Drainage control device and drainage control method for thoracic hyperthermic perfusion circulation pipeline

Abstract

The invention provides a drainage control device and a drainage control method for a thoracic cavity hyperthermic perfusion circulation pipeline. The device comprises a controller, a first flow meter, a first adjusting mechanism, a liquid medicine container, and a body inlet pipeline, a drainage pipeline and a heating pipeline which are all communicated with the liquid medicine container. The first flow meter and the first adjusting mechanism are both arranged in the drainage pipeline. The controller is used for controlling the first adjusting mechanism to adjust the flow speed of the liquid output by the drainage pipeline according to the target flow speed and the first flow speed collected by the first flowmeter through a self-adaptive control algorithm, so that the difference value between the first flow speed and the target flow speed is within the preset flow speed range. Therefore, the stability of the flow velocity is improved, the effective circulation of the liquid medicine is facilitated, the continuous and effective effects of the chemotherapy medicine and the thermal therapy temperature are ensured, the treatment effect of circulating thermal perfusion is improved, and the discomfort of a patient is relieved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a thoracic hyperthermic perfusion circulation tubing drainage control device and drainage control method. Background Technology

[0002] For patients with malignant pleural effusion, clinical treatment often involves thoracentesis followed by intrapleural chemotherapy. However, this conventional approach, with its large-scale drainage of pleural effusion, leads to protein loss, electrolyte imbalance, and accelerated effusion formation, resulting in a very poor prognosis and severely impacting the patient's quality of life. Hyperthermic intraperitoneal chemotherapy (HIPEC) is a novel treatment technique that precisely heats a chemotherapy-containing perfusion solution to therapeutic temperature, circulates it into the pleural cavity of cancer patients, and maintains this temperature for a specific period. It leverages the differences in temperature tolerance between tumor cells and normal tissues, the synergistic effect of thermochemotherapy, and the combined effect of continuous circulation of large-volume perfusion fluid to prevent and treat malignant pleural effusions associated with malignant tumors. Currently used HIPEC drainage systems typically rely on gravity and intrapleural pressure for drainage. This method suffers from unstable flow rates, difficulty in ensuring effective circulation during HIPEC, and can negatively impact the therapeutic effect or increase patient discomfort. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a drainage control device and drainage control method for thoracic hyperthermic perfusion circulation tubing, which can improve the problem of unstable flow rate in drainage tubing and difficulty in ensuring effective circulation for circulatory hyperthermic perfusion therapy.

[0004] To achieve the above technical objectives, the technical solution adopted in this application is as follows:

[0005] In a first aspect, embodiments of this application provide a pleural hyperthermic perfusion circulation tubing drainage control device, the device comprising:

[0006] Controller;

[0007] First flow meter;

[0008] First regulatory body;

[0009] The medicine container, and the infusion pipe, drainage pipe and heating pipe connected to the medicine container;

[0010] Both the first flow meter and the first regulating mechanism are disposed in the drainage pipe. The first flow meter is used to collect the first flow rate of the liquid transported by the drainage pipe. The inlet pipe is used to input the liquid in the medicine container into the pleural cavity. The drainage pipe is used to drain the liquid in the pleural cavity to the medicine container. The heating pipe is used to heat the liquid in the medicine container.

[0011] The controller is used to control the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe according to the target flow rate and the first flow rate collected by the first flow meter, using an adaptive control algorithm, so that the difference between the first flow rate and the target flow rate is within a preset flow rate range.

[0012] In conjunction with the first aspect, in some optional embodiments, the device further includes a second flow meter and a second regulating mechanism, both of which are disposed in the inlet pipe. The second flow meter is used to collect a second flow rate of the liquid conveyed by the inlet pipe, and the second regulating mechanism is used to regulate the flow rate of the liquid conveyed by the inlet pipe.

[0013] The controller is also configured to determine the target flow rate based on the first cumulative flow rate collected by the first flow meter, the second flow rate collected by the second flow meter, and the second cumulative flow rate, or to determine the target flow rate based on a control command input by the user.

