A cerebrospinal fluid closed loop drainage control method, device, equipment and medium

Abstract

This application provides a method, device, equipment, and medium for closed-loop cerebrospinal fluid drainage control. The method includes the following steps: receiving initial intracranial pressure data from an intracranial pressure sensor and positional data from a positional sensing unit; extracting posture change features to calculate the relative height difference between the implanted end of the drainage catheter and the drip bottle; calculating the hydrostatic pressure difference compensation amount of the fluid column to perform pressure correction on the initial intracranial pressure data to obtain actual intracranial pressure data; calculating the pressure change rate within a preset time window; when the actual intracranial pressure data is greater than the upper safety limit, controlling the height adjustment mechanism to update the physical height of the drip bottle to the acceleration target height; when the actual intracranial pressure data is less than the lower safety limit or the pressure change rate indicates a sudden drop in pressure, updating to the deceleration target height or driving the drip bottle to rise to the blocking height. Implementing the scheme of this application can effectively decouple closed-loop drainage control from changes in the position of the drainage object, improve the system control accuracy, and avoid the risk of over-drainage.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a method, device, equipment and medium for closed-loop drainage control of cerebrospinal fluid. Background Technology

[0002] With the continuous development of neurosurgical monitoring and treatment technologies, the clinical application of cerebrospinal fluid drainage in diseases such as cerebral hemorrhage and traumatic brain injury has been steadily increasing, and the coverage of drainage management has been continuously expanding. How to efficiently collect, transmit, and analyze the real-time intracranial pressure (ICP), body position, and drainage parameters of the drainage patient has become a core requirement for ensuring the safety of the drainage patient and improving the efficiency of clinical treatment.

[0003] In existing technologies, the abnormality identification and regulation functions during cerebrospinal fluid drainage are typically achieved through a monitoring system based on preset fixed thresholds. For example, an alarm is triggered when the instantaneous intracranial pressure of the patient exceeds a fixed limit, followed by manual adjustment of the relative height or flow rate of the drainage device. However, in practical applications, the existing technology based on fixed thresholds and manual adjustment carries the risk of delayed regulation or improper drainage for normal physiological pressure fluctuations and abnormal intracranial pressure mutations in different patient positions. Summary of the Invention

[0004] In view of this, this application provides a method, apparatus, device and medium for closed-loop drainage control of cerebrospinal fluid to solve the above problems.

[0005] Firstly, a closed-loop cerebrospinal fluid drainage control method is provided, applied to a drainage system. The drainage system includes a drainage catheter, a body position sensing unit, a drip bottle, and a height adjustment mechanism for driving the drip bottle to slide up and down. An intracranial pressure sensor is provided on the drainage catheter. The method includes:

[0006] It receives initial intracranial pressure data from an intracranial pressure sensor and positional data from a positional sensing unit, including acceleration and angular velocity data.

[0007] Body posture change features are extracted based on acceleration and angular velocity data, and the relative height difference between the implanted end of the drainage catheter and the drip bottle is calculated based on the body posture change features.

[0008] The hydrostatic pressure difference compensation amount of the liquid column is calculated based on the relative height difference. The initial intracranial pressure data is then pressure-corrected using the hydrostatic pressure difference compensation amount of the liquid column to obtain the actual intracranial pressure data.

[0009] Calculate the rate of change of actual intracranial pressure data within a preset time window;

[0010] When the actual intracranial pressure data exceeds the preset safety upper limit, an accelerated drainage command is generated. Based on the accelerated drainage command, the target height for acceleration is determined, and the height adjustment mechanism is controlled to update the current physical height of the drip bottle to the target height for acceleration.

[0011] When the actual intracranial pressure data is less than the preset safety lower limit, or the pressure change rate is negative and the absolute value of the pressure change rate is greater than the preset sudden drop judgment threshold, a deceleration drainage command is generated. Based on the deceleration drainage command, the deceleration target height is determined, and the height adjustment mechanism is controlled to update the current physical height of the drip bottle to the deceleration target height, or the height adjustment mechanism is controlled to drive the drip bottle to rise to the preset blocking height.

[0012] The above technical solution dynamically calculates the relative height difference between the catheter implantation end and the height adjustment mechanism by acquiring body position data to compensate for the hydrostatic pressure difference of the liquid column. Combined with the corrected actual intracranial pressure and its rate of change, the system can adaptively output accurate intracranial pressure by changing the body position of the patient. When the pressure exceeds the limit or a sudden drop occurs, the system will actively update the physical height of the drip bottle or trigger the shutdown mechanism. This achieves closed-loop drainage control that is not affected by the posture of the patient and prevents over-drainage.

[0013] Optionally, body posture change features are extracted based on acceleration and angular velocity data, and the relative height difference between the implanted end of the drainage catheter and the drip bottle is calculated based on these features. Specifically, this includes:

[0014] The attitude matrix is ​​calculated based on acceleration and angular velocity data to obtain the body space attitude angle of the part where the body position sensing unit is located.

[0015] Input the body spatial posture angle into the preset biomechanical mapping model to calculate the first spatial coordinates of the implanted end of the drainage catheter in the preset three-dimensional reference coordinate system.

[0016] Obtain the second spatial coordinates of the dropper in the three-dimensional reference coordinate system, extract the axial difference between the first and second spatial coordinates in the direction of gravity, and determine the axial difference as the relative height difference.

[0017] The above technical solution obtains the body's spatial attitude angle by performing attitude matrix calculation on acceleration and angular velocity data, and introduces a three-dimensional reference coordinate system and a biomechanical mapping model for spatial mapping. This converts the abstract sensor attitude signal into the specific position coordinates of the implanted end and the dropper in the objective physical coordinate system, thus providing a reliable mathematical and geometric basis for calculating the precise physical height difference in the direction of gravity.

[0018] Optionally, the body spatial posture angle is input into a preset biomechanical mapping model to calculate the first spatial coordinates of the implanted end of the drainage catheter in a preset three-dimensional reference coordinate system, specifically including:

[0019] The baseline cervical spine length parameter and the baseline skull offset radius parameter are extracted from the pre-defined biomechanical mapping model;

[0020] The torso posture component and the head relative posture component are obtained based on the body space posture angle decomposition.

[0021] Based on the trunk posture components, construct the human body longitudinal axis reference vector, and superimpose the reference cervical spine length parameter along the human body longitudinal axis reference vector to obtain the neck node coordinates;

[0022] The reference skull offset radius parameter is superimposed onto the neck node coordinates based on the head relative posture component to generate the first spatial coordinates.

[0023] The above technical solution, by introducing the reference cervical spine length parameter and the reference skull offset radius parameter into the biomechanical mapping model, and decomposing the body posture angle into two independent motion components, the trunk and the head, and superimposing the longitudinal axis vectors for calculation, eliminates the measurement error caused by treating the human body as a single rigid body, and realizes accurate calculation of the three-dimensional coordinates of the implantation end based on the real human non-rigid anatomical structure.

[0024] Optionally, the hydrostatic pressure difference compensation amount of the liquid column is calculated based on the relative height difference. This compensation amount is then used to perform pressure correction processing on the initial intracranial pressure data to obtain the actual intracranial pressure data. Specifically, this includes:

[0025] The relative height difference, the preset cerebrospinal fluid density parameter, and the preset gravitational acceleration constant are multiplied together to obtain the basic hydrostatic pressure difference value.

