CN120285347B - Control device, controller and endoscope system for perfusion equipment - Google Patents
Control device, controller and endoscope system for perfusion equipmentInfo
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- CN120285347B CN120285347B CN202510782785.0A CN202510782785A CN120285347B CN 120285347 B CN120285347 B CN 120285347B CN 202510782785 A CN202510782785 A CN 202510782785A CN 120285347 B CN120285347 B CN 120285347B
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Abstract
The application relates to a control device, a controller and an endoscope system of perfusion equipment. The method comprises the steps of firstly obtaining a composite pulse signal, wherein the composite pulse signal comprises at least two different pulse signals, and at least one pulse parameter corresponding to the two different pulse signals is different. Perfusion control information is then determined from the composite pulse signal. And finally controlling the perfusion equipment to adjust the perfusion flow of the perfusion equipment according to the perfusion control information. Therefore, targeted hydrodynamic force can be formed, irregular pouring flow patterns can be generated by different pulses, irregular turbulence is formed, the adaptive deposition condition of the target object can be broken, the risk of blockage caused by aggregation state of the target object is reduced, the possibility of secondary residue of the target object is reduced, and the effect of pouring equipment on the operation of the target object is improved.
Description
Technical Field
The application relates to the technical field of medical information processing, in particular to a control device, a controller and an endoscope system of perfusion equipment.
Background
The endoscope system is a precise optical instrument for medical diagnosis and treatment, and can realize visual detection and minimally invasive intervention on a target object on the premise of not performing open surgery. Taking a target object as an example, laser lithotripsy operation can be performed through an endoscope system. During operation, it is necessary to pump the liquid while pouring the liquid, and to remove the crushed stones. To ensure safe operation, constant pressure infusion and constant pressure aspiration are typically used to ensure that a relatively stable operating pressure level is maintained within the body. However, the method of constant pressure perfusion and constant pressure suction easily causes a relatively stable flow state in the body, so that broken stone particles are easily accumulated in the body or attached to the crease of the inner wall, and the broken stone is discharged poorly.
Disclosure of Invention
The application aims to provide a control device, a controller and an endoscope system of perfusion equipment, which are used for solving the problem that the traditional endoscope system has poor target object discharge effect when performing laser lithotripsy operation.
In order to achieve the above object, a first aspect of the present application provides a control device of a perfusion apparatus, the control device comprising:
The device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a composite pulse signal, the composite pulse signal comprises at least two different pulse signals, and at least one pulse parameter corresponding to the two different pulse signals is different;
The determining module is used for determining perfusion control information according to the composite pulse signal;
And the adjusting module is used for controlling the pouring equipment to adjust the pouring flow of the pouring equipment according to the pouring control information.
A second aspect of the application provides a controller comprising a control device for a perfusion apparatus as described above.
A third aspect of the present application provides an endoscope system comprising:
A perfusion apparatus;
The controller is in communication with the perfusion apparatus.
The beneficial effects of the application are as follows:
In the process of controlling the operation of the pouring equipment, the pouring control information of the pouring equipment is obtained by adopting the composite pulse signals comprising at least two pulse signals with different pulse parameters, and the pouring equipment is further controlled to adjust the pouring flow according to the pouring control information, so that the pouring equipment forms targeted fluid power, different pulses can generate irregular pouring flow states to form irregular turbulence, the adaptive deposition condition of a target object operated by the pouring equipment can be broken, the risk of blocking the target object due to aggregation state is reduced, the possibility of secondary residue of the target object is reduced, and the operation effect of the pouring equipment on the target object is improved.
Additional features and advantages of the application will be set forth in the detailed description which follows.
Drawings
Fig. 1 is a schematic application scenario diagram of a control method of a perfusion apparatus according to an embodiment of the present application;
fig. 2 is a flow chart of a control method of a perfusion apparatus according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a first pulse waveform according to an embodiment of the present application;
FIG. 4 is a diagram of a second pulse waveform according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a second pulse waveform according to another embodiment of the present application;
fig. 6 is a schematic flow chart of a control method of a perfusion apparatus according to another embodiment of the present application;
fig. 7 is a schematic structural diagram of a control device of a perfusion apparatus according to an embodiment of the present application;
fig. 8 is a block diagram of a controller according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. In the present application, the term "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described as "exemplary" in this disclosure is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for purposes of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes have not been described in detail so as not to obscure the description of the application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
The control method of the perfusion equipment in the embodiment of the application is applied to the controller. For example, as shown in fig. 1, fig. 1 is a schematic application scenario diagram of a control method of a perfusion apparatus 130 according to an embodiment of the present application. Fig. 1 exemplifies the application of the perfusion apparatus to an endoscope system 100, which endoscope system 100 is used to perform a laser lithotripsy operation such that a target of the laser lithotripsy operation is discharged out of a target region. For example, the target in the embodiment of the present application may be a stone. The target area refers to an area to be subjected to laser lithotripsy. For example, the target area may be a kidney area, a ureter area, a liver and gall area, or the like.
As one example, the endoscope system 100 may include a controller 110, a laser 120, a perfusion apparatus 130, a suction apparatus 140, and an image acquisition apparatus 150. Wherein the controller 110 is in communication with the laser 120, the perfusion apparatus 130, the aspiration apparatus 140, and the image acquisition apparatus 150, respectively. The laser 120 is used for generating a laser beam, and utilizing the photo-thermal effect or the photo-mechanical effect of the laser, the stones are cracked into powder or fragments through contact or non-contact of the end face of the optical fiber, so as to break up the stones in the target area. The perfusion apparatus 130 is used to perfuse a fluid (e.g., saline) to the target area to maintain a clear view of the endoscope system 100 during operation and to assist in expelling the crushed stone out of the target area. The suction device 140 is used to discharge the crushed stone particles, perfusion waste liquid, tissue fragments, etc. out of the target area by suction under negative pressure. The image acquisition device 150 is used for acquiring an optical image of the target area, displaying the position of the stone in the target area in real time, and guiding the positioning of the laser 120. The controller 110 is the core of the multi-device co-operation, and forms a controllable lithotripsy-perfusion-imaging closed loop by communicating with the laser 120, the perfusion device 130, the aspiration device 140, and the image acquisition device 150. It should be noted that, in the embodiment of the present application, the perfusion apparatus 130 is applied to an endoscope system as an example, and the perfusion apparatus 130 may also be applied to other systems, such as a visible sheath.
