A method and system for intelligent height control of external ventricular drainage tubes

Abstract

This invention provides an intelligent height control method and system for external ventricular drainage tubes, relating to the field of external ventricular drainage tube technology. The method includes: constructing posture features based on standardized drainage data; establishing a benchmark model for the posture features through stable time periods; evaluating posture change states and identifying abrupt posture changes based on the posture features and the benchmark model; implementing safety protection based on abrupt posture changes; determining the lateral ventricle plane position based on standardized drainage data; obtaining the target drip position by combining the lateral ventricle plane position with a preset height difference; constructing a height transition model based on boundary conditions; generating a drip position adjustment trajectory based on the height transition model; performing safe adjustment of the drip position based on the drip position adjustment trajectory according to equipment operating constraints; verifying the total drainage volume; continuously monitoring the deviation between the drip position and the target drip position; and completing closed-loop monitoring of drainage control.

Description

Technical Field

[0001] This invention relates to the field of external ventricular drainage tube technology, and in particular to an intelligent height control method and system for external ventricular drainage tubes. Background Technology

[0002] External ventricular drainage (EVD) is a crucial clinical intervention for traumatic brain injury, cerebral hemorrhage, and increased intracranial pressure. This technique achieves stable control of the cerebrospinal fluid drainage pressure differential by adjusting the height of the drainage tube, providing key technical support for maintaining stable intracranial pressure in patients and finding wide application in neurocritical care. With the integration of sensing technology, electric actuators, and intelligent control technology into clinical equipment, EVD systems are gradually acquiring multi-dimensional physical quantity sensing, real-time flow monitoring, and highly automatic adjustment capabilities, providing a reliable engineering foundation for the refined and continuous management of cerebrospinal fluid drainage.

[0003] Existing external ventricular drainage devices have formed a mature system that includes drainage tubing, drip chambers, and height adjustment structures. They can be used in conjunction with flow monitoring and scale observation to achieve routine clinical management. Some drainage devices that integrate automatic adjustment functions can adjust the height of the drainage tube according to changes in body position, playing a positive role in improving drainage control accuracy and enhancing the stability of the drainage process, and providing effective technical support for improving clinical nursing efficiency and treatment safety.

[0004] However, existing drainage systems have limitations in their ability to respond to sudden changes in patient posture, making it difficult to perceive and synchronously control short-term jumps in lateral ventricle height in real time, which can easily lead to instantaneous imbalances in drainage pressure differentials. Summary of the Invention

[0005] To address the limitations of existing drainage systems in responding to sudden changes in patient posture, the difficulty in real-time sensing and synchronous control of short-term jumps in lateral ventricle height, and the resulting tendency for momentary imbalances in drainage pressure differentials, this invention provides an intelligent height control method and system for external ventricular drainage tubes.

[0006] The technical solutions provided by the embodiments of the present invention are as follows: The first aspect of this invention provides a method for intelligent height control of an external ventricular drainage tube, comprising: S1: Obtain traffic generation physical data; S2: Process the physical data of the drainage to obtain standardized drainage data; S3: Construct posture features based on standardized traffic acquisition data, and establish a benchmark model for posture features through stable time periods; S4: Based on the posture characteristics and the baseline model, evaluate the posture change state and identify the posture change state; S5: Execute safety protection through posture change state, determine the lateral ventricle plane position according to standardized drainage data, and obtain the target drip position by combining the lateral ventricle plane position with the preset height difference; S6: Based on the boundary conditions, construct a height transition model, and generate the drip nozzle position adjustment trajectory through the height transition model; S7: Based on the equipment operation constraints and the drip nozzle position adjustment trajectory, perform safe adjustment of the drip nozzle position; S8: Verify the total drainage volume, continuously monitor the deviation between the drip nozzle position and the target drip nozzle position, and complete the closed-loop monitoring of drainage control.

[0007] A second aspect of the present invention provides an intelligent height control system for external ventricular drainage tubes, comprising: processor; A memory storing computer-readable instructions, which, when executed by the processor, implement the intelligent height control method for external ventricular drainage tubes as described in the first aspect.

