Real-time adjustment model for irrigation pressure based on endoscopy inner and outer cannula

Abstract

The present application relates to the technical field of irrigation pressure regulation, and particularly relates to a real-time adjustment model for irrigation pressure based on an inner and outer cannula of a spinal endoscope, comprising: through synchronous acquisition of motor speed, pipeline pressure and relative displacement of the inner and outer cannula, etc., equivalent flow resistance is calculated inversely and compared with a reference value to obtain a flow resistance deviation rate; when the deviation is significant, a displacement-flow resistance theoretical model is constructed, the flow resistance deviation is decomposed into geometric attribution and obstruction attribution, according to which normal, mild and significant obstruction states are divided, and flow resistance coefficients are dynamically updated by using feedforward scaling, weighted fusion and adaptive approximation, etc.; finally, the updated coefficients are used to inversely deduce pump end driving pressure and perform PID closed-loop regulation. The present application realizes parameter self-correction of irrigation pressure, and improves real-time performance and precision of irrigation pressure control.

Description

Technical Field

[0001] This invention relates to the field of flushing pressure control technology, specifically to a real-time flushing pressure adjustment model based on the inner and outer cannulas of a spinal endoscope. Background Technology

[0002] Spinal endoscopic surgery, as a minimally invasive spinal surgical technique, has significant advantages such as minimal trauma, rapid recovery, and short hospital stay, and has been widely used in clinical practice in recent years. Spinal endoscopic surgery establishes a working channel through a tiny incision, relying on continuous irrigation fluid to maintain a clear surgical field, expand the operating space, and control bleeding. The management of irrigation pressure is one of the core elements of surgical safety: too low a pressure leads to blurred vision and difficulty in hemostasis; too high a pressure may cause nerve root compression, increased epidural pressure, increased intracranial pressure, and even serious complications such as spinal cord injury. With the expansion of indications for spinal endoscopic surgery, higher requirements are placed on the precision and real-time nature of irrigation pressure control.

[0003] During spinal endoscopic surgery, the axial displacement of the endoscope tube within the inner and outer cannulas causes instantaneous changes in the irrigation gap, leading to a deviation of the equivalent flow resistance of the irrigation channel from the system's initial static flow resistance value. Existing pressure adjustment models rely on preset fixed flow resistance coefficients and cannot detect the dynamic flow resistance shift caused by the endoscope tube displacement in real time. This mismatch between model parameters and the actual physical flow channel state means that pressure adjustment commands based on static models cannot accurately reflect the current flow characteristics of the irrigation fluid, directly resulting in decreased accuracy and lag in irrigation pressure control. Summary of the Invention

[0004] This invention provides a real-time adjustment model for irrigation pressure based on the inner and outer cannulas of spinal endoscopes to solve existing problems.

[0005] The real-time irrigation pressure adjustment model based on the inner and outer cannulas of a spinal endoscope in this invention adopts the following technical solution: One embodiment of the present invention provides a real-time adjustment model for irrigation pressure based on the inner and outer cannulas of a spinal endoscope. The method includes the following steps: Acquire motor speed data, pump outlet pipeline pressure data, relative displacement data between inner and outer sleeves, and sleeve parameters; the sleeve parameters include the inner diameter of the outer sleeve, the outer diameter of the endoscope tube, and the effective fitting length between the outer sleeve and the endoscope tube; Acquire pressure environment data and flushing flow rate during the flushing process. For any given moment, analyze the flow resistance based on the pressure environment data and flushing flow rate to determine the flow resistance offset rate at that moment. When the flow resistance offset rate is greater than a preset threshold, the flow blockage situation at the time is analyzed based on the relative displacement data, thereby determining several blockage states, and the flow resistance coefficient under different blockage states is determined according to the flow blockage situation analysis results. By using the flow resistance coefficient, the preset target flushing pressure, and the target flushing flow rate, the pump end drive pressure at the corresponding time is determined. The pump end drive pressure is then used as the input to the injection pump drive controller, and the flushing pressure is regulated by combining it with a PID control algorithm.

[0006] Furthermore, the specific method for obtaining the flow resistance offset rate is as follows: The pressure environment data includes the pump outlet pressure value at continuous time, the pressure value of the operating room environment, and the pressure loss value at the current flushing flow rate; Based on the pump outlet pressure, the operating room environment pressure, and the pressure loss value, the pressure at the pump outlet after excluding the operating room environment pressure and the pressure loss is determined, and combined with the flushing flow rate, the equivalent flow resistance value at the corresponding time is obtained. During the preoperative preparation phase, a baseline flow resistance value is determined, and the flow resistance offset rate at that time is calculated based on the difference between the equivalent flow resistance value and the baseline flow resistance value at that time.