[0014] The constraints that the target flow rate must satisfy include: during the period when the drainage tube delivers liquid at the target flow rate, the first cumulative flow rate of the output pleural fluid is less than or equal to the second cumulative flow rate of the input pleural fluid, and the flow rate difference between the second cumulative flow rate and the first cumulative flow rate is less than or equal to a preset flow rate.

[0015] In conjunction with the first aspect, in some optional implementations, the expression for the control output of the adaptive control algorithm is:

[0016]

[0017] In the formula, u(t) represents the control output, which is the control signal that controls the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe; K p K i and K d These represent the dynamic proportional coefficient, dynamic integral coefficient, and dynamic differential coefficient, respectively; e(t) is the deviation between the first flow velocity and the target flow velocity; t refers to time; K p K i and K d The dynamic calculation formula is:

[0018] K p(k+1)=K p (k)+α p ΔQ(k)

[0019]

[0020] K d (k+1)=K d (k)+α d (ΔQ(k)-ΔQ(k-1))

[0021] In the formula, k refers to the number of iterations, and α p α i and α d The first adaptive parameter, the second adaptive parameter, and the third adaptive parameter are respectively; ΔQ(k) represents the deviation between the first flow velocity and the target flow velocity in the k-th iteration;

[0022]

[0023]

[0024] α d =K d0 ·e -b|ΔQ(k)|

[0025] In the formula, K p0 K i0 and K d0 These are the initial proportional coefficient, initial integral coefficient, and initial derivative coefficient, respectively; a refers to the adjustment parameter; b refers to the attenuation parameter; and e refers to the natural constant.

[0026] In conjunction with the first aspect, in some optional embodiments, the device further includes a display module and a prompting module, both electrically connected to the controller;

[0027] The display module is used to display specified data, including a first flow rate and a first cumulative flow.

[0028] The notification module is used to issue an alarm notification when a preset trigger condition is met; the preset trigger condition includes at least one of the following:

[0029] The drainage pipe is blocked;

[0030] The intubation tube was blocked;

[0031] The flow difference is greater than the preset flow;

[0032] The first flow rate exceeds the first preset flow rate;

[0033] The second flow rate exceeds the second preset flow rate.

[0034] In conjunction with the first aspect, in some optional embodiments, the two ends of the heating pipe are connected to the liquid medicine container, and a first temperature sensor and a second temperature sensor are respectively provided at the two ends of the heating pipe.

[0035] The controller is also used to control the heating module in the heating pipeline to adjust the heating power based on the temperature data collected by the first temperature sensor and the second temperature sensor, so that the temperature of the liquid output by the heating pipeline is within a preset temperature range.

[0036] In conjunction with the first aspect, in some alternative embodiments, the first regulating mechanism is a solenoid valve or a liquid pump.

[0037] In conjunction with the first aspect, in some alternative embodiments, the device further includes a liquid addition line in communication with the liquid container.

[0038] Secondly, embodiments of this application also provide a drainage control method applied to the aforementioned apparatus, the method comprising:

[0039] The first flow velocity of the liquid transported through the drainage pipeline is collected by the first flow meter;

[0040] Based on the target flow rate and the first flow rate collected by the first flow meter, the controller uses an adaptive control algorithm to control the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe, so that the difference between the first flow rate and the target flow rate is within a preset flow rate range.

[0041] In conjunction with the second aspect, in some optional embodiments, the method further includes the step of collecting the first flow rate of the liquid transported through the drainage pipe by the first flow meter, and the step of controlling the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe by the controller using an adaptive control algorithm based on the target flow rate and the first flow rate collected by the first flow meter.

[0042] The target flow rate is determined based on the first cumulative flow rate collected by the first flow meter, the second flow rate collected by the second flow meter, and the second cumulative flow rate, or based on a control command input by the user; wherein the target flow rate satisfies the following constraints: during the period when the drainage tube delivers liquid at the target flow rate, the first cumulative flow rate of the output pleural fluid is less than or equal to the second cumulative flow rate of the input pleural fluid, and the flow rate difference between the second cumulative flow rate and the first cumulative flow rate is less than or equal to a preset flow rate.

