High-frequency electrotome smoke suction joint control device with multi-module communication cooperation and control method

Abstract

The application discloses a high-frequency electrotome smoke suction joint control device with multi-module communication cooperation and a control method, relates to the technical field of intelligent control, and comprises the following steps: a smoke suction compensation model is constructed by adopting a boundary embedding layer and a smoke field agent layer, smoke suction four-domain boundaries in a joint control boundary frame are mapped into smoke generation responses and smoke suction execution responses, cross-boundary residual projection is performed along a smoke suction compensation direction based on field domain deviation of the smoke generation responses and the smoke suction execution responses, and smoke suction compensation residuals are obtained; a smoke suction residual backfill arbitration algorithm is adopted, the smoke suction compensation residuals are converted into joint control backfill control quantities, smoke suction compensation operation is performed based on the joint control backfill control quantities, actual smoke suction responses are obtained, consistency arbitration is performed on the actual smoke suction responses and the joint control backfill control quantities, and a joint control output control state is generated. Through the smoke suction compensation model and residual backfill arbitration, the application reduces smoke suction lag and smoke residue, and improves joint control execution effect.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, and in particular to a high-frequency electrosurgical unit smoke extraction control device and control method with multi-module communication and coordination. Background Technology

[0002] With increasing demands for minimally invasive surgery, precision surgery, and operating room safety, high-frequency electrosurgical units have evolved from simple energy output devices into intelligent electrosurgical equipment with multi-interface and multi-module collaborative features. These advancements include improvements in output energy control, pen connection detection, foot-triggered response, and operating mode switching. Therefore, in the biomedical engineering industry, smoke filtering modules are typically used in conjunction with high-frequency electrosurgical units. Through smoke extraction tubing, filter cartridges, and negative pressure fan control, the smoke generated during operation is simultaneously removed, reducing the impact of smoke diffusion on surgical field clarity, the medical and nursing operating environment, and the safety of equipment use.

[0003] However, in multi-module collaborative scenarios, existing technologies still have the following shortcomings: On the one hand, there are differences in feedback timing, communication delay, and state validity among the foot pedal input module, high-frequency electrosurgical module, smoking filter module, and related interfaces, which can easily cause smoking to occur prematurely, delayedly, or with mismatched states, making it difficult to form a stable and reliable co-source control timing sequence; on the other hand, existing smoking control is mainly based on the smoking module's own flow level or negative pressure adjustment, failing to fully combine the coupling relationship between the electrosurgical output state, changes on the smoke generation side, the smoking execution side response, and changes in filter damping, resulting in a deviation between smoking compensation control and the actual smoke generation process, affecting the accuracy of smoking compensation and the stability of the co-control output. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a high-frequency electrosurgical unit smoke-smoking joint control method with multi-module communication coordination to solve the problems of unstable joint control timing and inaccurate smoke-smoking compensation.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration, comprising: the main control unit performing time-stamped handshake calibration on the control function nodes, acquiring a time delay calibration parameter set and a control calibration state set and binding them from the same source, generating a control reference frame; based on the control reference frame, performing phase normalization processing on the control calibration state set, and performing reverse compensation according to the time delay calibration parameter set to generate a co-source control phase anchor frame; extracting the control boundary state set from the co-source control phase anchor frame and performing boundary reconstruction to generate a control boundary frame; and using boundary... An embedded layer and a smoke field proxy layer are used to construct a smoke inhalation compensation model. The four domain boundaries of smoke inhalation in the joint control boundary frame are mapped to smoke generation response and smoking execution response. Based on the field deviation of the smoke generation response and smoking execution response, cross-boundary residual projection is performed along the smoking compensation direction to obtain the smoke inhalation compensation residual. A smoke inhalation residual backfeed arbitration algorithm is adopted to convert the smoke inhalation compensation residual into a joint control backfeed control quantity. Smoking compensation operation is performed based on the joint control backfeed control quantity to obtain the actual smoking response. The actual smoking response and the joint control backfeed control quantity are then arbitrated for consistency to generate a joint control output control state.

[0007] As a preferred embodiment of the high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration described in this invention, the specific steps for performing time-stamped handshake calibration on the control function nodes and obtaining the time delay calibration parameter set and the control calibration state set are as follows: Using the joint control function node as the calibration object, the main control part performs multiple rounds of time-stamped handshake sampling in the order of modules, and pairs and encapsulates the main control initiation time stamp, module feedback time stamp and module feedback content obtained in each round of sampling according to the same module identifier to generate a handshake sampling record set; Based on the handshake sampling record set, consistency screening is performed on the joint control function nodes, removing time scale mutation records and feedback anomaly records, and extracting the time delay calibration parameter set and the joint control calibration status set.

[0008] As a preferred embodiment of the high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration described in this invention, the control reference frame is generated by writing the delay calibration parameters and control calibration status formed by the same control function node in the same module identifier into the same calibration entry and encapsulating them, based on the source records of the backtracking delay calibration parameter set and the control calibration status set in the handshake sampling record set.

[0009] As a preferred embodiment of the high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration described in this invention, the step of performing phase normalization processing on the joint control calibration state set based on the joint control reference frame, and performing reverse compensation according to the time delay calibration parameter set to generate a co-source joint control phase anchor frame, is as follows: The effective state records in the joint control calibration state set are rearranged into a unified phase slot according to the binding time sequence of the joint control reference frame using the phase slot rearrangement algorithm to generate a joint control state phase set; Based on the time delay calibration parameter set, time delay rollback compensation is performed on the phase set of the joint control state to correct the phase slot with feedback lag to the corresponding effective trigger position and generate a compensation phase mark set. Perform source anchor point screening on the compensation phase marker set, solidify the compensation phase markers that meet the joint control synchronization conditions into source joint control phase anchor point frames, and generate source joint control phase anchor frames.

[0010] As a preferred embodiment of the high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration described in this invention, the specific steps for extracting the control boundary state set from the co-source control phase anchor point frame and performing boundary reconstruction to generate the control boundary frame are as follows: Based on the same source joint control phase anchor point frame, the source of the calibration entry corresponding to the compensation phase mark is found, and the corresponding state record is filtered from the joint control calibration state set to obtain the joint control boundary state set; Based on the control effect of the joint control boundary state set on the smoke generation side and the smoking compensation side, it is classified into the smoke and inhalation four-domain boundary, and the smoke and inhalation four-domain boundary under the same source joint control phase anchor point frame is subjected to reliable fusion and boundary closure verification to generate the joint control boundary frame.

[0011] As a preferred embodiment of the high-frequency electrosurgical unit smoke inhalation control method with multi-module communication collaboration described in this invention, the specific steps for constructing the smoke inhalation compensation model using a boundary embedding layer and a smoke field proxy layer are as follows: The boundary embedding layer is based on the joint control boundary frame. It extracts the boundary state chain according to the effective trigger position in the same source joint control phase anchor frame, and performs phase alignment and boundary serialization processing on the boundary state chain to generate the boundary embedding vector. The smoke field proxy layer extracts the electrosurgical output boundary state and the smoking execution boundary state according to the boundary order and effective trigger position based on the boundary embedding vector, and performs finite element proxy mapping to generate smoke inhalation proxy field features; A smoke inhalation compensation model is constructed by cascading the boundary embedding layer and the smoke field proxy layer through a cascaded mapping relationship of co-origin phase constraints.

[0012] As a preferred embodiment of the high-frequency electrosurgical unit smoke-smoking joint control method with multi-module communication collaboration described in this invention, the smoke-smoking compensation residual is obtained by projecting the joint control boundary frame across the boundary based on the smoke-smoking compensation model, mapping the electrosurgical unit output boundary state and the smoke-smoking execution boundary state in the joint control boundary frame, and calculating the field deviation between the smoke generation response and the smoke-smoking execution response under the constraint of the same-source joint control phase anchor point frame, and obtaining the field deviation by projecting it along the smoke-smoking compensation direction.