[0026] Obtain the current drainage flow rate of the drainage system, and calculate the dynamic pressure loss in the drainage pipeline based on the current drainage flow rate and the preset pipeline fluid resistance coefficient;

[0027] The hydrostatic pressure difference compensation amount of the liquid column is obtained by adding the basic hydrostatic pressure difference value to the dynamic pressure loss amount.

[0028] The initial intracranial pressure data is added to the hydrostatic pressure difference compensation amount of the fluid column to obtain the actual intracranial pressure data.

[0029] The above technical solution converts the static height difference into a basic hydrostatic pressure difference value, and simultaneously obtains the current drainage flow rate and pipeline resistance coefficient to calculate the dynamic pressure loss in the pipeline. It adds and compensates for the hydrostatic deviation and the fluid dynamic friction resistance deviation, thereby eliminating the sensor monitoring distortion caused by pipeline resistance under active pumping fluid conditions and restoring the true intracranial pressure data under drainage conditions.

[0030] Optionally, calculate the rate of change of actual intracranial pressure data within a preset time window, specifically including:

[0031] Multiple historical actual intracranial pressure data are extracted within a preset time window according to a preset sampling frequency to construct a time-discrete intracranial pressure sequence.

[0032] Based on a preset time forgetting factor algorithm, weight coefficients are assigned to each historical actual intracranial pressure data in the time discrete intracranial pressure sequence. The weight coefficient of the historical actual intracranial pressure data whose timestamp is closer to the current latest sampling time is larger.

[0033] Weighted least squares fitting was performed on the time-discrete intracranial pressure sequence using weighting coefficients to obtain the pressure change trend line segment.

[0034] Extract the slope value of the pressure change trend line segment and determine the slope value as the pressure change rate.

[0035] The above technical solution assigns time weight coefficients to discrete intracranial pressure sequences by introducing a time forgetting factor algorithm, and extracts the slope of the pressure change trend line segment by combining weighted least squares fitting. While filtering out instantaneous physiological artifact noise interference such as heartbeat and respiration, it maintains the weight tilt of the calculation logic on the recent intracranial pressure change trend, avoiding calculation oscillations and misjudgments caused by directly subtracting discrete point values.

[0036] Optionally, when the actual intracranial pressure data exceeds a preset safety upper limit, an accelerated drainage command is generated. Based on this command, the target height for acceleration is determined, and the height adjustment mechanism is controlled to update the current physical height of the drip bottle to the target height. Specifically, this includes:

[0037] Calculate the deviation between the actual intracranial pressure data and the preset safety upper limit;

[0038] Using the deviation value and pressure change rate as joint input parameters, the preset two-dimensional fuzzy control rule table is queried to extract the matching basic height adjustment amount;

[0039] The current physical height of the dropper bottle is calculated together with the base height adjustment to obtain the pre-selected acceleration target height;

[0040] The pre-selected acceleration target height is set as the acceleration target height, and the height adjustment mechanism is controlled to perform an update operation.

[0041] The above technical solution uses the actual intracranial pressure deviation value and the pressure change rate as joint input parameters to query a two-dimensional fuzzy control rule table. The system can dynamically match and extract the matching basic height adjustment amount based on the current pressure overshoot degree and pressure rise trend, overcoming the response lag or regulation overshoot oscillation problem that traditional linear control is prone to when facing the nonlinear physiological system of the human body.

[0042] Optionally, the pre-selected acceleration target height is determined as the acceleration target height, and the height adjustment mechanism is controlled to perform an update operation, specifically including:

[0043] Extract the preset single maximum adjustment step size limit parameter;

[0044] Compare the basic height adjustment amount with the single maximum adjustment step size limit parameter;

[0045] When the basic height adjustment amount is greater than the single maximum adjustment step size limit parameter, the single maximum adjustment step size limit parameter is calculated with the current physical height of the dropper bottle to generate the limiting target height. The limiting target height is determined as the acceleration target height and the height adjustment mechanism is controlled to perform the update operation.

[0046] When the base height adjustment is less than or equal to the single maximum adjustment step size limit parameter, the pre-selected acceleration target height is determined as the acceleration target height and the height adjustment mechanism is controlled to perform an update operation.

[0047] The above technical solution sets a limit parameter for the maximum speed adjustment step size in a single operation and performs numerical comparison and limit replacement operations on the calculated basic speed increase. This sets a mandatory physical operating parameter boundary in the underlying control execution stage, preventing a sharp increase in drainage pressure difference and acute intracranial negative pressure injury caused by a sudden and significant drop in the height of the drip bottle due to abnormal extreme values ​​in the algorithm output.

[0048] Secondly, a closed-loop cerebrospinal fluid drainage control device is provided for use in a drainage system. The drainage system includes a drainage catheter, a body position sensing unit, a drip bottle, and a height adjustment mechanism for driving the drip bottle to slide up and down. An intracranial pressure sensor is provided on the drainage catheter. The device includes:

[0049] The data receiving module is used to receive initial intracranial pressure data from the intracranial pressure sensor and body position data from the body position sensing unit. The body position data includes acceleration data and angular velocity data.

[0050] The height difference calculation module is used to extract body posture change features based on acceleration and angular velocity data, and calculate the relative height difference between the implanted end of the drainage catheter and the drip bottle based on the body posture change features;

[0051] The pressure correction module is used to calculate the hydrostatic pressure difference compensation amount of the liquid column based on the relative height difference, and to perform pressure correction processing on the initial intracranial pressure data using the hydrostatic pressure difference compensation amount of the liquid column to obtain the actual intracranial pressure data.

[0052] The rate of change calculation module is used to calculate the rate of change of actual intracranial pressure data within a preset time window;

[0053] The drainage control module is used to generate an accelerated drainage command when the actual intracranial pressure data is greater than the preset safety upper limit, determine the acceleration target height according to the accelerated drainage command, and control the height adjustment mechanism to update the current physical height of the drip bottle to the accelerated target height; and to generate a deceleration drainage command when the actual intracranial pressure data is less than the preset safety lower limit, or the pressure change rate is negative and the absolute value of the pressure change rate is greater than the preset sudden drop judgment threshold, determine the deceleration target height according to the deceleration drainage command, and control the height adjustment mechanism to update the current physical height of the drip bottle to the deceleration target height, or control the height adjustment mechanism to drive the drip bottle to rise to the preset blocking height.

[0054] Thirdly, an electronic device is provided, including a processor, a memory, a user interface, and a network interface, wherein the memory is used to store instructions, the user interface and the network interface are both used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any of the above.

[0055] Fourthly, a computer-readable storage medium is provided, the computer-readable storage medium storing instructions that, when executed, perform the method as described in any of the preceding claims.

[0056] In summary, implementing one or more technical solutions provided in this application has at least the following technical effects or advantages:

[0057] By constructing a closed-loop control architecture encompassing multi-source sensing, dynamic compensation, intelligent decision-making, and safety limiting, the reliance of traditional cerebrospinal fluid drainage systems on static physical benchmarks and manual adjustments is reduced. This solution enables the drainage equipment to adaptively correct for fluctuations in physiological pressure and changes in the patient's position, reducing the lag risk inherent in traditional passive drainage methods. While ensuring the safety of the patient, it also reduces manual intervention during intensive care, improving the reliability and automation level of drainage management. Attached Figure Description

[0058] Figure 1 This is an exemplary system architecture diagram of a cerebrospinal fluid closed-loop drainage control method or a cerebrospinal fluid closed-loop drainage control device according to this application;

[0059] Figure 2 This is a flowchart illustrating a closed-loop cerebrospinal fluid drainage control method disclosed in this application;

[0060] Figure 3 This is a schematic diagram of a closed-loop cerebrospinal fluid drainage control device disclosed in this application;

[0061] Figure 4 This is a schematic diagram of the structure of an electronic device disclosed in this application.

