A puncture control system and a control method

Abstract

The present invention discloses a puncture control system and a control method, which relate to the technical field of medical devices. The 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 with injection and suction functions, and both the perfusion pump system with injection and suction functions and the liquid storage device are connected to the control device. The liquid storage device is used to store perfusion liquid and automatically switch the liquid storage device through the control device. The control device is used to control the perfusion pump system with injection and suction functions based on the principles of PID control and fuzzy control, control the speed of the perfusion liquid and the return liquid of the joint cavity, and thus achieve the dynamic balance of liquid inflow and outflow. The present invention has both the functions of liquid injection and liquid reflux suction, can achieve the dynamic balance of liquid inflow and outflow, and at the same time solves the problem of replenishing the exhausted liquid of the perfusion pump, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly to a puncture control system and a control method. 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 of 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 current arthroscopic surgery, saline perfusion fluid is often needed to fill the joint cavity to achieve 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 the 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 the problem of replenishing 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 liquid return 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 pipe, a flushing pipe, a liquid suction pipe, a liquid accumulation bag, an air suction pipe, 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 the liquid storage device through the liquid inlet pipe, the perfusion pump module is connected to the trocar through the flushing pipe, the liquid suction pipe 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 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;

[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 pipe, the flushing pipe, and the control device. The suction pump is respectively connected to the air suction pipe 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 the return liquid from the joint cavity and control the flow rate of the return liquid 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 an electromagnetic 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 electromagnetic valve. The liquid level sensor is arranged on the pipeline;

[0015] The liquid level sensor and the electromagnetic 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 pipe, and the bubble detector and the mechanical vibration device are both connected to the control device. The bubble detector is used to detect the bubbles in the flushing pipe in real time. The mechanical vibration device is used to make the bubbles float by vibration to 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 pipe. The infrared induction sensor is connected to the control device. The infrared induction sensor is used to detect the running state of the return liquid in the liquid suction pipe, so as to sense 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, thereby controlling 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 mechanical vibration device to work 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 tubes;

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

[0024] The two liquid suction tubes are connected to the liquid inlet of the liquid accumulation bag through a return liquid tee joint.

[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 integrates functions of dynamic adjustment of 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 to clinical practice, it can significantly improve the efficiency of arthroscopic surgery and avoid excessive complications for 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 the ID control and fuzzy control provided by the present invention.

[0060] Among them, 1. 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. Specific embodiments

[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 flusher. The flusher 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] Such 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, a gas 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 gas suction tube 5. The liquid accumulation bag 4 is used to collect the returned liquid 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 speed of the returned liquid flowing out, 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 gas suction tube 5, etc. of the present invention are all disposable instruments and are all made of plastic materials.

[0068] As Figure 2 shown, the perfusion pump module A includes a diaphragm pump 8, a gas 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 gas suction pump 9 is respectively connected to the gas 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 gas suction pump 9 is used to suck the returned liquid from the joint cavity 22 and control the flow rate of the returned liquid from 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 gas suction pump 9 works to suck gas, creating a negative pressure in the liquid accumulation bag 4, and the returned liquid inside the joint cavity 22 is sucked out through the liquid suction tube 3, the shaver 19 / plasma system 18, and into 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 liquid storage device connected to 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 to pause the operation when replenishing physiological saline prolongs 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, and 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 flushing 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 flushing 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 the 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 operating state of the returned liquid in the liquid suction tube 3, and thus to perceive in real time whether the pipeline is blocked.

[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 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; 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 achieve 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.

[0079] It also includes a control interface for setting parameters such as the 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 collection 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, after the liquid level sensor 13 detects it, 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 then flows from the liquid collection bag 4 through the liquid suction pipe 3 to the shaver 19 / plasma system 18 and into the joint cavity 22, sucking out the returned liquid inside the joint cavity 22.

[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 can be found 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 air 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, controls the speed of the perfusion liquid and the returned liquid from the joint cavity 22, and thus realizes the dynamic balance of liquid inflow and outflow.

[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 according to the inflow speed and outflow speed, and calculate the pressure difference according to 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: Fuzzify 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] Convert the fuzzy output into a specific numerical value using a defuzzification method (such as the centroid method) 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 centrally adjust 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 accuracy 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 for the two variables of flow velocity difference and pressure difference, reducing the overshoot and accelerating the system response speed.

[0125] 3) Strong anti-interference ability:

[0126] 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 devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and reference can be made to the description in the method part for related parts.

