Endoscopic surgical system with automatic hydraulic monitoring function

Abstract

An endoscopic surgical system with an automatic hydraulic monitoring function. The endoscopic surgical system comprises a control system (1), a cart platform kit (2) and an endoscopic accessory (3), wherein the control system comprises a processor (9), a touch-control display (8), a perfusion pump (10), a negative-pressure pump (21), etc; the cart platform kit comprises a cart platform (14), a perfusion tube (15) and a suction tube (17); and the endoscopic accessory comprises a pressure-measurement guide sheath (18), a hydraulic sensor (19) and an electron microscope (20). While endoscopic observation is performed, the liquid perfusion and suction amount of an endoscope instrument can be controlled, and the pressure of cavity liquid in an organ can be monitored and controlled, so as to implement accurate control over the pressure in a cavity during surgery; a real-time monitoring module monitors the pressure of liquid in the organ in real time and provides data to the control system; intelligent PID control is used to calculate the state of the pressure in the cavity from real-time data acquired from the hydraulic sensor, so as to keep the pressure in the cavity within a safe range; and continuous water circulation maintains a clear state of the field of view in the cavity, rapidly takes away heat generated by an energy apparatus such as holmium laser, and suctions and removes a pathological specimen in a collection cavity.

Description

An endoscopic surgical system with automatic hydraulic monitoring function Technical Field

[0001] The present invention belongs to the field of medical device technology and smart medicine, and in particular relates to an endoscopic surgical system with an automatic hydraulic monitoring function. Background Art

[0002] Endoscopic diagnostic and therapeutic technology refers to a technique that establishes a channel through a natural body cavity or percutaneously to a hollow organ and inserts an endoscope into a patient's cavity for diagnostic and therapeutic purposes. Endoscopic observation and treatment procedures within narrow body cavities or orifices require continuous perfusion with saline to maintain endoscope clarity. Certain specific endoscopic diagnostic and therapeutic procedures also require specific requirements for the volume of fluid perfusion and the speed of circulation within the cavity to achieve specific goals and effects. For example, these requirements include eliminating soft tissue damage caused by the thermal energy of holmium laser lithotripsy, improving visual clarity during lithotripsy or bleeding, and relying on fluid circulation to remove intracavitary specimens from the body. Due to their different functions and structures, each organ in the human body has its own physiological pressure. If the amount of fluid perfused into the cavity is excessive or the fluid drainage channel is obstructed, the intracavitary fluid pressure will increase. When the critical pressure is exceeded, the intracavitary fluid, bacterial toxins, and pathological tissue will reflux through the interstitial space, lymphatic system, and venous system, leading to various complications. Currently, various traditional endoscopic diagnosis and treatment technologies use the functions of existing domestic and foreign surgical instruments and liquid infusion and suction equipment, but are unable to accurately infuse the amount of liquid required during surgery, and are even unable to monitor and effectively control the intracavitary liquid pressure.

[0003] An infusion pump is a pump that uses a liquid medium to pressurize and expand a cavity to form a visible space and can clean blood stains in the cavity. It is usually connected to an endoscope with an infusion tube for infusion, making the field of view clearer during endoscopic observation and surgery; a negative pressure pump uses a vacuum pump unit as a negative pressure source. The suction of the vacuum pump enables the suction system pipeline to reach the required negative pressure value, which is used to remove sputum, blood, pus, infusion liquid and other contaminants from the patient's body; a guide sheath refers to a catheter used to assist endoscopes and surgical instruments to enter the body cavity, that is, to establish a channel through natural cavity or percutaneous puncture expansion. The catheter can also be connected to a suction device.

[0004] In the prior art, the above-mentioned perfusion pump, negative pressure pump, guide sheath, etc. are usually independent units, and a system is formed by installing sensing elements in the corresponding independent units. For example, the patent application with application number CN201821477696.7 discloses a pressure measuring endoscope and a pressure detection system including the pressure measuring endoscope, while the patent application with application number CN201720092860.1 discloses a pressure measuring endoscope, including an endoscope and a pressure measuring device for detecting intracavitary pressure. The patent application with application number CN201410041761.1 discloses a medical perfusion and suction platform, which includes a main control unit, a perfusion device, a suction device, and a feedback device. The perfusion pump introduces physiological saline into the human organ, and the negative pressure pump extracts the physiological saline. The hydraulic sensor detects the pressure inside the organ so that when the pressure reaches a predetermined value, the main control unit adjusts the perfusion and suction speeds.

[0005] However, the above patents all add relatively independent pressure measuring devices to the endoscope system or the perfusion and suction system, which cannot achieve good coordination and data sharing.

[0006] In view of this, the present invention aims to provide an endoscopic surgical system with an automatic hydraulic monitoring function, which cleverly integrates a liquid infusion device, a liquid suction device, a liquid pressure monitoring and control device, and a surgical endoscope, and can achieve real-time data sharing and excellent coordination. Specifically, it can control the amount of liquid infusion of the endoscopic instrument, monitor and control the pressure of the cavity liquid in the organs (such as the renal pelvis, uterine cavity, biliary system, etc.) while observing with the endoscope, so as to achieve precise control of the intraoperative cavity pressure, achieve sufficient liquid circulation according to the requirements of different endoscopic surgeries, continuously maintain a clear state of intracavitary vision, and attract and remove intracavitary specimens. More importantly, the hydraulic sensor in the present invention also has an intelligent recognition function, which can ensure the quality, sensing efficiency, sensing accuracy and stability of the hydraulic sensor, thereby improving the safety of the present invention.

[0007] Summary of the Invention

[0008] In order to solve the above problems, the present invention aims to provide an endoscopic surgical system with an automatic hydraulic monitoring function, which cleverly integrates a liquid infusion device, a liquid suction device, a liquid pressure monitoring and control device, and a surgical endoscope, and can achieve real-time data sharing and excellent coordination. Specifically, it can control the amount of liquid infusion of the endoscopic instrument, monitor and control the pressure of the cavity liquid in the organs (such as the renal pelvis, uterine cavity, biliary system, etc.) while observing with the endoscope, so as to achieve precise control of the intraoperative cavity pressure, achieve sufficient liquid circulation according to the requirements of different endoscopic surgeries, maintain a clear field of view in the cavity, quickly remove the heat of the holmium laser, and attract and remove the intracavitary specimens. More importantly, the hydraulic sensor in the present invention also has an intelligent recognition function, which can ensure the quality, sensing efficiency, sensing accuracy and stability of the hydraulic sensor, thereby improving the safety of the present invention.

