449 results about "Medical robot" patented technology

The teachings generally provide for a hand-held medical robotic system for use with a surgical tool, the system comprising an instrument comprising a hand-held portion, a tool support coupled to the hand-held portion, and an actuator assembly operatively interconnecting to move the tool support in a plurality of degrees of freedom to place the surgical tool and a localizer. The system additionally comprises a control system configured to determine a state of the surgical tool and determine a position and / or orientation of a reference coordinate system relative to a known coordinate system, activate a guided mode based on a first relationship criteria between the state of the surgical tool and the reference coordinate system, and deactivate the guided mode based on a second relationship criteria between the state of the surgical tool and the reference coordinate system, wherein the first relationship criteria and the second relationship criteria are different.

The invention belongs to the technical field of medical robots, and particularly relates to a mammary gland puncture surgical robot navigation system and device based on multi-modal image fusion. The multi-mode image data are registered and fused, high-precision three-dimensional reconstruction of the mammary gland tissue is achieved, more visual and accurate surgical navigation information is provided for doctors, the position of the puncture needle is tracked in real time, space registration is conducted on the puncture needle and the image data, and therefore the precision and safety of the surgery are improved, and the operation efficiency is improved. Meanwhile, puncture force feedback information of a puncture needle in the needle moving process is collected in real time, the implementation effectiveness of a puncture navigation path is evaluated, when it is found that the puncture path has risks, dynamic adjustment is conducted immediately, a new puncture path bypassing an obstacle area and reaching a focus is planned again, and the risk of the puncture path is avoided. And if the safe path cannot be obtained, the system automatically stops needle insertion and gives an acousto-optic early warning prompt, so that the surgical risk caused by manual misoperation in the traditional surgery is avoided.

The invention relates to the field of medical robots, and discloses a meridian point foundation construction method for precise positioning of an acupuncture robot, which comprises the following steps: scanning skin texture, muscle contour and skeleton mark features of a human body surface, and establishing a human body surface feature digital model; the method comprises the following steps: acquiring temperature distribution data of a human body surface, human body surface feature digital model data and elastic modulus data, performing weight mapping feature level fusion to generate an enhanced acupuncture point feature map, and establishing an acupuncture point-meridian association relationship matrix based on the enhanced acupuncture point feature map; compared with the prior art, the method has the advantages that three-dimensional body surface scanning, infrared thermal imaging and elastic modulus data are integrated through the multi-modal data fusion technology to generate the enhanced acupoint feature map, the dynamic meridian-acupoint twinborn model is constructed in combination with double-ellipse section fitting and implicit curved surface reconstruction, and tissue deformation is simulated in real time.

The invention belongs to the technical field of medical robot control, and discloses a physiotherapy robot self-adaptive control method and system based on multi-mode biological feedback, and the method comprises the steps: carrying out the preprocessing of a biomechanical sensing signal obtained in advance, carrying out feature extraction and dynamic weight fusion on the preprocessed biomechanical sensing signal by utilizing wavelet transform and frequency domain transform to obtain a joint feature; establishing a system dynamics model based on a Lagrange equation, generating a time-varying impedance trajectory model by utilizing a joint state acquired in real time and combining a rolling optimization algorithm, and dynamically adjusting impedance parameters of the time-varying impedance trajectory model according to joint features to generate a safe motion trajectory; and performing double closed-loop control on the physiotherapy robot according to the safe movement track and a biomechanical sensing signal obtained in real time to obtain a control signal of the physiotherapy robot, and realizing joint motor driving of the physiotherapy robot based on the control signal. The device can be flexibly changed according to individual differences of patients and rehabilitation processes.

The invention relates to the technical field of medical robot systems, and discloses a nerve plexus intelligent positioning anesthesia puncture robot system based on multi-modal fusion, which performs time-space synchronization on ultrasonic image flow and contact force data. The frequency domain analysis module extracts a main peak frequency by using optical flow field frequency domain transformation, and generates a probability mask for marking pulsatile tissues. The viscoelasticity verification module calculates phase lag parameters of visual deformation and contact force, identifies tissue rheological properties and calculates a dynamic damping coefficient. The deformation compensation module calculates a mechanical residual error based on a reference mechanical model, and inversely calculates the mechanical residual error into space deformation displacement of the tissue. The feedback control module combines the probability mask and the deformation displacement to generate a motion instruction. According to the invention, through multi-modal data fusion, precise identification of tiny blood vessels, dynamic identification of tissue attributes and real-time compensation of soft tissue conceding deformation are realized.

