, which integrate functions of dynamically adjusting liquid inflow and outflow, bubble detection, blockage detection, and liquid storage switching, and can ensure stable and reliable input of cleaning liquid to the surgical site, and finally complete the research and development of an integrated cleaning pump sample for synchronous plasma cutting in arthroscopic surgery. Once this achievement is applied clinically, it can significantly improve the efficiency of arthroscopic surgery and avoid excessive complications of patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0055] Figure 1 It is a schematic structural diagram of a puncture control system provided by the present invention.

[0056] Figure 2 It is a schematic structural diagram of the perfusion pump module provided by the present invention.

[0057] Figure 3 It is a block diagram of the control device provided by the present invention.

[0058] Figure 4 It is a flowchart of a puncture control method provided by the present invention.

[0059] Figure 5 It is a flowchart of ID control and fuzzy control provided by the present invention.

[0060] Among them, 1. liquid inlet pipe, 2. flushing pipe, 3. liquid suction pipe, 4. liquid accumulation bag, 5. air suction pipe, 6. inflow flow rate sensor, 7. outflow flow rate sensor, 8. diaphragm pump, 9. air suction pump, 10. main liquid storage device, 11. standby liquid storage device, 12. perfusion liquid three-way interface, 13. liquid level sensor, 14. solenoid valve, 15. bubble detector, 16. mechanical vibration device, 17. infrared induction sensor, 18. plasma system, 19. shaver, 20. puncture device, 21. return liquid three-way interface, 22. joint cavity, A. perfusion pump module, B. control device. Detailed implementation manner

[0061] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0062] An embodiment of the present invention discloses a puncture control system, as Figure 1 shown, including: a liquid storage device and a rinser. The rinser includes a perfusion pump system with injection and suction functions and a control device B. The liquid storage device is connected to the perfusion pump system, and both the perfusion pump system and the liquid storage device are connected to the control device B;

[0063] The liquid storage device is used to store perfusion liquid and automatically switch the liquid storage device through the control device B;

[0064] The control device B adopts the PID control and fuzzy control principles to regulate the perfusion pump system, balance the perfusion liquid and the joint cavity return liquid speed, and thus achieve the dynamic balance of liquid inflow and outflow.

[0065] The perfusion pump system of the present invention has both injection and suction functions at the same time. At the same time, if the outflow pressure in the joint cavity is greater than the inflow pressure, it will cause intracavitary bleeding and make the surgical field of view blurred. The present invention realizes the dynamic balance of liquid inflow and outflow through the PID control and fuzzy control principles.

[0066] As Figure 1As shown in the figure, the perfusion pump system with injection and suction functions includes a perfusion pump module A, a liquid inlet tube 1, a flushing tube 2, a liquid suction tube 3, a liquid accumulation bag 4, an air suction tube 5, an inflow flow rate sensor 6, an outflow flow rate sensor 7, an inflow pressure sensor and an outflow pressure sensor. The perfusion pump module A is connected to a liquid storage device through the liquid inlet tube 1. The perfusion pump module A is connected to a puncture device 20 through the flushing tube 2. The puncture device 20 is used to penetrate the skin and other tissues to provide a passage for surgical instruments to enter the joint cavity 22. The liquid suction tube 3 is connected to the liquid inlet of the liquid accumulation bag 4. The liquid outlet of the liquid accumulation bag 4 is connected to the perfusion pump module A through the air suction tube 5. The liquid accumulation bag 4 is used to collect the return liquid flowing back from the joint cavity 22. The joint cavity 22 is the main area of surgical operation. The inflow flow rate sensor 6 and the inflow pressure sensor are arranged on the flushing tube. The outflow flow rate sensor 7 and the outflow pressure sensor are arranged on the liquid suction tube. Among them, the inflow pressure sensor and the outflow pressure sensor are not marked in the figure, and their positions are close to the inflow flow rate sensor 6 and the outflow flow rate sensor 7 respectively. The inflow flow rate sensor 6, the outflow flow rate sensor 7, the inflow pressure sensor and the outflow pressure sensor are all connected to the control device B. The inflow flow rate sensor 6, the outflow flow rate sensor 7, the inflow pressure sensor and the outflow pressure sensor are respectively used to monitor the speed of the perfusion liquid flowing into the joint cavity 22, the return liquid outflow speed, the pipeline inflow pressure and the pipeline outflow pressure.

