Intelligent self-adaptive pressure adjusting system for thoracoscope incision pressure reducer
By acquiring data from the incision decompression device and dynamically calculating collision risk and response requirements, the gain coefficient of the PID controller was adjusted, solving the problem of response delay in the incision decompression device. This resulted in faster and more precise pressure relief, improving surgical outcomes and patient recovery quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANDONG PROVINCIAL HOSPITAL AFFILIATED TO SHANDONG FIRST MEDICAL UNIVERSITY (SHANDONG PROVINCIAL HOSPITAL)
- Filing Date
- 2026-01-27
- Publication Date
- 2026-04-21
AI Technical Summary
Existing incision decompression devices use fixed parameters or rely on simple threshold settings in PID control, resulting in response delays, lack of dynamic adaptive adjustment, and inability to timely offset instrument pressure, thus affecting surgical outcomes and patient recovery quality.
The data acquisition module obtains pressure, distance, displacement, velocity, and acceleration data of the pressure reducer. The collision risk analysis module and adaptive adjustment module are used to dynamically calculate the collision risk value and system response requirements, and adjust the gain coefficient of the PID controller to achieve adaptive air pump power control.
It improves the response speed and accuracy of the incision decompression device, reduces mechanical damage to instruments and tissues, and meets the requirements of rapid buffering and steady-state accuracy in thoracoscopic surgery.
Smart Images
Figure CN121891104A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of adaptive control technology, specifically to an intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device. Background Technology
[0002] Thoracoscopic surgery, as a minimally invasive technique, involves making a small incision in the chest wall and inserting instruments (such as endoscopes and surgical forceps) for operation. It offers advantages such as minimal trauma and rapid recovery. During the procedure, the instruments frequently pass through the incision, constantly subjecting the instruments to mechanical compression and friction against the hard rib edges and the delicate intercostal nerves and muscle tissue. This severely impacts the minimally invasive effect of the surgery and the quality of postoperative recovery for the patient. Therefore, incision decompression devices (or incision protectors) have emerged. Their basic principle is to increase the contact area between the instruments and tissues through a physical device placed inside the incision, effectively reducing the pressure per unit area and thus mitigating tissue damage.
[0003] Existing incision decompression devices provide static and passive decompression effects. When using PID control to offset the pressure from the instrument by controlling the air pump power of the incision decompression device, the control parameters are mostly fixed values or rely on simple threshold settings. This passive control mode has an inherent response delay and cannot activate the protective mechanism in advance before the instrument contacts the tissue. As a result, the system always lags behind the actual operation and lacks a dynamic adaptive adjustment mechanism. Consequently, when faced with complex and ever-changing operating scenarios, it either over-responds (causing oscillations or interfering with the operator's operation) or under-responds (failing to offset the pressure in time), resulting in poor control accuracy and robustness. Summary of the Invention
[0004] To address the technical problem mentioned above, when using PID control to offset the pressure of the incision decompression device by controlling the air pump power, the control parameters are often fixed values or rely on simple threshold settings. This passive control mode inherently suffers from response delays and cannot pre-activate the protective mechanism before the instrument contacts the tissue, resulting in the system always lagging behind actual operation and lacking a dynamic adaptive adjustment mechanism. The purpose of this invention is to provide an intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device. The specific technical solution adopted is as follows: This invention proposes an intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device, the system comprising: The data acquisition module is used to acquire the pressure time-series data of the incision decompression device, the distance time-series data between the instrument rod and the incision decompression device, the displacement, velocity time-series data, and acceleration time-series data of the instrument rod; The collision-not-occurred analysis module is used to analyze the numerical characteristics of the velocity and acceleration values of the instrument rod based on the displacement direction of the instrument rod if the pressure value at the current moment does not exist. It then combines these values with the corresponding distance value of the instrument rod to obtain the collision risk value of the instrument rod at each moment. Based on the numerical characteristics and trends of the collision risk value of the instrument rod, as well as the continuous change characteristics of the distance value, the system response requirement at the current moment is determined. The collision analysis module is used to analyze the fluctuation characteristics of the pressure value and the displacement characteristics of the instrument rod if the pressure value exists at the current moment, and to determine the system response requirement at the current moment. The adaptive adjustment module is used to adjust the preset gain coefficient based on the system response demand at the current moment, thereby performing adaptive PID control on the air pump power of the cut pressure reducer.
[0005] Furthermore, the method for obtaining the collision risk value includes: Based on the monotonicity of the distance value in the time series data between the instrument rod and the incision decompression device, the preset first time period corresponding to the current moment is extracted; Analyze the components of the instrument bar's velocity and acceleration on the radial section of the incision decompression device at each moment to determine the collision risk factor of the instrument bar at each moment; The collision risk factor of the instrument bar at each time step is the ratio of the distance between the instrument bar and the incision decompression device at each time step, and the normalized value of the obtained ratio is used as the collision risk value of the instrument bar at each time step.