[0043] In conjunction with the second aspect, in some optional embodiments, based on the target flow rate and the first flow rate collected by the first flow meter, the controller employs an adaptive control algorithm to control the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe, including:

[0044] Based on the target flow rate and the first flow rate collected by the first flow meter, the controller uses an adaptive control algorithm to determine the control signal for the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe, expressed as:

[0045]

[0046] In the formula, u(t) represents the control output, which is the control signal that controls the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe; K p K i and K d These represent the dynamic proportional coefficient, dynamic integral coefficient, and dynamic differential coefficient, respectively; e(t) is the deviation between the first flow velocity and the target flow velocity; t refers to time; K p K i and K d The dynamic calculation formula is:

[0047] K p (k+1)=K p (k)+α p ΔQ(k)

[0048]

[0049] K d (k+1)=K d (k)+α d (ΔQ(k)-ΔQ(k-1))

[0050] In the formula, k refers to the number of iterations, and α p α i and α d The first adaptive parameter, the second adaptive parameter, and the third adaptive parameter are respectively; ΔQ(k) represents the deviation between the first flow velocity and the target flow velocity in the k-th iteration;

[0051]

[0052]

[0053] α d =K d0 ·e -b|ΔQ(k)|

[0054] In the formula, K p0 K i0 and K d0 These are the initial proportional coefficient, initial integral coefficient, and initial derivative coefficient, respectively; a refers to the adjustment parameter; b refers to the attenuation parameter; and e refers to the natural constant.

[0055] Based on the control signal, the first regulating mechanism is controlled to operate, so as to regulate the flow rate of the liquid output from the drainage pipe and make the difference between the first flow rate and the target flow rate within a preset flow rate range.

[0056] The invention employing the above technical solution has the following advantages:

[0057] In the technical solution provided in this application, the flow rate of the drainage tube is collected in real time by a first flow meter, and the data is fed back to the controller to form a closed-loop system of "monitoring-calculation-adjustment". Unlike traditional gravity drainage, which relies on passive drainage due to intrathoracic pressure, this device actively adjusts the first adjustment mechanism (such as a solenoid valve or liquid pump) through an adaptive control algorithm to ensure that the flow rate of the drainage tube is equal to or close to the target flow rate. This avoids sudden changes in flow rate caused by fluctuations in intrathoracic pressure, which helps to reduce the interference of flow rate fluctuations on the traditional circulating hyperthermic perfusion therapy, improves the stability of the flow rate, facilitates the effective circulation of the drug solution, and ensures the continuous and effective effect of chemotherapy drugs and hyperthermia temperature. In this way, it helps to improve the therapeutic effect of circulating hyperthermic perfusion or alleviate the patient's discomfort. Attached Figure Description

[0058] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without any inventive effort.

[0059] Figure 1 A schematic diagram of the pleural hyperthermic perfusion circulation drainage control device provided in the embodiments of this application.

[0060] Figure 2 A schematic diagram of the circuit module of the pleural hyperthermic perfusion circulation drainage control device provided in the embodiments of this application.

[0061] Figure 3 This is a flowchart illustrating the drainage control method provided in the embodiments of this application.

[0062] Icons: 100-Drainage control device; 110-Controller; 120-Drainage tubing; 121-First flow meter; 122-First regulating mechanism; 130-Infusion tubing; 131-Second flow meter; 132-Second regulating mechanism; 140-Heating tubing; 141-First temperature sensor; 142-Second temperature sensor; 143-Heating module; 150-Medication container; 160-Liquid addition tubing; 161-Medication infusion set. Detailed Implementation

[0063] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0064] Please refer to the reference. Figure 1 and Figure 2 This application provides a thoracic hyperthermic perfusion circulation tubing drainage control device 100, hereinafter referred to as drainage control device 100. The drainage control device 100 may include a controller 110, a first flow meter 121, a first adjustment mechanism 122, a drug container 150, and an inlet tubing 130, a drainage tubing 120, and a heating tubing 140, all of which are connected to the drug container 150.

[0065] Both the first flow meter 121 and the first regulating mechanism 122 are installed in the drainage pipe 120. The first flow meter 121 can collect the real-time flow rate of the liquid transported by the drainage pipe 120 as the first flow rate. In addition, the first flow meter 121 can also collect the cumulative flow rate of the drainage pipe 120 during a single operation. The cumulative flow rate can be obtained by integrating the flow rate and the flow rate corresponding to the unit flow rate. The cycle of one operation can be understood as the duration of one intrathoracic hyperthermic perfusion chemotherapy for the patient using the drainage control device 100, or the duration of the drainage control device 100 from power-on to power-off operation.