[0062] Explanation of reference numerals in the attached drawings: 100, Drainage system; 101, Drainage catheter; 102, Intracranial pressure sensor; 103, Posture sensing unit; 104, Control device; 105, Height adjustment mechanism; 106, Electromechanical shut-off valve; 107, Dropping bottle; 108, Collection bag; 301, Data receiving module; 302, Height difference calculation module; 303, Pressure correction module; 304, Rate of change calculation module; 305, Drainage control module; 401, Processor; 402, Communication bus; 403, User interface; 404, Network interface; 405, Memory. Detailed Implementation

[0063] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0064] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0065] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0066] Figure 1 A schematic diagram of an exemplary drainage system architecture is shown, illustrating an embodiment of a cerebrospinal fluid closed-loop drainage control method or a cerebrospinal fluid closed-loop drainage control device to which this application can be applied.

[0067] like Figure 1As shown, the drainage system 100 mainly includes: a drainage catheter 101, an intracranial pressure sensor 102, a body position sensing unit 103, a control device 104, a height adjustment mechanism 105, an electromechanical shut-off valve 106, a drip bottle 107, and a collection bag 108. The implantation end of the drainage catheter 101 is used to insert into the drainage site of the recipient, and the output end of the drainage catheter 101 is connected to the fluid input end of the drip bottle 107 via the electromechanical shut-off valve 106. The intracranial pressure sensor 102 is mounted on the drainage catheter 101 to collect initial intracranial pressure data in real time and transmit this data to the control device 104. The body position sensing unit 103 is independently mounted on the surface of the recipient's body to collect body position data, including acceleration and angular velocity data, in real time and transmit this data to the control device 104. The drip bottle 107 may optionally be equipped with an infrared drip rate sensor or a weighing sensor to acquire current drainage flow rate data and transmit it to the control device 104. The height adjustment mechanism 105 (e.g., a linear slide or lifting column driven by a stepper motor) establishes a mechanical drive connection with the dropper bottle 107 to receive height control commands output by the control device 104 and drive the dropper bottle 107 to slide up and down, thereby dynamically changing the drainage pressure difference between the implantation end and the dropper bottle 107.

[0068] Figure 2 This is a flowchart illustrating a closed-loop cerebrospinal fluid drainage control method according to an embodiment of this application. This method can be implemented using a computer program, a microcontroller, or run on a closed-loop cerebrospinal fluid drainage control device. The computer program can be integrated into an application or run as a standalone utility application. The specific steps of a closed-loop cerebrospinal fluid drainage control method are described in detail below.

[0069] S201: Receives initial intracranial pressure data from the intracranial pressure sensor and positional data from the positional sensing unit, including acceleration data and angular velocity data.

[0070] Exemplarily, the intracranial pressure sensor 102 can be a miniature piezoresistive sensor with a diameter not exceeding 0.5 mm, disposed on the side wall of the implanted end of the drainage catheter 101, without affecting the drainage channel of the catheter. The probe surface of the intracranial pressure sensor 102, as well as the inner and outer walls of the drainage catheter 101, are coated with an anti-adhesion coating to inhibit bacterial adhesion and protein deposition. The intracranial pressure sensor 102 continuously acquires pressure signals at a preset sampling frequency (e.g., 100 Hz to 500 Hz), and transmits the acquired analog pressure signals to the processor inside the control device 104 after analog-to-digital conversion as initial intracranial pressure data. The body position sensing unit 103 is independently disposed on the surface of the drainage object, specifically including a three-axis accelerometer and a three-axis gyroscope, constituting an inertial measurement unit (IMU). The three-axis accelerometer is used to sense the linear acceleration of the body of the person receiving drainage in three orthogonal directions, and the three-axis gyroscope is used to sense the angular velocity around the three orthogonal axes. The two work together to output body position data containing acceleration and angular velocity data. It should be understood that the body position sensing unit 103 is specifically attached to or worn on the torso, shoulders, or head of the person receiving drainage, etc., where it can accurately and synchronously change spatial displacement with the movements of the person receiving drainage, so as to ensure that the collected kinematic parameters have objective confidence.

[0071] Furthermore, in step S201, the control device 104 continuously receives drainage flow rate data from the dripping bottle 107. Specifically, the drainage flow rate data can be obtained by an infrared drip rate sensor integrated in the measuring mechanism of the dripping bottle 107 by real-time monitoring of the liquid dripping frequency, or by a weighing sensor installed at the suspension point of the dripping bottle 107 by real-time acquisition of the rate of change of liquid gravity on the time axis. The data is then fed back to the control device 104 by the measuring mechanism via a wired or wireless communication link for dynamic pressure loss compensation calculation of pipeline fluid dynamics in subsequent steps.

[0072] S202: Extract body posture change features based on acceleration and angular velocity data, and calculate the relative height difference between the implanted end of the drainage catheter and the drip bottle based on the body posture change features.

[0073] For example, the process of extracting body posture change features can be understood as follows: the acceleration data and angular velocity data output by the body position sensing unit 103 are fused and processed to eliminate the interference of motion acceleration on the judgment of gravity direction, thereby calculating the posture angle of the part where the body position sensing unit 103 is located in three-dimensional space. This posture angle reflects the orientation and tilt of the corresponding part of the body of the drainage object, and is the basic input for subsequent calculation of the relative height difference between the implanted end and the drip bottle 107. Since the implanted end of the drainage catheter 101 is located in the cranium, while the drip bottle 107 is suspended on the external height adjustment mechanism 105, the vertical height difference between the two will dynamically change with the body position changes of the drainage object, such as turning over, sitting up, lowering the head, or the head of the bed being raised or lowered. Therefore, the control device 104 needs to calculate the relative height difference in real time to support subsequent pressure correction and adaptive height adjustment.

[0074] In one possible implementation, body posture change features are extracted based on acceleration and angular velocity data, and the relative height difference between the implanted end of the drainage catheter and the drip bottle is calculated based on the body posture change features. Specifically, this includes: performing posture matrix calculation based on acceleration and angular velocity data to obtain the body spatial posture angle of the location of the body position sensing unit; inputting the body spatial posture angle into a preset biomechanical mapping model to calculate the first spatial coordinate of the implanted end of the drainage catheter in a preset three-dimensional reference coordinate system; obtaining the second spatial coordinate of the drip bottle in the three-dimensional reference coordinate system; extracting the coordinate axis difference between the first spatial coordinate and the second spatial coordinate in the direction of gravity; and determining the coordinate axis difference as the relative height difference.

[0075] Specifically, the attitude matrix calculation can be implemented using either a complementary filtering algorithm or a Kalman filtering algorithm. Taking the complementary filtering algorithm as an example, firstly, the projection vector of the gravity direction in the coordinate system of the body position sensing unit 103 is calculated using acceleration data. This projection vector is used to determine the initial tilt angle of the body position sensing unit 103 relative to the gravity direction. Simultaneously, the initial tilt angle is integrated using angular velocity data to obtain the attitude angle change over a short time scale. Then, the initial tilt angle determined by the acceleration data and the attitude angle change obtained by integrating the angular velocity data are fused according to a preset weighting coefficient. This weighting coefficient is dynamically adjusted based on the confidence levels of the acceleration and angular velocity data, thereby obtaining a smooth and accurate body space attitude angle. The body space attitude angle can include three components: pitch angle, roll angle, and yaw angle, which respectively characterize the attitude of the body position sensing unit 103 in the forward / backward tilt, left / right tilt, and horizontal rotation directions.