[0067] Meanwhile, in order to reduce the risk of postoperative infection and the probability of performance degradation, and on the basis of ensuring low cost, the liquid inlet tube 1, the flushing tube 2, the liquid suction tube 3, the liquid accumulation bag 4, the air suction tube 5, etc. of the present invention are all disposable instruments and are all made of plastic materials.

[0068] As Figure 2 shown in the figure, the perfusion pump module A includes a diaphragm pump 8, an air suction pump 9, etc. Other conventional components are not listed. The diaphragm pump 8 is respectively connected to the liquid inlet tube 1, the flushing tube 2 and the control device B. The air suction pump 9 is respectively connected to the air suction tube 5 and the control device B. The diaphragm pump 8 is used to inject the perfusion liquid and control the flow rate of the perfusion liquid. The air suction pump 9 is used to suck the return liquid from the joint cavity 22 and control the return liquid flow rate of the joint cavity 22. Specifically, after the liquid enters the liquid inlet tube 1, the diaphragm pump 8 injects the liquid into the flushing tube 2 and injects it into the joint cavity 22 through the puncture device 20. At the same time, the air suction pump 9 works to suck air, creating a negative pressure in the liquid accumulation bag 4, and sucking the return liquid inside the joint cavity 22 through the liquid suction tube 3 to the shaver 19 / plasma system 18 to the joint cavity 22.

[0069] As Figure 1As shown in the figure, the liquid storage device includes a main liquid storage device 10, a standby liquid storage device 11, a perfusion liquid three-way interface 12, a liquid level sensor 13, and a solenoid valve 14. The main liquid storage device 10 and the standby liquid storage device 11 are connected to the perfusion liquid three-way interface 12 through pipelines. The perfusion liquid three-way interface 12 is connected to the solenoid valve 14. The solenoid valve 14 is used to control the liquid flow path. The liquid level sensor 13 is arranged on the pipeline. Both the liquid level sensor 13 and the solenoid valve 14 are connected to the control device B. The main liquid storage device 10 and the standby liquid storage device 11 store perfusion liquid, specifically physiological saline.

[0070] The present invention first proposes to set up a standby liquid storage device 11, monitor the liquid storage device through the liquid level sensor 13, and automatically switch the connected liquid storage device of the system through the solenoid valve after the liquid level in the device alarms, without manual switching, so as to shorten the operation time. Specifically, the present invention is default connected to the main liquid storage device 10. When the liquid level sensor 13 detects that the liquid level reaches the threshold, the control device B controls the solenoid valve 14 to automatically switch to the standby liquid storage device 11. It solves the problems in the existing arthroscopic surgery that when the liquid in the perfusion pump is exhausted and needs to be replenished, turning off the operating system and pausing the operation to replenish physiological saline will prolong the operation time, and the surgical electrode at abnormal temperature may cause tissue damage or thermal damage.

[0071] At the same time, in order to reduce the risk of postoperative infection and the probability of performance degradation, and on the basis of ensuring low cost, both the main liquid storage device 10 and the standby liquid storage device 11 of the present invention are saline bags and are disposable instruments.

[0072] In this embodiment, when injecting saline into the joint cavity 22, air bubbles will be generated in the cavity. The generation of air bubbles will make the surgical field of view blurred. Therefore, the present invention also provides an air bubble detector 15 and a mechanical vibration device 16. The air bubble detector 15 and the mechanical vibration device 16 are arranged on the liquid injection tube, and both the air bubble detector 15 and the mechanical vibration device 16 are connected to the control device B. The air bubble detector 15 is used to detect air bubbles in the liquid injection tube in real time, and the mechanical vibration device 16 is used to make the air bubbles float by oscillation to drain the air bubbles in the pipeline.

[0073] The present invention designs a mechanical vibration device 16. After the air bubble detector 15 detects air bubbles, it oscillates in real time. Based on the principle that the air bubbles float after oscillation, the purpose of draining the air bubbles in the pipeline is achieved, thereby reducing the air bubbles entering the input pipeline and the air bubble accumulation in the joint cavity 22, and realizing bubble-free operation in arthroscopic surgery.