[0006] Furthermore, the method for obtaining the collision risk factor includes: Within the preset first time period, the angle between the displacement direction of the instrument rod and the radial section of the incision decompression device at each moment is taken as the displacement deflection angle; The product of the velocity of the instrument rod at each moment and the corresponding cosine value of the displacement deflection angle is used as the approach velocity of the instrument rod at each moment. The product of the acceleration of the instrument rod at each moment and the corresponding cosine value of the displacement deflection angle is used as the approach acceleration of the instrument rod at each moment. Calculate the product of the approach velocity and acceleration of the incision decompression device of the instrument pole at each time step, and use it as the collision risk factor of the instrument pole at each time step.
[0007] Furthermore, the method for obtaining the preset first time period includes: In the distance time series data, all extreme points are obtained, and the time period between the current time and the extreme point with the closest time series distance is taken as the preset first time period.
[0008] Furthermore, the numerical characteristics and trends of the collision risk value based on the instrument pole, as well as the continuous variation characteristics of the distance value, determine the system response requirement at the current moment, including: Within the preset first time period corresponding to the current moment, analyze the change characteristics of the time series data of the distance between the instrument rod and the incision decompression device and the length characteristics of the preset first time period to obtain the distance away trend value at the current moment. Within the preset first time period corresponding to the current moment, analyze the numerical characteristics and changing trends of the collision risk value of the instrument pole to determine the collision characteristic value at the current moment; The normalized value of the ratio of the collision feature value at the current moment to the distance away trend value is used as the system response demand at the current moment.
[0009] Furthermore, the method for obtaining the distance away from the trend value includes: Within the preset first time period corresponding to the current moment, the distance change curve segment corresponding to the time series data of the distance between the instrument rod and the incision decompression device is obtained. On the distance change curve segment, the slope value corresponding to each moment is obtained. The sum of all slope values is normalized and taken as the distance away trend value.
[0010] Furthermore, the method for obtaining the collision feature values includes: Within the preset first time period corresponding to the current moment, the collision risk values of the instrument pole at all moments are fitted with a straight line. The slope value of the fitted line is normalized and multiplied by the collision risk value of the instrument pole at the current moment. The normalized value of the resulting product is used as the collision feature value at the current moment.
[0011] Furthermore, the analysis of the fluctuation characteristics of the pressure value and the displacement characteristics of the instrument lever determines the system response demand at the current moment, including: In terms of timing, a preset second time period is extracted based on the continuous existence of pressure values at the current moment; Within the preset second time period, the fluctuation characteristics of the pressure value are combined with the displacement value of the instrument rod at the current moment to obtain the pressure concentration characteristic value at the current moment; The normalized value of the difference between the current pressure value and the pressure value at the previous adjacent moment is used as the pressure change characteristic value. The normalized value of the ratio of the current pressure change characteristic value to the pressure concentration characteristic value is taken as the system response demand at the current moment.
[0012] Furthermore, the method for obtaining the pressure concentration feature value includes: Within a preset second time period, the standard deviation of the pressure values at all times is used as the pressure fluctuation factor. The pressure fluctuation factor is negatively correlated with the sum of the displacement values at the current time and the normalized value is used as the pressure concentration feature value at the current time.
[0013] Furthermore, the step of adjusting the preset gain coefficient based on the system response demand at the current moment to adaptively control the air pump power of the pressure reducer includes: The preset gain coefficients include preset integral gain coefficients, preset differential gain coefficients, and preset proportional gain coefficients. The sum of the current system response demand and the preset constant is used as the adjustment level value; The product of the current adjustment level and the preset proportional gain coefficient is used as the adjusted proportional gain coefficient. The air pump power of the pressure reducer at the next moment is controlled by PID based on the preset integral gain coefficient, the preset differential gain coefficient, and the adjusted proportional gain coefficient.