[0066] The intubation tube 130 is used to introduce liquid (usually a therapeutic drug solution) from the drug container 150 into the pleural cavity, and the drainage tube 120 is used to drain the liquid (including the drug solution) from the pleural cavity to the drug container 150; by using the cooperation of the intubation tube 130 and the drainage tube 120, the circulation of the drug solution can be achieved.

[0067] The heating pipe 140 is used to heat the liquid in the medicine container 150 so that the temperature of the medicine is at the treatment temperature. This treatment temperature can be flexibly calibrated according to the actual situation, and no specific limitation is made here.

[0068] The outlet end of the drainage tube 120 is connected to the top of the medicine container 150, and the other end of the drainage tube 120 (i.e., the body outlet end) is used for insertion into the patient's pleural cavity. The first flow meter 121 and the first adjustment mechanism 122 are both located on the side of the drainage tube 120 near the body outlet end.

[0069] The inlet end of the infusion tube 130 is connected to the bottom of the drug container 150; the other end of the infusion tube 130 (i.e., the infusion end) is the end used to insert into the patient's chest cavity.

[0070] The inlet end of the heating pipe 140 can be connected to the bottom of the medicine container 150, and the outlet end of the heating pipe 140 can be connected to the top of the medicine container 150. The heating pipe 140 has a U-shaped heating pipe, and the heating module 143 is installed in the U-shaped heating pipe.

[0071] The controller 110 can use an adaptive control algorithm to control the first regulating mechanism 122 to adjust the flow rate of the liquid output from the drainage pipe 120 based on the target flow rate and the first flow rate collected by the first flow meter 121, so that the difference between the first flow rate and the target flow rate is within a preset flow rate range. The preset flow rate range can be flexibly calibrated according to actual conditions, for example, it can be within ±5% or ±3% of the target flow rate.

[0072] In this embodiment, the first regulating mechanism 122 can be a solenoid valve or a liquid pump. That is, the controller 110 can regulate the flow rate of the liquid output from the drainage pipe 120 by controlling the valve opening of the solenoid valve; or, the controller 110 can regulate the flow rate of the liquid output from the drainage pipe 120 by controlling the rotational speed of the liquid pump. It should be noted that the engineer obtains a first correspondence between valve opening and flow rate, and a second correspondence between liquid pump rotational speed and flow rate through prior calibration; using the first or second correspondence, the corresponding flow rate can be adjusted.

[0073] In this embodiment, the drainage control device 100 may further include a second flow meter 131 and a second regulating mechanism 132. Both the second flow meter 131 and the second regulating mechanism 132 may be disposed on the side of the inlet pipe 130 near the inlet end. Both the second flow meter 131 and the second regulating mechanism 132 are disposed within the inlet pipe 130. The second flow meter 131 is used to collect the second flow rate of the liquid transported by the inlet pipe 130, and the second regulating mechanism 132 is used to regulate the flow rate of the liquid transported by the inlet pipe 130.

[0074] The working principles of the second flow meter 131 and the second regulating mechanism 132 are similar to those of the first flow meter 121 and the first regulating mechanism 122, respectively. For example, the first flow meter 121 can also be used to collect the cumulative flow of liquid transported by the inlet pipe 130 during a single operation, as a second cumulative flow. The second regulating mechanism 132 can be a liquid pump, and the controller 110 can regulate the flow rate of the liquid output from the inlet pipe 130 by controlling the speed of the liquid pump.

[0075] Generally, the flow rate of the intubation tube 130 is set by medical staff (or is the system default value). Once the flow rate is set, there is no need to dynamically adjust the flow rate of the intubation tube 130. However, the flow rate of the drainage tube 120 is easily affected by the user's breathing or other factors, which can lead to unstable flow rate. Therefore, flow rate control is required to ensure a stable drainage flow rate.