[0013] As a preferred embodiment of the high-frequency electrosurgical unit smoke extraction joint control method with multi-module communication collaboration described in this invention, the smoke extraction residual backflow arbitration algorithm is used to convert the smoke extraction compensation residual into a joint control backflow control quantity. The specific steps are as follows: The smoke absorption compensation residuals corresponding to each co-source control phase anchor frame are transcribed into residual gate chains in phase order, and residual evolution markers are generated based on the residual changes between adjacent residual gates. The reinjection priority value is calculated based on the residual gate chain, and the residual segments are woven into different reinjection control types according to the reinjection priority value, and then uniformly packaged into a joint control reinjection control quantity.

[0014] As a preferred embodiment of the high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration described in this invention, the specific steps for generating the joint control output state are as follows: The control quantity of the joint control and recharge is converted into a compensation operation curve, and the pre-negative pressure establishment, segmented speed-up compensation and compensation correction based on the filter element damping state are executed in sequence according to the compensation operation curve. At the same time, the smoking execution state quantity in the compensation process is encapsulated in the same phase to obtain the actual smoking response. The recharge closure consistency arbitration algorithm is adopted to align the actual smoking response with the recharge control quantity according to the same phase. The closure deviation of the actual response relative to the recharge control quantity is extracted, and the smoking compensation is judged based on the closure deviation to effectively eliminate the smoking compensation residual, and the recharge output control state is generated.

[0015] Secondly, this invention provides a high-frequency electrosurgical unit smoke-smoking joint control device with multi-module communication collaboration, including: a time-stamped handshake calibration module, in which the main control part performs time-stamped handshake calibration on the joint control function nodes, obtains a time delay calibration parameter set and a joint control calibration state set, and performs homogeneous binding to generate a joint control reference frame; a phase anchor point reconstruction module, based on the joint control reference frame, performs phase normalization processing on the joint control calibration state set, and performs reverse compensation according to the time delay calibration parameter set to generate a homogeneous joint control phase anchor point frame, extracts the joint control boundary state set from the homogeneous joint control phase anchor frame and performs boundary reconstruction to generate a joint control boundary frame; and smoke-smoking residual projection. The module employs a boundary embedding layer and a smoke field proxy layer to construct a smoke inhalation compensation model. It maps the four-domain boundaries of smoke inhalation in the joint control boundary frame to smoke generation response and smoking execution response. Based on the field deviation of the smoke generation response and smoking execution response, it performs cross-boundary residual projection along the smoking compensation direction to obtain the smoke inhalation compensation residual. The backfeed closure control module uses a smoke inhalation residual backfeed arbitration algorithm to convert the smoke inhalation compensation residual into a joint control backfeed control quantity. Based on the joint control backfeed control quantity, it performs smoking compensation operation to obtain the actual smoking response. It then performs consistency arbitration between the actual smoking response and the joint control backfeed control quantity to generate a joint control output control state.

[0016] The beneficial effects of this invention are as follows: by unifying the timing reference of each joint control function node and correcting the module feedback to the same joint control phase, the synchronous control stability between the high-frequency electrosurgical unit and the smoke filter is improved. Furthermore, through the smoke inhalation compensation model and residual backfeed arbitration, the smoke inhalation compensation can be dynamically adjusted according to the output of the electrosurgical unit and the change in filter element damping, thereby reducing smoke lag and smoke residue and improving the joint control execution effect. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. 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.

[0018] Figure 1 This is a flowchart of a high-frequency electrosurgical unit smoke extraction control method with multi-module communication and coordination.

[0019] Figure 2 A flowchart for generating joint control boundary frames.

[0020] Figure 3 A flowchart for constructing a smoke inhalation compensation model.

[0021] Figure 4 A flowchart for generating the control state output by the joint control system.

[0022] Figure 5 This is a comparison chart of residual effects from cigarette smoke inhalation.

[0023] Figure 6 This is a comparison chart of smoke residue.

[0024] Figure 7 This is a schematic diagram of a high-frequency electrosurgical unit smoke extraction control device with multi-module communication coordination.

[0025] In the diagram: 1. Main control unit; 2. Foot pedal input interface; 3. Power supply interface; 4. Smoke filter module interface; 5. High-frequency electrosurgical unit interface; 6. Light display module. Detailed Implementation

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0028] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0029] Reference Figures 1-6 This is one embodiment of the present invention, which provides a high-frequency electrosurgical unit smoke extraction control method with multi-module communication and coordination, comprising the following steps: S1: The main control unit performs time-stamped handshake calibration on the joint control function nodes, obtains the delay calibration parameter set and the joint control calibration status set, binds them from the same source, and generates a joint control reference frame.

[0030] S1.1: Taking the joint control function node as the calibration object, the main control part performs multiple rounds of time-stamped handshake sampling in the order of modules, and pairs and encapsulates the main control initiation time stamp, module feedback time stamp and module feedback content obtained in each round of sampling according to the same module identifier to generate a handshake sampling record set.

[0031] Specifically, taking the joint control function node as the calibration object, the main control part performs multiple rounds of time-stamped handshake sampling according to the joint control execution sequence of foot pedal input module, high-frequency electrosurgical module, smoke filter module, high-frequency electrosurgical interface and smoke filter interface.

[0032] In each round of time-stamped handshake sampling, the master control unit sends a handshake request carrying the module identifier to the corresponding joint control function node, and simultaneously records the time point when the handshake request is sent as the master control initiation time stamp; when the joint control function node forms feedback, it records the module feedback time stamp, module identifier, and module feedback content used to characterize the connection status, execution response status, and feedback validity status, and returns it to the master control unit; the master control unit uses the module identifier in the same round of time-stamped handshake sampling as the pairing basis, writes the master control initiation time stamp, module feedback time stamp, and module feedback content into the same handshake sampling record, and encapsulates all handshake sampling records according to the joint control execution order and sampling round order to generate a handshake sampling record set.

[0033] The control function nodes include a foot pedal input module, a high-frequency electrosurgical module, a smoke filter module, a high-frequency electrosurgical interface, and a smoke filter interface.

[0034] S1.2: Based on the handshake sampling record set, perform consistency screening on the joint control function nodes, remove time stamp mutation records and feedback anomaly records, and extract the time delay calibration parameter set and joint control calibration status set.

[0035] Specifically, based on the handshake sampling record set, the main control part collects the handshake sampling records according to the same module identifier, and reads the main control initiation time stamp, module feedback time stamp and module feedback content in each handshake sampling record one by one.

[0036] The main control unit determines the feedback delay corresponding to each handshake sampling record based on the main control initiation time stamp and the node feedback time stamp under the same node identifier, and compares the changes in adjacent feedback delays according to the sampling round order. Using the feedback delay corresponding to the handshake sampling record already retained in the previous round as a reference delay, the relative change rate of the current round's feedback delay relative to the reference delay is calculated. If the relative change rate is greater than the delay jump threshold (determined based on the upper limit of feedback delay fluctuation during the stable handshake sampling phase under the same node identifier, with a value range of...), then... If the handshake sampling record corresponding to the current round is identified as a time-stamped mutation record and removed, then the record will be discarded.

[0037] The main control unit reads the module feedback content from the remaining handshake sampling records. When the module feedback content is missing, the module feedback content does not correspond to the module identifier, or the module feedback content cannot represent the connection status, execution response status, and feedback validity status of the joint control function node, the corresponding handshake sampling record is identified as a feedback abnormal record and removed.

