Infusion method and system

Abstract

The infusion method comprises a temperature adjusting process and a flow rate adjusting process which are executed circularly, and the temperature adjusting process comprises the steps that temperature data collected by a temperature sensor are obtained to obtain the measured temperature, the current temperature error is calculated according to a temperature set value, and the controlled quantity is calculated according to the current temperature error through a PID algorithm; based on the control quantity, heating power is set for the conveyed liquid; the flow velocity adjusting process comprises the following steps: acquiring a first flow velocity signal acquired by a first type of flow velocity sensor to obtain a first flow velocity, acquiring a second flow velocity signal acquired by a second type of flow velocity sensor to obtain a second flow velocity, and compensating the first flow velocity to obtain a compensated first flow velocity, and fusing the compensated first flow velocity and second flow velocity to obtain a flow velocity measurement value, comparing the flow velocity measurement value with a preset flow velocity value, if the flow velocity measurement value is lower than the preset flow velocity value, increasing the flow velocity, and if the flow velocity measurement value is higher than the preset flow velocity value, reducing the flow velocity.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, specifically to an infusion method and system. Background Technology

[0002] Traditional intravenous infusions rely on ambient temperature; excessively cold fluids can cause patient discomfort or vasospasm. However, current heating devices have low temperature accuracy, and flow rate control devices have large errors and cannot provide real-time feedback on abnormalities. Summary of the Invention

[0003] This application provides an infusion method that can adaptively adjust temperature and flow rate.

[0004] On one hand, embodiments of this disclosure provide an infusion method capable of temperature and flow rate regulation, including a cyclically executed temperature regulation process and flow rate regulation process, wherein: The temperature regulation process includes: acquiring temperature data collected by a temperature sensor to obtain a measured temperature; calculating the current temperature error based on a temperature setpoint; calculating a control quantity using a PID algorithm based on the current temperature error; and setting the heating power for the input liquid based on the control quantity. The step of using a PID algorithm to calculate the control quantity based on the current temperature error includes: calculating the control quantity using the following formula: In the formula, u(t) is the control variable. The proportional gain is after compensation, e(t) is the current temperature error, and K is the proportional gain. i For integral gain, K d The differential gain is the compensated proportional gain. ),in, To compensate for the proportional gain before, For compensation coefficient, For ambient temperature, The differential gain is the measured temperature of the input liquid. To be determined based on the type of liquid being transported; The flow rate regulation process includes: acquiring a first flow rate signal from a first type of flow rate sensor to obtain a first flow rate, and acquiring a second flow rate signal from a second type of flow rate sensor to obtain a second flow rate; compensating for the first flow rate according to the type of liquid being transported to obtain a compensated first flow rate; and fusing the compensated first flow rate and the second flow rate using the following formula to obtain the flow rate measurement value: In the formula This is a flow velocity measurement value. For the first flow velocity, For the second flow rate, The flow rate is compared with the preset flow rate value using weights. If the measured flow rate value is lower than the preset flow rate value, the slider in the screw-slider mechanism is moved to increase the flow rate. If the measured flow rate value is higher than the preset flow rate value, the slider in the screw-slider mechanism is moved to decrease the flow rate. The method further includes: adjusting one or more of the following gains in the PID algorithm based on the flow rate measurement value: proportional gain, integral gain, and derivative gain; and / or, dynamically adjusting the temperature constraint value and / or the flow rate constraint value based on the type of liquid being supplied.

[0005] The method also includes: automatically repairing the fault according to the fault type when a fault occurs.

[0006] In an exemplary embodiment, the automatic repair based on the fault type includes: when any flow rate sensor is detected to be abnormal, calculating the current flow rate measurement value based on the flow rate value of the normal flow rate sensor, or calculating the current flow rate measurement value based on the flow rate value of the normal flow rate sensor and historical flow rate measurement values; when the heating power of the heating module is detected to be attenuated, adjusting the proportional gain, or starting the backup heating module for temperature adjustment; when the lead screw slider mechanism is found to be stuck, performing reverse fine-tuning and / or lubrication pulse operation; The following method is used to determine whether the flow velocity sensor is abnormal: After calculating the first flow velocity and the second flow velocity, if the difference between the first flow velocity and the second flow velocity is greater than a preset fault threshold, the sensor fault diagnosis process is initiated, including: making each flow velocity sensor work independently, acquiring the flow velocity signal collected by each flow velocity sensor, obtaining the flow velocity value, and determining if the obtained flow velocity value exceeds the normal flow velocity value range, then the flow velocity sensor that measured the abnormal flow velocity value is recorded as an abnormal sensor.

[0007] In an exemplary embodiment, the method further includes: determining if the current flow rate measurement value is greater than a first flow rate threshold, setting the temperature setting value to a first temperature value; if the current flow rate measurement value is greater than a second flow rate threshold and less than the first flow rate threshold, setting the temperature setting value to a second temperature value, wherein the second temperature value is less than the first temperature value; and if the current flow rate measurement value is less than the second flow rate threshold, setting the temperature setting value to a third temperature value, wherein the third temperature value is less than the second temperature value, so as to achieve higher heating power with higher flow rate.

[0008] In an exemplary embodiment, the temperature regulation process further includes: when the heating power reaches 100% or 0%, calculating the control quantity using the following formula: When the current temperature error is less than the regression threshold, the control quantity is recalculated using the following formula: .

[0009] In an exemplary embodiment, the differential gain To determine the differential gain based on the type of liquid input, the process includes: pre-storing the differential gain corresponding to different liquid types, receiving the liquid type input from the human-machine interface, selecting the corresponding differential gain based on the liquid type, and noting that different liquid types have different viscosities.

[0010] In an exemplary embodiment, obtaining a first flow velocity from the first flow velocity signal acquired by the first type of flow velocity sensor includes: calculating the first flow velocity using the following formula. : In the formula, t sample Where N is the sampling period, and V is the number of pulses. drop The reference droplet volume is denoted as .

[0011] In an exemplary embodiment, the step of compensating the first flow rate according to the type of the delivered liquid to obtain a compensated first flow rate includes: The system pre-stores droplet volumes corresponding to different liquid types, receives liquid types input from the human-computer interaction interface, selects the corresponding droplet volume based on the liquid type, and uses the selected droplet volume to replace the reference droplet volume to calculate the first flow velocity; or Use the following formula for V drop Provide compensation: In the formula, The compensated droplet volume, Based on the liquid volume, This is the viscosity compensation coefficient. Given the current liquid viscosity, The reference liquid viscosity is .