[0014] The present invention has the following beneficial effects: During thoracoscopic surgery, the incision decompression device is placed at the incision edge. By acquiring data such as the pressure of the incision decompression device, the distance between the instrument rod and the device, and the displacement, velocity, and acceleration of the instrument rod, the system can construct a "pressure-motion-space" risk assessment model, providing comprehensive data support for subsequent analysis. When the instrument rod is not in contact with the incision decompression device, in order to control the air pump power of the device, the trajectory of the instrument rod can be used to predict the possibility of collision, thus allowing for advance assessment of the device's control response. Therefore, if the pressure value is not present at the current moment, the collision risk value can be dynamically calculated based on the displacement direction of the instrument rod, its velocity, acceleration, and distance. Then, by analyzing the numerical characteristics and trends of the collision risk value, combined with the continuous changes in the distance value, the system response requirement at the current moment can be determined. When the pressure value is present, the instrument rod and the decompression device have made contact, entering the decompression phase. In this phase, the control strategy needs not only a rapid response but also precise maintenance. Therefore, if the pressure value exists at the current moment, the system response requirement at the current moment is calculated by analyzing the pressure fluctuation and the displacement characteristics of the instrument rod. Finally, in the adaptive adjustment module, the system dynamically optimizes the preset gain coefficient of the PID controller based on the system response requirement at the current moment to solve the problems of "response lag" or "excessive oscillation" caused by fixed parameters in traditional PID controllers, thus meeting the dual stringent requirements of "rapid buffering" and "steady-state accuracy" for thoracoscopic surgery. Attached Figure Description
[0015] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0016] Figure 1 This is a system block diagram of a thoracoscopic incision decompression device pressure intelligent adaptive adjustment system provided in one embodiment of the present invention; Figure 2 This is a flowchart of a method for obtaining collision risk values according to an embodiment of the present invention; Figure 3 This is a flowchart of a method for obtaining the system response demand at the current moment when no collision has occurred, according to an embodiment of the present invention. Figure 4 This is a flowchart of a method for obtaining the system response demand at the current moment when a collision occurs, according to an embodiment of the present invention. Figure 5 This is a schematic diagram of the system structure of a thoracoscopic incision decompression device pressure intelligent adaptive adjustment system provided in one embodiment of the present invention. Detailed Implementation
[0017] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a thoracoscopic incision decompression device pressure intelligent adaptive adjustment system proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.
[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.
[0019] The following description, in conjunction with the accompanying drawings, details the specific scheme of the intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device provided by the present invention.
[0020] Please see Figure 1 The diagram shows a system block diagram of an intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to an embodiment of the present invention. The system includes: a data acquisition module 101, a collision non-occurrence analysis module 102, a collision occurrence analysis module 103, and an adaptive adjustment module 104.
[0021] The data acquisition module 101 is used to acquire the pressure time-series data of the incision decompression device, the distance time-series data between the instrument rod and the incision decompression device, the displacement, velocity time-series data, and acceleration time-series data of the instrument rod. During thoracoscopic surgery, the incision decompression device is placed at the upper and lower edges of the incision. Its contact surface with the instrument rod is a rigid structure (ensuring efficient and lossless force transmission from the instrument rod to the device body, preventing energy absorption by soft materials, and guaranteeing effective force dispersion). The contact surface with the ribs and intercostal tissues is made of silicone composite material (perfectly conforming to uneven rib and soft tissue surfaces, maximizing the effective contact area while avoiding secondary rigid damage to the tissues). The pressure of the instrument rod on the ribs and intercostal tissues acts directly on the incision decompression device, thus increasing the contact area (i.e., the "force-bearing area") between the thoracoscopic scope and the surrounding tissues. According to the principles of physics, under the same incision force, increasing the force-bearing area effectively reduces the local pressure exerted by the scope and instruments on the ribs and intercostal tissues.
[0022] In the possible contact area between the incision decompression device and the instrument handle, a high-density, miniaturized flexible pressure sensor film and an optical distance sensor are integrated. The flexible pressure sensor is used to acquire time-series data of the pressure applied to the incision decompression device; the optical distance sensor is used to acquire time-series data of the distance between the instrument handle and the incision decompression device (the minimum distance between the instrument handle and the incision decompression device on the radial cross-section), which is used to provide pre-contact warning; an inertial measurement unit is installed at the rear end or handle of the instrument handle to acquire the real-time attitude of the instrument handle in space, including time-series data of the instrument handle's velocity and acceleration (the velocity and acceleration here are only considered numerically); a laser displacement sensor is installed on the instrument handle to acquire the displacement of the instrument handle at each moment (including displacement value and displacement direction). All of the above data are synchronously acquired at high frequency (≥100Hz).
[0023] In the embodiments of the present invention, the collection and acquisition of personal information data are authorized by the relevant users, and the process does not violate relevant laws and regulations, nor does it violate public order and good morals.
[0024] The collision-not-occurred analysis module 102 is used to analyze the numerical characteristics of the velocity and acceleration values of the instrument rod based on the displacement direction of the instrument rod if the pressure value at the current moment does not exist, and combine them with the corresponding distance value of the instrument rod to obtain the collision risk value of the instrument rod at each moment; based on the numerical characteristics and changing trend of the collision risk value of the instrument rod, as well as the continuous changing characteristics of the distance value, the system response requirement at the current moment is determined.
[0025] During thoracoscopic surgery, the surgical instruments may exert various pressures on the incision: vertical downward pressure, lateral scraping, angled leverage, and rapid impact. These forces have completely different directions and points of application, and their mechanisms of tissue damage also differ. The role of the incision decompression device is to provide a counteracting force to the instrument, thus reducing the pressure on the incision and preventing secondary damage. However, if the feedback response is not timely enough, damage to the incision may have already occurred by the time the pressure data reflects changes in pressure. Therefore, it is necessary to adjust the preset gain coefficient of the PID controller in a timely manner to dynamically adjust the system's response capability.