[0038] The main control unit retains the handshake sampling records after removing time-stamped abrupt change records and feedback anomaly records as valid handshake sampling records, and extracts the feedback delay from the main control initiation time stamp and module feedback time stamp in the valid handshake sampling records; it determines the baseline feedback delay based on the feedback delays corresponding to multiple valid handshake sampling records under the same module identifier, and determines the delay fluctuation range according to the variation range between multiple feedback delays, and summarizes the baseline feedback delay and delay fluctuation range into a delay calibration parameter set according to the module identifier; it extracts the connection status, execution response status, feedback validity status, and filter cartridge feedback status corresponding to the smoking filter interface from the module feedback content in the valid handshake sampling records, and summarizes the connection status, execution response status, feedback validity status, and filter cartridge feedback status into a joint control calibration status set according to the module identifier.

[0039] S1.3: Based on the source records of the backtracking delay calibration parameter set and the joint control calibration status set in the handshake sampling record set, write the delay calibration parameters and joint control calibration status formed by the same joint control function node in the same module identifier into the same calibration entry and encapsulate them to generate a joint control reference frame.

[0040] Specifically, based on the delay calibration parameter set and the joint control calibration status set, the main control part searches for the source record corresponding to the delay calibration parameter in the handshake sampling record set. The search criteria are the same module identifier, the same main control initiation time stamp, and the same module feedback time stamp.

[0041] The main control unit reads the corresponding joint control calibration status from the source records it finds, and identifies the time delay calibration parameters and joint control calibration status from the same source record as the same source data. The main control unit uses the same module identifier as the basis for the calibration entry, and writes the time delay calibration parameters, joint control calibration status, and the corresponding main control initiation time stamp and module feedback time stamp from the same source data into the same calibration entry.

[0042] The main control unit encapsulates each calibration item according to the sampling round order in the handshake sampling record set and the collection order of the same module identifier, and generates a joint control reference frame.

[0043] It should be noted that the joint control reference frame is used to bind the time delay calibration parameters and joint control calibration status formed by each joint control function node during the time-stamped handshake calibration process to the same source, so that the feedback status of the foot pedal input module, high-frequency electrosurgical module, smoke filter module and related interfaces can be traced and called under a unified timing sequence, which can reduce the joint control error caused by feedback delay, status misalignment or inconsistent source between different joint control function nodes.

[0044] like Figure 7As shown, the main control part 1 serves as the core control unit of the device, which coordinates the timing calibration, data operation and instruction distribution of each module, unifies the operation timing of the device through multi-module communication handshaking, dynamically issues negative pressure adjustment instructions in combination with a smoke compensation algorithm, coordinates the whole machine to realize the synchronous linkage between the high-frequency electrosurgical knife and the smoke evacuation system, and corrects problems such as device communication delay and action misalignment; the foot pedal input interface 2 is the trigger signal input terminal of the device, which transmits the start-stop trigger signal to the main control in real time after medical staff step on the foot pedal, serves as the judgment basis for the operation of the electrosurgical knife and the pre-start of smoke evacuation, and enables the smoke evacuation device to establish negative pressure in advance to avoid the lag of smoke diffusion; the power supply interface 3 is used to provide stable power input for the whole device and the external high-frequency electrosurgical device, can adapt to the rated working voltage, has overload and short-circuit protection capabilities, collects real-time operating parameters of voltage and current and uploads them to the main control, and completes power-off protection in cooperation with the main control when abnormalities such as unstable voltage, line leakage and load overload occur, so as to ensure continuous and safe power supply for surgical equipment; the smoke suction and filtration module interface 4 is responsible for negative pressure adsorption and purification of surgical smoke during operation, receives speed regulation instructions from the main control to adjust fan negative pressure, and simultaneously collects real-time operating data such as filter element resistance and airflow flow and transmits them back to the main control, and offsets the suction attenuation caused by filter element blockage through dynamic air volume compensation to purify the operating room air; the high-frequency electrosurgical knife interface 5 is a power supply and two-way communication channel between the main control and the high-frequency electrosurgical knife module, which not only transmits the control instructions and device timing calibration signals of the main control, but also transmits back the operating parameters of the electrosurgical knife and the connection status of the line, and can identify faults such as line disconnection and device plugging and unplugging in real time, so as to ensure stable data interaction between the main control and the electrosurgical knife; the light display module 6 is used for visual display of device working conditions, and switches light modes according to the operating status issued by the main control, and intuitively presents the linked working conditions of foot pedal triggering, electrosurgical knife operation and smoke suction operation through different lights under normal conditions; when problems such as module communication failure, filter element blockage and line abnormality occur, fault alarm is realized through light flashing, which is convenient for medical staff to quickly judge the operating status of the device, troubleshoot device faults in time, and ensure the safe progress of surgery.

[0045] S2: Based on the joint control reference frame, perform phase normalization processing on the joint control calibration state set, perform reverse compensation according to the time delay calibration parameter set to generate a homologous joint control phase anchor frame, extract the joint control boundary state set from the homologous joint control phase anchor frame and perform boundary reconstruction to generate a joint control boundary frame.

[0046] S2.1: Adopt the phase slot rearrangement algorithm to rearrange the valid state records in the joint control calibration state set into a unified phase slot according to the binding timing of the joint control reference frame, and generate a joint control state phase set.

[0047] Specifically, the main control part takes the calibration entries in the joint control reference frame as processing objects, the calibration entries are formed by previous homologous binding, and the calibration entries include module identification, main control initiation timestamp, module feedback timestamp, time delay calibration parameter and joint control calibration state; The main control unit determines the validity of the joint control calibration status in the calibration entry. When the joint control calibration status simultaneously includes the connection status, execution response status, and feedback valid status, and the feedback valid status represents valid feedback, the joint control calibration status is determined to be a valid joint control calibration status. The main control unit binds the valid joint control calibration status with the module identifier, main control initiation time stamp, module feedback time stamp, delay calibration parameters, and calibration entry encapsulation order in the same calibration entry to form a valid status record. The main control unit uses the main control initiation time stamp as the binding timing basis, writes valid state records with consistent main control initiation time stamps into the same unified phase slot, and writes valid state records with inconsistent main control initiation time stamps into different unified phase slots according to the order of the main control initiation time stamps. Within each unified phase slot, the valid state records are arranged according to the order of calibration item encapsulation. The main control unit arranges all unified phase slots according to the order of the main control initiation time stamps and encapsulates all unified phase slots to generate a joint control state phase set.

[0048] It should be noted that the phase slot rearrangement algorithm refers to using the master control initiation time stamp in the joint control reference frame as a unified time reference, and re-classifying the joint control calibration status returned by different joint control functional nodes into a unified phase slot according to the same module identifier, the same calibration entry source, and the same master control initiation time stamp. Within the unified phase slot, the valid status records are arranged according to the order of calibration entry encapsulation. This can provide a unified timing basis for subsequent delay callback compensation and selection of co-source joint control phase anchor points, thereby reducing the status misalignment caused by communication delay differences between multiple joint control functional nodes.

[0049] S2.2: Perform time delay rollback compensation on the phase set of the joint control state based on the time delay calibration parameter set, correct the phase slot with feedback lag to the corresponding effective trigger position, and generate a compensation phase mark set.

[0050] Specifically, the unified phase slot in the joint control state phase set is the processing object. The unified phase slot contains the valid state records formed by the previous joint control calibration state set. The valid state records carry the module identifier, master control initiation time stamp, module feedback time stamp, time delay calibration parameters, and calibration entry encapsulation order.

