Force feedback adjusting system and active compensation method

Abstract

The invention relates to the technical field of force compensation, and discloses a force feedback adjusting system and an active compensation method, and the method comprises the steps: generating a target posture needed by a first target according to the pre-obtained data of the first target, and obtaining a target pressure through analyzing a mapping relation between the target posture and the stress condition of the first target; constructing a pressure thermodynamic diagram according to the first target stress data measured in real time; the target pressure is matched in the pressure thermodynamic diagram, a first adjustment area is recognized and adjusted, and the pressure thermodynamic diagram is updated according to the real-time stress data of the first target; according to a preset grid size, calculating a pressure gradient between adjacent grids in the updated pressure thermodynamic diagram, identifying a second adjustment area, and adjusting the second adjustment area by controlling the array movement in each grid; the spine posture can be adjusted, a reasonable angle can be kept, local pressure can be compensated, pressure sores are reduced, and safety and effectiveness in the operation process are improved.

Description

Technical Field

[0001] The present application relates to the field of force compensation technology, and more specifically to a force feedback adjustment system and an active compensation method. Background Art

[0002] During surgical procedures, patient positioning and pressure distribution are crucial to successful surgery, intraoperative safety, and postoperative recovery. Currently, patient positioning is manually adjusted based on experience. This process is time-consuming and struggles to meet the high-precision positioning requirements of complex surgeries. Furthermore, prolonged positioning can cause excessive localized pressure, leading to pressure sores and adversely affecting postoperative recovery.

[0003] The existing technology has the following problems: when adjusting the patient's surgical posture, it is impossible to generate a target posture according to the type of surgery and the patient's individual characteristics, nor can it analyze the force conditions of various parts of the patient based on the target posture; there is a lack of real-time collection and monitoring of the patient's force conditions, and analysis of excessive local pressure on the patient, and an inability to compensate for the local pressure, resulting in low patient comfort during the operation and causing pressure sores; in order to solve at least one of the above problems, the present application proposes a force feedback adjustment system and an active compensation method. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this application is to provide a force feedback adjustment system and active compensation method, which can effectively solve the problems in the background technology. The specific technical solutions of this application are as follows:

[0005] An active compensation method, comprising:

[0006] generating a target posture of the first target based on pre-acquired data of the first target, and obtaining a target pressure by analyzing a mapping relationship between the target posture and a force condition of the first target;

[0007] Analyze the stress conditions of each part of the first target based on the force data of the first target measured in real time by the sensor in the target device, and construct a pressure heat map;

[0008] matching the target pressure in the pressure thermodynamic map, identifying a first adjustment region, adjusting the first adjustment region of the target device, and updating the pressure thermodynamic map according to real-time force data of the first target after adjusting the target device to obtain an updated pressure thermodynamic map;

[0009] According to a preset grid size, the pressure gradient between adjacent grids is calculated in the updated pressure thermodynamic map, a second adjustment area where the pressure gradient is greater than a preset gradient threshold is identified, and the second adjustment area is adjusted by controlling the movement of the array in each grid to compensate for the pressure of the first target.

[0010] Specifically, generating a target posture of the first target based on the pre-acquired data of the first target, and obtaining a target pressure by analyzing a mapping relationship between the target posture and a force condition of the first target, includes:

[0011] analyzing the motion type and information of the first target based on the pre-acquired data of the first target, and generating a target posture of the first target;

[0012] Analyzing the pressure conditions at each support position of the first target according to the target posture, and establishing a mapping relationship between the target posture and the force conditions;

[0013] In combination with the mapping relationship, a target pressure corresponding to the target posture is generated.

[0014] Specifically, according to the target posture, the pressure condition of each support position of the first target is analyzed, and a mapping relationship between the target posture and the force condition is constructed, including:

[0015] Analyzing the support point positions of the first target according to the target posture, generating a corresponding support matrix, and identifying a corresponding support region based on the support matrix;

[0016] Combining the biometric data and the target posture of the first target, analyzing the angles and heights of different parts of the first target, and constructing posture vectors of the multiple parts;

[0017] Through the preset pressure analysis model, combined with the posture vector, the pressure situation of the first target in each support domain is calculated, the corresponding support point position is matched in the support matrix, the target pressure matrix is ​​obtained, and the mapping relationship between the target posture and the force situation is constructed.

[0018] Specifically, the process of analyzing the stress conditions of each part of the first target based on the first target force data measured in real time by the sensor in the target device to construct a pressure thermodynamic map includes:

[0019] Analyze the force conditions of each part of the first target based on the force data of the first target measured in real time by the sensor in the target device, and construct a real-time force matrix;

[0020] According to the real-time force matrix, a pressure thermodynamic map is constructed.

[0021] Specifically, according to the real-time force matrix, a pressure thermodynamic map is constructed, including:

[0022] According to the preset pressure level division mechanism, each force data in the real-time force matrix is ​​mapped to the corresponding pressure level;

[0023] According to the corresponding pressure levels from small to large, the corresponding pressure colors are matched according to the preset level color matching mechanism to construct a pressure heat map.

[0024] Specifically, matching the target pressure in the pressure thermodynamic map, identifying a first adjustment region, adjusting the first adjustment region of the target device, and updating the pressure thermodynamic map according to real-time force data of the first target after adjusting the target device to obtain an updated pressure thermodynamic map, including:

[0025] Match the target pressure in the pressure thermodynamic map, calculate the difference between the target pressure matrix and the real-time force matrix at each corresponding position, identify the element position where the difference is greater than a preset difference threshold, and obtain multiple pressure anomaly positions;

[0026] By analyzing the pressure abnormalities in the pressure abnormality positions, a plurality of pressure abnormality positions are combined to identify a first adjustment area;

[0027] adjusting a first adjustment region of the target device according to the target pressure matrix;

[0028] After adjusting the target device, the pressure thermodynamic map is updated according to the real-time force data of the first target to obtain an updated pressure thermodynamic map.

[0029] Specifically, analyzing the pressure abnormality in the pressure abnormality positions, combining multiple pressure abnormality positions, and identifying the first adjustment area includes:

[0030] Analyze the degree of pressure anomaly based on the pressure difference corresponding to the pressure anomaly location, and calculate multiple anomaly propagation paths through the preset abnormal pressure analysis model;

[0031] Combining multiple pressure anomaly locations that belong to the same anomaly propagation path and whose location distance is less than a preset distance threshold to obtain multiple combined areas;

[0032] By analyzing the structural correlation between the parts supported by the combined area, the combined areas supporting the same part are functionally coupled to obtain the first adjustment area.