[0026] When no collision occurs, that is, during thoracoscopic surgery, when the instrument rod and the incision decompression device do not actually collide, the air pump power of the incision decompression device can be pre-controlled. This mainly involves analyzing the signals transmitted by the movement trajectory of the instrument rod to predict the risk of it coming into contact with the incision decompression device.
[0027] Therefore, if the pressure value at the current moment does not exist (the pressure value is 0), it is assumed that no collision has occurred. Based on the displacement direction of the instrument rod, the numerical characteristics of the velocity and acceleration values of the instrument rod can be analyzed and combined with the distance value between the instrument rod and the incision decompression device to obtain the collision risk value of the instrument rod at each moment, which is used to quantify the risk of contact between the instrument rod and the incision decompression device.
[0028] Preferably, in one embodiment of the present invention, the method for obtaining the collision risk value includes: Please see Figure 2 The diagram illustrates a method flowchart for obtaining collision risk values according to an embodiment of the present invention, the method comprising the following steps: Step S201: Based on the monotonicity of the distance value in the time series data of the distance between the instrument rod and the incision decompression device, extract the preset first time period corresponding to the current moment.
[0029] Firstly, by continuously monitoring the movement trajectory of the instrument rod during the operation, specific phases with potential interaction with the incision decompression device can be identified: that is, the periods when the distance between the instrument rod and the incision decompression device gradually approaches or moves away.
[0030] Since extreme points in distance time series data often represent changes in the movement distance of the instrument lever (from approaching to moving away or from moving away to approaching), all extreme points are obtained in the distance time series data, and the time period between the current time and the extreme point with the closest time series distance is taken as the preset first time period.
[0031] Step S202: Analyze the components of the velocity and acceleration of the instrument rod on the radial section of the incision decompression device at each moment to determine the collision risk factor of the instrument rod at each moment.
[0032] Within the preset first time period, the angle between the displacement direction of the instrument rod and the radial section of the incision decompression device at each moment is taken as the displacement deflection angle. The larger the displacement deflection angle, the more perpendicular the movement direction of the instrument rod is to the radial section of the incision decompression device. The instrument rod may pass by the incision decompression device, so the collision risk will be smaller. Conversely, if the displacement deflection angle is smaller, the movement direction of the instrument rod is more radial, and there may be a near-vertical head-on collision with the incision decompression device, which is extremely risky.
[0033] Then, the product of the instrument rod's velocity at each moment and the corresponding cosine of the displacement deflection angle is used as the instrument rod's approach velocity to the incision decompression device at each moment. The approach velocity to the incision decompression device represents the velocity component of the instrument rod on the radial section of the incision decompression device. The larger the value, the greater the velocity approaching the incision decompression device, and thus the higher the collision intensity and the greater the danger. Similarly, the product of the instrument rod's acceleration at each moment and the corresponding cosine of the displacement deflection angle is calculated as the instrument rod's approach acceleration to the incision decompression device at each moment. The larger the value, the greater the acceleration approaching the incision decompression device, which also indicates a higher collision intensity and a greater danger.
[0034] Finally, the product of the approach velocity and the approach acceleration of the incision decompression device of the instrument rod at each moment is calculated as the collision risk factor of the instrument rod at each moment. Based on the above analysis, it can be seen that the larger the collision risk factor, the greater the risk of collision between the instrument rod and the incision decompression device at that moment.
[0035] Step S203: Combine the risk collision factor of the instrument pole at each time step with the distance between the instrument pole and the incision decompression device at each time step to obtain the collision risk value of the instrument pole at each time step.
[0036] The collision risk factor of the instrument rod characterizes the motion state of the instrument rod toward the incision decompression device. The larger the value, the more obvious the motion state toward the incision decompression device, and the greater the collision risk or intensity, the more dangerous the motion of the instrument rod. The distance between the instrument rod and the incision decompression device can more intuitively characterize the collision risk. The smaller the distance, the closer the instrument rod is, and the greater the possibility of collision.
[0037] Therefore, the collision risk factor is positively correlated with the collision risk level of the instrument rod, while the distance is negatively correlated with the collision risk level of the instrument rod. Thus, the ratio of the collision risk factor of the instrument rod at each moment to the distance between the instrument rod and the incision decompression device at each moment, after normalization, is used as the collision risk value of the instrument rod at each moment. Based on the aforementioned analysis, a higher collision risk value indicates a greater probability and intensity of collision between the instrument rod and the incision decompression device at that moment, resulting in a higher risk and a higher requirement for timely system response. Normalization is a technique well-known to those skilled in the art, and the normalization function can be linear normalization or standard normalization, etc. Specific normalization methods are not limited here.