[0051] According to the same module identifier, the reference feedback delay and delay fluctuation range corresponding to the valid state record are matched in the delay calibration parameter set. The valid trigger position is obtained by subtracting the reference feedback delay from the module feedback time stamp. The valid trigger position is compared with the master control initiation time stamp corresponding to the unified phase slot where the valid state record is located. When the valid trigger position is earlier than the master control initiation time stamp corresponding to the unified phase slot and the offset is within the delay fluctuation range, the unified phase slot is determined to be the phase slot with feedback lag, and the valid state record is corrected back from the unified phase slot to the valid trigger position.

[0052] For valid status records that have completed callback correction, the valid trigger position, module identifier, joint control calibration status and time delay calibration parameters are bound together to form a compensation phase mark, and the compensation phase mark set is generated by summarizing them in the order of valid trigger positions.

[0053] S2.3: Perform source anchor point screening on the compensation phase mark set, solidify the compensation phase marks that meet the joint control synchronization conditions into source joint control phase anchor point frames, and generate source joint control phase anchor frames.

[0054] Specifically, the compensation phase marker set is sequentially grouped according to the effective trigger position. Compensation phase markers with the same effective trigger position are written into the same candidate anchor group, while compensation phase markers with different effective trigger positions are written into different candidate anchor groups.

[0055] Based on the source of the joint control reference frame, the source of the calibration entry, and the source of the delay rollback compensation corresponding to each compensation phase mark in the candidate anchor group, a source consistency comparison is performed on the candidate anchor group. When the compensation phase marks in the candidate anchor group all originate from the same joint control reference frame, and the delay calibration parameters used by the compensation phase marks in the preceding delay rollback compensation can maintain a correspondence with the calibration entries in the joint control reference frame, the candidate anchor group is retained. Then, based on the joint control calibration status corresponding to each compensation phase mark in the candidate anchor group, the joint control synchronization condition is judged. When the compensation phase marks in the candidate anchor group are all in the same effective trigger position, and the corresponding joint control calibration status all represent effective feedback, the effective trigger position in the candidate anchor group is determined as the same source joint control phase anchor.

[0056] All co-located phase anchor points are arranged in the order of their effective trigger positions, and all co-located phase anchor points are encapsulated together with the compensation phase markers used to form co-located phase anchor points to generate a co-located phase anchor point frame.

[0057] It should be noted that the joint control synchronization condition requires that the compensation phase markers originate from the same joint control reference frame, that the time delay calibration parameters corresponding to the compensation phase markers maintain a correspondence with the calibration entries in the joint control reference frame, and that the joint control calibration states corresponding to the compensation phase markers all represent effective feedback. This joint control synchronization condition provides a screening basis for the generation of co-source joint control phase anchor frames, avoiding misalignment between high-frequency electrosurgical output and smoke compensation actions caused by communication time delay differences.

[0058] S2.4: Based on the same source joint control phase anchor point frame, reverse lookup is performed to find the source of the calibration entry corresponding to the compensation phase mark, and the corresponding state record is filtered from the joint control calibration state set to obtain the joint control boundary state set.

[0059] Specifically, based on the common encapsulation results formed by the screening of common source anchor points, the effective trigger position corresponding to each common source joint control phase anchor point in the common source joint control phase anchor point frame is determined, as well as the compensation phase mark that participates in forming the common source joint control phase anchor point; using the compensation phase mark jointly encapsulated in the common source joint control phase anchor point frame as the reverse lookup basis, the source of the calibration entry corresponding to the compensation phase mark is determined, and the calibration entry consistent with the source of the calibration entry is determined in the joint control reference frame; the status record is extracted from the joint control calibration status corresponding to the calibration entry, and the status record that has been corrected to the corresponding effective trigger position by the time delay calibration parameter is retained, based on the consistent effective trigger position, consistent calibration entry source, and consistent time delay rollback compensation basis.

[0060] State records that simultaneously satisfy the conditions of consistent effective trigger positions, consistent calibration entry sources, and consistent time delay compensation corrections are identified as joint control boundary states. These are then summarized according to the order of effective trigger positions in the same-source joint control phase anchor frame to obtain the joint control boundary state set.

[0061] S2.5: According to the control effect of the joint control boundary state set on the smoke generation side and the smoking compensation side, it is included in the smoke and inhalation four-domain boundary, and the smoke and inhalation four-domain boundary under the same source joint control phase anchor point frame is subjected to reliable fusion and boundary closure verification to generate the joint control boundary frame.

[0062] Specifically, each joint control boundary state in the joint control boundary state set is the processing object. Each joint control boundary state is derived from the state record obtained by reverse lookup of the same source joint control phase anchor frame, and carries the valid trigger position, calibration entry source, joint control calibration status and time delay compensation correction relationship.

[0063] The source of the joint control function corresponding to the joint control boundary state is determined based on the source of the calibration entry. The boundary assignment is determined based on the connection state, execution response state, feedback validity state, and filter feedback state represented by the joint control calibration state. The joint control boundary state representing foot pedal trigger validity, high-frequency electrosurgical interface connection validity, and high-frequency electrosurgical module in execution response preparation state is assigned to the smoke generation side trigger boundary. The joint control boundary state representing high-frequency electrosurgical execution response validity is assigned to the smoke generation side output boundary. The joint control boundary state representing smoke filtration execution response validity is assigned to the smoke compensation side execution boundary. The joint control boundary state representing smoke filtration interface connection validity and filter feedback validity is assigned to the smoke compensation side damping boundary, forming the four-domain boundaries of smoke absorption.

[0064] Based on the same valid trigger position, the four-domain boundaries of smoke absorption under the same co-control phase anchor point frame are reliably fused. The co-control boundary states with consistent calibration entries, consistent time delay compensation correction relationships and valid feedback states are retained, while the co-control boundary states with deviated valid trigger positions or invalid feedback states are removed.

[0065] When there are smoke generation side trigger boundary, smoke generation side output boundary and smoke compensation side execution boundary at the same effective trigger position, and there is effective feedback corresponding to the smoke compensation side damping boundary, the corresponding joint control boundary state is encapsulated into a boundary state chain according to the ownership relationship of the smoke and smoke four-domain boundaries, and all boundary state chains are encapsulated in the order of the effective trigger positions to generate a joint control boundary frame.

[0066] S3: A smoke inhalation compensation model is constructed using a boundary embedding layer and a smoke field proxy layer. The four domain boundaries of smoke inhalation in the joint control boundary frame are mapped to smoke generation response and smoking execution response. Based on the field deviation of the smoke generation response and smoking execution response, cross-boundary residual projection is performed along the smoking compensation direction to obtain the smoke inhalation compensation residual.

[0067] S3.1: The boundary embedding layer is based on the joint control boundary frame. It extracts the boundary state chain according to the effective trigger position in the same source joint control phase anchor frame, and performs phase alignment and boundary serialization processing on the boundary state chain to generate the boundary embedding vector.

[0068] Specifically, the boundary state chain encapsulated according to the effective trigger position in the joint control boundary frame is the processing object, and the co-source joint control phase anchor points arranged according to the effective trigger position in the co-source joint control phase anchor point frame are used as embedding constraints.

[0069] The boundary embedding layer establishes a correspondence between the co-source joint control phase anchor point and the boundary state chain according to the effective trigger position. Boundary state chains with consistent effective trigger positions are assigned to the same co-source joint control phase anchor point. The boundary states belonging to the same co-source joint control phase anchor point are phase aligned, and the effective trigger positions in the boundary states are uniformly corrected to the effective trigger positions corresponding to the co-source joint control phase anchor point. The joint control calibration state and time delay compensation correction relationship corresponding to the boundary states are also retained.

[0070] According to the boundary order of the smoke generation side trigger boundary, the smoke generation side output boundary, the smoke compensation side execution boundary, and the smoke compensation side damping boundary, the boundary states that have completed phase alignment are processed into a boundary sequence, so that the boundary states under the same co-source control phase anchor point form a boundary sequence with a fixed order.