[0033] Specifically, the method includes calculating the pressure gradient between adjacent grids in the updated pressure thermodynamic map according to a preset grid size, identifying a second adjustment region where the pressure gradient is greater than a preset gradient threshold, and adjusting the second adjustment region by controlling the movement of the array in each grid to compensate for the pressure of the first target, including:

[0034] Divide the updated pressure thermodynamic map into multiple grids according to the preset grid size, and calculate the pressure gradient between adjacent grids based on the pressure value in each grid;

[0035] Screening out the grids where the pressure gradient is greater than a preset gradient threshold as the second adjustment area;

[0036] A pressure compensation value is calculated according to the pressure gradient, and the second adjustment area of ​​the target device is adjusted by controlling the array height of each grid in the second adjustment area.

[0037] Specifically, calculating a pressure compensation value according to the pressure gradient, and adjusting the second adjustment area by controlling the array height of each grid in the second adjustment area of ​​the target device includes:

[0038] According to the pressure gradient, the pressure is compensated by the preset pressure compensation model, and the pressure compensation value and movement direction of the array in each grid are calculated;

[0039] Combining the pressure compensation value and the movement direction, generating a corresponding array control matrix;

[0040] The array height of each grid is controlled by the array control matrix to adjust the second adjustment area.

[0041] A force feedback adjustment system, used to implement the active compensation method, comprising:

[0042] a target pressure analysis module, which generates a target posture of the first target based on pre-acquired data of the first target, and obtains a target pressure by analyzing a mapping relationship between the target posture and a force condition of the first target;

[0043] A pressure heat map construction module analyzes the stress conditions of each part of the first target based on the first target force data measured in real time by the sensor in the target device, and constructs a pressure heat map;

[0044] a target pressure adjustment module, matching the target pressure in the pressure thermodynamic map, identifying a first adjustment region, adjusting the first adjustment region of the target device, and updating the pressure thermodynamic map according to the real-time force data of the first target after adjusting the target device to obtain an updated pressure thermodynamic map;

[0045] The pressure compensation adjustment module calculates the pressure gradient between adjacent grids in the updated pressure thermodynamic map according to a preset grid size, identifies a second adjustment area where the pressure gradient is greater than a preset gradient threshold, and adjusts the second adjustment area by controlling the movement of the array in each grid to compensate for the pressure of the first target.

[0046] The beneficial effects of the present application are as follows: a target posture is generated based on the surgical type and surgical information of the first target, a target pressure is obtained by analyzing the mapping relationship between the target posture and the force condition, a pressure thermogram is constructed according to the force data collected in real time, the target pressure is matched with the pressure thermogram to identify the first adjustment area and adjust the target device, a second adjustment area with abnormal pressure gradient is identified according to the pressure gradient in the updated pressure thermogram, the pressure is compensated by controlling the height of the array in the second adjustment area, a corresponding target posture is generated according to the surgical requirements and individual characteristics of the patient, and the target pressure condition is analyzed, and the target device is adjusted in real time based on the matching between the target pressure and the real-time pressure thermogram to ensure that the patient posture is consistent with the posture required for the surgery and the smooth progress of the surgical process, the area with excessive local pressure in the pressure thermogram is identified, and the array height in the area is dynamically adjusted, which can compensate for the local pressure, effectively reduce the pressure on the patient's local tissue, reduce the occurrence of pressure sores, improve the safety and effectiveness of the surgical process, and enhance the patient's intraoperative comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a workflow diagram of an active compensation method in an embodiment of the present application;

[0048] Figure 2 A schematic diagram of a pressure thermodynamic diagram in an embodiment of the present application;

[0049] Figure 3 A schematic diagram of the pressure anomaly position combination process in an embodiment of the present application;

[0050] Figure 4 Schematic diagram of the second adjustment area array adjustment process in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The present application is further described in detail below with reference to the accompanying drawings and embodiments.

[0052] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0053] Hereinafter, the terms "first," "second," and the like are used in general terms for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

[0054] refer to Figure 1 FIG. 1 is a specific implementation of an active compensation method of the present application, including:

[0055] S101, generating a target posture of the first target based on pre-acquired data of the first target, and obtaining a target pressure by analyzing a mapping relationship between the target posture and a force condition of the first target;

[0056] S102, analyzing the stress conditions of each part of the first target based on the force data of the first target measured in real time by the sensor in the target device, and constructing a pressure heat map;

[0057] S103: Matching the target pressure in the pressure thermodynamic map, identifying a first adjustment region, adjusting the first adjustment region of the target device, and updating the pressure thermodynamic map based on the real-time force data of the first target after the target device is adjusted to obtain an updated pressure thermodynamic map;

[0058] S104. Calculate the pressure gradient between adjacent grids in the updated pressure thermodynamic map according to the preset grid size, identify a second adjustment region where the pressure gradient is greater than a preset gradient threshold, and adjust the second adjustment region by controlling the movement of the array in each grid to compensate for the pressure of the first target.

[0059] During surgery, patients need to maintain a specific posture to cooperate with the surgical procedure. However, prolonged surgery can cause excessive pressure on localized areas of the patient's body, leading to pressure sores and other problems, affecting patient comfort and postoperative recovery. This embodiment monitors the force applied to various parts of the patient's body in real time, adjusts the target device to ensure the patient's posture meets surgical requirements, and compensates for local pressure, thereby reducing the risk of pressure sores and improving patient comfort during surgery.

[0060] This embodiment collects pre-acquired data of the patient, including data such as the patient's height, weight, and type of surgery, generates a target posture required for the surgery, and analyzes the stress conditions of each part of the patient according to the target posture to obtain a target pressure; the patient's stress data is collected in real time by sensors on the target device to construct a pressure thermodynamic map; the target pressure is matched with the pressure thermodynamic map, and the first adjustment area where the target pressure does not match the real-time stress conditions is identified and adjusted, and the pressure thermodynamic map is updated in real time; the updated pressure thermodynamic map is gridded, the pressure gradient between adjacent grids is calculated, and the area with a large pressure gradient is identified as the second adjustment area, and by controlling the movement of the array in the area, the area with drastic pressure changes is compensated, ensuring that the pressure of various parts of the body is evenly distributed while the patient maintains the posture required for the surgery, effectively reducing the local pressure on the patient's body, improving the patient's comfort during the operation, and promoting postoperative recovery.

