Puncture control system and control method

Abstract

The invention discloses a puncture control system and a control method, and relates to the technical field of medical equipment, the system comprises a liquid storage device and a flusher, the flusher comprises a perfusion pump system with injection and suction functions and a control device, and the liquid storage device is connected with the perfusion pump system with the injection and suction functions; the perfusion pump system with injection and suction functions and the liquid storage device are both connected with the control device; the liquid storage devices are used for storing perfusion liquid, and the liquid storage devices are automatically switched through the control device; the control device is used for controlling the perfusion pump system with the injection and suction functions based on the PID control and fuzzy control principle, controlling the speed of perfusion liquid and joint cavity liquid return, and then achieving dynamic balance of inflow and outflow of liquid. The infusion pump has the functions of liquid injection and liquid backflow suction at the same time, liquid inflow and outflow dynamic balance can be achieved, and meanwhile the infusion pump liquid depletion supplementing problem is solved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a puncture control system and control method. Background Technology

[0002] The fields of otolaryngology, sports medicine, spinal surgery, and urology have experienced rapid development thanks to the application and promotion of new surgical technologies and minimally invasive surgical instruments, such as lighting systems, endoscopy, and navigation technology. Simultaneously, with the pursuit of quality of life and the overall trend of consumption upgrading, patients' treatment needs are becoming increasingly apparent, and their willingness to pay has significantly increased, greatly promoting the upgrading of medical services and bringing new growth opportunities to the sports medicine and orthopedic surgery markets.

[0003] Arthroscopic surgery does indeed have unique advantages in treating sports injuries, and low-temperature plasma radiofrequency ablation has been applied in arthroscopic surgery. This technique is advantageous due to its ease of operation, clear visualization, minimal patient trauma, and satisfactory clinical results, and has been widely adopted clinically since its initial report. Currently, arthroscopic surgery often requires the use of saline irrigation solution to fill the joint cavity for arthroscopic manipulation. The process of injecting the irrigation solution into the arthroscopic infusion line is similar to an intravenous infusion for a patient; however, current irrigation pumps only have an injection function and lack negative pressure suction capabilities.

[0004] Therefore, how to provide a puncture system and control method that integrates puncture treatment and adsorption is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a puncture control system and control method, which has both liquid injection and liquid reflux suction functions, can realize dynamic balance of liquid inflow and outflow, and solves the problem of replenishing liquid when the infusion pump is depleted.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A puncture control system includes a liquid storage device and an irrigation device. The irrigation device includes an infusion pump system with injection and suction functions and a control device. The liquid storage device is connected to the infusion pump system, and both the infusion pump system and the liquid storage device are connected to the control device.

[0008] The liquid storage device is used to store the filling liquid, and the control device automatically switches the liquid storage device;

[0009] The control device adopts the principles of PID control and fuzzy control to regulate the infusion pump system, balance the infusion fluid and the return fluid speed of the joint cavity, and thus achieve dynamic balance of fluid inflow and outflow.

[0010] Preferably, it also includes a puncture device;

[0011] The infusion pump system includes an infusion pump module, an inlet pipe, a flushing pipe, a suction pipe, a collection bag, a suction pipe, an inflow velocity sensor, an outflow velocity sensor, an inflow pressure sensor, and an outflow pressure sensor. The infusion pump module is connected to a storage device through the inlet pipe, and to a puncture device through the flushing pipe. The suction pipe is connected to the inlet of the collection bag, and the outlet of the collection bag is connected to the infusion pump module through the suction pipe. The inflow velocity sensor and the inflow pressure sensor are mounted on the flushing pipe, and the outflow velocity sensor and the outflow pressure sensor are mounted on the suction pipe.

[0012] The inflow velocity sensor, outflow velocity sensor, inflow pressure sensor, and outflow pressure sensor are all connected to the control device.

[0013] Preferably, the infusion pump module includes a diaphragm pump and an air pump. The diaphragm pump is connected to the inlet pipe, the flushing pipe, and the control device, respectively. The air pump is connected to the air suction pipe and the control device, respectively. The diaphragm pump is used to inject the infusion fluid and control the flow rate of the infusion fluid. The air pump is used to aspirate the return fluid from the joint cavity and control the flow rate of the return fluid from the joint cavity.