[0038] It should be noted that if there is a special case where the distance value is 0, then when calculating the ratio, the denominator is the sum of the distance and the preset parameter. The purpose of the preset parameter is to prevent the denominator from being 0, and the value can be 0.001. The specific value can be adjusted according to the implementation scenario, and is not limited here.
[0039] Within the preset first time period, the changing trend of the collision risk value can reveal the evolution of the side collision risk; while the continuous change characteristics of the distance value between the instrument bar and the incision decompression device can intuitively characterize the evolution of the collision risk. Therefore, the two are integrated for analysis to determine the system response demand at the current moment, and to characterize the urgency of the incision decompression device's response to the movement state of the instrument bar at the current moment.
[0040] Preferably, in one embodiment of the present invention, the method for obtaining the system response demand at the current moment when no collision has occurred includes: Please see Figure 3 The diagram illustrates a method flowchart for obtaining the system response demand at the current moment when no collision has occurred, according to an embodiment of the present invention. The method includes the following steps: Step S211: Within the preset first time period corresponding to the current moment, analyze the change characteristics of the time series data of the distance between the instrument rod and the incision decompression device and the length characteristics of the preset first time period to obtain the distance moving away trend value at the current moment.
[0041] Within the preset first time period corresponding to the current moment, the distance change curve segment corresponding to the time series data of the distance between the instrument rod and the incision decompression device is obtained based on the least squares method.
[0042] On the distance change curve segment, the slope value corresponding to each moment is obtained. A positive slope value, and the larger the slope value, the greater the distance between the instrument bar and the incision decompression device. This can be considered as the instrument bar gradually moving away from the incision decompression device over time, indicating a relatively safe state, and the response demand can be appropriately reduced. Therefore, the sum of all slope values is normalized to obtain the distance moving away trend value at the current moment. The larger this value, the less urgent the response demand. Since the slope value can be positive or negative, the normalization method here can be... function.
[0043] It should be noted that the least squares method is a well-known technique, and the specific process will not be elaborated here.
[0044] Step S212: Within the preset first time period corresponding to the current moment, analyze the numerical characteristics and changing trend of the collision risk value of the instrument pole, and determine the collision characteristic value at the current moment.
[0045] Within the preset first time period corresponding to the current moment, the collision risk values of the instrument pole at all moments are fitted with a straight line using the least squares method to obtain the slope value of the fitted line. The larger the slope value, the more continuously the collision risk value increases, and the greater the urgency of the response demand. Therefore, the slope value is normalized (the slope value can be positive or negative, so the normalization method here can be...). The collision characteristic value at the current moment is obtained by multiplying the collision risk value of the instrument lever by the function, and then normalizing the product. Based on the above analysis, the larger the collision characteristic value, the more urgent the response requirement. Normalization is a well-known technique in the art, and the normalization function can be linear normalization or standard normalization, etc. The specific normalization method is not limited here.
[0046] It should be noted that the least squares method is a well-known technique, and the specific process will not be elaborated here.
[0047] Step S213: Combine the distance away feature value and the collision feature value at the current moment to determine the system response requirement at the current moment.
[0048] Based on the logic in steps S211 and S212, it is known that the collision characteristic value is positively correlated with the urgency of the system response, while the distance-away trend value is negatively correlated with the urgency of the system response. Therefore, to correct this logical relationship, the ratio of the collision characteristic value to the distance-away trend value at the current moment can be normalized and used as the system response demand at the current moment. The higher the system response demand, the more likely contact may occur between the instrument rod and the incision decompression device in the future, requiring the system to respond earlier and with enhanced capabilities to cope with the upcoming higher risks. Normalization is a technique well-known to those skilled in the art, and the normalization function can be linear normalization or standard normalization, etc. The specific normalization method is not limited here.
[0049] The collision analysis module 103 is used to analyze the fluctuation characteristics of the pressure value and the displacement characteristics of the instrument rod if the pressure value exists at the current moment, and to determine the system response requirement at the current moment.
[0050] When the pressure sensor on the incision decompression device receives pressure data, it enters the decompression phase; that is, when the incision decompression device is already under continuous pressure from the counter-instrument lever, the control strategy needs to shift from rapid response to precise maintenance, thereby achieving higher response speed and stronger counter-pressure capability, ensuring the real-time nature and stability of the resistance. It needs to achieve the ultimate response speed while maintaining resistance stability, ensuring that the counter-pressure can match external pressure changes in real time and without delay. When a collision occurs (when the instrument lever and the incision decompression device come into contact), the most obvious result is the generation of a pressure value (the pressure value exists and is not zero). Therefore, based on the fluctuation characteristics of the pressure value and the displacement of the instrument lever, the system response demand at the current moment can be determined to characterize the intensity of the response demand.