[0074] In this embodiment, it also includes an infrared induction sensor 17. The infrared induction sensor 17 is arranged above the liquid suction tube 3. The infrared induction sensor 17 is connected to the control device B. The infrared induction sensor 17 is used to detect the running state of the return liquid in the liquid suction tube 3, so as to sense whether the pipeline is blocked in real time.

[0075] In this embodiment, as Figure 3 shown, the control device B includes a data receiving unit, a data processing unit, and an alarm unit;

[0076] The data receiving unit is used to receive the liquid level signal sent by the liquid level sensor 13, the bubble signal detected by the bubble detector 15, the inflow velocity sent by the inflow velocity sensor 6, the outflow velocity sent by the outflow velocity sensor 7, the inflow pressure sent by the inflow pressure sensor, the outflow pressure sent by the outflow pressure sensor, and the pipeline operation status sent by the infrared induction sensor 17;

[0077] The data processing unit is used to judge whether the threshold value is reached according to the liquid level signal, and control the solenoid valve 14 to realize the switching between the main liquid storage device 10 and the standby liquid storage device 11 after reaching the threshold value; judge whether the inflow and outflow are balanced according to the inflow velocity, outflow velocity, inflow pressure, and outflow pressure, and control the speed of the perfusion liquid and the return liquid of the joint cavity 22 based on the PID control and fuzzy control principles to realize the dynamic balance of the liquid inflow and outflow; judge whether there are bubbles generated, and if so, control the mechanical vibration device 16 to work according to the bubble signal; and judge whether the pipeline is blocked according to the pipeline operation status;

[0078] The alarm unit is used to give an alarm when there is a pipeline blockage, bubbles, abnormal flow velocity affected by pressure changes, and the liquid level reaches the threshold value.

[0079] It also includes a control interface for setting parameters such as pressure magnitude, flow velocity magnitude, temperature, etc.

[0080] In this embodiment, it also includes a plasma system 18, and the plasma system 18 is connected to a liquid suction tube 3; and / or a shaver 19, and the shaver 19 is connected to a liquid suction tube 3; the two liquid suction tubes 3 are connected to the liquid inlet of the liquid accumulation bag 4 through a return liquid tee joint 21. Specifically, the shaver 19 and the plasma system 18 can be selected one of them or installed simultaneously according to actual needs. When sucking the return liquid, one of the shaver 19 and the plasma system 18 is selected to work according to actual requirements.

[0081] The specific working process of the present invention is as follows:

[0082] During actual use, after the puncture device 20 opens the channel, the electrode or shaver 19 of the plasma system 18 will enter the puncture cavity. After setting the initial parameters, the perfusion pump module A sucks physiological saline from the main liquid storage device 10 according to the set flow rate and pressure, heats it to a suitable temperature through the heating system, and then performs perfusion. When the liquid level of the main liquid storage device 10 reaches the threshold value, after being detected by the liquid level sensor 13, the control device B automatically switches to the standby liquid storage device 11 through the solenoid valve 14, and gives a text and sound prompt on the control interface. At this time, the user needs to supplement an appropriate amount of physiological saline to the main liquid storage device 10.

[0083] After the liquid enters through the liquid inlet pipe 1, the diaphragm pump 8 injects the liquid into the flushing pipe 2 and then into the joint cavity 22 through the puncture device 20. At the same time, the suction pump 9 operates to suck in gas, creating a negative pressure in the liquid collection bag 4. The liquid in the joint cavity 22 is sucked out through the liquid suction pipe 3, the shaver 19 / plasma system 18.

[0084] During the above process, the flow rate sensor 6 for inflow, the flow rate sensor 7 for outflow, the pressure sensor for inflow, and the pressure sensor for outflow are used to monitor in real time the speed of the perfusion liquid flowing into the joint cavity 22, the speed of the returned liquid flowing out, the pressure of the pipeline for inflow, and the pressure of the pipeline for outflow. When it is detected that the inflow and outflow of the liquid are unbalanced, the control device B controls the pump speed of the perfusion pump module A based on the PID control and fuzzy control principles. The specific control principle is described in the method section and will not be elaborated here.

[0085] During the entire surgical process, the system monitors in real time issues such as bubbles, pipeline blockages, and abnormal flow rates affected by pressure changes, and issues an alarm. After the alarm, the user can learn about the specific problem according to the prompt and then take specific measures.

