Bladder pressure control method, system and transurethral surgical operating apparatus

Abstract

The application is suitable for the technical field of urology, and particularly relates to a bladder pressure control method, a bladder pressure control system and a transurethral surgical operation device. The bladder pressure control method comprises: acquiring bladder environment information; wherein the bladder environment information comprises a bladder environment model and blood vessel distribution information; monitoring bladder pressure in real time; wherein the bladder pressure reflects the pressure in the bladder during the operation; obtaining a perfusion speed and an exhaust speed based on the bladder pressure; when a pre-operation instruction is received, obtaining a perfusion adjustment speed and an exhaust adjustment speed based on the pre-operation instruction and the bladder environment information; wherein the pre-operation instruction is an instruction issued by a doctor for controlling a cutting instrument to cut a tumor or a base wound. The bladder pressure control method, the bladder pressure control system and the transurethral surgical operation device provided in the application embodiment can improve the problem that the increase of the pressure in the bladder adversely affects the safety of the patient and the postoperative recovery.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of urology, and particularly relates to a bladder pressure control method and system and a transurethral surgical operation device. BACKGROUND

[0002] Transurethral bladder tumor resection surgery is the mainstream minimally invasive surgical method for treating bladder tumors, and its core is to insert a special instrument through the natural cavity of the urethra without abdominal incision to complete tumor resection. However, since the bladder is a hollow organ and is in a contracted state in the natural state, the bladder wall needs to be expanded by perfusion liquid to expose the tumor and perform operation, and at the same time, the blood is flushed to keep the field clear.

[0003] However, during the tumor resection surgery, blood clots or tumor tissue debris may block the waste liquid output channel, causing the perfusion liquid in the bladder to be unable to be normally discharged or the discharge speed to be less than the perfusion speed, thereby causing the pressure in the bladder to rise, or because the blood loss is large when the tumor is resected, the appropriate discharge speed and perfusion speed calculated according to the bladder pressure need a certain analysis time, and the actual liquid volume in the bladder increases during the analysis time and further squeezes the bladder cavity, causing the pressure in the bladder to rise.

[0004] The rise of the pressure inside the bladder may cause problems such as bladder wall damage, hydronephrosis, and infection, affecting the safety of the patient and postoperative recovery. SUMMARY

[0005] The application provides a bladder pressure control method, system and transurethral surgical operation device, which can improve the problem that the rise of the pressure in the bladder adversely affects the safety of the patient and postoperative recovery.

[0006] In a first aspect, the application provides a bladder pressure control method, comprising:

[0007] obtaining bladder environment information; wherein the bladder environment information comprises a bladder environment model and blood vessel distribution information, the bladder environment model reflects the relative position of the tumor and the bladder and the surface image, and the blood vessel distribution information comprises a plurality of blood vessel contours and corresponding blood vessel types and blood vessel diameters marked on the tumor and near the tumor of the bladder environment model;

[0008] monitoring the bladder pressure in real time; wherein the bladder pressure reflects the pressure in the bladder during the surgery;

[0009] obtaining a perfusion speed and a discharge speed based on the bladder pressure; wherein the perfusion speed is used to control the speed of injecting perfusion liquid into the bladder, and the discharge speed is used to control the speed of discharging the perfusion liquid in the bladder;

[0010] Upon receiving the pre-operation instruction, a perfusion adjustment speed and an excretion adjustment speed are obtained based on the pre-operation instruction and the bladder environment information; wherein the pre-operation instruction is an instruction issued by a doctor for controlling a cutting instrument to cut a tumor or a base wound surface, the perfusion adjustment speed is used to prompt the doctor to adjust the perfusion speed to the perfusion adjustment speed, and the excretion adjustment speed is used to prompt the doctor to adjust the excretion speed to the excretion adjustment speed.

[0011] The technical solutions described above in the embodiments of the present application have at least the following technical effects:

[0012] The bladder pressure control method provided in the embodiments of the present application first acquires bladder environment information including a bladder environment model and blood vessel distribution information, and grasps the blood vessel risk level of a surgical area in advance, thereby providing a visual spatial reference for surgery. Then, the bladder pressure is monitored in real time, and small changes in the pressure are captured, thereby providing a basis for subsequent steps. Next, a perfusion speed and an excretion speed are obtained based on the bladder pressure, the perfusion speed and the excretion speed are adjusted through the bladder pressure, the precise balance of the liquid amount in the bladder is achieved, and the possibility of pressure rising due to imbalance between injection and excretion is reduced. Finally, upon receiving a pre-operation instruction, a perfusion adjustment speed and an excretion adjustment speed are obtained based on the pre-operation instruction and the bladder environment information, the bleeding speed of a wound is predicted through the surgical operation instruction, and the perfusion speed and the excretion speed are adjusted based on the bleeding speed, thereby improving the problem that, when a tumor or a base wound surface is cut, sudden bleeding occurs, the liquid amount in the bladder suddenly increases due to the mixing of blood, and there is a time difference in the traditional pressure control, that is, the pressure data changes and then the adjustment is made, thereby causing the pressure to rise for a short time.

[0013] In a second aspect, the embodiments of the present application provide a bladder pressure control system, which comprises:

[0014] An environment acquisition unit is configured to acquire bladder environment information; wherein the bladder environment information includes a bladder environment model and blood vessel distribution information, the bladder environment model reflects the relative position and surface image of a tumor and a bladder, and the blood vessel distribution information includes blood vessel contours and corresponding blood vessel types and blood vessel diameters marked on the tumor and near the tumor in the bladder environment model;

[0015] A pressure monitoring unit is configured to monitor the bladder pressure in real time; wherein the bladder pressure reflects the pressure in the bladder during a surgical process.

[0016] An analysis unit is configured to obtain a perfusion speed and an excretion speed based on the bladder pressure; wherein the perfusion speed is used to control the speed of injecting perfusion liquid into the bladder, and the excretion speed is used to control the speed of excreting the perfusion liquid in the bladder.

[0017] The prediction unit is configured to, when receiving a pre-operation instruction, obtain a perfusion adjustment speed and an excretion adjustment speed based on the pre-operation instruction and the bladder environment information; the pre-operation instruction is an instruction issued by a doctor for controlling a cutting instrument to cut a tumor or a base wound, the perfusion adjustment speed is used to prompt the doctor to adjust the perfusion speed to the perfusion adjustment speed, and the excretion adjustment speed is used to prompt the doctor to adjust the excretion speed to the excretion adjustment speed.

[0018] In a third aspect, the embodiments of the present application provide a transurethral surgical operation device, which comprises:

[0019] The through portion has a through channel, and one end of the through portion close to the bladder is a surgical end; the through portion is used to move the surgical end into the bladder of a patient through the urethra;

[0020] The pressure regulating portion is located in the through channel and movably arranged on the through portion, has a perfusion channel and an excretion channel, and is used to deliver perfusion liquid into the bladder through the perfusion channel, to excrete the perfusion liquid in the bladder through the excretion channel, and to monitor the pressure in the bladder in real time;

[0021] The surgical operation portion is located in the through channel and movably arranged on the through portion, one end of the surgical operation portion close to the surgical end is used to install a surgical instrument for cutting tissues, and the surgical operation portion is used to collect images in the bladder and emit and receive ultrasonic waves; and

[0022] The control portion is in communication connection with the pressure regulating portion and the surgical operation portion respectively, and comprises a memory, a processor, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, the method of the first aspect is implemented.

[0023] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program; when the computer program is executed by a processor, the method of any one of the first aspect is implemented.