[0009] In order to solve the above problems, the present invention proposes the following technical solutions:

[0010] An endoscopic surgical system with automatic hydraulic monitoring function includes a control system, a trolley kit and endoscope accessories, the control system includes a processor, a touch display connected to the processor, an irrigation pump and a negative pressure pump, the trolley kit includes a trolley, a collection container, an irrigation tube and a suction tube, the endoscope accessories include a pressure measuring guide sheath, a hydraulic sensor and an electronic mirror, the hydraulic sensor is a sensor with an identification function; the irrigation tube is provided with irrigation power by the irrigation pump, and the irrigation tube is connected to the irrigation channel of the electronic mirror; the electronic mirror is placed in the pressure measuring guide sheath to infuse liquid into the body cavity and can visualize the situation in the body cavity, the pressure measuring guide sheath is connected to one end of the suction tube and the pressure measuring tube of the hydraulic sensor, the other end of the suction tube is connected to the collection container and is provided with suction power by the negative pressure pump, and the hydraulic sensor is connected to the processor through the hydraulic sensor interface and the hardware processing module in turn.

[0011] As an improvement to the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the hydraulic sensor includes a programmable read-only memory, an output impedance and an input impedance. The output impedance is connected in parallel with the programmable read-only memory. The output impedance and the input impedance are both disconnectably connected to the hydraulic sensor interface. The input impedance is connected to a DC power supply through the hydraulic sensor interface and a sampling resistor. The sampling resistor voltage outputs a signal to the processor via a first analog-to-digital conversion module. The output impedance is connected to a second analog-to-digital conversion module and the processor respectively through the hydraulic sensor interface. The second analog-to-digital conversion module outputs a signal to the processor.

[0012] As an improvement to the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the storage content of the programmable read-only memory includes a preamble, time, serial number, flag and checksum; the preamble is the frame header of the stored content, the time is the first time of recording, the serial number is the unique identification code of the hydraulic sensor, the flag is the recorded insertion status of the hydraulic sensor, and the function of the checksum is to verify the integrity of the preamble, time, serial number and flag.

[0013] As an improvement to the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the recognition function of the hydraulic sensor includes:

[0014] A. Identification of connection status and wiring sequence errors: When the hydraulic sensor is not connected to the sensor interface, the sensor interface is open, and the sampling resistor samples a voltage of zero volts, thereby determining that the hydraulic sensor is not connected. When the hydraulic sensor is connected to the sensor interface, the sampling resistor samples a corresponding voltage, thereby determining that the hydraulic sensor is connected and determining whether the wiring sequence of the connected hydraulic sensor is correct.

[0015] B. Sensor matching identification: When the hydraulic pressure sensor is inserted into the sensor interface, the processor compares the identification code in the system with the unique serial number stored in the programmable read-only memory. If they are the same, they match; otherwise, they do not match.

[0016] C. Identification of whether the sensor is used for the second time: The processor is provided with a real-time clock circuit. When the hydraulic sensor is inserted into the sensor interface, the processor reads the flag in the programmable read-only memory and determines whether the flag record is the first insertion. If it is the first insertion, the current time is written to the programmable read-only memory and the flag state is changed. If it is not the first insertion, the processor reads the time stored in the programmable read-only memory and compares it with the current time. If the timeout exceeds, it is regarded as a second use.

[0017] As an improvement of the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the electronic mirror is an electronic soft mirror or an electronic hard mirror. The electronic mirror is a catheter with a camera and has a control button that can control the start and stop of the perfusion pump and adjust the perfusion volume.

[0018] As an improvement of the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the irrigation tube and the suction tube are made of silicone.

[0019] As an improvement of the endoscopic surgery system with automatic hydraulic monitoring function of the present invention, the processor is an embedded processor that runs CFR (CoreFullRegister) embedded bottom layer software.

[0020] The processor is provided with a USB interface, a digital-analog video interface, a real-time monitoring module, a data storage module, an audio-visual alarm module, a hardware processing module and a coding and decoding module. The input end of the coding and decoding module is connected to the electronic mirror interface, the input end of the electronic mirror interface is connected to the electronic mirror, and the output end of the coding and decoding module is connected to the processor. The real-time monitoring module is used to monitor the pressure of the liquid in the organ in real time and provide the control system with necessary data to achieve precise control of the intracavitary pressure during surgery. It includes multiple high-precision hydraulic sensors, which are placed in the organ, close to the surgical area, to measure the pressure of the liquid in the organ. The hydraulic sensor transmits real-time pressure data to the control system via a data line connected to the control system or wireless communication. Intelligent PID control is used to calculate the state of the intracavitary pressure from the real-time data obtained from the hydraulic sensor, and the liquid infusion and extraction speed are adjusted according to the set target pressure to maintain the intracavitary pressure within a safe range, as follows:

[0021] The pressure change of the liquid in the cavity is described by the following difference equation: P(t+1)=P(t)+ΔP in -ΔP out

[0022] Where ΔP in is the pressure change caused by liquid perfusion, ΔP out is the pressure change caused by liquid extraction, P(t) represents the pressure at time t, P(t+1) represents the pressure at time t(t+1), assuming there are N exploration factors, each exploration factor represents a control strategy, the position and speed of each exploration factor represent the parameter value of the control strategy, in each iteration, the position and speed of each exploration factor are updated, and its fitness value is calculated, where the parameters of the control strategy are represented by d dimensions, each dimension corresponds to a control parameter, and the control strategy is represented as a d-dimensional vector X, where X = (X1, X2, ..., X d ), X1 represents the value of the first dimension parameter, X2 represents the value of the second dimension parameter, X d Denotes the value of the d-th dimension parameter, and defines the objective function H(X) to evaluate the performance of each exploration factor, which is expressed as follows: H(X)=w1ε(X)+w2k(X in +X out )

[0023] Among them, ∈ represents the pressure control error, X in represents the liquid perfusion speed parameter, X out represents the liquid extraction speed parameter, k(X in +X out) represents energy consumption, that is, the energy required for liquid flow caused by the control strategy, k is a constant related to the energy consumption of the unit flow rate of the liquid, w1 and w2 are parameters used to balance the pressure control error and energy consumption weights, and the fitness function A(X) is defined as a function of H(X), where the objective function includes the pressure control error and energy consumption: A(X) = -H(X). The position update model for each exploration factor i is expressed as: X i (t+1)=X i (t)+ΔX i (t+1)

[0024] X i (t) represents the location of the exploration factor i at time t, which is a d-dimensional vector, ΔX i (t+1) represents the position change of exploration factor i at time t+1. The speed update model of each exploration factor i is expressed as: V i (t+1)=V i (t)+ΔV i (t+1)

[0025] Among them, V i (t) represents the speed of exploration factor i at time t, corresponding to the position update, which is a d-dimensional vector, ΔV i (t+1) represents the velocity change of exploration factor i at time t+1. Exploration factors collaborate and adjust their positions and velocities through information exchange. Information exchange is represented by the following model:

[0026] represents the location of the neighboring exploration factor i at time t, ΔX i (t+1) and ΔV i (t+1) is the change in position and velocity, which are used to update position and velocity respectively. γ is an adjustment parameter that affects the weight of information exchange. T0 represents the initial statistical moment. T * Indicates the statistical end time, and H2(X i (t),t) is the information exchange function with the neighboring exploration factor, used to adjust the position, and H4(X i (t),V i (t), t) is the information exchange function with the neighboring exploration factor, which is used to adjust the speed, l is the lag time, and pr is the probability function.