[0071] The effective trigger positions, boundary order, joint control calibration status, and time delay compensation correction relationships in the boundary sequence are written into the vector positions in a fixed order to generate the boundary embedding vector.

[0072] S3.2: The smoke field proxy layer extracts the electrosurgical output boundary state and the smoking execution boundary state according to the boundary order and effective trigger position based on the boundary embedding vector, and performs finite element proxy mapping to generate smoke inhalation proxy field features.

[0073] Specifically, the smoke field agent layer first locates the vector positions corresponding to the smoke generation side trigger boundary and the smoke generation side output boundary according to the boundary sequence, and combines the joint control calibration state and the time delay compensation correction relationship in the vector position to form the electrosurgical output boundary state.

[0074] The vector positions corresponding to the smoke compensation side execution boundary and the smoke compensation side damping boundary are located according to the boundary sequence. The joint control calibration state and the time delay compensation correction relationship in the vector positions are combined to form the smoke execution boundary state. The effective trigger position in the same source joint control phase anchor frame is used as the field alignment reference. The electrosurgical output boundary state and the smoke execution boundary state under the same effective trigger position are paired. According to the finite element proxy mapping, the electrosurgical output boundary state is used as the smoke generation side boundary condition, the smoke execution boundary state is used as the smoke compensation side boundary condition, and the joint control calibration state corresponding to the smoke compensation side damping boundary is used as the absorption damping condition. The smoke generation response and the smoke execution response under the same effective trigger position are obtained.

[0075] The effective trigger location, smoke generation response, smoking execution response, and suction damping condition are encapsulated according to the phase order in the same-source joint control phase anchor frame to generate smoke suction proxy field features.

[0076] S3.3: Construct a smoke inhalation compensation model by cascading the boundary embedding layer and the smoke field proxy layer through the same-source phase constraint.

[0077] Specifically, the co-source joint control phase anchor frame is used as a common phase reference, and the boundary embedding vector generated by the boundary embedding layer is used as the input source of the smoke field proxy layer. The boundary embedding layer outputs the boundary embedding vector according to the effective trigger position order in the co-source joint control phase anchor frame, and retains the effective trigger position, boundary order, joint control calibration status and time delay compensation correction relationship in the boundary embedding vector.

[0078] The smoke field proxy layer receives the boundary embedding vector according to the same effective trigger position, forms the electric knife output boundary state and the smoking execution boundary state from the boundary embedding vector, and completes the finite element proxy mapping based on the same effective trigger position to generate the smoke inhalation proxy field features.

[0079] When the effective trigger position in the boundary embedding vector is consistent with the effective trigger position in the smoke field proxy feature, and the boundary order corresponds to the electrosurgical output boundary state and the smoke execution boundary state, the correspondence between the boundary embedding layer output and the smoke field proxy layer input is determined as a cascaded mapping relationship of the same-source phase constraint; the data transmission path between the boundary embedding layer, the cascaded mapping relationship and the smoke field proxy layer is solidified according to the order of the effective trigger positions in the same-source joint control phase anchor frame, and a smoke compensation model is constructed.

[0080] S3.4: Based on the smoke inhalation compensation model, cross-boundary residual projection is performed on the joint control boundary frame to map the electric knife output boundary state and the smoking execution boundary state in the joint control boundary frame. Under the constraint of the same source joint control phase anchor point frame, the field deviation between the smoke generation response and the smoking execution response is calculated. The field deviation is projected along the smoking compensation direction to obtain the smoke inhalation compensation residual.

[0081] Specifically, the joint control boundary frame is used as the input source, and the effective trigger position in the same joint control phase anchor frame is used as the phase alignment source. The boundary embedding layer obtains the corresponding boundary state chain from the joint control boundary frame according to the effective trigger position, and transforms the smoke generation side trigger boundary, smoke generation side output boundary, smoke compensation side execution boundary, and smoke compensation side damping boundary in the boundary state chain into a boundary embedding vector according to the boundary order.

[0082] The smoke field proxy layer forms the electrosurgical output boundary state and the smoking execution boundary state based on the boundary embedding vector. It uses the electrosurgical output boundary state at the same effective trigger position as the smoke generation side boundary condition, the smoking execution boundary state at the same effective trigger position as the smoke compensation side boundary condition, and the joint control calibration state corresponding to the smoke compensation side damping boundary as the absorption damping condition. Finite element proxy mapping is performed to obtain the smoke generation response and the smoking execution response. The correspondence between the electrosurgical output boundary state, the smoking execution boundary state, the absorption damping condition, the smoke generation response, and the smoking execution response at the same effective trigger position is used as the training verification basis to correct the cascade mapping relationship between the boundary embedding layer and the smoke field proxy layer. When the electrosurgical output boundary state changes, the smoke generation response changes in the same direction as the electrosurgical output boundary state. When the smoking execution boundary state and the absorption damping condition change, the smoking execution response changes accordingly. Furthermore, when the above correspondence is satisfied at multiple consecutive effective trigger positions (for example, when the cumulative number of effective trigger positions satisfying the correspondence reaches 90% of the total trigger positions), the trained smoke absorption compensation model is obtained.

[0083] Based on the trained smoke inhalation compensation model, the boundary embedding layer maps the boundary state chain in the joint control boundary frame to a boundary embedding vector. The smoke field proxy layer maps the electrosurgical output boundary state and the smoke execution boundary state from the boundary embedding vector, and obtains the smoke generation response and smoke execution response under the same effective trigger position under the constraint of the same source joint control phase anchor point frame. The field deviation is calculated from the smoke generation response and smoke execution response under the same effective trigger position. The smoke compensation direction is determined by the smoke compensation side execution boundary and the smoke compensation side damping boundary. The field deviation is projected along the smoke compensation direction, and the projected field deviation is summarized according to the effective trigger position order to obtain the smoke inhalation compensation residual.

[0084] The expression for calculating the field deviation is: ; in, For field deviation, To indicate the first The total number of field units contained in the smoke inhalation proxy field feature at each valid trigger location. Number the field units. Indicates the first The first valid trigger position The smoke generation response corresponding to each field unit. To indicate the first The first valid trigger position The smoking execution response corresponds to each field unit. For the first The first valid trigger position The minimum value in the smoking execution response of each field unit and its adjacent field units.

[0085] It should be noted that the smoke compensation direction is the direction from the field unit corresponding to the output boundary of the smoke generation side to the field unit corresponding to the execution boundary of the smoke compensation side, and the direction projection intensity is corrected according to the filter damping state corresponding to the damping boundary of the smoke compensation side.

[0086] S4: The smoke inhalation residual reinjection arbitration algorithm is adopted to convert the smoke inhalation compensation residual into the joint control reinjection control quantity. Based on the joint control reinjection control quantity, the smoke compensation operation is performed to obtain the actual smoke response. The actual smoke response and the joint control reinjection control quantity are then arbitrated to generate the joint control output control state.

[0087] S4.1: The smoke absorption compensation residuals corresponding to each co-source control phase anchor frame are transcribed into residual gate chains in phase order, and residual evolution markers are generated based on the residual changes between adjacent residual gates.

[0088] Specifically, the smoke inhalation compensation residuals corresponding to each co-source control phase anchor frame are transcribed into a residual gate chain according to the phase order. Based on the effective trigger positions in the co-source control phase anchor frame, each effective trigger position is bound to the previously obtained smoke inhalation compensation residual to form a residual gate.

[0089] Arrange all residual gates in the order of their effective trigger positions. Write the residual gates with smoke absorption compensation residuals at adjacent effective trigger positions into the same residual segment. Use the effective trigger positions without smoke absorption compensation residuals as the breakpoints of the residual segments. Encapsulate all residual segments into a residual gate chain in the order of their effective trigger positions.