The invention discloses a control method for a mechanical arm of a medical robot, which comprises the following steps: determining the magnitude and direction of a force applied to a tail end joint of a surgical instrument in real time, the surgical instrument being mounted on the tail end joint of the mechanical arm; under the condition that the force borne by the tail end of the surgical instrument is smaller than a first set threshold value, the direction opposite to the direction of the force borne by the tail end of the surgical instrument serves as the traction direction, and the operation point of the surgical instrument on the body of the patient serves as a fixed point; the rotation speed and the rotation direction of the mechanical arm around the fixed point and the axial translation speed and the axial translation direction of the mechanical arm relative to the fixed point are determined; and the mechanical arm is controlled to move according to the rotating speed and the rotating direction of the mechanical arm around the fixed point and the axial translation speed and the axial translation direction of the mechanical arm relative to the fixed point. The invention further provides electronic equipment, a computer readable medium and a medical robot.

The invention belongs to the technical field of medical robots, and discloses a surgical robot accurate pose real-time registration method and system based on multi-sensor fusion, and the system comprises a multi-source sensing collection assembly; a time-space calibration mechanism; fusing a resolving platform and an exception elimination platform; a deformation sensing and dynamic compensation device; and a registration result closed-loop feedback unit. According to the invention, a multi-source sensing acquisition assembly and a synchronous control board are integrated on a hardware level, a nanosecond timestamp is generated by using a high-precision clock driven by an onboard crystal oscillator, and a cross-correlation delay calculation chip is combined to execute a cross-correlation function method delay estimation formula, so that microsecond-level accurate correction of delay amount among sensing sources is realized; the coordinate transformation unit automatically selects a matched calibration matrix according to a correction result, multi-source data such as optical positioning, inertial measurement, a torque sensor, ultrasonic or electromagnetic positioning and the like are unified to a global rectangular coordinate system, and the structure can effectively ensure the consistency of time and space references of data output by different sensors.

The invention relates to a robot track synchronization control method. According to the technical scheme, efficient collection and over-distance transmission of neural signals are achieved through the quantum entanglement technology, the brain movement intention is analyzed in combination with a high-sensitivity sensor and an intelligent algorithm, an instruction is transmitted to a robot power driving system through a low-delay communication architecture, and real-time synchronization of man-machine tracks is achieved through a two-way feedback system. Meanwhile, the movement flexibility of the robot is improved by adopting a lightweight design, the problems of high delay, low precision, poor interaction experience and the like in traditional man-machine synchronous control are solved, and the method can be widely applied to the fields of exoskeleton robots, industrial collaborative robots, rehabilitation medical robots and the like. The method has the advantages of being low in delay, high in precision, capable of improving interaction experience and wide in application range.

Robotic surgical systems configured to control the movement and actuation of a single robotic arm, and the movement and actuation of first and second tools carried in a tool holder at a distal end of the robotic arm.

The invention relates to the technical field of ultrasonic medical robots, and discloses a superficial ultrasonic scanning path planning method and device based on an SVD-improved RRT algorithm. The superficial ultrasonic scanning path planning method is applied to ultrasonic medical robot equipment, and specifically comprises the following steps: S101, receiving a data acquisition request sent by a main control end, controlling a Kinect camera to acquire a superficial depth image, processing 20 groups of calibration board images through a Matlab calibration tool box, and executing a corner detection algorithm to identify checkerboard corners, and optimizing and solving the internal reference matrix of the infrared camera. According to the method, SVD plane fitting and an improved RRT algorithm are fused, the precision and efficiency of an ultrasonic scanning path are remarkably improved, in the point cloud processing stage, statistical filtering and voxel gravity center down-sampling synergistically act, point cloud noise is reduced by 90%, meanwhile, more than 95% of three-dimensional features are reserved, a high-fidelity data basis is provided for path planning, and the method has good application prospects. SVD plane fitting forcibly passes through the center of mass, and the error is smaller than or equal to 0.5 mm