[0007] Furthermore, the specific method for obtaining the equivalent current resistance value is as follows: The result obtained by subtracting the pressure value of the operating room environment and the pressure loss value from the pressure value at the pump outlet is denoted as the effective pressure difference. The equivalent flow resistance is calculated based on the effective pressure difference and the flushing flow rate corresponding to the pressure loss value. The effective pressure difference is positively correlated with the equivalent flow resistance, while the flushing flow rate corresponding to the pressure loss value is negatively correlated with the equivalent flow resistance.

[0008] Furthermore, the specific method for obtaining the aforementioned blocking states is as follows: Based on relative displacement data and combined with the reference flow resistance value, the theoretical flow resistance value at any time is determined. By utilizing the difference between the theoretical and equivalent flow resistance values ​​at the same time, and in conjunction with the reference flow resistance value, the blockage index at the current time is calculated. Based on the magnitude of the blocking index, several blocking states are classified, including normal state, mild blocking state, and significant blocking state.

[0009] Furthermore, the specific method for obtaining the theoretical flow resistance value is as follows: Based on the relative displacement data, a displacement-flow resistance theoretical model is constructed by considering the changes in effective fitting length and outlet constraint. The relative displacement data at the current moment is then substituted into the displacement-flow resistance theoretical model to calculate the theoretical flow resistance value at the corresponding moment.

[0010] Furthermore, the specific method for obtaining the blocking index is as follows: The ratio of the difference between the equivalent flow resistance and the theoretical flow resistance at the current moment to the reference flow resistance is used as the blockage index at the current moment.

[0011] Furthermore, the specific method for dividing the state into several blocking states based on the magnitude of the blocking index includes: Based on preset relative noise level parameters and preset multiplier coefficients, the relationship between the blocking index and the relative noise level parameters and multiplier coefficients is used as the classification criterion to classify the blocking state into the normal state, the mild blocking state, and the significant blocking state.

[0012] Furthermore, the specific method for obtaining the flow resistance coefficient under different blockage states is as follows: Preset basic flow resistance coefficient; The basic flow resistance coefficient is adjusted according to the ratio of change between the theoretical flow resistance value and the reference flow resistance value, and is used as the flow resistance coefficient under normal conditions. Based on the equivalent flow resistance value, the theoretical flow resistance value, the reference flow resistance value, and the blockage index, the basic flow resistance coefficient is adjusted to obtain the flow resistance coefficients under mild blockage and significant blockage conditions, respectively.

[0013] Furthermore, the specific method for obtaining the flow resistance coefficients under the mildly blocked and significantly blocked states is as follows: Under the mild blockage state, based on the difference between the theoretical flow resistance value and the reference flow resistance value, the displacement interpretability at the corresponding time is calculated, thereby weighting and fusing the relative levels of the theoretical flow resistance value, the equivalent flow resistance value and the reference flow resistance value to obtain the flow resistance coefficient under the mild blockage state. In the significantly blocked state, the approximation rate coefficient is determined based on the blockage index at the current moment, and combined with the flow resistance coefficient at the previous sampling moment and the target resistance coefficient determined based on the equivalent flow resistance value, the flow resistance coefficient is approximated to the target resistance coefficient, thereby obtaining the flow resistance coefficient in the significantly blocked state.

[0014] Furthermore, the specific method for obtaining the pump-end driving pressure is as follows: The preset target flushing pressure and target flushing flow rate are used to obtain the pressure loss value under the target flushing flow rate. Combined with the flow resistance coefficient and the pressure loss value under the target flushing flow rate, the pressure superposition value is calculated. The pump-end drive pressure is obtained by adding a pressure superposition value to the target flushing pressure.

[0015] The beneficial effects of the technical solution of this invention are as follows: by constructing a theoretical model using displacement data, accurate feedforward compensation for normal operation is achieved; on the other hand, by quantifying the degree of anomaly through the blockage index and adopting an adaptive strategy from smooth fusion to aggressive approximation, the full range of working condition challenges from mild debris accumulation to severe blockage is effectively addressed. This model can perform parameter self-correction without relying on additional hardware, eliminating static model mismatch, which not only improves the stability and accuracy of flushing pressure control, but also effectively avoids the risks caused by pressure runaway. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the steps of constructing a model for real-time adjustment of irrigation pressure based on the inner and outer cannulas of a spinal endoscope according to the present invention. Figure 2 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0018] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of the real-time adjustment model for irrigation pressure based on the inner and outer cannulas of a spinal endoscope proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0020] The following description, in conjunction with the accompanying drawings, details the specific scheme of the real-time adjustment model for irrigation pressure based on the inner and outer cannulas of a spinal endoscope provided by this invention.