[0090] Using the smoke compensation residuals of adjacent residual gates within the same residual segment as comparison objects, if the smoke compensation residual corresponding to the preceding residual gate is smaller than the smoke compensation residual corresponding to the following residual gate, a residual expansion marker is generated; the change between the smoke compensation residuals corresponding to the preceding and following residual gates does not exceed the preset residual stability threshold (determined by the upper limit of the relative change rate caused by the combined communication delay fluctuation and the minimum adjustment step size of the smoke compensation intensity, with a value range of: ), generate a residual stability marker; if the smoke absorption compensation residual corresponding to the previous residual gate is greater than the smoke absorption compensation residual corresponding to the next residual gate, generate a residual fallback marker.

[0091] The residual expansion marker, residual stability marker, or residual fallback marker is bound to the corresponding adjacent residual gate to generate a residual evolution marker.

[0092] S4.2: Calculate the reinjection priority value based on the residual gate chain, and weave the residual segment into different reinjection control types according to the reinjection priority value, and encapsulate them into a unified joint control reinjection control quantity.

[0093] Specifically, taking the residual segments in the residual gate chain as the processing object, the number of residual gates within the residual segment is determined according to the effective trigger position sequence, and the smoke absorption compensation residual corresponding to each residual gate within the residual segment is obtained from the residual gate chain; the largest smoke absorption compensation residual within the residual segment is determined as the smoke absorption compensation residual amplitude, the number of residual gates within the residual segment is determined as the number of consecutive residual gates, and the residual expansion marker, residual stability marker, or residual fallback marker corresponding to the residual segment is determined as the residual evolution level; the reinjection priority value is calculated based on the normalized result of the smoke absorption compensation residual amplitude, the normalized result of the number of consecutive residual gates, and the residual evolution level, expressed as: ; in, This is the priority value for recharge. This is the index value for the number of residual segments. To indicate the first The normalized smoke inhalation compensation residual amplitude corresponding to each residual segment For the first The residual evolution level corresponding to each residual segment.

[0094] The residual evolution level corresponding to the residual expansion marker is higher than that corresponding to the residual stability marker, and the residual evolution level corresponding to the residual stability marker is higher than that corresponding to the residual fallback marker; the recharge priority value is greater than or equal to the priority recharge threshold (obtained segment by segment within the calibration operation segment where the electrosurgical output boundary state is progressively enhanced and the filter element damping state is progressively increased, and the recharge priority value range corresponding to the recharge priority value range where the retention-type recharge control cannot complete the smoke inhalation compensation residual elimination but the priority recharge control can complete the smoke inhalation compensation residual elimination is extracted, and normalized, the value range is: The residual segments are woven into priority recharge controls, where the recharge priority value is less than the priority recharge threshold and greater than or equal to the retention recharge threshold (extracting the recharge priority value range corresponding to the residual reduction that the degradation recharge control cannot maintain, while the retention recharge control can maintain the residual reduction, with the value range being: The residual segment weaving is a maintenance-type recharge control, and the residual segment weaving of the recharge priority value is less than the maintenance recharge threshold and the corresponding residual fall-off mark is a degraded recharge control.

[0095] Write the effective trigger position corresponding to the residual segment, the residual amplitude of smoke absorption compensation, the number of continuous residual gates, the residual evolution level, the reinjection priority value and the priority reinjection control, maintenance type reinjection control or degraded reinjection control into the same reinjection control entry, and encapsulate all reinjection control entries in the order of effective trigger positions to generate joint control reinjection control quantity.

[0096] like Figure 5The effects of three control methods on suppressing smoke inhalation compensation residuals were compared. In the experiment, using the same high-frequency electrosurgical output sequence and the same initial state of the smoke filter module, the electrosurgical output intensity, smoke generation response, smoke execution response, and smoke inhalation compensation residuals were recorded at each effective trigger position. The fixed smoke control operation was as follows: after electrosurgical triggering, the smoke filter module always operated at a fixed negative pressure or fixed fan speed, without reading the electrosurgical output boundary state, smoke execution boundary state, or filter damping state, and without adjusting the smoke intensity according to residual changes. The threshold-triggered smoke control operation was as follows: the smoke generation response was continuously recorded; when the smoke generation response or residual response exceeded a preset threshold, the negative pressure or fan speed of the smoke filter module was increased. Therefore, the compensation action occurred after the residual had already formed. The control operation of this invention is as follows: First, a joint control reference frame is obtained through time-stamped handshake calibration. Then, the foot pedal input module, high-frequency electrosurgical module, and smoke filter module are fed back and corrected to the same-source joint control phase anchor frame. Subsequently, the electrosurgical output boundary state, smoke execution boundary state, and smoke compensation side damping boundary are extracted from the joint control boundary frame, input into the smoke inhalation compensation model, and the field deviation between the smoke generation response and the smoke execution response is calculated. The smoke inhalation compensation residual is then projected along the smoke compensation direction. The smoke inhalation compensation residual at continuously effective trigger positions is then written into the residual gate chain. A residual evolution marker is generated based on residual expansion, residual stabilization, or residual fallback. The reinjection priority value is calculated, and priority reinjection control, maintenance-type reinjection control, or degraded reinjection control are output. In the figure, the control curve of this invention is generally lower than that of fixed smoke control and threshold-triggered smoke control, indicating that this invention can increase the smoke compensation intensity in advance during the residual expansion stage and reduce the compensation intensity during the residual fallback stage, thereby eliminating the smoke inhalation compensation residual more quickly.

[0097] S4.3: Convert the joint control and reinjection control quantity into a compensation operation curve, and execute the pre-negative pressure establishment, segmented speed-up compensation, and compensation correction based on the filter element damping state in sequence according to the compensation operation curve. At the same time, encapsulate the smoking execution state quantity in the compensation process with the same phase to obtain the actual smoking response.

[0098] Specifically, the effective trigger position in the joint control and recharge quantity is used as the starting point of the curve phase, the recharge priority value is used as the basis for the curve intensity, and the priority recharge control, maintenance recharge control or degraded recharge control is used as the basis for the curve type to generate a compensation operation curve corresponding to each effective trigger position.

[0099] The compensation operation curve is divided into three intervals according to the order of effective trigger positions: pre-negative pressure establishment interval, segmented speed-up compensation interval, and filter element damping correction interval. The pre-negative pressure establishment interval forms a smoking preparation state based on the effective trigger position. The segmented speed-up compensation interval determines the smoking compensation intensity based on the residual amplitude of the smoking compensation and the number of continuous residual gates. The filter element damping correction interval determines the filter element damping state based on the joint control calibration state and filter element feedback state corresponding to the damping boundary on the smoking compensation side, and corrects the smoking compensation intensity based on the filter element damping state.

[0100] Smoking compensation operation is performed according to the compensation operation curve, forming a smoking execution state quantity corresponding to each effective trigger position. The smoking execution state quantity includes the pre-negative pressure establishment completion state, the segmented speed-up compensation execution state, the filter element damping correction state, and the arrival state of the smoking execution state quantity relative to the compensation operation curve. The smoking execution state quantity is encapsulated with the corresponding effective trigger position, the compensation operation curve, and the joint control recharge quantity in the same phase to obtain the actual smoking response.

[0101] It should be noted that the compensation operation curve includes the negative pressure establishment advance, fan speed increment, compensation duration, and filter damping correction. These parameters are used to convert the joint control and reinjection control quantities into an executable smoke compensation operation process, enabling the smoke filtration action to sequentially complete pre-negative pressure establishment, segmented speed-up compensation, and filter damping correction according to the effective trigger positions. Through the compensation operation curve, the smoke compensation intensity is no longer a fixed output but can be dynamically adjusted based on the smoke inhalation compensation residual amplitude, the number of continuous residual gates, and the filter damping state. This reduces smoke response lag and improves the continuity of smoke removal and the stability of the joint control output state.