In an application scenario of the control method of the perfusion apparatus 130 according to the embodiment of the present application, the controller 110 is configured to be used for the control method, and the controller 110 may operate a computer readable storage medium corresponding to the control method of the perfusion apparatus 130 to execute steps of the control method of the perfusion apparatus 130.
It should be understood that each electronic device in the application scenario of the control method of the perfusion apparatus 130 shown in fig. 1 is not limited to the embodiment of the present application, that is, the number of devices and the type of devices included in the application scenario of the control method of the perfusion apparatus 130, or the number of devices and the type of devices included in each electronic device, do not affect the overall implementation of the technical solution in the embodiment of the present application, and may be calculated as equivalent replacement or derivative of the technical solution claimed in the embodiment of the present application.
The controller 110 in the embodiment of the present application may be an independent device, or may be a device network or a device cluster formed by devices, for example, the controller 110 described in the embodiment of the present application includes, but is not limited to, a computer, a network host, a single network device, a plurality of network device sets, or a cloud device formed by a plurality of devices. Wherein, cloud equipment is composed of a large number of computers or network equipment based on Cloud Computing (Cloud Computing).
It will be understood by those skilled in the art that the application scenario shown in fig. 1 is only one application scenario corresponding to the technical solution of the present application, and is not limited to the application scenario of the technical solution of the present application, and other application scenarios may also include more or fewer electronic devices than those shown in fig. 1, or network connection relationships of electronic devices, for example, only 1 electronic device is shown in fig. 1, and it will be understood that the scenario of the control method of the perfusion apparatus 130 may also include one or more other electronic devices, which is not limited herein.
It should be noted that, the application scenario of the control method of the perfusion apparatus 130 shown in fig. 1 is merely an example, and the application scenario of the control method of the perfusion apparatus 130 described in the embodiment of the present application is for more clearly describing the technical solution of the embodiment of the present application, and does not constitute a limitation to the technical solution provided by the embodiment of the present application.
Based on the application scenario of the control method of the perfusion apparatus, an embodiment of the control method of the perfusion apparatus is provided. The following detailed description refers to the accompanying drawings.
Fig. 2 is a flow chart of a control method of a perfusion apparatus according to an embodiment of the present application. As shown in FIG. 2, in one embodiment, the control method may perform steps 201-203 through the controller 110 described above, as described in detail below.
Step 201, acquiring a composite pulse signal, wherein the composite pulse signal comprises at least two different pulse signals, and at least one pulse parameter corresponding to the two different pulse signals is different.
And 202, determining perfusion control information according to the composite pulse signal.
And 203, controlling the perfusion equipment to adjust the perfusion flow of the perfusion equipment according to the perfusion control information.
In an embodiment of the present application, the pulse parameter refers to a characteristic parameter of a pulse signal for controlling the perfusion apparatus to output the perfusion liquid. The pulse parameters may influence the perfusion flow of the perfusion apparatus. Perfusion flow refers to the rate at which perfusion fluid is delivered by the perfusion apparatus to a target area of an endoscopic system for providing fluid to the target area to maintain the pressure and environment of the target area.
As one example, the pulse parameters may include, but are not limited to, pulse shape, pulse signal value, and pulse frequency, wherein the pulse signal value may also include a maximum pulse signal value and a minimum pulse signal value of the pulse, etc.
The pulse waveform refers to the shape or contour of the pulse signal changing with time, and describes the change rule of the pulse signal from the initial state to the end state in one period. For example, the pulse waveform may include, but is not limited to, square waves, sine waves, triangular waves, saw tooth waves, trapezoidal waves, and the like.
The pulse signal value refers to the amplitude of the pulse signal, and generally corresponds to the voltage or current value of the electrical signal. In the embodiment of the application, the pulse signal values and the perfusion flow have a mapping relation, each pulse signal value has a corresponding perfusion flow, and the size of the pulse signal values can be directly mapped into the size of the perfusion flow. For example, a higher pulse signal value indicates a greater perfusion flow rate and a lower pulse signal value indicates a lesser perfusion flow rate. As one example, the maximum pulse signal value corresponds to a maximum perfusion flow rate and the minimum pulse signal value corresponds to a minimum perfusion flow rate.
The pulse frequency refers to the number of cycles of the pulse signal per unit time (e.g., per second). The higher the pulse frequency, the shorter the period of the pulse signal, and the greater the number of pulses per unit time. The perfusion flow of the high-frequency pulse can generate more turbulent liquid flow, which is helpful for impacting and destroying the aggregation state of the target. Conversely, a lower pulse frequency indicates a longer period of the pulse signal, and a smaller number of pulses per unit time. The perfusion flow of the low-frequency pulse is suitable for stabilizing the pressure of the target area and reducing the liquid flow of the target area, so that the visual field of the target area is clear.
In the conventional way of pouring liquid, a constant pouring flow is difficult to adapt to the change of targets with different sizes, and a single change rule of pouring flow is difficult to respond to the change of the working pressure value of a target area in real time. Taking the target area as the area where the organ is located as an example, an excessive working pressure value is easy to cause the situation that the organ or tissue is damaged in the target area, otherwise, an excessive working pressure value is easy to cause the situation that the suction load is excessive and the visual field of the target area is fuzzy. Therefore, the embodiment of the application adopts at least two different pulse signals as the composite pulse signals corresponding to the perfusion equipment, so as to determine the perfusion control information of the perfusion equipment according to the composite pulse signals, thereby controlling the perfusion flow of the perfusion equipment. The different pulse signals mean that at least one of the pulse parameters corresponding to the two pulse signals is different, i.e. at least one differential feature is included. For example, if one pulse signal has a pulse frequency of 20Hz and the other pulse signal has a pulse frequency of 10Hz, the two pulse signals are different pulse signals.