[0014] Preferably, the liquid storage device includes a main liquid storage device, a backup liquid storage device, a filling liquid tee interface, a liquid level sensor, and a solenoid valve. The main liquid storage device and the backup liquid storage device are connected to the filling liquid tee interface via pipelines. The filling liquid tee interface is connected to the solenoid valve, and the liquid level sensor is installed on the pipeline.

[0015] Both the liquid level sensor and the solenoid valve are connected to the control device.

[0016] Preferably, it also includes a bubble detector and a mechanical vibration device, which are installed on the flushing pipe and are both connected to the control device. The bubble detector is used to detect bubbles in the flushing pipe in real time, and the mechanical vibration device is used to make the bubbles float to the surface by vibration, thereby clearing the bubbles from the pipe.

[0017] Preferably, it also includes an infrared sensor, which is disposed above the suction tube and connected to the control device. The infrared sensor is used to detect the operating status of the return liquid in the suction tube, thereby sensing in real time whether there is a blockage in the pipeline.

[0018] Preferably, the control device includes a data receiving unit, a data processing unit, and an alarm unit;

[0019] The data receiving unit is used to receive the liquid level signal sent by the liquid level sensor, the bubble signal detected by the bubble detector, the inflow velocity sent by the inflow velocity sensor, the outflow velocity sent by the outflow velocity sensor, the inflow pressure sent by the inflow pressure sensor, the outflow pressure sent by the outflow pressure sensor, and the pipeline operating status sent by the infrared sensor.

[0020] The data processing unit is used to control the solenoid valve based on the liquid level signal, thereby controlling the switching between the main liquid storage device and the backup liquid storage device; to control the injection liquid and the return liquid in the joint cavity based on the inflow rate, outflow rate, inflow pressure and outflow pressure and based on the principles of PID control and fuzzy control, thereby achieving dynamic balance of liquid inflow and outflow; to control the operation of the mechanical vibration device based on the bubble signal; and to determine whether the pipeline is blocked based on the pipeline operating status.

[0021] The alarm unit is used to issue an alarm when there is pipe blockage, air bubbles, abnormal flow rate due to pressure changes, or when the liquid level reaches a threshold.

[0022] Preferably, it also includes a plasma system, which is connected to one of the liquid suction tubes;

[0023] and / or a planer blade, the planer blade being connected to one of the suction tubes;

[0024] The two suction tubes are connected to the inlet of the collection bag via a return tee.

[0025] A puncture control method, implemented based on the above system, includes:

[0026] The control device controls the flow of the injection liquid from the storage device into the injection pump system, which has injection and suction functions.

[0027] The control device uses PID control and fuzzy control principles to control the infusion pump system with injection and suction functions, balances the speed of infusion fluid and joint cavity return fluid, and thus achieves dynamic balance of fluid inflow and outflow.

[0028] Preferably, the principles of PID control and fuzzy control specifically include:

[0029] Step 1: Obtain inflow velocity, outflow velocity, inflow pressure, and outflow pressure;

[0030] Step 2: Calculate the velocity difference based on the inflow and outflow velocities, and calculate the pressure difference based on the inflow and outflow pressures.

[0031] ΔQ=Q in -Q out

[0032] Where ΔQ represents the velocity difference, Q in Q represents the inflow velocity. out Indicates the outflow velocity;

[0033] ΔP=P in -P out

[0034] Where ΔP represents the pressure difference, P in P represents inflow pressure. out Indicates outflow pressure;

[0035] Calculate the basic pump speed adjustment based on the velocity difference:

[0036]

[0037] Among them, K p ,K i ,K d These represent proportional gain, integral gain, and derivative gain, respectively. PID Indicates the basic pump speed adjustment amount;

[0038] Step 3: Fuzzyenize the velocity difference and pressure difference, map them to a fuzzy set, and obtain the membership values, specifically:

[0039] Based on the predefined fuzzy input range, determine the fuzzy set labels for the velocity difference and pressure difference;

[0040] Based on the fuzzy set labels, the velocity difference and pressure difference are converted into membership values ​​in the fuzzy set;

[0041] Step 4: Perform fuzzy inference based on the fuzzy rule table and membership values ​​to determine the fuzzy value of the output adjustment, specifically:

[0042] Iterate through all possible combinations of fuzzy rules (Q label P label ), where Q label It is a fuzzy set label for the flow rate difference, P label It is a fuzzy set label for pressure difference;

[0043] Calculate the rule strength of each fuzzy rule: take the smaller value of the membership degree of the velocity difference and pressure difference in their respective fuzzy sets as the rule strength;

[0044] The corresponding output labels are calculated in the fuzzy rule table based on the fuzzy set labels of the velocity difference and the pressure difference.