[0076] In this embodiment, the controller 110 can also determine the target flow rate based on the first cumulative flow rate collected by the first flow meter 121, the second flow rate collected by the second flow meter 131, and the second cumulative flow rate, or determine the target flow rate based on the control command input by the user.

[0077] Understandably, the target flow rate can be flow rate data manually entered by medical staff, and the target flow rate can be flexibly determined according to the actual situation without specific restrictions here; or, the target flow rate can be determined in real time and dynamically updated based on the first cumulative flow, the second cumulative flow, and the second flow rate.

[0078] The constraints for the target flow rate include: during the delivery of fluid via the drainage tube 120 at the target flow rate, the first cumulative flow rate of the output pleural fluid is less than or equal to the second cumulative flow rate of the input pleural fluid, and the flow difference between the second and first cumulative flow rates is less than or equal to the preset flow rate. This helps to ensure that the amount of medication in the pleural cavity remains within a relatively stable range during the circulation of the medication, avoiding excessive or insufficient medication in the pleural cavity. The preset flow rate can be flexibly determined according to actual conditions and is not specifically limited here.

[0079] In this embodiment, the expression for the control output of the adaptive control algorithm is:

[0080]

[0081] In the formula, u(t) represents the control output, which is the control signal that controls the first regulating mechanism 122 to regulate the flow rate of the liquid output from the drainage pipe 120. This control signal is used to adjust the valve opening of the solenoid valve or the speed of the liquid pump to achieve flow rate regulation; K p K i and K d These represent the dynamic proportional coefficient, dynamic integral coefficient, and dynamic differential coefficient, respectively; e(t) is the deviation between the first flow velocity and the target flow velocity; t refers to time; K p K i and K d The dynamic calculation formula is:

[0082] K p (k+1)=K p (k)+α p ΔQ(k) (2)

[0083]

[0084] K d (k+1)=K d (k)+α d (ΔQ(k)-ΔQ(k-1)) (4)

[0085] In the formula, k refers to the number of iterations; α p α i and α d The first adaptive parameter, the second adaptive parameter, and the third adaptive parameter are respectively; ΔQ(k) represents the deviation between the first flow velocity and the target flow velocity in the k-th iteration;

[0086]

[0087]

[0088] α d =K d0 ·e -b|ΔQ(k)| (7)

[0089] In the formula, K p0 K i0 and K d0 These are the initial proportional coefficient, initial integral coefficient, and initial derivative coefficient, respectively; a refers to the adjustment parameter; b refers to the attenuation parameter; and e refers to the natural constant.

[0090] In this embodiment, K p0 K i0 K d0 Parameters such as a, b, etc., can be obtained through calibration and adjusted according to the device's response speed to changes in flow velocity error. As an example, K... p0 The value range of K can be [0.01, 0.1]; i0 The value range of K can be [0.001, 0.01], which can effectively prevent integral saturation; d0 The value range of can be [0.05, 0.2]; the value range of b can be [2, 5]; the value range of b can be [1, 3]. This can enhance the differential action and accelerate the system response when the flow velocity error is large.

[0091] The drainage control device 100 may also include a display module and a prompt module, both of which are electrically connected to the controller 110.

[0092] The display module is used to display specified data, which may include, but is not limited to, a first flow rate, a first cumulative flow rate, a second flow rate, a second cumulative flow rate, a first temperature value, and a second temperature value; wherein, the first temperature value is the temperature data collected by the first temperature sensor 141, and the second temperature value is the temperature data collected by the second temperature sensor 142.

[0093] The display module can be a touch screen, or it can be used as an input module for inputting the target flow rate.

[0094] The alert module may include alert lights, speakers, etc., which can provide visual and audible alerts. Additionally, the display module can display the alarm alert content from the alert module.

[0095] The alert module is used to issue an alarm alert when preset trigger conditions are met; the preset trigger conditions include at least one of the following:

[0096] The drainage tube 120 is blocked;

[0097] The intubation tube 130 is blocked;

[0098] The flow difference is greater than the preset flow;

[0099] The first flow rate exceeds the first preset flow rate;

[0100] The second flow rate exceeds the second preset flow rate.

