A six-axis sensor infusion flow control program storage medium

Abstract

The present application relates to infusion monitoring instrument technical field, specifically to a kind of based on six-axis sensor infusion flow control method.The based on six-axis sensor infusion flow control method includes the following steps: calibration is carried out to infusion instrument, initial operating posture is calibrated, and the real-time operating posture data of infusion instrument is obtained.Cumulative movement of infusion instrument is calculated by real-time operating posture data.Judge whether cumulative movement is greater than a preset standard movement amount;If yes, then send alarm signal;If no, then no alarm signal is sent.According to the flow rate compensation amount obtained by cumulative movement, then the flow rate is revised.According to this method, when the position of infusion instrument moves, it can quickly alarm and compensate the flow rate, avoid the harm of the change of the amount of drug input in emergency, ensure the stability of the drug delivery speed, avoid the medical risk caused by too fast or too slow speed, improve the treatment efficiency.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of infusion monitoring instruments, and particularly relates to a six-axis sensor infusion flow control program storage medium. BACKGROUND

[0002] An infusion instrument, also known as an infusion pump, is a medical device that can accurately control the speed and total amount of intravenous infusion. It replaces the traditional gravity and height infusion method through a precise mechanical or electronic control system, and realizes infusion of the drug solution to the patient at a constant and preset rate (such as milliliter / hour). For drugs that require precise administration, the infusion instrument can ensure stable administration speed and avoid medical risks caused by excessively fast or slow speed. The main types of infusion instruments include volumetric pumps, injection pumps, and enteral nutrition pumps. In simple terms, an infusion instrument is an intelligent and precise "liquid delivery administrator".

[0003] A six-axis sensor is not a single sensor, but a combination of sensors. It is usually composed of a three-axis accelerometer and a three-axis gyroscope integrated on a chip. The three-axis accelerometer is used to measure the linear acceleration of an object in the X, Y, Z three directions. It can be understood as measuring the "change in speed". When the sensor is stationary, it can measure the gravitational acceleration of the earth, thereby sensing the inclination angle and static posture of the object relative to the ground. The three-axis gyroscope is used to measure the angular velocity of the object rotating around the X, Y, Z three axes. It measures the "speed of rotation". It can sense the rotation, turning, and other actions of the object. By combining the two, the six-axis sensor can capture all linear and rotational motion information of an object in three-dimensional space. Smartphones, drones, and smartwatches can achieve functions such as step counting, screen rotation, and motion sensing games, and the core is to rely on the six-axis sensor. It needs to be clarified that the six-axis sensor cannot directly detect the flow rate of the liquid. What it can directly detect is the inclination and motion of the device, and these data can be indirectly used to monitor and ensure the normal progress of the infusion process. When the infusion instrument is stationary, the only acceleration it feels is the gravitational acceleration (about 9.8 m / s 2). By analyzing the components of the gravitational acceleration on the X, Y, Z three axes, the pitch angle and roll angle of the device relative to the horizontal plane can be accurately calculated. Application in infusion apparatus: alarm function: if the nurse or patient accidentally knocks down the infusion apparatus, causing the inclination angle to exceed the safety threshold (for example, 45°), the sensor will immediately detect and trigger the alarm system. This can prevent improper body position from causing abnormal infusion pressure or tube shedding. Body position monitoring: in some special care, it is necessary to ensure that the patient is in a specific body position, and the infusion apparatus fixed on the patient can also monitor the body position. The six-axis sensor is the "senses" that perceive the state of the device (inclination, vibration, movement). In the infusion apparatus, the six-axis sensor does not directly measure the liquid flow rate, but by monitoring the inclination of the device and the vibration of the driving motor, it can indirectly determine whether the infusion process is normal (such as pipe blockage, device overturning), thereby becoming a powerful safety guard and greatly improving the safety and intelligent level of infusion therapy.

[0004] The existing infusion apparatus can only detect whether the position changes, and after finding the change, an alarm signal is sent, but the device cannot take targeted emergency measures, which is easy to cause drug errors. SUMMARY

[0005] To solve the above technical problems, the present application provides a six-axis sensor infusion flow control program storage medium, which is executed by a processor to realize a six-axis sensor-based infusion flow control method for controlling the infusion flow control of the infusion apparatus and alarming the infusion abnormalities to ensure the normal operation of the infusion. The six-axis sensor-based infusion flow control method comprises the following steps:

[0006] S1, calibrating the infusion apparatus, marking the initial operation posture, and obtaining real-time operation posture data of the infusion apparatus.