The invention belongs to the technical field of medical robots, and discloses a photoelectric fusion positioning error compensation method and system for a surgical robot. The system is composed of an optical positioning acquisition module, an electromagnetic interference detection and auxiliary positioning module, a photoelectric dynamic fusion and weight adaptive adjustment module, a real-time error dynamic modeling and feedback module and a motion compensation control and path adjustment module. The optical positioning acquisition module adopts the design of a multi-angle camera and three-dimensional distributed infrared identification points, and captures the pose information of the actuator in all directions; the electromagnetic interference detection and auxiliary positioning module monitors environmental interference in real time and calibrates electromagnetic positioning data by establishing an interference model; the photoelectric dynamic fusion and weight adaptive adjustment module effectively fuses two types of data by using extended Kalman filtering and a dynamic weight algorithm, can eliminate adverse factors such as a visual angle blind area and environmental interference in all directions, accurately obtains the pose of an actuator, and remarkably improves the accuracy and reliability of operation positioning.

The invention provides a reinforcement learning training method and system based on a multi-target structured reward function, and the method comprises the steps: an environment simulation layer comprises a physical engine and a blood vessel environment simulator, and is used for simulating the physical movement and interaction of a catheter in a blood vessel, and providing an environment state for a reward calculation layer; the reward calculation layer performs calculation through a plurality of independent calculation modules and finally generates a comprehensive reward value through a composite reward aggregator; the reinforcement learning layer learns and optimizes a navigation strategy according to the comprehensive reward value; and the monitoring evaluation layer monitors each performance index in the training process and adaptively adjusts the weight of each reward component in the reward calculation layer according to the index change. According to the invention, a major breakthrough of reinforcement learning in medical robot training is realized. Compared with a traditional single reward function method, the intelligent agent which is really thought by experts can be trained, and the method not only pursues to quickly reach a target, but also knows how to safely and stably complete operation.

The invention belongs to the field of medical robots, and relates to a method, device and equipment for adjusting a DSA ray frame rate and a storage medium, and the method comprises the steps: obtaining a current exposure frame rate of a DSA; acquiring operation parameters of an operator end; and generating an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and sending the updated DSA exposure frame rate to the DSA, so that the DSA performs imaging according to the updated DSA exposure frame rate. The DSA ray frame rate can be adjusted according to the related motion parameters of the interventional instrument, so that the radiation dose received by an operation object, an operator and an assistant is reduced, and damage caused by radiation is relieved.

The invention discloses a design method of a barrier function rehabilitation robot safety tracking control system, and relates to the technical field of medical robots. The method comprises the steps that on the basis of an existing double-joint single-arm robot mathematical model, a mathematical model with uncertain model parameters, uncertain external disturbance and uncertain external force borne by the tail end is established, and the established model is closer to a real model of a rehabilitation robot; the uncertainty in the model is classified into one class, and a disturbance observer is used for estimating and compensating the uncertainty; a logarithmic obstacle Lyapunov function is adopted to constrain the joint angle; and designing an adaptive trajectory tracking controller based on the disturbance observer and the obstacle Lyapunov function method, and tracking a set trajectory. The high-precision tracking of the target trajectory is ensured, the actual motion trajectory always moves within a certain range on the two sides of the target trajectory, and the secondary injury of the patient in the rehabilitation process is avoided.

The invention belongs to the technical field related to medical robots, and discloses a rigid-flexible coupling pneumatic humanoid dexterous finger and a dexterous hand. The dexterous finger comprises a sectional corrugated pipe actuator, a rigid cover plate, a rigid bottom plate, a flexible finger pulp patch and a one-way stretchable fabric; a cooperative structure of rigid supporting, flexible driving and contact adaptation is formed through a preset assembly relation; by designing the wave number of the corrugated pipe at each joint of the pneumatic dexterous finger, the bending proportion of each joint is ensured to accord with the human hand movement rule; the one-way stretchable fabric can restrain ineffective upheaval at the joints, and the energy conversion efficiency is improved. The dexterous hand can integrate five anthropomorphic-size dexterous fingers, and the palm notch angle, the thumb turning direction angle and the flexible palm patch are all engraved with the physiological characteristics and structure of the hand of the human body. According to the pneumatic dexterous hand, personification of the pneumatic dexterous hand in appearance and movement modes is achieved, flexibility and bearing stability are both considered, and the pneumatic dexterous hand can meet the requirements of multiple scenes such as medical care and industrial assembly.