[0101] The method of pipe blockage can be flexibly determined according to the actual situation. For example, if the controller 110 detects that the liquid pump in the inlet pipe 130 is operating normally, but the flow rate detected by the first flow meter 121 or the second flow meter 131 is lower than the corresponding threshold, then it is confirmed that there is a corresponding pipe blockage. The preset flow rate and other thresholds can be flexibly set according to the actual situation.

[0102] The prompt module can issue different types of prompts under different triggering conditions. Different types of prompts can refer to different light colors, different sound content, different text content, etc., without specific limitations here.

[0103] In this embodiment, the two ends of the heating pipe 140 are connected to the liquid medicine container 150, and the two ends of the heating pipe 140 are respectively provided with a first temperature sensor 141 and a second temperature sensor 142; the first temperature sensor 141 and the second temperature sensor 142 can be set at both ends of the U-shaped heating pipe 140.

[0104] The controller 110 is also used to control the heating module 143 in the heating pipe 140 to adjust the heating power based on the temperature data collected by the first temperature sensor 141 and the second temperature sensor 142, so that the temperature of the liquid output by the heating pipe 140 is within a preset temperature range. The preset temperature range can be flexibly determined according to the actual situation, and is not specifically limited here.

[0105] A liquid pump can be installed in the heating pipe 140 to pump the liquid in the medicine container 150 to the heating pipe 140 for circulation heating.

[0106] The drainage control device 100 may also include a liquid infusion line 160 connected to the liquid container 150. A liquid infusion device 161 is provided in the liquid infusion line 160, which can infuse a certain amount of liquid into the liquid container through the liquid infusion line 160.

[0107] In this embodiment, the liquid medicine container 150 can be a liquid medicine bag. The liquid addition pipe 160 can be connected to the top of the liquid medicine container 150.

[0108] Based on the above design, the drainage control device 100 adjusts the PID parameters in real time according to the flow velocity difference ΔQ and the dynamic characteristics of the system (such as flow rate difference) through an adaptive control algorithm. Traditional PID control is difficult to adaptively adjust the control parameters when facing changes in working conditions such as changes in pipeline resistance and changes in patient position during drainage, and is prone to overshoot or slow adjustment. However, the adaptive control algorithm in this application can quickly respond to changes in flow velocity, optimize PID parameters, and realize automatic adjustment of the flow velocity of the drainage pipeline 120 through specific adaptive laws such as formulas (2) to (4), ensuring stable drainage speed. Taking a sudden increase in pipeline resistance as an example, the device can adjust the parameters within 1-2 sampling periods to make the actual first flow velocity quickly approach the target flow velocity, avoiding the impact of excessive flow velocity fluctuation on drainage effect and patient safety. By introducing an anti-integral saturation mechanism (parameter α in formula (6) i and K i0 The system incorporates design features, flow rate limiting, and fault diagnosis technologies to further enhance its robustness and reliability. An anti-integral saturation mechanism prevents the integral term from overacting during error accumulation, avoiding system malfunctions. Flow rate limiting ensures stable flow changes, preventing harm to patients from sudden flow rate changes. Fault diagnosis and tolerance functions promptly detect malfunctions such as pipe blockage and pump abnormalities, and take corresponding measures, such as switching to backup control mode and triggering alarms, reducing medical risks. This device offers advantages such as precise control, ensuring effective circulation during intrathoracic hyperthermic perfusion chemotherapy, ease of operation, and high safety, making it suitable for various medical drainage scenarios.

[0109] Please refer to Figure 3 This application provides a drainage control method that can be applied to the aforementioned drainage control device 100, with the device executing or implementing the various steps of the method. The drainage control method may include the following steps:

[0110] Step 210: The first flow rate of the liquid transported by the drainage pipe 120 is collected by the first flow meter 121;

[0111] Step 220: Based on the target flow rate and the first flow rate collected by the first flow meter 121, the controller 110 uses an adaptive control algorithm to control the first regulating mechanism 122 to adjust the flow rate of the liquid output from the drainage pipe 120, so that the difference between the first flow rate and the target flow rate is within a preset flow rate range.