[0102] S4.4: The backfeed closure consistency arbitration algorithm is adopted to align the actual smoking response with the joint control backfeed control quantity according to the same source phase. The closure deviation of the actual response relative to the backfeed control quantity is extracted, and the smoking compensation is judged based on the closure deviation to effectively eliminate the smoking compensation residual and generate the joint control output control state.

[0103] Specifically, using the effective trigger position in the co-source control phase anchor frame as the alignment benchmark, a phase correspondence is established between the actual smoking response at the same effective trigger position and the co-control reinjection control quantity; the curve phase start point, smoking compensation intensity, and compensation duration interval in the compensation operation curve are determined as the reinjection control trajectory; the pre-negative pressure establishment completion state, segmented acceleration compensation execution state, filter damping correction state, and the arrival state of the smoking execution state quantity relative to the compensation operation curve are extracted from the actual smoking response, and the change process of the smoking execution state quantity at the same effective trigger position is determined as the actual response trajectory.

[0104] The actual response trajectory is compared with the reinjection control trajectory for closure. The actual response trajectory reaches the curve phase starting point of the compensation operation curve to form an arrival closure. The actual response trajectory reaches the smoking compensation intensity to form an intensity closure. The actual response trajectory covers the compensation duration interval to form a maintenance closure. The actual response trajectory completes the fall after the compensation duration interval to form a fallback closure. The closure deviation is extracted based on the arrival closure, intensity closure, maintenance closure and fallback closure. The closure deviation consists of the difference in phase starting point, smoking compensation intensity, compensation duration interval and fallback position of the actual response trajectory relative to the reinjection control trajectory.

[0105] When the actual response trajectory covers the starting point of the curve phase in the reinjection control trajectory, the arrival closure is determined to be valid; when the actual response trajectory covers the smoking compensation intensity in the reinjection control trajectory, the intensity closure is determined to be valid; when the actual response trajectory covers the compensation duration interval in the reinjection control trajectory, the maintenance closure is determined to be valid; when the actual response trajectory forms a decline after the compensation duration interval ends, the decline closure is determined to be valid.

[0106] When the arrival closure, intensity closure, maintenance closure, and fallback closure are all established, it is determined that the smoke compensation has effectively resolved the smoke compensation residual, and a continued output control state is generated. When the intensity closure or maintenance closure is not established, but the actual response trajectory has formed the arrival closure, it is determined that the smoke compensation has partially resolved the residual, and a degraded output control state is generated. When the actual response trajectory has not formed the arrival closure, it is determined that the smoke compensation has not effectively resolved the smoke compensation residual, and a residual smoke removal control state is generated. The continued output control state, degraded output control state, or residual smoke removal control state are determined as the joint control output control state.

[0107] It should be noted that the smoke inhalation residual reinjection arbitration algorithm is used to convert the smoke inhalation compensation residual into a joint control reinjection control quantity. The residual gate chain identifies the amplitude, duration, and trend of the smoke inhalation compensation residual, and generates priority reinjection control, maintenance reinjection control, or degraded reinjection control accordingly. This allows the smoke inhalation compensation to be dynamically adjusted according to the deviation between smoke generation and smoke inhalation execution, improving the timeliness and stability of joint control compensation.

[0108] like Figure 6To verify the dynamic suppression effect of this invention on smoke residue when the filter element damping state changes, the experiment maintained the same high-frequency electrosurgical output sequence, sampling period, and initial state of the smoking pipeline. The filter element damping state was gradually increased at consecutive effective trigger positions to simulate increased blockage and suction resistance during filter element use. Simultaneously, the filter element damping state, smoking execution response, smoke suction compensation residual, and smoke residue were recorded. The fixed smoking control operation mode was as follows: the smoking filter module operated at a fixed smoking intensity. Even if the filter element damping increased, the negative pressure build-up time, fan speed, or compensation duration did not change. Therefore, after the filter element resistance increased, the actual smoking response decreased, and the smoke residue increased. The threshold-triggered smoking control operation mode was as follows: it operated at a normal smoking intensity. When the smoke residue exceeded the threshold, the smoking intensity was increased, which could reduce some residue, but the compensation action lagged behind the change in filter element damping. The control operation of this invention is as follows: The filter cartridge feedback state is read from the smoking filter interface and written into the joint control boundary frame as the damping boundary of the smoking compensation side; under the constraint of the same-source joint control phase anchor point frame, the smoking compensation model uses the electric knife output boundary state as the smoke generation side boundary condition, the smoking execution boundary state as the smoking compensation side boundary condition, and the filter cartridge damping state as the suction removal damping condition, thus obtaining the smoke generation response and the smoking execution response; when a field deviation occurs, a smoking compensation residual is generated and converted into a joint control reinjection control quantity through the smoking residual reinjection arbitration algorithm. The smoking filter module sequentially performs pre-negative pressure establishment, segmented acceleration compensation, and compensation correction based on the filter cartridge damping state according to the joint control reinjection control quantity. Figure 6 As can be seen, as the filter element damping state increases, the amount of residual smoke in both fixed smoking control and threshold-triggered smoking control shows obvious peaks, while the amount of residual smoke under the control of the present invention remains low. This indicates that the present invention can adjust the smoking compensation intensity in real time according to the filter element damping change, thereby reducing the residual smoke caused by the increase in filter element resistance.

[0109] This embodiment also provides a high-frequency electrosurgical unit smoke-smoking joint control device with multi-module communication collaboration, including: a time-stamped handshake calibration module, in which the main control part performs time-stamped handshake calibration on the joint control function nodes, obtains the time delay calibration parameter set and the joint control calibration state set and performs homogeneous binding to generate a joint control reference frame; a phase anchor point reconstruction module, based on the joint control reference frame, performs phase normalization processing on the joint control calibration state set, and performs reverse compensation according to the time delay calibration parameter set to generate homogeneous joint control phase anchor point frames, extracts the joint control boundary state set from the homogeneous joint control phase anchor frames and performs boundary reconstruction to generate joint control boundary frames; and a smoke-smoking residual projection module. A smoke inhalation compensation model is constructed using a boundary embedding layer and a smoke field proxy layer. The four-domain boundaries of smoke inhalation in the joint control boundary frame are mapped to smoke generation response and smoking execution response. Based on the field deviation of the smoke generation response and smoking execution response, cross-boundary residual projection is performed along the smoking compensation direction to obtain the smoke inhalation compensation residual. The backfeed closure control module uses a smoke inhalation residual backfeed arbitration algorithm to convert the smoke inhalation compensation residual into a joint control backfeed control quantity. Based on the joint control backfeed control quantity, the smoking compensation operation is performed to obtain the actual smoking response. The actual smoking response and the joint control backfeed control quantity are then arbitrated for consistency to generate the joint control output control state.

[0110] In summary, this invention improves the synchronous control stability between the high-frequency electrosurgical unit and the smoke filter by unifying the timing reference of each joint control functional node and correcting the module feedback to the same joint control phase. Furthermore, through the smoke inhalation compensation model and residual backfeed arbitration, the smoke inhalation compensation can be dynamically adjusted according to the output of the electrosurgical unit and the changes in filter damping, thereby reducing smoke lag and smoke residue and improving the joint control execution effect.