[0086] An embodiment of the present invention provides a puncture control method, which is implemented based on the above system, as Figure 4 shown, and includes:

[0087] The control device B controls the perfusion liquid to flow out of the liquid storage device and then into the perfusion pump system with injection and suction functions;

[0088] The control device B controls the perfusion pump system with injection and suction functions based on the PID control and fuzzy control principles, and controls the speeds of the perfusion liquid and the returned liquid from the joint cavity 22, thereby achieving a dynamic balance between the inflow and outflow of the liquid.

[0089] As Figure 5 shown, the PID control and fuzzy control principles specifically include:

[0090] Step 1: Obtain the inflow speed, outflow speed, inflow pressure, and outflow pressure;

[0091] Step 2: Calculate the flow rate difference based on the inflow speed and outflow speed, and calculate the pressure difference based on the inflow pressure and outflow pressure:

[0092]

[0093] Among them, represents the flow rate difference, represents the inflow speed, represents the outflow speed;

[0094]

[0095] Among them, represents the pressure difference, represents the inflow pressure, represents the outflow pressure;

[0096] Calculate the basic pump speed adjustment amount based on the flow rate difference:

[0097]

[0098] Among them, respectively represent the proportional gain, integral gain, and derivative gain, represents the basic pump speed adjustment amount;

[0099] Step 3: Perform fuzzification processing on the flow rate difference and pressure difference, map them to the fuzzy set, and obtain the membership degree values. Specifically:

[0100] According to the predefined fuzzy input range, determine the fuzzy set labels of the flow rate difference and pressure difference, such as "Negative Big" (NB), "Negative Small" (NS), "Zero" (ZE), "Positive Small" (PS), "Positive Big" (PB), and each label corresponds to a fuzzy set;

[0101] Convert the flow rate difference and pressure difference into membership degree values in the fuzzy set according to the fuzzy set labels;

[0102] Step 4: Perform fuzzy inference according to the fuzzy rule table and membership degree values to determine the fuzzy value of the output adjustment amount. The fuzzy rule table defines the mapping relationship between the input variables (flow rate difference and pressure difference) and the output variable (fuzzy control adjustment amount). Specifically:

[0103] Traverse all possible fuzzy rule combinations (Q label , P label ), where Q label is the fuzzy set label of the flow rate difference, and P label is the fuzzy set label of the pressure difference;

[0104] Calculate the rule strength of each fuzzy rule: Take the smaller value of the membership degree values of the flow rate difference and pressure difference in their respective fuzzy sets as the rule strength;

[0105] Calculate the corresponding output label in the fuzzy rule table according to the fuzzy set label of the flow rate difference and the fuzzy set label of the pressure difference;

[0106] Update the membership degree value based on the output label and rule strength to obtain the fuzzy output, specifically including:

[0107] If the output label already exists, take the larger value of the output label and the rule strength; if the output label does not exist, take the rule strength as the updated membership degree value;

[0108] Use a defuzzification method (such as the centroid method) to convert the fuzzy output into a specific numerical value to obtain the fuzzy control adjustment amount ;

[0109] Step Five: Calculate the final pump speed adjustment amount u based on the basic pump speed adjustment amount and the fuzzy control adjustment amount:

[0110] ;

[0111] Step Six: Calculate the diaphragm pump adjustment amount and the suction pump adjustment amount according to the pump speed adjustment amount. The specific allocation ratio can be dynamically adjusted according to the magnitude of the flow rate difference ΔQ:

[0112] When ΔQ > 0:

[0113] The adjustment amount of the diaphragm pump is , where k ∈ (0, 1] is a proportionality coefficient used to reduce the injection speed.

[0114] The adjustment amount of the suction pump is , which is used to fine-tune the suction speed to further optimize the balance.

[0115] When ΔQ < 0:

[0116] The adjustment amount of the suction pump is , which is used to increase the suction speed.

[0117] The adjustment amount of the diaphragm pump is , which is used to fine-tune the injection speed to further optimize the balance.

[0118] During system initialization, the default proportionality coefficient k (such as k = 0.7 or k = 0.5) can be set according to empirical values and dynamically adjusted during operation. For example, when the flow rate difference is large, increase the value of k to concentrate on adjusting the side with the main problem. When the flow rate difference is small, decrease the value of k to make the adjustments of the two pumps more balanced.