[0027] As an improvement to the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the dynamic behavior of liquid infusion and suction and the pressure response are described by the following formula:

[0028] in, Indicates the rate of change of pressure, Q in (t) represents the liquid injection rate at time t, Q out (t) represents the liquid absorption rate at time t, V represents the volume of the cavity, and the objective function J(t) is defined as:

[0029] represents the performance index pursued by the system, and the objective function is the difference between the intracavity pressure and the target pressure, that is, where P 目标 is the desired target pressure, and the output U(t) of the PID control algorithm is expressed as:

[0030] Among them, τ is the time slot, e(t) is the error at the current moment, K p , K i , K d are the proportional, integral, and differential gains, which are used to control the effects of the proportional term, the integral term, and the differential term, respectively. The present invention performs nonlinear modeling on the proposed endoscopic surgical system with automatic hydraulic monitoring function:

[0031] Where x is the spatial coordinate, t is the time, and ν is the kinematic viscosity. The present invention takes into account the multi-channel liquid flow situation and the coupling effect between channels. The channels affect each other by sharing liquid or having interactive flow paths, and the coupling term is introduced to model it as shown below: ij (x,t)=f ij (u i (x,t),p i (x,t),u j (x,t),p j ((x,t)))

[0032] Q ij represents the rate at which the liquid flows out of channel i and into channel j, F(x, t, Q in (x,t),Q out (x, t)) represents the nonlinear control factor of the system, which is used to describe the relationship between the fluid flow and the control input. Among them, u(x, t) is the flow rate, p(x, t) is the pressure, and ρ is the fluid density. The relationship between the flow rate and the hydraulic pressure of the liquid is usually modeled by the following equation: Q = Aμ

[0033] Where Q is the liquid flow rate, A is the flow cross-sectional area, and μ is the flow velocity. The present invention also considers introducing a hydraulic sensor into the model, assuming that there is a nonlinear relationship between the output of the hydraulic sensor and the hydraulic pressure in the cavity, which is expressed as follows: P 传感器 =f(P 腔体 )

[0034] Among them, P 传感器 is the pressure measured by the sensor, P 腔体 is the actual pressure in the cavity, f(·) represents the nonlinear sensor model, and the state equation of the system is established to describe the dynamic behavior of the liquid in the cavity:

[0035] Among them, P 腔体 is the pressure in the cavity, Q in and Q out are the injection rate and the absorption rate of the liquid respectively. The goal of the control system is to make the pressure P in the cavity 腔体 As close as possible to the expected value P 目标 , thereby minimizing the control error, The goal of the control system is to adjust the liquid injection and suction rate, i.e. Q in (t) and Q out (t), to minimize the control objective J(t), which is expressed as minimizing the following objective function with constraints:

[0036] Among them, Q min and Q max are the minimum and maximum values ​​of the liquid flow rate.

[0037] As an improvement of the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, the touch display has the functions of parameter setting, command input and on-screen display of perfusion and suction, pressure detection, and intracavitary image parameters.

[0038] As an improvement of the endoscopic surgical system with automatic hydraulic monitoring function of the present invention, there are two touch screen displays with exactly the same functions, which are used by doctors and nurses respectively, and have the functions of parameter setting, command input, and on-screen display of perfusion and suction, pressure detection, and intracavitary image parameters. After receiving the start-up signal of the touch screen display or the endoscope accessory, the processor first determines whether the operating conditions of the system are normal, and the operating conditions include whether the system parameters are correctly set, whether the conditions are met after the hydraulic sensor is identified, and whether the original signals connected, operated, and collected by the pressure measuring guide sheath and the electronic scope are normal; if the conditions are normal, the processor sends instructions to the perfusion pump and the negative pressure pump, and the perfusion pump starts to act on the perfusion tube, forming perfusion pressure in the perfusion tube, and injecting physiological saline into the body cavity through the electronic scope. At the same time, the negative pressure pump works, so that the collection container, the suction tube, and the pressure measuring guide sheath form a vacuum negative pressure, and the physiological saline or other contaminants injected into the body cavity are sucked out;

[0039] During the operation of the system, the hydraulic sensor collects the liquid pressure in the body cavity through the independent pressure measuring channel on the pressure measuring guide sheath. The pressure signal is converted into a voltage signal and then processed by the hardware before reaching the processor for analysis, and then the suction force of the negative pressure pump is adjusted to keep the pressure in the body cavity at the expected set value.

[0040] Beneficial effects of the present invention: Compared with the existing technology, the present invention provides a surgical endoscope system with integrated hardware and software and standardized configuration, which cleverly integrates the liquid infusion device, liquid suction device, liquid pressure monitoring and control device, and surgical endoscope into one. It can control the liquid infusion amount of the endoscopic instrument, monitor and control the pressure in the cavity liquid pressure organ (such as the renal pelvis, uterine cavity, biliary system, etc.) while observing with the endoscope, so as to achieve precise control of the intraoperative cavity pressure. According to the requirements of different endoscopic surgeries, the configuration of the scope sheath is standardized to meet the requirements of sufficient liquid circulation for various endoscopic surgeries, maintain a clear field of view in the cavity, and attract and remove intracavitary specimens. The real-time monitoring module utilizes intelligent PID control to calculate the intracavitary pressure state from real-time data obtained from the hydraulic sensor and adjusts the liquid injection and extraction speeds according to the set target pressure to maintain the intracavitary pressure within a safe range. The innovation of the present invention lies in the use of a heuristic algorithm to construct exploration factors. The exploration factors collaborate and adjust their positions and speeds through information exchange, thus establishing an information exchange model. Compared with traditional algorithms, this invention is more inclined to the field of endoscopic surgical systems with automatic hydraulic monitoring functions involved in the present invention, focusing more on the interaction between information, and has robustness and reliability. In addition, the present invention uses a PID algorithm. Unlike traditional methods, the present invention performs nonlinear modeling for the proposed endoscopic surgical system with automatic hydraulic monitoring functions, taking into account multi-channel liquid flow conditions and the coupling effect between channels. Channels influence each other through shared liquid or interacting flow paths. The model is established by introducing coupling terms, and a system state equation is constructed to describe the dynamic behavior of the liquid in the cavity. Finally, it is expressed as a constrained objective function, making real-time, big data computing portable and accelerating the response and execution capabilities of the system provided by the present invention.

