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CN-121971164-A - Disposable ureter rubble calculus removing system and device

CN121971164ACN 121971164 ACN121971164 ACN 121971164ACN-121971164-A

Abstract

The invention discloses a disposable ureter lithotripsy and calculus removal system and device, which belong to the technical field of minimally invasive surgical instruments in urinary surgery and comprise an acquisition module, a peristaltic pump, a perfusion drainage tube, a perfusion module, a suction pump, a first suction drainage tube, a second suction drainage tube and a suction module, wherein the acquisition module is used for acquiring pressure values and temperature values in a ureter, the peristaltic pump, the perfusion drainage tube is used for controlling perfusion flow through the perfusion pump according to the pressure values and the temperature values, the suction pump, the first suction drainage tube, the second suction drainage tube and the suction module are used for controlling suction flow of the second suction drainage tube through the suction pump according to the pressure values and the temperature values.

Inventors

  • Xu Genru

Assignees

  • 苏州聚微医疗器械有限公司

Dates

Publication Date
20260505
Application Date
20251231

Claims (10)

  1. 1. A disposable ureteral lithotripsy and calculus removal system is characterized by comprising: the acquisition module is used for acquiring a pressure value and a temperature value in the ureter; A peristaltic pump; inputting perfusion liquid into a perfusion drainage tube of the disposable ureteroscope through the peristaltic pump; the perfusion module is used for controlling perfusion flow through the perfusion pump according to the pressure value and the temperature value; A suction pump; the first suction drainage tube is connected with the inlet of the collecting container and the disposable ureteroscope, and the second suction drainage tube is connected with the outlet of the collecting container and the air inlet of the suction pump; and the suction module is used for controlling the suction flow of the second suction drainage tube through the suction pump according to the pressure value and the temperature value.
  2. 2. The system of claim 1, further comprising a working mode setting module comprising a manual control mode and an automatic control mode, wherein the automatic control mode is used for automatically controlling the perfusion flow and the suction flow by the perfusion module and the suction module based on the data of the pressure value and the temperature value.
  3. 3. The system of claim 2, wherein the perfusion module and the aspiration module automatically control perfusion flow and aspiration flow based on the data of the pressure value and the temperature value comprises: acquiring a pressure sequence and a temperature sequence through a preset sampling frequency; calculating the change rate according to the pressure sequence, fitting the change rate to obtain a pressure trend index, calculating the change rate according to the temperature sequence, and fitting to obtain a temperature trend index; judging whether the pressure trend index exceeds a preset threshold value, if so, extracting a correlation deviation value from the temperature trend index, and determining the perfusion flow increment to be adjusted through the correlation deviation value; Calculating a compensation value for the suction flow based on the determined perfusion flow increment; Acquiring updated perfusion flow parameters and suction flow parameters, and obtaining an adjusted pressure sequence and temperature sequence; Recalculating the change rate according to the regulated pressure sequence and temperature sequence, classifying the change rate through a support vector machine model to judge the environmental stability, and if the stability is lower than a threshold value, adjusting a compensation value by an iterative feedback control algorithm; And extracting optimized perfusion flow parameters and suction flow parameters from the iterative compensation values, and determining the final perfusion flow through preset threshold comparison.
  4. 4. The system for removing urinary calculus from disposable ureteral lithotripsy of claim 3, wherein the acquiring the pressure sequence and the temperature sequence at the preset sampling frequency comprises: determining sequence integrity; if the sequence integrity meets a preset threshold, dividing the pressure sequence and the temperature sequence through a sliding window to obtain a pressure fragment sequence and a temperature fragment sequence; Calculating a fragment average value according to the pressure fragment sequence and the temperature fragment sequence to obtain a pressure average value sequence and a temperature average value sequence; If the abnormal segment exists, eliminating the abnormal segment from the pressure segment sequence and the temperature segment sequence to obtain a corrected pressure segment sequence and a corrected temperature segment sequence; calculating segment variances according to the corrected pressure segment sequences and the corrected temperature segment sequences to obtain pressure variance sequences and temperature variance sequences; determining variance stability for the pressure variance sequence and the temperature variance sequence; And if the variance stability meets a preset threshold, calculating a coefficient between the corrected pressure segment sequence and the corrected temperature segment sequence to obtain a coefficient between pressure and temperature.
  5. 5. The system for removing urinary calculus from disposable ureter according to claim 4, wherein said pressure average sequence and said temperature average sequence are used for judging abnormal segments by using a support vector machine: ; wherein f (x) represents a decision function of a support vector machine for judging abnormal segments in the pressure and temperature average value sequence, n represents the number of support vectors, Representing a Lagrangian multiplier, y i representing a class label of the ith sample, K (x i , x) representing similarity between the kernel function calculation input sample and the support vector, x i representing the ith support vector, x representing a mean sample to be classified, and b representing a bias term; the calculating coefficients between the sequence of modified pressure segments and the sequence of modified temperature segments comprises: ; Wherein, the Representing the coefficient between the sequence of corrected pressure segments and the sequence of corrected temperature segments, m representing the length of the sequence of corrected segments, P i representing the i-th corrected pressure segment value, T i representing the i-th corrected temperature segment value, Representing the mean value of the sequence of modified pressure segments, The mean value of the modified temperature fragment sequence is shown.
  6. 6. The system for removing urinary calculus from disposable ureter according to claim 3, wherein said calculating a rate of change from the pressure sequence, fitting said rate of change to obtain a pressure trend indicator, calculating a rate of change from the temperature sequence, and fitting to obtain a temperature trend indicator comprises fitting said rate of change to obtain a pressure trend indicator by a linear regression model; ; Wherein P trend represents a pressure trend index, N represents the total number of data points in the pressure sequence, praw, i represents the pressure value at the i-th moment, t i represents the time variable at the i-th moment, The mean value of the original pressure sequence is represented, Representing a time series average; the fit of the temperature trend index is the same as the fit of the pressure trend index.
  7. 7. The system for removing urinary calculus from disposable ureteral lithotripsy of claim 3, wherein calculating a corresponding compensation value for the suction flow comprises: ; Wherein Q compensation represents a compensation value of the suction flow rate, K p represents a proportional control coefficient, K i represents an integral control coefficient, K d represents a differential control coefficient, Q infusion represents the current perfusion flow rate, Q target represents the target perfusion flow rate, t represents time, dt represents differential of time, and d represents a differential operator.
  8. 8. The system for removing urinary calculus from disposable ureter according to claim 3, wherein said classifying said rate of change by a support vector machine model to determine environmental stability comprises; ; wherein S stability represents an environmental stability classification result, Representing the transpose of the weight vector supporting the vector machine model, Indicating the rate of change of pressure And a characteristic map function of the temperature change rate R T , b denotes a bias term, e denotes a natural constant.
  9. 9. The system for removing urinary calculus from a disposable ureter according to claim 1, further comprising: The light source dimming module is used for adjusting the brightness of the light source; The white balance calibration module is used for calibrating white balance when the display image is color cast; The video storage and playback module is used for playing back the stored videos and pictures; The photographing module is used for photographing and archiving the required pictures; the video recording module is used for recording and archiving the required pictures; the freezing module is used for freezing the current image picture; the contour strengthening module is used for highlighting the range and contour of the lesion tissue; an image scaling module for digitally zooming in/out a current image frame; and the image color adjusting module is used for adjusting RGB color gain values.
  10. 10. The broken stone discharging device is characterized by comprising: A laser lithotripter; Disposable ureteroscope; a display; And the disposable ureteral lithotripsy and lithotripsy system of any of claims 1-9 connected to the disposable ureteroscope and a display.

