Force feedback adjustment system and active compensation method

Abstract

The application relates to the technical field of force compensation, and discloses a force feedback adjusting system and an active compensation method, which comprises the following steps: generating a target posture required by a first target according to pre-acquired data of the first target, obtaining target pressure by analyzing the mapping relationship between the target posture and the force condition of the first target, constructing a pressure thermal map according to the real-time measured force data of the first target, matching the target pressure in the pressure thermal map, identifying a first adjusting area, and adjusting, updating the pressure thermal map according to the real-time force data of the first target, calculating the pressure gradient between adjacent grids in the updated pressure thermal map according to a preset grid size, identifying a second adjusting area, and adjusting the second adjusting area by controlling the array movement in each grid. The application can adjust the spine posture, keep a reasonable angle, compensate for local pressure, reduce the occurrence of pressure sores, and improve the safety and effectiveness of the operation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of force compensation, and more particularly to a force feedback adjustment system and an active compensation method. BACKGROUND

[0002] In a surgical operation process, the body position and pressure distribution of a patient have a crucial influence on the successful implementation of the operation, the safety of the patient during the operation and the postoperative recovery. At present, the adjustment of the posture of the patient depends on the manual operation of medical personnel according to experience, and the adjustment process is time-consuming and difficult to meet the high-precision requirements of complex operations on the posture of the patient. After the adjustment of the posture of the patient, the patient maintains a posture for a long time, which can cause excessive local pressure and induce pressure sores, affecting the postoperative recovery of the patient.

[0003] The prior art has the following problems: when the surgical posture of the patient is adjusted, the target posture cannot be generated according to the type of operation and the individual characteristics of the patient, and the force conditions of each part of the patient cannot be analyzed according to the target posture; the real-time collection and monitoring of the force conditions of the patient are lacking, the excessive local pressure of the patient is analyzed, the local pressure cannot be compensated, the comfort of the patient during the operation is low, and pressure sores can be induced; in order to solve at least one of the above problems, the present application provides a force feedback adjustment system and an active compensation method. SUMMARY

[0004] In view of the deficiencies of the prior art, the purpose of the present application is to provide a force feedback adjustment system and an active compensation method, which can effectively solve the problems in the background art. The specific technical scheme of the present application is as follows:

[0005] An active compensation method comprises:

[0006] According to the pre-acquired data of the first target, a target posture of the first target is generated, and a target pressure is obtained by analyzing the mapping relationship between the target posture and the force condition of the first target;

[0007] According to the real-time measurement of the sensor in the target device, the force data of the first target is analyzed, and a pressure thermal map is constructed;

[0008] The target pressure is matched in the pressure thermal map, the first adjustment region is identified, the first adjustment region of the target device is adjusted, and the pressure thermal map is updated according to the real-time force data of the first target after the adjustment of the target device, to obtain an updated pressure thermal map;

[0009] According to the preset grid size, the pressure gradient between adjacent grids in the updated pressure thermal map is calculated, 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 array movement in each grid to compensate for the pressure of the first target.

[0010] Specifically, the target posture of the first target is generated according to 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, comprising:

[0011] According to the pre-acquired data of the first target, the action type and information of the first target are analyzed, and the target posture of the first target is generated;

[0012] According to the target posture, the pressure condition of each support position of the first target is analyzed, and the mapping relationship between the target posture and the force condition is constructed;

[0013] The target pressure corresponding to the target posture is generated in combination with the mapping relationship.

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

[0015] According to the target posture, the support point position of the first target is analyzed, and the corresponding support matrix is generated, and the corresponding support domain is identified in combination with the support matrix;

[0016] In combination with the biological feature data and the target posture of the first target, the angles and heights of different parts of the first target are analyzed, and the posture vectors of multiple parts are constructed;

[0017] Through a preset pressure analysis model, the pressure condition of the first target in each support domain is calculated in combination with the posture vectors, 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 condition is constructed.

[0018] Specifically, the force condition of each part of the first target is analyzed according to the force data of the first target measured by the sensor in the target device, and a pressure thermal map is constructed, comprising:

[0019] According to the force data of the first target measured by the sensor in the target device, the force condition of each part of the first target is analyzed, and a real-time force matrix is constructed;

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

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

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

[0023] According to the corresponding pressure level from small to large, the corresponding pressure color is matched according to the preset level color matching mechanism, and the pressure heat map is constructed.

[0024] Specifically, the target pressure is matched in the pressure heat map, a first adjustment area is identified, the first adjustment area of the target device is adjusted, and the pressure heat map is updated according to the real-time stress data of the first target after the target device is adjusted, to obtain an updated pressure heat map, comprising:

[0025] The target pressure is matched in the pressure heat map, the difference value of each corresponding position element in the target pressure matrix and the real-time stress matrix is calculated, the element position whose difference value is greater than a preset difference threshold is identified, and a plurality of pressure abnormal positions are obtained;

[0026] By analyzing the pressure abnormal situation in the pressure abnormal position, a plurality of pressure abnormal positions are combined, and a first adjustment area is identified;

[0027] According to the target pressure matrix, the first adjustment area of the target device is adjusted;

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

[0029] Specifically, the plurality of pressure abnormal positions are combined by analyzing the pressure abnormal situation in the pressure abnormal position, and the first adjustment area is identified, comprising:

[0030] According to the difference value of the pressure corresponding to the pressure abnormal position, the pressure abnormal degree is analyzed, and a plurality of abnormal propagation paths are calculated by a preset abnormal pressure analysis model;

[0031] The plurality of pressure abnormal positions belonging to the same abnormal propagation path and having a position distance less than a preset distance threshold are combined to obtain a plurality of combined areas;

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

[0033] Specifically, the pressure gradient between adjacent grids in the updated pressure heat map is calculated according to the preset grid size, the second adjustment area whose pressure gradient is greater than a preset gradient threshold is identified, and the second adjustment area is adjusted by controlling the array movement in each grid to compensate for the pressure of the first target, comprising:

[0034] The updated pressure heatmap is divided into multiple grids according to the preset grid size, and the pressure gradient between adjacent grids is calculated based on the pressure value in each grid.

