CN-122005994-A - Multi-sensor pressure balance control method and system for bladder irrigation

CN122005994ACN 122005994 ACN122005994 ACN 122005994ACN-122005994-A

Abstract

The invention provides a multi-sensor pressure balance control method and a system for bladder irrigation, which relate to the technical field of pressure balance control and comprise the steps of calculating a pressure gradient by synchronously collecting pressure values of an input end and an output end of a perfusion pipeline, outputting a flow adjustment increment by utilizing a self-adaptive fuzzy control mechanism based on gradient deviation and change rate of the gradient, and driving a proportional control valve. Meanwhile, the arithmetic cavity retention is estimated according to the input and output accumulated flow differential state, and a volume compensation coefficient is generated. And finally, weighting and fusing the compensation coefficient and the flow regulation increment to form a composite control quantity to cooperatively regulate the flow of the double pipelines, and maintaining the pressure in the operation cavity to be stable. The method realizes the self-adaptive accurate balance control of the pressure in the cavity in the bladder irrigation process, and improves the safety and the operation stability of the operation.

Inventors

LU YONGLIANG
XUAN YUNDONG
WANG JICHEN
XIAO MINGZI
ZHANG GUOHUI

Assignees

中国人民解放军总医院第三医学中心

Dates

Publication Date: 20260512
Application Date: 20260213

Claims (10)