[0076] The biomechanical mapping model is a pre-established parametric human geometry model that stores reference cervical spine length parameters (e.g., the cervical spine length of a typical adult is approximately 7cm to 10cm) and reference skull offset radius parameters (e.g., the offset radius of the head relative to the upper end of the cervical spine is approximately 3cm to 5cm). These parameters can be personalized according to the actual body size of the drainage subject. The preset three-dimensional reference coordinate system can be established with the reference position at the bottom of the physical slide rail of the height adjustment mechanism 105 as the reference origin, where the Z-axis is parallel to the direction of gravity, and the X and Y axes form a horizontal plane. By inputting the body spatial posture angle into the biomechanical mapping model, the first spatial coordinate of the implanted end of the drainage catheter 101 in this reference coordinate system (i.e., the Z-axis coordinate containing vertical height information) can be calculated. This coordinate is then compared with the second spatial coordinate of the dropper 107 obtained by the displacement sensor or encoder of the height adjustment mechanism 105, and the axial difference between the two in the direction of gravity (i.e., the Z-axis direction) is extracted. This difference is the precise physical relative height difference.

[0077] In one possible implementation, the body spatial posture angle is input into a preset biomechanical mapping model to calculate the first spatial coordinates of the implanted end of the drainage catheter in a preset three-dimensional reference coordinate system. Specifically, this includes: extracting the reference cervical spine length parameter and the reference skull offset radius parameter from the preset biomechanical mapping model; obtaining the trunk posture component and the head relative posture component based on the body spatial posture angle decomposition; constructing a human longitudinal axis reference vector based on the trunk posture component, and superimposing the reference cervical spine length parameter along the human longitudinal axis reference vector to obtain the neck node coordinates; and superimposing the reference skull offset radius parameter onto the neck node coordinates based on the head relative posture component to generate the first spatial coordinates.

[0078] Specifically, the decomposition process of body spatial posture angles can be understood as follows: the three posture angle components—pitch angle, roll angle, and yaw angle—are categorized according to their impact on different parts of the human body. The trunk posture component refers to the posture angle portion mainly contributed by the overall tilt of the trunk. For example, when the patient changes from a supine to a sitting position, the trunk pitch angle changes significantly, directly affecting the direction of the human body's longitudinal axis reference vector. The head-relative posture component refers to the additional posture angle offset of the head relative to the trunk, such as the additional pitch and roll angle changes generated when the patient lowers or tilts their head. The human body longitudinal axis reference vector is a unit vector extending along the longitudinal axis of the trunk, starting from the fixed installation location of the body position sensing unit 103 on the patient's body surface. Its direction is determined by the trunk posture component. By superimposing the reference cervical spine length parameter along this vector—that is, offset by one cervical spine length along the longitudinal axis—the cervical node coordinates are obtained. These coordinates characterize the spatial position of the upper cervical spine in the three-dimensional reference coordinate system. Subsequently, based on the head's relative posture components, the offset direction and distance of the head relative to the neck node are determined. The reference skull offset radius parameter is then superimposed onto the neck node coordinates along this offset direction to generate the first spatial coordinates. These coordinates accurately characterize the absolute spatial position of the implanted end of the drainage catheter 101 in the three-dimensional reference coordinate system. Through the above-mentioned layered superposition method, the biomechanical mapping model can transform the non-rigid posture dynamics detected by the body position sensing unit 103 into the spatial height coordinates of the implanted end, thereby achieving a complete geometric mapping closed loop from posture sensing to height difference calculation.

[0079] From the perspective of spatial geometric algebra, the first spatial coordinate system The solution process can be expressed by the following vector formula:

[0080]

[0081] in, The first spatial coordinate of the implantation end of the drainage catheter 101 in the preset three-dimensional reference coordinate system. The initial three-dimensional spatial coordinates of the body position sensing unit 103 in the three-dimensional reference coordinate system. The reference cervical spine length parameter, Let be the unit vector along the vertical axis determined by the torso posture components. The reference skull offset radius parameter, It is the spatial offset unit vector determined by the relative attitude components of the head.

[0082] S203: Calculate the hydrostatic pressure difference compensation amount of the liquid column based on the relative height difference, and use the hydrostatic pressure difference compensation amount of the liquid column to perform pressure correction processing on the initial intracranial pressure data to obtain the actual intracranial pressure data.

[0083] For example, the calculation principle of the hydrostatic pressure difference compensation is based on the hydrostatic pressure formula in fluid mechanics. When there is a height difference between the implanted end of the drainage catheter 101 and the drip bottle 107, the cerebrospinal fluid column in the catheter will generate a hydrostatic pressure difference under the action of gravity, causing the initial intracranial pressure data to deviate from the true intracranial pressure value. In addition, during the natural drainage process, dynamic pressure loss will occur due to the flow of cerebrospinal fluid in the tube, and this loss is positively correlated with the current drainage flow rate.

[0084] In one possible implementation, the hydrostatic pressure difference compensation is calculated based on the relative height difference, and the initial intracranial pressure data is pressure-corrected using the hydrostatic pressure difference compensation to obtain the actual intracranial pressure data. Specifically, this includes: multiplying the relative height difference, a preset cerebrospinal fluid density parameter, and a preset gravitational acceleration constant to obtain the baseline hydrostatic pressure difference value; obtaining the current drainage flow rate of the drainage system, and calculating the dynamic pressure loss in the drainage pipeline based on the current drainage flow rate and a preset pipeline fluid resistance coefficient; adding the baseline hydrostatic pressure difference value and the dynamic pressure loss to obtain the hydrostatic pressure difference compensation; and adding the initial intracranial pressure data and the hydrostatic pressure difference compensation to obtain the actual intracranial pressure data.

[0085] Specifically, the formula for calculating the basic hydrostatic pressure difference is as follows: ,in This is the relative height difference. The preset cerebrospinal fluid density parameters (e.g., 1.005 g / cm³ to 1.007 g / cm³). The preset gravitational acceleration constant is used (e.g., 9.8 m / s²). The calculation of dynamic pressure loss is based on a pipeline fluid dynamics model. Specifically, the faster the current flow velocity, the greater the fluid resistance loss due to pipe wall friction and pipe bends. The dynamic pressure loss can be expressed by the formula... Calculation, where The preset pipeline fluid resistance coefficient (this coefficient is related to parameters such as the inner diameter of the conduit, the length of the conduit, the material of the conduit, and the bend angle of the pipeline, and can be obtained through experimental calibration). The current drainage velocity is fed back by the measuring mechanism at dropper 107. The hydrostatic pressure difference compensation is obtained by adding the baseline hydrostatic pressure difference value to the dynamic pressure loss. Ultimately, the actual intracranial pressure data... ,in The initial intracranial pressure data is as follows: When the implanted end is 107 cm higher than the drip bottle, the relative height difference is positive, the hydrostatic pressure difference compensation is positive, and the initial intracranial pressure data is corrected to a larger value; conversely, when the implanted end is 107 cm lower than the drip bottle, the compensation is negative, and the initial intracranial pressure data is corrected to a smaller value. Through the above correction process, the actual intracranial pressure data can accurately reflect the current intracranial pressure level of the patient being drained, without being affected by changes in body position or dynamic fluid loss.

