CN-121987880-A - Bladder irrigation dripping speed self-adaptive control system and method based on color sensing

CN121987880ACN 121987880 ACN121987880 ACN 121987880ACN-121987880-A

Abstract

The invention relates to the technical field of medical instrument control, and particularly discloses a bladder irrigation drip rate self-adaptive control system and method based on color sensing. The color sensing module acquires dual-band light intensity signals sensitive to hemoglobin and sensitive to bubble scattering, the bubble interference recognition and compensation module recognizes and compensates bubble interference based on the reference band signals and outputs corrected color characteristic values, the physiological state evaluation module evaluates physiological states according to the characteristic values and outputs a target dripping speed interval, the dripping speed self-adaptive control module calculates a set point by adopting a conservative approach strategy and controls a driving executing mechanism to adjust the dripping speed through PID. The invention can effectively inhibit the air bubble interference, realize stable self-adaptive adjustment of the dripping speed and improve the treatment safety.

Inventors

LIU MEI
Nian Guihong
LIU BING
QI ZHI
WEI WEI
WANG SHUQIN

Assignees

中国人民解放军海军军医大学

Dates

Publication Date: 20260508
Application Date: 20260127

Claims (10)

1. Bladder washes dropping speed self-adaptation control system based on colour sensing, its characterized in that includes: The color sensing module is used for collecting spectrum information of bladder irrigation effluent; The bubble interference recognition and compensation module is connected to the color sensing module and is used for processing the received dual-band light intensity signals to recognize and compensate the bubble interference; The physiological state evaluation module is connected to the bubble interference identification and compensation module and is used for evaluating the real-time physiological bleeding state of the patient based on the corrected color characteristic value and generating a corresponding target dripping speed interval; the drip speed self-adaptive control module is connected to the physiological state evaluation module and finally connected to the drip speed adjustment executing mechanism and used for generating an accurate drip speed control signal according to the target drip speed interval instruction.
2. The adaptive control system for bladder irrigation drip rate based on color sensing according to claim 1, wherein the color sensing module is integrated with at least 2 independent spectrum acquisition units, wherein a first spectrum acquisition unit is configured to emit and receive specific wave Duan Rushe light sensitive to hemoglobin absorption characteristics, a second spectrum acquisition unit is configured to emit and receive reference band incident light insensitive to hemoglobin absorption characteristics but sensitive to light scattering effects caused by bubbles in the fluid, the optical paths of the 2 spectrum acquisition units meet in the fluid detection area to ensure that the collected spectrum information is from the same fluid sample at the same point in time, and the color sensing module outputs the collected specific band light intensity signal in synchronization with the reference band light intensity signal.
3. The bladder irrigation drip rate self-adaptive control system based on color sensing according to claim 2, wherein the bubble interference recognition and compensation module comprises a bubble interference recognition sub-module and a spectrum signal compensation sub-module, the bubble interference recognition sub-module calculates the dynamic change rate of the reference band light intensity signal in real time and compares the dynamic change rate with a preset bubble interference judgment threshold, when the dynamic change rate of the reference band light intensity signal exceeds the judgment threshold, the bubble interference judgment is judged to exist at the current detection moment and a bubble interference mark signal is generated, the spectrum signal compensation sub-module receives the specific band light intensity signal, the reference band light intensity signal and the bubble interference mark signal, the spectrum signal compensation sub-module receives the specific band light intensity signal, the original color characteristic value is calculated directly according to the specific band light intensity signal when the bubble interference mark signal is not activated, a compensation algorithm is started when the bubble interference mark signal is activated, the compensation algorithm builds a bubble interference compensation coefficient based on the offset of the reference band light intensity signal relative to the reference value, and uses the coefficient to reversely correct the specific band light intensity signal to eliminate the signal gain caused by bubble scattering, so that the corrected color characteristic value is calculated.
4. The adaptive control system for bladder irrigation drip rate based on color sensing according to claim 3, wherein the physiological state evaluation module is internally provided with a multi-state evaluation model, the model divides the continuous change space of the color characteristic value into at least 3 discrete physiological state levels, the at least 3 discrete physiological state levels comprise a steady state, a slight hemorrhage early warning state and a significant hemorrhage warning state, each physiological state level is associated with a preset target drip rate lower limit value and a target drip rate upper limit value to jointly form a target drip rate interval in the state, the physiological state evaluation module continuously receives the corrected color characteristic value and inputs the corrected color characteristic value into the multi-state evaluation model to be matched so as to determine the physiological state level to which the current moment belongs, and then a corresponding target drip rate interval instruction is output.