[0012] In an exemplary embodiment, the weights are determined based on flow rate and / or liquid viscosity, with higher flow rates having higher weights and lower viscosity having higher weights.

[0013] In an exemplary embodiment, multiple temperature data are acquired from the temperature sensor, resulting in multiple measured temperatures. The weight of each measured temperature is determined based on the current environment and / or the location of the temperature sensor. The multiple measured temperatures are then weighted and averaged, and the weighted average result is used as the measured temperature.

[0014] In an exemplary embodiment, the step of dynamically adjusting the temperature constraint value and / or the flow rate constraint value according to the type of the liquid being transported includes: when the type of the liquid being transported is a high-viscosity liquid, adjusting the temperature constraint value to the optimal viscosity range and controlling the flow rate to the safe flow rate range; or, when the type of the liquid being transported is a biologically active liquid, adjusting the temperature constraint value to the optimal activity temperature range and controlling the flow rate to the flow rate range matching the viscosity characteristics of the liquid type; or, when the type of the liquid being transported is an irritating liquid, adjusting the flow rate constraint value to the safe flow rate range and then adjusting the temperature constraint value to the comfortable temperature range.

[0015] On the other hand, this disclosure also provides an infusion system, including a main control module, a heating module, a temperature sensor module, a flow rate control module, a flow rate sensor module, and a human-machine interface module. The main control module is connected to the heating module, the temperature sensor module, the flow rate control module, the flow rate sensor module, and the human-machine interface module. The temperature sensor module and the flow rate sensor module are disposed on the outside of the infusion tube. The flow rate sensor includes a photocurrent velocity sensor and a pressure flow rate sensor, wherein: The main control module is used to acquire temperature data collected by the temperature sensor module to obtain the measured temperature, calculate the current temperature error based on the temperature setpoint received from the human-machine interaction module, calculate the control quantity using a PID algorithm based on the current temperature error, and set the heating power for the input liquid based on the control quantity. The calculation of the control quantity using the PID algorithm based on the current temperature error includes: calculating the control quantity using the following formula: In the formula, u(t) is the control variable. The proportional gain is after compensation, e(t) is the current temperature error, and K is the proportional gain. i For integral gain, K d The differential gain is the compensated proportional gain. ),in, To compensate for the proportional gain before, For compensation coefficient, For ambient temperature, The differential gain is used to measure the temperature of the input liquid. To be determined based on the type of liquid being transported; The main control module is also used to acquire a first flow velocity signal collected by a photocurrent velocity sensor to obtain a first flow velocity, and to acquire a second flow velocity signal collected by a pressure flow velocity sensor to obtain a second flow velocity. The first flow velocity is compensated according to the type of the liquid being transported to obtain a compensated first flow velocity. The compensated first flow velocity and the second flow velocity are then fused using the following formula to obtain the flow velocity measurement value: In the formula This is a flow velocity measurement value. For the first flow velocity, For the second flow rate, The flow rate is compared with the preset flow rate value using weights. If the measured flow rate value is lower than the preset flow rate value, the flow rate control module is notified to control the slider in the screw-slider mechanism to move and increase the flow rate. If the measured flow rate value is higher than the preset flow rate value, the flow rate control module is notified to control the slider in the screw-slider mechanism to move and decrease the flow rate. The main control module is also used to adjust one or more of the following gains in the PID algorithm according to the flow rate measurement value: proportional gain, integral gain and derivative gain; and to dynamically adjust the temperature constraint value and / or flow rate constraint value according to the type of liquid being supplied; and to automatically repair according to the fault type when a fault occurs. The heating module is used to heat the infusion tube according to the heating power set by the main control module; The flow rate control module is used to move the slider in the lead screw slider mechanism according to the control of the main control module, so as to increase or decrease the flow rate by sliding the slider. The human-computer interaction module is used to receive the type of infusion fluid input by the user.

[0016] In an exemplary embodiment, the main control module performs automatic repair based on the fault type, including: when the main control module detects an abnormality in any flow velocity sensor, calculating the current flow velocity measurement value based on the flow velocity value of the non-abnormal flow velocity sensor, or calculating the current flow velocity measurement value based on the flow velocity value of the non-abnormal flow velocity sensor and historical flow velocity measurement values; when the main control module detects a decrease in the heating power of the heating module, adjusting the proportional gain, or starting the backup heating module for temperature adjustment; when the main control module detects jamming in the lead screw slider mechanism, performing reverse fine-tuning and / or lubrication pulse operations. The main control module uses the following method to determine whether the flow velocity sensor is abnormal: after calculating the first flow velocity and the second flow velocity, if the difference between the first flow velocity and the second flow velocity is greater than a preset fault threshold, the sensor fault diagnosis process is started, including: making each flow velocity sensor work independently, acquiring the flow velocity signal collected by each flow velocity sensor, obtaining the flow velocity value, and determining if the obtained flow velocity value exceeds the normal flow velocity value range, then the flow velocity sensor that measured the abnormal flow velocity value is recorded as an abnormal sensor.

[0017] In an exemplary embodiment, the main control module is further configured to determine whether the temperature setting value is set to a first temperature value if the current flow rate measurement value is greater than a first flow rate threshold, whether the current flow rate measurement value is greater than a second flow rate threshold and less than the first flow rate threshold, whether the temperature setting value is set to a second temperature value, wherein the second temperature value is less than the first temperature value, and whether the current flow rate measurement value is less than the second flow rate threshold, whether the temperature setting value is set to a third temperature value, wherein the third temperature value is less than the second temperature value, so as to achieve higher heating power with higher flow rate.

[0018] The solution in this application integrates temperature control and flow rate monitoring. It dynamically adjusts the heating power using a PID algorithm, achieving high temperature control accuracy with a temperature difference control precision within ±0.5℃. Real-time dynamic compensation is also possible, eliminating the risk of localized overheating and improving user safety and comfort. Flow rate is calculated through the fusion of data from multiple sensor types, improving flow rate detection accuracy and reducing the error to less than 2%.