[0035] The grids with pressure gradients greater than a preset gradient threshold are selected as the second adjustment region;

[0036] Based on the pressure gradient, a pressure compensation value is calculated, and the second adjustment region is adjusted by controlling the array height of each grid in the second adjustment region of the target device.

[0037] Specifically, based on the pressure gradient, a pressure compensation value is calculated, and the second adjustment region is adjusted by controlling the array height of each grid in the second adjustment region of the target device, including:

[0038] Based on the pressure gradient, the pressure is compensated using a preset pressure compensation model, and the pressure compensation value and movement direction of the array in each grid are calculated.

[0039] By combining the pressure compensation value and the direction of movement, a corresponding array control matrix is ​​generated;

[0040] The array height of each grid is controlled by the array control matrix, thereby adjusting the second adjustment area.

[0041] A force feedback regulation system for implementing the aforementioned active compensation method includes:

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

[0043] The pressure heat map construction module analyzes the force situation of each part of the first target based on the force data of the first target measured in real time by the sensors in the target device, and constructs a pressure heat map.

[0044] The target pressure adjustment module matches the target pressure in the pressure heat map, identifies the first adjustment area, adjusts the first adjustment area of ​​the target device, and updates the pressure heat map according to the real-time force data of the first target after adjusting the target device to obtain an updated pressure heat map.

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

[0046] The beneficial effects of the present application: generate a target posture based on the first target surgery type and surgery information, obtain a target pressure by analyzing the mapping relationship between the target posture and the force condition, construct a pressure heat map according to the real-time collected force data, match the target pressure with the pressure heat map to identify a first adjustment area and adjust the target device, identify a second adjustment area with a pressure gradient anomaly in the updated pressure heat map, compensate the pressure by controlling the height of the array in the second adjustment area, generate a corresponding target posture according to the surgery requirements and individual characteristics of the patient, analyze the target pressure condition, and combine the matching condition between the target pressure and the real-time pressure heat map to adjust the target device in real time, ensure that the patient posture is consistent with the required posture during surgery, ensure the smooth progress of the surgery process, identify the area with excessive local pressure in the pressure heat map, and dynamically adjust the height of the array in the area, which can compensate for the local pressure, effectively reduce the pressure of the local tissue of the patient, reduce the occurrence of pressure sores, improve the safety and effectiveness of the surgery process, and improve the intraoperative comfort of the patient. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

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

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

[0052] In the embodiments of the present application, the words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or advantageous than other embodiments or design solutions. Rather, the words "exemplary" or "for example" are used to present related concepts in a specific manner.

[0053] Hereinafter, the terms "first", "second", and the like are generic reference words and are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0054] Reference Figure 1 As shown, the specific embodiment of the active compensation method of the present application includes:

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

[0056] S102, analyzing the force condition of each part of the first target according to the first target force data measured by the sensor in the target device, and constructing a pressure thermal map;

[0057] S103, matching the target pressure in the pressure thermal map, identifying the first adjustment area, adjusting the first adjustment area of the target device, and updating the pressure thermal map according to the real-time force data of the first target after adjusting the target device, to obtain an updated pressure thermal map;

[0058] S104, calculating the pressure gradient between adjacent grids in the updated pressure thermal map according to the preset grid size, identifying the second adjustment area with a pressure gradient greater than a preset gradient threshold, and adjusting the second adjustment area by controlling the array movement in each grid to compensate for the pressure of the first target.

[0059] During the operation, the patient needs to maintain a specific posture to cooperate with the operation, but long-time operation will cause excessive local pressure of the patient's body, causing problems such as pressure sores, affecting the comfort of the patient and postoperative recovery. The present embodiment adjusts the target device to make the patient's posture meet the operation requirements and compensates for the local pressure by real-time monitoring the force condition of each part of the patient, thereby reducing the risk of pressure sores and improving the comfort of the patient during the operation.

[0060] The embodiment collects pre-acquisition data of the patient, including patient height, weight and operation type and the like, generates a target posture required for the operation, and analyzes the force condition of each part of the patient according to the target posture to obtain a target pressure; the force data of the patient is collected in real time through the sensor on the target device to construct a pressure thermal map; the target pressure is matched with the pressure thermal map to identify a first adjustment area where the target pressure does not match the real-time force condition and to adjust and update the pressure thermal map in real time; the updated pressure thermal map is divided into grids, the pressure gradient between adjacent grids is calculated, a region with a large pressure gradient is identified as a second adjustment area, and the region is compensated by controlling the array movement in the region to ensure that the patient maintains the required posture for the operation while the pressure distribution of each part of the patient's body is uniform, effectively reducing the local pressure of the patient's body, improving the comfort of the patient during the operation, and promoting postoperative recovery.