[0008] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: This invention addresses the problem that existing drainage systems cannot detect and synchronously regulate short-term jumps in lateral ventricle height in real time, easily causing instantaneous imbalances in drainage pressure differential. By acquiring and processing drainage physical data to obtain standardized drainage data, a posture feature and benchmark model are constructed to assess posture changes and identify abrupt posture changes. Safety protection measures are implemented, and the target drip position is determined. An adjustment trajectory is generated based on boundary conditions, and safety adjustments are completed according to equipment operating constraints. Simultaneously, the total drainage volume is verified, and deviation status is monitored to achieve closed-loop monitoring. This enables real-time detection of posture changes and synchronous regulation of the drip position, maintaining a stable drainage pressure differential and ensuring a safe and stable external ventricular drainage process. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0010] Figure 1 This is a flowchart illustrating an intelligent height control method for external ventricular drainage tubes provided in an embodiment of the present invention.

[0011] Figure 2 This is a trend chart of attitude change risk value provided in an embodiment of the present invention.

[0012] Figure 3This is a schematic diagram of the structure of an intelligent height control system for external ventricular drainage tubes provided in an embodiment of the present invention. Detailed Implementation

[0013] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0014] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0015] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0016] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0017] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0018] Reference manual attached Figure 1 The diagram shows a flowchart of an intelligent height control method for external ventricular drainage tubes provided by an embodiment of the present invention.

[0019] This invention provides a method for intelligent height control of an external ventricular drainage tube. This method can be implemented using an intelligent height control device for the external ventricular drainage tube, which can be a terminal or a server. The processing flow of the intelligent height control method for the external ventricular drainage tube may include the following steps: S1: Obtain physical data for traffic diversion.

[0020] Optionally, the physical data for drainage may include head tilt angle, head tilt velocity, bed tilt angle, bed tilt velocity, drip tip height, and drainage volume.

[0021] The head pitch angle and head pitch velocity are obtained by an inertial measurement unit fixed to the patient's head position; the bed head pitch angle and bed head pitch velocity are obtained by an encoder installed on the rotating structure of the bed; the drip nozzle height is obtained based on a linear encoder installed on the drip nozzle lifting mechanism, representing the vertical distance of the drip nozzle relative to the ground; and the drainage volume is obtained by a flow sensor.

[0022] For example, the sampling frequencies of each sensor are synchronized using a unified clock to ensure that the data remains consistent over time.

[0023] Furthermore, after obtaining the physical data of the drainage, it is necessary to calculate the rising and falling speed and acceleration of the drip nozzle, and then perform discrete accumulation and integration of the drainage volume based on the sliding time window to obtain the cumulative drainage volume.

[0024] It should be noted that the system will establish a drainage tube height control database to store the original and pre-processed drainage physical data.

[0025] Specifically, each data record in the database is appended with a timestamp and corresponding identification information to support traceable access for subsequent attitude risk assessment, trajectory generation, and safety verification.

[0026] In this embodiment of the invention, a database is established by synchronously collecting physical data from multiple sources of drainage using a unified clock. This provides the foundation for data consistency, traceability, and subsequent processing, while also providing a reliable data source for calculating the drip outlet lifting speed, lifting acceleration, and cumulative drainage volume.

[0027] S2: Process the physical data of the drainage to obtain standardized drainage data.

[0028] The standardized traffic acquisition data is data that has undergone time alignment, rationality checks, filtering, smoothing, and normalization.

[0029] In one possible implementation, S2 specifically includes sub-steps S201 to S203: S201: Perform time alignment and rationality checks on the physical data of the drainage system, identify and replace abnormal data.

[0030] Abnormal data refers to data that exceeds the physical boundary, which is replaced by the median of the neighborhood.

[0031] Specifically, time alignment is accomplished through a unified timestamp index, and the reasonableness check includes determining whether the tilt angle, angular velocity, height, and drainage volume are within the allowable range.

[0032] For example, when a sudden spike is detected in a single data point, the median value of multiple sampling points before and after the anomaly is used for replacement.