5. The bladder irrigation drip rate self-adaptive control system based on color sensing according to claim 4, wherein the drip rate self-adaptive control module comprises a drip rate set point calculation sub-module and a proportional-integral-derivative controller, the drip rate set point calculation sub-module receives a target drip rate interval command and acquires a current actual drip rate value fed back by an independent drip rate sensor, the sub-module calculates the set point according to a conservative approach strategy, specifically, maintains the set point at the current actual drip rate value if the current actual drip rate value is within the target drip rate interval, gradually increases the set point by a preset positive adjustment step length smaller than the lower limit value of the target drip rate interval until entering the target interval if the current actual drip rate value is lower than the lower limit value of the target drip rate interval, gradually decreases the set point by a preset negative adjustment step length larger than the upper limit value of the interval until entering the target interval, and the proportional-integral-derivative controller receives the actual drip rate value fed back by the set point calculation sub-module and the drip rate sensor, calculates the deviation between the set point and the actual drip rate value based on three parameters, and generates a control signal to enable the actual tracking action to smoothly change the set point.
6. The adaptive control system for bladder irrigation and drip rate based on color sensing according to claim 5, wherein the method for calculating the dynamic change rate in the bubble interference recognition submodule uses standard deviation calculation in a sliding time window, the submodule acquires a reference band light intensity signal sequence at a fixed sampling frequency, calculates the standard deviation of the signal in the window as a quantization index of the dynamic change rate in a time window with a length of N sampling points, and determines that bubble interference exists when the standard deviation exceeds a preset bubble interference determination threshold.
7. The adaptive control system for bladder irrigation drip rate based on color sensing according to claim 6, wherein the compensation algorithm in the spectral signal compensation sub-module is specifically implemented by recording an average value of reference band light intensity signals as a reference value during a stable period in which no bubble interference is detected during system initialization or continuously; When the bubble interference mark signal is activated, acquiring a current reference wave band light intensity signal value in real time; Applying a saturation function process to the original interference coefficient to limit the original interference coefficient between a preset maximum compensation coefficient and a preset minimum compensation coefficient so as to generate a final bubble interference compensation coefficient; dividing the currently acquired specific wave band light intensity signal by the bubble interference compensation coefficient to obtain a corrected specific wave band light intensity signal, and calculating a color characteristic value according to the corrected specific wave band light intensity signal.
8. The adaptive control system of bladder irrigation drip rate based on color sensing according to claim 7, wherein the multi-state evaluation model in the physiological state evaluation module employs threshold comparison logic with hysteresis, the model sets 2 thresholds for each boundary of physiological state level, namely an entry threshold and an exit threshold, wherein the entry threshold is higher than the exit threshold so as to form a hysteresis interval, so as to prevent frequent switching of evaluation results of states caused by small fluctuation of signals near the boundary.
9. The color-sensing-based bladder irrigation drip rate adaptive control system of claim 8 wherein the conservative approach strategy in the drip rate set point calculation sub-module has an absolute value of neither positive nor negative adjustment step size greater than 20% of the target drip rate interval span.
10. A method for adaptively controlling the bladder irrigation drip rate based on color sensing, which is applied to the system as claimed in any one of claims 1 to 9, and is characterized by comprising the following steps: synchronously collecting a specific wave band light intensity signal and a reference wave band light intensity signal of bladder irrigation effluent through a color sensing module; The method comprises the steps of processing a dual-band signal through a bubble interference recognition and compensation module, firstly recognizing bubble interference based on the dynamic change rate of a reference band light intensity signal, then constructing a compensation coefficient by using the reference band signal when the interference is recognized, correcting the light intensity signal of a specific band, and calculating an anti-interference color characteristic value; Mapping the obtained color characteristic value to a preset physiological state grade through a physiological state evaluation module, and outputting a corresponding target dripping speed interval instruction; the control is executed through the drip speed self-adaptive control module, firstly, a conservative approach strategy is adopted to calculate a drip speed set point according to a target drip speed interval instruction and the current actual drip speed, and then an executing mechanism is driven through a proportional-integral-derivative control algorithm to adjust the drip speed so as to enable the actual drip speed to smoothly track the set point.

