US 2025/0143540 A1 · ENDOSCOPIC SURGERY SYSTEM WITH AUTOMATIC HYDRAULIC MONITORING FUNCTION

Abstract

Provided is an endoscopic surgery system with automatic hydraulic monitoring function, comprising a control system, a cart kit and an endoscope accessory. Then control system includes a processor, a touch display, a perfusion pump, a negative pressure pump, etc. The cart kit includes a cart, a perfusion tube and an extraction tube. The endoscope accessory includes a pressure measuring guide sheath, a hydraulic sensor and an electron microscope. When the endoscope is employed for observation, the invention can control the perfusion and monitoring of the liquid in endoscope instrument, as well as the cavity liquid pressure in organs, allowing for precise control of the intracavity pressure during operation. The real-time monitoring module measures the liquid pressure in the organ in real time and sends data to the control system, calculates a state of the intracavity pressure based on real-time data obtained from the hydraulic sensor using intelligent PID control.

An endoscopic surgery system with automatic hydraulic monitoring function, comprising a control system, a cart kit and an endoscope accessory;

the control system comprises a processor, and a touch display, a perfusion pump and a negative pressure pump connected with the processor;
the cart kit comprises a cart, a perfusion tube and a extraction tube;
the endoscope accessory comprises a pressure measuring guide sheath, a hydraulic sensor and an electron microscope;
the hydraulic sensor is a sensor with a recognition function;
the perfusion tube is powered by the perfusion pump, and the perfusion tube is connected with a perfusion channel of the electron microscope;
the electron microscope is arranged in the pressure measuring guide sheath, and the pressure measuring guide sheath is connected with an end of the extraction tube and a piezometric tube of the hydraulic sensor, another end of the extraction tube is provided with a extraction power by the negative pressure pump, and the hydraulic sensor is connected with the processor via the hydraulic sensor interface and the hardware processing module in turn;
the processor is provided with a USB interface, a digital-analog video interface, a real-time monitoring module, a data memory module, a sound-light alarm module, a hardware processing module and an encoding & decoding module;
wherein an input end of the encoding & decoding module is connected with an electron microscope interface, an input end of the electron microscope interface is connected with the electron microscope, and an output end of the encoding & decoding module is connected with the processor;
wherein the real-time monitoring module is used for monitoring the pressure of liquid in an organ in real time and providing data to the control system, so as to realize accurate control of intracavity pressure during operation, and the real-time monitoring module comprises a plurality of high-precision hydraulic sensors, these sensors are arranged in the organ and close to an operation area so as to measure the pressure of liquid in the organ;
the hydraulic sensor transmits real-time pressure data to the control system through a data line connected to the control system or a wireless communication mode, calculates a state of the intracavity pressure based on real-time data obtained from the hydraulic sensor using intelligent PID control, and adjusts a perfusion and extraction speed of the liquid according to a given target pressure, so as to maintain the intracavity pressure in a safe range, details are as follows:
pressure change of a cavity liquid is expressed by the following difference equation:
P
⁡
(
t
+
1
)
=
P
⁡
(
t
)
+
Δ
⁢
P
in
-
Δ
⁢
P
out
wherein, ΔPin is the pressure change caused by liquid perfusion, ΔPout is the pressure change caused by liquid extraction, P(t) represents a pressure at time t, and P(t+1) represents a pressure at time t(t+1);
suppose there are an exploration factors, and a position and speed of each exploration factor represent a parameter value of a control strategy, in each iteration, the position and speed of each exploration factor are updated, and a fitness value is calculated;
wherein a parameter of the control strategy is represented by d dimensions, each dimension corresponds to a control parameter, and the control strategy is expressed as d dimension vector X, where X=(X1, X2, . . . , Xd), X1 represents a value of the first dimension parameter, X2 represents a value of the second dimension parameter, and Xd represents a value of the dth dimension parameter, and an objective function H(X) is defined and used for evaluating performance of each exploration factor, H(X) is expressed as follows:
H
⁡
(
X
)
=
w
1
⁢
ϵ
⁡
(
X
)
+
w
2
⁢
k
⁡
(
X
in
+
X
out
)
∈ represents pressure control error, Xin represents liquid perfusion speed parameter, Xout represents liquid extraction speed parameter, k (Xin+Xout) represents energy consumption, that is, the energy required for liquid flow caused by the control strategy, k is a constant related to the energy consumption per fluid speed unit, w1 and W2 are parameters for balancing weight of the pressure control error and the energy consumption;
a fitness function A(X) is defined as H(X), and the objective function comprises pressure control error and energy consumption:
A(X)=−H(X), and a position update model of each exploration factor i is expressed by:
X
i
(
t
+
1
)
=
X
i
(
t
)
+
Δ
⁢
X
i
(
t
+
1
)
Xi(t) represents the position of the exploration factor i at time t, and is a d dimension vector;
ΔXi(t+1) represents a position variance of the exploration factor i at time t+1, and the speed update model of each exploration factor i is expressed by:
V
i
(
t
+
1
)
=
V
i
(
t
)
+
Δ
⁢
V
i
(
t
+
1
)
Vi(t) represents a speed of the exploration factor i at time t, corresponds to the position update, and is a d dimensional vector;
ΔVi(t+1) represents a speed variance of the exploration factor i at time t+1;
the position and speed of the exploration factors i are coordinated and adjusted through information exchange, and the information exchange is expressed by the following model:
Δ
⁢
X
i
(
t
+
1
)
=
H
1
(
X
i
(
t
)
,
X
neighbor
i
(
t
)
,
t
)
⁢
∫
T
0
T
*
X
i
(
t
)
⁢
X
neighbor
i
(
t
+
l
)
⁢
dt
+
-
∑
i
=
1
N
pr
⁢
(
X
i
(
t
)
)
⁢
log
⁢
(
pr
⁡
(
X
i
(
t
)
)
)
⁢
H
2
(
X
i
(
t
)
,
t
)
Δ
⁢
V
i
(
t
+
1
)
=
γ
⁢
H
3
(
X
i
(
t
)
,
V
i
(
t
)
,
X
neighbor
i
(
t
)
,
t
)
+
H
4
(
X
i
(
t
)
,
V
i
(
t
)
,
t
)
⁢
∫
T
0
T
*
X
i
(
t
)
⁢
V
i
(
t
+
l
)
⁢
dt
Xneighbori(t) represents the position of the neighbor exploration factor i at time t, ΔXi(t+1) and ΔVi(t+1) are variations of position and speed, used for updating the position and speed respectively, γ is an adjustment parameter, and affects weight of the information exchange, T0 represents an initial time of statistics, T*represents an ending time of statistics, H1(Xi(t), Xneighbori(t), t) and H2(Xi(t), t) are information exchange functions of the neighboring exploration factor, used for adjusting the position, H3(Xi(t), Vi(t), Xneighbori(t), t) and H4(Xi(t), Vi(t), t) are information exchange functions of the neighboring exploration factor, used for adjusting the speed, to indicate the information exchange function with the adjacent exploration factor, l is lag time, and pr is a probability function.

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Endoscopic surgery system with automatic hydraulic monitoring function

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Endoscopic surgery system with automatic hydraulic monitoring function

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Abstract

Claims9