[0061] In this embodiment, the target posture required for the first target is generated based on the pre-acquired data of the first target, and the target pressure is obtained by analyzing the mapping relationship between the target posture and the force condition of the first target; the first target is specifically a patient during surgery, and the target posture required for the surgery is determined based on the patient's pre-acquired data, including height, weight, and surgery type. By analyzing the different contact areas and force points between various parts of the patient's body and the support device caused by different postures of the patient, the mapping relationship between the force condition of various parts of the patient's body and the posture under the target posture is determined, and the target pressure that each part should bear is obtained; by determining the target pressure in advance, data support is provided for pressure adjustment to ensure that the adjusted pressure meets the patient's physical tolerance and surgical needs.

[0062] Specifically, based on the first target force data collected in real time by the sensor in the target device, the force conditions of each part of the first target are analyzed to construct a pressure thermodynamic map; during the operation, the target device includes but is not limited to a surgical pad, and the sensors installed in the surgical pad are used to collect the force data of various parts of the patient's body in real time, and the force data are analyzed to determine the force size and distribution of each part of the patient, and a pressure thermodynamic map reflecting the pressure distribution is constructed according to the force conditions; by collecting the patient's force data in real time and constructing a pressure thermodynamic map, the force conditions of various parts of the patient can be quickly and intuitively analyzed, and the positions with high pressure can be quickly located, providing data support for pressure matching and device adjustment.

[0063] According to the constructed pressure thermodynamic map, the target pressure is matched in the pressure thermodynamic map, the first adjustment area is identified, the first adjustment area of ​​the target device is adjusted, and after the target device is adjusted, the pressure thermodynamic map is updated according to the real-time force data of the first target to obtain an updated pressure thermodynamic map; the calculated target pressure is compared and matched with the constructed pressure thermodynamic map to find the area where the pressure does not meet the target pressure, and the first adjustment area is obtained. The target device in the area is adjusted according to the target pressure, and the patient's force data is collected in real time through the adjusted target device, and the pressure thermodynamic map is updated in real time; the area in the pressure thermodynamic map that does not match the target posture is quickly identified through the target pressure, and the target device is adjusted accordingly to keep the patient's posture consistent with the target posture, ensure the smooth progress of the operation, and update the patient's pressure thermodynamic map in real time, and compensate for the patient's pressure according to the updated pressure thermodynamic map.

[0064] During the target device adjustment process, the patient's pressure thermodynamic map is updated in real time. According to the preset grid size, the pressure gradient between adjacent grids in the updated pressure thermodynamic map is calculated, and the second adjustment area where the pressure gradient is greater than the preset gradient threshold is identified. The second adjustment area is adjusted by controlling the movement of the array in each grid to compensate for the pressure of the first target; the updated pressure thermodynamic map is divided into multiple grids according to the preset grid size, and the pressure gradient between each grid and the adjacent grids is calculated. When the pressure gradient is greater than the preset gradient threshold, it indicates that the pressure in the grid area changes dramatically and there is excessive local pressure. The corresponding grid area is identified as the second adjustment area. Within the second adjustment area, the second adjustment area is adjusted by controlling the up and down movement of the array structure in each grid to compensate for the pressure, balance the local pressure of the patient, reduce pressure concentration, reduce the risk of pressure sores, and improve the patient's comfort during surgery.

[0065] This application generates a target posture based on the surgical type and surgical information of the first target, obtains the target pressure by analyzing the mapping relationship between the target posture and the force situation, constructs a pressure thermogram based on the force data collected in real time, matches the target pressure with the pressure thermogram to identify the first adjustment area and adjust the target device, identifies the second adjustment area with abnormal pressure gradient based on the pressure gradient in the updated pressure thermogram, compensates for the pressure by controlling the height of the array in the second adjustment area, generates a corresponding target posture based on the surgical requirements and individual characteristics of the patient, analyzes the target pressure situation, and adjusts the target device in real time based on the matching situation between the target pressure and the real-time pressure thermogram to ensure that the patient posture is consistent with the posture required for the surgery and the smooth progress of the surgical process, identifies areas with excessive local pressure in the pressure thermogram, and dynamically adjusts the array height in the area, which can compensate for the local pressure, effectively reduce the pressure on the patient's local tissue, reduce the occurrence of pressure sores, improve the safety and effectiveness of the surgical process, and enhance the patient's intraoperative comfort.

[0066] Furthermore, a target posture of the first target is generated based on the pre-acquired data of the first target, and a target pressure is obtained by analyzing a mapping relationship between the target posture and the force condition of the first target, including:

[0067] S201, analyzing the surgery type and surgery information of the first target based on pre-acquired data of the first target, and generating a target posture required by the first target;

[0068] S202: Analyze the pressure condition of each support position of the first target according to the target posture, and establish a mapping relationship between the target posture and the force condition;

[0069] S203 : Generate a target pressure corresponding to the target posture based on the mapping relationship.

[0070] This embodiment collects the patient's pre-acquired data, including physical characteristics and surgical information, to determine the target posture required for the surgical process; for the target posture, the support position of the patient's body is determined, and the force conditions of the patient at the support position are analyzed to construct a mapping relationship between the target posture and the force conditions; the target pressure for each support position is generated based on the mapping relationship; the patient's target posture is determined by analyzing the surgical type and surgical information, and the force conditions of various parts of the patient are analyzed based on the target posture. The target device can be adjusted in real time based on the target pressure to provide data support for device adjustment.

[0071] In this embodiment, based on the pre-acquired data of the first target, the surgical type and surgical information of the first target are analyzed to generate the target posture required by the first target; the pre-acquired data of the first target includes physical characteristics and surgical related information, the surgical type is analyzed to determine the basic posture required for the patient under the surgical type, and the basic posture is adjusted in combination with the surgical information, and the specific placement angle and position of each part of the body are determined according to the surgical site and incision position to obtain the target posture; the target posture determined in combination with the patient's physical data and surgical information not only meets the needs of the surgical operation, but also takes into account the patient's physical condition, avoids difficulties in the surgical operation or physical injuries to the patient due to improper posture, and ensures the smooth progress of the operation.