[0051] Preferably, in one embodiment of the present invention, the method for obtaining the system response demand at the current moment when a collision occurs includes: Please see Figure 4 The diagram illustrates a method flowchart for obtaining the system response demand at the current moment when a collision occurs, according to an embodiment of the present invention. The method includes the following steps: Step S301: In terms of time sequence, based on the continuous existence of pressure values, extract the preset second time period corresponding to the current moment.
[0052] In terms of time sequence, starting from the current moment, we trace back to historical moments and combine the moments corresponding to consecutive pressure values with the current moment to form the preset second time period corresponding to the current moment. For example, if the current moment is the 10th moment, there is no pressure value at the 6th moment, but there is pressure value at the 7th, 8th, and 9th moments, then the preset second time period corresponding to the current moment is the period from moment 7 to moment 10.
[0053] Step S302: Within a preset second time period, combine the fluctuation characteristics of the pressure value with the displacement value of the instrument rod at the current moment to obtain the pressure concentration characteristic value at the current moment.
[0054] The standard deviation of data values reflects the degree of data concentration. Within a preset second time period, the standard deviation of pressure values at all times is used as the pressure fluctuation factor. The larger the pressure fluctuation factor, the smaller the concentration of pressure values within the preset second time period, indicating that the contact and collision between the instrument rod and the incision decompression device is unstable. Conversely, the smaller the pressure fluctuation factor, the more stable the instrument rod is in contact and collision with the incision decompression device, such as the tip being pressed against it. If the displacement of the instrument rod at the current time is smaller, the point of action is more defined, which can be considered as better stability of the instrument rod. Therefore, the sum of the pressure fluctuation factor and the displacement value at the current time is calculated, and the sum is negatively correlated and normalized to correct the logical relationship, obtaining the pressure concentration characteristic value at the current time. Based on the above analysis, it can be seen that the larger the pressure concentration characteristic value, the more stable the motion state of the instrument rod at the current time. The negative correlation mapping and normalization here can be performed using the formula... ,in, Let x represent an exponential function with the natural constant e as the base, and let x represent the independent variable.
[0055] Step S303: Compare the pressure values at the current time with those at adjacent times to determine the characteristic value of pressure change.
[0056] During continuous monitoring, the analysis of pressure value changes determines the proportional gain. The core logic is that when an increase in pressure change is detected, it indicates that the instrument lever is exhibiting random, dynamic, and irregular movements. At this time, the system needs to significantly improve the response speed to ensure that it can quickly respond to the instantaneous pressure changes of the instrument and avoid misjudgment of the incision decompression device due to response delay (such as misidentifying the instrument's brief departure as pressure relief and erroneously canceling the resistance).
[0057] Therefore, the difference between the current pressure value and the pressure value at the adjacent previous moment is calculated. If the difference is positive and larger, it indicates a more drastic change in pressure applied by the instrument lever, possibly caused by the operator's active manipulation or sudden instrument displacement. Therefore, the normalized value of this difference is used as the pressure change characteristic value. The larger the pressure change characteristic value, the more immediate the response is needed to achieve a rapid and powerful counterforce output. Since the difference can be positive or negative, the normalization method can be... function.
[0058] Step S304: Determine the system response demand at the current moment based on the pressure concentration characteristic value and pressure change characteristic value corresponding to the current moment.
[0059] Based on the analysis in step S302, it can be seen that the smaller the pressure concentration characteristic value at the current moment, the more the instrument rod is in a "sliding and dispersed" contact state—for example, the instrument rod slides on the surface or vibrates. If this state is determined to be highly uncertain, then the response requirement should be increased accordingly to match the variable pressure applied by the instrument rod. Based on the analysis in step S303, it can be seen that when the pressure change characteristic value is larger, it indicates that the pressure change applied by the instrument rod is more drastic, and at this time, an immediate response is required.
[0060] Therefore, the pressure concentration characteristic value is negatively correlated with the system response demand, while the pressure change characteristic value is positively correlated with the system response demand. Thus, the normalized ratio of the pressure change characteristic value to the pressure concentration characteristic value at the current moment is used as the system response demand level at the current moment. Based on the aforementioned logic, a higher system response demand level indicates a greater need for timely response and a greater need to significantly improve response speed. Normalization is a technique well-known to those skilled in the art, and the normalization function can be linear normalization or standard normalization, etc. Specific normalization methods are not limited here.
[0061] The adaptive adjustment module 104 is used to adjust the preset gain coefficient based on the system response demand at the current moment, thereby performing adaptive PID control on the air pump power of the cut pressure reducer.
[0062] Based on the aforementioned module, the required system response degree at the current moment under different conditions can be calculated. Therefore, the preset gain coefficient in the PID control process can be adjusted based on this index, thereby enabling adaptive PID control of the air pump power of the incision pressure reducer, changing the airflow in the pneumatic system of the incision pressure reducer, and quickly and stably adjusting the negative pressure at the incision to the target value, thus achieving active cancellation of the instrument pressure.