According to the composite pulse signals of at least two pulse signals comprising different pulse parameters, different pouring control information of the pouring equipment is determined, and then the pouring flow of the pouring equipment is controlled according to the pouring control information, so that the pouring flow is in an irregular flow state, and irregular turbulence is generated. Because the deposition and aggregation of the particles generated by the laser lithotripsy of the target objects, such as stones, depend on stable hydrodynamic conditions (such as laminar flow state and low flow velocity region), the velocity, direction and pressure of the liquid can be dynamically changed through irregular turbulence to form a turbulent flow state, the stable deposition environment of the particles of the target objects in the target region is destroyed, the particles of the target objects are difficult to attach or accumulate in the target region, and the adaptive deposition of the stones can be inhibited. The adaptive deposition refers to a process that particles of the target form stable aggregates by adjusting positions or mutually embedding, so that the condition that the target blocks a channel of a target area can be reduced, and the possibility of secondary residue of the target is reduced.
In the embodiment of the present application, the suction flow rate of the suction apparatus may be a set flow rate. The set flow rate is a flow rate adjusted in a stable waveform or a preset curve. For example, the set flow rate may be a constant flow rate, or a regularly varying flow rate. That is, the aspiration flow rate is a steady value that can be calculated or predicted, so that the aspiration fluid volume at each subsequent instant can be predicted, and further the volumetric difference between the irrigation fluid volume and the aspiration fluid volume, i.e., the net incremental fluid volume of the target region, can be predicted.
In order to reduce the probability of damage to organs or tissues of the target area caused by pressure impact of the target area due to sudden change of the perfusion flow, or poor visual field of the target area due to undersize of the perfusion flow, the embodiment of the application can dynamically restrict the working pressure value of the target area in a safe range, thereby generating effective pulse and reducing the risk of pressure runaway caused by manual misoperation.
Specifically, in step 201, the perfusion flow rate, the suction flow rate, and the operating pressure value of the target area corresponding to the perfusion flow rate and the suction flow rate within the set period of time may be acquired first, and the operating pressure value range of the target area may be acquired. Then, the perfusion fluid volume change amount is obtained based on the perfusion flow rate and the suction flow rate.
The working pressure value range of the target area can be set according to experience or searching data, and comprises a maximum value and a minimum value. For example, for the kidneys, the maximum and minimum values of intra-renal pressure may be set. By recording the relation between the perfusion flow, the suction flow and the corresponding working pressure value change curve, the association relation between the working pressure value of the target area and the volume of the perfusion fluid, namely the change rule of the working pressure value of the target area along with the volume of the perfusion fluid, can be obtained.
Then, according to the association relation between the volume change of the perfusion fluid and the working pressure value and the range of the working pressure value, the set change range of the volume change of the perfusion fluid is determined. The setting of the variation range is capable of maintaining the working pressure value of the target area within a variation range within a safety range, i.e., a range in which the initial value of the volume of the perfusion fluid increases upward and decreases downward. For example, when it is detected that the working pressure value of the target area reaches the maximum value, the current perfusion fluid volume change amount is recorded, and the maximum value of the set change range is obtained. Assuming that the current perfusion fluid volume change has a value of 5, the maximum value of the change range is set to an initial value of +5. Also, when it is detected that the operating pressure value of the target area reaches a minimum value, the current volume change of the perfusion fluid is recorded, and the minimum value of the set change range is obtained. Assuming that the current perfusion fluid volume change has a value of-3, the minimum value of the change range is set to an initial value of-3. Thus, a setting variation range of [ -3,5] based on the initial value can be obtained.
Finally, a composite pulse signal is generated that includes at least two different pulse parameters, if the perfusion fluid volume variation is satisfied within the set variation range. Then, the perfusion flow rate of the endoscope system is controlled to be changed according to the composite pulse signal. The composite pulse signal refers to a perfusion mode formed by combining pulse signals with at least two different pulse parameters. As one example, the composite pulse signal may be a randomly generated pulse signal.
According to the embodiment of the application, under the premise of ensuring the safety of the working pressure value of the target area, the dynamic change pulse is generated by utilizing the parameters generated by randomization through the closed-loop control of parameter acquisition, volume calculation, composite pulse signal generation and dynamic feedback, so that the hydrodynamic condition of target object aggregation is broken, the target object is effectively discharged in the safety boundary, the clinical safety is ensured, and the cleaning efficiency is improved through the turbulent flow effect.
In the embodiment of the application, when the working pressure value of the target area is too large or too small, the waveform generated by the composite pulse signal needs to be adjusted so as to enable the working pressure value of the target area to fluctuate within a reasonable range.
Specifically, in step 201, a current operating pressure value is first acquired, and a first pulse waveform of a composite pulse signal is first acquired. The first pulse waveform refers to a pulse waveform of the composite pulse signal at the current moment. Fig. 3 is a schematic diagram of a first pulse waveform according to an embodiment of the present application. Taking the first pulse waveform as a sine wave as an example, the abscissa x is time, and the ordinate y is a pulse signal value of the perfusion flow. Assuming that the suction flow rate is a constant flow rate, the pulse waveform corresponding to the suction flow rate is a straight line Z in fig. 3, and the ordinate corresponding to the straight line Z is a pulse signal value of the suction flow rate. In fig. 3, T1 is a first period of the first pulse waveform, and T2 is a second period of the first pulse waveform.
When the first pulse waveform needs to be adjusted, a target position of the first pulse waveform can be selected as a starting position according to a current working pressure value of the target area and a preset pressure threshold value, and a second pulse waveform is generated based on the starting position. The second pulse waveform refers to a pulse waveform adjusted based on the current working pressure value. The target location may be selected to be somewhere in the next period after the current period. The preset pressure threshold may be preset based on the condition of the target area. That is, the starting position of the composite pulse signal can be adjusted to adjust the magnitude of the pulse signal value, so that the working pressure value of the target area is adjusted to a reasonable range.
