Cardio-pulmonary resuscitation control system capable of automatically adjusting thoracic springback pressure

Abstract

The invention relates to the technical field of first-aid medical equipment, and discloses a cardio-pulmonary resuscitation control system capable of automatically adjusting thoracic springback pressure, and the system comprises a pressure monitoring module which is used for monitoring the real-time pressure between a pressing mechanism and a thoracic cavity; the analysis module is used for analyzing the monitored real-time pressure and obtaining an analysis result about whether the thoracic cavity is completely rebounded or not; the control module is used for controlling the pressing mechanism according to the analysis result, so that the real-time pressure between the pressing mechanism and the thoracic cavity meets the target pressure when the thoracic cavity completely rebounds. The chest spring-back pressure monitoring device can monitor, analyze and control the pressure during chest spring-back in real time, and by controlling the lifting speed of the pressing head and automatically adjusting the chest spring-back pressure, complete spring-back of the chest in the cardiopulmonary resuscitation stage is guaranteed, blood circulation and effective ventilation are guaranteed, and the cardiopulmonary resuscitation effect is improved; the pain point of sufficient springback of the chest after pressing is solved, closed loop of pressure monitoring and control during springback of the chest is achieved, and important data support is provided for clinic.

Description

Technical Field

[0001] This invention relates to the field of emergency medical equipment technology, and more specifically, to a cardiopulmonary resuscitation control system with automatic adjustment of chest cavity recoil pressure. Background Technology

[0002] Cardiopulmonary resuscitation (CPR) is becoming increasingly popular in the emergency treatment of patients with sudden cardiac arrest. With the deepening of clinical application and academic research, CPR techniques have led to the formulation of high-quality CPR requirements and the establishment of CPR quality control standards.

[0003] The primary goal of cardiopulmonary resuscitation (CPR) is the effectiveness of chest compressions, which refers to achieving effective blood circulation in the patient through a prescribed compression technique. Currently, a wide variety of CPR techniques and equipment are available on the market, such as direct compressions (including manual and mechanical compressions), bandage compressions, chest compressions combined with bandage compressions, and abdominal lift compressions. These different techniques all aim to enhance blood circulation in the patient during emergency treatment through compression and squeezing.

[0004] Currently, the clinical rules for cardiopulmonary resuscitation (CPR) are largely derived from a large amount of clinical CPR data. The core standards for chest compressions are: 1. Compression depth: recommended to be greater than 5 cm for adults; 2. Compression rate: greater than 100 compressions per minute; 3. Complete chest recoil after each compression.

[0005] Existing cardiopulmonary resuscitation (CPR) equipment is designed and manufactured to meet these clinical guidelines, achieving the required compression depth and frequency. However, due to equipment limitations, it is impossible to control and monitor the adequate chest / thoracic recoil pressure after each compression. This deficiency severely impacts the quality and quality control evaluation standards of CPR. Currently, methods for controlling and monitoring chest / thoracic recoil pressure using pressure feedback are lacking. Proposing such methods is of significant clinical importance for developing high-quality CPR and its quality control evaluation standards.

[0006] Therefore, it is necessary to propose a cardiopulmonary resuscitation control system with automatic regulation of thoracic recoil pressure to at least partially solve the problems existing in the prior art. Summary of the Invention

[0007] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0008] To at least partially solve the above problems, the present invention provides a cardiopulmonary resuscitation control system with automatic adjustment of intrathoracic recoil pressure, comprising:

[0009] The pressure monitoring module is used to monitor the real-time pressure between the compression mechanism and the chest cavity;

[0010] The analysis module is used to analyze the monitored real-time pressure and obtain the analysis results of whether the thoracic cavity has fully rebounded.

[0011] The control module controls the compression mechanism based on the analysis results to ensure that the real-time pressure between the compression mechanism and the chest cavity meets the target pressure when the chest cavity fully recoils.

[0012] Preferably, the pressure monitoring module includes a pressure sensor disposed inside the compression head of the compression mechanism, used to acquire the real-time pressure between the compression head and the chest cavity.

[0013] Preferably, the analysis module includes:

[0014] The analysis unit analyzes the real-time pressure monitored by the pressure monitoring module based on the target pressure and obtains the analysis results.

[0015] The result output unit outputs the analysis results to the control module.

[0016] The analysis results include: if the real-time pressure meets the target pressure, the chest cavity fully rebounds; if the real-time pressure does not meet the target pressure, the chest cavity does not fully rebound, and the rebound pressure deviation between the real-time pressure and the target pressure is obtained.