[0041] In summary, the present invention not only meets liquid flow requirements, but also avoids complications caused by excessive intracavitary pressure and provides safety warnings. More importantly, the hydraulic sensor of the present invention also features intelligent recognition, which ensures the quality, sensing efficiency, sensing accuracy, and operational stability of the hydraulic sensor, thereby enhancing the safety of the present invention. The present invention can be applied to medical devices for urinary, hepatobiliary, and uterine endoscopic procedures, as well as other intracavitary procedures requiring liquid as a medium, and has a wide range of uses.

[0042] In summary, the advantages of the present invention can be summarized as follows:

[0043] 1. Provide complete and easy-to-use instrument solutions for various endoscopic diagnosis and treatment technologies.

[0044] 2. Equipped with liquid pressure detection system.

[0045] 3. Parameters of perfusion suction, pressure detection and intracavitary imaging are displayed on the same screen.

[0046] 4. Automatically adjust the negative pressure suction to reach the predetermined safe pressure value in the cavity.

[0047] 5. The perfusion flow rate can be adjusted and stopped by the surgeon, making it easy to obtain the ideal flow rate and reducing the number of operating steps.

[0048] 6. The present invention can resolve the contradiction between the amount of liquid perfusion and the intracavitary pressure during clinical endoscopic surgery, achieve precise matching of perfusion flow, flow velocity, and intracavitary pressure, avoid the occurrence of complications, and provide a wider range of clinical applications and possibilities.

[0049] 7. The continuous water circulation of the present invention can reduce the heat generated by devices such as holmium lasers.

[0050] 8. The hydraulic pressure sensor in the present invention adopts the "impedance measurement + key identification" method to improve the stability of pressure hardware, thereby improving equipment safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] FIG1 is a structural block diagram of the present invention.

[0052] FIG2 is a diagram showing the hydraulic pressure sensor identification structure of the present invention. DETAILED DESCRIPTION

[0053] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] It should be noted that the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0055] The present invention provides an endoscopic surgical system with an automatic hydraulic monitoring function, including a control system 1, a platform kit 2 and an endoscope accessory 3. The control system 1 includes a processor 9, a USB interface 4 connected to the processor 9, a digital-to-analog video interface 5, a data storage module 6, an audio-visual alarm module 7, a touch display 8, an encoding and decoding 12, a hardware processing 11, an irrigation pump 10 and a negative pressure pump 21. The platform kit 2 includes a platform 14, an irrigation tube 15, a collection container 16 and a suction tube 17. The endoscope accessory 3 includes a pressure measuring guide sheath 18, a hydraulic sensor 19 and an electronic mirror 20. The irrigation pump 10 provides irrigation power to the irrigation tube 15. The pressure measuring guide sheath 18 is connected to the input end of the suction tube 17 and the pressure measuring tube of the hydraulic sensor 19. The electronic mirror 20 is placed in the pressure measuring guide sheath 18. The output end of the suction tube 17 is connected to the collection container 16, and the suction power is provided by the negative pressure pump 21. The hydraulic sensor 19 is a hydraulic sensor with an identification function.

[0056] The platform serves as a fixture, installation, and placement device for the control system 1, endoscope accessories 3, collection container 16, irrigation tube 15, and suction tube 17. It also features casters for mobility to meet the needs of the surgical site. The collection container 16 is used to collect waste fluids and other substances (such as stones) aspirated from the body. The irrigation tube 15 and suction tube 17 are branches providing water circulation and are made of silicone. The hydraulic sensor 19 is an electronic component that uses a liquid medium to measure internal pressure. The pressure measuring guide sheath 18 serves as a pressure measuring channel, instrument working channel, and negative pressure suction port, and is a crucial component of the medical endoscope system. To ensure continuous and safe water circulation, the present invention provides an execution signal of a certain magnitude to the irrigation pump 10, thereby infusing the body cavity with saline solution (the infusion of saline solution increases the pressure within the cavity). The hydraulic sensor 19 measures the pressure within the body cavity and feeds it back to the system (i.e., the processor 9). The processor 9 adjusts the suction force of the negative pressure pump 21 based on this feedback (suction reduces the pressure within the cavity). The entire process is designed to achieve a desired, relatively stable, safe pressure within the body cavity.

[0057] The hydraulic sensor 19 includes a programmable read-only memory 22, an output impedance 23 and an input impedance 24. The output impedance 23 is connected in parallel with the programmable read-only memory 22. Both the output impedance 23 and the input impedance 24 are disconnectably connected to the hydraulic sensor interface 25. The input impedance 24 branch is connected to the DC power supply 27 through the hydraulic sensor interface 25 and the sampling resistor 26. The sampled voltage of the sampling resistor 26 is output to the processor 9 through the first analog-to-digital conversion module 28. The output impedance branch is connected to the second analog-to-digital conversion module and the processor 9 respectively through the hydraulic sensor interface 25. The second analog-to-digital conversion module 28 outputs a signal to the processor 9. When the second analog-to-digital conversion module is working, the branch connected to the processor 9 (not through the second analog-to-digital conversion module) is floating, which is equivalent to an open circuit.

[0058] That is, the hydraulic sensor 19, the hydraulic sensor interface 25, the hardware processing module 11 and the processor 9 cooperate to implement the identification method of "impedance measurement + key identification". The method includes two parts: impedance measurement and key identification. The impedance measurement is performed by collecting the voltage of the sampling resistor 26 connected in series on the input impedance of the hydraulic sensor 19. The key identification is performed by sharing the input impedance 24 hardware circuit and carrying a programmable read-only memory 22 to set the key, and the identification period is selected by using the control pin to be left floating.

[0059] The storage content of the programmable read-only memory 22 includes a preamble, time, serial number, flag bit and checksum.

[0060] The hydraulic pressure sensor 19 is an important component that enables the system to have automatic hydraulic pressure monitoring and regulation functions. Its identification functions include:

[0061] A. Identification of connection status and wiring sequence errors: When the hydraulic sensor 19 is not connected to the interface 25, the interface 25 is open, and the sampling voltage of the sampling resistor 26 is zero volts, thereby determining that the hydraulic sensor 19 is not connected. When the hydraulic sensor 19 is connected to the interface 25, the sampling resistor 26 samples the corresponding voltage, thereby determining that the hydraulic sensor 19 is connected and determining whether the wiring sequence of the connected hydraulic sensor 19 is correct (different wiring sequences correspond to different sampling voltages);

[0062] B. Sensor matching identification: When the hydraulic sensor 19 is inserted into the system, the processor 9 reads the identification code on the hydraulic sensor 19 and then compares it with the unique serial number stored in the programmable read-only memory 22 (input by the production company when manufacturing). If they are the same, they match; if they are different, they do not match. Specifically, when the hydraulic sensor 19 leaves the factory, a unique identification code is written into the programmable read-only memory 22, which corresponds to the serial number in the storage content. When the hydraulic sensor 19 is inserted into the device, the unique identification code is matched and identified. If it matches, it means it was produced by the company itself.