[0007] S2, calculating the cumulative movement amount of the infusion apparatus by the real-time operation posture data.

[0008] S3, judging whether the cumulative movement amount is greater than a preset standard movement amount; if yes, sending an alarm signal and executing S4; if no, not sending an alarm signal.

[0009] S4, calculating the flow rate compensation amount according to the cumulative movement amount, and then correcting the flow rate according to the flow rate compensation amount.

[0010] Preferably, the real-time operation posture data of the infusion apparatus includes linear acceleration data and rotational angular velocity data.

[0011] Preferably, the cumulative movement amount includes the movement position amount and the rotation angle amount of the space.

[0012] Preferred: three-axis gyroscope detects real-time angular velocity g(x, y, z) of three axes, which can also be recorded as (g x , g y , g z ); by time integration of angular velocity g(x, y, z), the rotation angle G(x, y, z) is obtained, and the rotation angle G(x, y, z) is taken as the rotation angle. , the angle change amount around the Y-axis , the angle change amount around the Z-axis , where t is the length of time from the initial time, g x is the angle change speed around the X-axis corresponding to each time point. g y is the angle change speed around the Y-axis corresponding to each time point. g z is the angle change speed around the Z-axis corresponding to each time point, and T is the length of time from the initial time to the current time point.

[0013] Preferred: three-axis accelerometer detects linear acceleration (a x , a y , a z ) of three axes, and then integrates to obtain the tilt angle G(x, y, z)' and take the tilt angle G(x, y, z)' as the rotation angle.

[0014] Preferred: the angle change amount around the X-axis , where t is the length of time from the initial time, and T is the length of time from the initial time to the current time point.

[0015] Preferred: the angle change amount around the Y-axis , where t is the length of time from the initial time, and T is the length of time from the initial time to the current time point.

[0016] Preferred: the angle change amount around the Z-axis , where t is the length of time from the initial time, and T is the length of time from the initial time to the current time point.

[0017] Preferred: based on the gyroscope, the current attitude is predicted based on the optimal attitude of the last time and the angular velocity of the current gyroscope , where i is the state prediction number, G(x, y, z) i is the angle change amount of the number i corresponding to the predicted attitude of the number axis, G(x, y, z) i-1 is the angle change amount of the number i-1 corresponding to the attitude of the number axis, g(x, y, z) i is the real-time angular velocity of the number i corresponding to the predicted attitude of the number axis, and Δt iis the state prediction time length of the number i. Based on the gravity vector measured by the three-axis accelerometer as an observation value G(x, y, z) i The optimal attitude value is calculated , wherein K is the Kalman gain factor, and the optimal attitude value is taken as the rotation angle measure.

[0018] Preferably, the Kalman gain factor , wherein P is the predicted variance, H is the observation matrix, R is the variance of the sensor measurement noise, t i is the state prediction time length.

[0019] Preferably, the rotation angle measure is obtained by using the right angle integer correction method.

[0020] Preferably, the right angle integer correction method includes: calculating the real-time angular velocity g(x, y, z) j of the three axes, and then calculating the current operation attitude segment angle change value , wherein j is the current operation time period operation attitude data number, J is the total number of the current operation time period operation attitude data, j = 1, 2, …, J, and then judging whether the current operation attitude segment angle change value G(x, y) j is greater than , wherein m is an integer; if yes, the optimal attitude value of the current operation time period is , if no, the optimal attitude value of the current operation time period is , and then the optimal attitude values of each time period are accumulated to obtain the rotation angle measure, wherein θ is the center of gravity deviation angle.

[0021] Preferably: , is a down rounding symbol,

[0022] Preferably, the center of gravity deviation angle , wherein w is the center of gravity boundary width, and h is the center of gravity height.