[0024] In a fifth aspect, the embodiments of the present application provide a computer program product, which, when executed on a transurethral surgical operation device, enables the transurethral surgical operation device to execute the bladder pressure control method of any one of the first aspect.

[0025] It can be understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor.

[0027] Figure 1 is a flowchart of the bladder pressure control method provided by an embodiment of the present application;

[0028] Figure 2 is a flowchart of step S200 in the bladder pressure control method provided by an embodiment of the present application;

[0029] Figure 3 is a flowchart of step S400 in the bladder pressure control method provided by an embodiment of the present application;

[0030] Figure 4 is a structural schematic diagram of the bladder pressure control system provided by an embodiment of the present application;

[0031] Figure 5 is a structural schematic diagram of the transurethral operation device provided by an embodiment of the present application;

[0032] In the drawings, various reference signs represent:

[0033] 100, transurethral operation device; 10, holding part; 20, through part; 21, operation end; 30, pressure control part; 40, operation part; 50, tissue clamping part; 60, control part. DETAILED DESCRIPTION

[0034] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0035] It should be understood that the term "comprising" as used in the specification and in the claims indicates the presence of the recited features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0036] It should also be understood that the term "and / or" as used in the specification and in the claims indicates any combination of one or more of the associated listed items and all possible combinations of the items.

[0037] As used in the description and the appended claims of the application, the term "if' can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted to mean "once it is determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]" depending on the context.

[0038] In addition, the description in the specification of the application and the appended claims, the terms "first", "second", "third", etc. are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0039] In the description of the application, the reference "one embodiment" or "some embodiments" means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in additional some embodiments" and the like appearing in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized.

[0040] Transurethral resection of bladder tumor (TURBT) is the mainstream minimally invasive surgical method for treating bladder tumors. The core of the operation is to insert special instruments through the natural cavity of the urethra, without abdominal incision, to complete the tumor resection. However, since the bladder is a hollow organ and is in a contracted state in the natural state, it is necessary to expand the bladder wall by perfusing liquid to expose the tumor and perform the operation, and to flush out the blood to keep the field clear.

[0041] However, during the tumor resection operation, blood clots or tumor tissue debris may block the waste liquid output channel, causing the perfusion liquid in the bladder to not be able to be normally discharged or the discharge speed to be less than the perfusion speed, thereby causing the pressure in the bladder to rise, or because the operation damages the blood vessels of the bladder mucosa when resecting the tumor, causing the bleeding speed to be relatively large, and calculating the appropriate discharge speed and perfusion speed according to the pressure in the bladder requires a certain analysis time, and the amount of liquid actually occupying the space in the bladder increases during the analysis time and further squeezes the bladder cavity, causing the pressure in the bladder to rise.

[0042] The increase in the pressure inside the bladder can cause problems such as bladder wall damage, hydronephrosis, infection, affecting the safety of the patient and postoperative recovery.

[0043] To solve the above problems, the application provides a bladder pressure control method, a system and a transurethral surgical operation device. In the method, the bladder environment information including the bladder environment model and the blood vessel distribution information is acquired first, so as to master the blood vessel risk level of the operation area in advance and provide a visual spatial reference for the operation. Then, the bladder pressure is monitored in real time, and the slight change of the pressure is captured, so as to provide a basis for the subsequent steps. Then, the irrigation speed and the discharge speed are obtained based on the bladder pressure, the irrigation speed and the discharge speed are adjusted through the bladder pressure, the accurate balance of the liquid amount in the bladder is realized, and the possibility of pressure rise caused by imbalance of injection and discharge is reduced. Finally, when the pre-operation instruction is received, the irrigation adjustment speed and the discharge adjustment speed are obtained based on the pre-operation instruction and the bladder environment information, the bleeding speed of the wound is predicted through the surgical operation instruction, and then the irrigation speed and the discharge speed are adjusted based on the bleeding speed, so as to improve the problem that when the tumor or the base wound is cut, the blood suddenly bleeds out, the liquid amount in the bladder suddenly increases due to the blood mixing, and the traditional pressure control needs to wait for the change of the pressure data before adjusting, which causes the pressure to rise for a short time.

[0044] The bladder pressure control method provided by the application can be applied to the transurethral surgical operation device, and at this time, the transurethral surgical operation device is the execution subject of the bladder pressure control method provided by the application, and the specific type of the transurethral surgical operation device is not limited in the application.

[0045] For example, please refer to Figure 5 The transurethral surgical operation device 100 can include:

[0046] The holding part 10 is used for the doctor to hold.

[0047] The through part 20 is arranged on the holding part 10 and has a through channel. The end of the through part 20 away from the holding part 10 is the operation end 21. The through part 20 is used to move the operation end 21 into the bladder of the patient through the urethra.

[0048] The pressure control part 30 is located in the through channel and movably arranged on the through part 20. The pressure control part 30 has an irrigation channel and a discharge channel. The irrigation channel is used to deliver the irrigation liquid into the bladder, and the discharge channel is used to discharge the irrigation liquid in the bladder. The pressure control part 30 includes a pressure acquisition part. The pressure acquisition part is used to monitor the pressure in the bladder.

[0049] The surgical operation part 40 is located in the through channel and movably arranged on the through part 20. The end of the surgical operation part 40 close to the operation end 21 is used to install the surgical instrument for cutting tissues. The surgical operation part 40 includes an image acquisition part and an ultrasonic probe. The image acquisition part is used to acquire the image in the bladder, and the ultrasonic probe is used to emit ultrasonic waves and receive reflected sound waves.

[0050] The tissue clamping part 50 is movably arranged on the through part 20 in the through channel, has a tissue clamping channel, and is provided with a clamping part at one end close to the operation end 21 to clamp tissue and move the clamped tissue to outside the bladder through the tissue clamping channel.

[0051] The control part 60 is arranged on the holding part 10 and is in communication connection with the pressure regulating part 30, the operation part 40 and the tissue clamping part 50 respectively, and is used to control the perfusion speed, the discharge speed and the pressure data monitored by the pressure collecting part of the pressure regulating part 30 respectively, control the movement and cutting of the tissue of the operation part 40, receive the image data transmitted by the image collecting part and receive the ultrasonic data transmitted by the ultrasonic probe, and control the movement and clamping of the tissue of the tissue clamping part 50.

[0052] It can be understood that the holding part 10 is the core carrier for the doctor to hold and operate, and provides a comfortable holding feeling. The holding part 10 can also integrate the operation buttons of the control part 60 to realize the holding and operating, reduce the hand fatigue during the operation, and ensure the operation stability. For example, the material of the holding part 10 can be ABS, soft rubber, etc., but is not limited thereto.

[0053] The through part 20 is a flexible adjustable mechanical arm connecting the holding part 10 and the operation end 21, providing a through channel to enter the bladder through the urethra, and ensuring the stability of the operation end 21 in the bladder. For example, the end of the through part 20 away from the holding part 10 (operation end 21) can adopt a segmented nickel-titanium alloy skeleton (bending radius ≤ 5 mm), which is covered with a medical grade polyurethane sheath, and is driven by a handle knob or a motor to realize 360° active bending, adapt to the operation of different positions in the bladder, and the surface of the through part 20 can be provided with scale marks, etc., but is not limited thereto.