[0021] Please see Figure 1 The diagram illustrates a flowchart of a method for constructing a real-time irrigation pressure adjustment model based on the inner and outer cannulas of a spinal endoscope, according to an embodiment of the present invention. The method includes the following steps: Step S001: Obtain motor speed data, pump outlet pipeline pressure data, relative displacement data between inner and outer sleeves, and sleeve parameters.

[0022] It is important to note that in spinal endoscopic surgery, the stability of irrigation pressure is affected by various dynamic factors. Current technologies typically rely solely on coarse adjustments using a single pump-end pressure, failing to detect microscopic changes in the internal flow channels. This step constructs a multi-dimensional, synchronized physical state sensing system. This system synchronously collects and integrates data reflecting power output (rotation speed), pressure reflecting tubing resistance, displacement reflecting flow channel geometry changes, and tubing parameters reflecting hardware fundamentals. The aim is to provide reliable and time-aligned data support for accurately identifying dynamic flow resistance shifts caused by endoscope tube displacement, thereby fundamentally solving the problem of information silos inherent in traditional single-point monitoring.

[0023] Specifically, in order to realize the real-time adjustment model of irrigation pressure based on the inner and outer sleeves of the spinal endoscope proposed in this embodiment, it is first necessary to obtain the motor speed data, the pipeline pressure data at the pump outlet, the relative displacement data between the inner and outer sleeves, and the sleeve parameters. The specific process is as follows: First, the rotational speed data of the motor in the injection pump drive controller is obtained through a rotational speed sensor, and the pipeline pressure data at the pump outlet of the injection pump is obtained through a pressure sensor. Both the rotational speed data and the pipeline pressure data are time-series data.

[0024] Then, a grating displacement sensor is set at the sliding interface of the endoscope tube drive mechanism or the manual operation handle, with the relative position when the front ends of the inner and outer tubes are aligned as the reference zero point; when the operating tube extends forward, it outputs a positive displacement amount, and when it retracts backward, it outputs a negative displacement amount, thereby obtaining the relative displacement data between the inner and outer tubes, and the relative displacement data is time-series data.

[0025] In the process of acquiring the rotational speed data, pipeline pressure data, and relative displacement data, in order to ensure that the data timestamps are consistent and thus facilitate subsequent data analysis, the sampling frequency of the corresponding sensors for each time series data is set to be consistent in this embodiment of the invention, and in a specific embodiment, the sampling frequency can be set to 1kHz.

[0026] Finally, the inner diameter of the outer sleeve of the spinal endoscope, the outer diameter of the endoscope tube, and the effective fitting length of the annular irrigation gap formed between the inner and outer sleeves are obtained. The inner diameter of the outer sleeve, the outer diameter of the endoscope tube, and the effective fitting length are collectively referred to as the sleeve parameters.

[0027] Thus, the above methods have yielded the motor speed data, pump outlet pipeline pressure data, relative displacement data between the inner and outer sleeves, and sleeve parameters.

[0028] Step S002: Obtain pressure environment data and flushing flow rate during the flushing process. For any given moment, analyze the flow resistance based on the pressure environment data and flushing flow rate to determine the flow resistance offset rate at the corresponding moment.

[0029] It should be noted that static flow resistance coefficients cannot adapt to the dynamic changes in the flow channel during surgery, but blind adjustments can lead to control instability. This step introduces an online back-calculation and deviation determination mechanism. Instead of directly modifying control parameters, it first back-calculates the current actual equivalent flow resistance value using a physical model and compares it with the initial baseline to calculate the flow resistance deviation rate. The purpose of this analysis is to act as a state trigger; only when a significant physical deviation in the flow channel state is confirmed is the subsequent resource-intensive attribution analysis activated. This ensures real-time control while avoiding ineffective adjustments due to sensor noise, thus improving system robustness.

[0030] As a preferred embodiment, the pressure environment data includes: the pressure value at the pump outlet at continuous time, the pressure value of the surgical chamber environment, and the pressure loss value at the current flushing flow rate.

[0031] As a preferred embodiment, the method for obtaining the flow resistance offset rate includes: Step S201: Based on the pressure value at the pump outlet, the pressure value of the surgical chamber environment, and the pressure loss value, determine the pressure at the pump outlet after excluding the pressure of the surgical chamber environment and the pressure loss, and combine it with the flushing flow rate to obtain the equivalent flow resistance value at the corresponding time.

[0032] In a spinal endoscopic irrigation system, the total driving pressure of the irrigation fluid along its complete flow path from the irrigation pump outlet to the surgical area outlet consists of two parts of pressure loss along the flow path: one is the pressure loss of the connecting pipeline section, which is the pressure consumed by the irrigation fluid as it flows through the fixed cross-section pipeline between the irrigation pump outlet and the endoscope inlet; the other is the pressure loss of the annular gap section, which is the pressure consumed by the irrigation fluid as it flows through the annular irrigation channel formed between the inner and outer sleeves. This part of the pressure loss is directly affected by the geometric changes of the irrigation channel.