[0019] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the embodiments described in the description and the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0021] Figure 1 This is a schematic diagram of an infusion system according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram of the temperature monitoring sensing module and the heating module according to an embodiment of the present disclosure; Figure 3 This is a perspective view of the infusion system according to an embodiment of the present disclosure; Figure 4 This is a schematic diagram of the flow rate control module according to an embodiment of the present disclosure; Figure 5 This is a flowchart illustrating the temperature regulation process according to an embodiment of the present disclosure. Figure 6 This is a flowchart illustrating the flow rate adjustment process according to an embodiment of this disclosure. Detailed Implementation

[0022] This application describes several embodiments, but these descriptions are exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0023] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0024] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0025] This disclosure provides an infusion system, such as... Figure 1 As shown, the system includes a main control module, a heating module, a temperature sensor module, a flow rate control module, a flow rate sensor module, and a human-machine interface module. The main control module is connected to the heating module, temperature sensor module, flow rate control module, flow rate sensor module, and human-machine interface module. The temperature sensor module and flow rate sensor module are located on the outside of the infusion tube. The flow rate sensor includes a photocurrent velocity sensor and a pressure flow rate sensor. The main control module is used to acquire temperature data collected by the temperature sensor module to obtain the measured temperature, calculate the current temperature error based on the temperature setpoint received from the human-machine interaction module, calculate the control quantity using a PID algorithm based on the current temperature error, and set the heating power for the input liquid based on the control quantity. The calculation of the control quantity using the PID algorithm based on the current temperature error includes: calculating the control quantity using the following formula: In the formula, u(t) is the control variable. The proportional gain is after compensation, e(t) is the current temperature error, and K is the proportional gain. i For integral gain, K d The differential gain is the compensated proportional gain. ),in, To compensate for the proportional gain before, For compensation coefficient, For ambient temperature, The differential gain is the measured temperature of the input liquid. To be determined based on the type of liquid being transported; The main control module is further configured to acquire a first flow velocity signal from a first type of flow velocity sensor to obtain a first flow velocity, and acquire a second flow velocity signal from a second type of flow velocity sensor to obtain a second flow velocity. The first flow velocity is then compensated according to the type of the liquid being transported to obtain a compensated first flow velocity. The compensated first flow velocity and the second flow velocity are then fused using the following formula to obtain a flow velocity measurement value: In the formula This is a flow velocity measurement value. For the first flow velocity, For the second flow rate, The flow rate is compared with the preset flow rate value using weights. If the measured flow rate value is lower than the preset flow rate value, the flow rate control module is notified to control the slider in the screw-slider mechanism to move and increase the flow rate. If the measured flow rate value is higher than the preset flow rate value, the flow rate control module is notified to control the slider in the screw-slider mechanism to move and decrease the flow rate. The main control module is also used to adjust one or more of the following gains in the PID algorithm according to the flow rate measurement value: proportional gain, integral gain and derivative gain; and to dynamically adjust the temperature constraint value and / or flow rate constraint value according to the type of liquid being supplied; and to automatically repair according to the fault type when a fault occurs. The heating module is used to heat the infusion tube according to the heating power set by the main control module; The flow rate control module is used to move the slider in the lead screw slider mechanism according to the control of the main control module, so as to increase or decrease the flow rate by sliding the slider. The human-computer interaction module is used to interact with the user, including but not limited to receiving the type of infusion fluid input by the user.

[0026] The solution in this application integrates temperature control and flow rate monitoring. It dynamically adjusts the heating power using a PID algorithm, achieving high temperature control accuracy with a temperature difference control precision within ±0.5℃. Real-time dynamic compensation is also possible, eliminating the risk of localized overheating and improving user safety and comfort. Flow rate is calculated through the fusion of data from multiple sensor types, improving flow rate detection accuracy and reducing the error to less than 2%.

[0027] For example, the main control module performs automatic repair based on the fault type, including: When the main control module detects an anomaly in any flow velocity sensor, it calculates the current flow velocity measurement value based on the flow velocity value of the normal flow velocity sensor, or calculates the current flow velocity measurement value based on the flow velocity value of the normal flow velocity sensor and historical flow velocity measurement values; when the main control module detects a decrease in the heating power of the heating module, it adjusts the proportional gain, or starts the backup heating module for temperature regulation; when the main control module detects jamming in the lead screw slider mechanism, it performs reverse fine-tuning and / or lubrication pulse operations; wherein: The main control module can determine whether the flow velocity sensor is abnormal in the following way: After calculating the first flow velocity and the second flow velocity, if the difference between the first flow velocity and the second flow velocity is greater than the preset fault threshold, the sensor fault diagnosis process is started, including: making each flow velocity sensor work independently, acquiring the flow velocity signal collected by each flow velocity sensor, obtaining the flow velocity value, and determining whether the obtained flow velocity value exceeds the normal flow velocity value range, then recording the flow velocity sensor that measured the abnormal flow velocity value as an abnormal sensor.

[0028] The main control module can determine whether the heating module's power has decreased by judging whether the temperature deviation (the temperature difference after two temperature adjustments) in a stable state deviates from the maximum positive and negative deviation (a predetermined normal deviation range). When the main control module confirms that the heating power has decreased, it can first try to adjust the proportional gain for automatic repair. If it cannot be repaired, then it will activate the alarm, or if there is a backup heating module, it will activate the backup heating module for heating.

[0029] The main control module can determine whether the lead screw and slider mechanism is jammed based on whether the drive motor current exceeds the limit or by using position deviation. For example, if the drive motor output current exceeds a preset limit, the lead screw and slider mechanism is considered jammed. Alternatively, the main control module can continuously calculate the position deviation as the commanded position minus the actual position; if the position deviation consistently exceeds a set window value, it is considered jammed. When the main control module confirms jamming in the lead screw and slider mechanism, it can automatically perform reverse fine-tuning and / or lubrication pulse operations to restore smooth mechanical transmission. Reverse fine-tuning refers to a small-stroke, high-precision reverse movement in the direction of lead screw drive, which can be achieved through a small current drive. Lubrication pulses refer to the short-duration, intermittent spraying of small amounts of lubricating oil onto parts requiring lubrication (such as the lead screw or nut). The lubrication pump, oil pipe, and nozzle need to be pre-set, and the nozzle must be pre-installed at the location requiring lubrication.

[0030] For example, in this embodiment, the heater can be achieved by wrapping the infusion tube with a ring-shaped flexible heating strip, such as... Figure 2 As shown, the heating band can be made of a flexible PCB substrate, which allows it to fit different tube diameters. It can be fixed to the outside of the infusion tube using a removable clip, such as... Figure 3 As shown. Optionally, a distributed temperature sensor array can be built into the heating band, or it can be omitted from the inner side of the heating band. Exemplarily, the heating band can have a three-layer structure: the inner layer near the infusion tube is thermally conductive silicone, the middle layer is a heating copper wire obtained by etching copper foil, and the outer layer away from the infusion tube is insulating silicone.