[0072] After the target posture is determined, the various supporting positions of the patient's body, including the back, buttocks, head and other parts that come into contact with the surgical pad, will produce different forces due to factors such as body gravity and posture. By analyzing the pressure at each supporting position, a mapping relationship is established between the target posture and the force conditions of each part, reflecting the distribution pattern of the patient's force conditions in a specific posture. By establishing a mapping relationship, the law of the patient's body force in the target posture is reflected, providing a basis for the calculation of the target pressure, making the determination of the target pressure more reasonable.

[0073] Specifically, based on the constructed mapping relationship, the target pressure corresponding to the target posture is generated. The mapping relationship clarifies the correspondence between the target posture and the force conditions of each support position. The force data range of each support position under the target posture is extracted from the mapping relationship, and the corresponding force data are integrated to obtain the target pressure data; the target pressure generated according to the mapping relationship meets the surgical requirements for the patient's posture and provides data support for pressure adjustment.

[0074] Furthermore, according to the target posture, the pressure condition of each support position of the first target is analyzed to construct a mapping relationship between the target posture and the force condition, including:

[0075] S301, analyzing the support point positions of the first target according to the target posture, generating a corresponding support matrix, and identifying a corresponding support region based on the support matrix;

[0076] S302, combining the biometric data of the first target and the target posture, analyzing the angles and heights of different parts of the first target, and constructing posture vectors of the multiple parts;

[0077] S303. Calculate the pressure of the first target in each support domain using a preset pressure analysis model in combination with the posture vector, match the corresponding support point positions in the support matrix, obtain the target pressure matrix, and construct a mapping relationship between the target posture and the force condition.

[0078] In this embodiment, the support point positions of the first target are analyzed according to the target posture, a corresponding support matrix is ​​generated, and the corresponding support domain is identified in combination with the support matrix; after the target posture is determined, the contact points between the patient's body and the surgical pad are the support points, and the support points are identified according to the target posture. The position coordinates of each support point are recorded from top to bottom and from left to right according to the spatial coordinates to generate a support matrix. Each row or column of the support matrix represents the coordinate information of a support point. According to the position of each support point in the support matrix, the support points belonging to the same body part are grouped into one area, and multiple support domains are identified; the position information of each support point can be obtained through the support matrix, and the scattered support points can be integrated into multiple support domains, making the pressure analysis more targeted and holistic.

[0079] Specifically, the biometric data and target posture of the first target are combined to analyze the angles and heights of different parts of the first target, and construct posture vectors of multiple parts; the biometric data of the first target includes data such as height, limb length, and joint position, and the basic size and proportion of each part of the patient's body are determined. According to the target posture, the relative angles between different parts of the patient's body and the height difference between each part and the surgical pad are determined, and the relative angles and height differences between each part are integrated to obtain the posture vector of the part; by constructing the posture vector, the abstract posture is converted into a specific posture vector value, and the patient's force condition can be analyzed and calculated based on the posture vector, thereby improving the accuracy of the patient's target pressure analysis results.

[0080] Specifically, through a preset pressure analysis model, the pressure situation of the first target in each support domain is calculated in combination with the posture vector, the corresponding support point position is matched in the support matrix, the target pressure matrix is ​​obtained, and a mapping relationship between the target posture and the force situation is constructed; the pressure analysis model includes but is not limited to a neural network model, and a large number of posture vectors are used to train the neural network model to obtain a pre-trained neural network model. The posture vector is input into the pre-trained neural network model, and the model calculates the pressure of each support domain according to the posture vector. Based on the position information of each support point in the support matrix, the pressure situation of each support domain is distributed to each support point in the support domain to obtain the pressure value of each support point, and the target pressure matrix is ​​constructed. Combined with the correspondence between the angle, height and other data of each part in the target posture and the target pressure matrix, a mapping relationship between the target posture and the force situation is constructed; by calculating the pressure situation of each support point through the pressure analysis model, an accurate mapping relationship between the target posture and the force situation can be constructed to provide data support for pressure adjustment.

[0081] Furthermore, based on the force data of the first target measured in real time by the sensor in the target device, the force condition of each part of the first target is analyzed to construct a pressure heat map, including:

[0082] S401, analyzing the force conditions of each part of the first target based on the first target force data measured in real time by the sensor in the target device, and constructing a real-time force matrix;

[0083] S402: Construct a pressure thermodynamic map according to the real-time force matrix.

[0084] This embodiment collects the patient's force data in real time through sensors on the target device. After cleaning and analyzing the force data, the force conditions of each part of the first target are analyzed according to the position information of the sensor to construct a real-time force matrix; according to the correspondence between pressure values ​​and colors, the data in the real-time force matrix are converted into colors to construct a pressure heat map, and the pressure heat map is updated in real time according to the real-time force data; by constructing a pressure heat map through the real-time force matrix, high-pressure areas of the patient's body can be quickly identified, and adjustment measures can be taken in time to reduce the risk of pressure sores.

[0085] In this embodiment, based on the first target force data collected in real time by the sensor in the target device, the force conditions of each part of the first target are analyzed to construct a real-time force matrix; the sensors on the surgical pad will sense the pressure of various parts of the patient's body in real time, and the force data includes the pressure size at the location of each sensor. The corresponding pressure value data are arranged according to the spatial coordinates to construct a real-time force matrix, and each element value in the matrix is ​​the real-time pressure value collected by the sensor at the corresponding position; the constructed real-time force matrix can reflect the force conditions of various parts of the patient's body in real time, providing data support for constructing a pressure heat map.

[0086] like Figure 2 As shown in the figure, each element in the real-time force matrix represents the pressure value of the corresponding position. Different pressure values ​​are represented by different colors. The darker the color, the greater the pressure. The pressure heat map is constructed in combination with the pressure position. The matrix numerical information is converted into heat map image information, which can clearly show the pressure distribution of various parts of the patient's body. Figure 2 The thickness of the line represents the depth of the color. The thicker the line, the darker the color, and the thinner the line, the lighter the color. By constructing a pressure heat map, we can quickly understand the pressure distribution of various parts of the patient's body, identify areas with excessively high pressure, and provide data support for pressure compensation adjustments.

[0087] Furthermore, according to the real-time force matrix, a pressure thermodynamic map is constructed, including:

[0088] S501, mapping each force data in the real-time force matrix to a corresponding pressure level according to a preset pressure level classification mechanism;

[0089] S502: According to the corresponding pressure levels from small to large, the corresponding pressure colors are matched according to a preset level color matching mechanism to construct a pressure heat map.