[0054] The pressure regulating part 30 transports perfusion liquid (sterile normal saline, etc.) through the perfusion channel, drains waste liquid (containing tissue debris, blood, etc.) through the discharge channel, and simultaneously monitors the pressure in the bladder in real time. For example, the pressure regulating part 30 can include a flexible perfusion pipe (having a perfusion channel) and a flexible discharge pipe (having a discharge channel), which are located in the through channel and arranged on the through part 20. The end of the flexible perfusion pipe away from the operation end 21 is connected with an external normal saline bag (the perfusion speed is controlled by gravity or a liquid infusion pump in communication connection with the control part 60), and the end of the flexible discharge pipe away from the operation end 21 is connected with a discharge driving part (negative pressure drainage bottle, peristaltic pump, etc.) in communication connection with the control part 60 (the discharge speed is controlled by the control part 60), and a pressure collecting part (floating free probe, micro pressure sensor) can be arranged on the end of the flexible perfusion pipe or the flexible discharge pipe close to the operation end 21, but is not limited thereto.

[0055] The surgical operation part 40 completes the cutting of the tissue in the bladder through the installed surgical instruments (such as an electric cutting ring, scissors, a laser optical fiber, etc.), and simultaneously acquires the image in the bladder in real time through the image acquisition part. For example, the image acquisition part can be a wide-angle endoscope, a miniature high-definition camera, a lens covered with an anti-fog coating, etc., and the surgical instrument can be in communication connection with the control part 60 to execute the control instructions issued by the control part 60, but is not limited thereto. The ultrasonic probe can be a rotating transurethral bladder ultrasonic probe, a linear array transurethral bladder ultrasonic probe, etc., but is not limited thereto.

[0056] The tissue clamping part 50 clamps the cut tissue (such as a tumor specimen, a stone fragment) through the clamping part, and removes the tissue out of the bladder through the tissue clamping channel, so as to avoid the infection or recurrence caused by the residual tissue, and simultaneously reduce the interference of the tissue debris on the visual field during the operation. For example, the clamping part can be a double-claw structure made of medical-grade titanium alloy (the claw tip diameter is 0.5 Fr, and the opening angle is ±15°), and an anti-slip tooth is arranged on the inner side, etc., and the movement of the clamping part can be driven by a miniature cylinder or a miniature motor, but is not limited thereto.

[0057] The control part 60 receives the data of the pressure acquisition part and the image acquisition part, controls the perfusion speed and the discharge speed of the pressure regulation part 30, the movement and cutting of the surgical operation part 40, and the clamping action of the tissue clamping part 50 according to the operation instructions (or a preset program) of the doctor. For example, the control part 60 can include at least one processor, at least one memory, and a computer program stored in the at least one memory and executable on the at least one processor, wherein the processor executes the computer program to enable the transurethral surgical operation device 100 to implement the steps in any of the bladder control pressure method embodiments described above, or to enable the transurethral surgical operation device 100 to implement the functions of the units in each of the system embodiments described above.

[0058] For example, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the control part.

[0059] The control part 60 can be a miniature computing device with a display screen, a control console with a display function, a palm computer, etc. The control part 60 can include, but is not limited to, a processor, a memory. Those skilled in the art can understand that, Figure 5The transurethral surgical operation device 100 is only an example and does not limit the transurethral surgical operation device 100, which can include more or fewer components than shown, or have components combined together, or have different components, for example, can also include an input / output device, a network access device, a bus, etc.

[0060] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0061] The memory can be an internal storage unit of the control unit in some embodiments, for example, a hard disk or a memory of the control unit. The memory can also be an external storage device of the control unit in other embodiments, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the control unit. Further, the memory can include both the internal storage unit and the external storage device of the control unit. The memory is used to store an operating system, an application program, a boot loader, data, and other programs, for example, program codes of the computer program, etc. The memory can also be used to temporarily store data that has been output or will be output.

[0062] In order to better understand the bladder pressure control method provided by the embodiments of the present application, the specific implementation process of the bladder pressure control method provided by the embodiments of the present application is exemplarily introduced as follows.

[0063] Figure 1 A schematic flowchart of the bladder pressure control method provided by the embodiments of the present application is shown, and the bladder pressure control method comprises:

[0064] S100, acquiring bladder environment information; wherein the bladder environment information includes a bladder environment model and blood vessel distribution information, the bladder environment model reflects the relative position of the tumor and the bladder and the surface image, and the blood vessel distribution information includes a plurality of blood vessel contours marked on the tumor and near the tumor on the bladder environment model and corresponding blood vessel types and blood vessel diameters. S200, acquiring the blood vessel distribution information of the tumor; wherein the blood vessel distribution information includes a plurality of blood vessel contours marked on the tumor and near the tumor on the bladder environment model and corresponding blood vessel types and blood vessel diameters; and the blood vessel distribution information is acquired by using a blood vessel segmentation algorithm.

[0065] It can be understood that the bladder environment model can be obtained by modeling the ultrasound data transmitted by the ultrasound scanning device, or by receiving the model data transmitted by the doctor, but is not limited thereto. The blood vessel distribution information can be obtained by one or more of enhanced CT, enhanced MRI, and ultrasound contrast, but is not limited thereto. The surface image can be obtained by receiving the image data transmitted by the image acquisition device, or by one or more of MRI, CT, and OCT, but is not limited thereto. The bladder environment information can be obtained to grasp the blood vessel risk level of the operation area in advance, and provide a visual spatial reference for the operation.

[0066] S200, monitoring the bladder pressure in real time; wherein the bladder pressure reflects the pressure in the bladder during the operation.

[0067] It can be understood that the bladder pressure can be monitored by receiving the pressure data transmitted by the pressure acquisition device located in the bladder in real time, or by receiving the data transmitted by the doctor, but is not limited thereto. The real-time monitoring of the bladder pressure can capture the small changes in the pressure, and provide a basis for adjusting the perfusion speed and the discharge speed.

[0068] S300, obtaining the perfusion speed and the discharge speed based on the bladder pressure; wherein the perfusion speed is used to control the speed of injecting the perfusion liquid into the bladder, and the discharge speed is used to control the speed of discharging the perfusion liquid in the bladder.

[0069] It can be understood that the way to obtain the perfusion speed and the discharge speed based on the bladder pressure can be to subtract the preset pressure from the bladder pressure to obtain a pressure difference, and then subtract the product of the injection-discharge ratio coefficient (determined by the doctor through clinical tests combined with the patient's condition, reflecting the corresponding relationship between the change of the pressure difference and the perfusion speed) and the pressure difference from the basic speed (the perfusion or discharge speed preset by the doctor at the beginning of the operation) to obtain the difference confirmed as the perfusion speed, and add the product of the injection-discharge ratio coefficient and the pressure difference to the basic speed to obtain the sum confirmed as the discharge speed, but not limited to this. Obtaining the perfusion speed and the discharge speed based on the bladder pressure can improve the problem that in traditional surgery, the perfusion and discharge speeds are mostly preset fixed values (such as perfusion 50 ml / min, discharge 45 ml / min, if the drainage channel is blocked by blood clots (the discharge speed decreases to 20 ml / min), the fixed perfusion speed will cause the liquid volume in the bladder to continuously increase, and the pressure to rapidly rise; if the bladder wall contracts due to operation stimulation (volume decreases), the fixed perfusion speed may cause the pressure to break through the safety threshold), which cannot respond to the dynamic changes in the operation, and ensure that the bladder pressure always remains within a safe pressure range that does not affect the surgical field. After obtaining the perfusion speed and the discharge speed based on the bladder pressure, the perfusion speed and the discharge speed can be directly controlled according to the perfusion speed and the discharge speed, or the perfusion speed and the discharge speed can be sent to the doctor for speed control, but not limited to this.

[0070] In one possible implementation, please refer to Figure 2 , S300, obtaining the perfusion speed and the discharge speed based on the bladder pressure, comprising:

[0071] S310, subtracting the preset pressure from the bladder pressure to obtain a pressure difference.