In the embodiment of the present application, each pulse signal value may correspond to a perfusion flow. The pressure threshold may include a first pressure threshold and a second pressure threshold. The first pressure threshold is a threshold for determining that the operating pressure value of the target region is too large, and the second pressure threshold is a threshold for determining that the operating pressure value of the target region is too small. Wherein the second pressure threshold is less than or equal to the first pressure threshold. As one example, the first pressure threshold and the second pressure threshold may be equal values, being intermediate values of the range of operating pressure values.
If the current working pressure value is greater than or equal to the first pressure threshold, which indicates that the working pressure value of the current target area is too large, the perfusion flow needs to be controlled to be reduced first, so that the perfusion flow is smaller than or equal to the suction flow, and the working pressure of the target area can be reduced. Therefore, the position of the pulse signal value of the perfusion flow rate less than or equal to the suction flow rate in the first pulse waveform may be selected as the target position. The target position is the start point of the adjusted second pulse waveform, and thus the target position can be taken as the start position.
Fig. 4 is a schematic diagram of a second pulse waveform according to an embodiment of the present application. Referring to fig. 3 and 4, assuming that the current operating pressure value is detected to be greater than or equal to the first pressure threshold value at the point a of fig. 3, it is possible to select a point less than or equal to the straight line Z on the first pulse waveform as the target position. For example, the point B is selected as the target position, and then a pulse waveform is generated from the point B, to obtain a second pulse waveform, that is, the waveform shown in fig. 4.
If the current working pressure value is smaller than the second pressure threshold, the working pressure value of the current target area is too small, and the perfusion flow needs to be controlled to be in an increasing trend, so that the perfusion flow is larger than or equal to the suction flow, and the working pressure of the target area can be increased. Therefore, the position of the pulse signal value of the perfusion flow rate greater than or equal to the suction flow rate in the first pulse waveform may be selected as the target position.
Fig. 5 is a schematic diagram of a second pulse waveform according to another embodiment of the present application. Referring to fig. 3 and 5, assuming that the current operating pressure value is detected to be less than the second pressure threshold value at the point a position of fig. 3, it is possible to select a point greater than or equal to the straight line Z on the first pulse waveform as the target position. For example, the point C is selected as the target position, and then a pulse waveform is generated from the point C, to obtain a second pulse waveform, that is, the waveform shown in fig. 5.
It should be noted that, the selection of the target position may be determined according to the detected working pressure value of the target area and the preset working pressure threshold value of the target area. For example, if the difference between the operating pressure value and the operating pressure threshold is small, the target position needs to be determined at a position far from the straight line Z to give more adjustment space for the pulse signal value. On the contrary, if the difference between the working pressure value and the working pressure threshold value is large, enough time is needed for pulse adjustment, and the target position can be determined to be a position close to the straight line Z. The specific manner of determination is not limited herein.
In the embodiment of the application, after the endoscope system is operated, for example, after laser lithotripsy is performed, the target object may not move according to expectations, or aggregation still exists after the movement. Therefore, in the laser lithotripsy operation, the embodiment of the application can analyze the acquired real-time image information of the target area through the image acquisition equipment so as to judge the operation effect of the endoscope system. For example, the determination may be made based on the moving distance of the target object in the acquired image information. A set range is predetermined, and if the object is still within the set range after the operation of the endoscope system, it can be determined that the object is not moving, that is, the moving range of the object is too small, whereas if the object is outside the set range, it can be determined that the object is moving.
As an example, a set distance may be set. And determining the moving distance of the target object directly according to the coordinate change of the target object before and after the operation of the endoscope, comparing the moving distance with the set distance, if the moving distance of the target object is larger than the set distance, indicating that the target object moves, and if the moving distance of the target object is smaller than or equal to the set distance, indicating that the target object does not move. As another example, a set speed may be set. And determining the moving distance of the target object according to the coordinate change of the target object before and after the operation of the endoscope and the time difference before and after the operation, calculating to obtain the moving speed of the target object, comparing the moving speed with the set speed, if the moving speed of the target object is greater than the set speed, indicating that the target object moves, and if the moving speed of the target object is less than or equal to the set speed, indicating that the target object does not move. The determination of the movement of the target object based on the image information is not limited to the above two examples, but may be another method capable of detecting the target object, and is not limited thereto. The following will exemplify the case where the endoscope exists after the operation, taking the object as a stone.
In the embodiment of the application, after the endoscope is operated, the situation that stones are not driven or the moving speed does not reach the expected speed possibly exists, which indicates that the current perfusion flow is insufficient. Therefore, in step 201, in response to the image information being that the movement of the target object is within the set range, the maximum pulse signal value of the composite pulse signal may be increased to increase the maximum perfusion flow rate of the perfusion flow rate in the case that the volume change of the perfusion fluid is satisfied within the set range. The maximum pulse signal value of the pulse and the maximum perfusion flow are in a mapping relation, so that the maximum perfusion flow can be improved by improving the maximum pulse signal value of the composite pulse signal, and the changed impact force can push the movement of the stone.
In an embodiment of the application, responsive to the image information being that the movement of the subject is outside the set range, the perfusion flow is indicated to cause movement of the stone. However, there may be other points where stones accumulate in the target region or where the field of view is not clear, and thus other parameters, such as pulse frequency, of the pulse parameters corresponding to the perfusion flow may need to be adjusted.
If stones accumulate elsewhere in the target region, indicating insufficient turbulence intensity in the target region, the pulse frequency needs to be increased. Therefore, in step 201, in response to the image information that the movement of the target object is out of the set range, and the area of the aggregation area of the target object is detected to be larger than the set area, the pulse frequency of the composite pulse signal is increased to increase the perfusion flow rate when the volume change of the perfusion fluid is satisfied within the set change range.