[0017] Preferably, the control module includes:

[0018] When the analysis result indicates that the chest cavity has not fully recoiled, the PID controller uses the rebound pressure deviation between the real-time pressure and the target pressure as the input of the PID controller, and the lifting speed correction of the compression head of the compression mechanism as the output of the PID controller. The lifting speed of the compression head is controlled according to the lifting speed correction output by the PID controller.

[0019] Preferably, the control module further includes:

[0020] The parameter adjustment unit reduces the value of the proportional gain parameter in the PID controller when the rebound pressure deviation is greater than the set pressure deviation, and restores the proportional gain parameter in the PID controller to its original value when the rebound pressure deviation is less than or equal to the set pressure deviation.

[0021] Preferably, the control module further includes:

[0022] The first lifting control unit controls the pressing mechanism to lift the pressing head to the preset height at the maximum lifting speed when the real-time pressure is greater than the set pressure.

[0023] The second lifting control unit controls the lifting speed of the pressing head through a PID controller when the real-time pressure is less than or equal to the set pressure.

[0024] Preferably, the control module further includes:

[0025] The parameter optimization unit is used to optimize the current proportional gain parameter, current integral gain parameter, and current derivative gain parameter of the PID controller within a set time interval using the gradient descent method, so as to obtain new proportional gain parameters, new integral gain parameters, and new derivative gain parameters.

[0026] Preferably, it also includes:

[0027] The prediction module is used to predict the relationship curve between the lifting speed of the compression head of the compression mechanism and time during the chest recoil phase. During chest recoil, the predicted lifting speed is obtained at each moment based on the predicted relationship curve between the lifting speed and time.

[0028] Preferably, the control module includes:

[0029] When the analysis result indicates that the chest cavity has not fully rebounded, the PID controller integrates the rebound pressure deviation between the real-time pressure and the target pressure, as well as the speed difference between the predicted lifting speed and the actual lifting speed. The rebound pressure deviation obtained after integration is used as the input of the PID controller, and the lifting speed correction of the pressing head of the pressing mechanism is used as the output of the PID controller. The lifting speed of the pressing head is controlled according to the lifting speed correction output by the PID controller.

[0030] Preferably, it also includes:

[0031] The control coordination module is used to control the lifting of the compression head of the compression mechanism during the ventilation or defibrillation phase, so that the real-time pressure between the compression head and the chest cavity is zero.

[0032] Compared with the prior art, the present invention has at least the following beneficial effects:

[0033] The cardiopulmonary resuscitation control system with automatic chest cavity recoil pressure adjustment described in this invention can monitor, analyze, and control the pressure during chest cavity recoil in real time. By controlling the lifting speed of the compression head, it automatically adjusts the chest cavity recoil pressure to ensure that the real-time chest cavity recoil pressure meets the target pressure, guaranteeing that the chest cavity can fully recoil during the cardiopulmonary resuscitation phase, thus ensuring blood circulation and effective ventilation, improving the effectiveness of cardiopulmonary resuscitation, and making the chest cavity recoil pressure meet clinical requirements. It solves the pain point of sufficient chest cavity recoil after compression in cardiopulmonary resuscitation, realizes a closed loop of monitoring and control of chest cavity recoil pressure, and can provide important data support for clinical practice.

[0034] The cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity rebound pressure described in this invention, other advantages, objectives and features of this invention will be partly apparent from the following description, and partly understood by those skilled in the art through study and practice of this invention. Attached Figure Description

[0035] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0036] Figure 1 This is a control block diagram of the cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity rebound pressure according to the present invention.

[0037] Figure 2 This is a block diagram of the analysis module in the cardiopulmonary resuscitation control system with automatic adjustment of thoracic recoil pressure described in this invention.

[0038] Figure 3 This is a block diagram of the control module in the cardiopulmonary resuscitation control system with automatic adjustment of thoracic recoil pressure according to the present invention.

[0039] Figure 4 This is a schematic diagram of the rebound pressure curve during chest cavity rebound in the cardiopulmonary resuscitation control system with automatic chest cavity rebound pressure adjustment described in this invention. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0041] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0042] like Figure 1 and Figure 4 As shown, the present invention provides a cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity recoil pressure, comprising:

[0043] The pressure monitoring module is used to monitor the real-time pressure between the compression mechanism and the chest cavity;

[0044] Specifically, the pressure monitoring module includes: a pressure sensor, which is installed inside the compression head of the compression mechanism to obtain the real-time pressure between the compression head and the chest cavity; the bottom of the compression mechanism is provided with a compression head that contacts the chest cavity, and multiple pressure sensors are evenly distributed inside the compression head to detect the real-time compression pressure during compression and the real-time pressure during chest cavity rebound.