[0112] Between step 210 and step 220, the method may further include:

[0113] The target flow rate is determined based on the first cumulative flow rate collected by the first flow meter 121, the second flow rate collected by the second flow meter 131, and the second cumulative flow rate, or based on a control command input by the user; wherein the target flow rate satisfies the following constraints: during the period when the drainage pipe 120 delivers liquid at the target flow rate, the first cumulative flow rate of the output pleural fluid is less than or equal to the second cumulative flow rate of the input pleural fluid, and the flow rate difference between the second cumulative flow rate and the first cumulative flow rate is less than or equal to a preset flow rate.

[0114] In step 230, based on the target flow rate and the first flow rate collected by the first flow meter 121, the controller 110 uses an adaptive control algorithm to control the first regulating mechanism 122 to adjust the flow rate of the liquid output from the drainage pipe 120, including:

[0115] Based on the target flow rate and the first flow rate collected by the first flow meter 121, the controller 110 uses an adaptive control algorithm to determine the control signal for the first regulating mechanism 122 to regulate the flow rate of the liquid output from the drainage pipe 120. The method for determining the control signal is described in the aforementioned formulas (1) to (7).

[0116] Based on the control signal, the first regulating mechanism 122 is controlled to operate, so as to regulate the flow rate of the liquid output from the drainage pipe 120 and make the difference between the first flow rate and the target flow rate within a preset flow rate range.

[0117] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the method described above can be referred to the corresponding processing process of each module in the aforementioned drainage control device 100, and will not be elaborated further here.

[0118] Based on the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by hardware or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This software product can be stored in a non-volatile storage medium (such as CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various implementation scenarios of this application.

[0119] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus and method embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functions, and operations of possible implementations of apparatus and methods according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0120] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A pleural hyperthermic perfusion circulation tubing drainage control device, characterized in that, The device includes: Controller; First flow meter; First regulatory body; The medicine container, and the infusion pipe, drainage pipe and heating pipe connected to the medicine container; Both the first flow meter and the first regulating mechanism are disposed in the drainage pipe. The first flow meter is used to collect the first flow rate of the liquid transported by the drainage pipe. The inlet pipe is used to input the liquid in the medicine container into the pleural cavity. The drainage pipe is used to drain the liquid in the pleural cavity to the medicine container. The heating pipe is used to heat the liquid in the medicine container. The controller is used to control the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe according to the target flow rate and the first flow rate collected by the first flow meter, using an adaptive control algorithm, so that the difference between the first flow rate and the target flow rate is within a preset flow rate range.

2. The apparatus according to claim 1, characterized in that, The device further includes a second flow meter and a second regulating mechanism, both of which are disposed in the inlet pipe. The second flow meter is used to collect the second flow rate of the liquid transported in the inlet pipe, and the second regulating mechanism is used to regulate the flow rate of the liquid transported in the inlet pipe. The controller is also configured to determine the target flow rate based on the first cumulative flow rate collected by the first flow meter, the second flow rate collected by the second flow meter, and the second cumulative flow rate, or to determine the target flow rate based on a control command input by the user. The constraints that the target flow rate must satisfy include: during the period when the drainage tube delivers liquid at the target flow rate, the first cumulative flow rate of the output pleural fluid is less than or equal to the second cumulative flow rate of the input pleural fluid, and the flow rate difference between the second cumulative flow rate and the first cumulative flow rate is less than or equal to a preset flow rate.

3. The apparatus according to claim 2, characterized in that, The expression for the control output of the adaptive control algorithm is: In the formula, u(t) represents the control output, which is the control signal that controls the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe; K p K i and K d These represent the dynamic proportional coefficient, dynamic integral coefficient, and dynamic differential coefficient, respectively; e(t) is the deviation between the first flow velocity and the target flow velocity; t refers to time; K p K i and K d The dynamic calculation formula is: K p (k+1)=K p (k)+α p ΔQ(k) K d (k+1)=K d (k)+α d (ΔQ(k)-ΔQ(k-1)) In the formula, k refers to the number of iterations, and α p α i and α d The first adaptive parameter, the second adaptive parameter, and the third adaptive parameter are respectively; ΔQ(k) represents the deviation between the first flow velocity and the target flow velocity in the k-th iteration; a d =K d0 ·e -b|ΔQ(k)| In the formula, K p0 K i0 and K d0 These are the initial proportional coefficient, initial integral coefficient, and initial derivative coefficient, respectively; a refers to the adjustment parameter; b refers to the attenuation parameter; and e refers to the natural constant.