[0061] In the embodiment, a target posture required for a first target is generated according to pre-acquisition data of the first target, 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 an intraoperative patient, the target posture required for the operation is determined according to the pre-acquisition data of the patient, including height, weight and operation type and the like, the mapping relationship between the force condition of each part of the patient's body and the posture under the target posture is determined by analyzing the different contact areas and force points of each part of the patient's body and the support device caused by different postures, and the target pressure that each part should bear is obtained; the target pressure is determined in advance to provide data support for pressure adjustment, and to ensure that the adjusted pressure meets the body bearing capacity of the patient and the operation requirements.

[0062] Specifically, the force condition of each part of the first target is analyzed according to the force data of the first target collected in real time by the sensor in the target device to construct a pressure thermal map; in the operation process, the target device includes but is not limited to an operation pad, the force data of each part of the patient's body is collected in real time by the sensor installed in the operation pad, the force data is analyzed to determine the force and distribution of each part of the patient, and a pressure thermal map reflecting the pressure distribution is constructed according to the force condition; by collecting the force data of the patient in real time and constructing the pressure thermal map, the force condition of each part of the patient can be quickly and intuitively analyzed, and the position with large pressure can be quickly located to provide data support for pressure matching and device adjustment.

[0063] According to the constructed pressure thermal diagram, the target pressure is matched in the pressure thermal diagram, the first adjustment region is identified, the first adjustment region of the target device is adjusted, and the pressure thermal diagram is updated according to the real-time stress data of the first target after the adjustment of the target device, to obtain an updated pressure thermal diagram; the calculated target pressure is compared and matched with the constructed pressure thermal diagram, the region where the pressure does not conform to the target pressure is found, the first adjustment region is obtained, the target device in the region is adjusted according to the target pressure, the stress data of the patient is collected in real time through the adjusted target device, and the pressure thermal diagram is updated in real time; the region in the pressure thermal diagram that does not match the target posture is quickly identified through the target pressure, the target device is adjusted accordingly, the posture of the patient is kept consistent with the target posture, the smooth progress of the operation process is ensured, the pressure thermal diagram of the patient is updated in real time, and the pressure of the patient is compensated according to the updated pressure thermal diagram.

[0064] The pressure thermal diagram of the patient is updated in real time during the adjustment process of the target device, the pressure gradient between adjacent grids is calculated in the updated pressure thermal diagram according to the preset grid size, the second adjustment region where the pressure gradient is greater than the 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; the updated pressure thermal diagram is divided into multiple grids according to the preset grid size, the pressure gradient between each grid and the adjacent grid is calculated, when the pressure gradient is greater than the preset gradient threshold, it indicates that the pressure change in the grid region is intense, and there is a situation of local excessive pressure, the corresponding grid region is identified as the second adjustment region, and the second adjustment region 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 the pressure concentration, reduce the risk of pressure sores, and improve the comfort of the patient during the operation.

[0065] The application generates a target posture based on the first target type of operation and operation information, obtains a target pressure by analyzing the mapping relationship between the target posture and the force condition, constructs a pressure heat map according to the real-time collected force data, matches the target pressure with the pressure heat map to identify a first adjustment area and adjust the target device, identifies a second adjustment area with a pressure gradient anomaly in the updated pressure heat map, compensates the pressure by controlling the height of the array in the second adjustment area, generates a corresponding target posture according to the operation requirement and the individual characteristics of the patient, analyzes the target pressure condition, combines the matching condition between the target pressure and the real-time pressure heat map, and adjusts the target device in real time, so as to ensure that the posture of the patient is consistent with the required posture in the operation, ensure the smooth progress of the operation process, identify the area with excessive local pressure in the pressure heat map, and dynamically adjust the height of the array in the area, so as to compensate the local pressure, effectively reduce the pressure of the local tissue of the patient, reduce the occurrence of pressure sores, improve the safety and effectiveness of the operation process, and improve the intraoperative comfort of the patient.

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

[0067] S201, according to the pre-acquired data of the first target, the operation type and operation information of the first target are analyzed, and a target posture required by the first target is generated;

[0068] S202, according to the target posture, the pressure condition of each support position of the first target is analyzed, and the mapping relationship between the target posture and the force condition is constructed;

[0069] S203, the target pressure corresponding to the target posture is generated in combination with the mapping relationship.

[0070] The embodiment collects the pre-acquired data of the patient, including the body characteristics and operation information, determines the target posture required in the operation process, determines the support position of the patient's body for the target posture, analyzes the force condition of the patient at the support position, constructs the mapping relationship between the target posture and the force condition, generates the target pressure of each support position according to the mapping relationship, analyzes the force condition of each part of the patient according to the target posture, and adjusts the target device in real time according to the target pressure, so as to provide data support for device adjustment.

[0071] In the embodiment, according to the pre-acquired data of the first target, the operation type and operation information of the first target are analyzed to generate a target posture required by the first target; the pre-acquired data of the first target includes body features and operation related information, the operation type is analyzed to determine a basic posture required by the patient under the operation type, the basic posture is adjusted in combination with the operation information, the specific angles and positions of each part of the body are determined according to the operation site and the incision position to obtain the target posture; the target posture determined in combination with the body data of the patient and the operation information not only meets the requirements of the operation, but also takes into account the physical condition of the patient, avoids the difficulty of operation or the injury of the patient due to improper posture, and ensures the smooth progress of the operation.

[0072] After the target posture is determined, different forces are generated at each support position of the patient's body, including the parts in contact with the operation pad, due to the body gravity, posture placement and other factors, the mapping relationship between the target posture and the force condition of each part is established by analyzing the pressure of each support position, reflecting the distribution rule of the force condition of the patient under a specific posture, the mapping relationship is established to reflect the rule of the body force of the patient under the target posture, providing a basis for the calculation of the target pressure, so that the determination of the target pressure is more reasonable.