[0045] The analysis module is used to analyze the monitored real-time pressure and obtain the analysis results of whether the thoracic cavity has fully rebounded.

[0046] As the chest recoils, the compression head rises, causing a change in pressure between the compression head and the chest cavity. To facilitate real-time pressure control between the chest cavity and the compression head, it is necessary to analyze the real-time pressure to determine whether the chest cavity has fully recoiled. A standard for full chest recoil can be preset to achieve effective analysis of real-time pressure.

[0047] The control module controls the compression mechanism based on the analysis results to ensure that the real-time pressure between the compression mechanism and the chest cavity meets the target pressure when the chest cavity fully recoils.

[0048] During chest recoil, the control module controls the compression head to move upwards according to a pre-set lifting strategy. The control module can also adjust the lifting speed of the compression head in real time based on the analysis results to ensure complete chest recoil. The target pressure for complete chest recoil is the initial contact pressure between the compression head and the chest cavity when compression begins. The target pressure can be set to 0.1 kg. When the real-time pressure is less than or equal to 0.1 kg, it indicates that the real-time pressure meets the target pressure for complete chest recoil.

[0049] The above design enables real-time monitoring, analysis, and control of chest recoil pressure. By controlling the lifting speed of the compression head, the chest recoil pressure is automatically adjusted to ensure that the real-time chest recoil pressure meets the target pressure. This guarantees that the chest cavity can fully recoil during cardiopulmonary resuscitation (CPR), ensuring blood circulation and effective ventilation, improving the effectiveness of CPR, and making the chest recoil pressure meet clinical requirements. It solves the pain point of ensuring sufficient chest recoil after compression in CPR, realizes a closed loop for monitoring and controlling chest recoil pressure, and can provide important data support for clinical practice.

[0050] like Figure 2 As shown, in one embodiment, the analysis module includes:

[0051] The analysis unit analyzes the real-time pressure monitored by the pressure monitoring module based on the target pressure and obtains the analysis results.

[0052] The result output unit outputs the analysis results to the control module.

[0053] The analysis results include: if the real-time pressure meets the target pressure, the chest cavity fully rebounds; if the real-time pressure does not meet the target pressure, the chest cavity does not fully rebound, and the rebound pressure deviation between the real-time pressure and the target pressure is obtained.

[0054] The analysis unit is used to compare the real-time pressure with the target pressure. If the real-time pressure is less than or equal to the target pressure, the real-time pressure meets the target pressure, indicating that the chest cavity has fully rebounded. If the real-time pressure is greater than the target pressure, the real-time pressure does not meet the target pressure, indicating that the chest cavity has not fully rebounded. The difference between the real-time pressure and the target pressure is obtained, which is the rebound pressure deviation.

[0055] Then, when the chest cavity has fully recoiled, the result output unit outputs the control command corresponding to this analysis result to the control module. The control module continues to control the lifting of the compression head according to the pre-set lifting strategy. When the chest cavity has not fully recoiled, the result output unit outputs the control command corresponding to this analysis result to the control module. The control module controls the lifting speed of the compression head in real time according to the recoil pressure deviation to ensure that the real-time pressure meets the target pressure and ensures the effect of full chest cavity recoil.

[0056] In one embodiment, the control module includes:

[0057] When the analysis result indicates that the chest cavity has not fully recoiled, the PID controller uses the rebound pressure deviation between the real-time pressure and the target pressure as the input of the PID controller, and the lifting speed correction of the compression head of the compression mechanism as the output of the PID controller. The lifting speed of the compression head is controlled according to the lifting speed correction output by the PID controller.

[0058] The control formula corresponding to the PID controller is:

[0059]

[0060] Among them, K p K i and K d These are the proportional gain, integral gain, and derivative gain parameters of the PID controller, respectively; e(t) is the rebound pressure deviation at time t; and ΔV(t) is the correction amount for the lifting speed of the pressing head at time t. This indicates an integral operation performed on the rebound pressure deviation. This represents the operation of differentiating the rebound pressure deviation;

[0061] e(t) is used as the input of the PID controller, and ΔV(t) is used as the output of the PID controller. The compression mechanism is controlled by the output lifting speed correction, so as to correct the lifting speed of the compression head, ensuring that the real-time pressure between the compression head and the chest cavity meets the target pressure, and ensuring the effect of complete chest cavity rebound.