[0031] This embodiment employs a dual-flow velocity sensor setup, utilizing two different types of flow velocity sensors, including but not limited to one or more of the following: a non-contact photocurrent velocity sensor (e.g., the aforementioned first type of flow velocity sensor) and a Hall effect pressure sensor (e.g., the aforementioned second type of flow velocity sensor). The photocurrent velocity sensor can be an infrared emitter and a photosensitive receiver mounted in a face-to-face configuration, secured to both sides of the infusion tubing drip chamber with clips; the emitter-receiver distance is adjustable. When a droplet passes through the drip chamber, it blocks the infrared light, and the change in light intensity triggers a pulse signal (one square wave signal per drop). The pressure sensor monitors pressure changes in the infusion tubing and can be installed downstream (closer to the patient) to monitor fluid pressure fluctuations, outputting an analog voltage signal corresponding to the pressure change. Dual data fusion improves the accuracy of the flow velocity data and allows for mutual calibration. For example, these two types of flow velocity sensors can be located at the end of the heating band and close to the infusion tubing wall, such as... Figure 3 As shown, this configuration allows for a higher level of system integration.

[0032] The flow rate control module in this embodiment is implemented using a motor and a lead screw-slider structure, such as... Figure 4As shown, the rotary motion of the motor is converted into linear motion of the slider via a screw-slider mechanism. The flow rate is increased or decreased by the sliding of the slider. When the slider is at the end of the screw, the infusion tube is squeezed to minimize the flow rate; when the slider is at the front of the screw, the infusion tube is not squeezed, maximizing the flow rate. The small lead screw allows for high-precision adjustment, and its high coefficient of friction provides excellent self-locking functionality. The screw-slider mechanism enables high-precision flow rate control, and combined with the main control module, automatic flow rate control can be achieved.

[0033] In an exemplary embodiment, the main control module can also calculate and display the remaining infusion time in real time based on the infusion volume and the current flow rate measurement. The infusion volume can be input by the user through the human-computer interaction module.

[0034] In an exemplary embodiment, the human-machine interface module can also be used to display real-time parameters via a display, including but not limited to temperature, flow rate, and remaining infusion time. The display method can be set, such as curve display or numerical display, facilitating management by medical staff by displaying the infusion progress in real time. Optionally, an infusion plan can also be input via the human-machine interface module, such as a gradient cooling mode or a flow rate-adaptive temperature control mode. The human-machine interface module can use a touchscreen to display and input parameters.

[0035] In an exemplary embodiment, the main control module is further configured to estimate the infusion time based on the infusion volume input by the user through the human-computer interaction module when the user selects the gradient cooling mode through the human-computer interaction module, and set the temperature gradient according to the infusion time. For example, the temperature setpoint is set to Temp1 during the time period t1, and the temperature setpoint is set to Temp2 during the time period t2, and so on. The temperature setpoint can be set to gradually decrease.

[0036] In an exemplary embodiment, the main control module is further configured to, when the user selects the flow rate-based adaptive temperature control mode through the human-machine interaction module, determine the current flow rate measurement value. If the current flow rate measurement value is greater than a first flow rate threshold, the current temperature setting value is set to the first temperature value. If the current flow rate measurement value is greater than a second flow rate threshold but less than the first flow rate threshold, the current temperature setting value is set to the second temperature value, which is less than the first temperature value. If the current flow rate measurement value is less than the second flow rate threshold, the current temperature setting value is set to the third temperature value, which is less than the second temperature value. This enables flow rate-based adaptive temperature adjustment, increasing heating power when the flow rate is high and decreasing heating power when the flow rate is low.

[0037] In an exemplary embodiment, the system may further include an alarm module for issuing an alarm when an abnormal sensor is detected, or for alerting medical staff when the remaining infusion time indicates that the infusion is about to end, or for issuing alerts in other scenarios where alerts are required.

[0038] In an exemplary embodiment, the system may further include a storage module for recording each infusion process, wherein the recorded data can be exported via USB or transmitted to a hospital information system via wired (e.g., local area network) or wireless (e.g., Bluetooth).

[0039] This embodiment integrates precise temperature control, flow rate monitoring, and human-computer interaction, forming a closed-loop logic of heating, temperature control, monitoring, and alarm. In addition, it can also have data recording and remote monitoring functions to improve medical management efficiency.

[0040] The infusion methods implemented by the above-mentioned infusion system include real-time temperature regulation and real-time flow rate regulation, both of which are cyclic execution processes. These will be described in detail below.

[0041] like Figure 5 As shown, the real-time temperature adjustment methods include: Step 11, Temperature Sensor Data Acquisition and Preprocessing: Receive sensor data measured by the temperature sensor, preprocess the sensor data to obtain the current temperature value (or actual temperature value, i.e., the aforementioned measured temperature), and calculate the current temperature error e(t) based on the temperature setpoint. Formula 1 Where T set T is the temperature setpoint (or set temperature). actualt This is the current temperature value; Optionally, the preprocessing may include outlier removal and / or smoothing filtering. Outlier removal removes temperature values ​​that exceed a preset normal temperature range. Smoothing filtering is used to reduce noise in the sensor data.

[0042] Optionally, when obtaining the current temperature value, a weighted average of the temperature values ​​measured by multiple sensors can be performed. By using multi-sensor data fusion to obtain the current temperature value, the accuracy of temperature measurement can be improved.

[0043] For example, taking four sensors as an example, the temperature values ​​collected are... The actual temperature is calculated using the following formula: Formula 2 Here, w1, w2, w3, and w4 represent the weights of the four sensors. When assigning weights, the weight of each sensor can be set according to its location. For example, sensors closer to the infusion tube inlet have a higher weight. Assuming that w1 is closest to the infusion tube inlet among the four sensors, then its weight should be set accordingly. The other sensors are set to have the same weight. The above embodiments are merely illustrative. In other embodiments, different weight values ​​for sensor temperature values ​​can be configured according to the environment, including but not limited to one or more of the following: indoor temperature, season, and climate. It is possible to pre-test which weights will yield more accurate temperature values ​​under what conditions, and store different weight sets corresponding to different environments in the main control unit. Options are provided on the human-machine interface for operators to select the current environment. The main control unit can then select the corresponding weight combination to calculate the actual temperature based on the current environment input by the operator, thereby improving the accuracy of actual temperature measurement. In other embodiments, location and environment can also be combined. The corresponding weight combinations obtained through testing are stored in the main control unit, and the main control unit uses the appropriate weight combination when calculating the actual temperature value.

[0044] For example, when the difference between the temperature value measured by a sensor and the average value (i.e., the aforementioned actual temperature) is greater than a preset threshold (e.g., 1°C), median filtering can be enabled, and the median-filtered value can be used as the actual temperature.