[0063] C. Identification of whether the sensor is used for the second time: The processor 9 is provided with a real-time clock circuit (containing a backup battery, which can operate normally even when the device is powered off). When the hydraulic sensor 19 is inserted into the system, the processor 9 reads the flag in the programmable read-only memory 22 and determines whether the flag record is the first insertion: if it is the first insertion, the current time is written in the programmable read-only memory 22; if it is not the first insertion, the processor 9 reads the time stored in the programmable read-only memory 22 and compares it with the current time. If it times out (not within the valid time), it is regarded as a second use.

[0064] In summary, the identification functions of the hydraulic sensor 19 in the present invention are mainly: First: first, to identify whether there is a hardware error, such as whether the interface is connected, whether there is a line sequence error. Second: to identify whether it is produced by its own company: Third: to identify whether the sensor is used for the second time. Since the hydraulic sensor 19 has an automatic identification function, it can ensure that the hydraulic sensor 19 used in the system has no hardware errors and is not used for the second time, and is produced by its own company (to prevent the hydraulic sensor 19 produced by other companies from being mismatched or of unreliable quality), which can ensure the quality, sensing efficiency, sensing accuracy and stability of use of the hydraulic sensor 19, thereby improving the safety of the present invention and ensuring the accurate realization of the hydraulic monitoring function of the present invention.

[0065] The processor 9 is equipped with a USB interface 4, a digital-to-analog video interface 5, a data storage module 6, an audio-visual alarm module 7, a hardware processing module 11, and a codec module 12. The input of the codec module 12 is connected to the electronic mirror interface 13, and the input of the hardware processing module 11 is connected to the sensor interface 25. The USB interface 4 is used for connecting to a printer, output, and system upgrades, while the analog-to-digital video interface 5 is used for connecting to an external standard display. The data storage module 6 is used to store system operating data. The audio-visual alarm module 7 is the system's built-in alarm system, which has three different levels. Low-priority alarms are abnormal states that appear when the equipment is not running, that is, errors detected when the system is not running, such as hardware initialization errors, memory overflows, and unreasonable parameter settings. The light form is yellow and is always on; medium-priority alarms are abnormal states that appear when the equipment is running, that is, unacceptable abnormal signals are detected when the system is running, such as the perfusion flow is close to the critical value, and the pressure monitoring is close to the warning. This alarm is a prompt alarm. When the system is operating normally, the light form is 0.6Hz and yellow; high-priority alarms are fault states that appear when the equipment is running, that is, the system detects unacceptable signals and shuts down. The light form is 1.6Hz red, and the alarm is given simultaneously in the form of a two-color light and sound.

[0066] The infusion pump 10 is a device that uses a roller-type method to infuse fluid into the human body. It can be adjusted via the interactive touchscreen display 8, mechanical knobs, and mechanical buttons. The negative pressure pump 21 is a suction device that creates a vacuum. This device receives feedback from the hydraulic sensor 19, which is then processed by the hardware processing module 11 and processor 9 and then sent to the drive signal for adjustment. The encoding and decoding module 12 decodes the electronic mirror 20, and the data is transmitted to the touchscreen display 8 and the analog-to-digital video interface 5 via the processor 9.

[0067] The hardware processing module 11 converts the analog signal collected by the hydraulic sensor 19 into a digital signal, and then transmits it to the processor 9 for processing.

[0068] The electronic endoscope 20 is an electronic soft endoscope or an electronic hard endoscope, and the electronic endoscope 20 is placed in the pressure measurement guide sheath 18 .

[0069] The electronic scope 20 is a catheter equipped with a camera and is connected to the irrigation tube 15. This channel accommodates other instruments (such as a holmium laser fiber) and the infusion channel for liquids, while also transmitting the raw image signal to the control system. To allow the surgeon to directly control the start, stop, and adjustment of the irrigation pump 10, control buttons are provided on the electronic soft / hard scope.

[0070] Processor 9 is an embedded processor running independently developed CFR (Core Full Register) embedded low-level software. This microprocessor serves as the control center for the entire system's instructions, featuring direct register drive, minimal memory footprint, and fast response times. Touchscreen display 8 provides image display and human-computer interaction, including operating status, operating mode, digital pressure display, pressure regulation, flow control, and image calibration.

[0071] The workflow of the present invention is as follows: the operator sets the parameters of the system through the touch display 8, and the parameters include the intracavitary pressure control value (target value), the warning pressure value (alarm value), the perfusion flow value, the image adjustment value, and the system parameter value; then the system is started, and there are two ways to start, one is the start signal from the touch display 8, and the other is the start signal from the endoscope accessory 3; after the processor 9 receives the start signal from the touch display 8 or the endoscope accessory 3, it first determines the operating conditions of the system, and the operating conditions include whether the system parameters are correctly set, whether the hydraulic sensor 19 meets the conditions after identification, and whether the pressure measuring guide sheath and the electronic mirror 20 are connected, operated, and the collected original signals are normal (the identification function is the condition for the hydraulic sensor 19 to enter the system normally, and the normal entry It will then switch to the working mode, at which time the recognition function does not work); secondly, when conditions are normal, the processor 9 sends instructions to the infusion pump 10 and the negative pressure pump 21, and the infusion pump 10 starts to act on the infusion tube 15, forming an infusion pressure in the infusion tube 15, and injecting physiological saline into the cavity through the electronic mirror 20 (the electronic mirror 20 can collect image signals, transmit them to the encoding and decoding module 12 controlled by the processor 9 through the electronic mirror interface 13, and then display a clear image on the touch display 8, thereby maintaining a clear field of view in the cavity), and at the same time, the negative pressure pump 21 starts working. The device is a vacuum negative pressure source, so that the collection container 16, the suction tube 17 and the pressure measuring guide sheath 18 form a vacuum negative pressure, and the physiological saline or other contaminants (such as stones, pathological tissues) injected into the body cavity are sucked out. If the conditions are not met, the system cannot be started; finally, during the operation of the system, the hydraulic sensor 19 collects the liquid pressure in the body cavity (with liquid as the medium) through the independent pressure measuring channel on the pressure measuring guide sheath 18, and the pressure signal is converted into a voltage signal through the pressure resistance bridge, and then passes through the sensor interface 25 and the hardware processing module 11. The signal reaches the processor 9 for analysis and adjusts the suction force of the negative pressure pump 21 to keep the pressure in the body cavity at the expected set value.