[0045] The membership value is updated based on the output label and rule strength to obtain a fuzzy output, specifically including:

[0046] If the output label already exists, take the larger value between the output label and the rule strength; if the output label does not exist, take the rule strength as the updated membership value.

[0047] The fuzzy output is converted into a specific numerical value using a defuzzification method, resulting in the fuzzy control adjustment amount u. fuzzy ;

[0048] Step 5: Calculate the final pump speed adjustment amount u based on the basic pump speed adjustment amount and the fuzzy control adjustment amount:

[0049] u = u PID +u fuzzy ;

[0050] Step Six: Calculate the adjustment amounts for the diaphragm pump and the suction pump based on the pump speed adjustment amount:

[0051] u1=k·u

[0052] u2=(1-k)·u

[0053] Where u1 represents the adjustment amount of the diaphragm pump, u2 represents the adjustment amount of the suction pump, and k represents the proportional coefficient, which is dynamically adjusted during operation.

[0054] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a puncture control system and control method that integrates dynamic adjustment of liquid inflow and outflow, bubble detection, blockage detection, and liquid storage switching functions. It can ensure stable and reliable delivery of cleaning fluid to the surgical site and finally complete the development of a sample of integrated cleaning pump for synchronous plasma cutting in arthroscopic surgery. Once this achievement is applied in clinical practice, it can significantly improve the efficiency of arthroscopic surgery and avoid too many complications for patients. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0056] Figure 1 This is a schematic diagram of a puncture control system provided by the present invention.

[0057] Figure 2 This is a schematic diagram of the injection pump module structure provided by the present invention.

[0058] Figure 3 A block diagram of the control device provided by the present invention.

[0059] Figure 4A flowchart of a puncture control method provided by the present invention.

[0060] Figure 5 The flowchart of ID control and fuzzy control provided by this invention.

[0061] Among them, 1. Inlet pipe, 2. Flushing pipe, 3. Suction pipe, 4. Liquid collection bag, 5. Suction pipe, 6. Inflow velocity sensor, 7. Outflow velocity sensor, 8. Diaphragm pump, 9. Suction pump, 10. Main liquid storage device, 11. Backup liquid storage device, 12. Infusion liquid tee interface, 13. Liquid level sensor, 14. Solenoid valve, 15. Bubble detector, 16. Mechanical vibration device, 17. Infrared sensor, 18. Plasma system, 19. Planer blade, 20. Puncture device, 21. Return liquid tee interface, 22. Joint cavity, A. Infusion pump module, B. Control device. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] This invention discloses a puncture control system, such as... Figure 1 As shown, it includes: a liquid storage device and a flushing device, the flushing device including an injection pump system with injection and suction functions and a control device B, the liquid storage device being connected to the injection pump system, and both the injection pump system and the liquid storage device being connected to the control device B;

[0064] The liquid storage device is used to store the filling liquid, and the liquid storage device is automatically switched by the control device B;

[0065] Control device B uses PID control and fuzzy control principles to regulate the infusion pump system, balance the infusion fluid and the return fluid velocity of the joint cavity, and thus achieve dynamic balance of fluid inflow and outflow.

[0066] The infusion pump system of this invention has both injection and suction functions. At the same time, since if the outflow pressure in the joint cavity is greater than the inflow pressure, it will cause intracavitary bleeding and blur the surgical field, this invention achieves dynamic balance of fluid inflow and outflow through PID control and fuzzy control principles.