[0072] It can be understood that the preset pressure can be 15cm , 25cm , or set by the doctor according to the patient's physical condition before the operation, but not limited to this. Subtracting the preset pressure from the bladder pressure to obtain the pressure difference directly reflects the deviation of the pressure, if the pressure difference is positive, it means that the bladder pressure has exceeded the safe baseline, and there may be a risk of injection-discharge imbalance (such as too much perfusion liquid injection, blockage of the discharge channel leading to liquid accumulation); if the pressure difference is negative, it means that the bladder pressure does not meet the operation adaptation requirements, which may cause the bladder wall to collapse, the tumor to be exposed unclear, etc.

[0073] For example, assuming that the preset pressure is 20cm , the bladder pressure is 23cm , then the pressure difference = 20-23 =-3cm .

[0074] S320, confirming the difference between the basic speed and the product of the injection-discharge ratio coefficient and the pressure difference value as the perfusion analysis speed, if the perfusion analysis speed is greater than the minimum perfusion speed and less than the maximum perfusion speed, confirming the perfusion analysis speed as the perfusion speed, if the perfusion analysis speed is less than the minimum perfusion speed, confirming the minimum perfusion speed as the perfusion speed, if the perfusion analysis speed is greater than the maximum perfusion speed, confirming the maximum perfusion speed as the perfusion speed.

[0075] It can be understood that the basic speed is the perfusion or discharge speed preset by the doctor at the beginning of the operation. The injection-discharge ratio coefficient is determined by the doctor through clinical tests combined with the patient's condition, reflecting the corresponding relationship between the change of the pressure difference value and the perfusion speed. The maximum perfusion speed reflects the maximum perfusion speed that can be achieved by the transurethral operation device, and the minimum perfusion speed reflects the minimum perfusion speed that will not cause the bladder wall to collapse, the tumor to be blocked, and the loss of the operation field. If the perfusion analysis speed is less than the minimum perfusion speed, the liquid supplement speed in the bladder is much lower than the discharge speed, which may cause the bladder wall to collapse rapidly, the tumor to be blocked, the loss of the operation field, and even the need to pause the operation and refill the bladder. If the perfusion analysis speed is greater than the maximum perfusion speed, even if the discharge speed is normal, the bladder pressure may suddenly rise due to the large amount of liquid injected in a short time, breaking the bladder tolerance limit. When the pressure difference value is positive (bladder pressure > preset pressure, pressure needs to be reduced): the product of the injection-discharge ratio coefficient and the pressure difference value is positive; when the pressure difference value is negative (bladder pressure < preset pressure, pressure needs to be increased): the product of the injection-discharge ratio coefficient and the pressure difference value is negative.

[0076] For example, assuming that the basic speed is 50 ml / min, the injection-discharge ratio coefficient is 2, and the pressure difference value is 5 cm , then the perfusion analysis speed = 50 - (2 * 5) = 40 ml / min.

[0077] S330, confirming the difference between the basic speed and the product of the injection-discharge ratio coefficient and the pressure difference value as the perfusion analysis speed, if the perfusion analysis speed is greater than the minimum perfusion speed and less than the maximum perfusion speed, confirming the perfusion analysis speed as the perfusion speed, if the perfusion analysis speed is less than the minimum perfusion speed, confirming the minimum perfusion speed as the perfusion speed, if the perfusion analysis speed is greater than the maximum perfusion speed, confirming the maximum perfusion speed as the perfusion speed.

[0078] It can be understood that when the pressure difference value is positive (bladder pressure > preset pressure, pressure needs to be reduced): the product of the injection and drainage ratio coefficient and the pressure difference value is positive; when the pressure difference value is negative (bladder pressure < preset pressure, pressure needs to be increased): the product of the injection and drainage ratio coefficient and the pressure difference value is negative. If the drainage analysis speed is less than the minimum drainage speed, it may cause bladder fluid accumulation due to slow liquid drainage, continuous pressure rise (especially in the case of bleeding, blood mixed with perfusion fluid will further increase the liquid volume), and increased risk of bladder wall damage. If the drainage analysis speed is greater than the maximum drainage speed, it may cause rapid loss of fluid in the bladder, sudden pressure drop, bladder wall collapse, unclear tumor exposure, and even the need to pause the operation to refill and extend the operation time.

[0079] For example, assuming the base speed is 50 ml / min, the injection and drainage ratio coefficient is 2, and the pressure difference value is -5 cm , then the drainage analysis speed = 50 - (-2 * 5) = 60 ml / min.

[0080] S400, upon receiving the pre-operation instruction, obtaining the perfusion adjustment speed and the drainage adjustment speed based on the pre-operation instruction and the bladder environment information; wherein the pre-operation instruction is an instruction issued by the doctor for controlling the cutting instrument to cut the tumor or the base wound, the perfusion adjustment speed is used to prompt the doctor to adjust the perfusion speed to the perfusion adjustment speed, and the drainage adjustment speed is used to prompt the doctor to adjust the drainage speed to the drainage adjustment speed. Obtain the perfusion adjustment speed and the drainage adjustment speed based on the pre-operation instruction and the bladder environment information

[0081] It can be understood that the pre-operation instruction is an instruction for the doctor to instruct the cutting instrument to cut the tissue. Upon receiving the pre-operation instruction, the pre-operation instruction can be executed after a preset thinking time (1s, 2s, etc., but not limited to rough), or the pre-operation instruction can be executed after receiving a confirmation instruction from the doctor, etc., to leave sufficient time for the subsequent steps and the doctor to think about the rationality. After obtaining the perfusion adjustment speed and the discharge adjustment speed, the perfusion speed and the discharge speed can be directly adjusted according to the perfusion adjustment speed and the discharge adjustment speed, or the perfusion adjustment speed and the discharge adjustment speed can be sent to the doctor for adjustment, etc., but not limited to this. When the perfusion speed and the discharge speed are adjusted to the perfusion adjustment speed and the discharge adjustment speed, the operation instruction can be executed at the same time, step S300 is suspended, and the operation of step S300 is resumed after the execution of the operation instruction is completed, so as to avoid the conflict of speed adjustment. The way of obtaining the perfusion adjustment speed and the discharge adjustment speed based on the pre-operation instruction and the bladder environment information can be to first locate the position of the cutting instrument, then determine the cutting range (wound range) according to the position of the cutting instrument, then estimate the bleeding speed according to the cutting range, and then obtain the perfusion adjustment speed and the discharge adjustment speed according to the estimated bleeding speed, or the pre-operation instruction and the bladder environment information can be sent to the doctor, and the data transmitted by the doctor is received, etc., but not limited to this. Obtaining the perfusion adjustment speed and the discharge adjustment speed based on the pre-operation instruction and the bladder environment information can improve the problem that when cutting a tumor or a basal wound, bleeding suddenly occurs, the amount of liquid in the bladder suddenly increases due to the mixing of blood, but the traditional pressure control needs to wait for the pressure data to change before adjusting, resulting in a time difference and a short-term increase in pressure.

[0082] In one possible implementation, please refer to Figure 3 In step S400, the perfusion adjustment speed and the discharge adjustment speed are obtained based on the pre-operation instruction and the bladder environment information, including:

[0083] S410, obtaining ultrasonic data and intravesical image; wherein the ultrasonic data is the ultrasonic data transmitted by the ultrasonic sensor on the cutting instrument in real time, and the intravesical image is the image reflecting the intravesical wall transmitted by the image sensor on the cutting instrument in real time.

