The invention discloses a
hemostasis clamping control method and
system for a cardiovascular minimally
invasive surgery, and relates to the technical field of cardiovascular minimally invasive surgeries, and the method comprises the steps: 1, collecting an image through a 4k
endoscope, extracting a bleeding point region through a U-Net + + segmentation model, and recognizing a bleeding type through the combination of HOG features and an
SVM classifier; 2, setting an initial opening degree through a displacement sensor, and adjusting a clamping angle by referring to the
diameter of the
blood vessel; thirdly, the electric clamping tool is started, the actual clamping force is fed back through a
pressure sensor, and the rotating speed of a motor is dynamically adjusted to control the clamping force error; fourthly, the
blood flow velocity is calculated through an
optical flow method,
tissue oxygen supply is monitored by combining a blood
oxygen saturation sensor and a blood
oxygen saturation sensor, and whether
hemostasis succeeds or not is judged; 5, switching to a
constant force maintaining mode after
hemostasis succeeds, and reducing the clamping force according to the speed gradient after the operation is finished. The hemostasis control precision and stability are improved, the safety
protection mechanism is perfected, the adaptability and practicability of the
system are enhanced, and the
clinical value is remarkable.