[0086] S204: Calculate the rate of change of actual intracranial pressure data within a preset time window.

[0087] For example, the pressure change rate is calculated to extract the dynamic trend characteristics of intracranial pressure over a short period of time, rather than relying solely on the instantaneous pressure value at a single moment. The length of the preset time window can be configured according to clinical needs, for example, set to 30 seconds to 5 minutes. The longer the window, the smoother the calculation of the change rate and the better it reflects long-term trends; the shorter the window, the more sensitive it is to instantaneous changes. By introducing a time forgetting factor algorithm, the influence of more recent sampling data on the change rate calculation gradually decreases, thus balancing the sensitivity of trend tracking and the stability against noise interference. The pressure change rate is finally output as a slope value, with positive values ​​indicating an upward trend in intracranial pressure and negative values ​​indicating a downward trend. The absolute value of the value reflects the rate of change.

[0088] In one possible implementation, calculating the rate of change of actual intracranial pressure data within a preset time window specifically includes: extracting multiple historical actual intracranial pressure data points within the preset time window according to a preset sampling frequency to construct a time-discrete intracranial pressure sequence; assigning weight coefficients to each historical actual intracranial pressure data point in the time-discrete intracranial pressure sequence based on a preset time forgetting factor algorithm, with the weight coefficient corresponding to the historical actual intracranial pressure data whose timestamp is closer to the current latest sampling time being larger; performing weighted least squares fitting on the time-discrete intracranial pressure sequence using the weight coefficients to obtain a pressure change trend line segment; and extracting the slope value of the pressure change trend line segment, and determining the slope value as the rate of change of pressure.

[0089] Specifically, the core idea of ​​the temporal forgetting factor algorithm is to assign a weight coefficient that decays over time to each historical actual intracranial pressure data point in the time-discrete intracranial pressure sequence. For example, the formula for calculating the weight coefficient is... ,in This is the forgetting factor (with values ​​ranging from, for example, 0.9 to 0.99). This is the latest sampling time. Let i be the sampling time of the i-th historical data. The closer it is to 1, the slower the rate of forgetting, and the longer the influence of historical data lasts. The closer the value is to 0.9, the faster the rate of forgetting, and the more pronounced the weighting advantage of recent data becomes. Weighted least squares fitting combines each historical intracranial pressure data point with its corresponding weighting coefficient, and fits a pressure change trend line segment by minimizing the weighted sum of squared residuals. The slope of this line segment represents the rate of pressure change.

[0090] Furthermore, the preset sampling frequency can be set to be consistent with the sampling frequency of the intracranial pressure sensor 102 (e.g., 100Hz to 500Hz). However, in order to reduce the underlying computing load of the control device 104 and meet the real-time control requirements, the system can optionally downsample the original high-frequency data (e.g., downsample to 10Hz) or use a recursive weighted least squares algorithm to iteratively update the slope before constructing the time-discrete intracranial pressure sequence. For example, when the time window is set to 60 seconds and the downsampling frequency is 10Hz, the time-discrete intracranial pressure sequence contains only 600 valid historical data points. The system can output a high-precision pressure change trend line segment and its slope in real time with extremely low computing power through weighted fitting.

[0091] S205: When the actual intracranial pressure data is greater than the preset safety upper limit, an accelerated drainage command is generated. The accelerated target height is determined according to the accelerated drainage command, and the height adjustment mechanism is controlled to update the current physical height of the drip bottle to the accelerated target height.

[0092] For example, when the actual intracranial pressure data exceeds the preset safety upper limit, it indicates that the intracranial pressure is already high, and accelerated drainage is needed to reduce the intracranial pressure. Since this system uses a gravity drainage mechanism, accelerated drainage means increasing the physical height difference between the implanted end and the drip bottle. The trigger condition for the accelerated drainage command is that the actual intracranial pressure data is greater than the safety upper limit, which can be set based on clinical experience, for example, a threshold within the range of 15 mmHg to 20 mmHg. The determination of the target height for acceleration needs to comprehensively consider the degree of deviation of the current pressure from the safety upper limit and the trend of pressure change: the larger the deviation value, the greater the deviation of the current actual intracranial pressure from the safety threshold, requiring a larger height adjustment to quickly output negative feedback compensation; the higher the positive pressure change rate, the more rapidly the intracranial pressure is still rising, also requiring a larger height adjustment to curb the upward trend. By using the deviation value and the pressure change rate as joint input parameters to determine the target height for acceleration, adaptive adjustment of the physical height of the drip bottle is achieved, which can both respond promptly to the excessive intracranial pressure and make proactive adjustments based on the pressure change trend.

[0093] In one possible implementation, when the actual intracranial pressure data exceeds a preset safety upper limit, an accelerated drainage command is generated. Based on this command, an accelerated target height is determined, and the height adjustment mechanism is controlled to update the current physical height of the drip bottle to the accelerated target height. Specifically, this includes: calculating the deviation between the actual intracranial pressure data and the preset safety upper limit; using the deviation and pressure change rate as joint input parameters, querying a preset two-dimensional fuzzy control rule table, and extracting a matching baseline height adjustment amount; calculating the current physical height of the drip bottle against the baseline height adjustment amount to obtain a pre-selected accelerated target height; and determining the pre-selected accelerated target height as the actual accelerated target height and controlling the height adjustment mechanism to perform the update operation.

[0094] Specifically, the deviation value is calculated as follows: ,in This is actual intracranial pressure data. This is a preset safety upper limit value. The two-dimensional fuzzy control rule table is a pre-constructed mapping table, with its two input dimensions being the deviation values. and pressure change rate Output dimension is adjusted based on height. Deviation value and pressure change rate Before inputting the fuzzy control rule table, fuzzification processing is required, which maps continuous numerical values ​​to preset fuzzy linguistic variables (e.g., "negative large", "negative small", "zero", "positive small", "positive large", etc.). The rule entries in the two-dimensional fuzzy control rule table can be designed based on clinical experience and control theory. For example, when the deviation value is "positive large" and the pressure change rate is "positive large", the baseline height adjustment is set to the maximum value to quickly increase the drainage pressure differential to cope with severe intracranial pressure overshoot; when the deviation value is "positive small" and the pressure change rate is "zero", the baseline height adjustment is set to a smaller value to smoothly adjust the height with a smaller control step, thereby preventing pressure overshoot while maintaining the current physical steady state of the drainage system 100. Through querying the fuzzy control rule table, the control device 104 can automatically select an appropriate height adjustment amount based on the current pressure deviation and change trend, achieving accelerated drainage control in accordance with preset rules. Pre-selected target height for acceleration. Based on the current physical height of the dropper and It is obtained by performing vector operations.

[0095] In one possible implementation, determining the pre-selected acceleration target height as the acceleration target height and controlling the height adjustment mechanism to perform an update operation specifically includes: extracting a preset single maximum adjustment step size limit parameter; comparing the basic height adjustment amount with the single maximum adjustment step size limit parameter; when the basic height adjustment amount is greater than the single maximum adjustment step size limit parameter, calculating the single maximum adjustment step size limit parameter with the current physical height of the dropper bottle to generate a limiting target height, determining the limiting target height as the acceleration target height, and controlling the height adjustment mechanism to perform an update operation; when the basic height adjustment amount is less than or equal to the single maximum adjustment step size limit parameter, determining the pre-selected acceleration target height as the acceleration target height, and controlling the height adjustment mechanism to perform an update operation.