[0033] It should be noted that the rationality check includes determining whether the pitch angle is within the mechanically permissible range of the equipment, whether the pitch angular velocity exceeds the maximum permissible angular velocity of the structure, whether the height of the drip nozzle is within the travel range of the drip nozzle lifting mechanism, and whether the drainage volume is within the medically safe range.

[0034] S202: Filter and smooth the replaced drainage physical data.

[0035] The filtering and smoothing process includes using sliding window mean filtering on the pitch angle and drainage flow sequences, and using median filtering on the pitch angular velocity sequence.

[0036] Furthermore, the sliding window length is adaptively set to the number of sample points corresponding to a fixed time width based on the sampling frequency.

[0037] S203: Perform normalization processing on the smoothed drainage physical data to obtain standardized drainage data.

[0038] The normalization process uses the Z-score standardization method.

[0039] It should be noted that Z-score standardization is based on a linear transformation of the mean and standard deviation of each physical quantity within the current sliding time window, so as to unify the scale of data with different dimensions.

[0040] In this embodiment of the invention, by performing time alignment, physical boundary rationality checks, and outlier replacement on the physical data of the drainage, combined with smoothing processing using sliding window mean filtering and median filtering, and employing Z-score normalization, instantaneous spikes and dimensional differences are effectively eliminated, providing stable and unified standardized drainage data for subsequent posture feature extraction and risk assessment.

[0041] S3: Construct posture features based on standardized traffic acquisition data, and establish a benchmark model for posture features through stable time periods.

[0042] The posture characteristics consist of head pitch angular velocity, bed head pitch angular velocity, and drip inlet lifting and lowering speed. The stable period is a continuous time interval that meets the requirement that the cumulative drainage volume is less than the safety threshold and that no posture change flag is triggered. The baseline model includes the mean vector and the covariance matrix.

[0043] In one possible implementation, S3 specifically includes sub-steps S301 to S303: S301: Based on standardized flow data, extract attitude change rate information and construct attitude features.

[0044] The attitude change rate information includes head pitch rate, bed pitch rate, and drip nozzle lifting rate.

[0045] Specifically, the attitude features are constructed into a three-dimensional column vector according to a unified timestamp correspondence, with each sampling time corresponding to one attitude feature.

[0046] It should be noted that the head pitch rate reflects the rate of change of the patient's own posture, the bed pitch rate reflects the rate of change of the bed structure, and the drip nozzle lifting speed reflects the response state of the actuator. The three together constitute the comprehensive characteristics of the posture coupling change.

[0047] S302: Select continuous time periods that meet the safety conditions for drainage as stable time periods.

[0048] Among them, the drainage safety condition is that the cumulative drainage volume is less than the safety threshold and the posture change flag is not triggered.

[0049] Furthermore, if there is no interval that meets the conditions within the current window, the window is extended in the historical direction until a valid continuous interval is obtained.

[0050] Specifically, the sliding time window is continuously updated along the time axis, and each time it slides forward by one sampling period. All sampling points within the interval meet the requirements that the cumulative drainage volume does not exceed the safety threshold and no attitude change flag is generated.

[0051] S303: Establish a baseline model based on attitude characteristics during stable periods.

[0052] The baseline model includes a mean vector and a covariance matrix, which are used to characterize the average level of change and the intensity of fluctuations under stable operating conditions.

[0053] It should be noted that, in order to ensure the stability of matrix inversion, regularization coefficients are added to the diagonal of the covariance matrix for numerical stabilization.

[0054] In this embodiment of the invention, a posture change feature vector is constructed by extracting the head pitch angular velocity, bed head pitch angular velocity, and drip nozzle lifting and lowering speed. A continuous period of time that meets the safety conditions for cumulative drainage volume and has no posture change indicator is selected as a stable window. The mean vector and covariance matrix are calculated to establish a dynamic benchmark model, thereby achieving adaptive characterization of the normal posture fluctuation range and improving the accuracy of posture change identification.

[0055] S4: Based on the posture characteristics and the baseline model, evaluate the posture change state and identify the posture change state.