If the particles of the target object are suspended or the image quality is poor, the turbulence intensity of the current target area is excessively high, and the pulse frequency needs to be reduced. Therefore, in step 201, in response to the image information being that the movement of the target object is out of the set range, and detecting that the particles of the target object are in a random suspension state and/or the sharpness index of the image acquired by the endoscope system is smaller than the set sharpness index, the pulse frequency of the composite pulse signal is reduced to reduce the perfusion flow rate in the case that the volume change of the perfusion fluid is satisfied within the set change range.
As an example, in order to make the discharge target effect of the target area better, the pulse frequency may be intermittently increased. Specifically, in step 201, the first pulse frequency and the second pulse frequency may be determined based on the current pulse frequency in response to the image information being that the movement of the object is outside the set range. The first pulse frequency is greater than the current pulse frequency, and the second pulse frequency is the current pulse frequency (i.e. the original frequency) or the pulse frequency for making the perfusion flow be a constant flow (i.e. the pulse frequency for steady flow perfusion).
The pulse frequency is determined to be a first pulse frequency during a first period of time, the pulse frequency is determined to be a second pulse frequency during a second period of time, and the pulse frequency is controlled in a manner that the first period of time and the second period of time are cyclically and alternately performed to adjust the perfusion flow. The stones are suspended by the part with increased frequency, then the stones are discharged to the suction port by the way of keeping the original frequency or stabilizing flow perfusion, and the pulse frequency of the pulse is dynamically changed, so that the stones are discharged better.
In an embodiment of the application, the endoscope system may further comprise an instruction input device in communication with the controller. The command input device is a device that can accept an input command, and may be, for example, a button, a knob, a touch panel, or the like provided on the surface of the endoscope system, or may be a user interrupt that communicates with the controller remotely. When the command input device receives an input command, a composite pulse signal corresponding to the control command can be determined in response to the control command transmitted by the command input device. For example, the amplitude, frequency, etc. of the composite pulse signal may be adjusted based on the command.
In one example, the above area of the aggregation area where the stones are detected is larger than the set area, the particles where the stones are detected are in a random suspension state, and/or the sharpness index of the image collected by the endoscope system is smaller than the set sharpness index, which can be obtained by using an image recognition technology.
For example, the calculus removal efficiency can be analyzed by image preprocessing, and denoising and enhancing processes are performed first. Such as adaptive filtering (e.g., bilateral filtering). During surgery, images of an endoscopic system are often disturbed by blood, air bubbles and instrument reflections. The adaptive filtering improves the signal-to-noise ratio of the image by smoothing noise while retaining edge information, and ensures the accuracy of subsequent calculus detection. In this way, false detection (e.g., false perception of a bolus of blood as a stone) and false detection (masking the contour of the stone by noise) can be reduced. In addition, contrast enhancement can be performed, and the difference between stones and surrounding tissues can be highlighted by enhancing the details of the low-contrast area through local histogram equalization because the target area may have uneven ambient illumination. Therefore, the tiny stones (such as <2 mm) can be more easily identified in a dark area, and the detection sensitivity is improved. Then, color correction is performed. As stones are usually yellowish white, mucous membranes are pink. The color correction color space is converted to be capable of separating brightness and chromaticity, and the calculus area is accurately extracted through threshold segmentation, so that the influence of color distortion caused by illumination change on detection can be avoided. Motion compensation and cheongsam elimination are then performed by dynamic artifact suppression. Motion compensation (also known as inter-frame registration) is the alignment of successive images by movement of the endoscope system or patient breathing that can cause image shake, eliminating motion blur to ensure continuity of stone position tracking, avoiding track breakage. Bubble elimination (also called morphological operation) refers to that bubbles in perfusate show a highlighted circular area in an image, and morphological open operation (corrosion before expansion) can identify and fill bubbles, so that the situation that bubbles are misjudged as highly reflective stones is reduced, and false positives are reduced.
Then, the stone can be monitored and segmented by image recognition and segmentation techniques. For example, detection based on deep learning may be used. The deep learning model realizes end-to-end stone positioning by training and learning the texture, shape and color characteristics of stones, can adapt to complex scenes (such as stones partially covered by blood), and improves detection robustness. In addition, conventional image segmentation (e.g., thresholding+edge detection) may also perform image recognition. For example, in thresholding (Lab space), the a/b channels of Lab color space are sensitive to color differences, and by thresholding the areas of stones, stones can be rapidly segmented as a supplement to or pre-process for deep learning. The Canny operator in the edge enhancement (canny+morphological closing operation) detects the edge of the calculus, and the closing operation is connected with the fracture outline to form a complete calculus boundary, so that the area and the position of the calculus can be accurately calculated, and a basis is provided for motion tracking.
In addition, the calculus movement tracking and discharge evaluation can be combined with the image recognition technology. First, stones are tracked by optical flow tracking. For example, the motion vector of each pixel in the image can be calculated by using the dense optical flow (Farneback), the overall movement trend of the stone particles can be reflected, the pushing effect of the flow field on the stone can be evaluated, and the detention area can be identified. Or the movement track of the mass center of the calculus can be tracked by using a sparse optical flow (Lucas-Kanade), and the speed and the direction of the movement track can be analyzed, so that the migration efficiency of the calculus to the suction port can be quantified, and whether the discharge is effective or not can be judged. Second, the discharge effect can be subjected to an operation of quantifying the index. For example, for the evaluation of consistency of movement direction, if the included angle between the movement direction of the calculus and the suction port direction is smaller, the drainage is more effective, if the included angle is larger than 90 degrees, the calculus may be reversely dispersed, and the suction position needs to be adjusted. For another example, the rate of decay of the rate may be evaluated to indicate that the stone rate has fallen faster over time, indicating that it is approaching or stuck to the suction port, and that a sustained low rate is required to indicate that suction negative pressure is to be increased or that the direction of perfusion is to be adjusted. For another example, an assessment of field cleanliness (area ratio), the rate of area reduction of the stone region reflects the overall clearance progress. If the area drops and stagnates, the smaller laser power may need to be used for breaking up in multiple steps.