The invention belongs to the technical field of medical robots and minimally invasive surgery, and provides a robot control system and method for blue laser vaporization surgery of prostatic hyperplasia. Mapping the nuclear magnetic image volume data to a deformation field under an ultrasonic acquisition coordinate system, and deforming the preoperative nuclear magnetic image to an intra-operative ultrasonic space by using the deformation field to complete image registration; fusing the registered image with a stereoscopic vision system; the spatial depth of the surface of the target tissue is obtained from the endoscopic image so as to supplement navigation information; according to the utility model, the prostate deformation and probe posture change adaptive capacity in an operation is improved, the real-time visual closed-loop regulation and control capacity is improved, and the characteristics of small light spots, shallow heat diffusion, excellent hemostasis and the like of blue laser are combined, so that the vaporization and hemostasis precision in a tiny blood vessel dense area is ensured, and the problems of large tissue trauma and the like are avoided.

The invention discloses an intelligent ward patrol robot, and relates to the technical field of intelligent medical robots, the intelligent ward patrol robot comprises a robot body, and the robot body is internally provided with a multi-mode sensing unit, an edge calculation unit, a federal learning unit and a decision execution unit. According to the multi-mode sensing unit, a polarization type 3D camera, a 60 GHz millimeter wave radar and an environment sensor array are integrated in a robot body. By installing the multi-mode sensing unit, the non-contact emotion recognition function is achieved, in combination with contact detection of the intelligent bracelet on the signs of the patient, the bottleneck of non-contact emotion and sign cooperative monitoring is broken through, the emotion sensing ability of the patient is improved, and the medical service quality is improved.

The invention provides a supporting arm for a medical robot and an auxiliary puncture system, and belongs to the technical field of medical equipment, specifically, the supporting arm comprises supporting arm assemblies, the first ends of the supporting arm assemblies are provided with first rotating joints, and the two supporting arm assemblies are connected through second rotating joints; a damping assembly; an adjusting assembly; and a locking member. According to the damping supporting arm provided by the embodiment of the invention, in the adjusting process, an operator usually roughly adjusts a puncture robot to a certain position firstly, then fine adjustment is carried out according to an operation position, an operation position and the like, the supporting arm is locked after fine adjustment, and in the process from rough adjustment to fine adjustment, the supporting arm is locked after fine adjustment. The damping assembly can provide rotating damping at the first rotating joint and the second rotating joint, so that the rotating damping provided by the damping assembly can enable the surgical equipment to keep the current position and angle no matter where the puncture robot is rotated to by an operator, and the adjusting efficiency of the position of the surgical equipment is greatly improved.

The invention discloses a medical robot autonomous path planning method based on convex optimization and a related device. The method comprises the following steps: acquiring an environment point cloud to construct a three-dimensional working space; performing alpha-shape segmentation on a collision-free region to obtain a convex set sequence; constructing a convex set graph by taking the convex set as a vertex and the intersection as an edge; shortest path mixed integer programming is established on the graph, and convex set coverage, continuity and acceleration constraint are added by taking the Bessel control point distance and the trajectory duration as targets; executing a convex set graph shortest path algorithm to obtain a discrete sequence, and then running mixed integer quadratic cone programming to output Bessel parameters; and circulating until the robot reaches the target. According to the method, the complex non-convex space is converted into the convex set sequence, efficient solving is achieved through convex optimization, the planning time is remarkably shortened, and the real-time performance and safety are improved.

The invention discloses a robot-assisted execution system and method based on a pre-planned puncture scheme, and belongs to the technical field of medical robots. The method comprises the following steps: acquiring medical image data including a target area and a forbidden area; for the target area, a discrete candidate trajectory set is generated in a preset candidate trajectory generation cone, and each candidate trajectory is a space path connecting one point in the generation cone and the target area; performing a rigid geometric constraint check on the discrete candidate trajectory set to screen out candidate trajectories having geometric interference with the forbidden area to obtain a preliminarily purified candidate trajectory subset; executing a flexible quality index evaluation on each candidate trajectory in the candidate trajectory subset, and obtaining a comprehensive quality index for each trajectory; selecting a preferred execution track from the subset according to the comprehensive quality index; and the robot execution system is controlled, and puncture operation is completed according to the optimal execution track. The safety and clinical interpretability of a puncture path are improved.