[0056] Among them, attitude change state is the degree of deviation of the current attitude from the stable baseline, and attitude change state is the working condition corresponding to the attitude change risk value being greater than the change threshold and the duration being not less than the minimum time threshold.

[0057] In one possible implementation, S4 specifically includes sub-steps S401 to S404: S401: Calculate the degree of attitude deviation based on attitude characteristics and the baseline model.

[0058] The degree of attitude deviation is calculated by the deviation vector between the current attitude feature vector and the mean vector, as well as the inverse of the covariance matrix.

[0059] Specifically, the degree of deviation is obtained by transposing the deviation vector and performing matrix multiplication to obtain a comprehensive quantitative result.

[0060] S402: Assess the state of attitude change based on the degree of attitude deviation.

[0061] The assessment process maps the degree of deviation into a continuous quantified risk value.

[0062] Furthermore, the mapping method uses natural exponential calculation, which compresses the risk value to between 0 and 1.

[0063] S403: Calculate the attitude change risk value based on the attitude change status.

[0064]

[0065] Where R represents the attitude change risk value, exp represents the natural exponent operation, x represents the attitude change feature vector, and μ represents the mean vector. T This represents the vector transpose operation. This represents the inverse of the covariance matrix.

[0066] For example, when the attitude change feature vector is (0.080, 0.050, 0.030), the attitude change risk value can be calculated up to 0.999.

[0067] It should be noted that the attitude change risk value is used to measure the degree of deviation of the current attitude state from the stable baseline state. The greater the deviation, the closer the risk value is to 1, and the smaller the deviation, the closer it is to 0.

[0068] S404: Compare the attitude change risk value with the risk threshold, and identify the attitude change state based on the comparison result.

[0069] The risk threshold is a preset judgment value. If the risk value is greater than the threshold and the duration is not less than the minimum time threshold, it is judged as a change in attitude.

[0070] Specifically, the duration is determined by the time length corresponding to the number of consecutive sampling points.

[0071] It should be noted that recognizing a change in attitude will trigger the generation of an attitude change flag.

[0072] Reference manual attached Figure 2The diagram illustrates a trend chart of attitude change risk value provided by an embodiment of the present invention.

[0073] Specifically, Figure 2 The horizontal axis represents the time number, and the vertical axis represents the attitude change risk value. Solid dots represent attitude change risk values, and dashed lines represent change thresholds. The attitude change risk value measures the degree of deviation of the current attitude state from the stable baseline state; the greater the deviation, the closer the risk value is to 1, and the smaller the deviation, the closer the risk value is to 0. The change threshold is a preset judgment value used to distinguish between normal attitude fluctuations and attitude change conditions.

[0074] Furthermore, in terms of inclusion relationships, Figure 2 It integrates two curves: the attitude change risk value sequence and the change threshold, covering risk change data for five consecutive time points. In terms of connectivity, the attitude change risk value curve shows a non-linear upward trend as the time number increases. The risk values ​​at times 1 and 2 are below the change threshold, while the risk values ​​jump above the threshold from time 3 onwards. At times 4 and 5, the risk values ​​remain high, intuitively presenting the complete evolution process of attitude from stability to change.

[0075] It should be noted that, Figure 2 By comparing the risk value of posture change with the threshold of change, the sensitivity of the risk value to posture deviation is clearly demonstrated. It can effectively distinguish between normal fluctuations and abnormal changes, providing a reliable visual basis for the accurate identification of posture change conditions and subsequent safety protection control, and improving the accuracy and reliability of posture change monitoring during external ventricular drainage.

[0076] In this embodiment of the invention, the degree of attitude deviation is calculated based on the deviation vector and the inverse of the covariance matrix. The degree of deviation is compressed to the attitude change risk value between 0 and 1 through exponential mapping. The attitude change state is determined by combining the duration threshold, which effectively suppresses the misjudgment of instantaneous fluctuations and realizes the smooth quantitative expression and stable identification of the attitude change intensity.