1. A multi-sensor pressure balance control method for bladder irrigation, comprising: synchronously acquiring an input end pressure value and an output end pressure value through pressure sensing units arranged in a perfusion input pipeline and a perfusion output pipeline, and calculating a pressure gradient value between the input end pressure value and the output end pressure value; constructing a self-adaptive fuzzy control mechanism based on a pressure gradient value, taking a gradient deviation value of the pressure gradient value and a target gradient value and a time derivative of the gradient deviation value as dual-input fuzzy variables, mapping the dual-input fuzzy variables to a fuzzy domain through a membership function, executing fuzzy reasoning according to a preset fuzzy rule library, and outputting a flow regulation increment through fuzzy decomposition; Generating a pulse width modulation signal according to the flow regulation increment, driving a proportional regulating valve arranged in a perfusion input pipeline to adjust the opening of a valve port of the proportional regulating valve, and synchronously regulating and controlling the input flow rate of perfusion liquid; establishing a dynamic estimation mechanism of the volume of the operation cavity, calculating the retention of perfusion liquid in the operation cavity according to the difference value between the accumulated input flow of the perfusion input pipeline and the accumulated output flow of the perfusion output pipeline, comparing the retention with a preset volume safety boundary, and generating a volume compensation coefficient when the retention approaches the volume safety boundary; and carrying out weighted fusion on the volume compensation coefficient and the flow regulation increment to obtain a composite control quantity, and cooperatively regulating the flow ratio of the perfusion input pipeline and the perfusion output pipeline based on the composite control quantity to maintain the intra-cavity pressure in a preset steady-state interval.
2. The method of claim 1, wherein constructing an adaptive fuzzy control mechanism based on pressure gradient values comprises: Performing sliding window sampling on the pressure gradient value to obtain a pressure gradient sequence, calculating a pressure gradient mean value and a pressure gradient variance based on the pressure gradient sequence, and judging that the current pressure fluctuation state belongs to a steady state mode or a disturbance mode according to the pressure gradient variance; The double-input fuzzy variable is quantized by adopting a first domain range in the steady state mode, and the double-input fuzzy variable is quantized by adopting a second domain range in the disturbance mode, wherein the second domain range is larger than the first domain range; Dynamically calculating an input quantization factor according to the ratio of the pressure gradient variance to a preset variance reference value, multiplying the gradient deviation value and the corresponding gradient deviation change rate by the input quantization factor respectively, and mapping the gradient deviation value and the corresponding gradient deviation change rate to a corresponding domain range; constructing a Gaussian membership function group aiming at the quantized double-input fuzzy variable, wherein each language variable level corresponds to one Gaussian membership function, and the Gaussian membership functions of adjacent language variable levels keep preset overlapping degree; and performing reasoning operation based on a fuzzy rule base to obtain fuzzy output quantity, selecting a corresponding output scale factor according to the pressure fluctuation state, scaling a fuzzy result, and generating the flow regulation increment.
3. The method of claim 2, wherein constructing a set of gaussian membership functions for the quantized dual-input fuzzy variable, one gaussian membership function for each linguistic variable level, and wherein maintaining a predetermined overlap between gaussian membership functions for adjacent linguistic variable levels comprises: Determining the number of language variable levels according to the argument range of the dual-input fuzzy variable, uniformly dividing the argument range into a plurality of subintervals corresponding to the number of the language variable levels, wherein the central point of each subinterval is used as the peak center of a Gaussian membership function of the corresponding language variable level; calculating width parameters of the Gaussian membership function based on the preset overlapping degree between adjacent language variable grades, wherein the width parameters determine the attenuation rate of the Gaussian membership function; Constructing a first Gaussian membership function group aiming at the gradient deviation value, wherein all Gaussian membership functions in the first Gaussian membership function group share the same width parameter, and the peak centers are sequentially arranged according to the subinterval center points; and constructing a second Gaussian membership function group aiming at the gradient deviation change rate, wherein the construction mode of the second Gaussian membership function group is consistent with that of the first Gaussian membership function group.
4. The method of claim 1, wherein generating a pulse width modulation signal from the flow adjustment delta, driving a proportional control valve disposed in a perfusion input line to adjust a valve port opening thereof, comprises: Rate limiting processing is carried out on the flow regulation increment, a flow difference value between the current flow regulation increment and the previous period flow regulation increment is calculated, and when the flow difference value exceeds a preset increment change limit, the flow regulation increment is corrected to the limit boundary to generate a rate-limited flow regulation increment; The flow characteristic curve of the proportional regulating valve is used for reversely compensating the speed-limited flow regulation increment, so that the influence of the inherent nonlinear characteristic of the valve on the flow control precision is eliminated; Calculating a target duty ratio based on the compensated flow regulation increment, and generating the pulse width modulation signal by combining a preset modulation frequency, wherein the duty ratio of the pulse width modulation signal is consistent with the target duty ratio; And driving and amplifying the pulse width modulation signal subjected to jitter component superposition to the proportional regulating valve, and driving the proportional regulating valve to regulate the opening of a valve port.
5. The method of claim 1, wherein generating a volume compensation coefficient when the hold-up approaches the volume safety boundary comprises: Performing linear fitting on the continuously collected retention data to obtain a retention change slope, and predicting predicted retention after a future preset time window according to the current retention and the retention change slope; taking the difference value between the preset volume safety boundary and the predicted hold-up as a predicted margin value; determining a current response grade according to the interval where the prediction margin value is located, wherein the response grade comprises a conventional grade, a concerned grade and an emergency grade; Configuring differentiated compensation coefficient generation strategies aiming at different response levels, wherein the conventional level corresponds to a unit compensation coefficient, the concerned level corresponds to a gradual compensation coefficient based on linear interpolation of a prediction margin value, and the urgent level corresponds to a reinforcement compensation coefficient based on exponential increment of the prediction margin value; and applying a compensation coefficient generation strategy corresponding to the current response level to the prediction margin value, and outputting the volume compensation coefficient.
6. The method of claim 5, wherein determining a current response level from the interval in which the prediction margin value is located comprises: Setting a first margin threshold and a second margin threshold, wherein the first margin threshold is larger than the second margin threshold, and the first margin threshold and the second margin threshold divide a margin space into three continuous sections; When the predicted margin value is larger than the first margin threshold value, judging that the current response level is the conventional level, and the system is in a safe running state; When the predicted margin value is smaller than or equal to the first margin threshold value and larger than the second margin threshold value, judging that the current response level is the attention level, and starting a progressive pressure regulation strategy; When the predicted margin value is smaller than or equal to the second margin threshold value, judging that the current response level is the emergency level, and starting a forced decompression protection strategy; And establishing a response level migration hysteresis mechanism, adopting the first margin threshold value and the second margin threshold value as a judgment boundary when the response level is migrated from high to low, and adopting a threshold value after a preset hysteresis amount is increased as the judgment boundary when the response level is recovered from low to high.
7. The method of claim 1, wherein cooperatively adjusting the flow ratio of the perfusion input line to the perfusion output line based on the composite control amount comprises: decomposing the composite control quantity into a pressure maintenance component and a volume balance component, wherein the pressure maintenance component is used for adjusting the pressure level in the operation cavity, and the volume balance component is used for adjusting the total amount of perfusion fluid in the operation cavity; Determining a main regulating pipeline according to the deviation direction of the current intra-operative cavity pressure value and the preset steady-state interval central value, determining a perfusion output pipeline as the main regulating pipeline when the intra-operative cavity pressure value is higher than the central value, and determining a perfusion input pipeline as the main regulating pipeline when the intra-operative cavity pressure value is lower than the central value; Calculating the flow ratio of the flow rate regulating quantity of the main regulating pipeline and the flow rate regulating quantity of the auxiliary regulating pipeline, respectively applying pipeline flow rate constraint to the flow rate regulating quantity of the main regulating pipeline and the flow rate regulating quantity of the auxiliary regulating pipeline, and ensuring that the flow rate regulating quantity of each pipeline does not exceed the maximum flow capacity and the minimum flow capacity of the corresponding pipeline; And synchronously transmitting the constrained flow regulating quantity to the perfusion input pipeline executing mechanism and the perfusion output pipeline executing mechanism to realize the cooperative regulation of the double pipelines.
8. A multi-sensor pressure balance control system for bladder irrigation, for implementing the method of any of claims 1-7, comprising: the pressure gradient unit is used for synchronously collecting an input end pressure value and an output end pressure value through a pressure sensing unit arranged in the perfusion input pipeline and the perfusion output pipeline, and calculating a pressure gradient value between the input end pressure value and the output end pressure value; The fuzzy control unit is used for constructing a self-adaptive fuzzy control mechanism based on a pressure gradient value, taking a gradient deviation value of the pressure gradient value and a target gradient value and a time derivative of the gradient deviation value as dual-input fuzzy variables, mapping the dual-input fuzzy variables to a fuzzy domain through a membership function, executing fuzzy reasoning according to a preset fuzzy rule library and outputting flow regulation increment through fuzzy decomposition; The pulse width modulation unit is used for generating a pulse width modulation signal according to the flow regulation increment, driving a proportional regulating valve arranged in the perfusion input pipeline to adjust the opening of a valve port of the proportional regulating valve, and synchronously regulating and controlling the perfusion input flow rate; The volume estimation unit is used for establishing a dynamic estimation mechanism of the operation cavity volume, calculating the retention of perfusion liquid in the operation cavity according to the difference value of the accumulated input flow of the perfusion input pipeline and the accumulated output flow of the perfusion output pipeline, comparing the retention with a preset volume safety boundary, and generating a volume compensation coefficient when the retention approaches the volume safety boundary; and the composite control unit is used for carrying out weighted fusion on the volume compensation coefficient and the flow regulation increment to obtain a composite control quantity, and based on the composite control quantity, the flow ratio of the perfusion input pipeline and the perfusion output pipeline is regulated in a cooperative manner, so that the pressure in the operation cavity is maintained in a preset steady-state interval.
9. An electronic device, comprising: A processor; A memory for storing processor-executable instructions; Wherein the processor is configured to invoke the instructions stored in the memory to perform the method of any of claims 1 to 7.
10. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of any of claims 1 to 7.