[0062] In one embodiment, the control module further includes:

[0063] The parameter adjustment unit reduces the value of the proportional gain parameter in the PID controller when the rebound pressure deviation is greater than the set pressure deviation, and restores the proportional gain parameter in the PID controller to its original value when the rebound pressure deviation is less than or equal to the set pressure deviation.

[0064] To ensure the stability of the lifting speed adjustment, this embodiment adds an adjustment to the proportional gain parameter based on the aforementioned embodiment. This is to prevent the lifting speed adjustment from being too large, which could cause the compression head to detach from the chest cavity. If the compression is performed again after detachment, the compression head may exert an impact force on the chest cavity, posing a safety risk.

[0065] Before adjusting the lifting speed, the rebound pressure deviation and the set pressure deviation are compared. For example, if the set pressure deviation is 0.3 kg, and the rebound pressure deviation is greater than 0.3 kg, it is determined that the real-time pressure and the target pressure are in a state of large deviation. If a high proportional gain parameter is maintained, the lifting speed adjustment will be too large, and the proportional gain parameter needs to be reduced. For example, if the original value of the proportional gain parameter is 2, then when the rebound pressure deviation is greater than 0.3 kg, the proportional gain parameter is reduced to 1. The reduction ratio can be selected between 0.3 and 1, and is also determined based on multiple tests. When the rebound pressure deviation is less than or equal to 0.3 kg, the proportional gain parameter is restored to the original parameter value of 2 to ensure convergence accuracy and improve the control effect of lifting speed.

[0066] like Figure 3 As shown, in one embodiment, the control module further includes:

[0067] The first lifting control unit controls the pressing mechanism to lift the pressing head to the preset height at the maximum lifting speed when the real-time pressure is greater than the set pressure.

[0068] The pressure setting range is 0.5kg to 1kg, and any value can be selected within this range. The first lifting control unit mainly controls the lifting speed of the compression head at the beginning of the chest recoil stage after the compression operation. When the real-time pressure between the compression head and the chest cavity is relatively large, the head can be lifted to the preset height at the maximum lifting speed to reduce the time of chest recoil and ensure the compression frequency.

[0069] The maximum lifting speed is the ratio of the product of the current compression depth and the safety factor to the maximum rebound time required clinically. The safety factor is 1.2 to 1.5 to avoid rebound delay affecting the compression frequency. The preset height is the product of the initial chest cavity height and the proportionality factor of 0.9, or it can be determined based on multiple clinical data. It is necessary to ensure that the total lifting time of the compression head meets the compression frequency requirements.

[0070] The second lifting control unit controls the lifting speed of the pressing head through a PID controller when the real-time pressure is less than or equal to the set pressure.

[0071] When the real-time pressure is less than or equal to the set pressure of 0.5 kg, the system switches to the dynamic adjustment mode for the lifting speed. This means that the lifting speed of the pressing head is controlled in real time by the PID controller so that the real-time pressure meets the target pressure.

[0072] By dividing the lifting control of the compression head into two stages, it is possible to ensure that the time for chest recoil meets clinical requirements, while ensuring real-time monitoring and control of chest recoil, thereby improving the control effect of complete chest recoil.

[0073] Alternatively, during the chest recoil phase, the lifting speed of the compression head can be controlled solely by a PID controller. This lifting speed must ensure that the total lifting time of the compression head during the chest recoil phase meets the compression frequency requirements, thereby ensuring the recoil pressure... Figure 4 The state shown should be kept constant to ensure complete rebound of the thoracic cavity.

[0074] In one embodiment, the control module further includes:

[0075] The parameter optimization unit is used to optimize the current proportional gain parameter, current integral gain parameter, and current derivative gain parameter of the PID controller within a set time interval using the gradient descent method, so as to obtain new proportional gain parameters, new integral gain parameters, and new derivative gain parameters.

[0076] The parameter optimization unit can be used selectively, mainly in the initial stage of cardiopulmonary resuscitation, to optimize the three parameters of the PID controller online, so as to improve the control and adjustment accuracy of the real-time pressure of the chest cavity rebound.