[0033] As a preferred embodiment, the specific method for obtaining the equivalent flow resistance value is as follows: the pressure value at the pump outlet is subtracted from the pressure value of the surgical chamber environment and the pressure loss value, and the result is recorded as the effective pressure difference; the equivalent flow resistance value is calculated based on the flushing flow rate corresponding to the effective pressure difference and the pressure loss value, wherein the effective pressure difference is positively correlated with the equivalent flow resistance value, and the flushing flow rate corresponding to the pressure loss value is negatively correlated with the equivalent flow resistance value.

[0034] In fluid mechanics, for laminar flow, flow resistance is defined as the ratio of the driving pressure difference to the generated flow rate. The effective pressure difference, as the net driving force for the flushing fluid to flow through the annular gap between the inner and outer sleeves, has a larger value, requiring a stronger ability to overcome flow resistance, and therefore is positively correlated with the equivalent flow resistance. However, the pressure loss in the connecting pipe section consumes the total pressure at the pump outlet. Given a constant total driving pressure, the greater the pipe loss, the smaller the effective driving force left for the annular gap; therefore, the flow rate corresponding to this part is negatively correlated with the equivalent flow resistance. Through this subtractive structure, external pipe interference is precisely eliminated, restoring the core flow channel resistance directly affected by the mirror tube displacement.

[0035] For example, the specific calculation method for the effective pressure difference can be:

[0036] in, Indicates the effective pressure difference; This indicates the pressure value at the pump outlet; This indicates the pressure value of the surgical chamber environment; This indicates the pressure loss value at the current flushing flow rate.

[0037] For example, the specific calculation method for the equivalent current resistance value can be: ,in, Indicates the equivalent current resistance value; Indicates the effective pressure difference; This indicates the current flushing fluid volume flow rate.

[0038] Step S202: Determine the reference flow resistance value during the preoperative preparation stage, and calculate the flow resistance offset rate at the time based on the difference between the equivalent flow resistance value and the reference flow resistance value at the time.

[0039] It should be noted that the calibration process for the baseline flow resistance value is as follows: During the preoperative preparation stage, the endoscope tube is placed at the reference zero point position (i.e., the front ends of the inner and outer tubes are flush), and after confirming that there is no tissue debris blocking the irrigation channel, the irrigation pump is run at the standard working flow range, and the equivalent flow resistance value calculated at this time is recorded as the baseline calibration value.

[0040] For example, the specific method for calculating the flow resistance offset rate can be: ,in, Indicates the flow resistance offset rate; Indicates the equivalent current resistance value; Indicates the reference current resistance value; This represents the absolute value function.

[0041] It should be further explained that the purpose of using a ratio structure for the flow resistance offset rate is to eliminate the influence of differences in baseline flow resistance between different endoscope models, making it a dimensionless and universal offset measure. The numerator is taken as an absolute value because, regardless of whether the flow resistance increases (possibly due to channel narrowing or blockage) or decreases (possibly due to channel shortening caused by endoscope tube retraction), as long as the change is large enough, it means that the physical flow channel state has deviated from the initial calibration, requiring subsequent correction analysis.

[0042] Thus, the flow resistance offset rate at any given time can be obtained using the above method.

[0043] Step S003: When the flow resistance offset rate is greater than the preset threshold, the flow blockage situation at the time is analyzed based on the relative displacement data, thereby determining several blockage states, and the flow resistance coefficient under different blockage states is determined according to the flow blockage situation analysis results.

[0044] It should be noted that flow resistance offset is a comprehensive result, which may originate from normal endoscope operation or from abnormal tissue blockage. If the two are treated as a single cause and corrected uniformly, it will lead to 'misjudgment'—for example, misjudging the increased flow resistance caused by endoscope extension as blockage and incorrectly reducing the pressure. Therefore, the analysis method in this step aims to decouple the offset by constructing a theoretical model that is strictly bound to the displacement, calculating the theoretical flow resistance under the assumption of no blockage, and then decomposing the total offset into a geometrically interpretable part and a residual part. This serves as a prerequisite for implementing subsequent graded and differentiated correction strategies, ensuring the accuracy and rationality of model parameter adjustments.

[0045] As a preferred embodiment, the specific method for obtaining the several blocking states is as follows: based on relative displacement data and combined with the reference flow resistance value, determine the theoretical flow resistance value at any time; using the difference between the theoretical flow resistance value and the equivalent flow resistance value at the same time and combined with the reference flow resistance value, calculate the blocking index at the current time; according to the magnitude of the blocking index, divide several blocking states, including normal state, mild blocking state and significant blocking state.