[0067] like Figure 1As shown, the infusion pump system with injection and suction functions includes an infusion pump module A, an inlet pipe 1, a flushing pipe 2, a suction pipe 3, a effusion bag 4, a suction pipe 5, an inflow velocity sensor 6, an outflow velocity sensor 7, an inflow pressure sensor, and an outflow pressure sensor. The infusion pump module A is connected to a storage device via the inlet pipe 1. The infusion pump module A is also connected to a trocar 20 via the flushing pipe 2. The trocar 20 is used to penetrate the skin and other tissues, providing a channel for surgical instruments to enter the joint cavity 22. The suction pipe 3 is connected to the inlet of the effusion bag 4. The outlet of the effusion bag 3 is connected to the infusion pump module A via the suction pipe 5. The effusion bag 4 is used to collect the return fluid from the joint cavity 22. This is the main area for surgical procedures. The inflow velocity sensor 6 and the inflow pressure sensor are located on the irrigation tube, while the outflow velocity sensor 7 and the outflow pressure sensor are located on the suction tube. The inflow pressure sensor and the outflow pressure sensor are not shown in the figure, but their positions are close to the inflow velocity sensor 6 and the outflow velocity sensor 7, respectively. The inflow velocity sensor 6, the outflow velocity sensor 7, the inflow pressure sensor, and the outflow pressure sensor are all connected to the control device B. The inflow velocity sensor 6, the outflow velocity sensor 7, the inflow pressure sensor, and the outflow pressure sensor are used to monitor the speed at which the irrigation fluid flows into the joint cavity 22, the speed at which the fluid flows out, the inflow pressure of the tube, and the outflow pressure of the tube, respectively.

[0068] In order to reduce the risk of postoperative infection and the probability of performance decline, and to ensure low cost, the present invention uses disposable instruments such as inlet tube 1, flushing tube 2, suction tube 3, effusion bag 4, and suction tube 5, all of which are made of plastic.

[0069] like Figure 2 As shown, the infusion pump module A includes a diaphragm pump 8 and an aspiration pump 9, etc. Other conventional components are not listed. The diaphragm pump 8 is connected to the inlet pipe 1, the flushing pipe 2, and the control device B, respectively. The aspiration pump 9 is connected to the aspiration pipe 5 and the control device B, respectively. The diaphragm pump 8 is used to inject the infusion fluid and control the flow rate of the infusion fluid. The aspiration pump 9 is used to aspirate the return fluid from the joint cavity 22 and control the return fluid flow rate of the joint cavity 22. Specifically, after the fluid enters the inlet pipe 1, the fluid is injected into the flushing pipe 2 by the diaphragm pump 8, and then injected into the joint cavity 22 through the puncture device 20. At the same time, the aspiration pump 9 works to aspirate gas, creating a negative pressure in the effusion bag 4. This negative pressure is then aspirated through the aspiration pipe 3 to the blade 19 / plasma system 18 and then to the joint cavity 22, aspirating the return fluid from inside the joint cavity 22.

[0070] like Figure 1As shown, the liquid storage device includes a main liquid storage device 10, a backup liquid storage device 11, a three-way inlet for perfusion liquid 12, a level sensor 13, and a solenoid valve 14. The main liquid storage device 10 and the backup liquid storage device 11 are connected to the three-way inlet for perfusion liquid 12 via pipelines. The three-way inlet for perfusion liquid 12 is connected to the solenoid valve 14, which controls the flow path of the liquid. The level sensor 13 is installed on the pipeline. Both the level sensor 13 and the solenoid valve 14 are connected to the control device B. The main liquid storage device 10 and the backup liquid storage device 11 store the perfusion liquid, specifically physiological saline.

[0071] This invention proposes for the first time the setting of a backup fluid storage device 11. A level sensor 13 monitors the fluid storage device, and upon alarming of the fluid level, a solenoid valve automatically switches the system to the backup fluid storage device, eliminating the need for manual switching and shortening surgical time. Specifically, this invention defaults to connecting to the main fluid storage device 10. When the level sensor 13 detects that the fluid level has reached a threshold, the control device B controls the solenoid valve 14 to automatically switch to the backup fluid storage device 11. This solves the problems in existing arthroscopic surgeries where, when the infusion pump runs out of fluid and needs replenishment, the operating system must be shut down and the surgery paused to add saline, prolonging the surgical time and potentially causing tissue damage or thermal damage from abnormally hot surgical electrodes.

[0072] In order to reduce the risk of postoperative infection and the probability of performance decline, and to ensure low cost, both the main reservoir 10 and the backup reservoir 11 of this invention are saline bags, which are disposable instruments.

[0073] In this embodiment, since bubbles will be generated in the joint cavity 11 when saline is injected into it, which will blur the surgical field of vision, the present invention also provides a bubble detector 15 and a mechanical vibration device 16. The bubble detector 15 and the mechanical vibration device 16 are installed on the flushing pipe, and both the bubble detector 15 and the mechanical vibration device 16 are connected to the control device B. The bubble detector 15 is used to detect bubbles in the flushing pipe in real time, and the mechanical vibration device 16 is used to make the bubbles float to the surface by vibration, so as to remove the bubbles in the pipe.