[0084] It can be understood that the way of obtaining the ultrasonic data can be to receive the ultrasonic data transmitted by the ultrasonic probe located in the bladder, or to receive the data transmitted by the user, etc., but not limited to this. The way of obtaining the intravesical image can be to receive the image data transmitted by the image acquisition part located in the bladder, or to receive the data transmitted by the user, etc., but not limited to this. Obtaining the ultrasonic data and the intravesical image can provide a basis for the subsequent steps.

[0085] S420, obtaining position information based on the ultrasonic data, the intravesical image and the bladder environment information; wherein the position information reflects the position of the cutting instrument in the bladder environment model.

[0086] It can be understood that the manner of obtaining the position information based on the ultrasound data, the intravesical image and the bladder environment information can be that the distances from at least three pre-marked fixed anatomical target points are obtained from the ultrasound data, and then the known coordinates of the three target points in the bladder environment model and the ultrasound measured distances are substituted into the equation based on the spherical intersection method to calculate the three-dimensional coordinates of the front end of the cutting instrument, thereby completing the positioning of the instrument in the bladder environment model. It can also be that the real-time image in the bladder is image-processed (such as edge detection, gray threshold segmentation), the instrument shape features (such as the metal tip profile of the front end of the instrument) and the anatomical features (such as the tumor edge and the wound blood vessel texture) are extracted, and then the anatomical features (such as the arc profile of the tumor edge) extracted from the image are matched with the two-dimensional projection profile of the same feature in the bladder environment model (such as through a template matching algorithm), and the attitude parameters (such as the pitch angle of 30° and the yaw angle of 0°) of the instrument are calculated through the angle between the instrument axis and the anatomical feature (such as the angle between the instrument axis and the bladder wall of 30°) and the ultrasound measured distance between the instrument and the bladder wall, but not limited thereto. Obtaining the position information based on the ultrasound data, the intravesical image and the bladder environment information can provide a basis for subsequent steps.

[0087] In S430, an estimated bleeding speed is obtained based on the position information, the pre-operation instruction and the bladder environment information; wherein the estimated bleeding speed reflects the bleeding speed of the wound after the execution of the predicted pre-operation instruction is completed.

[0088] It can be understood that the manner of obtaining the estimated bleeding speed based on the position information, the pre-operation instruction and the bladder environment information can be that the cutting range is obtained based on the position information and the pre-operation instruction, and then the diameters and types of the blood vessels in the cutting range are counted based on the cutting range and the bladder environment information, and the counted diameters and types of the blood vessels are input into a bleeding analysis model (an algorithm model trained based on a large amount of clinical operation data (such as “actual bleeding speed after cutting blood vessels of different types and diameters”)) to obtain the estimated bleeding speed. It can also be that the position information, the pre-operation instruction and the bladder environment information are sent to a doctor, and data transmitted by the doctor is received, but not limited thereto. Obtaining the estimated bleeding speed based on the position information, the pre-operation instruction and the bladder environment information can convert the unknown bleeding risk into a quantifiable speed value, thereby improving and solving the problem that the bleeding intensity after cutting in the traditional operation is unknown and can only be passively responded, resulting in the lag of the control of the perfusion speed or the discharge speed.

[0089] In one possible implementation, please refer to Figure 3 In S430, an estimated bleeding speed is obtained based on the position information, the pre-operation instruction and the bladder environment information, including:

[0090] S431, obtain a cutting range based on the position information, the pre-operation instruction, and the bladder environment information; wherein the cutting range reflects a range of a region on the bladder environment model.

[0091] It can be understood that the manner of obtaining the cutting range based on the position information, the pre-operation instruction, and the bladder environment information can be that the dynamic position in the operation is aligned based on the position information and the bladder environment information first, then a moving region is obtained according to the position information and the pre-operation instruction to simulate the moving track of the cutting instrument, and then the moving region is superimposed on the bladder environment model to obtain the cutting range, or the position information, the pre-operation instruction, and the bladder environment information can be sent to the doctor, and then the data transmitted by the doctor is received, but the present application is not limited thereto. The cutting range obtained based on the position information, the pre-operation instruction, and the bladder environment information can convert the abstract cutting action into the quantifiable boundary of the anatomical region on the bladder environment model, improve the problem that the cutting range is determined by experience in the traditional operation and is easy to mis-touch the blood vessels or the bladder wall, and provide an accurate risk assessment range for subsequent estimation of the bleeding speed and adjustment of the injection and drainage speed.

[0092] For example, when the cutting instrument is scissors, the cutting range can be the region swept by the two blades when they are closed, when the cutting instrument is an electric knife, the cutting range can be the region swept by the electric knife when it is activated and moved, and the like, but the present application is not limited thereto.

[0093] In a possible implementation, referring to Figure 3 S431, obtain a cutting range based on the position information, the pre-operation instruction, and the bladder environment information, comprising:

[0094] S4311, obtain a moving region based on the position information and the pre-operation instruction; wherein the moving region reflects the region swept by the cutting instrument in the bladder environment model in the process of executing the pre-operation instruction.

[0095] It can be understood that the manner of obtaining the moving region based on the position information and the pre-operation instruction can be that the moving region is obtained through the moving distance, the moving direction, and the cutting surface of the cutting instrument in the pre-operation instruction, or the position information and the pre-operation instruction can be sent to the doctor, and then the data transmitted by the doctor is received, but the present application is not limited thereto. The moving region obtained based on the position information and the pre-operation instruction can define the operation dimension constraint for the moving region through the pre-operation instruction, convert the real-time state of the instrument and the operation intention in the operation into a quantifiable spatial track, and clearly define the shape and range of the track, thereby improving the ambiguity of the moving range of the instrument determined by experience in the traditional operation, simulating the complete moving path of the instrument in the bladder environment model before the operation, and providing a basis for subsequent steps.

[0096] S4312, confirm the region coinciding the moving region and the bladder environment model as the cutting range.

[0097] It can be understood that the region coinciding with the bladder environment model is confirmed as the cutting range through spatial superposition analysis, the blank part without actual tissue in the moving region (such as the liquid and air region in the bladder) is removed, only the effective region coinciding with the target tissue (tumor, basal wound) in the bladder is reserved, the problem that the moving region contains non-cutting objects is improved, and the basis for subsequent bleeding prediction and injection and discharge speed adjustment is provided.

[0098] S432, obtaining an estimated bleeding speed based on the cutting range and the bladder environment information.

[0099] It can be understood that the way of obtaining the estimated bleeding speed based on the cutting range and the bladder environment information can be that the blood vessels only passing through the edge of the cutting range and not covered by the cutting region are removed based on the region range and the blood vessel distribution information, the blood vessels completely or partially covered by the cutting region and damaged during cutting are reserved, and the blood vessels are marked as pressure-increasing blood vessels (i.e., potential bleeding blood vessels), then the blood vessel type and diameter corresponding to the pressure-increasing blood vessels are input into the bleeding analysis model to obtain the estimated bleeding speed, or the cutting range and the bladder environment information are sent to the doctor to receive the data transmitted by the doctor, but are not limited thereto. Obtaining the estimated bleeding speed based on the region range and the bladder environment information estimates the possible bleeding intensity after cutting by clearly defining the cut tissue region (region range) and the blood vessel risk (blood vessel distribution information), improves the lag of the control of the perfusion speed and the discharge speed in the traditional surgery, provides the basis for adjusting the perfusion speed and the discharge speed before the operation, and reduces the possibility of sudden increase of the liquid volume in the bladder and short-time increase of the pressure caused by bleeding.

[0100] In one possible implementation, please refer to Figure 3 S432, obtaining an estimated bleeding speed based on the region range and the bladder environment information, including:

[0101] S4321, marking the blood vessel profile in the bladder environment model contacting the cutting range as a pressure-increasing blood vessel.