[0045] Step 12: Process the transmitted temperature data using a PID algorithm to obtain the control quantity; This embodiment uses a PID (Proportional-Integral-Derivative) algorithm to calculate the control quantity. The calculation can be performed by a PID controller built into the main control module. The PID calculates the control quantity (PWM duty cycle) based on the temperature error, driving the heater to work so that the actual temperature can quickly approach the setpoint. The PID controller compares and adjusts the output control quantity through the coordinated action of three stages. The PID algorithm formula is as follows: Formula 3 Where u(t) is the control variable, including a proportional term (P), an integral term (I), and a derivative term (D). The proportional term is used to quickly respond to the current deviation, the integral term is used to eliminate historical accumulated errors, and the derivative term is used to predict future error trends and suppress oscillations. Where K... p K is the proportional gain, e(t) is the error signal, calculated using Formula 1. i For integral gain, K d These gain coefficients, which are differential gain, can also be called PID parameters.

[0046] In this example, the gain coefficient is not constant but adaptively adjusted in real time according to the environment. This adaptive adjustment mode can be selected by the user as a separate function. Adjustable gain parameters include, for example, proportional gain, which can be adjusted according to the measured temperature of the input liquid (…). ) and ambient temperature ( To make real-time adjustments, for example, the new proportional gain can be calculated using the following formula: ) Formula 4 in, This is the adjusted proportional gain. The proportional gain before adjustment. As a compensation coefficient, a suitable compensation coefficient can be obtained by fitting experimental data. This compensation coefficient enables the resulting control quantity to more accurately control the heater heating and reach the temperature setpoint more quickly. ∈[0.01,0.04], for example, α=0.02 / ℃.

[0047] In an exemplary embodiment, the adjustable gain parameter includes the differential gain. The differential gain corresponding to different infusion fluids is pre-determined based on experiments. Different fluid types have different viscosities, and the differential gain corresponding to the input fluid is stored in the MCU. When the user inputs the infusion fluid through the human-machine interface, the MCU sends the corresponding differential gain to the PID controller. The PID controller calculates the control quantity based on this differential gain, thus avoiding the influence of the viscosity of the input fluid on the control quantity. For example, when the input fluid is a high-viscosity fluid (such as blood), its corresponding differential gain is lower. The viscosity can be determined based on the type of input fluid. For example, when the input fluid is blood or a fat emulsion, it is assumed to be a high-concentration fluid; when the input fluid is a crystalloid, it is assumed to be a low-concentration fluid.

[0048] In an exemplary embodiment, the control quantity is limited to prevent integral saturation. The output of the control variable is used to control the heating power. When the heating power reaches 100% or 0%, the integral term accumulation is paused, i.e., the control variable is recalculated, which only includes the proportional and derivative terms. When the temperature error is less than the regression threshold, the regression threshold is, for example, 0.1℃-0.5℃, or for example, 0.3℃. When this happens, the control quantity is recalculated and an integral term is added to it, which can prevent overshoot.

[0049] In an exemplary embodiment, Formula 3 can be written in the following form: Formula 5 In an exemplary embodiment, the sampling period It can be set as needed, for example, from 50ms to 150ms, such as 100ms.

[0050] Step 13, control quantity Convert to PWM (Pulse Width Modulation) duty cycle, and use the PWM duty cycle to control the heating power of the heater, for example, by controlling the heating power through an H-bridge drive circuit.

[0051] The PWM duty cycle is calculated using the following formula: Formula 6 Where DutyCycle is the duty cycle, and PWM is... max For PWM resolution, for example, 12-bit PWM resolution. When the PID output is 1, the PWM duty cycle is 100%, and the heater operates at 100% full power. When the PID output is 0, the PWM duty cycle is 0%, and the heater is turned off. The intermediate values ​​correspond to different heating powers.

[0052] After completing step 4, return to step 1. By repeatedly executing the above process, real-time temperature adjustment can be achieved.

[0053] The temperature adaptive scheme in this embodiment combines a dynamic PID algorithm to achieve high-precision constant temperature control of the infusion fluid within ±0.5℃, and eliminates the hysteresis effect through real-time compensation of ambient temperature and fluid viscosity.

[0054] like Figure 6 As shown, the real-time flow rate adjustment method includes: Step 21, flow velocity sensor data acquisition and preprocessing. In this embodiment, at least two types of sensors are used for data acquisition and preprocessing to obtain at least two flow velocity data. The preprocessing of the photocurrent velocity signal acquired by the photocurrent velocity sensor includes, but is not limited to, filtering, amplification, and pulse shaping. Filtering can be achieved using a two-stage RC low-pass filter, amplification can be achieved using an operational amplifier, and pulse shaping can be achieved using a Schmitt trigger. For example, the photocurrent velocity signal output by the photocurrent velocity sensor can be input to the MCU interrupt pin via a low-pass filter, an operational amplifier, and a Schmitt trigger.

[0055] Since the photocurrent velocity signal is sent to the MCU interrupt pin, the number of pulses N, i.e., the droplet count, can be accumulated. The first flow velocity Flow can be calculated from the droplet count and the droplet volume. drop : Formula 7 Among them, t sample The sampling period can range from 5 to 15 seconds, for example, 10 seconds, V drop The reference droplet volume is typically [value missing]. The flow rate unit will eventually be converted to mL / h.

[0056] In an exemplary embodiment, to make the flow rate data more accurate, the droplet volume V can be... drop Compensation is performed to avoid measurement errors in flow rate due to differences in the viscosity of the infusion fluid. Based on the type of infusion fluid (physiological saline, blood, or fat emulsion) input by the user in the human-machine interface, a corresponding viscosity compensation coefficient β is selected, and the droplet volume is dynamically adjusted to improve the accuracy of photoelectric flow rate measurement. The following formula is used to adjust V... drop Provide compensation: Formula 8 in, The compensated droplet volume, The volume of the reference droplet is obtained by calibrating a reference liquid, for example. β is the viscosity compensation coefficient, obtained through experimental fitting, which represents the proportion by which the droplet volume changes for every unit change. For example... , This represents the current liquid viscosity; different liquid types correspond to different viscosity values. As the reference liquid viscosity, compared with V drop Matching, for example .

[0057] In an exemplary embodiment, the V of different infusion fluids can be... drop The data is pre-stored in the MCU, which selects the appropriate V based on the infusion fluid input by the user through the human-machine interface. drop Perform the calculation.