[0090] In this embodiment, each force data in the real-time force matrix is ​​mapped to a corresponding pressure level according to a preset pressure level division mechanism; a corresponding pressure level division mechanism is formulated based on the safe range of pressure borne by different parts of the human body and the accuracy requirements for pressure monitoring during surgery, multiple pressure levels are divided, and the pressure value range corresponding to each pressure level is determined; each force data is compared with the level range in the pressure level division mechanism to determine the pressure level corresponding to each force data; by determining the pressure level, the corresponding color can be quickly determined, which facilitates the rapid positioning of areas with excessive local pressure.

[0091] Specifically, according to the corresponding pressure levels from small to large, the corresponding pressure colors are matched according to the preset level color matching mechanism to construct a pressure heat map; according to the pressure levels from small to large, the corresponding colors are selected, the lower the pressure level, the closer the color is to cold colors, including blue, and the higher the pressure level, the closer the color is to warm colors, including red, a corresponding level color matching mechanism is formulated, according to each pressure level in the pressure level matrix, according to the level color matching mechanism, each pressure level is matched with the corresponding pressure color, and a pressure heat map is constructed according to the pressure value of each position and the corresponding pressure color; by constructing a pressure heat map, areas with excessively high pressure can be quickly identified, thereby improving the efficiency of judging the pressure distribution.

[0092] Furthermore, the target pressure is matched in the pressure thermodynamic map, a first adjustment region is identified, the first adjustment region of the target device is adjusted, and after the target device is adjusted, the pressure thermodynamic map is updated according to the real-time force data of the first target to obtain an updated pressure thermodynamic map, including:

[0093] S601: Match the target pressure in the pressure thermodynamic map, calculate the difference between the target pressure matrix and the real-time force matrix at each corresponding position, identify the element position where the difference is greater than a preset difference threshold, and obtain multiple pressure anomaly positions;

[0094] S602: Analyze the pressure abnormality in the pressure abnormality positions, combine multiple pressure abnormality positions, and identify a first adjustment area;

[0095] S603, adjusting the first adjustment area of ​​the target device according to the target pressure matrix;

[0096] S604: After adjusting the target device, the pressure thermodynamic map is updated according to the real-time force data of the first target to obtain an updated pressure thermodynamic map.

[0097] This embodiment compares the target pressure matrix with the real-time force matrix, calculates the corresponding position difference, and identifies the abnormal pressure position; dynamically combines the identified abnormal pressure positions to obtain a first adjustment area; adjusts the target device in the area according to the target pressure; after adjusting the target device, updates the pressure thermodynamic map according to the patient's real-time force data; by comparing the target pressure with the real-time force, the abnormal pressure position and area can be accurately identified, avoiding blind adjustment, and keeping the patient's posture consistent with the target posture. By updating the pressure thermodynamic map in real time, the patient's pressure is monitored and dynamically compensated in real time, and the pressure distribution is continuously optimized, thereby reducing the risk of pressure sores and improving the patient's comfort and safety during surgery.

[0098] In this embodiment, the target pressure is matched in the pressure thermodynamic map, the difference between the target pressure matrix and each corresponding position element in the real-time force matrix is ​​calculated, the element position with a difference greater than a preset difference threshold is identified, and a plurality of pressure abnormality positions are obtained; the target pressure matrix is ​​the target pressure distribution determined according to the patient's target posture, and the real-time force matrix reflects the actual pressure situation of the current patient. The target pressure matrix is ​​compared with the pressure value of the corresponding position in the real-time force matrix, and the difference between the target pressure matrix and each corresponding position element in the real-time force matrix is ​​calculated one by one. The difference threshold is set according to the posture accuracy requirement of the surgical process, and the absolute value of each difference is compared with the preset difference threshold. When the absolute value is greater than the difference threshold, the element position is marked as a pressure abnormality position, and a plurality of pressure abnormality positions are obtained; through comparative analysis, the specific position of the pressure abnormality can be accurately located, providing a clear position reference for the adjustment of the target device.

[0099] Specifically, by analyzing the pressure anomaly conditions in the pressure anomaly positions, multiple pressure anomaly positions are combined to identify the first adjustment area; the identified pressure anomaly positions are scattered, and adjacent pressure anomaly positions usually belong to the same body part or are affected by the same support structure. Multiple pressure anomaly positions are dynamically combined according to the position distance and functional relationship to obtain the first adjustment area, and the pressure anomaly positions are adjusted as a whole to avoid repeated adjustments to a single point, thereby improving the integrity and efficiency of the adjustment of the target device.

[0100] After identifying the first adjustment area, the first adjustment area of ​​the target device is adjusted according to the target pressure matrix; if the pressure in the first adjustment area does not meet the target requirements, the target device components in the first adjustment area are determined according to the target device, and the adjustment amount is determined in combination with the pressure difference in the first adjustment area, and the corresponding components of the target device are adjusted according to the adjustment amount; the adjustment amount is calculated according to the pressure abnormality and the pressure difference, which can quickly bring the pressure in the abnormal area closer to the target pressure, avoid excessive pressure fluctuations, and improve the pertinence and effectiveness of the adjustment of the target device.

[0101] At the same time, after the target device is adjusted, the patient's actual pressure situation will change accordingly. The patient's force data will be collected in real time through the sensor, and the pressure thermodynamic map will be updated in real time based on the patient's real-time force data. By updating the pressure thermodynamic map in real time, the patient's force situation can be monitored in real time and the patient's pressure can be dynamically compensated.

[0102] Furthermore, by analyzing the pressure anomaly conditions in the pressure anomaly locations, multiple pressure anomaly locations are combined to identify a first adjustment area, including:

[0103] S701: Analyze the degree of pressure anomaly based on the pressure difference corresponding to the pressure anomaly location, and calculate multiple anomaly propagation paths using a preset abnormal pressure analysis model;

[0104] S702, combining multiple pressure anomaly locations that belong to the same anomaly propagation path and whose location distance is less than a preset distance threshold to obtain multiple combined areas;

[0105] S703 , by analyzing the structural correlation between the parts supported by the combined areas, functionally couple the combined areas supporting the same part to obtain a first adjustment area.