[0077] Specifically, for example, during the initial stage of cardiopulmonary resuscitation, parameter updates can be performed every 5 PID control cycles. The formula for updating the three parameters is as follows:

[0078]

[0079] Among them, K p K i and K dThese are the current proportional gain parameter, current integral gain parameter, and current derivative gain parameter of the PID controller, respectively, K. p ′、K i ′ and K d ′ represent the updated proportional gain parameter, the new integral gain parameter, and the new derivative gain parameter, respectively, and η is the learning rate, which ranges from 0.01 to 0.1 and is used to control the adjustment range of the parameters;

[0080] The gradient of the cost function J with respect to the PID parameters is expressed mathematically as follows: This indicates the direction in which the cost function changes most rapidly at the current parameter point. Indicates J to K p The partial derivatives, Indicates J to K i The partial derivatives, Indicates J to K d The partial derivatives of , where T is the sign of the matrix transpose;

[0081] Cost function N is the number of samples, P j Let P be the real-time pressure of thoracic cavity rebound at the j-th sampling time. o For target pressure; (P) j -P o ) 2 It can amplify the impact of rebound pressure deviation. The cost function can quantify the control effect under the current PID parameters. For example, the smaller J is, the better the control effect; the larger J is, the greater the deviation of the real-time pressure from the target pressure.

[0082] By taking the partial derivatives of the cost function J with respect to the three parameters, we find the direction in which J decreases. Since the gradient points in the direction of the fastest increase in J, we adjust the PID parameters along the negative gradient direction. We then use the adjusted PID parameters to adjust the lifting speed of the compression head to ensure the accuracy of pressure control during chest recoil.

[0083] In one embodiment, another method for controlling the lifting speed of the pressing head is also provided, employing a predictive module and a PID controller, as detailed below:

[0084] The prediction module is used to predict the relationship curve between the lifting speed of the compression head of the compression mechanism and time during the chest recoil phase. During chest recoil, the predicted lifting speed is obtained at each moment based on the predicted relationship curve between the lifting speed and time.

[0085] The prediction module first fits the rebound dynamics model based on the historical pressure curve during chest rebound. Using the real-time pressure and time data of the chest rebound phase after the first 5 compressions, the parameters in the rebound dynamics model are obtained by fitting with the least squares method. Then, at the initial moment of the current chest rebound phase, the pressure curve of this chest rebound phase is predicted based on the rebound dynamics model, thereby inversely predicting the relationship curve between the lifting speed and time, and thus obtaining the predicted lifting speed at each moment of the current chest rebound.

[0086] Alternatively, the prediction module can train the prediction model based on historical data of the rise velocity and time during chest recoil. The prediction model can be any model in the existing technology. The trained prediction model can be used to predict the rise velocity at each moment of the chest recoil phase.

[0087] In this embodiment, the control module includes:

[0088] When the analysis result indicates that the chest cavity has not fully rebounded, the PID controller integrates the rebound pressure deviation between the real-time pressure and the target pressure, as well as the speed difference between the predicted lifting speed and the actual lifting speed. The rebound pressure deviation obtained after integration is used as the input of the PID controller, and the lifting speed correction of the pressing head of the pressing mechanism is used as the output of the PID controller. The lifting speed of the pressing head is controlled according to the lifting speed correction output by the PID controller.

[0089] The formula for integrating the rebound pressure deviation and the velocity difference is as follows:

[0090]

[0091] Among them, e r (t) represents the rebound pressure deviation obtained after fusion at time t, and P represents the real-time pressure. o For target pressure, (PP) o V represents the rebound pressure deviation at time t. c (t) represents the predicted uplift velocity at time t, V a (t) represents the actual lifting velocity at time t, K g V is the system gain parameter, with a value of 0.8, and the unit is mm / (s·kg). c (t)-V a (t) represents the velocity difference, and β is the mixing factor, which ranges from 0 to 1, with a default value of 0.7.

[0092] e r(t) is used as the input of the PID controller. The lifting speed correction is used to control the compression mechanism and correct the lifting speed of the compression head to ensure that the real-time pressure between the compression head and the chest cavity meets the target pressure and ensures the effect of complete chest cavity rebound.

[0093] In one embodiment, it also includes:

[0094] The control coordination module is used to control the lifting of the compression head of the compression mechanism during the ventilation or defibrillation phase, so that the real-time pressure between the compression head and the chest cavity is zero.