The invention relates to the technical field of medical robots, in particular to a surgical robot and a remote motion center dynamic adjustment method for the surgical robot, and the method comprises the steps: building a kinematics constraint model between a tool axis of a surgical tool and a robot base coordinate system; on the basis of a visual sensor and a hand-eye transformation matrix, a pose measurement value of the remote motion center point under a robot base coordinate system is obtained in real time; fusing a pose state prediction quantity driven by a robot motion instruction and the pose measurement value, and generating an optimal estimation pose and a state covariance matrix of the remote motion center point; according to the state covariance matrix, determining whether the remote motion center point has a large offset; when it is judged that the large-amplitude offset occurs, a safety strategy is triggered to control the surgical robot. According to the technical scheme, dynamic tracking and real-time adjustment of the remote motion center point in the operation are achieved, and the problems that a traditional scheme is insufficient in flexibility and poor in safety are solved.

The invention provides an intelligent control method and system for a body-equipped robot based on man-machine interaction data, and relates to the technical field of medical robots, and the method comprises the steps: building a 5G network two-way transmission channel between a control end and a surgical robot end; through a 5G network two-way transmission channel, synchronously transmitting two types of data streams between the control end and the surgical robot end, namely a control instruction data stream generated by the control end and a surgical image data stream collected by the surgical robot end; in the transmission process of the two types of data streams, real-time network time delay is continuously monitored, whether the current network time delay exceeds a preset time delay threshold value or not is judged, and the preset time delay threshold value can be dynamically corrected according to the network state; and when it is judged that the current network delay exceeds the preset delay threshold, dynamically deploying a plurality of network probes on the 5G network two-way transmission channel. According to the invention, the real-time performance, the accuracy and the safety of the remote operation can be ensured.

The invention relates to the technical field of medical robots, and particularly discloses a complex scene simulation and motion assisting robot which comprises two sets of symmetrically-arranged unilateral training platforms, and each unilateral training platform comprises a supporting base, a front-back displacement platform, a left-right displacement platform, a vertical displacement platform, a rotation driving mechanism and a pedal mechanism. The pedal mechanism at least comprises a bottom plate, a pedal plate and a pedal driving mechanism used for driving the pedal plate to independently move relative to the bottom plate. Two groups of symmetrical unilateral training platforms work cooperatively, each platform is integrated with four-degree-of-freedom basic motion units composed of front-back, left-right and vertical displacement platforms and rotary driving mechanisms, and then is combined with a pedal mechanism with independent active driving capability; various daily and complex exercise scenes such as walking on the flat ground, going up and down stairs, trudge on mountains, surfing and the like can be reproduced, a highly-simulated dynamic environment is provided for rehabilitation training, the exercise simulation dimension is wider, and the precision is higher.

The invention relates to the technical field of medical robots, in particular to a laser treatment auxiliary robot and an auxiliary method thereof, and the method comprises the following steps: scanning a motion area, and obtaining obstacle detection records by calculating point cloud density, boundary form and curvature change parameters and identifying obstacles in the motion area. According to the method, through multi-layer point cloud scanning, the recognition precision of the mechanical arm on the obstacles in the movement area is optimized, the space sensing capacity is improved, the real-time data of the joint torque sensor are combined, the accuracy of collision risk assessment is enhanced, the speed and torque are dynamically adjusted, and the movement safety and stability are improved; according to the method, treatment starting coordinates are extracted by adopting tissue deformation in unit time, a surface curvature change value and a boundary shortest distance, the matching degree of a treatment area is improved, laser treatment is more accurate, a motion path is optimized by combining a surface geometrical shape and real-time operation feedback, trajectory mutation is reduced, and safety and consistency of a treatment process are improved.

The invention relates to the technical field of medical robots, in particular to a three-dimensional reconstruction method and system for a nasal jejunum catheterization robot. The method comprises the following steps: acquiring endoscope image data in real time through an endoscope camera and a data transmission channel, and performing preliminary denoising and enhancement; a parallel processing architecture is adopted, and the endoscope image data is divided, subjected to image denoising and enhancement again, improved in image contrast and subjected to distortion correction processing in sequence; carrying out dynamic modeling on the newly collected image data in the nasal jejunum dynamic three-dimensional model; performing dynamic path planning and attitude adjustment, and detecting errors in real time; the system comprises a data acquisition module, a data parallel processing module, a dynamic modeling module and an adjusting module. In this way, the real-time performance, the soft tissue adaptability and the catheter positioning information precision can be met, and therefore the reliability of nasal jejunum catheterization operation is improved.