[0119] To avoid instability caused by over-adjustment, upper and lower limits can be set for the adjustment amounts of the diaphragm pump and the suction pump. For example, the adjustment amount of the diaphragm pump shall not exceed its maximum allowable current change range. The adjustment amount of the suction pump shall not be lower than its minimum allowable negative pressure generation capacity.

[0120] The above method of the present invention has the following advantages:

[0121] 1) Intelligent fusion control:

[0122] Combining the precision of PID control and the adaptability of fuzzy control, it not only ensures the steady-state accuracy but also enhances the robustness to nonlinear and time-varying systems.

[0123] 2) Dynamic response optimization:

[0124] The fuzzy rules coordinately adjust the two variables of flow velocity difference and pressure difference, reduce the overshoot, and accelerate the system response speed.

[0125] 3) Strong anti-interference ability:

[0126] The fuzzy control effectively suppresses the influence of sensor noise or external disturbances through membership weighted reasoning.

[0127] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0128] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A puncture control system, characterized in that: It includes a liquid storage device and a flusher, wherein the flusher includes an infusion pump system with injection and suction functions and a control device, the liquid storage device is connected to the infusion pump system, and the infusion pump system and the liquid storage device are both connected to the control device; The liquid storage device is used to store the perfusion liquid, and the liquid storage device is automatically switched by the control device; The control device adopts PID control and fuzzy control principles to regulate the perfusion pump system, balance the perfusion liquid and the joint cavity return liquid speed, and thus achieve a dynamic balance of liquid inflow and outflow.

2. A puncture control system according to claim 1, characterized in that: Also included is a piercer; The perfusion pump system comprises a perfusion pump module, a liquid inlet pipe, a flushing pipe, a liquid suction pipe, a fluid effusion bag, an air suction pipe, an inflow flow rate sensor, an outflow flow rate sensor, an inflow pressure sensor and an outflow pressure sensor, wherein the perfusion pump module is connected to a liquid storage device via the liquid inlet pipe, the perfusion pump module is connected to a puncture device via the flushing pipe, the liquid suction pipe is connected to a liquid inlet of the fluid effusion bag, and a liquid outlet of the fluid effusion bag is connected to the perfusion pump module via the air suction pipe, the inflow flow rate sensor and the inflow pressure sensor are arranged on the flushing pipe, and the outflow flow rate sensor and the outflow pressure sensor are arranged on the liquid suction pipe; The inflow flow rate sensor, the outflow flow rate sensor, the inflow pressure sensor and the outflow pressure sensor are all connected to the control device.

3. A puncture control system according to claim 2, characterized in that: The perfusion pump module includes a diaphragm pump and an air suction pump, the diaphragm pump is respectively connected to the liquid inlet pipe, the flushing pipe and the control device, the air suction pump is respectively connected to the air suction pipe and the control device, the diaphragm pump is used to realize the injection of perfusion liquid and control the flow rate of the perfusion liquid, and the air suction pump is used to realize the suction of joint cavity liquid return and control the flow rate of joint cavity liquid return.

4. A puncture control system according to claim 2 or 3, characterized in that: The liquid storage device comprises a main liquid storage device, a backup liquid storage device, a three-way interface for perfusion liquid, a liquid level sensor and a solenoid valve, wherein the main liquid storage device and the backup liquid storage device are connected to the three-way interface for perfusion liquid through a pipeline, the three-way interface for perfusion liquid is connected to the solenoid valve, and the liquid level sensor is arranged on the pipeline; The liquid level sensor and the solenoid valve are both connected to the control device.

5. A puncture control system according to claim 4, characterized in that: It also includes a bubble detector and a mechanical vibration device, which are arranged on the flushing tube and are both connected to the control device. The bubble detector is used to detect the bubbles in the flushing tube in real time, and the mechanical vibration device is used to make the bubbles float up through vibration to exhaust the bubbles in the pipeline.

6. A puncture control system according to claim 5, characterized in that: It also includes an infrared sensing sensor, which is arranged above the pipette and connected to the control device. The infrared sensing sensor is used to detect the operating state of the liquid return in the pipette, and then sense in real time whether there is a blockage in the pipeline.