[0074] This invention utilizes a mechanical vibration device 16 designed to detect bubbles in real time using a bubble detector 15. The bubbles then rise after vibration, thus achieving the purpose of removing bubbles from the pipe. This reduces the amount of bubbles entering the input pipe and the accumulation of bubbles in the joint cavity 22, enabling bubble-free arthroscopic surgery.

[0075] In this embodiment, an infrared sensor 17 is also included. The infrared sensor 17 is disposed above the suction tube 3 and is connected to the control device B. The infrared sensor 17 is used to detect the running status of the return liquid in the suction tube 3, thereby sensing in real time whether there is a blockage in the pipeline.

[0076] In this embodiment, as Figure 3 As shown, control device B includes a data receiving unit, a data processing unit, and an alarm unit;

[0077] The data receiving unit is used to receive the liquid level signal sent by the liquid level sensor 13, the bubble signal detected by the bubble detector 15, the inflow velocity sent by the inflow velocity sensor 6, the outflow velocity sent by the outflow velocity sensor 6, the inflow pressure sent by the inflow pressure sensor, the outflow pressure sent by the outflow pressure sensor, and the pipeline operating status sent by the infrared sensor 17.

[0078] The data processing unit is used to determine whether the threshold has been reached based on the liquid level signal. If the threshold is reached, it controls the solenoid valve 14 to switch between the main liquid storage device 10 and the backup liquid storage device 11. It also determines whether the inflow and outflow are balanced based on the inflow rate, outflow rate, inflow pressure, and outflow pressure. If they are not balanced, it controls the speed of the injection liquid and the return liquid in the joint cavity 22 based on the principles of PID control and fuzzy control, thereby achieving dynamic balance of liquid inflow and outflow. The unit is also used to determine whether air bubbles are generated. If so, it controls the mechanical vibration device 16 to work based on the air bubble signal. Finally, it determines whether the pipeline is blocked based on the pipeline operating status.

[0079] The alarm unit is used to issue alarms when there is pipe blockage, air bubbles, abnormal flow rate due to pressure changes, or when the liquid level reaches a threshold.

[0080] It also includes a control interface for setting parameters such as pressure, flow rate, and temperature.

[0081] In this embodiment, a plasma system 18 is also included, which is connected to a suction tube 3; and / or a planer blade 19, which is connected to a suction tube 3; the two suction tubes 3 are connected to the inlet of the liquid collection bag 4 through a return liquid tee interface 21. Specifically, the planer blade 19 and the plasma system 18 can be selected to be installed one or both, depending on actual needs. When performing liquid return suction, one of the planer blade 19 and the plasma system 18 is selected to work according to actual needs.

[0082] The specific working process of this invention is as follows:

[0083] In actual use, after the puncture device 20 opens the channel, the electrodes or blades 19 of the plasma system 18 enter the puncture cavity. After setting the initial parameters, the perfusion pump module A draws physiological saline from the main reservoir 10 according to the set flow rate and pressure, heats it to a suitable temperature through the heating system, and then performs perfusion. When the liquid level in the main reservoir 10 reaches the threshold, the liquid level sensor 13 detects this and the control device B automatically switches to the backup reservoir 11 via the solenoid valve 14, providing text and audio prompts on the control interface. At this time, the user needs to add an appropriate amount of physiological saline to the main reservoir 10.

[0084] After the fluid enters the inlet tube, the fluid is injected into the flushing tube 2 by the diaphragm pump 8, and then injected into the joint cavity 22 through the puncture device 20. At the same time, the suction pump 9 works to draw in gas, creating a negative pressure in the effusion bag 4, which is then drawn out of the joint cavity 22 through the suction tube 3 to the shaving blade 19 / plasma system 18.

[0085] During the above process, the inflow velocity sensor 6, outflow velocity sensor 7, inflow pressure sensor, and outflow pressure sensor monitor in real time the flow rate of the infusion fluid into the joint cavity 22, the outflow velocity of the return fluid, the inflow pressure of the pipeline, and the outflow pressure of the pipeline. When an imbalance between the inflow and outflow of fluid is detected, the control device B controls the pump speed of the infusion pump module A based on the principles of PID control and fuzzy control. The specific control principle is described in the method section and will not be repeated here.