[0096] Specifically, the single-time maximum adjustment step size limit parameter is a preset safety constraint parameter used to limit the maximum physical height change of the drip bottle 107 during a single adjustment operation, preventing adverse effects on the drainage target due to drastic fluctuations in drainage pressure differential caused by sudden height changes. This parameter can be set according to clinical safety requirements, for example, to a physical displacement value within the range of 2cm to 5cm. When the baseline height adjustment amount output by the fuzzy control rule table exceeds the single-time maximum adjustment step size limit parameter, the control device 104 will not directly apply the baseline height adjustment amount to the current physical height, but will use the single-time maximum adjustment step size limit parameter as the actual displacement amount to generate a limited target height. This limiting protection mechanism ensures that the height adjustment of the drip bottle 107 is always performed gradually within a safe range, avoiding sudden changes in drainage rate caused by excessive height jumps. When the baseline height adjustment amount does not exceed this limit parameter, the pre-selected acceleration target height is directly used as the acceleration target height for updating. At this time, the height adjustment range is small, and no limiting intervention is required. Through the aforementioned limiting protection mechanism, when the control device 104 performs voltage reduction regulation, it can constrain the height adjustment amount within a preset safe range, thus achieving a smooth transition during the accelerated diversion process.

[0097] Furthermore, the design and defuzzification process of the aforementioned two-dimensional fuzzy control rule table is as follows: First, the input variables are fuzzified. The deviation values ​​of the actual intracranial pressure data are then... and pressure change rate The universe of discourse is discretized into multiple levels. For example, the set of fuzzy linguistic variables is defined as {NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), PB (positive large)}. Triangular or Gaussian membership functions are used to calculate the current... and The membership degree of each fuzzy subset is determined. Next, the fuzzy inference rule matrix is ​​constructed. The adjustment amount for the basic height is then considered. For the output, this embodiment establishes the following typical rules: when For PB (i.e., pressure severely exceeded) and When the pressure is PB (meaning the pressure is still rising rapidly), the output is... For PB, adjust the dropping bottle height to the maximum extent to accelerate drainage; when For PS (i.e., slightly excessive pressure) and When the value is NB (meaning the pressure is showing a rapid downward trend), the output is... For ZO or NS, that is, maintain altitude or fine-tune, rely on system inertia to fall back, and prevent overshoot oscillation; when is ZO and When it is ZO, the output is... To maintain the physical steady state of the current drainage system 100, the centroid method is used for defuzzification calculation. The control device 104 extracts the output membership function of the activation rule, calculates the centroid abscissa of its envelope area, and maps it back to the actual physical height adjustment domain to obtain the precise base height adjustment amount. Numerical values. This process ensures a smooth, continuous mapping from nonlinear physiological data to mechanical displacement commands.

[0098] S206: When the actual intracranial pressure data is less than the preset safety lower limit, or the pressure change rate is negative and the absolute value of the pressure change rate is greater than the preset sudden drop judgment threshold, a deceleration drainage command is generated. The deceleration target height is determined according to the deceleration drainage command, and the height adjustment mechanism is controlled to update the current physical height of the drip bottle to the deceleration target height, or the height adjustment mechanism is controlled to drive the drip bottle to rise to the preset blocking height.

[0099] For example, this step corresponds to the pressure differential reduction and shutdown protection logic of the drainage system 100, which complements the aforementioned accelerated drainage logic. The triggering conditions for the deceleration drainage command include two scenarios: The first scenario is that the actual intracranial pressure data is less than the preset safety lower limit. At this time, the intracranial pressure has dropped to an excessively low level. Continuing to maintain the current height difference for drainage may lead to over-drainage, causing excessive negative pressure inside the tube and the risk of physical adsorption damage to the internal tissues of the drainage target. Therefore, it is necessary to control the height adjustment mechanism 105 to drive the drip bottle 107 to rise in order to reduce the drainage pressure differential or stop the drainage. The second scenario is that the pressure change rate is negative and the absolute value of the pressure change rate is greater than the preset sudden drop judgment threshold. At this time, although the actual intracranial pressure data may not have fallen below the safety lower limit, the pressure is dropping rapidly. This is a proactive intervention mechanism that triggers height adjustment intervention in advance before the pressure reaches the lower limit.

[0100] Specifically, when executing the deceleration and diversion command, considering the momentum and inertia of the fluid in the pipeline, if the height adjustment mechanism 105 drives the drip bottle 107 to rise suddenly at maximum speed in a step-like manner, it is easy to induce fluid oscillations or cause brief pressure fluctuations (i.e., water hammer effect) inside the pipeline. Therefore, the physical height update process of the drip bottle 107 adopts an exponential decay curve for smooth transition. Specifically, the drip bottle 107 changes height over time... Change in instantaneous physical height The update formula can be expressed as:

[0101]

[0102] in, The current physical height, To reduce the target altitude, This refers to the attenuation coefficient. The values ​​and differences ( The absolute values ​​of ( ) are negatively correlated, meaning the greater the height difference, the higher the correlation between them. The smaller the value, the smoother the initial velocity of the height change, avoiding excessive transient displacement that could cause liquid oscillation. This achieves an adaptive and smooth transition in pipeline fluid dynamics at the mathematical level. It is a natural constant.

[0103] Furthermore, when the actual intracranial pressure data triggers the shutdown threshold, the control device 104 does not merely cut off the motor drive signal of the height adjustment mechanism 105. Since a simple mechanical shutdown (i.e., the drip bottle hovering at the current height) cannot immediately stop the continuous outflow of cerebrospinal fluid due to gravity as long as there is a height difference between the implanted end of the drainage catheter 101 and the drip bottle 107, the control device 104 performs the specific operation of stopping drainage by controlling the height adjustment mechanism 105 to drive the drip bottle 107 to a preset blocking height (e.g., equal to or slightly higher than the reference physical height of the drainage object, so that the hydrostatic pressure difference is zero or negative), thus completely eliminating the driving force for fluid outflow from a hydrodynamic perspective. In addition, considering that extreme changes in body position (such as the drainage object suddenly turning over or getting up violently) may instantly break the hydrostatic pressure balance and trigger a local siphon effect, the control device 104 also simultaneously outputs an electrical signal to trigger the closure of the electromechanical shut-off valve 106 (e.g., an electromagnetic clamp valve) installed on the drainage pipeline. Within the same control cycle when the drip bottle 107 reaches the blocking height, the electromechanical shut-off valve 106 completes the clamping and blocking of the physical pipeline. This coordinated shutdown mechanism of "zero differential pressure + valve cut-off" completely cuts off the drainage path through physical means, preventing excessive drainage.

[0104] Figure 3 This is a schematic diagram of a closed-loop cerebrospinal fluid drainage control device according to an embodiment of this application. This system can be implemented through software, hardware, or a combination of both, becoming all or part of the system. For example... Figure 3As shown, the device includes:

[0105] The data receiving module 301 is used to receive initial intracranial pressure data from the intracranial pressure sensor and body position data from the body position sensing unit. The body position data includes acceleration data and angular velocity data.

[0106] The height difference calculation module 302 is used to extract body posture change features based on acceleration data and angular velocity data, and calculate the relative height difference between the implanted end of the drainage catheter and the drip bottle based on the body posture change features;

[0107] The pressure correction module 303 is used to calculate the hydrostatic pressure difference compensation amount of the liquid column based on the relative height difference, and to perform pressure correction processing on the initial intracranial pressure data using the hydrostatic pressure difference compensation amount of the liquid column to obtain the actual intracranial pressure data.