[0058] V is obtained through either of the above two methods. drop Compensation is performed to ensure that flow rate control is not affected by liquid viscosity, resulting in high precision and small error.

[0059] The preprocessing of pressure and flow rate signals acquired by pressure sensors includes, but is not limited to, amplification and analog-to-digital conversion. Amplification can be achieved using a differential amplifier, and analog-to-digital conversion can be achieved using an analog-to-digital converter (ADC). For example, the pressure and flow rate signals output by the pressure sensor can be transmitted to the main control module (such as an MCU) via a differential amplifier and ADC through an SPI bus.

[0060] The main control module processes the pressure and flow velocity signals, including digital filtering and flow velocity calculation. Digital filtering can be achieved using moving average filtering and wavelet noise reduction. The second flow velocity (Flow) can be calculated from the peak interval and amplitude of the pressure waveform. pressure : Formula 9 in, denoted as the peak interval of the pressure waveform, A as the amplitude of the pressure waveform, and k1, k2, and b as calibration coefficients.

[0061] In an exemplary embodiment, the flow rate measured by the pressure sensor can be calibrated using the flow rate measured by the photoelectric sensor, for example, by updating the flow rate data based on a first flow rate data at fixed intervals (e.g., 30 minutes). One or more of the coefficients can make the second flow velocity data measured by the pressure sensor more accurate.

[0062] Step 22: Fuse the obtained flow velocity data to obtain the final flow velocity measurement value; For example, the following formula can be used for weighted fusion: Formula 10 When assigning weights, the weights can be based on the flow rate. For liquids with flow rates within the normal range (e.g., 10-200 mL / h), a higher weight (greater than 0.5, e.g., 0.7) can be set, which means that the first flow rate data is given more weight. For liquids with flow rates within the low range (<10 mL / h), which indicates that the viscosity is high, a lower weight (less than 0.5, e.g., 0.3) can be set, which means that the second flow rate data is given more weight.

[0063] Step 23: Compare the measured flow rate with the preset flow rate. If the measured flow rate is lower than the preset flow rate, control the motor to move the slider in the lead screw mechanism to increase the flow rate and return to step 21. If the measured flow rate is higher than the preset flow rate, control the motor to move the slider in the lead screw mechanism to decrease the flow rate and return to step 21.

[0064] In the screw-slider mechanism, the movement position of the slider corresponds to the flow rate. The main control module can pre-record the correspondence between the slider movement distance and the flow rate. The main control module sends a control signal to the flow control module (i.e. the aforementioned motor) to make the motor move, thereby controlling the movement of the slider in the screw-slider mechanism.

[0065] The above text explains temperature and flow rate regulation separately. Temperature and flow rate can also be controlled in tandem: based on the measured flow rate (i.e., the current flow rate), one or more of the following gains are adjusted: proportional gain, integral gain, and derivative gain. For example, an increase in flow rate leads to a shorter heat exchange time between the liquid and the environment. Therefore, the response speed of the heating power can be improved by adjusting the gain, i.e., rapid heating can be achieved. This can be achieved by adjusting the proportional gain (increasing the error, thus increasing the output). In addition, the integral gain (accumulating historical errors to further accelerate the heating rate) and / or the derivative gain (preventing overshoot) can also be adjusted.

[0066] Furthermore, the temperature constraint value and / or flow rate constraint value can be dynamically adjusted according to the type of liquid. For example, considering that the flow rate of high-viscosity liquids (such as blood products) is prone to fluctuation at low temperatures, when the input liquid is a high-viscosity liquid, the temperature should first be adjusted to the optimal viscosity range (such as 37℃±1℃) before the flow rate is precisely controlled. The optimal viscosity range is the temperature range determined according to the fluid type. In other words, when the type of input liquid is a high-viscosity liquid, the temperature constraint value should be adjusted to the optimal viscosity range, and the flow rate should be controlled within the safe flow rate range.

[0067] For example, when the infused fluid is platelets, the temperature must be strictly controlled within the optimal activity temperature range (e.g., the optimal activity temperature range for platelets is 20-24℃) to avoid inactivation. In this case, the flow rate adjustment range must match the viscosity characteristics at that temperature to prevent tubing blockage. In other words, when the infused fluid is a biologically active liquid, the temperature constraint value is adjusted to the optimal activity temperature range, and the flow rate is controlled within a range that matches the viscosity characteristics of that liquid type.

[0068] For example, when the infused fluid is a chemotherapy drug (such as paclitaxel), the temperature is automatically reduced to 32-34°C within the safe flow rate range to reduce vascular irritation, depending on the drug's irritation. In other words, in this case, when the infused fluid is an irritating fluid, the flow rate constraint is adjusted to the safe flow rate range, and the temperature constraint is adjusted to the comfortable temperature range.

[0069] The aforementioned safe flow rate range can be determined based on the patient's physical condition, the characteristics of the infused fluid, and the clinical scenario. A suitable safe flow rate range can be calculated by the main control module through inputting relevant data via the human-computer interface.

[0070] In an exemplary embodiment, flow velocity anomaly detection can also be performed in real time to determine whether the flow velocity sensor is malfunctioning. For example, whenever a first flow velocity and a second flow velocity are calculated, it is determined whether the difference between the first flow velocity and the second flow velocity is greater than a preset fault threshold. If it is greater, an alarm and / or sensor fault diagnosis are triggered. For example: when The system can trigger an alarm to notify medical staff for intervention, or perform sensor fault diagnosis first, and then trigger an alarm when a fault is diagnosed. The sensor fault diagnosis mode can involve alternately shutting down sensors, keeping only a single flow velocity sensor for flow velocity measurement, and determining whether the measured value is within the normal flow velocity range. If it is, the next sensor is tested; if not, the sensor is recorded as abnormal, and the next sensor is tested. After all sensors have completed their measurements, an alarm is triggered, all abnormal sensors are reported, and medical staff are notified for intervention. The aforementioned single flow velocity sensor can be a single type of flow velocity sensor, i.e., performing fault diagnosis on a sensor-by-sensor basis, or it can be a single sensor, i.e., performing fault diagnosis on each sensor individually. The cause of the abnormality may be due to air bubbles adhering to the tube wall, leading to inaccurate flow velocity measurement, in which case manual intervention is required. In an exemplary embodiment, when the difference between the first flow velocity and the second flow velocity exceeds a preset fault threshold, tube clamping can be initiated.

[0071] Once a sensor malfunction is identified, the malfunctioning sensor can be ruled out, and the flow rate adjustment process can continue by only receiving signals from the normal sensors.