[0102] It can be understood that marking the blood vessel profile in the bladder environment model contacting the cutting range as a pressure-increasing blood vessel can mark the potential bleeding blood vessels with bleeding risk, and provide the basis for the subsequent steps.

[0103] S4322, inputting the blood vessel type and the blood vessel diameter corresponding to each pressure-increasing blood vessel into the bleeding analysis model to obtain an estimated bleeding speed corresponding to the pre-operation instruction.

[0104] It can be understood that inputting the blood vessel type and the blood vessel diameter corresponding to each pressure-increasing blood vessel into the bleeding analysis model to obtain an estimated bleeding speed corresponding to the pre-operation instruction can convert the key anatomical parameters (type, diameter) of the pressure-increasing blood vessels into the bleeding speed value corresponding to the surgical operation through the clinically data-driven model, and provide the basis for the subsequent steps.

[0105] S440, obtaining the perfusion adjustment speed and the drainage adjustment speed based on the estimated bleeding speed.

[0106] It can be understood that the way of obtaining the perfusion adjustment speed and the drainage adjustment speed based on the estimated bleeding speed can be judging the size of the value obtained by adding the estimated bleeding speed to the drainage speed and the maximum drainage speed, judging the size of the value obtained by subtracting the estimated bleeding speed from the perfusion speed and the minimum perfusion speed to obtain the perfusion adjustment speed and the drainage adjustment speed, or sending the estimated bleeding speed to the doctor and receiving the data transmitted by the doctor, but not limited to this. Obtaining the perfusion adjustment speed and the drainage adjustment speed based on the estimated bleeding speed can quantize the "cutting liquid volume (blood) that may increase, optimize the injection and drainage rate of the perfusion liquid in reverse, reserve buffer space for bladder liquid balance before bleeding occurs, and improve the problem of passive adjustment after bleeding in traditional surgery, sudden rise of pressure for a short time.

[0107] In one possible implementation, please refer to Figure 3 S440, obtaining the perfusion adjustment speed and the drainage adjustment speed based on the estimated bleeding speed, comprising:

[0108] S441, confirming the value obtained by adding the estimated bleeding speed to the drainage speed as the drainage analysis speed.

[0109] It can be understood that confirming the value obtained by adding the estimated bleeding speed to the drainage speed as the drainage analysis speed can provide a basis for subsequent steps.

[0110] For example, assuming that the estimated bleeding speed is 8 ml / min and the drainage speed is 50 ml / min, then the drainage analysis speed = 8 + 50 = 58 ml / min.

[0111] S442, judging whether the drainage analysis speed is greater than the maximum drainage speed, if the drainage analysis speed is less than or equal to the maximum drainage speed, confirming the drainage analysis speed as the drainage adjustment speed and confirming the perfusion speed as the perfusion adjustment speed.

[0112] It can be understood that when the drainage analysis speed ≤ the maximum drainage speed, it means that the current drainage system has enough redundancy (such as the maximum drainage speed 70 ml / min, the drainage analysis speed 58 ml / min), only the drainage speed needs to be increased to cover the total amount of perfusion liquid + blood, reduce the possibility of insufficient bladder filling and blurred vision caused by reducing the perfusion speed, and at the same time ensure that the adjusted speed is within the safe speed range.

[0113] S443, if the drainage analysis speed is greater than the maximum drainage speed, the value obtained by subtracting the estimated bleeding speed from the perfusion speed is confirmed as the perfusion analysis speed, if the perfusion analysis speed is greater than or equal to the minimum perfusion speed, the perfusion analysis speed is confirmed as the perfusion adjustment speed, and the drainage speed is confirmed as the drainage adjustment speed.

[0114] It can be understood that when the drainage analysis speed exceeds the maximum drainage speed, it means that only increasing the drainage cannot cover the total amount of perfusion fluid + blood, at this time if the perfusion speed is not adjusted, the liquid in the bladder will continue to accumulate, causing the pressure to rise rapidly. By calculating the perfusion analysis speed by subtracting the estimated bleeding speed from the perfusion speed, the liquid intake can be directly reduced, the growth rate of the total amount of liquid in the bladder can be reduced, the existing drainage capacity (drainage speed) can be adapted to the total amount of reduced perfusion + blood, and the pressure threshold can be avoided.

[0115] S444, if the perfusion analysis speed is less than the minimum perfusion speed, and the drainage analysis speed is greater than the maximum drainage speed, the perfusion adjustment speed and the drainage adjustment speed are obtained based on the step calculation method.

[0116] It can be understood that if the perfusion analysis speed is less than the minimum perfusion speed, and the drainage analysis speed is greater than the maximum drainage speed, if the liquid is drained according to the drainage analysis speed, the pressure in the bladder will drop rapidly and the wall will collapse due to the excessive speed, and if the perfusion is perfused according to the perfusion analysis speed, the field of view will be blurred and the tumor will not be clearly exposed due to the slow speed. The perfusion adjustment speed and the drainage adjustment speed obtained based on the step calculation method can be adjusted through small amplitude iteration, avoiding excessive adjustment at one time, allowing the drainage speed to fall within the safe upper limit, and allowing the perfusion speed to rise above the safe lower limit, so as to find a combination of injection and drainage that can balance the bleeding increment and does not affect the operation.

[0117] In one possible implementation, please refer to Figure 3 , in step S444, the perfusion adjustment speed and the drainage adjustment speed are obtained based on the step calculation method, comprising:

[0118] S4441, step a, the value obtained by subtracting the preset step speed from the drainage analysis speed is confirmed as the drainage step value, and the value obtained by subtracting the preset step speed from the perfusion speed is confirmed as the perfusion step value.

[0119] It can be understood that the preset step speed can be 1 ml / min, 5 ml / min, or can be customized by the doctor, but is not limited thereto. The drainage step value obtained by subtracting the preset step speed from the drainage analysis speed, and the perfusion step value obtained by subtracting the preset step speed from the perfusion speed are reduced by a fixed amplitude, so that the injection and drainage speed (drainage exceeds the upper limit, and perfusion may be below the lower limit) that breaks the safety boundary gradually approaches the compliance range.

[0120] For example, assuming the preset step-up speed is 5 ml / min, the discharge analysis speed is 80 ml / min, and the perfusion speed is 50 ml / min, then the discharge step-up value = 80-5 = 75 ml / min, and the perfusion step-up value = 50-5 = 45 ml / min.

[0121] In step S4442, step b, it is determined whether the discharge step-up value is less than or equal to the maximum discharge speed. If the discharge step-up value is less than or equal to the maximum discharge speed, the discharge step-up value is confirmed as the discharge adjustment speed, and the perfusion step-up value is confirmed as the perfusion adjustment speed. If the discharge step-up value is greater than the maximum discharge speed, steps a and b are repeated.

[0122] It can be understood that if the discharge step-up value is less than or equal to the maximum discharge speed, the risk of liquid discharge has been eliminated, and the perfusion step-up value can be locked synchronously to avoid subsequent adjustment from disrupting the balance. If the discharge step-up value is still greater than the maximum discharge speed, step a is immediately repeated to recalculate the step-up value until the discharge step-up value is less than or equal to the maximum discharge speed, and the risk of discharge is preferentially eliminated.

[0123] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0124] Corresponding to the bladder pressure control method described in the above embodiments, the embodiments of the present application also provide a bladder pressure control system, and each unit of the system can implement each step of the bladder pressure control method. Figure 4 A structural block diagram of the bladder pressure control system provided by the embodiments of the present application is shown, and only parts related to the embodiments of the present application are shown for ease of illustration.