[0077] S5: Execute safety protection through posture change state, determine the lateral ventricle plane position based on standardized drainage data, and obtain the target drip position by combining the lateral ventricle plane position with the preset height difference.

[0078] The safety protection includes controlling the drip port lifting mechanism to stop moving and activating the drainage channel to limit flow. The lateral ventricle plane position is the vertical projection height of the lateral ventricle plane relative to the ground in the current posture. The preset height difference is the height parameter corresponding to the target pressure difference input by medical staff according to clinical treatment needs. The target drip port position is the absolute height of the drip port that needs to be adjusted to reach.

[0079] In one possible implementation, S5 specifically includes sub-steps S501 to S504: S501: When a sudden change in posture is detected, the drip outlet lifting mechanism is stopped and the flow channel is restricted.

[0080] The drip outlet lifting mechanism is driven by a controller. The flow limiting device for the drainage channel is preferably an electrically controlled clamping valve.

[0081] It should be noted that flow restriction can reduce the impact of instantaneous changes in height difference on the drainage speed.

[0082] Specifically, the control command issued to the drip nozzle lifting mechanism at this time is that the target drip nozzle lifting speed is zero.

[0083] S502: Calculate the total head pitch angle based on standardized drainage data.

[0084] The total head pitch angle is the sum of the head pitch angle and the headboard pitch angle.

[0085] For example, when the head tilt angle is 15 degrees and the headboard tilt angle is 10 degrees, the total tilt angle is 25 degrees.

[0086] S503: Determine the lateral ventricle plane position based on the total head pitch angle using a rigid body rotation projection model.

[0087] The rigid body rotation projection model is established based on the relative geometric positional relationship between the patient's head and the lateral ventricle plane. The total pitch angle is substituted into the model to calculate the vertical projection height of the lateral ventricle plane relative to the ground.

[0088] Specifically, let the distance between the lateral ventricle plane and the head reference point during initial calibration be a fixed geometric distance parameter L, the lateral ventricle reference height be H, and the current total pitch angle be θ. Then the height of the lateral ventricle plane is HL×(1-cosθ).

[0089] It should be noted that during initialization, the patient's head is adjusted to the baseline posture, and the reference height H of the lateral ventricle is obtained based on the difference between the baseline height and the set height.

[0090] S504: The position of the lateral ventricle plane is superimposed with the preset height difference to obtain the target drip position.

[0091] The superposition operation involves adding the estimated height of the lateral ventricle plane to the set height difference.

[0092] Furthermore, the target drip position will be corrected in real time according to the posture change to maintain a stable drainage pressure difference.

[0093] In this embodiment of the invention, speed freeze and drainage channel flow restriction protection are immediately executed after a sudden change in posture is detected. The height of the lateral ventricle plane is estimated in real time by using the total head pitch angle and rigid body rotation projection model. The target drip position is dynamically corrected by combining the preset height difference to avoid instantaneous imbalance of height difference caused by sudden change in posture and to ensure the safety of the drainage process.

[0094] S6: Based on the boundary conditions, construct a height transition model, and generate the drip nozzle position adjustment trajectory through the height transition model.

[0095] The boundary conditions include the initial position, initial velocity, initial acceleration, final position, final velocity, and final acceleration. The height transition model is a minimum jump trajectory model, and the droplet position adjustment trajectory is a function of the droplet height changing continuously with time.

[0096] In one possible implementation, S6 specifically includes sub-steps S601 to S603: S601: Construct boundary conditions based on the motion state of the drip outlet and the target position.

[0097] The motion status of the drip nozzle includes the current drip nozzle height, the current drip nozzle lifting speed, and the current drip nozzle lifting acceleration, while the target position is the target drip nozzle height.

[0098] It should be noted that the six boundary conditions jointly constrain the starting and ending states of the trajectory.

[0099] S602: Construct a height transition model by combining boundary conditions.

[0100] Among them, the height transition model is constructed based on the fifth-order polynomial minimum jump trajectory model.

[0101] Specifically, a fifth-order polynomial can simultaneously satisfy the continuity constraints of position, velocity, and acceleration.