[0046] As a preferred embodiment, the specific method for obtaining the theoretical flow resistance value is as follows: based on the relative displacement data, by considering the change in effective fitting length and the change in outlet constraint, a displacement-flow resistance theoretical model is constructed, and the relative displacement data at the current moment is substituted into the displacement-flow resistance theoretical model to calculate the theoretical flow resistance value at the corresponding moment.

[0047] For example, the specific method for calculating the theoretical flow resistance value can be:

[0048] in, Indicates the theoretical flow resistance value; Indicates the reference current resistance value; Indicates the factor for variation in fit length; Represents relative displacement data; Indicates the effective fit length; Indicates the export constraint change factor; It is a symbolic function; This represents the preset saturation scale parameter; This represents the absolute value function.

[0049] It should be noted that the physical logic behind constructing the displacement-flow resistance theoretical model lies in the following: According to the annular gap laminar flow theory, when the endoscope tube undergoes axial displacement, the effective fit length changes linearly, while the local constraint conditions near the outlet also change nonlinearly. This invention decouples these two relatively independent physical processes and constructs factors to characterize them separately: First, the fit length variation factor. When the endoscope tube extends forward, the effective fit length is greater than the reference length, and the flow resistance increases due to the extension of the flow channel; when the endoscope tube retracts backward, the effective fit length shortens, and the flow resistance decreases. Second, the outlet constraint variation factor. When the endoscope tube extends, the outlet constraint weakens, leading to an increase in local flow resistance, but this effect tends to saturate as the extension amount increases; when the endoscope tube retracts, the outlet constraint strengthens, leading to a decrease in local flow resistance. This trend of the displacement increase effect saturating and the displacement zeroing effect disappearing accurately characterizes the finite amplitude characteristics of the outlet geometric constraint change.

[0050] As a preferred embodiment, the specific method for obtaining the blocking index is as follows: the ratio of the difference between the equivalent flow resistance value and the theoretical flow resistance value at the current moment to the reference flow resistance value is used as the blocking index at the current moment.

[0051] For example, the specific method for calculating the congestion index can be: ,in, Indicates the congestion index; Indicates the theoretical flow resistance value; Indicates the equivalent current resistance value; This indicates the reference current resistance value.

[0052] It should be noted that the physical meaning of the blockage index lies in quantifying the absolute intensity of the blockage factor. The aforementioned flow resistance offset rate reflects the total change, while the theoretical flow resistance value represents the geometric change caused solely by displacement. Therefore, This represents the additional resistance that exceeds the theoretical resistance. Dividing it by the baseline flow resistance gives a clear indication of how many times the additional resistance equals the baseline resistance; the cleaner the channel, the closer the blockage index is to 0; the more severe the debris blockage, the larger the blockage index.

[0053] As a preferred embodiment, the method for classifying several blocking states based on the magnitude of the blocking index includes: using a preset relative noise level parameter and a preset multiplier coefficient as the basis for classification, the blocking states are divided into the normal state, the mild blocking state, and the significant blocking state.

[0054] As an optional embodiment, the method for dividing the blocking states according to the magnitude of the blocking index includes: setting a preset multiplier coefficient; if the blocking index B satisfies... If the blocking index B satisfies the condition, then the current state is considered normal; If the current state is slightly blocked, then it is determined that the current state is slightly blocked; if the blocking index B satisfies... If so, it is determined that the current time is in a significantly blocked state; where The reference flow resistance value is obtained by dividing the standard deviation of the theoretical flow resistance value under several steady-state operating conditions by the reference flow resistance value; s is a preset multiplier, which is 3 in this embodiment of the invention.

[0055] It should be noted that different degrees of blockage pose varying threat levels to the flushing pressure control system, necessitating tiered classification to implement differentiated correction strategies. The logic for obtaining the relative noise level parameter is as follows: by analyzing a large amount of flow resistance back-calculation data under steady-state conditions, the standard deviation of its fluctuations is obtained. This standard deviation is then divided by the baseline flow resistance value to arrive at the relative noise level. For normally distributed random noise, the probability of the data falling outside three times the standard deviation is extremely low. Therefore, when B exceeds three times the relative noise level, it can be highly confident that this is a genuine physical blockage rather than a sensor malfunction.

[0056] Furthermore, at the moment drilling (i.e., flushing) begins (such as during the first rotation cycle), the system lacks historical data for reference, resulting in a "cold start" problem where matching cannot be performed due to the lack of a baseline. Therefore, in this embodiment of the invention, when the current cycle count is 1, the blockage state analysis is skipped directly, the flow resistance coefficient is maintained at the basic flow resistance coefficient, and the dynamic correction logic is executed normally from the second cycle onwards, ensuring the robustness of the system.