Based on the image recognition technology, three factors of direction, speed and area can be combined, total scores of the discharging effects can be calculated in a weighted mode, and quantitative indexes are provided for guiding operators to make decisions, for example, immediate intervention is needed when the score is less than 0.4.
In one embodiment, the distance between the stone accumulation position and the perfusion opening can be obtained through image recognition, and the fluid mechanical property of the perfusion fluid sprayed in the fluid is combined, so that the stone accumulation position cannot be impacted due to too small flow rate, and if the flow rate is too large, the inner wall of the kidney can be damaged. It is necessary to determine a minimum impact distance from which to extrapolate the initial value of the minimum perfusion flow rate and the initial value of the maximum perfusion flow rate. Based on this initial value of the minimum perfusion flow rate and the initial value of the maximum perfusion flow rate, it is then beneficial to quickly determine the appropriate pulse combination.
Fig. 6 is a flow chart of a control method of a perfusion apparatus according to another embodiment of the present application. In another embodiment of the present application, the control method may further include steps 204-207, as shown in fig. 6.
Step 204, controlling the operation of the perfusion apparatus according to a first mode, wherein the first mode is a pulse mode with a constant perfusion flow.
In the embodiment of the application, the first mode refers to a perfusion mode in which the perfusion flow rate is relatively constant, so that the fluid in the target area is relatively stable, i.e. the laser is performed in a stable manner at any time. In the first mode, the fluid in the target area is relatively stable, and a clearer view can be obtained, so that the endoscope system can perform accurate lithotripsy.
Step 205, acquiring image information including a target object acquired by an image acquisition device in real time.
Step 206, responding to the image information to make the movement of the object in the set range, and reducing the perfusion flow.
In the embodiment of the present application, the set discharge rate refers to a threshold value for determining whether or not the discharge effect of the target object is significant. If the discharge rate of the target is lower than the set discharge rate, it is indicated that the effect of the discharge rate in the current perfusion mode is not obvious, and thus, it is necessary to prepare to switch from the smooth first mode to the second mode in which the pulse parameters are changed. The second mode is a mode in which at least two pulses with different pulse parameters exist.
During switching to the second mode, the perfusion flow needs to be reduced first, in particular starting from a flow equal to the suction flow, so that the perfusion flow is smaller than the suction flow, so that the working pressure value of the target area can be shifted towards a low value point of the working pressure value range. Taking a target area as a kidney and a target object as a calculus as an example, the safety range of the internal pressure of the kidney is 20cm H 2O ~ 30cmH2 O, and the optimal working pressure value is 25cm H 2 O. In the first mode, the intra-renal pressure is controlled at 25cmH 2 O, and then the perfusion is made smaller than the aspiration flow by reducing the perfusion, so that the intra-renal pressure approaches 20cmH 2 O from 25cmH 2 O. Then, when the intra-renal pressure approaches 20cmH 2 O, the perfusion flow is already greater than the aspiration flow, so that the perfusion flow also changes to the peak, and the intra-renal pressure also appears to rise. By reducing the perfusion flow, excessive scouring of the stones can be reduced, so that the stones are more easily broken by laser.
Step 207, in response to the working pressure value of the target area where the target object is located being smaller than the set working pressure value, entering a second mode, wherein the second mode comprises at least two pulses with different pulse parameters.
The operating pressure value is set to a value at which the mode of the determination pulse enters the second mode, and the operating pressure value is set to be within the operating pressure value range of the target region. When the operating pressure value of the target area is smaller than the set operating pressure value, which indicates that the perfusion flow has been reduced to a relatively safe range, a second mode may be entered. The working pressure value of the target area can be obtained through calculation through a preset curve, and can also be obtained through direct acquisition through a sensor. In one example, the second mode may be switched in a gradient manner. It is believed that the impact force is incrementally increased so that the entire process is flushing out the target in a manner that the operating pressure value changes closer to the target area.
Fig. 7 is a schematic structural diagram of a control device 700 of a perfusion apparatus according to an embodiment of the present application. As shown in fig. 7, the control device 700 is integrated with the controller 110 of fig. 1, the controller 110 is communicatively connected with the perfusion apparatus 130, and the control device 700 may include:
The acquiring module 701 is configured to acquire a composite pulse signal, where the composite pulse signal includes at least two different pulse signals, and at least one pulse parameter of pulse parameters corresponding to the two different pulse signals is different;
A determining module 702, configured to determine perfusion control information according to the composite pulse signal;
The adjusting module 703 is configured to control the perfusion apparatus to adjust a perfusion flow of the perfusion apparatus according to the perfusion control information.
In an embodiment of the present application, the obtaining module 701 includes:
A first acquisition unit configured to acquire a perfusion flow rate and a suction flow rate within a set period of time;
A calculation unit for obtaining a volume change of the perfusion fluid based on the perfusion flow rate and the suction flow rate;
The second acquisition unit is used for acquiring a set variation range of the volume variation of the perfusion fluid;
a first generation unit for generating a composite pulse signal including at least two different pulse parameters in case that the volume change amount of the perfusion fluid is satisfied within the set change range.
In the embodiment of the application, the computing unit is also used for acquiring the working pressure value corresponding to the perfusion flow and the suction flow in the set time period and acquiring the working pressure value range, and determining the set change range of the volume change of the perfusion fluid according to the association relation between the volume change of the perfusion fluid and the working pressure value range.
In the embodiment of the present application, the controller 110 is further communicatively connected to the suction apparatus 140, the suction flow rate of the suction apparatus 140 is a set flow rate, and the acquisition module 701 further includes:
the third acquisition unit is used for acquiring the current working pressure value and the first pulse waveform of the composite pulse signal;
And the second generation unit is used for selecting the target position of the first pulse waveform as a starting position according to the current working pressure value and a preset pressure threshold value and generating a second pulse waveform based on the starting position.