Description

Bladder irrigation dripping speed self-adaptive control system and method based on color sensing Technical Field The invention belongs to the technical field of medical instrument control, and particularly relates to a bladder irrigation dripping speed self-adaptive control system and method based on color sensing. Background In the fields of medical monitoring and automatic treatment, an intelligent infusion system is a key technical direction for realizing accurate administration and relieving the burden of medical staff. The system aims to realize real-time monitoring and closed-loop control of the infusion process by integrating the sensor and the executing mechanism so as to improve the safety and effectiveness of treatment. For the bladder irrigation treatment of patients after urology surgery, how to accurately control the dropping speed of the irrigation liquid to maintain the pressure in the bladder stable, prevent the formation of blood clots and reduce the discomfort of the patients is an important specific application direction in the field. Traditional bladder irrigation relies on medical personnel to manually adjust the dripping speed, so that the workload is high, and timely and continuous adjustment is difficult to be carried out according to the change of the color of the flushing liquid (reflecting the bleeding condition). Prior art attempts have been made to introduce color sensors to monitor the color change of the rinse solution and automatically adjust the drip rate accordingly. However, these solutions present a significant technical bottleneck in practical applications, in that bubbles are inevitably generated when the flushing liquid flows through the pipeline, and these bubbles can generate strong reflection and scattering interference on light with specific wavelengths (especially red light bands for judging blood concentration), so that the spectral data acquired by the color sensor is severely distorted. Such erroneous judgment caused by bubbles may directly trigger an erroneous response of the control system, causing abnormal, frequent fluctuations in the droplet velocity. This non-physiological, unstable flow rate variation can impact the patient's bladder mucosa, significantly increasing the risk of mucosal injury and secondary bleeding, compromising the reliability of the automated control system. Therefore, how to effectively eliminate the bubble interference in the complex fluid environment, realize the stable and accurate perception of the color of the flushing liquid, and establish a reliable self-adaptive control logic accordingly, becomes a technical problem to be solved in the field. Disclosure of Invention The invention aims to provide a bladder irrigation dropping speed self-adaptive control system and method based on color sensing, which are used for solving the technical contradiction that in the prior art, the dropping speed is controlled to be misaligned and frequently fluctuated due to serious optical interference to color sensing caused by bubbles in an irrigation pipeline, so that the damage risk of bladder mucous membrane of a patient is increased. The technical scheme of the invention is that the bladder irrigation dripping speed self-adaptive control system based on color sensing is provided. The system comprises a color sensing module, a bubble interference recognition and compensation module, a physiological state evaluation module and a dripping speed self-adaptive control module. The color sensing module is used for collecting spectrum information of bladder irrigation effluent. The module is integrated with at least 2 independent spectrum acquisition units. The first spectral acquisition unit is configured to emit and receive incident light of a specific wavelength band that is sensitive to absorption characteristics of hemoglobin. The second spectral acquisition unit is configured to emit and receive incident light in a reference band that is insensitive to absorption characteristics of hemoglobin, but sensitive to light scattering effects caused by bubbles in the fluid. The light paths of the 2 spectrum acquisition units meet in the fluid detection area, so that the spectrum information acquired by the 2 spectrum acquisition units is ensured to come from the same fluid sample at the same time point. The color sensing module synchronously outputs the collected light intensity signals of the specific wave band and the light intensity signals of the reference wave band. The bubble interference recognition and compensation module is connected to the color sensing module and is used for processing the received dual-band light intensity signals to recognize and compensate bubble interference and finally output corrected color characteristic values reflecting the true blood concentration. The module comprises a bubble interference identification sub-module and a spectrum signal compensation sub-module. The bubble interference identification submodule calcu