[0072] In an exemplary embodiment, the method further includes: when a fault occurs, automatically repairing the fault according to the fault type, including: For example, when any flow velocity sensor malfunction is detected (which can be determined based on the aforementioned sensor fault diagnosis process), the weights of the weighted fusion in Formula 10 are automatically adjusted (e.g., the weight of the malfunctioning sensor is reduced to 0.1). That is, the current flow velocity measurement value is calculated based on the flow velocity values ​​of other flow velocity sensors that have not malfunctioned, or the current flow velocity measurement value is estimated based on the flow velocity values ​​of other flow velocity sensors that have not malfunctioned and historical flow velocity measurement values. For example, the estimation is based on the measurement value and the historical average value, or a linear regression model is constructed based on historical data, and the current flow velocity measurement value is estimated based on the linear regression model.

[0073] For example, when it is determined that the power of the current heating module is decreasing (for example, the temperature deviation under steady state can be calculated; if the temperature deviation deviates from the maximum positive or negative deviation under steady state, it indicates that the temperature regulation accuracy has decreased, that is, the power of the heating module is decreasing), the proportional gain (Kp') of the PID can be automatically compensated, or when there are dual heating modules, the backup heating module can be started to regulate the temperature.

[0074] For example, when jamming is detected in the lead screw and slider mechanism (e.g., by checking if the drive motor current exceeds limits or by considering positional deviations), automatic reverse fine-tuning and / or lubrication pulse operations can be performed to restore smooth mechanical transmission. Reverse fine-tuning refers to a small-stroke, high-precision reverse movement in the direction of lead screw drive, which can be achieved through a small current drive. Lubrication pulses refer to the short-duration, intermittent spraying of small amounts of lubricating oil onto parts requiring lubrication (e.g., lead screw or nut) to achieve lubrication.

[0075] This embodiment of the flow rate adjustment scheme integrates dual-channel data from photocurrent velocity sensor and pressure sensor, improves flow rate detection accuracy (error < 2%) through adaptive calibration algorithm, and supports automatic pipe clamping in case of abnormal flow rate (deviation > 15%).

[0076] This disclosed embodiment can prevent vasospasm caused by low-temperature infusion for patients, improving treatment comfort; for medical staff, it allows for real-time monitoring and remote alarms, reducing the workload of manual inspections, and historical data is traceable to meet medical quality control requirements. Furthermore, it features dual safety protection for temperature and flow rate, complies with medical device safety standards, and has high system reliability.

[0077] The embodiments disclosed herein can be applied to the scenario of constant temperature infusion of chemotherapy drugs, which can avoid low temperature stimulation. They can also be applied to precise rate control in pediatrics to prevent over-infusion, and have significant clinical value and market prospects.

[0078] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of those features.

[0079] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0080] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0081] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0082] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An infusion method, characterized by, The temperature regulation and the flow rate regulation can be realized, including a temperature regulation process and a flow rate regulation process executed in cycles, wherein: The temperature regulation process comprises: obtaining a measured temperature from temperature data collected by a temperature sensor, calculating a current temperature error according to a temperature set value, calculating a control amount according to the current temperature error by using a PID algorithm, and setting a heating power for the liquid to be delivered based on the control amount, wherein the calculating the control amount according to the current temperature error by using the PID algorithm comprises: calculating the control amount according to the following formula: , wherein u(t) is the control amount, is a compensated proportional gain, e(t) is the current temperature error, K i is an integral gain, K d is a differential gain, the compensated proportional gain ), wherein, is a proportional gain before compensation, is a compensation coefficient, is an ambient temperature, is the measured temperature of the liquid to be delivered, and the differential gain is determined according to the type of the liquid to be delivered. The flow rate regulation process includes: acquiring a first flow rate signal from a first type of flow rate sensor to obtain a first flow rate, and acquiring a second flow rate signal from a second type of flow rate sensor to obtain a second flow rate; compensating for the first flow rate according to the type of liquid being transported to obtain a compensated first flow rate; and fusing the compensated first flow rate and the second flow rate using the following formula to obtain the flow rate measurement value: In the formula This is a flow velocity measurement value. For the first flow velocity, For the second flow rate, The flow rate is compared with the preset flow rate value using weights. If the measured flow rate value is lower than the preset flow rate value, the slider in the screw-slider mechanism is moved to increase the flow rate. If the measured flow rate value is higher than the preset flow rate value, the slider in the screw-slider mechanism is moved to decrease the flow rate. The method further comprises: adjusting one or more of the following gains in the PID algorithm according to the flow rate measurement value: a proportional gain, an integral gain, and a differential gain; and / or, dynamically adjusting a temperature constraint value and / or a flow rate constraint value according to the type of the liquid being delivered; The method further comprises: when a fault occurs, automatically repairing according to the fault type.

2. The method of claim 1, wherein, The automatic repairing according to the fault type comprises: When any flow rate sensor is detected to be abnormal, calculating the current flow rate measurement value based on the flow rate value of the non-abnormal flow rate sensor, or calculating the current flow rate measurement value based on the flow rate value of the non-abnormal flow rate sensor and the historical flow rate measurement value; when the heating module heating power attenuation is detected, adjusting the proportional gain, or starting a backup heating module to regulate the temperature; when the screw and block mechanism is found to be stuck, performing reverse fine tuning and / or lubrication pulse operation; The method further comprises: judging whether the flow rate sensor is abnormal in the following manner: after the first flow rate and the second flow rate are calculated, if the difference between the first flow rate and the second flow rate is greater than a preset fault threshold, starting a sensor fault diagnosis process, including: making each flow rate sensor work alone, obtaining the flow rate signal collected by each flow rate sensor, obtaining the flow rate value, and judging whether the obtained flow rate value is outside the normal flow rate value range; if the abnormal flow rate value is detected, recording the flow rate sensor as an abnormal sensor.

3. The method of claim 1, wherein, The method further comprises: judging whether the current flow rate measurement value is greater than a first flow rate threshold, and if so, setting the temperature set value to a first temperature value; if the current flow rate measurement value is greater than a second flow rate threshold and less than the first flow rate threshold, setting the temperature set value to a second temperature value, the second temperature value being less than the first temperature value; if the current flow rate measurement value is less than the second flow rate threshold, setting the temperature set value to a third temperature value, the third temperature value being less than the second temperature value, so as to realize that the higher the flow rate, the higher the heating power.