[0023] Preferably, the method for obtaining the flow rate compensation amount includes: obtaining the rotation angle measure around the X axis in the cumulative movement amount, and then looking up a pre-set X axis rotation angle measure-flow rate compensation amount information table through the rotation angle measure around the X axis to obtain the rotation angle flow rate compensation amount v1, and then looking up a pre-set height movement amount-flow rate compensation amount information table through the movement amount in the vertical direction to obtain the height flow rate compensation amount v2, and the flow rate compensation amount Δv = v1 + v2.

[0024] Preferably, the flow rate compensation amount Δv = v1 + v2, wherein v1 is the rotation angle flow rate compensation amount, and v2 is the height flow rate compensation amount.

[0025] Preferably, the rotation angle flow rate compensation amount Wherein, b is the rotation fault tolerance of the infusion pipeline, L1 and L2 are the lengths of the infusion pipeline at both ends of the infusion instrument, and V0 is the unit flow rate of the rotation angle.

[0026] Preferably, the calculation method of the high flow rate compensation amount comprises: calculating a static pressure difference p through the moving amount h' in the vertical direction Wherein, p is the infusion density, and g is the gravity acceleration; and then the high flow rate compensation amount v2 is calculated through the static pressure difference p.

[0027] The technical effect and advantages of the present application: through the method, the position movement of the infusion instrument can be obtained, and then the flow rate compensation can be quickly performed, especially for the drugs such as pressure increasing drugs, insulin, chemotherapy drugs and antibiotics, which is an emergency mechanism, and can avoid the harm caused by the change of the input amount in the emergency situation, ensure the stability of the drug delivery speed, avoid the medical risks caused by the too fast or too slow speed, and improve the treatment efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 A flowchart of a six-axis sensor-based infusion flow control method applied to a six-axis sensor infusion flow control program storage medium is provided for the present application.

[0029] Figure 2 A flowchart of a three-axis gyroscope detection method for obtaining a rotation angle amount in a six-axis sensor-based infusion flow control method is provided for the present application.

[0030] Figure 3 A flowchart of a three-axis accelerometer detection method for obtaining a rotation angle amount in a six-axis sensor-based infusion flow control method is provided for the present application.

[0031] Figure 4 A flowchart of an optimal attitude value obtaining method in a six-axis sensor-based infusion flow control method is provided for the present application.

[0032] Figure 5 A flowchart of a right angle integer correction method in a six-axis sensor-based infusion flow control method is provided for the present application. DETAILED DESCRIPTION

[0033] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application. On the contrary, the embodiments of the present application include all changes, modifications and equivalents falling within the spirit and scope of the appended claims.

[0034] Embodiment 1

[0035] Reference Figure 1 In this embodiment, a six-axis sensor infusion flow control program storage medium is proposed. When the six-axis sensor infusion flow control program is executed by a processor, a six-axis sensor-based infusion flow control method is implemented to control the infusion flow control of an infusion instrument and alarm for infusion abnormalities to ensure normal infusion. The six-axis sensor-based infusion flow control method can include the following steps:

[0036] S1, calibrate the infusion apparatus, calibrate the initial working posture, and obtain the real-time working posture data of the infusion apparatus. The infusion apparatus is a replacement for the traditional gravity and height infusion mode. Through the precise mechanical or electronic control system, we need to calibrate the software system of the infusion apparatus when using the infusion apparatus for infusion, so as to strictly monitor the initial posture of the infusion apparatus. This operation can be completed by clicking the corresponding working key of the calibration menu on the infusion apparatus control menu after the medical staff or family members move or adjust the position of the infusion apparatus. The operation is very convenient and fast. This initial working posture needs to be able to normally and smoothly complete the expected infusion setting. Calibrating the initial working posture can record the current state of the infusion apparatus, mainly telling the sensor: "This position is the new horizontal position now." The later calculation is based on this working posture. This ensures the continuous accuracy of the tilt and pull monitoring function. The infusion flow in the present application is not the same concept as the infusion apparatus speed detected by the six-axis sensor in the past. The infusion apparatus speed detected by the six-axis sensor in the past is the movement speed of the infusion apparatus during use. The infusion flow caused by the movement of the infusion apparatus is not accurate, which can be indirectly used to monitor and ensure the normal progress of the infusion process. The infusion flow in the present application is the flow of the liquid medicine in the infusion tube, which has essential difference. We calibrate the infusion apparatus to obtain the initial working posture of the infusion apparatus. At this time, the six-axis sensor will take the initial working posture as a reference to establish a coordinate system. It considers that the Z axis points to the center of the earth (the direction of gravity) at this time, and records the initial working posture data of the infusion apparatus. The six-axis sensor includes a three-axis accelerometer and a three-axis gyroscope. The three-axis accelerometer can be understood as measuring "the change of speed". Calibrating the initial working posture detects the linear acceleration of the X, Y and Z directions of the initial working posture. At this time, the sensor is in a static state, it can measure the gravitational acceleration of the earth, and thus perceive the inclination angle and static posture of the object relative to the ground. The three-axis gyroscope can be understood as measuring "the speed of rotation". The three-axis gyroscope measures the angular velocity of the object rotating around the X, Y and Z axes. It can perceive the rotation, rotation and other actions of the object. By combining the two, the six-axis sensor can capture all linear and rotational motion information of an object in three-dimensional space. Obtaining real-time working posture data can include initial working posture data and subsequent working posture data. The initial working posture data can be considered as 0, which is an absolute reference system. Of course, other ways of setting are not excluded. The real-time working posture data of the infusion apparatus includes linear acceleration data and rotational angular velocity data. The linear acceleration data is obtained by detecting the three-axis accelerometer. It mainly measures the linear acceleration of the object in the X, Y and Z directions. When the sensor is static, it can measure the gravitational acceleration of the earth, and thus perceive the inclination angle and static posture of the object relative to the ground.The rotation angular velocity data is obtained by three-axis gyroscope detection, which is the angular velocity of measuring the rotation of an object around the X, Y, Z three axes, which can perceive the rotation, rotation and other actions of the object, which will not be described here.