[0073] Specifically, according to the mapping relationship constructed, the target pressure corresponding to the target posture is generated, the mapping relationship determines the corresponding relationship between the target posture and the force condition 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 is integrated to obtain the target pressure data; the target pressure generated according to the mapping relationship meets the requirements of the operation on the posture of the patient, and provides data support for pressure adjustment.

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

[0075] S301, according to the target posture, the support point position of the first target is analyzed, a corresponding support matrix is generated, and the corresponding support domain is identified in combination with the support matrix;

[0076] S302, in combination with the biological feature data of the first target and the target posture, the angles and heights of different parts of the first target are analyzed, and the posture vectors of multiple parts are constructed;

[0077] S303, through a preset pressure analysis model, the pressure condition of the first target in each support domain is calculated in combination with the posture vectors, the corresponding support point position is matched in the support matrix to obtain a target pressure matrix, and the mapping relationship between the target posture and the force condition is constructed.

[0078] In the 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 domains are identified in combination with the support matrix; after the target posture is determined, the contact points of the patient's body and the surgical pad are the support points, 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, the support matrix is generated, each row or column of the support matrix represents the coordinate information of a support point, and the support points belonging to the same body part are classified into a region according to the positions of the support points in the support matrix, and multiple support domains are identified; the position information of each support point can be obtained through the support matrix, the scattered support points are integrated into multiple support domains, and the pressure analysis is more targeted and integral.

[0079] Specifically, in combination with the biological feature data and the target posture of the first target, the angles and heights of different parts of the first target are analyzed, and posture vectors of multiple parts are constructed; the biological feature data of the first target includes height, limb length, joint position and the like, the basic sizes and proportions of each part of the patient's body are determined, the relative angles between different parts of the patient's body and the height difference between each part and the surgical pad are determined according to the target posture, the relative angles and height differences between each part are integrated, and the posture vector of the part is obtained; the abstract posture is converted into specific posture vector values through the construction of the posture vector, the stress condition of the patient can be analyzed and calculated based on the posture vector, and the accuracy of the target pressure analysis result of the patient is improved.

[0080] Specifically, the pressure condition of the first target in each support domain is calculated in combination with the posture vector through a preset pressure analysis model, the corresponding support point positions in the support matrix are matched, a target pressure matrix is obtained, and a mapping relationship between the target posture and the stress condition is constructed; the pressure analysis model includes but is not limited to a neural network model, 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, the model calculates the pressure size borne by each support domain according to the posture vector, the pressure condition of each support domain is distributed to each support point in the support domain based on the position information of each support point in the support matrix, the pressure value of each support point is obtained, the target pressure matrix is constructed, and the mapping relationship between the target posture and the stress condition is constructed in combination with the corresponding relationship between the angles, heights and the like of each part in the target posture and the target pressure matrix; the pressure condition of each support point can be calculated through the pressure analysis model, the mapping relationship between the accurate target posture and the stress condition can be constructed, and data support is provided for pressure adjustment.

[0081] Further, the stress condition of each part of the first target is analyzed according to the first target stress data measured by the sensors in the target device in real time, and a pressure heat map is constructed, including:

[0082] S401, analyze the force situation of each part of the first target according to the first target force data measured by the sensor in the target device in real time, and construct a real-time force matrix;

[0083] S402, construct a pressure heat map according to the real-time force matrix.

[0084] In this embodiment, the force data of the patient is collected in real time by the sensor on the target device, the force data is cleaned and analyzed, the force situation of each part of the first target is analyzed according to the position information of the sensor, and a real-time force matrix is constructed. According to the corresponding relationship between the pressure value and the color, the data in the real-time force matrix is converted into color, and a pressure heat map is constructed, and the pressure heat map is updated in real time according to the real-time force data. By constructing the pressure heat map through the real-time force matrix, the high-pressure area of the patient's body can be quickly identified, and adjustment measures can be taken in time to reduce the risk of pressure ulcers.

[0085] In this embodiment, the force situation of each part of the first target is analyzed according to the first target force data collected by the sensor in the target device in real time, and a real-time force matrix is constructed. The sensors on the surgical pad can sense the pressure of each part of the patient's body in real time, and the force data includes the pressure of each sensor position. The corresponding pressure value data is 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 corresponding position sensor. The constructed real-time force matrix can reflect the force situation of each part of the patient's body in real time, and provide data support for constructing a pressure heat map.

[0086] As shown in Figure 2 each element in the real-time force matrix represents the pressure value of the corresponding position, and different pressure values are represented by different colors. The deeper the color, the greater the pressure. Combined with the pressure position, a pressure heat map is constructed, the matrix value information is converted into heat map image information, and the pressure distribution of each part of the patient's body can be clearly displayed. Figure 2 In the Figure 2 , the thickness of the line represents the depth of the color, and the thicker the line, the deeper the color. The thinner the line, the lighter the color. By constructing the pressure heat map, the pressure distribution of each part of the patient's body can be quickly understood, and the area with too high pressure can be identified to provide data support for pressure compensation adjustment.

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

[0088] S501, according to the preset pressure level division mechanism, each force data in the real-time force matrix is mapped to the corresponding pressure level;

[0089] S502, according to the corresponding pressure level from small to large, match the corresponding pressure color according to the preset level color matching mechanism, and construct the pressure heat map.