Description

Disposable ureter rubble calculus removing system and device Technical Field The invention belongs to the technical field of minimally invasive surgical instruments in urinary surgery, and particularly relates to a disposable ureter lithotripsy and calculus removing system and device. Background The traditional ureter lithotripsy and calculus removal system is characterized in that a ureter hard lens passes through the urethra of a patient to the bladder, after a ureter orifice is found, a guide wire passes through the urethra, the bladder and the ureter orifice, the guide wire passes through a calculus part directly along the ascending direction of the ureter of the patient or passes by the calculus, then the guide wire is led into a sheath, then the ureteroscope enters the ureter orifice under the guidance of the sheath, and then the ureter mirror carries out real-time picture transmission in a human body through a host machine, but the operation is complex, the consumable is more, and the host machine only has a simple picture transmission function and cannot provide more safety guarantee for the patient. The traditional ureteroscope operation process is that after patient anesthesia, insert the ureteroscope back, realize simple control with the host computer, only play the effect of a transmission real-time picture. Disclosure of Invention The invention aims to provide a disposable ureteroscope lithotripsy and calculus removing system and device, which are used for solving the problems that the traditional ureteroscope lithotripsy and calculus removing system is complex in operation, more in material consumption, incapable of performing real-time temperature and pressure monitoring, incapable of adjusting in-vivo temperature and pressure and the like. In order to achieve the purpose, the invention provides the technical scheme that the disposable ureter lithotripsy and calculus removing system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring pressure values and temperature values in a ureter; A peristaltic pump; inputting perfusion liquid into a perfusion drainage tube of the disposable ureteroscope through the peristaltic pump; the perfusion module is used for controlling perfusion flow through the perfusion pump according to the pressure value and the temperature value; A suction pump; the first suction drainage tube is connected with the inlet of the collecting container and the disposable ureteroscope, and the second suction drainage tube is connected with the outlet of the collecting container and the air inlet of the suction pump; and the suction module is used for controlling the suction flow of the second suction drainage tube through the suction pump according to the pressure value and the temperature value. Preferably, the system further comprises a working mode setting module, comprising a manual control mode and an automatic control mode, wherein the automatic control mode is used for automatically controlling the perfusion flow and the suction flow by the perfusion module and the suction module based on the data of the pressure value and the temperature value. Preferably, the automatic control of the perfusion flow rate and the suction flow rate by the perfusion module and the suction module based on the data of the pressure value and the temperature value includes: acquiring a pressure sequence and a temperature sequence through a preset sampling frequency; calculating the change rate according to the pressure sequence, fitting the change rate to obtain a pressure trend index, calculating the change rate according to the temperature sequence, and fitting to obtain a temperature trend index; judging whether the pressure trend index exceeds a preset threshold value, if so, extracting a correlation deviation value from the temperature trend index, and determining the perfusion flow increment to be adjusted through the correlation deviation value; calculating a compensation value of the suction flow based on the determined perfusion flow increment, updating suction flow parameters by the compensation value to balance the liquid circulation; Acquiring updated perfusion flow parameters and suction flow parameters, and obtaining an adjusted pressure sequence and temperature sequence; Recalculating the change rate according to the regulated pressure sequence and temperature sequence, classifying the change rate through a support vector machine model to judge the environmental stability, and if the stability is lower than a threshold value, adjusting a compensation value by an iterative feedback control algorithm; And extracting optimized perfusion flow parameters and suction flow parameters from the iterative compensation values, and determining the final perfusion flow through preset threshold comparison. Preferably, the acquiring the pressure sequence and the temperature sequence by the preset sampling frequency includes