In the embodiment of the application, the pulse parameters further comprise pulse signal values, each pulse signal value corresponds to a perfusion flow, the pressure threshold comprises a first pressure threshold and a second pressure threshold, the second pressure threshold is smaller than or equal to the first pressure threshold, the second generation unit is further used for selecting a position of the pulse signal value of the perfusion flow smaller than or equal to the pumping flow in the first pulse waveform as a target position if the current working pressure value is larger than or equal to the first pressure threshold, selecting a position of the pulse signal value of the perfusion flow larger than or equal to the pumping flow in the first pulse waveform as a target position if the current working pressure value is smaller than the second pressure threshold, and taking the target position as a starting position.
In an embodiment of the present application, the controller 110 is further communicatively connected to the image capturing device 150, the pulse parameter includes a maximum pulse signal value of the pulse, and the acquiring module 701 further includes:
a fourth acquisition unit for acquiring image information including the target object acquired by the image acquisition device;
And the first adjusting unit is used for responding to the movement of the image information as the target object in a set range and improving the maximum pulse signal value of the composite pulse signal under the condition that the volume change of the perfusion fluid is within the set change range.
In an embodiment of the present application, the pulse parameter includes a pulse frequency, and the acquisition module 701 further includes:
And the second adjusting unit is used for responding to the image information that the movement of the target object is out of the set range, the area of the aggregation area of the target object is larger than the set area, and the pulse frequency of the composite pulse signal is improved under the condition that the volume change of the perfusion fluid is within the set change range.
In an embodiment of the present application, the obtaining module 701 further includes:
And the third adjusting unit is used for responding to the image information that the movement of the target object is out of a set range, the particles of the target object are in a random suspension state and/or the definition index of the acquired image is smaller than the set definition index, and the pulse frequency of the composite pulse signal is reduced under the condition that the volume change of the perfusion fluid is within the set change range.
In an embodiment of the present application, the obtaining module 701 further includes:
a fourth adjusting unit for determining a first pulse frequency and a second pulse frequency based on the current pulse frequency in response to the image information that the movement of the target is out of the set range, the first pulse frequency being greater than the current pulse frequency, the second pulse frequency being the current pulse frequency or a pulse frequency that makes the perfusion flow constant;
A frequency determining unit configured to determine the pulse frequency as the first pulse frequency in a first period of time and determine the pulse frequency as the second pulse frequency in a second period of time;
And the alternating unit is used for controlling the pulse frequency of the composite pulse signal in a mode of cyclically and alternately executing the first time period and the second time period.
In an embodiment of the present application, the control device 700 of the perfusion apparatus further includes:
the control module is used for controlling the operation of the perfusion equipment according to a first mode, wherein the first mode is a pulse mode with constant perfusion flow;
The acquisition module is used for acquiring the image information containing the target object acquired by the image acquisition equipment in real time;
The flow reducing module is used for reducing the perfusion flow in response to the image information that the movement of the target object is in a set range;
and the mode switching module is used for responding to the fact that the working pressure value of the target area where the target object is located is smaller than the set working pressure value, and entering a second mode, wherein the second mode comprises at least two pulse signals with different pulse parameters.
In the embodiment of the present application, the controller is further communicatively connected to the instruction input device, and the obtaining module 701 is further configured to determine, in response to a control instruction sent by the instruction input device, a composite pulse signal corresponding to the control instruction.
Fig. 8 is a block diagram of a controller 110 according to an embodiment of the present application. As shown in fig. 8, the controller 110 may include a memory 111 and a processor 112. Memory 111 is configured to store instructions. The processor 112 is configured to invoke instructions from the memory 111 and to enable the above-described control method of the perfusion apparatus when executing the instructions.
As shown in fig. 1, an embodiment of the present application also provides an endoscope system 100, the endoscope system 100 including a controller 110, the controller 110 being communicatively coupled to a perfusion apparatus 130. The controller 110 is configured to obtain a composite pulse signal, the composite pulse signal including at least two different pulse signals, wherein at least one of pulse parameters corresponding to the two different pulse signals is different, determine perfusion control information according to the composite pulse signal, and control the perfusion apparatus to adjust a perfusion flow of the perfusion apparatus according to the perfusion control information.
In an embodiment of the present application, the controller 110 is further configured to obtain the perfusion flow rate and the suction flow rate within a set period of time, obtain a volume change amount of the perfusion fluid based on the perfusion flow rate and the suction flow rate, obtain a set change range of the volume change amount of the perfusion fluid, and generate a composite pulse signal including at least two different pulse parameters if the volume change amount of the perfusion fluid is satisfied within the set change range.
In an embodiment of the present application, the endoscope system 100 further includes a suction device 140, the suction device 140 is communicatively connected to the controller 110, a suction flow rate of the suction device is a set flow rate, and the controller 110 is further configured to obtain a working pressure value corresponding to the perfusion flow rate and the suction flow rate in a set period of time, and obtain a working pressure value range, and determine a set variation range of the volume variation of the perfusion fluid according to an association relationship between the volume variation of the perfusion fluid and the working pressure value range.
In the embodiment of the present application, the controller 110 is further configured to acquire the current working pressure value and the first pulse waveform of the composite pulse signal, select the target position of the first pulse waveform as the starting position according to the current working pressure value and the preset pressure threshold, and generate the second pulse waveform based on the starting position.
In the embodiment of the present application, the pulse parameters further include pulse signal values, each pulse signal value corresponds to a perfusion flow, the pressure threshold includes a first pressure threshold and a second pressure threshold, the second pressure threshold is smaller than or equal to the first pressure threshold, the controller 110 is further configured to select a position of the pulse signal value of the perfusion flow smaller than or equal to the suction flow in the pulse waveform as a target position if the current working pressure value is larger than or equal to the first pressure threshold, select a position of the pulse signal value of the perfusion flow larger than or equal to the suction flow in the pulse waveform as a target position if the current working pressure value is smaller than the second pressure threshold, and use the target position as the start position.