[0057] As a preferred embodiment, the specific method for obtaining the flow resistance coefficient under different blockage states is as follows: a preset basic flow resistance coefficient is established; the basic flow resistance coefficient is adjusted according to the ratio of change between the theoretical flow resistance value and the reference flow resistance value to obtain the flow resistance coefficient under normal conditions; based on the equivalent flow resistance value, the theoretical flow resistance value, the reference flow resistance value, and the blockage index, the basic flow resistance coefficient is further adjusted to obtain the flow resistance coefficients under mild blockage and significant blockage states, respectively.

[0058] It should be noted that the dynamic correction logic for the model's drag coefficient is designed based on a decomposition mechanism of "geometric attribution" and "blockage attribution." Specifically: Under normal conditions, the change in flow resistance can be fully explained by the displacement of the mirror tube. Therefore, a feedforward correction logic is adopted to synchronously scale the drag coefficient according to the theoretical change in flow resistance, ensuring that the model parameters remain synchronized with the geometric state. Under mild blockage conditions, geometric and blockage factors coexist. At this time, the "displacement interpretability" J (i.e., the proportion of theoretical change caused solely by displacement to the total actual change) is introduced. The larger J is, the closer it is to the normal state, and the more trust should be placed in the theoretical model; the smaller J is, the higher the proportion of blockage, and the more necessary it is to incorporate measured information. By using J as a weight to weight and fuse the two, a smooth transition is achieved, which can compensate for mild blockage without causing drastic parameter fluctuations due to noise at individual sampling points. Under significant blockage conditions, a rapid response is necessary, but the coefficient cannot be directly changed to the measured estimated value because the debris accumulation process is random, and a direct change would cause drastic parameter oscillations. Therefore, a strategy of "approaching the target value with adjustable stride" is adopted. The stride size is dynamically determined by the blocking index. The larger the blocking index, the more severe the blocking and the faster the approach, thus maintaining control stability while ensuring response speed.

[0059] As a preferred embodiment, the specific method for obtaining the flow resistance coefficients under the mildly blocked and significantly blocked states is as follows: Under the mildly blocked state, based on the difference between the theoretical flow resistance value and the reference flow resistance value, the displacement interpretability at the corresponding moment is calculated, thereby weighting and fusing the relative levels of the theoretical flow resistance value, the equivalent flow resistance value, and the reference flow resistance value to obtain the flow resistance coefficient under the mildly blocked state; Under the significantly blocked state, based on the blockage index at the current moment, the approximation rate coefficient is determined, and combined with the flow resistance coefficient at the previous sampling moment and the target resistance coefficient determined based on the equivalent flow resistance value, the flow resistance coefficient is approximated to the target resistance coefficient to obtain the flow resistance coefficient under the significantly blocked state.

[0060] For example, the specific calculation method for the flow resistance coefficient under different blockage states can be as follows: Under normal conditions: ; In a state of mild congestion: ; In a significantly blocked state: ; in, This represents the flow resistance coefficient at the current moment; Indicates the basic flow resistance coefficient; Indicates the degree to which the displacement can be explained. Normalized value indicating the degree to which the displacement can be explained; Indicates the target drag coefficient; Indicates the approximation rate coefficient; This indicates the preset adjustment parameters; Indicates the congestion index; This represents the flow resistance coefficient at the previous sampling time. Indicates the reference current resistance value. Indicates the equivalent current resistance value. Indicates the theoretical flow resistance value; Represents the natural constant.

[0061] For the normalized value of the displacement interpretability, in a specific embodiment of the present invention, the normalization function corresponding to the normalization method is set as follows: Normalization function.

[0062] For displacement interpretability, the ratio of the absolute value of the theoretical flow resistance change to the total change is used as the displacement interpretability. The logic behind this is to quantify the contribution weight of geometric attribution to the total deviation. Using an absolute value in the denominator ensures that analysis is triggered as long as the flow resistance changes significantly, regardless of whether it increases or decreases. Furthermore, for the approximation rate coefficient, when the blockage index B is small (at the significant blockage lower limit), the exponential term is close to 1, and the rate coefficient is close to 0, resulting in extremely gentle correction and preventing overcorrection due to boundary fluctuations. When B increases, the exponential term decays rapidly, and the rate coefficient quickly approaches 1, achieving strong correction. This design ensures rapid response under significant blockage while suppressing parameter oscillations caused by random micro-variations in debris position through its inherent smoothing characteristics.

[0063] Thus, the flow resistance coefficient is obtained through the above method.

[0064] Step S004: Using the flow resistance coefficient, the preset target flushing pressure, and the target flushing flow rate, determine the pump end drive pressure at the corresponding time, and then use the pump end drive pressure as the input of the injection pump drive controller, and combine it with the PID control algorithm to regulate the flushing pressure.