[0086] Throughout the entire procedure, the system monitors and alarms in real time for issues such as air bubbles, pipe blockages, and abnormal flow rates caused by pressure changes. After an alarm is triggered, the user learns the specific problem based on the prompts and then takes appropriate action.

[0087] This invention provides a puncture control method, which is based on the system implementation described above, such as... Figure 4 As shown, it includes:

[0088] Control device B controls the injection liquid to flow from the storage device into the injection pump system, which has injection and suction functions;

[0089] Control device B controls the infusion pump system with injection and suction functions based on PID control and fuzzy control principles, controlling the speed of infusion liquid and return liquid in joint cavity 22, thereby achieving dynamic balance of liquid inflow and outflow.

[0090] like Figure 5 As shown, the principles of PID control and fuzzy control specifically include:

[0091] Step 1: Obtain inflow velocity, outflow velocity, inflow pressure, and outflow pressure;

[0092] Step 2: Calculate the velocity difference based on the inflow and outflow velocities, and calculate the pressure difference based on the inflow and outflow pressures.

[0093] ΔQ=Q in -Q out

[0094] Where ΔQ represents the velocity difference, Q in Q represents the inflow velocity. out Indicates the outflow velocity;

[0095] ΔP=P in -P out

[0096] Where ΔP represents the pressure difference, P in P represents inflow pressure. out Indicates outflow pressure;

[0097] Calculate the basic pump speed adjustment based on the velocity difference:

[0098]

[0099] Among them, K p ,K i ,K d These represent proportional gain, integral gain, and derivative gain, respectively. PID Indicates the basic pump speed adjustment amount;

[0100] Step 3: Fuzzyenize the velocity difference and pressure difference, map them to a fuzzy set, and obtain the membership values, specifically:

[0101] Based on the predefined fuzzy input range, determine the fuzzy set labels for the velocity difference and pressure difference, such as "negative large" (NB), "negative small" (NS), "zero" (ZE), "positive small" (PS), and "positive large" (PB), with each label corresponding to a fuzzy set;

[0102] Based on the fuzzy set labels, the velocity difference and pressure difference are converted into membership values ​​in the fuzzy set;

[0103] Step 4: Perform fuzzy inference based on the fuzzy rule table and membership values ​​to determine the fuzzy value of the output adjustment. The fuzzy rule table defines the mapping relationship between input variables (flow velocity difference and pressure difference) and output variables (fuzzy control adjustment), specifically:

[0104] Iterate through all possible combinations of fuzzy rules (Q label P label ), where Q label It is a fuzzy set label for the flow rate difference, P label It is a fuzzy set label for pressure difference;

[0105] Calculate the rule strength of each fuzzy rule: take the smaller value of the membership degree of the velocity difference and pressure difference in their respective fuzzy sets as the rule strength;

[0106] The corresponding output labels are calculated in the fuzzy rule table based on the fuzzy set labels of the velocity difference and the pressure difference.

[0107] The membership value is updated based on the output label and rule strength to obtain a fuzzy output, specifically including:

[0108] If the output label already exists, take the larger value between the output label and the rule strength; if the output label does not exist, take the rule strength as the updated membership value.

[0109] The fuzzy output is converted into a specific numerical value using a defuzzification method (such as the centroid method) to obtain the fuzzy control adjustment amount u. fuzzy ;

[0110] Step 5: Calculate the final pump speed adjustment amount u based on the basic pump speed adjustment amount and the fuzzy control adjustment amount:

[0111] u = u PID +u fuzzy ;

[0112] Step Six: Calculate the adjustment amounts for the diaphragm pump and the suction pump based on the pump speed adjustment. The specific allocation ratio can be dynamically adjusted according to the magnitude of the flow rate difference ΔQ.

[0113] When ΔQ>0:

[0114] The adjustment amount of the diaphragm pump is u1 = k·u, where k∈(0,1] is a proportionality coefficient used to reduce the injection rate.

[0115] The adjustment amount of the suction pump is u2=(1-k)·u, which is used to fine-tune the suction speed to further optimize the balance.

[0116] When ΔQ < 0:

[0117] The adjustment amount of the suction pump is u1 = k·u, which is used to increase the suction speed.

[0118] The adjustment amount of the diaphragm pump is u2 = (1-k)·u, which is used to fine-tune the injection speed to further optimize the balance.