[0102] Furthermore, when constructing the model, the trajectory execution time needs to be set as a time boundary condition, and the polynomial coefficients need to be solved by establishing a system of linear equations.

[0103] It should be noted that the trajectory execution time is determined based on the height difference and the equipment's rated maximum speed, and is corrected in conjunction with a safety margin factor.

[0104] S603: Generates a continuously differentiable drip nozzle position adjustment trajectory through a high-transition model.

[0105] Among them, the position, velocity, and acceleration of the continuously differentiable exponential trajectory function change continuously within the time interval.

[0106] Furthermore, the trajectory coefficients are obtained by establishing and solving a system of linear equations.

[0107] In this embodiment of the invention, by constructing six boundary conditions including position, velocity, and acceleration, a continuous and differentiable droplet position adjustment trajectory is generated using a fifth-order polynomial minimum jump trajectory model. This ensures that position, velocity, and acceleration change continuously during the height transition process, avoiding mechanical impact and drainage disturbance, and improving the stability of the adjustment process.

[0108] S7: Based on the equipment operation constraints and the drip nozzle position adjustment trajectory, perform safe adjustment of the drip nozzle position.

[0109] The equipment operating constraints include the equipment's rated maximum speed and rated maximum acceleration.

[0110] In one possible implementation, S7 specifically includes sub-steps S701 to S703: S701: Calculate the trajectory of the drip nozzle position adjustment to obtain the trajectory motion parameters.

[0111] The trajectory motion parameters include the droplet inlet lifting speed and the droplet inlet lifting acceleration, which are obtained by taking the first and second derivatives of the trajectory function.

[0112] For example, the first derivative of the altitude trajectory function yields the velocity, and the second derivative yields the acceleration.

[0113] S702: Determine whether the trajectory motion parameters simultaneously meet the equipment operation constraints. If yes, proceed to step S703. Otherwise, regenerate the drip nozzle position adjustment trajectory until the equipment operation constraints are met.

[0114] The regeneration is achieved by extending the trajectory execution time and resolving the polynomial coefficients.

[0115] Specifically, extending the execution time can reduce the speed and acceleration amplitude, bringing them within the allowable range of the equipment.

[0116] S703: The drip nozzle position adjustment trajectory that meets the constraints is sent to the drip nozzle lifting mechanism to perform safe adjustment of the drip nozzle position.

[0117] Among them, the lowering refers to the controller that inputs the trajectory as a position reference to the drip nozzle lifting mechanism.

[0118] Furthermore, once the altitude is reached and the attitude is stable, the system automatically removes the flow restriction and resumes normal control.

[0119] Specifically, if the difference between the height of the dripping nozzle and the height of the target dripping nozzle is less than the error threshold and the attitude change risk value is less than the change threshold, then the flow restriction device of the drainage channel is released, the normal control mode is restored, and the attitude change flag is cleared.

[0120] In this embodiment of the invention, the velocity and acceleration parameters are obtained by differentiating the trajectory function, and it is verified whether they meet the rated maximum velocity and acceleration constraints of the equipment. If they do not meet the constraints, the trajectory execution time is adaptively extended and the coefficients are recalculated to ensure that the adjustment trajectory is safely executed within the physical capabilities of the equipment. After the height is reached and the attitude is stable, the current limit is automatically lifted to achieve safe and reliable transition control.

[0121] S8: Verify the total drainage volume, continuously monitor the deviation between the drip nozzle position and the target drip nozzle position, and complete the closed-loop monitoring of drainage control.

[0122] The total drainage volume is the cumulative drainage volume within the sliding time window, and the deviation status is the absolute difference between the actual height of the drip nozzle and the target drip nozzle height, as well as its duration.

[0123] In one possible implementation, S8 specifically includes sub-steps S801 to S803: S801: Calculate the total amount of drainage based on the sliding time window, and verify the total amount of drainage against the safety threshold.

[0124] The preferred sliding time window is the number of sampling points corresponding to 1 hour, and the safety threshold is a pre-set judgment threshold for the clinical safe drainage range.