[0111] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A high-frequency electrosurgical unit smoke extraction control method with multi-module communication and coordination, characterized in that, include: The main control unit performs time-stamped handshake calibration on the joint control function nodes, obtains the delay calibration parameter set and the joint control calibration status set, binds them from the same source, and generates a joint control reference frame. Based on the joint control reference frame, the joint control calibration state set is phase normalized and reverse compensation is performed according to the time delay calibration parameter set to generate the same source joint control phase anchor frame. The joint control boundary state set is extracted from the same source joint control phase anchor frame and boundary reconstruction is performed to generate the joint control boundary frame. A smoke inhalation compensation model is constructed using a boundary embedding layer and a smoke field proxy layer. The four domain boundaries of smoke inhalation in the joint control boundary frame are mapped to smoke generation response and smoking execution response. Based on the field deviation of the smoke generation response and smoking execution response, cross-boundary residual projection is performed along the smoking compensation direction to obtain the smoke inhalation compensation residual. The smoke inhalation residual reinjection arbitration algorithm is adopted to convert the smoke inhalation compensation residual into the joint control reinjection control quantity. Based on the joint control reinjection control quantity, the smoke compensation operation is performed to obtain the actual smoke response. The actual smoke response and the joint control reinjection control quantity are then subjected to consistency arbitration to generate the joint control output control state.

2. The high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration as described in claim 1, characterized in that, The specific steps for performing time-stamped handshake calibration on the joint control function nodes and obtaining the delay calibration parameter set and joint control calibration status set are as follows: Using the joint control function node as the calibration object, the main control part performs multiple rounds of time-stamped handshake sampling in the order of modules, and pairs and encapsulates the main control initiation time stamp, module feedback time stamp and module feedback content obtained in each round of sampling according to the same module identifier to generate a handshake sampling record set; Based on the handshake sampling record set, consistency screening is performed on the joint control function nodes, removing time scale mutation records and feedback anomaly records, and extracting the time delay calibration parameter set and the joint control calibration status set.

3. The high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration as described in claim 2, characterized in that, The joint control reference frame is generated by writing the delay calibration parameters and joint control calibration status formed by the same joint control function node in the same module identifier into the same calibration entry and encapsulating them, based on the source records of the backtracking delay calibration parameter set and the joint control calibration status set in the handshake sampling record set.

4. The high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration as described in claim 1, characterized in that, The process involves performing phase normalization on the joint control calibration state set based on the joint control reference frame, and then performing reverse compensation according to the time delay calibration parameter set to generate a co-source joint control phase anchor frame. The specific steps are as follows: The effective state records in the joint control calibration state set are rearranged into a unified phase slot according to the binding time sequence of the joint control reference frame using the phase slot rearrangement algorithm to generate a joint control state phase set; Based on the time delay calibration parameter set, time delay rollback compensation is performed on the phase set of the joint control state to correct the phase slot with feedback lag to the corresponding effective trigger position and generate a compensation phase mark set. Perform source anchor point screening on the compensation phase marker set, solidify the compensation phase markers that meet the joint control synchronization conditions into source joint control phase anchor point frames, and generate source joint control phase anchor frames.

5. The high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration as described in claim 4, characterized in that, The specific steps for extracting the joint control boundary state set from the co-source joint control phase anchor point frame and performing boundary reconstruction to generate the joint control boundary frame are as follows: Based on the same source joint control phase anchor point frame, the source of the calibration entry corresponding to the compensation phase mark is found, and the corresponding state record is filtered from the joint control calibration state set to obtain the joint control boundary state set; Based on the control effect of the joint control boundary state set on the smoke generation side and the smoking compensation side, it is classified into the smoke and inhalation four-domain boundary, and the smoke and inhalation four-domain boundary under the same source joint control phase anchor point frame is subjected to reliable fusion and boundary closure verification to generate the joint control boundary frame.

6. The high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration as described in claim 1, characterized in that, The smoke inhalation compensation model is constructed using a boundary embedding layer and a smoke field proxy layer. The specific steps are as follows: The boundary embedding layer is based on the joint control boundary frame. It extracts the boundary state chain according to the effective trigger position in the same source joint control phase anchor frame, and performs phase alignment and boundary serialization processing on the boundary state chain to generate the boundary embedding vector. The smoke field proxy layer extracts the electrosurgical output boundary state and the smoking execution boundary state according to the boundary order and effective trigger position based on the boundary embedding vector, and performs finite element proxy mapping to generate smoke inhalation proxy field features; A smoke inhalation compensation model is constructed by cascading the boundary embedding layer and the smoke field proxy layer through a cascaded mapping relationship of co-origin phase constraints.

7. The high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration as described in claim 6, characterized in that, The smoke inhalation compensation residual is obtained by projecting the cross-boundary residual onto the joint control boundary frame based on the smoke inhalation compensation model, mapping the electric knife output boundary state and the smoking execution boundary state in the joint control boundary frame, and calculating the field deviation between the smoke generation response and the smoking execution response under the constraint of the same source joint control phase anchor point frame, and projecting the field deviation along the smoking compensation direction.

8. The high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration as described in claim 1, characterized in that, The method employs an arbitration algorithm for recirculation based on smoke absorption residuals, converting the smoke absorption compensation residuals into a joint control recirculation control quantity. The specific steps are as follows: The smoke absorption compensation residuals corresponding to each co-source control phase anchor frame are transcribed into residual gate chains in phase order, and residual evolution markers are generated based on the residual changes between adjacent residual gates. The reinjection priority value is calculated based on the residual gate chain, and the residual segments are woven into different reinjection control types according to the reinjection priority value, and then uniformly packaged into a joint control reinjection control quantity.

9. The high-frequency electrosurgical unit smoke extraction control method with multi-module communication collaboration as described in claim 8, characterized in that, The specific steps for generating the joint control output control state are as follows: The control quantity of the joint control and recharge is converted into a compensation operation curve, and the pre-negative pressure establishment, segmented speed-up compensation and compensation correction based on the filter element damping state are executed in sequence according to the compensation operation curve. At the same time, the smoking execution state quantity in the compensation process is encapsulated in the same phase to obtain the actual smoking response. The recharge closure consistency arbitration algorithm is adopted to align the actual smoking response with the recharge control quantity according to the same phase. The closure deviation of the actual response relative to the recharge control quantity is extracted, and the smoking compensation is judged based on the closure deviation to effectively eliminate the smoking compensation residual, and the recharge output control state is generated.

10. A high-frequency electrosurgical unit smoke extraction control device with multi-module communication coordination, based on the high-frequency electrosurgical unit smoke extraction control method with multi-module communication coordination as described in any one of claims 1 to 9, characterized in that, include: The timing handshake calibration module is used by the main control part to perform timing handshake calibration on the joint control function nodes, obtain the delay calibration parameter set and the joint control calibration status set and bind them from the same source to generate the joint control reference frame; The phase anchor point reconstruction module performs phase normalization processing on the joint control calibration state set based on the joint control reference frame, and performs reverse compensation according to the time delay calibration parameter set to generate the same source joint control phase anchor point frame. It extracts the joint control boundary state set from the same source joint control phase anchor frame and performs boundary reconstruction to generate the joint control boundary frame. The smoke inhalation residual projection module uses a boundary embedding layer and a smoke field proxy layer to construct a smoke inhalation compensation model. It maps the four domain boundaries of smoke inhalation in the joint control boundary frame to smoke generation response and smoking execution response. Based on the field deviation of the smoke generation response and smoking execution response, it performs cross-boundary residual projection along the smoking compensation direction to obtain the smoke inhalation compensation residual. The recharge closed-loop control module adopts the smoke inhalation residual recharge arbitration algorithm to convert the smoke inhalation compensation residual into the joint control recharge control quantity. Based on the joint control recharge control quantity, it performs smoke compensation operation to obtain the actual smoke response. The actual smoke response is then arbitrated with the joint control recharge control quantity to generate the joint control output control state.

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