[0125] Referring to Figure 4 , the system comprises:

[0126] An environment acquisition unit is configured to acquire bladder environment information, wherein the bladder environment information comprises a bladder environment model and blood vessel distribution information, the bladder environment model reflects the relative position of the tumor and the bladder and a surface image, and the blood vessel distribution information comprises a plurality of blood vessel contours and corresponding blood vessel types and blood vessel diameters marked on the tumor and near the tumor in the bladder environment model.

[0127] A pressure monitoring unit is configured to monitor the bladder pressure in real time, wherein the bladder pressure reflects the pressure in the bladder during the operation.

[0128] An analysis unit is configured to obtain a perfusion speed and a discharge speed based on the bladder pressure, wherein the perfusion speed is used to control the speed of injecting the perfusion liquid into the bladder, and the discharge speed is used to control the speed of discharging the perfusion liquid in the bladder.

[0129] The prediction unit is configured to obtain the perfusion adjustment speed and the drainage adjustment speed based on the pre-operation instruction and the bladder environment information when the pre-operation instruction is received. The pre-operation instruction is an instruction issued by a doctor for controlling the cutting instrument to cut a tumor or a base wound surface. The perfusion adjustment speed is used to prompt the doctor to adjust the perfusion speed to the perfusion adjustment speed. The drainage adjustment speed is used to prompt the doctor to adjust the drainage speed to the drainage adjustment speed.

[0130] In a possible implementation, the analysis unit comprises:

[0131] The first analysis sub-unit is configured to obtain a pressure difference value by subtracting the preset pressure from the bladder pressure.

[0132] The second analysis sub-unit is configured to confirm a perfusion analysis speed as a difference obtained by subtracting a product of the injection-drainage proportionality coefficient and the pressure difference from the base speed. If the perfusion analysis speed is greater than the minimum perfusion speed and less than the maximum perfusion speed, the perfusion analysis speed is confirmed as the perfusion speed. If the perfusion analysis speed is less than the minimum perfusion speed, the minimum perfusion speed is confirmed as the perfusion speed. If the perfusion analysis speed is greater than the maximum perfusion speed, the maximum perfusion speed is confirmed as the perfusion speed.

[0133] The third analysis sub-unit is configured to confirm a drainage analysis speed as a difference obtained by adding a product of the injection-drainage proportionality coefficient and the pressure difference to the base speed. If the drainage analysis speed is greater than the minimum drainage speed and less than the maximum drainage speed, the drainage analysis speed is confirmed as the drainage speed. If the drainage analysis speed is less than the minimum drainage speed, the minimum drainage speed is confirmed as the drainage speed. If the drainage analysis speed is greater than the maximum drainage speed, the maximum drainage speed is confirmed as the drainage speed.

[0134] In a possible implementation, the prediction unit comprises:

[0135] The first prediction sub-unit is configured to obtain the ultrasonic data and the intravesical image. The ultrasonic data is ultrasonic wave data transmitted by an ultrasonic sensor on the cutting instrument in real time. The intravesical image is an image reflecting an intravesical wall transmitted by an image sensor on the cutting instrument in real time.

[0136] The second prediction sub-unit is configured to obtain the position information based on the ultrasonic data, the intravesical image, and the bladder environment information. The position information reflects a position of the cutting instrument in the bladder environment model.

[0137] The third prediction sub-unit is configured to obtain the estimated bleeding speed based on the position information, the pre-operation instruction, and the bladder environment information. The estimated bleeding speed reflects a bleeding speed of a wound after execution of the predicted pre-operation instruction is completed.

[0138] The fourth prediction sub-unit is configured to obtain the perfusion adjustment speed and the drainage adjustment speed based on the estimated bleeding speed.

[0139] In a possible implementation, the third prediction sub-unit comprises:

[0140] a range calculation unit, configured to obtain a cutting range based on the position information, the pre-operation instruction, and the bladder environment information; the cutting range reflects a range of a region on the bladder environment model.

[0141] a bleeding estimation unit, configured to obtain an estimated bleeding speed based on the range of the region and the bladder environment information.

[0142] In a possible implementation, the range calculation unit comprises:

[0143] a first range calculation sub-unit, configured to obtain a moving region based on the position information and the pre-operation instruction; the moving region reflects a region swept by the cutting instrument in the bladder environment model in the process of executing the pre-operation instruction.

[0144] a second range calculation sub-unit, configured to determine, as the cutting range, a region coinciding with the moving region on the bladder environment model.

[0145] In a possible implementation, the bleeding estimation unit comprises:

[0146] a first bleeding estimation sub-unit, configured to mark, as a pressurized blood vessel, a blood vessel profile in the bladder environment model that is in contact with the cutting range.

[0147] a second bleeding estimation sub-unit, configured to input, into a bleeding analysis model, a blood vessel type and a blood vessel diameter corresponding to each pressurized blood vessel to obtain an estimated bleeding speed corresponding to the pre-operation instruction.

[0148] In a possible implementation, the fourth prediction sub-unit comprises:

[0149] a fourth prediction first sub-unit, configured to determine, as an excretion analysis speed, a value obtained by adding the estimated bleeding speed to the excretion speed.

[0150] a fourth prediction second sub-unit, configured to determine, as an excretion adjustment speed, the excretion analysis speed, and determine, as a perfusion adjustment speed, the perfusion speed, if the excretion analysis speed is less than or equal to the maximum excretion speed.

[0151] a fourth prediction third sub-unit, configured to determine, as a perfusion analysis speed, a value obtained by subtracting the estimated bleeding speed from the perfusion speed, and determine, as the perfusion adjustment speed, the perfusion analysis speed, and determine, as the excretion adjustment speed, the excretion speed, if the perfusion analysis speed is greater than or equal to the minimum perfusion speed.

[0152] The fourth prediction fourth sub-unit is configured to, if the perfusion analysis speed is less than the minimum perfusion speed and the discharge analysis speed is greater than the maximum discharge speed, obtain the perfusion adjustment speed and the discharge adjustment speed based on a step calculation method.

[0153] In a possible implementation, the fourth prediction fourth sub-unit comprises:

[0154] The step unit is configured to, in step a, confirm, as the discharge step value, a value obtained by subtracting a preset step speed from the discharge analysis speed, and confirm, as the perfusion step value, a value obtained by subtracting the preset step speed from the perfusion speed.

[0155] The loop judgment unit is configured to, in step b, judge whether the discharge step value is less than or equal to the maximum discharge speed, and if the discharge step value is less than or equal to the maximum discharge speed, confirm the discharge step value as the discharge adjustment speed and the perfusion step value as the perfusion adjustment speed, and if the discharge step value is greater than the maximum discharge speed, repeat steps a and b.

[0156] It should be noted that the information interaction between the above units, the execution process, and the like, since based on the same concept as the method embodiments of the present application, the specific functions and the resulting technical effects can be referred to the method embodiments part, and will not be described here.

[0157] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can be referred to the corresponding process in the foregoing method embodiments, which will not be described here.

[0158] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps in any of the method embodiments.

[0159] The embodiment of the present application provides a computer program product, which, when running on a transurethral surgery operating device, enables the transurethral surgery operating device to implement the steps in any of the method embodiments.

[0160] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods through a computer program to instruct related hardware to complete, and the computer program can be stored in a computer readable storage medium. When the processor executes the computer program, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the transurethral surgical operating device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc.