[0125] For example, if the window duration is set to 1 hour, an alarm will be triggered immediately if the cumulative traffic exceeds the threshold.

[0126] Specifically, when the cumulative traffic exceeds the judgment threshold, an abnormal traffic alarm is triggered and a prompt is output to the display terminal.

[0127] S802: Continuously calculate and monitor the deviation between the drip nozzle position and the target drip nozzle position.

[0128] The deviation value is the absolute difference between the actual height of the drip nozzle and the target drip nozzle height expressed by the trajectory function.

[0129] It should be noted that height control is only considered abnormal when the deviation exceeds the limit and continues to exceed the threshold time.

[0130] Furthermore, after determining that the height control is abnormal, the system will output an abnormality prompt and record the data of the drip nozzle's lifting speed and acceleration.

[0131] S803: Combining the total drainage volume verification results with the deviation value monitoring results, complete the closed-loop monitoring of drainage control.

[0132] Closed-loop monitoring refers to triggering an alarm and re-entering the attitude change protection process when there is an abnormality in the flow or altitude control.

[0133] Specifically, the system will automatically record the speed and acceleration data at abnormal moments for subsequent tracing.

[0134] Furthermore, when an abnormality in drainage or height control is detected, the system re-triggers the attitude change protection process, strengthens the flow restriction control of the drainage channel, and recalculates the target drip position and adjustment trajectory.

[0135] In this embodiment of the invention, the total drainage volume is checked based on a sliding time window (preferably 1 hour) to see if it exceeds the safety threshold. At the same time, the deviation between the actual position of the drip nozzle and the target position is continuously monitored. The height control abnormality is determined by combining the duration. When an abnormality occurs, the protection process is re-triggered to form a closed-loop safety monitoring mechanism, which provides timely warnings and automatically adjusts the control strategy to reduce the drainage risk.

[0136] Reference manual attached Figure 3 The diagram shows a schematic of the structure of an intelligent height control system for external ventricular drainage tubes provided by the present invention.

[0137] The present invention also provides an intelligent height control system 20 for external ventricular drainage tubes, applied to the above-mentioned intelligent height control method for external ventricular drainage tubes, comprising: Processor 201.

[0138] The memory 202 stores computer-readable instructions, which, when executed by the processor 201, implement the intelligent height control method for external ventricular drainage tubes as described in the method embodiment.

[0139] The intelligent height control system 20 for external ventricular drainage tubes provided by the present invention can execute the above-mentioned intelligent height control method for external ventricular drainage tubes and achieve the same or similar technical effects. To avoid repetition, the present invention will not elaborate further.

[0140] It should be understood that the processor in the embodiments of the present invention can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0141] It should also be understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0142] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0143] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0144] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0145] It should be understood that, in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0146] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0147] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0148] In the several embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods 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 device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0149] 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.

[0150] In addition, the functional units in the various embodiments of the present invention 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.

[0151] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium 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 described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0152] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the intelligent height control method for external ventricular drainage tubes as described in the method embodiments.

[0153] The present invention provides a computer-readable storage medium that can realize the steps and effects of the intelligent height control method for external ventricular drainage tubes in the above-described method embodiments. To avoid repetition, the present invention will not repeat the details.

[0154] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0155] The following points need to be explained: (1) The accompanying drawings of the embodiments of the present invention only involve the structures involved in the embodiments of the present invention. Other structures can refer to the general design.

[0156] (2) For clarity, the thickness of layers or regions is enlarged or reduced in the drawings used to describe embodiments of the invention, i.e., these drawings are not drawn to scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being “above” or “below” another element, the element may be “directly” located “above” or “below” the other element or there may be intermediate elements.