[0095] During the ventilation phase of cardiopulmonary resuscitation, the chest cavity should be completely released during ventilation, that is, the pressure between the chest cavity and the compression head should be zero. During ventilation, the chest cavity rises and falls, and the compression head needs to be controlled to rise to the set position. The set position should ensure that the pressure between the chest cavity and the compression head is zero when the chest cavity rises and falls the most. Only in this way can the effectiveness of ventilation be guaranteed.

[0096] During cardiopulmonary resuscitation (CPR) and defibrillation, it is also necessary to keep the chest cavity completely released, that is, the pressure between the chest cavity and the compression head is zero, so as not to affect the contraction changes of the chest cavity during defibrillation.

[0097] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the present invention, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A cardiopulmonary resuscitation control system with automatic adjustment of intrathoracic recoil pressure, characterized in that, include: The pressure monitoring module is used to monitor the real-time pressure between the compression mechanism and the chest cavity; The analysis module is used to analyze the monitored real-time pressure and obtain the analysis results of whether the thoracic cavity has fully rebounded. The control module controls the compression mechanism based on the analysis results to ensure that the real-time pressure between the compression mechanism and the chest cavity meets the target pressure when the chest cavity fully recoils.

2. The cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity recoil pressure according to claim 1, characterized in that, The pressure monitoring module includes a pressure sensor, which is installed inside the compression head of the compression mechanism to obtain the real-time pressure between the compression head and the chest cavity.

3. The cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity recoil pressure according to claim 1, characterized in that, The analysis module includes: The analysis unit analyzes the real-time pressure monitored by the pressure monitoring module based on the target pressure and obtains the analysis results. The result output unit outputs the analysis results to the control module. The analysis results include: if the real-time pressure meets the target pressure, the chest cavity fully rebounds; if the real-time pressure does not meet the target pressure, the chest cavity does not fully rebound, and the rebound pressure deviation between the real-time pressure and the target pressure is obtained.

4. The cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity recoil pressure according to claim 1, characterized in that, The control module includes: When the analysis result indicates that the chest cavity has not fully recoiled, the PID controller uses the rebound pressure deviation between the real-time pressure and the target pressure as the input of the PID controller, and the lifting speed correction of the compression head of the compression mechanism as the output of the PID controller. The lifting speed of the compression head is controlled according to the lifting speed correction output by the PID controller.

5. The cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity recoil pressure according to claim 4, characterized in that, The control module also includes: The parameter adjustment unit reduces the value of the proportional gain parameter in the PID controller when the rebound pressure deviation is greater than the set pressure deviation, and restores the proportional gain parameter in the PID controller to its original value when the rebound pressure deviation is less than or equal to the set pressure deviation.

6. The cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity recoil pressure according to claim 4, characterized in that, The control module also includes: The first lifting control unit controls the pressing mechanism to lift the pressing head to the preset height at the maximum lifting speed when the real-time pressure is greater than the set pressure. The second lifting control unit controls the lifting speed of the pressing head through a PID controller when the real-time pressure is less than or equal to the set pressure.

7. The cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity recoil pressure according to claim 4, characterized in that, The control module also includes: The parameter optimization unit is used to optimize the current proportional gain parameter, current integral gain parameter, and current derivative gain parameter of the PID controller within a set time interval using the gradient descent method, so as to obtain new proportional gain parameters, new integral gain parameters, and new derivative gain parameters.

8. The cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity recoil pressure according to claim 1, characterized in that, Also includes: The prediction module is used to predict the relationship curve between the lifting speed of the compression head of the compression mechanism and time during the chest recoil phase. During chest recoil, the predicted lifting speed is obtained at each moment based on the predicted relationship curve between the lifting speed and time.

9. The cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity recoil pressure according to claim 8, characterized in that, The control module includes: When the analysis result indicates that the chest cavity has not fully rebounded, the PID controller integrates the rebound pressure deviation between the real-time pressure and the target pressure, as well as the speed difference between the predicted lifting speed and the actual lifting speed. The rebound pressure deviation obtained after integration is used as the input of the PID controller, and the lifting speed correction of the pressing head of the pressing mechanism is used as the output of the PID controller. The lifting speed of the pressing head is controlled according to the lifting speed correction output by the PID controller.

10. The cardiopulmonary resuscitation control system with automatic adjustment of thoracic cavity recoil pressure according to claim 1, characterized in that, Also includes: The control coordination module is used to control the lifting of the compression head of the compression mechanism during the ventilation or defibrillation phase, so that the real-time pressure between the compression head and the chest cavity is zero.

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