4. The method of claim 1, wherein, The temperature regulation process further comprises: when the heating power reaches 100% or 0%, the control quantity is calculated by using the following formula: When the current temperature error is less than the regression threshold, the control quantity is recalculated by using the following formula: ​ 5. The method according to claim 1 or 4, characterized in that, The differential gain The differential gain is determined according to the type of the liquid to be pumped, including: pre-storing differential gains corresponding to different liquid types, receiving a liquid type input from a human-computer interaction interface, and selecting a corresponding differential gain according to the liquid type. The viscosity of different liquid types is different.

6. The method of claim 1, wherein The first flow rate is obtained by acquiring a first flow rate signal collected by the first flow rate sensor, comprising: calculating the first flow rate by using the following formula : , wherein t sample is a sampling period, N is a pulse number, and V drop is a reference droplet volume.

7. The method of claim 6, wherein, The compensation of the first flow rate according to the type of the liquid being delivered comprises: The weight is determined according to the flow rate and / or the viscosity of the liquid, the higher the flow rate, the higher the weight, and the lower the viscosity, the higher the weight. The V drop is compensated using the formula: , where is the compensated droplet volume, is the reference liquid volume, is the viscosity compensation factor, is the current liquid viscosity, is the reference liquid viscosity.

8. The method of claim 1, wherein, The temperature data collected by the temperature sensor is obtained, a plurality of measurement temperatures are obtained, the weight of each measurement temperature is determined based on the current environment and / or the position of the temperature sensor, and the plurality of measurement temperatures are weighted and averaged, and the weighted average result is taken as the measurement temperature.

9. The method of claim 1, wherein, The dynamic adjustment of the temperature constraint value and / or the flow rate constraint value according to the type of the liquid being delivered comprises:

10. The method of claim 1, wherein, When the type of the liquid being delivered is a high-viscosity liquid type, the temperature constraint value is adjusted to be in an optimal viscosity interval, and the flow rate is controlled to be in a safe flow rate range; or ​ When the type of the liquid to be transfused is a biologically active liquid, the temperature constraint value is adjusted to be in an optimal activity temperature interval, and the flow rate is controlled to be in a flow rate range matching the viscosity characteristics of the liquid type; or When the type of the liquid to be transfused is a stimulating liquid, the flow rate constraint value is adjusted to be in a safe flow rate range, and the temperature constraint value is adjusted to be in a comfortable temperature range.

11. An infusion system, characterized by The device comprises a main control module, a heating module, a temperature sensor module, a flow rate control module, a flow rate sensor module, and a human-computer interaction module. The main control module is connected to the heating module, the temperature sensor module, the flow rate control module, the flow rate sensor module, and the human-computer interaction module. The temperature sensor module and the flow rate sensor module are arranged outside the infusion tube. The flow rate sensor comprises a photoelectric flow rate sensor and a pressure flow rate sensor. The master module is used for obtaining temperature data collected by the temperature sensor module to obtain a measured temperature, calculating a current temperature error according to a temperature set value received from the human-computer interaction module, calculating a control amount according to the current temperature error by using a PID algorithm, and setting a heating power for the liquid to be delivered based on the control amount, wherein the calculating the control amount according to the current temperature error by using the PID algorithm comprises: calculating the control amount by using the following formula: , wherein u(t) is the control amount, is a compensated proportional gain, e(t) is the current temperature error, K i is an integral gain, K d is a differential gain, the compensated proportional gain , wherein, is a proportional gain before compensation, is a compensation coefficient, is an ambient temperature, is the measured temperature of the liquid to be delivered, and the differential gain is determined according to a type of the liquid to be delivered. The master module is further configured to acquire a first flow rate signal collected by the photoelectric current flow sensor to obtain a first flow rate, acquire a second flow rate signal collected by the pressure flow sensor to obtain a second flow rate, compensate the first flow rate according to the type of the liquid to be delivered to obtain a compensated first flow rate, fuse the compensated first flow rate and the second flow rate to obtain a flow rate measurement value according to the following formula: , wherein is the flow rate measurement value, is the first flow rate, is the second flow rate, is a weight, and the flow rate measurement value is compared with a preset flow rate value; if the flow rate measurement value is lower than the preset flow rate value, the flow rate control module is notified to control the slider in the lead screw and slider mechanism to move to increase the flow rate; if the flow rate measurement value is higher than the preset flow rate value, the flow rate control module is notified to control the slider in the lead screw and slider mechanism to move to decrease the flow rate. The main control module is further configured to adjust one or more of the following gains in the PID algorithm according to the flow rate measurement value: the proportional gain, the integral gain, and the differential gain; to dynamically adjust the temperature constraint value and / or the flow rate constraint value according to the type of the liquid to be transfused; and to automatically repair according to the fault type when a fault occurs. The heating module is configured to heat the infusion tube according to the heating power set by the main control module. The flow rate control module is configured to move the slider in the lead screw slider mechanism according to the control of the main control module, and to increase or decrease the flow rate by sliding the slider. The human-computer interaction module is configured to receive the type of the liquid to be transfused input by the user.

12. The system of claim 11, wherein, The main control module automatically repairs according to the fault type, including: When the main control module detects that any flow rate sensor is abnormal, the current flow rate measurement value is calculated based on the flow rate value of the non-abnormal flow rate sensor, or the current flow rate measurement value is calculated based on the flow rate value of the non-abnormal flow rate sensor and the historical flow rate measurement value; when the main control module detects that the heating power of the heating module decays, the proportional gain is adjusted, or a backup heating module is started to adjust the temperature; when the main control module finds that the lead screw slider mechanism is stuck, reverse fine tuning and / or lubrication pulse operation are performed. The main control module determines whether the flow rate sensor is abnormal in the following manner: after calculating the first flow rate and the second flow rate, if the difference between the first flow rate and the second flow rate is greater than a preset fault threshold, the sensor fault diagnosis process is started, including: making each flow rate sensor work alone, obtaining the flow rate signal collected by each flow rate sensor to obtain the flow rate value, and determining whether the obtained flow rate value is outside the normal flow rate value range; if the abnormal flow rate value is measured, the flow rate sensor is recorded as an abnormal sensor.

13. The system of claim 11, wherein, The main control module is further configured to set the temperature set value to a first temperature value if the current flow rate measurement is greater than a first flow rate threshold, set the temperature set value to a second temperature value if the current flow rate measurement is greater than a second flow rate threshold and less than the first flow rate threshold, the second temperature value being less than the first temperature value, and set the temperature set value to a third temperature value if the current flow rate measurement is less than the second flow rate threshold, the third temperature value being less than the second temperature value, so as to achieve a higher flow rate with a higher heating power.

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