[0119] During system initialization, a default proportional coefficient k can be set based on empirical values ​​(e.g., k = 0.7 or k = 0.5), and dynamically adjusted during operation. For example, when the flow rate difference is large, the value of k is increased to focus adjustment on the side with the main problem. When the flow rate difference is small, the value of k is decreased to make the adjustment of the pumps on both sides more balanced.

[0120] To avoid instability caused by over-adjustment, upper and lower limits can be set for the adjustment amounts of diaphragm pumps and suction pumps. For example, the adjustment amount u1 of the diaphragm pump must not exceed its maximum allowable current variation range. The adjustment amount u2 of the suction pump must not be lower than its minimum allowable negative pressure generation capacity.

[0121] The method described above has the following advantages:

[0122] 1) Intelligent integrated control:

[0123] By combining the precision of PID control with the adaptability of fuzzy control, steady-state accuracy is guaranteed while robustness to nonlinear and time-varying systems is enhanced.

[0124] 2) Dynamic response optimization:

[0125] Fuzzy rules are used to coordinate adjustments for both flow rate difference and pressure difference, reducing overshoot and accelerating system response.

[0126] 3) Strong anti-interference ability:

[0127] Fuzzy control effectively suppresses the effects of sensor noise or external disturbances through membership-weighted reasoning.

[0128] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0129] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A puncture control system, characterized in that, It includes a liquid storage device and a flushing device. The flushing device includes an infusion pump system with injection and suction functions and a control device. The liquid storage device is connected to the infusion pump system, and both the infusion pump system and the liquid storage device are connected to the control device. The liquid storage device is used to store the filling liquid, and the control device automatically switches the liquid storage device; The control device adopts the principles of PID control and fuzzy control to regulate the infusion pump system, balance the infusion fluid and the return fluid speed of the joint cavity, and thus achieve dynamic balance of fluid inflow and outflow.

2. The puncture control system according to claim 1, characterized in that, It also includes puncture instruments; The infusion pump system includes an infusion pump module, an inlet pipe, a flushing pipe, a suction pipe, a collection bag, a suction pipe, an inflow velocity sensor, an outflow velocity sensor, an inflow pressure sensor, and an outflow pressure sensor. The infusion pump module is connected to a storage device through the inlet pipe, and to a puncture device through the flushing pipe. The suction pipe is connected to the inlet of the collection bag, and the outlet of the collection bag is connected to the infusion pump module through the suction pipe. The inflow velocity sensor and the inflow pressure sensor are mounted on the flushing pipe, and the outflow velocity sensor and the outflow pressure sensor are mounted on the suction pipe. The inflow velocity sensor, outflow velocity sensor, inflow pressure sensor, and outflow pressure sensor are all connected to the control device.

3. The puncture control system according to claim 2, characterized in that, The infusion pump module includes a diaphragm pump and an air pump. The diaphragm pump is connected to the inlet pipe, the flushing pipe and the control device, respectively. The air pump is connected to the air suction pipe and the control device, respectively. The diaphragm pump is used to inject infusion fluid and control the infusion fluid flow rate. The air pump is used to aspirate the joint cavity return fluid and control the joint cavity return fluid flow rate.

4. A puncture control system according to claim 2 or 3, characterized in that, The liquid storage device includes a main liquid storage device, a backup liquid storage device, a filling liquid tee interface, a liquid level sensor, and a solenoid valve. The main liquid storage device and the backup liquid storage device are connected to the filling liquid tee interface through pipelines. The filling liquid tee interface is connected to the solenoid valve. The liquid level sensor is installed on the pipeline. Both the liquid level sensor and the solenoid valve are connected to the control device.

5. A puncture control system according to claim 4, characterized in that, It also includes a bubble detector and a mechanical vibration device, which are installed on the flushing pipe and are both connected to the control device. The bubble detector is used to detect bubbles in the flushing pipe in real time, and the mechanical vibration device is used to make the bubbles float to the surface by vibration, thereby clearing the bubbles from the pipe.

6. A puncture control system according to claim 5, characterized in that, It also includes an infrared sensor, which is located above the suction tube and connected to the control device. The infrared sensor is used to detect the operating status of the return liquid in the suction tube, thereby sensing in real time whether there is a blockage in the pipeline.