[0037] S2, calculate the cumulative movement amount of the infusion apparatus by real-time operation posture data. The cumulative movement amount here includes the movement position amount and the rotation angle amount of the space. Reference Figure 2 For the rotation angle amount, the real-time angular velocity g(x, y, z) of the three axes is obtained by three-axis gyroscope detection, which can also be recorded as (g x , g y , g z ). The real-time detection here needs to be in a very short time interval, and a direction is taken as the positive direction of rotation, which is positive when rotating in this direction, and negative when rotating in the opposite direction. The units of the three are usually ° / s or rad / s. Specific numerical examples will not be described here. Then the rotation angle amount G(x, y, z) is calculated by time integration of the angular velocity g(x, y, z). The rotation angle amount includes the angle change amount Gx around the X axis, the angle change amount Gy around the Y axis, and the angle change amount Gz around the Z axis. The angle change amount Gx around the X axis , where t is the time length from the initial time, g x is the angle change speed around the X axis corresponding to each time point. T is the time length from the initial time to the current time point. Similarly, the angle change amount Gy around the Y axis , and the angle change amount Gz around the Z axis can be calculated. The rotation angle amount G(x, y, z) is represented by the angle change amount Gx around the X axis, the angle change amount Gy around the Y axis, and the angle change amount Gz around the Z axis. Not only three-axis gyroscope can detect the rotation angle amount G(x, y, z). Reference Figure 3 , the tilt angle amount G(x, y, z)' can also be obtained by three-axis accelerometer detection, so as to obtain the rotation angle amount of the infusion apparatus. The angle change amount around the X axis is the tilt angle pitch angle , and the angle change amount around the Y axis is the tilt angle roll angle , and the angle change amount around the Z axis is the tilt rotation angle , where (a x , a y , a z ) are the linear accelerations of the three axes detected by the three-axis accelerometer, and the units are usually m / s 2or g. The tilt angle measure G(x, y, z)' is represented by the angle change around the X axis, i.e., the tilt angle pitch angle Gx', the angle change around the Y axis, i.e., the tilt angle roll angle Gy', and the angle change around the Z axis, i.e., the tilt rotation angle Gz'. Whether it is a three-axis gyroscope or a three-axis accelerometer, the rotation angle measure can be calculated. We can choose the rotation angle measure G(x, y, z) obtained by the three-axis gyroscope detection as the rotation angle measure, or choose the tilt angle measure G(x, y, z)' obtained by the three-axis accelerometer detection as the rotation angle measure. However, whether G(x, y, z) or G(x, y, z)' as the rotation angle measure has a deviation. Since it is cumulative calculation, there is a cumulative amplification deviation. The longer the cumulative time, the greater the deviation. Figure 4 The Kalman filter can also be used for processing and fusion. Based on the gyroscope, the optimal attitude at the last time and the angular velocity of the current gyroscope are used to predict the attitude at the current time where i is the state prediction number, which can be understood as the time ordering number of the prediction, i.e., the ordering number of the current time point, G(x, y, z) i is the angle change of the number axis predicted attitude corresponding to the number i. Gx, y, z i-1 is the angle change of the number axis attitude corresponding to the number i-1. This value is not predicted, but actually detected, g(x, y, z) i is the real-time angular velocity of the number axis predicted attitude corresponding to the number i, Δt i is the state prediction time length of the number i. In general, this value is a fixed value. Based on the gravity vector measured by the three-axis accelerometer as an observation value G(x, y, z) i '. The optimal attitude value calculated is where K is the Kalman gain factor, and the optimal attitude value is taken as the rotation angle measure. The Kalman gain factor value can be obtained by calculation where P is the predicted variance, H is the observation matrix, R is the variance of the sensor measurement noise, t i is the state prediction time length. The predicted variance, the observation matrix, and the variance of the sensor measurement noise are all prior art, and the specific calculation process is not demonstrated here. Through Kalman filtering for optimization, the three-axis gyroscope and the three-axis accelerometer can be used for comprehensive dynamic evaluation, and then data fusion is performed according to the dynamic evaluation, so that the calculation result is more accurate and stable, thereby facilitating the later calculation. Since the infusion apparatus is generally a cuboid structure, it is limited by the shape, and the rotation angle measure is most likely an integer multiple of a right angle, so the right angle integer correction method can be used. Based on this principle, the calculation complexity can be greatly reduced, the calculation efficiency can be improved, and the calculation can be more accurate. Reference Figure 5 The right angle integer correction method is as follows: the real-time angular velocity g(x, y, z)j The sequential number of the collection time can be considered to be detected by the six-axis sensor detecting the inclination angle. For the static state, data collection can not be performed, which greatly reduces the calculation amount. Then, the current working posture segment angle change amount wherein j is the current motion time segment working posture data number, the current motion time segment can be the time segment in which the change of the infusion apparatus is detected, which can greatly reduce the operation amount, J is the total number of working posture data in the current motion time segment, j = 1, 2, …, J, and then the current working posture segment angle change amount G(x, y) j whether it is greater than If yes, the optimal posture value of the current motion time segment is wherein , is the floor symbol, and if no, the optimal posture value of the current motion time segment is Then, the optimal posture values of each time segment are accumulated to obtain the rotation angle amount. Wherein θ is the gravity deviation angle, which can be obtained by measuring the shape of the infusion apparatus, and can also be obtained by calculation. The specific calculation method is wherein w is the gravity boundary width, which is the distance between the outer edge of the infusion apparatus in the inclination direction and the vertical projection of the gravity center, and h is the gravity center height, which can be obtained by measurement, and can also be obtained by device parameters. The specific details are not described here. This method is only suitable for calculating the angle change around the X and Y axes. For the change around the Z axis, the traditional method needs to be used, and the details are not described here. Through this method, the rotation angle amount can be calculated, which is based on the shape of the infusion apparatus. The calculation can exclude calculation errors, making the calculation more accurate and fast, avoiding the existence of calculation errors, and greatly improving the calculation efficiency. The movement position amount of the infusion apparatus space includes the position movement amount and the movement amount in the vertical direction. The position movement amount is the position variable occurring during movement, which can be obtained by twice integration. The specific details are not described here. Although the six-axis sensor has a large calculation error in height, the infusion apparatus will fall within 1s, which can ensure that the data is not distorted and the data accuracy is ensured. Of course, it can also be corrected with other instruments. The specific details are not described here.