[0090] In this embodiment, according to the preset pressure level division mechanism, each stress data in the real-time stress matrix is mapped to the corresponding pressure level; according to the safety range of different parts of the human body bearing pressure and the accuracy requirement of pressure monitoring in the operation, the corresponding pressure level division mechanism is formulated, a plurality of pressure levels are divided, and the pressure value range corresponding to each pressure level is determined; each stress data is compared with the level range in the pressure level division mechanism, and the pressure level corresponding to each stress data is determined; by determining the pressure level, the corresponding color can be quickly determined, so as to quickly locate the area with excessive local pressure.

[0091] Specifically, according to the corresponding pressure level from small to large, match the corresponding pressure color according to the preset level color matching mechanism, and construct the pressure heat map; according to the pressure level from small to large, select the corresponding color, the lower the pressure level, the closer the color to the cool tone, including blue, the higher the pressure level, the closer the color to the warm tone, including red, formulate the corresponding level color matching mechanism, according to each pressure level in the pressure level matrix, match each pressure level with the corresponding pressure color according to the level color matching mechanism, and construct the pressure heat map according to the pressure value of each position and the corresponding pressure color; by constructing the pressure heat map, the area with excessive pressure can be quickly identified, and the judgment efficiency of the pressure distribution is improved.

[0092] Further, the target pressure is matched in the pressure heat map, the first adjustment area is identified, the first adjustment area of the target device is adjusted, and the pressure heat map is updated according to the real-time stress data of the first target after the target device is adjusted, to obtain an updated pressure heat map, including:

[0093] S601, match the target pressure in the pressure heat map, calculate the difference value of each corresponding position element in the target pressure matrix and the real-time stress matrix, identify the element position with a difference value greater than a preset difference threshold, and obtain a plurality of pressure abnormal positions;

[0094] S602, by analyzing the pressure abnormal situation in the pressure abnormal position, the plurality of pressure abnormal positions are combined, and the first adjustment area is identified;

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

[0096] S604, after adjusting the target device, update the pressure heat map according to the real-time stress data of the first target, to obtain an updated pressure heat map.

[0097] The embodiment compares the target pressure matrix with the real-time stress matrix, calculates the difference value of the corresponding position, identifies the pressure abnormal position, dynamically combines the identified pressure abnormal position to obtain a first adjustment area, adjusts the target device in the area according to the target pressure, and updates the pressure thermal map according to the real-time stress data of the patient after adjusting the target device. Through the comparison between the target pressure and the real-time stress, the pressure abnormal position and area can be accurately identified, blind adjustment is avoided, the patient posture is consistent with the target posture, the pressure thermal map is updated in real time, the patient pressure is monitored and dynamically compensated in real time, the pressure distribution is continuously optimized, the risk of pressure ulcers is reduced, and the comfort and safety of the patient during the operation are improved.

[0098] In the embodiment, the target pressure is matched in the pressure thermal map, the difference value of each corresponding position element in the target pressure matrix and the real-time stress matrix is calculated, the element position with a difference value greater than a preset difference threshold is identified, and a plurality of pressure abnormal positions are obtained. The target pressure matrix is determined according to the target posture of the patient, and the real-time stress matrix reflects the actual pressure condition of the current patient. The pressure values of the corresponding positions in the target pressure matrix and the real-time stress matrix are compared, the difference value of each corresponding position element in the target pressure matrix and the real-time stress matrix is calculated one by one, the difference threshold is set according to the demand for posture accuracy during the operation process, the absolute value of each difference value is compared with the size of the preset difference threshold, and when the absolute value is greater than the difference threshold, the element position is marked as a pressure abnormal position to obtain a plurality of pressure abnormal positions. Through comparison and analysis, the specific position of the pressure abnormality can be accurately located, and clear position reference is provided for the adjustment of the target device.

[0099] Specifically, by analyzing the pressure abnormality in the pressure abnormal position, a plurality of pressure abnormal positions are combined to identify a first adjustment area. The identified pressure abnormal positions are scattered, and adjacent pressure abnormal positions usually belong to the same body part or are affected by the same support structure. According to the position distance and functional relationship, a plurality of pressure abnormal positions are dynamically combined to obtain a first adjustment area, the overall adjustment of the pressure abnormal position is avoided, the overall adjustment of the target device is improved, and the efficiency of the target device adjustment is improved.

[0100] After identifying the first adjustment area, the first adjustment area of the target device is adjusted according to the target pressure matrix. The pressure of the first adjustment area does not meet the target requirement, the target device components in the first adjustment area are determined according to the target device, the adjustment amount is determined by combining the pressure difference value 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 value, which can quickly move the pressure of the abnormal area to the target pressure, avoid large pressure fluctuations, and improve the pertinence and effectiveness of the target device adjustment.

[0101] Meanwhile, after the target device is adjusted, the actual stress condition of the patient changes accordingly, the stress data of the patient are collected in real time through the sensor, and the stress heat map is updated in real time according to the real-time stress data of the patient, so that the stress condition of the patient can be monitored in real time and the stress of the patient can be dynamically compensated through the real-time updated stress heat map.

[0102] Further, by analyzing the stress abnormality in the stress abnormal position, the multiple stress abnormal positions are combined to identify a first adjustment region, including:

[0103] S701, according to the difference of the stress corresponding to the stress abnormal position, the stress abnormality degree is analyzed, and multiple abnormal propagation paths are calculated through a preset abnormal stress analysis model;

[0104] S702, multiple stress abnormal positions belonging to the same abnormal propagation path and having a position distance less than a preset distance threshold are combined to obtain multiple combined regions;

[0105] S703, by analyzing the part structure correlation between the parts supported by the combined regions, the combined regions supporting the same part are functionally coupled to obtain a first adjustment region.