7. A puncture control system according to claim 6, characterized in that, The control device includes a data receiving unit, a data processing unit, and an alarm unit; The data receiving unit is used to receive the liquid level signal sent by the liquid level sensor, the bubble signal detected by the bubble detector, the inflow velocity sent by the inflow velocity sensor, the outflow velocity sent by the outflow velocity sensor, the inflow pressure sent by the inflow pressure sensor, the outflow pressure sent by the outflow pressure sensor, and the pipeline operating status sent by the infrared sensor. The data processing unit is used to control the solenoid valve according to the liquid level signal, thereby controlling the switching between the main liquid storage device and the backup liquid storage device; and to control the speed of the infusion liquid and the return liquid in the joint cavity according to the inflow rate, outflow rate, inflow pressure and outflow pressure and based on the principles of PID control and fuzzy control, thereby achieving dynamic balance of liquid inflow and outflow. The mechanical vibration device is controlled to operate based on bubble signals; and the pipeline is checked for blockage based on the pipeline's operating status. The alarm unit is used to issue an alarm when there is pipe blockage, air bubbles, abnormal flow rate due to pressure changes, or when the liquid level reaches a threshold.

8. A puncture control system according to claim 2, characterized in that, It also includes a plasma system, which is connected to one of the liquid suction tubes; and / or a planer blade, the planer blade being connected to one of the suction tubes; The two suction tubes are connected to the inlet of the collection bag via a return tee.

9. A puncture control method, implemented based on the system described in any one of claims 1-8, characterized in that, include: The control device controls the flow of the injection liquid from the storage device into the injection pump system, which has injection and suction functions. The control device uses PID control and fuzzy control principles to control the infusion pump system with injection and suction functions, balances the speed of infusion fluid and joint cavity return fluid, and thus achieves dynamic balance of fluid inflow and outflow.

10. The puncture control method according to claim 9, characterized in that, The principles of PID control and fuzzy control specifically include: Step 1: Obtain inflow velocity, outflow velocity, inflow pressure, and outflow pressure; Step 2: Calculate the velocity difference based on the inflow and outflow velocities, and calculate the pressure difference based on the inflow and outflow pressures. ΔQ=Q in -Q out Where ΔQ represents the velocity difference, Q in Q represents the inflow velocity. out Indicates the outflow velocity; ΔP=P in -P out Where ΔP represents the pressure difference, P in P represents inflow pressure. out Indicates outflow pressure; Calculate the basic pump speed adjustment based on the velocity difference: Among them, K p ,K i ,K d These represent proportional gain, integral gain, and derivative gain, respectively. PID Indicates the basic pump speed adjustment amount; Step 3: Fuzzyenize the velocity difference and pressure difference, map them to a fuzzy set, and obtain the membership values, specifically: Based on the predefined fuzzy input range, determine the fuzzy set labels for the velocity difference and pressure difference; Based on the fuzzy set labels, the velocity difference and pressure difference are converted into membership values ​​in the fuzzy set; Step 4: Perform fuzzy inference based on the fuzzy rule table and membership values ​​to determine the fuzzy value of the output adjustment, specifically: Iterate through all possible combinations of fuzzy rules (Q label P label ), where Q label It is a fuzzy set label for the flow rate difference, P label It is a fuzzy set label for pressure difference; Calculate the rule strength of each fuzzy rule: take the smaller value of the membership degree of the velocity difference and pressure difference in their respective fuzzy sets as the rule strength; The corresponding output labels are calculated in the fuzzy rule table based on the fuzzy set labels of the velocity difference and the pressure difference. The membership value is updated based on the output label and rule strength to obtain a fuzzy output, specifically including: If the output label already exists, take the larger value between the output label and the rule strength; if the output label does not exist, take the rule strength as the updated membership value. The fuzzy output is converted into a specific numerical value using a defuzzification method, resulting in the fuzzy control adjustment amount u. fuzzy ; Step 5: Calculate the final pump speed adjustment amount u based on the basic pump speed adjustment amount and the fuzzy control adjustment amount: in=in PID +in fuzzy ; Step Six: Calculate the adjustment amounts for the diaphragm pump and the suction pump based on the pump speed adjustment amount: u1=k·u u2=(1-k)·u Where u1 represents the adjustment amount of the diaphragm pump, u2 represents the adjustment amount of the suction pump, and k represents the proportional coefficient, which is dynamically adjusted during operation.

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