4. The apparatus according to claim 2, characterized in that, The device also includes a display module and a prompt module, both of which are electrically connected to the controller; The display module is used to display specified data, including a first flow rate and a first cumulative flow. The notification module is used to issue an alarm notification when a preset trigger condition is met; the preset trigger condition includes at least one of the following: The drainage pipe is blocked; The intubation tube was blocked; The flow difference is greater than the preset flow; The first flow rate exceeds the first preset flow rate; The second flow rate exceeds the second preset flow rate.

5. The apparatus according to claim 1, characterized in that, The two ends of the heating pipe are connected to the liquid medicine container, and a first temperature sensor and a second temperature sensor are respectively installed at the two ends of the heating pipe. The controller is also used to control the heating module in the heating pipeline to adjust the heating power based on the temperature data collected by the first temperature sensor and the second temperature sensor, so that the temperature of the liquid output by the heating pipeline is within a preset temperature range.

6. The apparatus according to claim 1, characterized in that, The first regulating mechanism is a solenoid valve or a liquid pump.

7. The apparatus according to claim 1, characterized in that, The device also includes a liquid addition pipeline connected to the liquid container.

8. A drainage control method, characterized in that, Applied to the apparatus of any one of claims 1-7, the method comprises: The first flow velocity of the liquid transported through the drainage pipeline is collected by the first flow meter; Based on the target flow rate and the first flow rate collected by the first flow meter, the controller uses an adaptive control algorithm to control the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe, so that the difference between the first flow rate and the target flow rate is within a preset flow rate range.

9. The method according to claim 8, characterized in that, The method further includes the steps of collecting the first flow rate of the liquid transported through the drainage pipe by a first flow meter, and the steps of controlling the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe by an adaptive control algorithm based on the target flow rate and the first flow rate collected by the first flow meter. The target flow rate is determined based on the first cumulative flow rate collected by the first flow meter, the second flow rate collected by the second flow meter, and the second cumulative flow rate, or based on a control command input by the user; wherein the target flow rate satisfies the following constraints: during the period when the drainage tube delivers liquid at the target flow rate, the first cumulative flow rate of the output pleural fluid is less than or equal to the second cumulative flow rate of the input pleural fluid, and the flow rate difference between the second cumulative flow rate and the first cumulative flow rate is less than or equal to a preset flow rate.

10. The method according to claim 9, characterized in that, Based on the target flow rate and the first flow rate collected by the first flow meter, the controller uses an adaptive control algorithm to control the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe, including: Based on the target flow rate and the first flow rate collected by the first flow meter, the controller uses an adaptive control algorithm to determine the control signal for the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe, expressed as: In the formula, u(t) represents the control output, which is the control signal that controls the first regulating mechanism to adjust the flow rate of the liquid output from the drainage pipe; K p K i and K d These represent the dynamic proportional coefficient, dynamic integral coefficient, and dynamic differential coefficient, respectively; e(t) is the deviation between the first flow velocity and the target flow velocity; t refers to time; K p K i and K d The dynamic calculation formula is: K p (k+1)=K p (k)+α p ΔQ(k) K d (k+1)=K d (k)+α d (ΔQ(k)-ΔQ(k-1)) In the formula, k refers to the number of iterations, and α p α i and α d The first adaptive parameter, the second adaptive parameter, and the third adaptive parameter are respectively; ΔQ(k) represents the deviation between the first flow velocity and the target flow velocity in the k-th iteration; a d =K d0 ·e -b|ΔQ(k)| In the formula, K p0 K i0 and K d0 These are the initial proportional coefficient, initial integral coefficient, and initial derivative coefficient, respectively; a refers to the adjustment parameter; b refers to the attenuation parameter; and e refers to the natural constant. Based on the control signal, the first regulating mechanism is controlled to operate, so as to regulate the flow rate of the liquid output from the drainage pipe and make the difference between the first flow rate and the target flow rate within a preset flow rate range.

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