[0106] In this embodiment, according to the difference of the stress corresponding to the stress abnormal position, the stress abnormality degree is analyzed, and multiple abnormal propagation paths are calculated through a preset abnormal stress analysis model; the difference of the stress abnormal position reflects the stress abnormality degree, the greater the difference, the more serious the abnormality degree, according to the calculated stress difference, the stress abnormality degree is analyzed, and the diffusion condition of the stress is analyzed through a preset abnormal stress analysis model, the abnormal stress analysis model includes but is not limited to a convolutional neural network model, a large amount of stress difference data is used to train the convolutional neural network model to obtain a pre-trained convolutional neural network model, the coordinates and difference data of the stress abnormal position are input into the pre-trained convolutional neural network model, the model analyzes the path of the stress propagation to the surrounding according to the stress abnormality degree from the position with the highest abnormality degree, and multiple abnormal propagation paths are obtained; by analyzing the stress abnormality degree and the abnormal propagation path, the stress propagation law between the stress abnormal positions can be obtained to provide data support for region combination and improve the accuracy of the stress abnormal region identification result.

[0107] As Figure 3The multiple pressure abnormal position belonging to the same abnormal propagation path and the position distance being less than the preset distance threshold are combined to obtain multiple combined regions; the distance threshold is set according to the distribution density of the sensor, all pressure abnormal positions in each abnormal propagation path are extracted, the spatial straight line distance between any two pressure abnormal positions in the same propagation path is calculated, the pressure abnormal positions with the distance less than the preset distance threshold are combined, the combination of the pressure abnormal positions is performed for each abnormal propagation path, and multiple combined regions are obtained. Figure 3 There are four pressure abnormal positions, namely, the pressure abnormal position A, the pressure abnormal position B, the pressure abnormal position C and the pressure abnormal position D. It is analyzed that the pressure abnormal position A and the pressure abnormal position B belong to the same abnormal propagation path, and the spatial straight line distance between the pressure abnormal position A and the pressure abnormal position B is less than the preset distance threshold. The pressure abnormal position A and the pressure abnormal position B are combined. The distance between the pressure abnormal position C and the pressure abnormal position D and other pressure abnormal positions is greater than the preset distance threshold, and they do not belong to the same abnormal propagation path. The position combination is performed in combination with the abnormal propagation path and the spatial distance, so that the pressure abnormal positions in the combined region are associated in pressure conduction and close in spatial position, and the rationality of the combined region is improved.

[0108] Specifically, the position combination is performed according to the part structure correlation between the parts supported by the combined regions, the combined regions supporting the same part are functionally coupled to obtain a first adjustment region; different parts of a patient have specific structures and functions, the combined regions supporting the same part have correlation in structure and mutual influence in pressure distribution. By analyzing the body parts supported by each combined region, the combined regions supporting the same body part are identified, the combined regions supporting the same part are functionally coupled, and are merged into one region. When the device position of one combined region changes, the corresponding part of the patient moves, and other combined regions need to be adjusted accordingly. The functionally coupled regions are jointly controlled; the functionally coupled first adjustment region corresponds to different parts of the patient according to the part structure correlation, so that the adjustment of the device can be optimized based on the pressure of the whole part of the patient, and the overall and effectiveness of the pressure adjustment are improved.

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

[0110] S801, the updated pressure thermal map is divided into multiple grids according to a preset grid size, and the pressure gradient between adjacent grids is calculated according to the pressure value in each grid.

[0111] S802, screen out the grid with a pressure gradient greater than a preset gradient threshold as a second adjustment region;

[0112] S803, calculate a pressure compensation value according to the pressure gradient, and adjust the second adjustment region by controlling the array height of each grid in the second adjustment region.

[0113] In this embodiment, the updated pressure thermal map is divided into multiple grids according to a preset grid size, the pressure gradient between adjacent grids is calculated according to the corresponding pressure value in each grid, the grid with a pressure gradient greater than a preset gradient threshold is screened out as a second adjustment region, the pressure compensation value is calculated according to the pressure gradient, and the pressure is compensated by adjusting the array height of the grid in the second adjustment region. Through grid division and pressure gradient calculation, the local pressure concentration area can be quickly identified, the array height in the grid is controlled for pressure compensation, the adjustment precision is high, the response is fast, and the patient's comfort during the operation can be quickly improved.

[0114] In this embodiment, the updated pressure thermal map is divided into multiple grids according to a preset grid size, the pressure gradient between adjacent grids is calculated according to the corresponding pressure value in each grid; the grid size is set according to the accuracy requirement of intraoperative pressure monitoring, the updated pressure thermal map is divided into multiple grid regions according to the grid size, the pressure gradient value is obtained by calculating the difference between the pressure values in each grid region; the updated pressure thermal map is divided into multiple independently analyzable grid regions through grid division, the pressure change degree between adjacent grid regions is analyzed according to the pressure gradient between the grid regions, and data support is provided for pressure compensation.

[0115] Specifically, the grid with a pressure gradient greater than a preset gradient threshold is screened out as a second adjustment region; the gradient threshold is set according to clinical trials, 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 adjustment grids, the adjustment grids are combined and arranged, the overlapping or continuous grid regions are merged, and the second adjustment region is obtained; the gradient threshold can quickly and accurately screen out the area with strong pressure change, identify the area with excessive local pressure, and facilitate compensation and optimization of the local pressure.