[0108] The rate of change calculation module 304 is used to calculate the rate of change of actual intracranial pressure data within a preset time window.

[0109] The drainage control module 305 is used to generate an accelerated drainage command when the actual intracranial pressure data is greater than the preset safety upper limit, determine the acceleration target height according to the accelerated drainage command, and control the height adjustment mechanism to update the current physical height of the drip bottle to the accelerated target height; and to generate a deceleration drainage command when the actual intracranial pressure data is less than the preset safety lower limit, or the pressure change rate is negative and the absolute value of the pressure change rate is greater than the preset sudden drop judgment threshold, determine the deceleration target height according to the deceleration drainage command, and control the height adjustment mechanism to update the current physical height of the drip bottle to the deceleration target height, or control the height adjustment mechanism to drive the drip bottle to rise to the preset blocking height.

[0110] Based on the above embodiments, as an optional embodiment, the height difference calculation module 302 is specifically used for: performing attitude matrix calculation based on acceleration data and angular velocity data to obtain the body spatial attitude angle of the part where the body position sensing unit is located; inputting the body spatial attitude angle into a preset biomechanical mapping model to calculate the first spatial coordinate of the implanted end of the drainage catheter in a preset three-dimensional reference coordinate system; obtaining the second spatial coordinate of the drip bottle in the three-dimensional reference coordinate system, extracting the coordinate axis difference between the first spatial coordinate and the second spatial coordinate in the direction of gravity, and determining the coordinate axis difference as the relative height difference.

[0111] Based on the above embodiments, as an optional embodiment, the height difference calculation module 302 is specifically used for: extracting the reference cervical spine length parameter and the reference skull offset radius parameter from the preset biomechanical mapping model; obtaining the trunk posture component and the head relative posture component based on the body spatial posture angle decomposition; constructing the human body longitudinal axis reference vector according to the trunk posture component, and superimposing the reference cervical spine length parameter along the human body longitudinal axis reference vector to obtain the neck node coordinates; and superimposing the reference skull offset radius parameter onto the neck node coordinates based on the head relative posture component to generate the first spatial coordinates.

[0112] Based on the above embodiments, as an optional embodiment, the pressure correction module 303 is specifically used to: multiply the relative height difference, the preset cerebrospinal fluid density parameter, and the preset gravitational acceleration constant to obtain the basic hydrostatic pressure difference value; obtain the current drainage flow rate of the drainage system, and calculate the dynamic pressure loss in the drainage pipeline based on the current drainage flow rate and the preset pipeline fluid resistance coefficient; add the basic hydrostatic pressure difference value and the dynamic pressure loss value to obtain the hydrostatic pressure difference compensation amount; and add the initial intracranial pressure data and the hydrostatic pressure difference compensation amount to obtain the actual intracranial pressure data.

[0113] Based on the above embodiments, as an optional embodiment, the rate of change calculation module 304 is specifically used for: extracting multiple historical actual intracranial pressure data within a preset time window according to a preset sampling frequency, and constructing a time-discrete intracranial pressure sequence; assigning weight coefficients to each historical actual intracranial pressure data in the time-discrete intracranial pressure sequence based on a preset time forgetting factor algorithm, with the weight coefficient corresponding to the historical actual intracranial pressure data whose timestamp is closer to the current latest sampling time being larger; performing weighted least squares fitting processing on the time-discrete intracranial pressure sequence using the weight coefficients to obtain a pressure change trend line segment; extracting the slope value of the pressure change trend line segment, and determining the slope value as the pressure change rate.

[0114] Based on the above embodiments, as an optional embodiment, the drainage control module 305 is specifically used to: calculate the deviation value between the actual intracranial pressure data and the preset safety upper limit value; use the deviation value and the pressure change rate as joint input parameters, query the preset two-dimensional fuzzy control rule table, and extract the matching basic height adjustment amount; calculate the current physical height of the drip bottle with the basic height adjustment amount to obtain the pre-selected acceleration target height; determine the pre-selected acceleration target height as the acceleration target height and control the height adjustment mechanism to perform the update operation.

[0115] Based on the above embodiments, as an optional embodiment, the drainage control module 305 is specifically used for: extracting a preset single maximum adjustment step size limit parameter; comparing the basic height adjustment amount with the single maximum adjustment step size limit parameter; when the basic height adjustment amount is greater than the single maximum adjustment step size limit parameter, calculating the single maximum adjustment step size limit parameter with the current physical height of the dropper bottle to generate a limiting target height, determining the limiting target height as the acceleration target height, and controlling the height adjustment mechanism to perform an update operation; when the basic height adjustment amount is less than or equal to the single maximum adjustment step size limit parameter, determining the pre-selected acceleration target height as the acceleration target height, and controlling the height adjustment mechanism to perform an update operation.

[0116] It should be noted that the system provided in the above embodiments is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0117] This embodiment also discloses an electronic device, as shown in the reference. Figure 4 The electronic device may include: at least one processor 401, at least one communication bus 402, user interface 403, network interface 404, and at least one memory 405.

[0118] The communication bus 402 is used to enable communication between these components.

[0119] The user interface 403 may include a display screen and a camera. Optionally, the user interface 403 may also include a standard wired interface and a wireless interface.

[0120] The network interface 404 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0121] The processor 401 may include one or more processing cores. The processor 401 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 405, and by calling data stored in memory 405. Optionally, the processor 401 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 401 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the processor 401.

[0122] The memory 405 may include random access memory (RAM) or read-only memory. Optionally, the memory 405 may include a non-transitory computer-readable storage medium. The memory 405 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 405 may also be at least one storage device located remotely from the aforementioned processor 401. Figure 4 As shown, the memory 405, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a closed-loop cerebrospinal fluid drainage control method.

[0123] exist Figure 4In the electronic device shown, the user interface 403 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 401 can be used to call an application program stored in the memory 405 for a cerebrospinal fluid closed-loop drainage control method. When executed by one or more processors 401, the electronic device performs one or more methods as described in the above embodiments.

[0124] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0125] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings or direct couplings or communication connections may be through some service interfaces; indirect couplings or communication connections between apparatuses or units may be electrical or other forms.

[0127] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0128] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0129] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory 405 and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory 405 includes various media capable of storing program code, such as a USB flash drive, external hard drive, magnetic disk, or optical disk.

[0130] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of other embodiments of this disclosure upon considering the disclosure in this specification. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are considered exemplary only, and the scope of this application is defined by the claims.

Claims

1. A method for controlling closed-loop cerebrospinal fluid drainage, characterized in that, The method is applied to a drainage system, which includes a drainage catheter, a body position sensing unit, a drip bottle, and a height adjustment mechanism for driving the drip bottle to slide up and down. The drainage catheter is equipped with an intracranial pressure sensor. Receives initial intracranial pressure data from the intracranial pressure sensor and body position data from the body position sensing unit, the body position data including acceleration data and angular velocity data; Based on the acceleration data and the angular velocity data, body posture change features are extracted, and the relative height difference between the implanted end of the drainage catheter and the drip bottle is calculated based on the body posture change features. The hydrostatic pressure difference compensation amount of the liquid column is calculated based on the relative height difference. The initial intracranial pressure data is then pressure-corrected using the hydrostatic pressure difference compensation amount of the liquid column to obtain the actual intracranial pressure data. Calculate the rate of change of the actual intracranial pressure data within a preset time window; When the actual intracranial pressure data is greater than the preset safety upper limit, an accelerated drainage command is generated. Based on the accelerated drainage command, the accelerated target height is determined, and the height adjustment mechanism is controlled to update the current physical height of the drip bottle to the accelerated target height. When the actual intracranial pressure data is less than the preset safety lower limit, or when the pressure change rate is negative and the absolute value of the pressure change rate is greater than the preset sudden drop judgment threshold, a deceleration drainage command is generated. The deceleration target height is determined according to the deceleration drainage command, and the height adjustment mechanism is controlled to update the current physical height of the drip bottle to the deceleration target height, or the height adjustment mechanism is controlled to drive the drip bottle to rise to the preset blocking height.