[0106] In this embodiment, the degree of pressure anomaly is analyzed based on the difference in pressure corresponding to the pressure anomaly position, and multiple abnormal propagation paths are calculated through a preset abnormal pressure analysis model; the size of the difference in the pressure anomaly position reflects the degree of pressure anomaly, and the larger the difference, the more serious the degree of anomaly. The degree of pressure anomaly is analyzed based on the calculated pressure difference, and the pressure diffusion is analyzed through a preset abnormal pressure analysis model. The abnormal pressure analysis model includes but is not limited to a convolutional neural network model. The convolutional neural network model is trained using a large amount of pressure difference data to obtain a pre-trained convolutional neural network model. The coordinates and difference data of the pressure anomaly position are input into the pre-trained convolutional neural network model. The model analyzes the path of pressure propagation to the surrounding area based on the degree of pressure anomaly, starting from the position with the highest degree of anomaly, to obtain multiple abnormal propagation paths; by analyzing the pressure anomaly degree and the abnormal propagation path, the pressure propagation law between the pressure anomaly positions can be obtained, which provides data support for regional combination and improves the accuracy of the pressure anomaly area identification results.

[0107] like Figure 3As shown, multiple pressure anomaly positions that belong to the same abnormal propagation path and whose position distance is less than a preset distance threshold are combined to obtain multiple combined areas; a distance threshold is set according to the distribution density of the sensor, all pressure anomaly positions in each abnormal propagation path are extracted, the spatial straight-line distance between any two pressure anomaly positions in the same propagation path is calculated, and the pressure anomaly positions whose distance is less than the preset distance threshold are combined. For each abnormal propagation path, the pressure anomaly positions are combined to obtain multiple combined areas. Figure 3 There are four pressure anomaly locations in the data: pressure anomaly location A, pressure anomaly location B, pressure anomaly location C, and pressure anomaly location D. Analysis shows that pressure anomaly locations A and B belong to the same anomaly propagation path, and the spatial straight-line distance between them is less than a preset distance threshold. Therefore, pressure anomaly locations A and B are combined. The distances between pressure anomaly locations C and D and other pressure anomaly locations are both greater than the preset distance threshold, indicating that they do not belong to the same anomaly propagation path. By combining the anomaly propagation path and spatial distance, the pressure anomaly locations within the combined area are both correlated in pressure conduction and close in spatial location, improving the rationality of the combined area.

[0108] Specifically, by analyzing the structural correlation between the parts supported by the combined areas, the combined areas supporting the same part are functionally coupled to obtain a first adjustment area; different parts of the patient have specific structures and functions, and the combined areas supporting the same part are structurally correlated and will affect each other in pressure distribution. By analyzing the body parts supported by each combined area, the combined areas supporting the same body part are identified, and the combined areas supporting the same part are functionally coupled and merged into one area. When the device position of a combined area changes, the corresponding part of the patient moves, and other combined areas need to be adjusted accordingly, and the functionally coupled areas are jointly controlled; functional coupling is performed according to the structural correlation of the parts, and the coupled first adjustment area corresponds to different parts of the patient, so that the adjustment of the device can be optimized based on the pressure situation of the entire part of the patient, thereby improving the integrity and effectiveness of the pressure adjustment.

[0109] Furthermore, according to a preset grid size, the pressure gradient between adjacent grids is calculated in the updated pressure thermodynamic map, a second adjustment region where the pressure gradient is greater than a preset gradient threshold is identified, and the second adjustment region is adjusted by controlling the movement of the array in each grid to compensate for the pressure of the first target, including:

[0110] S801: Divide the updated pressure thermodynamic map into multiple grids according to a preset grid size, and calculate the pressure gradient between adjacent grids based on the pressure value in each grid;

[0111] S802, selecting grids whose pressure gradient is greater than a preset gradient threshold as the second adjustment area;

[0112] S803 : Calculate a pressure compensation value according to the pressure gradient, and adjust the second adjustment area of ​​the target device by controlling the array height of each grid in the second adjustment area.

[0113] In this embodiment, the updated pressure thermodynamic map is grid-divided according to a preset grid size, and the updated pressure thermodynamic map is divided into multiple grids. The pressure gradient between adjacent grids is calculated based on the corresponding pressure value in each grid, and grids with a pressure gradient greater than a preset gradient threshold are screened out as the second adjustment area. The pressure compensation value is calculated based on the pressure gradient, and the pressure is compensated by adjusting the array height of the grids in the second adjustment area. Through grid division and pressure gradient calculation, areas of local pressure concentration can be quickly identified, and pressure compensation is performed by controlling the array height in the grid. The adjustment has high accuracy and fast response, which can quickly improve the patient's comfort during surgery.

[0114] In this embodiment, the updated pressure thermodynamic map is divided into multiple grids according to a preset grid size, and the pressure gradient between adjacent grids is calculated based on the pressure value in each grid; the grid size is set according to the accuracy requirement of intraoperative pressure monitoring, and the updated pressure thermodynamic map is grid-divided according to the grid size to obtain multiple grid areas, and the pressure gradient value is obtained by calculating the difference between the pressure values ​​based on the pressure value in each grid area; the updated pressure thermodynamic map is divided into multiple grid areas that can be analyzed independently through grid division, and the degree of pressure change between adjacent grid areas is analyzed based on the pressure gradient between the grid areas, providing data support for pressure compensation.

[0115] Specifically, grids with pressure gradients greater than a preset gradient threshold are screened out as the second adjustment area; the gradient threshold is set according to clinical trials, and the pressure gradient of each adjacent grid pair is compared with the gradient threshold one by one. When the pressure gradient of the adjacent grid pair is greater than the gradient threshold, the two grids are marked as grids to be adjusted, and the grids to be adjusted are combined and sorted, and overlapping or continuous grid areas are merged to obtain the second adjustment area; the gradient threshold can be used to quickly and accurately screen out areas with strong pressure changes, identify areas with excessive local pressure, and facilitate compensation and optimization of local pressure.

[0116] like Figure 4As shown, according to the pressure gradient, the pressure compensation value is calculated, and the second adjustment area is adjusted by controlling the array height of each grid in the second adjustment area of ​​the target device; the pressure gradient reflects the pressure difference between adjacent grids, and the pressure value to be compensated is calculated according to the size of the pressure gradient to obtain the pressure compensation value. A movable array structure is provided in each grid of the target device, including a plurality of mechanical struts with independently adjustable heights. The array height is adjusted according to the calculated pressure compensation value to change the support force for the patient in the grid; the pressure compensation value is calculated according to the pressure gradient, and the pressure can be accurately adjusted. By controlling the array height to adjust the pressure, the pressure of adjacent grids can be quickly and effectively balanced, the pressure gradient can be reduced, excessive local pressure can be avoided, and the patient's comfort during surgery can be improved.