[0065] It should be noted that although the aforementioned steps achieve adaptive updating of the drag coefficient, if only used for open-loop feedforward control, they still cannot eliminate steady-state errors caused by unmodeled disturbances (such as viscosity fluctuations caused by changes in liquid temperature). This step aims to complete the full closed loop of perception, analysis, decision-making, and execution. The corrected drag coefficient, which embodies the current actual flow channel state, is substituted back into the pressure inverse model to calculate the precise target pressure that the irrigation pump should output. This eliminates the influence of static model parameter mismatch and enables real-time adjustment of the irrigation pressure in the surgical area.

[0066] As a preferred embodiment, the specific method for obtaining the pump-end driving pressure is as follows: a preset target flushing pressure and target flushing flow rate are obtained, and the pressure loss value under the target flushing flow rate is obtained. The pressure superposition value is calculated by combining the flow resistance coefficient and the pressure loss value under the target flushing flow rate. The pressure superposition value is added to the target flushing pressure to obtain the pump-end driving pressure.

[0067] For example, the specific calculation method for the pump end drive pressure can be:

[0068] in, Indicates the pump end drive pressure; Indicates the preset target flushing pressure; This represents the sum of pressure values; Indicates the flow resistance coefficient; Indicates the target flushing flow rate; This represents the pressure loss value under the target flushing flow rate.

[0069] It should be noted that, given the clinically desired target irrigation pressure in the surgical area and the flow resistance coefficient reflecting channel obstruction, the minimum pressure that the irrigation pump outlet must provide can be derived by successively adding the losses from connecting pipes and the annular gap resistance to the target pressure. This minimum pressure, used as compensation, is fed into the PID controller, thus solving the problem of lag in adjustment commands caused by parameter mismatch in traditional static models. When the measured pressure at the pump converges to the target value, the actual pressure in the surgical area will also accurately reach the preset value.

[0070] This concludes the embodiment.

[0071] It should be noted that the embodiments used in this example or The model is only used to represent negative correlations and the results of the constraint model output are in Within this range, in specific implementations, other models with the same purpose can be substituted; this embodiment is merely an example. or The description will be based on a model, without making specific limitations on it. This refers to the input of the model.

[0072] This invention also provides an electronic device. Please refer to [link to relevant documentation]. Figure 2 The electronic device may include a processor 201, a memory 202, and a program 2021 stored in the memory 202 and executable on the processor 201.

[0073] When program 2021 is executed by processor 201, it can achieve the following: Figure 1Any steps in the corresponding method embodiments and the achievement of the same beneficial effects will not be repeated here.

[0074] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by hardware related to program instructions, and the program can be stored in a readable medium.

[0075] This invention also provides a readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described functions. Figure 1 Any step in the corresponding method embodiment can achieve the same technical effect, and will not be repeated here to avoid repetition.

[0076] The computer-readable storage medium of this invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0077] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0078] The program code contained on the storage medium can be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0079] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or terminal. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0080] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0081] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A model for real-time adjustment of irrigation pressure based on the inner and outer cannulas of a spinal endoscope, characterized in that, The method for constructing this model includes the following steps: Acquire motor speed data, pump outlet pipeline pressure data, relative displacement data between inner and outer sleeves, and sleeve parameters; the sleeve parameters include the inner diameter of the outer sleeve, the outer diameter of the endoscope tube, and the effective fitting length between the outer sleeve and the endoscope tube; Acquire pressure environment data and flushing flow rate during the flushing process. For any given moment, analyze the flow resistance based on the pressure environment data and flushing flow rate to determine the flow resistance offset rate at that moment. When the flow resistance offset rate is greater than a preset threshold, the flow blockage situation at the time is analyzed based on the relative displacement data, thereby determining several blockage states, and the flow resistance coefficient under different blockage states is determined according to the flow blockage situation analysis results. By using the flow resistance coefficient, the preset target flushing pressure, and the target flushing flow rate, the pump end drive pressure at the corresponding time is determined. The pump end drive pressure is then used as the input to the injection pump drive controller, and the flushing pressure is regulated by combining it with a PID control algorithm.

2. The real-time adjustment model for irrigation pressure based on the inner and outer cannulas of a spinal endoscope according to claim 1, characterized in that, The specific method for obtaining the flow resistance offset ratio is as follows: The pressure environment data includes the pump outlet pressure value at continuous time, the pressure value of the operating room environment, and the pressure loss value at the current flushing flow rate; Based on the pump outlet pressure, the operating room environment pressure, and the pressure loss value, the pressure at the pump outlet after excluding the operating room environment pressure and the pressure loss is determined, and combined with the flushing flow rate, the equivalent flow resistance value at the corresponding time is obtained. During the preoperative preparation phase, a baseline flow resistance value is determined, and the flow resistance offset rate at that time is calculated based on the difference between the equivalent flow resistance value and the baseline flow resistance value at that time.