[0116] As 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; the pressure gradient reflects the pressure difference between adjacent grids, and the pressure compensation value is calculated according to the pressure gradient, and the array structure movable in each grid of the target device is provided, including a plurality of mechanical supports with independent height adjustment, and the array height is adjusted according to the calculated pressure compensation value to change the support force on the patient in the grid; the pressure compensation value is calculated according to the pressure gradient, the pressure can be accurately adjusted, the array height is controlled for pressure adjustment, the pressure of adjacent grids can be quickly and effectively balanced, the pressure gradient is reduced, the local pressure is avoided to be too large, and the patient's comfort during operation is improved.

[0117] Further, 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, including:

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

[0119] S902, combining the pressure compensation value and the moving direction, a corresponding array control matrix is generated;

[0120] S903, the array height of each grid is controlled by the array control matrix, and the second adjustment area is adjusted.

[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 the moving 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 moving direction rule under different pressure states, the correlation includes calculating the pressure compensation value by weighting according to the pressure gradient value, for the array whose pressure is higher than that of the adjacent grid, the array moving direction is set to downward, and vice versa; the pressure gradient and the pressure value of each grid in the second adjustment area are input into the pressure compensation model, and the model calculates the pressure compensation value and the moving direction of the array in the corresponding grid; the pressure compensation value and the moving direction of each array can be quickly and accurately calculated by the pressure compensation model, and the pressure compensation efficiency and accuracy are improved.

[0122] After calculating the pressure compensation value of each array and the moving direction, the array control matrix is generated by combining the corresponding pressure compensation value and moving direction; the pressure compensation value and moving direction of each grid are converted into control instructions recognizable by the target device, and the control instructions are arranged according to the grid array position to obtain the array control matrix; the compensation information is converted into specific control instructions through the array control matrix, and the multiple grid arrays can be cooperatively controlled and adjusted, thereby improving the efficiency and accuracy of the pressure compensation and array control process.

[0123] Specifically, the array control matrix is used to control the array height of each grid 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 moving direction of each array position, converts them into specific control signals for the array height of each grid, and drives the array in each grid to adjust the height according to the control signals; in the adjustment process, the sensor is used to monitor the pressure in the grid in real time, and the adjustment process is ended when the set pressure compensation value is reached; the array control matrix can be used to independently and accurately control each grid array, has high adjustment accuracy, can quickly respond to the pressure compensation demand, effectively balances the pressure of the second adjustment area, and improves the uniformity of the pressure.

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

[0125] A target pressure analysis module generates a target posture required by a first target according to pre-acquired data of the first target, and obtains a target pressure by analyzing the mapping relationship between the target posture and the force condition of the first target.

[0126] A pressure heat map construction module analyzes the force condition of each part of the first target according to the real-time force data of the first target measured by the sensor in the target device, and constructs a pressure heat map.

[0127] A target pressure adjustment module matches the target pressure in the pressure heat map, identifies a first adjustment area, adjusts the first adjustment area of the target device, updates the pressure heat map according to the real-time force data of the first target after the adjustment of the target device, and obtains an updated pressure heat map.

[0128] A pressure compensation adjustment module calculates the pressure gradient between adjacent grids in the updated pressure heat map according to a preset grid size, identifies a second adjustment area with a pressure gradient 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.

[0129] In this embodiment, the target pressure analysis module generates a target posture meeting the operation requirements according to the pre-acquired data of the first target, including height, weight, operation type and the like; a mapping relationship between the posture and the force is established by analyzing the force conditions of each part in the target posture, and the target pressure of each part of the first target is calculated, so as to provide data reference for pressure feedback adjustment, so that the pressure control process meets the operation posture requirements and is consistent with the pressure bearing capacity of the patient, thereby reducing the risk of pressure sores. The pressure thermal map construction module uses the sensors on the target device to collect the force data of the first target in real time, analyzes and processes the force data, and constructs a pressure thermal map according to the pressure size and distribution of each part. The pressure thermal map can display the pressure distribution of each part of the patient's body in real time and intuitively, and the difference between the patient's posture and the target posture is determined in combination with the pressure distribution, so as to adjust the target device to make the patient's posture meet the operation requirements.

[0130] Specifically, the target pressure adjustment module matches the target pressure with the pressure thermal map, identifies the first adjustment region with pressure abnormality by calculating the difference between the target pressure matrix and the real-time force matrix; after adjusting the target device in the region, the pressure thermal map is updated according to the real-time force data, the region with pressure deviation from the target is corrected by identifying the pressure abnormal region, so that the pressure distribution is consistent with the target pressure corresponding to the target posture, meeting the operation process requirements, and the force condition of the patient is monitored in real time by updating the pressure thermal map, so as to compensate the pressure condition of the patient, reducing the discomfort of the patient during the operation. The pressure compensation adjustment module divides the updated pressure thermal map according to the preset grid size, calculates the pressure gradient of adjacent grids, and selects the second adjustment region with a pressure gradient greater than a gradient threshold; the pressure compensation is performed on the region with large pressure difference by controlling the array movement (raising or lowering) of each grid in the region, and the pressure is compensated by adjusting the array movement, which can reduce the sudden change of local pressure, improve the uniformity of pressure distribution, reduce the uneven force of tissues, improve the comfort of the patient during the operation, and reduce the incidence of postoperative pressure sores.