[0063] Preferably, in one embodiment of the present invention, adjusting a preset gain coefficient based on the system response demand at the current moment, thereby adaptively controlling the air pump power of the pressure reducer via PID control, includes: The preset gain coefficients in the PID control process include preset integral gain coefficients, preset derivative gain coefficients, and preset proportional gain coefficients. The preset gain coefficients can be obtained based on the Ziegler-Nichols rule (a well-known technique, which will not be elaborated here). Among them, the preset integral gain coefficient is used to eliminate steady-state error, the preset derivative gain coefficient is used to predict the error change trend, and the preset proportional gain coefficient determines the strength of the system output's timely response to the error. In the cut-out decompression scenario in this embodiment of the invention, the response requirement is essentially a requirement for the urgency of the control strength. Therefore, when adjusting the preset gain coefficients, the preset proportional gain coefficient is mainly adjusted.
[0064] Based on the foregoing analysis, it is known that the greater the system response demand at the current moment, the more necessary it is to significantly improve the response speed. The system response demand ranges from 0 to 1. Therefore, the sum of the system response demand at the current moment and a preset constant is used as the adjustment degree value. In this embodiment of the invention, the preset constant is 1. The larger the adjustment degree value, the higher the sensitivity to error and the more timely the response. Then, the product of the corresponding adjustment degree value at the current moment and the preset proportional gain coefficient is used as the adjusted proportional gain coefficient.
[0065] Finally, based on the preset integral gain coefficient, the preset differential gain coefficient, and the adjusted proportional gain coefficient, the air pump power of the pressure reducer at the next moment is controlled by PID.
[0066] In summary, during thoracoscopic surgery, the incision decompression device is positioned at the incision edge. By acquiring data such as the pressure of the incision decompression device, the distance between the instrument rod and the device, and the displacement, velocity, and acceleration of the instrument rod, the system can construct a "pressure-motion-space" risk assessment model, providing comprehensive data support for subsequent analysis. When the instrument rod is not in contact with the incision decompression device, to control the air pump power of the device, the trajectory of the instrument rod can be used to predict the possibility of collision, allowing for advance assessment of the device's control response. Therefore, if the pressure value is not present at the current moment, the collision risk value can be dynamically calculated based on the displacement direction of the instrument rod, its velocity and acceleration characteristics, and the distance. Furthermore, by analyzing the numerical characteristics and trends of the collision risk value, combined with the continuous changes in the distance value, the system response requirement at the current moment can be determined. When the pressure value is present, the instrument rod and the incision decompression device have made contact, entering the decompression phase. In this phase, the control strategy requires not only rapid response but also precise maintenance. Therefore, if the pressure value exists at the current moment, the system response requirement at the current moment is calculated by analyzing the pressure fluctuation and the displacement characteristics of the instrument rod. Finally, in the adaptive adjustment module, the system dynamically optimizes the preset gain coefficient of the PID controller based on the system response requirement at the current moment to solve the problems of "response lag" or "excessive oscillation" caused by fixed parameters in traditional PID controllers, thus meeting the dual stringent requirements of "rapid buffering" and "steady-state accuracy" for thoracoscopic surgery.
[0067] Please see Figure 5This illustration shows a schematic diagram of the system structure of an intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to an embodiment of the present invention. The system includes a processor 500, a memory 501, a bus 502, and a communication interface 503. The processor 500, communication interface 503, and memory 501 are connected via the bus 502. The memory 501 may contain a high-speed random access memory, and the bus 502 may be an ISA bus, PCI bus, or EISA bus, etc. The processor 500 may be an integrated circuit chip with signal processing capabilities. The memory 501 stores at least one instruction, at least one program, code set, or instruction set. When the processor loads and executes the at least one instruction, at least one program, code set, or instruction set, it implements the steps of each module in the intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device.
[0068] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
[0069] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.
[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A thoracoscopic incision decompression device pressure intelligent adaptive adjustment system, characterized in that, The system includes: The data acquisition module is used to acquire the pressure time-series data of the incision decompression device, the distance time-series data between the instrument rod and the incision decompression device, the displacement, velocity time-series data, and acceleration time-series data of the instrument rod; The collision-not-occurred analysis module is used to analyze the numerical characteristics of the velocity and acceleration values of the instrument rod based on the displacement direction of the instrument rod if the pressure value at the current moment does not exist. It then combines these values with the corresponding distance value of the instrument rod to obtain the collision risk value of the instrument rod at each moment. Based on the numerical characteristics and trends of the collision risk value of the instrument rod, as well as the continuous change characteristics of the distance value, the system response requirement at the current moment is determined. The collision analysis module is used to analyze the fluctuation characteristics of the pressure value and the displacement characteristics of the instrument rod if the pressure value exists at the current moment, and to determine the system response requirement at the current moment. The adaptive adjustment module is used to adjust the preset gain coefficient based on the system response demand at the current moment, thereby performing adaptive PID control on the air pump power of the cut pressure reducer.