[0157] (3) Where there is no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0158] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for intelligent height control of an external ventricular drainage tube, characterized in that, include: S1: Obtain traffic generation physical data; S2: Process the aforementioned drainage physical data to obtain standardized drainage data; S3: Construct posture features based on the standardized traffic acquisition data, and establish a benchmark model for the posture features through stable time periods; S4: Evaluate the posture change state and identify the posture change state based on the posture features and the baseline model; S5: Perform safety protection through the posture change state, determine the lateral ventricle plane position according to the standardized drainage data, and obtain the target drip position by combining the lateral ventricle plane position with the preset height difference; S6: Based on the boundary conditions, construct a height transition model, and generate the drip nozzle position adjustment trajectory through the height transition model; S7: Based on the equipment operation constraints and the drip nozzle position adjustment trajectory, perform safe adjustment of the drip nozzle position; S8: Verify the total drainage volume, continuously monitor the deviation between the drip outlet position and the target drip outlet position, and complete the closed-loop monitoring of drainage control.

2. The intelligent height control method for external ventricular drainage tube according to claim 1, characterized in that, The specific physical data for drainage includes head tilt angle, head tilt velocity, bed tilt angle, bed tilt velocity, drip height, and drainage volume.

3. The intelligent height control method for external ventricular drainage tube according to claim 1, characterized in that, S2 specifically includes: S201: Perform time alignment and rationality checks on the drainage physical data, identify and replace abnormal data; S202: Filter and smooth the replaced drainage physical data; S203: Perform normalization processing on the smoothed drainage physical data to obtain the standardized drainage data.

4. The intelligent height control method for external ventricular drainage tube according to claim 1, characterized in that, S3 specifically includes: S301: Based on the standardized drainage data, extract the posture change rate information and construct the posture features; S302: Select the continuous time period that meets the safety conditions for drainage as the stable time period; S303: Based on the attitude characteristics during the stable period, establish the baseline model.

5. The intelligent height control method for external ventricular drainage tube according to claim 1, characterized in that, S4 specifically includes: S401: Calculate the degree of attitude deviation based on the attitude characteristics and the reference model; S402: Evaluate the attitude change state based on the degree of attitude deviation; S403: Calculate the attitude change risk value based on the attitude change state; S404: Compare the attitude change risk value with the risk threshold, and identify the attitude change state based on the comparison result.

6. The intelligent height control method for external ventricular drainage tube according to claim 1, characterized in that, S5 specifically includes: S501: When the sudden change in posture is detected, control the drip outlet lifting mechanism to stop moving and start the flow restriction of the drainage channel; S502: Calculate the total head pitch angle based on the standardized drainage data; S503: Determine the planar position of the lateral ventricle based on the total head pitch angle using a rigid body rotation projection model; S504: The position of the lateral ventricle plane is superimposed with the preset height difference to obtain the target drip port position.

7. The intelligent height control method for external ventricular drainage tube according to claim 1, characterized in that, S6 specifically includes: S601: Construct boundary conditions based on the motion state of the drip nozzle and the target position; S602: Construct a height transition model based on the aforementioned boundary conditions; S603: Generate a continuously differentiable drip nozzle position adjustment trajectory using the height transition model.

8. The intelligent height control method for external ventricular drainage tube according to claim 1, characterized in that, Specifically, S7 includes: S701: Calculate the trajectory of the drip nozzle position adjustment to obtain the trajectory motion parameters; S702: Determine whether the trajectory motion parameters simultaneously meet the equipment operation constraints; if yes, proceed to step S703; otherwise, regenerate the drip nozzle position adjustment trajectory until the equipment operation constraints are met. S703: The drip nozzle position adjustment trajectory that meets the constraints is sent to the drip nozzle lifting mechanism to perform the safe adjustment of the drip nozzle position.

9. The intelligent height control method for external ventricular drainage tube according to claim 1, characterized in that, S8 specifically includes: S801: Calculate the total drainage amount based on the sliding time window, and verify the total drainage amount against the safety threshold; S802: Continuously calculate and monitor the deviation between the drip nozzle position and the target drip nozzle position; S803: Combining the total drainage volume verification results with the deviation value monitoring results, the drainage control closed-loop monitoring is completed.

10. An intelligent height control system for external ventricular drainage tubes, characterized in that, include: processor; A memory storing computer-readable instructions, which, when executed by the processor, implement the intelligent height control method for external ventricular drainage tubes as described in any one of claims 1 to 9.

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