[0131] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solutions falling within the scope of the present application shall be considered as falling within the protection scope of the present application. It should be noted that some improvements and refinements made by ordinary skilled persons in the art without departing from the principles of the present application shall also be considered as falling within the protection scope of the present application.

Claims

1. An active compensation method, characterized by, The method comprises the following steps: According to the pre-acquired data of the first target, the target posture of the first target is generated, and the target pressure is obtained by analyzing the mapping relationship between the target posture and the force condition of the first target; According to the real-time measurement of the sensor in the target device, the force condition of each part of the first target is analyzed, and a pressure thermal map is constructed; The target pressure is matched in the pressure thermal map, the difference value of each corresponding position element in the target pressure matrix and the real-time force matrix is calculated, the element position where the difference value is greater than the preset difference threshold is identified, and a plurality of pressure abnormal positions are obtained; According to the difference value of the pressure corresponding to the pressure abnormal position, the pressure abnormal degree is analyzed, the spread of the pressure is analyzed through the preset abnormal pressure analysis model, the path of the pressure spreading to the surrounding from the position with the highest pressure abnormal degree is analyzed, and a plurality of abnormal propagation paths are calculated; The plurality of pressure abnormal positions belonging to the same abnormal propagation path and having a position distance less than a preset distance threshold are combined to obtain a plurality of combined regions; By analyzing the part structure correlation between the combined regions, the combined regions supporting the same part are functionally coupled to obtain a first adjustment region; According to the target pressure matrix, the first adjustment region of the target device is adjusted; After adjusting the target device, the pressure thermal map is updated according to the real-time force data of the first target to obtain an updated pressure thermal map; According to the preset grid size, the pressure gradient between adjacent grids in the updated pressure thermal map is calculated, the second adjustment region where the pressure gradient is greater than the 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.

2. The method of claim 1, wherein, According to the pre-acquired data of the first target, the target posture of the first target is generated, and the target pressure is obtained by analyzing the mapping relationship between the target posture and the force condition of the first target, comprising: According to the pre-acquired data of the first target, the action type and information of the first target are analyzed, and the target posture of the first target is generated; According to the target posture, the pressure condition of each support position of the first target is analyzed, and the mapping relationship between the target posture and the force condition is constructed; The target pressure corresponding to the target posture is generated in combination with the mapping relationship.

3. The method of claim 2, wherein, According to the target posture, the pressure condition of each support position of the first target is analyzed, and the mapping relationship between the target posture and the force condition is constructed, comprising: According to the target posture, the support point position of the first target is analyzed, and the corresponding support matrix is generated, and the corresponding support domain is identified in combination with the support matrix; In combination with the biological feature data and the target posture of the first target, the angles and heights of different parts of the first target are analyzed, and the posture vectors of a plurality of parts are constructed; Through the preset pressure analysis model, the pressure condition of the first target in each support domain is calculated in combination with the posture vectors, the corresponding support point position in the support matrix is matched, the target pressure matrix is obtained, and the mapping relationship between the target posture and the force condition is constructed.

4. The method of claim 1, wherein, According to the first target force data measured by the sensors in the target device in real time, the force condition of each part of the first target is analyzed, and a pressure heat map is constructed, including: According to the first target force data measured by the sensors in the target device in real time, the force condition of each part of the first target is analyzed, and a real-time force matrix is constructed; According to the real-time force matrix, a pressure heat map is constructed.

5. The method of claim 4, wherein, According to the real-time force matrix, a pressure heat 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 level from small to large, the corresponding pressure color is matched according to the preset level color matching mechanism, and a pressure heat map is constructed.

6. The method of claim 1, wherein, According to the preset grid size, the pressure gradient between adjacent grids in the updated pressure heat map is calculated, the second adjustment area where the pressure gradient is greater than the preset gradient threshold is identified, and the second adjustment area is adjusted by controlling the array movement in each grid, so as to compensate the pressure of the first target, including: According to the preset grid size, the pressure heat map is divided into multiple grids, and the pressure gradient between adjacent grids is calculated according to the pressure value in each grid; The grid where the pressure gradient is greater than the preset gradient threshold is screened out as the second adjustment area; 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.

7. The method of claim 6, wherein, 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, including: According to the pressure gradient, the pressure is compensated by the preset pressure compensation model, the pressure compensation value and the moving direction of the array in each grid are calculated; Combined with the pressure compensation value and the moving direction, a corresponding array control matrix is generated; The array height of each grid is controlled by the array control matrix to adjust the second adjustment area.

8. A force feedback adjustment system, characterized by, A method for actively compensating as claimed in any one of claims 1-7, comprising: A target pressure analysis module generates a target posture of the first target according to pre-acquired data of the first target, and obtains a target pressure by analyzing the mapping relationship between the target posture and the force condition of the first target; A pressure heat map construction module analyzes the force condition of each part of the first target according to the first target force data measured by the sensors in the target device in real time, and constructs a pressure heat map; A target pressure adjustment module matches the target pressure in the pressure heat map, identifies a first adjustment area, adjusts the first adjustment area of the target device, and updates the pressure heat map according to the real-time force data of the first target after adjusting the target device, to obtain an updated pressure heat map; The pressure compensation adjustment module calculates a pressure gradient between adjacent grids in the updated pressure thermal map according to a preset grid size, identifies a second adjustment region in which the pressure gradient is greater than a preset gradient threshold, and adjusts the second adjustment region by controlling array movement in each grid to compensate for the pressure of the first target.

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