3. The real-time irrigation pressure adjustment model based on the inner and outer cannulas of a spinal endoscope according to claim 2, characterized in that, The specific method for obtaining the equivalent current resistance value is as follows: The result obtained by subtracting the pressure value of the operating room environment and the pressure loss value from the pressure value at the pump outlet is denoted as the effective pressure difference. The equivalent flow resistance is calculated based on the effective pressure difference and the flushing flow rate corresponding to the pressure loss value. The effective pressure difference is positively correlated with the equivalent flow resistance, while the flushing flow rate corresponding to the pressure loss value is negatively correlated with the equivalent flow resistance.

4. The real-time adjustment model for irrigation pressure based on the inner and outer cannulas of a spinal endoscope according to claim 2, characterized in that, The specific method for obtaining the aforementioned blocking states is as follows: Based on relative displacement data and combined with the reference flow resistance value, the theoretical flow resistance value at any time is determined. By utilizing the difference between the theoretical and equivalent flow resistance values ​​at the same time, and in conjunction with the reference flow resistance value, the blockage index at the current time is calculated. Based on the magnitude of the blocking index, several blocking states are classified, including normal state, mild blocking state, and significant blocking state.

5. The real-time adjustment model for irrigation pressure based on the inner and outer cannulas of a spinal endoscope according to claim 4, characterized in that, The specific method for obtaining the theoretical flow resistance value is as follows: Based on the relative displacement data, a displacement-flow resistance theoretical model is constructed by considering the changes in effective fitting length and outlet constraint. The relative displacement data at the current moment is then substituted into the displacement-flow resistance theoretical model to calculate the theoretical flow resistance value at the corresponding moment.

6. The real-time adjustment model for irrigation pressure based on the inner and outer cannulas of a spinal endoscope according to claim 4, characterized in that, The specific method for obtaining the blocking index is as follows: The ratio of the difference between the equivalent flow resistance and the theoretical flow resistance at the current moment to the reference flow resistance is used as the blockage index at the current moment.

7. The real-time adjustment model for irrigation pressure based on the inner and outer cannulas of a spinal endoscope according to claim 4, characterized in that, The specific method for classifying several blocking states based on the magnitude of the blocking index includes: Based on preset relative noise level parameters and preset multiplier coefficients, the relationship between the blocking index and the relative noise level parameters and multiplier coefficients is used as the classification criterion to classify the blocking state into the normal state, the mild blocking state, and the significant blocking state.

8. The real-time irrigation pressure adjustment model based on the inner and outer cannulas of a spinal endoscope according to claim 4, characterized in that, The specific method for obtaining the flow resistance coefficient under different blockage states is as follows: Preset basic flow resistance coefficient; The basic flow resistance coefficient is adjusted according to the ratio of change between the theoretical flow resistance value and the reference flow resistance value, and is used as the flow resistance coefficient under normal conditions. Based on the equivalent flow resistance value, the theoretical flow resistance value, the reference flow resistance value, and the blockage index, the basic flow resistance coefficient is adjusted to obtain the flow resistance coefficients under mild blockage and significant blockage conditions, respectively.

9. The real-time irrigation pressure adjustment model based on the inner and outer cannulas of a spinal endoscope according to claim 1, characterized in that, The specific methods for obtaining the flow resistance coefficients under the slightly blocked and significantly blocked states are as follows: Under the mild blockage state, based on the difference between the theoretical flow resistance value and the reference flow resistance value, the displacement interpretability at the corresponding time is calculated, thereby weighting and fusing the relative levels of the theoretical flow resistance value, the equivalent flow resistance value and the reference flow resistance value to obtain the flow resistance coefficient under the mild blockage state. In the significantly blocked state, the approximation rate coefficient is determined based on the blockage index at the current moment, and combined with the flow resistance coefficient at the previous sampling moment and the target resistance coefficient determined based on the equivalent flow resistance value, the flow resistance coefficient is approximated to the target resistance coefficient, thereby obtaining the flow resistance coefficient in the significantly blocked state.

10. The real-time irrigation pressure adjustment model based on the inner and outer cannulas of a spinal endoscope according to claim 1, characterized in that, The specific method for obtaining the pump end driving pressure is as follows: The preset target flushing pressure and target flushing flow rate are used to obtain the pressure loss value under the target flushing flow rate. Combined with the flow resistance coefficient and the pressure loss value under the target flushing flow rate, the pressure superposition value is calculated. The pump-end drive pressure is obtained by adding a pressure superposition value to the target flushing pressure.

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