[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 broadest 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 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; The liquid storage device is used to store perfusion liquid and automatically switches the liquid storage device through the control device; 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 the dynamic balance of liquid inflow and outflow; It also includes a trocar; The perfusion pump system includes a perfusion pump module, a liquid inlet pipe, a flushing pipe, a liquid suction pipe, a liquid accumulation bag, an air suction pipe, 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 the liquid storage device through the liquid inlet pipe, the perfusion pump module is connected to the trocar through the flushing pipe, the liquid suction pipe 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 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; 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 inject the perfusion liquid and control the flow rate of the perfusion liquid. The air suction pump is used to suck the return liquid of the joint cavity and control the return liquid flow rate of the joint cavity; The PID control and fuzzy control principles specifically include: Step 1: Obtain the inflow speed, outflow speed, inflow pressure, and outflow pressure; Step 2: Calculate the flow rate difference according to the inflow speed and the outflow speed, and calculate the pressure difference according to the inflow pressure and the outflow pressure: AQ = Q in -Q out Among them, ΔQ represents the flow rate difference, Q in represents the inflow velocity, and Q out represents the outflow velocity; AP = P in -P out where ΔP represents the pressure difference, P in represents the inlet pressure, and P out represents the outlet pressure; Calculate the basic pump speed adjustment amount based on the flow rate difference: Among them, K p , K i , K d respectively represent the proportional gain, integral gain, and derivative gain, and u PID represents the basic pump speed adjustment amount; Step 3: Perform fuzzy processing on the flow rate difference and the pressure difference, map them to the fuzzy set, and obtain the membership degree value. Specifically: Determine the fuzzy set labels of the flow rate difference and the pressure difference according to the predefined fuzzy input range; Convert the flow rate difference and the pressure difference into the membership degree values in the fuzzy set according to the fuzzy set labels; Step 4: Perform fuzzy reasoning according to the fuzzy rule table and the membership degree value to determine the fuzzy value of the output adjustment amount. Specifically: Traverse all possible combinations of fuzzy rules (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; Calculate the rule strength of each fuzzy rule: Take the smaller value of the membership degree values of the flow rate difference and the 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 flow rate difference and the fuzzy set label of the pressure difference; Update the membership degree value based on the output label and the rule strength to obtain the fuzzy output. Specifically, it includes: 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; Use the defuzzification method to convert the fuzzy output into a specific numerical value to obtain the fuzzy control adjustment amount u fuzzy ; Step 5: Calculate the final pump speed adjustment amount u based on the basic pump speed adjustment amount and the fuzzy control adjustment amount u = u PID + u fuzzy ; Step 6: Calculate the diaphragm pump adjustment amount and the suction pump adjustment amount according to the pump speed adjustment amount: u1 = k·u u2 = (1 - k)·u Wherein, u1 represents the diaphragm pump adjustment amount, u2 represents the suction pump adjustment amount, and k represents a proportionality coefficient, which is dynamically adjusted during operation.

2. The puncture control system according to claim 1, characterized in that, 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, and the liquid level sensor is arranged on the pipeline; Both the liquid level sensor and the solenoid valve are connected to the control device.

3. A puncture control system according to claim 2, characterized in that, It further includes a bubble detector and a mechanical vibration device. The bubble detector and the mechanical vibration device are arranged on the liquid filling pipe, 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 liquid filling pipe in real time, and the mechanical vibration device is used to make the bubbles float by vibration to drain the bubbles in the pipeline.

4. The puncture control system according to claim 3, wherein It further includes an infrared induction sensor. The infrared induction sensor is arranged above the liquid suction pipe, and the infrared induction sensor is connected to the control device. The infrared induction sensor is used to detect the operation state of the liquid returning in the liquid suction pipe, so as to perceive whether there is a blockage in the pipeline in real time.

5. A puncture control system according to claim 4, wherein 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 state sent by the infrared induction sensor; The data processing unit is used to control the solenoid valve according to the liquid level signal, thereby controlling the switching between the main liquid storage device and the standby liquid storage device; controlling the speed of the perfusion liquid and the joint cavity liquid return 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; Controlling the operation of the mechanical vibration device according to the bubble signal; and judging whether the pipeline is blocked according to the pipeline operation state; 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.

6. The puncture control system according to claim 1, wherein It further includes a plasma system, and the plasma system is connected to one of the liquid suction pipes; and / or a shaver, and the shaver is connected to one of the liquid suction pipes; The two liquid suction pipes are connected to the liquid inlet of the liquid accumulation bag through a return liquid three-way interface.

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