The invention belongs to the field of medical robots, and particularly relates to a robot blood vessel suturing force feedback estimation method, medium and system based on vision, and the method comprises the following steps: collecting and preprocessing a high-frequency dynamic image of a blood vessel region and a suturing tool; performing time-frequency analysis on the image; after the image is converted to a frequency domain, a motion mode of the cardiovascular system is extracted; constructing a mechanical model based on the extracted motion mode and a prior biomechanical model of the cardiovascular system; and combining the extracted motion modal information with the mechanical response of the mechanical model through a space-time information fusion algorithm, and estimating the contact force when the suture tool is in contact with the blood vessel. Compared with the prior art, the problem that a force feedback estimation method based on vision is difficult to apply in a dynamic environment in the prior art is solved. According to the scheme, more accurate force control and operation are achieved, and the safety and the success rate of the robot vascular suturing operation can be improved.

The invention relates to the technical field of medical robots, in particular to a shape sensing type bronchoscope robot control method, which comprises the following steps of: acquiring a tail end shape coordinate of a bronchoscope in a current bending state, and constructing a current bending state model of the bronchoscope; robot joint angle vectors are obtained through deformation state data collected in real time; according to the robot structure model, constructing a robot model in the current bending form; respectively constructing a bending part spring model and a joint spring model based on the stress conditions of the tail end control point and the bending part control point; lateral pressure borne by the bending part and the tail end of the bronchoscope in the current bending posture is collected and processed; self-adaptive control is realized based on the target control quantity; the shape of the bronchoscope is sensed in real time through multiple sensors, mechanical analysis is carried out in combination with a spring model, multi-strategy self-adaptive control is achieved, the accuracy, safety and efficiency of bronchoscope operation are improved, and powerful technical support is provided for bronchoscope examination and minimally invasive surgery.

The invention relates to a temperature drift compensation flexible pressure sensor system based on bionic mechanics. The temperature drift compensation flexible pressure sensor system comprises a flexible sensing module, a temperature drift compensation module and a signal processing module. The flexible sensing module is designed by adopting a bionic mechanical structure, and the mechanical characteristics of biological tissues are simulated by compounding a plurality of layers of flexible materials, so that high-sensitivity pressure detection is realized; the temperature drift compensation module is integrated with a temperature sensor and a compensation algorithm, monitors the environment temperature change in real time, dynamically adjusts a sensing signal and eliminates temperature interference; and the signal processing module is used for filtering, amplifying and digitally processing the compensated signal and outputting pressure detection data. According to the system, through combination of bionic structure design and intelligent temperature drift compensation, the measurement precision and stability of the flexible pressure sensor in a complex environment are remarkably improved, and the system is suitable for high-precision pressure detection requirements in the fields of medical treatment, robots and the like.

The embodiment of the invention discloses a medical equipment control system based on a clinical test scheme. According to one specific embodiment, the system comprises a scheme generation server, a document abstract extraction server, a data analysis server and a medical robot, and the document abstract extraction server is used for generating a query argument tree and a retrieval information result set based on text information and document request information; generating an ideal answer vector set according to the retrieval information result set; querying the ideal answer vector set to generate a retrieval result group; processing the retrieval result group to obtain a literature abstract; the data analysis server is used for performing instruction conversion on the query information to obtain a query instruction and executing the query instruction to obtain an information query result; and the scheme generation server is used for generating a clinical test scheme and sending the clinical test scheme to the medical robot to execute clinical test operation. According to the embodiment, the system response time and the waste of test samples can be reduced.

The invention provides a blood glucose monitoring and regulating method and system based on a medical robot, and the method comprises the steps: monitoring an obtained blood glucose value in real time, and judging whether the blood glucose value belongs to a first preset range or not; if not, generating a first alarm signal; if yes, acquiring a continuous blood glucose value sequence in a set time window, and constructing a blood glucose change curve; traversing the blood glucose change curve, calculating a blood glucose change rate and a blood glucose change rate corresponding to each time node in the time window, and constructing a change rate sequence and a change rate sequence; calculating a blood glucose predicted value after the current time node based on the change rate sequence, the change rate sequence, the maximum peak-valley difference of the blood glucose change curve and the blood glucose value of the current time node; when it is judged that the blood glucose predicted value does not belong to the first preset range, a second alarm signal is generated, and a regulation and control list is generated according to the blood glucose predicted value. According to the method, the blood glucose value prediction process is simpler, a large number of computing power resources do not need to be occupied, and the real-time performance of monitoring, regulating and controlling the blood glucose of the user is improved.