7. A puncture control system according to claim 6, characterized in that: The control device includes a data receiving unit, a data processing unit and an alarm unit; The data receiving unit is used to receive the liquid level signal sent by the liquid level sensor, the bubble signal detected by the bubble detector, the inflow velocity sent by the inflow velocity sensor, the outflow velocity sent by the outflow velocity sensor, the inflow pressure sent by the inflow pressure sensor, the outflow pressure sent by the outflow pressure sensor, and the pipeline operation status sent by the infrared sensor; The data processing unit is used to control the solenoid valve according to the liquid level signal, thereby controlling the switching of the main liquid storage device and the backup liquid storage device; and to control the speed of the perfusion liquid and the return liquid to the joint cavity according to the inflow speed, outflow speed, inflow pressure and outflow pressure based on the PID control and fuzzy control principles, thereby achieving a dynamic balance of liquid inflow and outflow; Controlling the operation of the mechanical vibration device according to the bubble signal; and judging whether the pipeline is blocked according to the running state of the pipeline; The alarm unit is used to give an alarm when pipeline blockage, bubbles, abnormal flow rate due to pressure changes, and the liquid level reaches a threshold value.

8. A puncture control system according to claim 2, characterized in that: Also includes a plasma system, wherein the plasma system is connected to one of the pipettes; and / or a planer, wherein the planer is connected to one of the pipettes; The two liquid pipettes are connected to the liquid inlet of the liquid collection bag through a liquid return three-way interface.

9. A puncture control method, implemented based on the system according to any one of claims 1 to 8, characterized in that: include: The control device controls the perfusion liquid to flow out of the liquid storage device and then flow into the perfusion pump system with injection and suction functions; The control device controls the perfusion pump system with injection and suction functions based on the PID control and fuzzy control principles, balances the speed of perfusion liquid and joint cavity return liquid, and thus achieves a dynamic balance of liquid inflow and outflow.

10. A puncture control method according to claim 9, characterized in that: The principles of PID control and fuzzy control specifically include: Step 1: Obtain inflow velocity, outflow velocity, inflow pressure and outflow pressure; Step 2: Calculate the velocity difference based on the inflow velocity and outflow velocity, and calculate the pressure difference based on the inflow pressure and outflow pressure: ； in, represents the flow velocity difference, represents the inflow velocity, Indicates outflow velocity; ； in, Indicates the pressure difference, Indicates the inflow pressure, Indicates outflow pressure; Calculate the basic pump speed adjustment based on the flow rate difference: ； in, Respectively represent proportional gain, integral gain, and differential gain, Indicates the basic pump speed adjustment; Step 3: Fuzzify the velocity difference and pressure difference, map them to fuzzy sets, and obtain the membership value, which is: According to the predefined fuzzy input range, the fuzzy set labels of the flow rate difference and the pressure difference are determined; Convert the velocity difference and pressure difference into membership values ​​in the fuzzy set according to the fuzzy set label; Step 4: Perform fuzzy reasoning based on the fuzzy rule table and membership value to determine the fuzzy value of the output adjustment amount, specifically: Traverse all possible fuzzy rule combinations (Q label , P label ), where Q label is the fuzzy set label of the velocity difference, P label is the fuzzy set label of the pressure difference; Calculate the rule strength of each fuzzy rule: take the smaller value of the membership values ​​of velocity difference and pressure difference in their respective fuzzy sets as the rule strength; Calculate the corresponding output label in the fuzzy rule table according to the fuzzy set label of the velocity difference and the fuzzy set label of the pressure difference; Based on the output label and rule strength, the membership value is updated to obtain the fuzzy output, which includes: If the output label already exists, the larger value of the output label and the rule strength is taken; if the output label does not exist, the rule strength is taken as the updated membership value; Use the defuzzification method to convert the fuzzy output into a specific value to obtain the fuzzy control adjustment amount ; Step 5: Calculate the final pump speed adjustment u based on the basic pump speed adjustment and the fuzzy control adjustment: ； Step 6: Calculate the diaphragm pump adjustment and suction pump adjustment based on the pump speed adjustment: ； in, Indicates the adjustment amount of the diaphragm pump, Indicates the adjustment amount of the suction pump, k represents the proportional coefficient, which is dynamically adjusted during operation.

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