[0038] S3, judge whether the cumulative movement amount is greater than a preset standard movement amount; if yes, send an alarm signal and execute S4; if no, do not send an alarm signal, obtain the real-time working posture data of the infusion apparatus, and execute S2. The standard movement amount here can be obtained by clinical experience. For example, the rotation angle amount ϕ(x, y, z) 标 is , the standard position moving amount is 100 mm, of course, this is only a simple example, and the specific needs are obtained according to the equipment fault tolerance and clinical experience, the clinical experience is to move within the preset standard moving amount, which does not affect the effect and progress of infusion, which is not described in detail here. By accumulating the moving amount, not only the state of the tilted and fallen infusion instrument can be determined, but also the winding state of the infusion pipeline around the Y axis and the Z axis can be determined, and the pulling state of the space moving position amount can be determined, so that the judgment and early warning are more comprehensive.

[0039] S4, according to the cumulative movement amount to calculate the flow rate compensation amount, and then according to the flow rate compensation amount to correct the flow rate. In the existing infusion pump control system, when the infusion pump exceeds the preset standard movement amount, only the alarm signal is sent, and there is no subsequent flow rate adjustment. In other words, it is only an alarm reminder, and no emergency measures are taken to remedy. The method for obtaining the flow rate compensation amount can be obtained according to experience, and can also be obtained through a large number of experiments. Specifically, the rotation angle amount around the X axis in the cumulative movement amount is obtained, and then an X axis rotation angle amount-flow rate compensation amount information table is looked up to obtain the rotation angle flow rate compensation amount v1. Then, the height movement amount is looked up in the pre-set height movement amount-flow rate compensation amount information table to obtain the height flow rate compensation amount v2. The flow rate compensation amount Δv=v1+v2. The X axis rotation angle amount-flow rate compensation amount information table and the height movement amount-flow rate compensation amount information table need to be obtained through experiments according to device parameters. Different device parameters will have great differences in the specific content of the information table. The separate information table has no practical significance for the present application, and will not be described here. Through this method, the calculation data is accurate and fast, but a large number of experiments need to be carried out before the infusion pump is used. The experiments include factory and clinical completion. In a controlled factory environment, the specific content can include: building a test platform: fixing a high-precision six-axis sensor on the infusion pump to be calibrated. At the same time, use an extremely accurate reference flowmeter (such as a balance, which calculates the actual flow rate by measuring the weight of the output liquid in a unit of time) as the "gold standard". Data collection: set the infusion pump to different ways and sizes of cumulative movement. Let the device run stably, and record the true flow rate measured by the reference flowmeter. Then, the difference between the pre-set expected flow rate and the true flow rate is taken as the flow rate compensation amount to construct the information table. Then, through clinical experiments or continuous correction during use, the specific content will not be described here. In actual infusion process, we believe that the movement in the horizontal direction and the rotation angle around the Y axis and the Z axis will not cause the change of pressure or flow rate. Such movement will only pull the infusion tube, and the influence on the flow rate of the liquid is very small. And the rotation angle around the Y axis and the Z axis is limited by the shape of the pipeline and the infusion pump, and it is basically difficult to occur. We can optimize and exclude it according to the characteristics of the infusion pump, greatly reducing the calculation difficulty and improving the calculation efficiency. Of course, the flow rate compensation amount can also be obtained by calculation. Specifically, the flow rate compensation amount Δv=v1+v2, wherein the rotation angle flow rate compensation amount Wherein b is the unit rotation fault tolerance of the infusion pipeline, that is, the maximum axial rotation angle of the unit length infusion pipeline without affecting the cross-sectional area, which is determined according to the performance of the infusion pipeline. In actual work, its value may be determined by temperature and humidity, but indoor temperature and humidity can be considered as a fixed value. Its value can be 0.5-2, of course, other values are not excluded, which will not be described here. L1 and L2 are the lengths of the infusion pipeline at both ends of the infusion instrument, which are determined according to the device parameters. V0 is the unit flow rate of the rotation angle, which can be obtained by factory experiment, generally 0.1-10 m / s, the specific method will not be described here. Through this method, the influence of angle rotation on flow rate can be quickly calculated and obtained, which changes exponentially and meets the characteristics of pipeline rotation resistance, and the calculation is accurate. Wherein p is the infusion density, which can be 1000 kg / m 3 Of course, the actual density needs to be determined according to the composition of the liquid medicine. g is the acceleration of gravity, which can be 9.8 N / kg. Then the height flow rate compensation v2 is calculated by the static pressure difference p. Its value can be obtained by looking up the information table, which can be obtained by experiment, and the calculation can be calculated by the pressure flow rate model, R is the flow resistance, which can be obtained by experiment, which is the prior art, which will not be described here. Through this method, the infusion instrument can quickly compensate for the flow rate when the position moves, especially for drugs such as antihypertensive drugs, insulin, chemotherapy drugs, and antibiotics. This is an emergency mechanism. In the case of emergency treatment without timely processing or discovery of alarm, avoid the harm of the amount of drug input in the emergency situation, ensure the stability of the drug speed, avoid the medical risk caused by too fast or too slow speed, and improve the treatment efficiency.