[0161] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0162] Those skilled in the art can appreciate that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0163] In the embodiments provided in the present application, it should be understood that the disclosed bladder pressure control system, device and method can be implemented in other ways. For example, the above-described bladder pressure control system and device embodiments are only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0164] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0165] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A bladder pressure management system, characterized by, The method comprises the following steps: An environment acquisition unit is configured to acquire bladder environment information; wherein the bladder environment information comprises a bladder environment model and blood vessel distribution information, the bladder environment model reflects the relative position of a tumor and a bladder and a surface image, and the blood vessel distribution information comprises a plurality of blood vessel contours and corresponding blood vessel types and blood vessel diameters marked on or near the tumor in the bladder environment model; A pressure monitoring unit is configured to monitor bladder pressure in real time; wherein the bladder pressure reflects the pressure in the bladder during a surgical procedure; An analysis unit is configured to obtain an infusion speed and an evacuation speed based on the bladder pressure; wherein the infusion speed is used to control the speed of injecting infusion fluid into the bladder, and the evacuation speed is used to control the speed of evacuating infusion fluid from the bladder; A prediction unit is configured to obtain an infusion adjustment speed and an evacuation adjustment speed based on a pre-operation instruction and the bladder environment information when the pre-operation instruction is received; wherein the pre-operation instruction is an instruction issued by a doctor to control a cutting instrument to cut a tumor or a base wound, the infusion adjustment speed is used to prompt the doctor to adjust the infusion speed to the infusion adjustment speed, and the evacuation adjustment speed is used to prompt the doctor to adjust the evacuation speed to the evacuation adjustment speed.

2. The bladder pressure management system of claim 1, wherein, The analysis unit comprises: A first analysis subunit is configured to obtain a pressure difference value by subtracting a preset pressure from the bladder pressure; A second analysis subunit is configured to obtain a difference between a base speed and a product of an injection-evacuation ratio coefficient and the pressure difference value as an infusion analysis speed, and confirm the infusion analysis speed as the infusion speed if the infusion analysis speed is greater than a minimum infusion speed and less than a maximum infusion speed, confirm the minimum infusion speed as the infusion speed if the infusion analysis speed is less than the minimum infusion speed, and confirm the maximum infusion speed as the infusion speed if the infusion analysis speed is greater than the maximum infusion speed; A third analysis subunit is configured to obtain a value obtained by adding the base speed and the product of the injection-evacuation ratio coefficient and the pressure difference value as an evacuation analysis speed, and confirm the evacuation analysis speed as the evacuation speed if the evacuation analysis speed is greater than a minimum evacuation speed and less than a maximum evacuation speed, confirm the minimum evacuation speed as the evacuation speed if the evacuation analysis speed is less than the minimum evacuation speed, and confirm the maximum evacuation speed as the evacuation speed if the evacuation analysis speed is greater than the maximum evacuation speed.

3. The bladder pressure management system of claim 1 or 2, wherein, The prediction unit comprises: A first prediction subunit is configured to acquire ultrasound data and an intravesical image; wherein the ultrasound data is ultrasound wave data transmitted by an ultrasound sensor on the cutting instrument in real time, and the intravesical image is an image reflecting an intravesical wall transmitted by an image sensor on the cutting instrument in real time; A second prediction subunit is configured to obtain position information based on the ultrasound data, the intravesical image, and the bladder environment information; wherein the position information reflects the position of the cutting instrument in the bladder environment model. a third prediction subunit configured to obtain a predicted bleeding speed based on the position information, the pre-operation instruction, and the bladder environment information, wherein the predicted bleeding speed reflects a bleeding speed of the wound after the pre-operation instruction is predicted to be executed completely; a fourth prediction subunit configured to obtain the perfusion adjustment speed and the drainage adjustment speed based on the predicted bleeding speed.

4. The bladder pressure management system of claim 3, wherein, The third prediction subunit includes: a range calculation unit configured to obtain a cutting range based on the position information, the pre-operation instruction, and the bladder environment information, wherein the cutting range reflects a range of a region on the bladder environment model; a bleeding estimation unit configured to obtain the predicted bleeding speed based on the cutting range and the bladder environment information.

5. The bladder pressure management system of claim 4, wherein, The range calculation unit includes: a first range calculation subunit configured to obtain a moving region based on the position information and the pre-operation instruction, wherein the moving region reflects a region swept by the cutting instrument in the bladder environment model during execution of the pre-operation instruction; a second range calculation subunit configured to confirm a region where the moving region coincides with the bladder environment model as the cutting range.

6. The bladder pressure management system of claim 4 or 5, wherein, The bleeding estimation unit includes: a first bleeding estimation subunit configured to mark the blood vessel profile in the bladder environment model that contacts the cutting range as a pressurized blood vessel; a second bleeding estimation subunit configured to input the blood vessel type and the blood vessel diameter corresponding to each pressurized blood vessel into a bleeding analysis model to obtain the predicted bleeding speed corresponding to the pre-operation instruction.

7. The bladder pressure management system of claim 3, wherein, The fourth prediction subunit includes: a fourth prediction first subunit configured to confirm a value obtained by adding the predicted bleeding speed to the drainage speed as a drainage analysis speed; a fourth prediction second subunit configured to determine whether the drainage analysis speed is greater than a maximum drainage speed, if the drainage analysis speed is less than or equal to the maximum drainage speed, confirm the drainage analysis speed as the drainage adjustment speed, and confirm the perfusion speed as the perfusion adjustment speed; a fourth prediction third subunit configured to, if the drainage analysis speed is greater than the maximum drainage speed, confirm a value obtained by subtracting the predicted bleeding speed from the perfusion speed as a perfusion analysis speed, if the perfusion analysis speed is greater than or equal to a minimum perfusion speed, confirm the perfusion analysis speed as the perfusion adjustment speed, and confirm the drainage speed as the drainage adjustment speed; a fourth prediction fourth subunit configured to, if the perfusion analysis speed is less than the minimum perfusion speed and the drainage analysis speed is greater than the maximum drainage speed, obtain the perfusion adjustment speed and the drainage adjustment speed based on a step calculation method.

8. The bladder pressure management system of claim 7, wherein, The perfusion adjustment speed and the drainage adjustment speed obtained based on the step calculation method include: a step a, confirming a value obtained by subtracting a preset step speed from the drainage analysis speed as a drainage step value, and confirming a value obtained by subtracting the preset step speed from the perfusion speed as a perfusion step value; Step b, judging whether the discharge step value is less than or equal to the maximum discharge speed, if the discharge step value is less than or equal to the maximum discharge speed, the discharge step value is confirmed as the discharge adjustment speed, and the perfusion step value is confirmed as the perfusion adjustment speed; if the discharge step value is greater than the maximum discharge speed, the step a and the step b are repeated.

9. A transurethral surgical device, characterized in that, Comprise: A through part having a through channel, one end of the through part close to the bladder is a surgical end, the through part is used to move the surgical end into the patient's bladder through the urethra; A pressure regulating part located in the through channel, movably arranged on the through part, having a perfusion channel and a discharge channel, the pressure regulating part is used to deliver perfusion fluid into the bladder through the perfusion channel, to discharge the perfusion fluid in the bladder through the discharge channel, and to monitor the pressure in the bladder in real time; A surgical operation part located in the through channel, movably arranged on the through part, one end of the surgical operation part close to the surgical end is used to install a surgical instrument for cutting tissue, the surgical operation part is used to collect images in the bladder and emit and receive ultrasonic waves; And A control part in communication connection with the pressure regulating part and the surgical operation part respectively, the control part comprises a memory, a processor and a computer program stored in the memory and executable on the processor, the processor executes the computer program to run the system as claimed in any one of claims 1 to 8.

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