[0117] Furthermore, a pressure compensation value is calculated according to the pressure gradient, and the second adjustment area is adjusted by controlling the array height of each grid in the second adjustment area of ​​the target device, including:

[0118] S901, according to the pressure gradient, the pressure is compensated by a preset pressure compensation model, and the pressure compensation value and movement direction of the array in each grid are calculated;

[0119] S902, combining the pressure compensation value and the movement direction to generate a corresponding array control matrix;

[0120] S903: Control the array height of each grid through the array control matrix to adjust the second adjustment area.

[0121] In this embodiment, according to the pressure gradient, the pressure is compensated by a preset pressure compensation model, and the pressure compensation value and movement direction of the array in each grid are calculated; the pressure compensation model is determined according to the correlation between the pressure gradient and the compensation value, and the movement direction rules under different pressure states. The correlation includes weighted calculation of the pressure compensation value according to the pressure gradient value. For arrays with higher pressure than adjacent grids, the array movement direction is set to downward, and vice versa; the pressure gradient in the second adjustment area and the pressure value of each grid are input into the pressure compensation model, and the model calculates the pressure compensation value and movement direction of the array in the corresponding grid; the pressure compensation model can quickly and accurately calculate the pressure compensation value and movement direction of each array, thereby improving the efficiency and accuracy of pressure compensation.

[0122] After calculating the pressure compensation value and movement direction of each array, the array control matrix is ​​generated by combining the corresponding pressure compensation values ​​and movement directions; the pressure compensation value and movement direction of each grid are converted into control instructions that can be recognized by the target device, and the control instructions are arranged according to the grid array position to obtain the array control matrix; the array control matrix converts the compensation information into specific control instructions, which can coordinate the control and adjustment of multiple grid arrays, improving the efficiency and accuracy of the pressure compensation and array control processes.

[0123] Specifically, the array height of each grid is controlled by the array control matrix to adjust the second adjustment area; after receiving the array control matrix, the control system of the target device analyzes the pressure compensation value and movement direction of each array position, converts them into specific control signals for the height of each array, and drives the array in each grid to adjust the height according to the control signal. During the adjustment process, the pressure in the grid is monitored in real time by the sensor. When the set pressure compensation value is reached, the adjustment process ends; each grid array can be independently and accurately controlled through the array control matrix, with high adjustment accuracy, and can quickly respond to pressure compensation needs, effectively balance the pressure in the second adjustment area, and improve pressure uniformity.

[0124] A force feedback adjustment system for implementing an active compensation method, comprising:

[0125] a target pressure analysis module, which generates a target posture required by the first target based on pre-acquired data of the first target, and obtains a target pressure by analyzing a mapping relationship between the target posture and a force condition of the first target;

[0126] A pressure heat map construction module analyzes the stress conditions of each part of the first target based on the first target force data measured in real time by the sensor in the target device, and constructs a pressure heat map;

[0127] a target pressure adjustment module, matching the target pressure in the pressure thermodynamic map, identifying a first adjustment region, adjusting the first adjustment region of the target device, and updating the pressure thermodynamic map according to the real-time force data of the first target after adjusting the target device, thereby obtaining an updated pressure thermodynamic map;

[0128] The pressure compensation adjustment module calculates the pressure gradient between adjacent grids in the updated pressure thermodynamic map according to the preset grid size, identifies the second adjustment area where the pressure gradient is greater than the preset gradient threshold, and adjusts the second adjustment area by controlling the array movement in each grid to compensate for the pressure of the first target.

[0129] In this embodiment, the target pressure analysis module generates a target posture that meets the surgical requirements based on the pre-acquired data of the first target, including height, weight, surgery type, and other data; by analyzing the force conditions of each part under the target posture, a mapping relationship between posture and force is established, and the target pressure of each part of the first target is calculated. By determining the target pressure, a data reference is provided for pressure feedback adjustment, so that the pressure control process meets the surgical posture requirements and is consistent with the patient's pressure tolerance, thereby reducing the risk of pressure sores. The pressure heat map construction module uses the sensor on the target device to collect the force data of the first target in real time. After analyzing and processing the force data, a pressure heat map is constructed based on the pressure size and distribution of each part. The pressure heat map can display the pressure distribution of each part of the patient's body in real time and intuitively. The difference between the patient's posture and the target posture is judged in combination with the pressure distribution, so as to adjust the target device so that the patient's posture meets the surgical requirements.

[0130] Specifically, the target pressure adjustment module matches the target pressure with the pressure thermodynamic map and identifies the first adjustment area with abnormal pressure by calculating the difference between the target pressure matrix and the real-time force matrix. After adjusting the target device in this area, the pressure thermodynamic map is updated based on the real-time force data. By identifying the abnormal pressure area, the pressure deviation area can be corrected to ensure that the pressure distribution is consistent with the target pressure corresponding to the target posture, meeting the requirements of the surgical process. At the same time, the patient's force is monitored in real time by updating the pressure thermodynamic map to compensate for the patient's pressure and reduce patient discomfort during surgery. The pressure compensation adjustment module divides the updated pressure thermodynamic map into a preset grid size, calculates the pressure gradient of adjacent grids, and selects the second adjustment area with a pressure gradient greater than the gradient threshold. By controlling the array movement (increase or decrease) of each grid in the area, pressure compensation is performed on areas with large pressure differences. By adjusting the array movement to compensate for pressure, local pressure fluctuations can be reduced, the uniformity of pressure distribution can be improved, tissue force unevenness can be reduced, patient comfort during surgery can be improved, and the incidence of postoperative pressure ulcers can be reduced.

[0131] The above description is merely a preferred embodiment of the present application. The scope of protection of the present application is not limited to the above embodiments. All technical solutions based on the concept of the present application are within the scope of protection of the present application. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present application should also be considered within the scope of protection of the present application.