[0072] Specifically, the pressure change of the liquid in the cavity is described by the following differential equation: P(t+1)=P(t)+ΔP in -ΔP out

[0073] Where ΔP in is the pressure change caused by liquid perfusion, ΔP outis the pressure change caused by liquid extraction, P(t) represents the pressure at time t, P(t+1) represents the pressure at time t(t+1), assuming there are N exploration factors, each exploration factor represents a control strategy, the position and speed of each exploration factor represent the parameter value of the control strategy, in each iteration, the position and speed of each exploration factor are updated, and its fitness value is calculated, where the parameters of the control strategy are represented by d dimensions, each dimension corresponds to a control parameter, and the control strategy is represented as a d-dimensional vector X, where X = (X1, X2, ..., X d ), X1 represents the value of the first dimension parameter, X2 represents the value of the second dimension parameter, X d Denotes the value of the d-th dimension parameter, and defines the objective function H(X) to evaluate the performance of each exploration factor, which is expressed as follows: H(X)=w1ε(X)+w2k(X in +X out )

[0074] Among them, ε represents the pressure control error, X in represents the liquid perfusion speed parameter, X out represents the liquid extraction speed parameter, k(X in +X out ) represents energy consumption, that is, the energy required for liquid flow caused by the control strategy, k is a constant related to the energy consumption of the unit flow rate of the liquid, w1 and w2 are parameters used to balance the pressure control error and energy consumption weights, and the fitness function A(X) is defined as a function of H(X), where the objective function includes the pressure control error and energy consumption: A(X) = -H(X). The position update model for each exploration factor i is expressed as: X i (t+1)=X i (t)+ΔX i (t+1)

[0075] X i (t) represents the location of the exploration factor i at time t, which is a d-dimensional vector, ΔX i (t+1) represents the position change of exploration factor i at time t+1. The speed update model of each exploration factor i is expressed as: V i (t+1)=V i (t)+ΔV i (t+1)

[0076] Among them, V i (t) represents the speed of exploration factor i at time t, corresponding to the position update, which is a d-dimensional vector, ΔV i (t+1) represents the velocity change of exploration factor i at time t+1. Exploration factors collaborate and adjust their positions and velocities through information exchange. Information exchange is represented by the following model:

[0077] represents the location of the neighboring exploration factor i at time t, ΔX i (t+1) and ΔV i (t+1) is the change in position and velocity, which are used to update position and velocity respectively. γ is an adjustment parameter that affects the weight of information exchange. T0 represents the initial statistical moment. T * Indicates the statistical end time, and H2(X i (t),t) is the information exchange function with the neighboring exploration factor, used to adjust the position, and H4(X i (t),V i (t), t) is the information exchange function with the neighboring exploration factor, which is used to adjust the speed, l is the lag time, and pr is the probability function.

[0078] Specifically, the dynamic behavior of liquid infusion and absorption and the pressure response are described by the following formula:

[0079] in, Indicates the rate of change of pressure, Q in (t) represents the liquid injection rate at time t, Q out (t) represents the liquid absorption rate at time t, V represents the volume of the cavity, and the objective function J(t) is defined as:

[0080] represents the performance index pursued by the system, and the objective function is the difference between the intracavity pressure and the target pressure, that is, where P 目标 is the desired target pressure, and the output U(t) of the PID control algorithm is expressed as:

[0081] Among them, τ is the time slot, e(t) is the error at the current moment, K p , K i , K d are the proportional, integral, and differential gains, which are used to control the effects of the proportional term, the integral term, and the differential term, respectively. The present invention performs nonlinear modeling on the proposed endoscopic surgical system with automatic hydraulic monitoring function:

[0082] Where x is the spatial coordinate, t is the time, and ν is the kinematic viscosity. The present invention takes into account the multi-channel liquid flow situation and the coupling effect between channels. The channels affect each other by sharing liquid or having interactive flow paths, and the coupling term is introduced to model it as shown below: ij (x,t)=fij (u i (x,t),p i (x,t),u j (x,t),p j ((x,t)))

[0083] Q ij represents the rate at which the liquid flows out of channel i and into channel j, F(s,t,Q in (x,t),Q out (x, t)) represents the nonlinear control factor of the system, which is used to describe the relationship between the fluid flow and the control input. Among them, u(x, t) is the flow rate, p(x, t) is the pressure, and ρ is the fluid density. The relationship between the flow rate and the hydraulic pressure of the liquid is usually modeled by the following equation: Q = Aμ

[0084] Where Q is the liquid flow rate, A is the flow cross-sectional area, and μ is the flow velocity. The present invention also considers introducing a hydraulic sensor into the model, assuming that there is a nonlinear relationship between the output of the hydraulic sensor and the hydraulic pressure in the cavity, which is expressed as follows: P 传感器 =f(P 腔体 )

[0085] Among them, P 传感器 is the pressure measured by the sensor, P 腔体 is the actual pressure in the cavity, f(·) represents the nonlinear sensor model, and the state equation of the system is established to describe the dynamic behavior of the liquid in the cavity:

[0086] Among them, P 腔体 is the pressure in the cavity, Q in and Q out are the injection rate and the absorption rate of the liquid respectively. The goal of the control system is to make the pressure P in the cavity 腔体 As close as possible to the expected value P 目标 , thereby minimizing the control error, The goal of the control system is to adjust the liquid injection and suction rate, i.e. Q in (t) and Q out (t), to minimize the control objective J(t), which is expressed as minimizing the following objective function with constraints:

[0087] Among them, Q min and Q max are the minimum and maximum values ​​of the liquid flow rate.

[0088] In summary, the present invention integrates the following functions: liquid supply, intracavitary liquid pressure detection, vacuum negative pressure suction, endoscopic imaging, image processing, and image display capabilities. Based on different endoscopic techniques, the present invention provides continuous, stable, and optimal liquid circulation volume under intelligent monitoring and control of the liquid pressure in organs (such as the renal pelvis, uterine cavity, bile duct, etc.), while directly observing the intracavitary conditions and attracting and removing intracavitary pathological specimens.

[0089] Beneficial effects of the present invention: Compared with the existing technology, the present invention provides a surgical endoscope system with integrated hardware and software and standardized configuration, which cleverly integrates the liquid infusion device, liquid suction device, liquid pressure monitoring and control device, and surgical endoscope into one. It can control the liquid infusion amount of the endoscopic instrument, monitor and control the pressure in the cavity liquid pressure organ (such as the renal pelvis, uterine cavity, biliary system, etc.) while observing with the endoscope, so as to achieve precise control of the intraoperative cavity pressure. According to the requirements of different endoscopic surgeries, the configuration of the scope sheath is standardized to meet the requirements of sufficient liquid circulation for various endoscopic surgeries, maintain a clear field of view in the cavity, and attract and remove intracavitary specimens. The real-time monitoring module utilizes intelligent PID control to calculate the intracavitary pressure state from real-time data obtained from the hydraulic sensor and adjusts the liquid injection and extraction rates according to the set target pressure to maintain the intracavitary pressure within a safe range. The innovation of the present invention lies in the use of a heuristic algorithm to construct exploration factors. The exploration factors collaborate and adjust their positions and speeds through information exchange, establishing an information exchange model. Compared with traditional algorithms, this invention is more inclined to the field of endoscopic surgical systems with automatic hydraulic monitoring functions involved in the present invention, focusing more on the interaction between information, and has robustness and reliability. In addition, the present invention uses a PID method. Unlike traditional methods, the present invention performs nonlinear modeling for the proposed endoscopic surgical system with automatic hydraulic monitoring functions, taking into account multi-channel liquid flow conditions and the coupling effect between channels. Channels influence each other through shared liquid or interacting flow paths. The model is established by introducing coupling terms, and a system state equation is constructed to describe the dynamic behavior of the liquid in the cavity. Finally, it is expressed as a constrained objective function, making real-time, big data computing portable and accelerating the response and execution capabilities of the system provided by the present invention.