2. The method for controlling closed-loop cerebrospinal fluid drainage according to claim 1, characterized in that, The step of extracting body posture change features based on the acceleration data and the angular velocity data, and calculating the relative height difference between the implanted end of the drainage catheter and the drip bottle based on the body posture change features, specifically includes: Based on the acceleration data and the angular velocity data, the attitude matrix is ​​calculated to obtain the body space attitude angle of the part where the body position sensing unit is located. The body spatial posture angle is input into a preset biomechanical mapping model to calculate the first spatial coordinates of the implanted end of the drainage catheter in a preset three-dimensional reference coordinate system. Obtain the second spatial coordinates of the dropper in the three-dimensional reference coordinate system, extract the coordinate axis difference between the first spatial coordinates and the second spatial coordinates in the direction of gravity, and determine the coordinate axis difference as the relative height difference.

3. The method for controlling closed-loop cerebrospinal fluid drainage according to claim 2, characterized in that, The step of inputting the body spatial posture angle into a preset biomechanical mapping model and calculating the first spatial coordinates of the implanted end of the drainage catheter in a preset three-dimensional reference coordinate system specifically includes: The baseline cervical spine length parameter and the baseline skull offset radius parameter are extracted from the preset biomechanical mapping model; Based on the body space attitude angle decomposition, the torso attitude component and the head relative attitude component are obtained. A human longitudinal axis reference vector is constructed based on the trunk posture components, and the neck node coordinates are obtained by superimposing the reference cervical spine length parameter along the human longitudinal axis reference vector. The reference skull offset radius parameter is superimposed onto the neck node coordinates based on the relative head posture components to generate the first spatial coordinates.

4. The method for controlling closed-loop cerebrospinal fluid drainage according to claim 1, characterized in that, The step of calculating the hydrostatic pressure difference compensation amount based on the relative height difference, and then using the hydrostatic pressure difference compensation amount to perform pressure correction processing on the initial intracranial pressure data to obtain the actual intracranial pressure data, specifically includes: The relative height difference, the preset cerebrospinal fluid density parameter, and the preset gravitational acceleration constant are multiplied together to obtain the basic hydrostatic pressure difference value. Obtain the current drainage flow rate of the drainage system, and calculate the dynamic pressure loss in the drainage pipeline based on the current drainage flow rate and the preset pipeline fluid resistance coefficient; The basic hydrostatic pressure difference value is added to the dynamic pressure loss value to obtain the hydrostatic pressure difference compensation amount of the liquid column. The initial intracranial pressure data is added to the hydrostatic pressure difference compensation amount of the fluid column to obtain the actual intracranial pressure data.

5. The method for controlling closed-loop cerebrospinal fluid drainage according to claim 1, characterized in that, The calculation of the rate of change of the actual intracranial pressure data within a preset time window specifically includes: Within the preset time window, multiple historical actual intracranial pressure data are extracted according to a preset sampling frequency to construct a time-discrete intracranial pressure sequence. Based on a preset time forgetting factor algorithm, weight coefficients are assigned to each historical actual intracranial pressure data in the time discrete intracranial pressure sequence. The closer the timestamp is to the latest sampling time, the larger the weight coefficient of the historical actual intracranial pressure data. The time-discrete intracranial pressure sequence is subjected to weighted least squares fitting using the weighting coefficients to obtain pressure change trend segments; Extract the slope value of the pressure change trend line segment, and determine the slope value as the pressure change rate.

6. The method for controlling closed-loop cerebrospinal fluid drainage according to claim 1, characterized in that, When the actual intracranial pressure data exceeds a preset safety upper limit, an accelerated drainage command is generated. Based on this command, an accelerated target height is determined, and the height adjustment mechanism is controlled to update the current physical height of the drip bottle to the accelerated target height. Specifically, this includes: Calculate the deviation between the actual intracranial pressure data and the preset safety upper limit value; Using the deviation value and the pressure change rate as joint input parameters, the preset two-dimensional fuzzy control rule table is queried to extract the matching basic height adjustment amount; The current physical height of the dropper bottle is calculated together with the base height adjustment amount to obtain the pre-selected acceleration target height; The pre-selected acceleration target height is determined as the acceleration target height, and the height adjustment mechanism is controlled to perform an update operation.

7. The method for controlling closed-loop cerebrospinal fluid drainage according to claim 6, characterized in that, The step of determining the pre-selected acceleration target height as the acceleration target height and controlling the height adjustment mechanism to perform an update operation specifically includes: Extract the preset single maximum adjustment step size limit parameter; Compare the base height adjustment amount with the single maximum adjustment step size limit parameter; When the basic height adjustment amount is greater than the single maximum adjustment step size limit parameter, the single maximum adjustment step size limit parameter is calculated with the current physical height of the dropper bottle to generate a limiting target height. The limiting target height is determined as the acceleration target height and the height adjustment mechanism is controlled to perform an update operation. When the basic height adjustment amount is less than or equal to the single maximum adjustment step size limit parameter, the pre-selected acceleration target height is determined as the acceleration target height and the height adjustment mechanism is controlled to perform an update operation.

8. A closed-loop cerebrospinal fluid drainage control device, characterized in that, An intracranial pressure sensor is provided on the drainage system, which includes a drainage catheter, a body position sensing unit, a drip bottle, and a height adjustment mechanism for driving the drip bottle to slide up and down. The drainage catheter is equipped with an intracranial pressure sensor. The device includes: The data receiving module is used to receive initial intracranial pressure data from the intracranial pressure sensor and body position data from the body position sensing unit, wherein the body position data includes acceleration data and angular velocity data. The height difference calculation module is used to extract body posture change features based on the acceleration data and the angular velocity data, and calculate the relative height difference between the implanted end of the drainage catheter and the drip bottle based on the body posture change features; The pressure correction module is used to calculate the hydrostatic pressure difference compensation amount of the liquid column based on the relative height difference, and to perform pressure correction processing on the initial intracranial pressure data using the hydrostatic pressure difference compensation amount of the liquid column to obtain the actual intracranial pressure data. The rate of change calculation module is used to calculate the rate of change of the actual intracranial pressure data within a preset time window; The drainage control module is configured to generate an accelerated drainage command when the actual intracranial pressure data is greater than a preset safety upper limit, determine an accelerated target height based on the accelerated drainage command, and control the height adjustment mechanism to update the current physical height of the drip bottle to the accelerated target height; and to generate a deceleration drainage command when the actual intracranial pressure data is less than a preset safety lower limit, or when the pressure change rate is negative and the absolute value of the pressure change rate is greater than a preset sudden drop judgment threshold, determine a deceleration target height based on the deceleration drainage command, and control the height adjustment mechanism to update the current physical height of the drip bottle to the deceleration target height, or control the height adjustment mechanism to drive the drip bottle to rise to a preset blocking height.

9. An electronic device, characterized in that, The device includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions. The user interface and the network interface are both used to communicate with other devices. The processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed, perform the method as described in any one of claims 1-7.

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