Claims

1. An active compensation method, characterized in that: include: generating a target posture of the first target based on pre-acquired data of the first target, and obtaining a target pressure by analyzing a mapping relationship between the target posture and a force condition of the first target; Analyze the stress conditions of each part of the first target based on the force data of the first target measured in real time by the sensor in the target device, and construct a pressure heat map; matching the target pressure in the pressure thermodynamic map, identifying a first adjustment region, adjusting the first adjustment region of the target device, and updating the pressure thermodynamic map according to real-time force data of the first target after adjusting the target device to obtain an updated pressure thermodynamic map; According to a preset grid size, the pressure gradient between adjacent grids is calculated in the updated pressure thermodynamic map, a second adjustment area where the pressure gradient is greater than a preset gradient threshold is identified, and the second adjustment area is adjusted by controlling the movement of the array in each grid to compensate for the pressure of the first target.

2. The active compensation method according to claim 1, characterized in that: Generating a target posture of the first target based on the pre-acquired data of the first target, and obtaining a target pressure by analyzing a mapping relationship between the target posture and a force condition of the first target, includes: analyzing the motion type and information of the first target based on the pre-acquired data of the first target, and generating a target posture of the first target; Analyzing the pressure conditions at each support position of the first target according to the target posture, and establishing a mapping relationship between the target posture and the force conditions; In combination with the mapping relationship, a target pressure corresponding to the target posture is generated.

3. The active compensation method according to claim 2, characterized in that: According to the target posture, the pressure condition of each support position of the first target is analyzed to establish a mapping relationship between the target posture and the force condition, including: Analyzing the support point positions of the first target according to the target posture, generating a corresponding support matrix, and identifying a corresponding support region based on the support matrix; Combining the biometric data and the target posture of the first target, analyzing the angles and heights of different parts of the first target, and constructing posture vectors of the multiple parts; Through the preset pressure analysis model, combined with the posture vector, the pressure situation of the first target in each support domain is calculated, the corresponding support point position is matched in the support matrix, the target pressure matrix is ​​obtained, and the mapping relationship between the target posture and the force situation is constructed.

4. The active compensation method according to claim 1, characterized in that: The method of analyzing the stress conditions of each part of the first target based on the first target force data measured in real time by the sensor in the target device to construct a pressure thermodynamic map includes: Analyze the force conditions of each part of the first target based on the force data of the first target measured in real time by the sensor in the target device, and construct a real-time force matrix; According to the real-time force matrix, a pressure thermodynamic map is constructed.

5. The active compensation method according to claim 4, characterized in that: According to the real-time force matrix, a pressure thermodynamic map is constructed, including: According to the preset pressure level division mechanism, each force data in the real-time force matrix is ​​mapped to the corresponding pressure level; According to the corresponding pressure levels from small to large, the corresponding pressure colors are matched according to the preset level color matching mechanism to construct a pressure heat map.

6. The active compensation method according to claim 1, characterized in that: Matching the target pressure in the pressure thermodynamic map, identifying a first adjustment region, adjusting the first adjustment region of the target device, and updating the pressure thermodynamic map according to real-time force data of the first target after adjusting the target device to obtain an updated pressure thermodynamic map, including: Match the target pressure in the pressure thermodynamic map, calculate the difference between the target pressure matrix and the real-time force matrix at each corresponding position, identify the element position where the difference is greater than a preset difference threshold, and obtain multiple pressure anomaly positions; By analyzing the pressure abnormalities in the pressure abnormality positions, a plurality of pressure abnormality positions are combined to identify a first adjustment area; adjusting a first adjustment region of the target device according to the target pressure matrix; After adjusting the target device, the pressure thermodynamic map is updated according to the real-time force data of the first target to obtain an updated pressure thermodynamic map.

7. The active compensation method according to claim 6, characterized in that: The analyzing the abnormal pressure conditions in the abnormal pressure positions, combining multiple abnormal pressure positions, and identifying a first adjustment area includes: Analyze the degree of pressure anomaly based on the pressure difference corresponding to the pressure anomaly location, and calculate multiple anomaly propagation paths through the preset abnormal pressure analysis model; Combining multiple pressure anomaly locations that belong to the same anomaly propagation path and whose location distance is less than a preset distance threshold to obtain multiple combined areas; By analyzing the structural correlation between the parts supported by the combined area, the combined areas supporting the same part are functionally coupled to obtain the first adjustment area.

8. The active compensation method according to claim 1, characterized in that: The method further comprises calculating the pressure gradient between adjacent grids in the updated pressure thermodynamic map according to a preset grid size, identifying a second adjustment region where the pressure gradient is greater than a preset gradient threshold, and adjusting the second adjustment region by controlling the movement of the array in each grid to compensate for the pressure of the first target, including: Divide the updated pressure thermodynamic map into multiple grids according to the preset grid size, and calculate the pressure gradient between adjacent grids based on the pressure value in each grid; Screening out the grids where the pressure gradient is greater than a preset gradient threshold as the second adjustment area; A pressure compensation value is calculated according to the pressure gradient, and the second adjustment area of ​​the target device is adjusted by controlling the array height of each grid in the second adjustment area.

9. The active compensation method according to claim 8, characterized in that: Calculating a pressure compensation value according to the pressure gradient, and adjusting the second adjustment area of ​​the target device by controlling the array height of each grid in the second adjustment area, including: According to the pressure gradient, the pressure is compensated by the preset pressure compensation model, and the pressure compensation value and movement direction of the array in each grid are calculated; Combining the pressure compensation value and the movement direction, generating a corresponding array control matrix; The array height of each grid is controlled by the array control matrix to adjust the second adjustment area.

10. A force feedback adjustment system, characterized in that: A method for implementing an active compensation method according to any one of claims 1 to 9, comprising: a target pressure analysis module, which generates a target posture of the first target based on pre-acquired data of the first target, and obtains a target pressure by analyzing a mapping relationship between the target posture and a force condition of the first target; A pressure heat map construction module analyzes the stress conditions of each part of the first target based on the first target force data measured in real time by the sensor in the target device, and constructs a pressure heat map; a target pressure adjustment module, matching the target pressure in the pressure thermodynamic map, identifying a first adjustment region, adjusting the first adjustment region of the target device, and updating the pressure thermodynamic map according to the real-time force data of the first target after adjusting the target device to obtain an updated pressure thermodynamic map; The pressure compensation adjustment module calculates the pressure gradient between adjacent grids in the updated pressure thermodynamic map according to a preset grid size, identifies a second adjustment area where the pressure gradient is greater than a preset gradient threshold, and adjusts the second adjustment area by controlling the movement of the array in each grid to compensate for the pressure of the first target.

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