Description

Multi-sensor pressure balance control method and system for bladder irrigation Technical Field The invention relates to the technical field of pressure balance control, in particular to a multi-sensor pressure balance control method and system for bladder irrigation. Background In urological surgery, particularly transurethral surgery, bladder irrigation is a critical procedure to maintain a clear view of the operative cavity and to stabilize the internal environment. In the prior art, a control method based on single-point pressure feedback is commonly adopted to realize the stabilization of the pressure in the bladder. In particular, it is common practice to provide a single pressure sensor directly in the perfusion output line or bladder lumen for monitoring the pressure in the operative lumen. The control system compares the real-time monitored pressure value with a preset target pressure threshold value, and once the pressure deviation is detected, the control system changes the input flow of the perfusion liquid by adjusting the rotating speed of a peristaltic pump in a perfusion input pipeline or the opening and closing of a switching valve, so as to try to pull back the pressure in the cavity to a target range. The core logic of this approach is single loop negative feedback control, which is relatively simple in design, relying primarily on unidirectional regulation of input flow to account for pressure changes. Because the system only depends on a single pressure monitoring point, the system cannot sense the pressure dynamic relation between the input end and the output end in the perfusion circuit, and the system is insensitive to the upstream and downstream pressure imbalance caused by the blockage of the output pipeline, the change of the body position of a patient or the change of the compliance of the bladder. This often results in a lag in control actions, leading to large fluctuations in pressure within the bladder, and sometimes too high a risk of bladder perforation or fluid absorption, and sometimes too low an effect on surgical field clarity. The more prominent problem is that the method only focuses on instantaneous pressure regulation, and lacks continuous estimation and safe management of the net retention of perfusion fluid in the operation cavity. Under the condition that an output pipeline is not smooth, even if the input flow is regulated down, the liquid in the cavity still continuously accumulates, the potential risk of overfilling and even rupture of the bladder exists, and a simple single-point pressure control mechanism cannot perform effective early warning and active intervention on the bladder, so that the safety and the adaptability are both insufficient. Disclosure of Invention The embodiment of the invention provides a multi-sensor pressure balance control method and a multi-sensor pressure balance control system for bladder irrigation, which can solve the problems in the prior art. In a first aspect of embodiments of the present invention, there is provided a multi-sensor pressure balance control method for bladder irrigation, comprising: synchronously acquiring an input end pressure value and an output end pressure value through pressure sensing units arranged in a perfusion input pipeline and a perfusion output pipeline, and calculating a pressure gradient value between the input end pressure value and the output end pressure value; constructing a self-adaptive fuzzy control mechanism based on a pressure gradient value, taking a gradient deviation value of the pressure gradient value and a target gradient value and a time derivative of the gradient deviation value as dual-input fuzzy variables, mapping the dual-input fuzzy variables to a fuzzy domain through a membership function, executing fuzzy reasoning according to a preset fuzzy rule library, and outputting a flow regulation increment through fuzzy decomposition; Generating a pulse width modulation signal according to the flow regulation increment, driving a proportional regulating valve arranged in a perfusion input pipeline to adjust the opening of a valve port of the proportional regulating valve, and synchronously regulating and controlling the input flow rate of perfusion liquid; establishing a dynamic estimation mechanism of the volume of the operation cavity, calculating the retention of perfusion liquid in the operation cavity according to the difference value between the accumulated input flow of the perfusion input pipeline and the accumulated output flow of the perfusion output pipeline, comparing the retention with a preset volume safety boundary, and generating a volume compensation coefficient when the retention approaches the volume safety boundary; and carrying out weighted fusion on the volume compensation coefficient and the flow regulation increment to obtain a composite control quantity, and cooperatively regulating the flow ratio of the perfusion input pipeline and the perfusion output pipe