[0090] In summary, the present invention not only meets liquid flow requirements, but also avoids complications caused by excessive intracavitary pressure and provides safety warnings. More importantly, the hydraulic sensor of the present invention also features intelligent recognition, which ensures the quality, sensing efficiency, sensing accuracy, and operational stability of the hydraulic sensor, thereby enhancing the safety of the present invention. The present invention can be applied to medical devices for urinary, hepatobiliary, and uterine endoscopic procedures, as well as other intracavitary procedures requiring liquid as a medium, and has a wide range of uses.

[0091] In summary, the advantages of the present invention can be summarized as follows:

[0092] 1. Provide complete and easy-to-use instrument solutions for various endoscopic diagnosis and treatment technologies.

[0093] 2. Equipped with liquid pressure detection system.

[0094] 3. Parameters of perfusion suction, pressure detection and intracavitary imaging are displayed on the same screen.

[0095] 4. Automatically adjust the negative pressure suction to reach the predetermined safe pressure value in the cavity.

[0096] 5. The perfusion flow rate can be adjusted and stopped by the surgeon, making it easy to obtain the ideal flow rate and reducing the number of operating steps.

[0097] 6. The present invention can resolve the contradiction between the amount of liquid perfusion and the intracavitary pressure during clinical endoscopic surgery, achieve precise matching of perfusion flow, flow velocity, and intracavitary pressure, avoid the occurrence of complications, and provide a wider range of clinical applications and possibilities.

[0098] 7. The continuous water circulation of the present invention can reduce the heat generated by devices such as holmium lasers.

[0099] 8. The hydraulic pressure sensor in the present invention adopts the "impedance measurement + key identification" method to improve the stability of pressure hardware, thereby improving equipment safety.

[0100] This embodiment is a preferred embodiment of the present invention. All other designs and processing techniques that are identical or similar in principle and basic structure to this embodiment, as well as designs with similar appearance, are within the scope of protection of the present invention. In addition, although certain specific terms are used in this specification, these terms are for convenience only and do not constitute any limitation to the present invention.

Claims

1. An endoscopic surgical system with automatic hydraulic monitoring function, characterized in that: It includes a control system, a platform kit and endoscope accessories, the control system includes a processor, a touch display connected to the processor, an irrigation pump and a negative pressure pump, the platform kit includes a platform, an irrigation tube and a suction tube, the endoscope accessories include a pressure measuring guide sheath, a hydraulic sensor and an electronic mirror, the hydraulic sensor is a sensor with an identification function; the irrigation tube is provided with irrigation power by the irrigation pump, and the irrigation tube is connected to the irrigation channel of the electronic mirror; the electronic mirror is placed in the pressure measuring guide sheath, the pressure measuring guide sheath is connected to one end of the suction tube and the pressure measuring tube of the hydraulic sensor, the other end of the suction tube is provided with suction power by the negative pressure pump, and the hydraulic sensor is connected to the processor through the hydraulic sensor interface and the hardware processing module in turn.

2. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 1, characterized in that: The hydraulic sensor includes a programmable read-only memory, an output impedance and an input impedance. The output impedance is connected in parallel with the programmable read-only memory. The output impedance and the input impedance are both disconnectably connected to the hydraulic sensor interface. The input impedance is connected to a DC power supply through the hydraulic sensor interface and a sampling resistor. The sampling resistor voltage outputs a signal to the processor via a first analog-to-digital conversion module. The output impedance is connected to a second analog-to-digital conversion module and the processor respectively through the hydraulic sensor interface. The second analog-to-digital conversion module outputs a signal to the processor.

3. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 2, characterized in that: The storage content of the programmable read-only memory includes a preamble, time, serial number, flag and checksum; the preamble is the frame header of the storage content, the time is the first time of recording, the serial number is the unique identification code of the hydraulic sensor, the flag is the recorded insertion status of the hydraulic sensor, and the function of the checksum is to verify the integrity of the preamble, time, serial number and flag.

4. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 2, characterized in that: The identification functions of the hydraulic sensor include: A. Identification of connection and line sequence errors: When the hydraulic sensor is not connected to the sensor interface, the sensor interface is open, and the sampling resistor samples a voltage of zero volts, thereby determining that the hydraulic sensor is not connected; when the hydraulic sensor is connected to the sensor interface, the sampling resistor samples a corresponding voltage, thereby determining that the hydraulic sensor is connected, and determining whether the line sequence of the connected hydraulic sensor is correct; B. Sensor matching identification: When the hydraulic sensor is inserted into the sensor interface, the processor compares the identification code in the system with the unique serial number stored in the programmable read-only memory. If they are the same, they match; if they are different, they do not match; C. Identification of whether the sensor is used for the second time: A real-time clock circuit is provided in the processor. When the hydraulic sensor is inserted into the sensor interface, the processor reads the flag in the programmable read-only memory and determines whether the flag record is the first insertion: if it is the first insertion, the current time is written in the programmable read-only memory and the flag state is changed; if it is not the first time, the processor reads the time stored in the programmable read-only memory and compares it with the current time. If it times out, it is regarded as a second use.

5. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 1, characterized in that: The electronic scope is an electronic soft scope or an electronic hard scope, and the electronic scope is a catheter with a camera.

6. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 5, characterized in that: The vehicle platform kit also includes a collection container, and the other end of the suction tube is connected to the collection container.

7. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 1, characterized in that: The processor is an embedded processor, running CFR (Core Full Register) embedded underlying software.

8. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 1, characterized in that: The processor is provided with a USB interface, a digital-analog video interface, a real-time monitoring module, a data storage module, an audio-visual alarm module, a hardware processing module and a coding and decoding module. The input end of the coding and decoding module is connected to the electronic mirror interface, the input end of the electronic mirror interface is connected to the electronic mirror, and the output end of the coding and decoding module is connected to the processor. The real-time monitoring module is used to monitor the pressure of the liquid in the organ in real time and provide the control system with necessary data to achieve precise control of the intracavitary pressure during surgery. It includes a plurality of high-precision hydraulic sensors, which are placed in the organ and close to the surgical area to measure the pressure of the liquid in the organ. The hydraulic sensor transmits the real-time pressure data to the control system via a data line connected to the control system or a wireless communication method. The intelligent PID control is used to calculate the state of the intracavitary pressure from the real-time data obtained from the hydraulic sensor, and the liquid infusion and extraction speed are adjusted according to the set target pressure to maintain the intracavitary pressure within a safe range, as follows: The pressure change of the liquid in the cavity is described by the following difference equation: P(t+1)=P(t)+ΔP in -ΔP out Among them, ΔP in is the pressure change caused by fluid perfusion, ΔP out is the pressure change caused by liquid extraction, P(t) represents the pressure at time t, P(t+1) represents the pressure at time t(t+1), assuming that there are N exploration factors, each exploration factor represents a control strategy, and the position and speed of each exploration factor represent the parameter value of the control strategy. In each iteration, the position and speed of each exploration factor are updated, and Calculate its fitness value, where the parameters of the control strategy are represented by d dimensions, each dimension corresponds to a control parameter, and the control strategy is represented as a d-dimensional vector X, where X = (X1, X2, ..., X d ), X1 represents the value of the first dimension parameter, X2 represents the value of the second dimension parameter, X d Represents the value of the d-th dimension parameter, and defines the objective function H(X) to evaluate the performance of each exploration factor, which is expressed as follows: H(X)=w1ε(X)+w2k(X in +X out ) Where ε represents the pressure control error, X in represents the liquid perfusion speed parameter, X out represents the liquid extraction speed parameter, k(X in +X out ) represents energy consumption, i.e., the energy required for liquid flow caused by the control strategy, k is a constant related to the energy consumption of the unit flow rate liquid, w1 and w2 are parameters used to balance the pressure control error and energy consumption weights, and the fitness function A(X) is defined as a function of H(X), where the objective function includes the pressure control error and energy consumption: A(X) = -H(X), and the position update model of each exploration factor i is expressed as: X i (t+1)=X i (t)+ΔX i (t+1) X i (t) represents the location of the exploration factor i at time t, which is a d-dimensional vector, ΔX i (t+1) represents the position change of the exploration factor i at time t+1. The speed update model of each exploration factor i is expressed as: V i (t+1)=V i (t)+ΔV i (t+1) Among them, V i (t) represents the speed of exploration factor i at time t, corresponding to the position update, which is a d-dimensional vector, ΔV i (t+1) represents the speed change of exploration factor i at time t+1. The exploration factors cooperate and adjust their positions and speeds through information exchange. The information exchange is represented by the following model: represents the location of neighboring exploration factor i at time t, ΔX i (t+1) and ΔV i (t+1) is the change in position and speed, which are used to update the position and speed respectively. γ is the adjustment parameter that affects the weight of information exchange. T0 represents the initial time of statistics. * Indicates the statistical end time. and H2(X i (t),t) is the information exchange function with the neighboring exploration factor, which is used to adjust the position. and H4(X i (t),V i (t), t) is the information exchange function with the neighboring exploration factor, which is used to adjust the speed, l is the lag time, and pr is the probability function.

9. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 8, characterized in that: The dynamic behavior of liquid infusion and aspiration and the response of pressure are described by the following equations: in, Indicates the rate of change of pressure, Q in (t) represents the liquid injection rate at time t, Q out (t) represents the liquid absorption rate at time t, V represents the volume of the cavity, and the objective function J(t) is defined as: represents the performance index pursued by the system. The objective function is the difference between the intracavitary pressure and the target pressure, that is, where P(t) is the pressure at time t, P 目标 is the desired target pressure, and the output U(t) of the PID control algorithm is expressed as: Among them, τ is the time slot, e(t) is the error at the current moment, and K p , K i , K d are proportional, integral and differential gains, which are used to control the influence of proportional term, integral term and differential term respectively. The present invention performs nonlinear modeling on the proposed endoscopic surgery system with automatic hydraulic monitoring function: Wherein, x is the spatial coordinate, t is the time, and ν is the kinematic viscosity. The present invention takes into account the multi-channel liquid flow situation and the coupling effect between channels. The channels influence each other by sharing liquid or having an interacting flow path, and the coupling term is introduced to model the flow, as shown below: Q ij (x,t)=f ij (u i (x,t),p i (x,t),u j (x,t),p j ((x,t))) Q ij represents the rate at which the liquid flows out of channel i and enters channel j, F(x, t, Q in (x,t),Q out (x, t)) represents the nonlinear control factor of the system, which is used to describe the relationship between the fluid flow and the control input, where u(x, t) is the flow rate, p(x, t) is the pressure, and ρ is the fluid density. The relationship between the flow rate and the hydraulic pressure of the fluid is usually modeled by the following equation: Q=Aμ Wherein, Q is the liquid flow rate, A is the flow cross-sectional area, and μ is the flow velocity. The present invention also considers introducing a hydraulic sensor into the model, assuming that there is a nonlinear relationship between the output of the hydraulic sensor and the hydraulic pressure in the cavity, which is expressed as follows: P 传感器 =f(P 腔体 ) Among them, P 传感器 is the pressure measured by the sensor, P 腔体 is the actual pressure in the cavity, f(·) represents the nonlinear sensor model, and the state equation of the system is established to describe the dynamic behavior of the liquid in the cavity: Among them, P 腔体 is the pressure in the cavity, Q in and Q out are the injection rate and the absorption rate of the liquid respectively. The goal of the control system is to make the pressure P in the cavity 腔体 As close as possible to the expected value P 目标 , thereby minimizing the control error, The goal of the control system is to adjust the liquid injection and suction rate, i.e. Q in (t) and Q out (t), to minimize the control objective J(t), which is expressed as minimizing the following objective function with constraints: Among them, Q min and Q max are the minimum and maximum values ​​of the liquid flow rate.

10. The endoscopic surgery system with automatic hydraulic monitoring function according to claim 1, characterized in that: There are two touch displays with completely the same functions, which are used by doctors and nurses respectively. They have the functions of parameter setting, command input, and on-screen display of perfusion suction, pressure detection, and intracavitary imaging parameters. After receiving the start signal of the touch display or the endoscope accessory, the processor first determines whether the operating conditions of the system are normal. The operating conditions include whether the system parameters are correctly set, whether the conditions are met after the hydraulic sensor is identified, and whether the original signals connected, operated, and collected by the pressure measuring guide sheath and the electronic mirror are normal; if the conditions are normal, the processor sends instructions to the perfusion pump and the negative pressure pump, and the perfusion pump starts to act on the perfusion tube, forming a perfusion pressure in the perfusion tube, and injecting physiological saline into the body cavity through the electronic mirror. At the same time, the negative pressure pump works, so that the collection container, the suction tube, and the pressure measuring guide sheath form a vacuum negative pressure, and the physiological saline or other contaminants injected into the body cavity are sucked out; During the operation of the system, the hydraulic sensor collects the liquid pressure in the body cavity through the independent pressure measuring channel on the pressure measuring guide sheath. The pressure signal is converted into a voltage signal and then processed by hardware before reaching the processor for analysis. The processor then adjusts the suction force of the negative pressure pump to keep the pressure in the body cavity at the expected set value.

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