[0040] It should be understood that various forms of the flow shown above can be used to reorder, add or delete steps. For example, each step described in the present disclosure can be executed in parallel, sequentially or in different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, which is not limited herein.

[0041] The above specific embodiments do not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A storage medium for a fluid flow control program applied to a six-axis sensor, characterized in that, When the infusion flow control program applied to the six-axis sensor is executed by the processor, an infusion flow control method based on the six-axis sensor is implemented, the method comprising the following steps: S1. Calibrate the infusion setter, set the initial operating posture, and obtain the real-time operating posture data of the infusion setter. S2. Calculate the cumulative movement of the infusion set using real-time operational posture data; The cumulative movement includes the amount of spatial displacement and the amount of rotation angle; Methods for obtaining the rotation angle include: predicting the current attitude based on the gyroscope's optimal attitude from the previous moment and the current angular velocity of the gyroscope. Where i is the state prediction number, G(x, y, z) i G(x, y, z) represents the angular change of the predicted attitude on the number axis corresponding to number i. i-1 It is the angular change of the axis posture corresponding to number i-1, g(x, y, z). i It is the real-time angular velocity Δt of the numerical axis predicted attitude corresponding to number i. i The state prediction time is represented by the value i; the gravity vector measured by the triaxial accelerometer is used as an observation value G(x, y, z). i ';Calculate the obtained optimal attitude value Where K is the Kalman gain factor, and the optimal attitude value is used as the rotation angle; Kalman gain factor Where P is the prediction variance, H is the observation matrix, R is the variance of sensor measurement noise, and t i It is the length of the state prediction time; S3. Determine whether the cumulative movement amount is greater than a preset standard movement amount; if yes, send an alarm signal and execute S4; if no, do not send an alarm signal. S4. Calculate the flow rate compensation amount based on the cumulative movement amount, and then correct the flow rate based on the flow rate compensation amount.

2. The infusion flow control program storage medium according to claim 1, characterized in that, When the infusion flow control program is executed by the processor, the method for obtaining the rotation angle includes: obtaining the real-time angular velocities g(x, y, z) of the three axes by detecting the three-axis gyroscope; calculating the rotation angle G(x, y, z) by integrating the angular velocity g(x, y, z) over time, and using the rotation angle G(x, y, z) as the rotation angle.

3. The infusion flow control program storage medium according to claim 1, characterized in that, When the infusion flow control program is executed by the processor, the method for obtaining the rotation angle includes: linear acceleration (α) of the three axes detected by a triaxial accelerometer. x a y a z Then, the tilt angle G(x, y, z)' is obtained by integration, and the tilt angle G(x, y, z)' is used as the rotation angle.

4. The infusion flow control program storage medium according to claim 3, characterized in that, When the infusion flow control program is executed by the processor, the method implemented includes the angular change around the X-axis. , where t is the time length from the initial time, and T is the time length from the initial time to the current time.

5. The infusion flow control program storage medium according to claim 3, characterized in that, When the infusion flow control program is executed by the processor, the method implemented includes the angular change around the Y-axis. , where t is the time length from the initial time, and T is the time length from the initial time to the current time.

6. The infusion flow control program storage medium according to claim 3, characterized in that, When the infusion flow control program is executed by the processor, the method implemented includes the change in angle around the Z-axis. , where t is the time length from the initial time, and T is the time length from the initial time to the current time.

7. The infusion flow control program storage medium according to claim 1, characterized in that, When the infusion flow control program is executed by the processor, the flow rate compensation amount Δv = v1 + v2 is implemented in the method, where v1 is the corner flow rate compensation amount and v2 is the height flow rate compensation amount.

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