2. The intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to claim 1, characterized in that, The method for obtaining the collision risk value includes: Based on the monotonicity of the distance value in the time series data between the instrument rod and the incision decompression device, the preset first time period corresponding to the current moment is extracted; Analyze the components of the instrument bar's velocity and acceleration on the radial section of the incision decompression device at each moment to determine the collision risk factor of the instrument bar at each moment; The collision risk factor of the instrument bar at each time step is the ratio of the distance between the instrument bar and the incision decompression device at each time step, and the normalized value of the obtained ratio is used as the collision risk value of the instrument bar at each time step.
3. The intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to claim 2, characterized in that, The methods for obtaining the collision risk factors include: Within the preset first time period, the angle between the displacement direction of the instrument rod and the radial section of the incision decompression device at each moment is taken as the displacement deflection angle; The product of the velocity of the instrument rod at each moment and the corresponding cosine value of the displacement deflection angle is used as the approach velocity of the instrument rod at each moment. The product of the acceleration of the instrument rod at each moment and the corresponding cosine value of the displacement deflection angle is used as the approach acceleration of the instrument rod at each moment. Calculate the product of the approach velocity and acceleration of the incision decompression device of the instrument pole at each time step, and use it as the collision risk factor of the instrument pole at each time step.
4. The intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to claim 2, characterized in that, The method for obtaining the preset first time period includes: In the distance time series data, all extreme points are obtained, and the time period between the current time and the extreme point with the closest time series distance is taken as the preset first time period.
5. The intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to claim 2, characterized in that, The numerical characteristics and trends of the collision risk value based on the instrument pole, as well as the continuous variation characteristics of the distance value, are used to determine the system response requirement at the current moment, including: Within the preset first time period corresponding to the current moment, analyze the change characteristics of the time series data of the distance between the instrument rod and the incision decompression device and the length characteristics of the preset first time period to obtain the distance away trend value at the current moment. Within the preset first time period corresponding to the current moment, analyze the numerical characteristics and changing trends of the collision risk value of the instrument pole to determine the collision characteristic value at the current moment; The normalized value of the ratio of the collision feature value at the current moment to the distance away trend value is used as the system response demand at the current moment.
6. The intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to claim 5, characterized in that, The method for obtaining the distance away from the trend value includes: Within the preset first time period corresponding to the current moment, the distance change curve segment corresponding to the time series data of the distance between the instrument rod and the incision decompression device is obtained. On the distance change curve segment, the slope value corresponding to each moment is obtained. The sum of all slope values is normalized and taken as the distance away trend value.
7. The intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to claim 5, characterized in that, The method for obtaining the collision feature values includes: Within the preset first time period corresponding to the current moment, the collision risk values of the instrument pole at all moments are fitted with a straight line. The slope value of the fitted line is normalized and multiplied by the collision risk value of the instrument pole at the current moment. The normalized value of the resulting product is used as the collision feature value at the current moment.
8. The intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to claim 1, characterized in that, The analysis of the fluctuation characteristics of the pressure value and the displacement characteristics of the instrument lever determines the system response demand at the current moment, including: In terms of timing, a preset second time period is extracted based on the continuous existence of pressure values at the current moment; Within the preset second time period, the fluctuation characteristics of the pressure value are combined with the displacement value of the instrument rod at the current moment to obtain the pressure concentration characteristic value at the current moment; The normalized value of the difference between the current pressure value and the pressure value at the previous adjacent moment is used as the pressure change characteristic value. The normalized value of the ratio of the current pressure change characteristic value to the pressure concentration characteristic value is taken as the system response demand at the current moment.
9. The intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to claim 8, characterized in that, The method for obtaining the pressure concentration feature value includes: Within a preset second time period, the standard deviation of the pressure values at all times is used as the pressure fluctuation factor. The pressure fluctuation factor is negatively correlated with the sum of the displacement values at the current time and the normalized value is used as the pressure concentration feature value at the current time.
10. The intelligent adaptive pressure adjustment system for a thoracoscopic incision decompression device according to claim 1, characterized in that, The step of adjusting the preset gain coefficient based on the system response demand at the current moment to adaptively control the air pump power of the pressure reducer via PID control includes: The preset gain coefficients include preset integral gain coefficients, preset differential gain coefficients, and preset proportional gain coefficients. The sum of the current system response demand and the preset constant is used as the adjustment level value; The product of the current adjustment level and the preset proportional gain coefficient is used as the adjusted proportional gain coefficient. The air pump power of the pressure reducer at the next moment is controlled by PID based on the preset integral gain coefficient, the preset differential gain coefficient, and the adjusted proportional gain coefficient.