In an embodiment of the present application, the endoscope system 100 further comprises an image acquisition device 150, the image acquisition device 150 is in communication connection with the controller 110, the pulse parameters comprise a maximum pulse signal value of the pulse, the controller 110 is further configured to acquire image information including the target object acquired by the image acquisition device, respond to the image information to move the target object within a set range, and improve the maximum pulse signal value of the composite pulse signal under the condition that the volume change of the perfusion fluid is satisfied within the set range.
In an embodiment of the present application, the pulse parameters include a pulse frequency, and the controller 110 is further configured to acquire image information including the target object acquired by the image acquisition device, and to increase the pulse frequency of the composite pulse signal in response to the image information that the movement of the target object is out of a set range and the area of the aggregation area of the target object is larger than the set area, where the volume change of the perfusion fluid is satisfied within the set change range.
In an embodiment of the present application, the controller 110 is further configured to acquire image information including the target object acquired by the image acquisition device, and to reduce the pulse frequency of the composite pulse signal in response to the image information being that the movement of the target object is out of the set range and the particles of the target object are in a random suspension state and/or the sharpness index of the image acquired by the endoscope system is smaller than the set sharpness index, in case that the volume change of the perfusion fluid is satisfied within the set change range.
In an embodiment of the application, the controller 110 is further configured to acquire image information including the object acquired by the image acquisition device, determine a first pulse frequency and a second pulse frequency based on the current pulse frequency in response to the image information indicating that the movement of the object is out of the set range, the first pulse frequency being greater than the current pulse frequency, the second pulse frequency being the current pulse frequency or a pulse frequency that causes the perfusion flow to be a constant flow, determine the pulse frequency as the first pulse frequency during a first period of time, determine the pulse frequency as the second pulse frequency during a second period of time, and control the pulse frequency of the composite pulse signal in such a manner that the first period of time and the second period of time are cyclically and alternately performed.
In the embodiment of the present application, the controller 110 is further configured to control the operation of the perfusion apparatus according to a first mode, where the first mode is a pulse mode with a constant perfusion flow rate, acquire image information including the target object acquired by the image acquisition apparatus in real time, reduce the perfusion flow rate in response to the image information being that the movement of the target object is within a set range, and enter a second mode in response to a working pressure value of a target area where the target object is located being smaller than the set working pressure value, where the second mode includes at least two pulse signals with different pulse parameters.
In an embodiment of the present application, the controller 110 is further communicatively coupled to the command input device, the controller 110 being further configured to determine, in response to a control command sent by the command input device, a composite pulse signal corresponding to the control command.
The embodiment of the application also provides a computer readable storage medium, wherein a program is stored in the computer readable storage medium, and the program can be loaded by a processor and executed by the control method of the perfusion apparatus according to any one of the embodiments of the application.
The steps in any of the methods for controlling perfusion apparatuses provided in the embodiments of the present application may be executed due to instructions stored in the control device, the controller, the endoscope system, and the computer-readable storage medium of the perfusion apparatus, so that the beneficial effects that any of the methods for controlling perfusion apparatuses provided in the embodiments of the present application may be achieved, which are detailed in the foregoing embodiments and will not be described herein.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by a computer program. When all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a computer-readable storage medium, which may include a read-only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to implement the functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be realized. In addition, when all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and the program in the above embodiments may be implemented by downloading or copying the program into a memory of a local device or updating a version of a system of the local device, and when the program in the memory is executed by a processor.
The foregoing description of the application has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the application pertains, based on the idea of the application.
Claims (12)
1. A control device for a perfusion apparatus, integrated with a controller, the controller being in communication with the perfusion apparatus, the control device comprising:
The device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a composite pulse signal, the composite pulse signal comprises at least two different pulse signals, and at least one pulse parameter corresponding to the two different pulse signals is different;
The determining module is used for determining perfusion control information according to the composite pulse signal;
The adjusting module is used for controlling the pouring equipment to adjust the pouring flow of the pouring equipment according to the pouring control information;
Wherein, the acquisition module includes:
A first acquisition unit configured to acquire a perfusion flow rate and a suction flow rate within a set period of time;
A calculation unit for obtaining a perfusion fluid volume change based on the perfusion flow rate and the suction flow rate;
The second acquisition unit is used for acquiring a set variation range of the volume variation of the perfusion fluid;
a first generation unit for generating a composite pulse signal including at least two different pulse parameters in case that the volume change amount of the perfusion fluid is satisfied within the set change range.
2. The control device of claim 1, wherein the controller is further communicatively coupled to a suction apparatus, a suction flow rate of the suction apparatus being a set flow rate, the computing unit being further configured to:
Acquiring a working pressure value corresponding to the perfusion flow and the suction flow in a set time period, and acquiring the working pressure value range;
and determining a set change range of the volume change of the perfusion fluid according to the association relation between the volume change of the perfusion fluid and the working pressure value range.
3. The control device of claim 1, wherein the acquisition module further comprises:
the third acquisition unit is used for acquiring the current working pressure value and the first pulse waveform of the composite pulse signal;
and the second generation unit is used for selecting the target position of the first pulse waveform as a starting position according to the current working pressure value and a preset pressure threshold value and generating a second pulse waveform based on the starting position.
4. A control device according to claim 3, wherein the pulse parameters comprise pulse signal values, each pulse signal value corresponding to a perfusion flow, the pressure threshold comprising a first pressure threshold and a second pressure threshold, the second pressure threshold being less than or equal to the first pressure threshold, the second generation unit being further configured to:
if the current working pressure value is greater than or equal to the first pressure threshold value, selecting a position of the first pulse waveform, in which the perfusion flow is less than or equal to the pulse signal value of the suction flow, as the target position;
If the current working pressure value is smaller than the second pressure threshold value, selecting a position of the first pulse waveform, in which the perfusion flow is larger than or equal to the pulse signal value of the suction flow, as the target position;
and taking the target position as the starting position.
5. The control apparatus of claim 1, wherein the controller is further communicatively coupled to an image acquisition device, the pulse parameter comprises a maximum pulse signal value of a pulse, and the acquisition module further comprises:
a fourth acquisition unit, configured to acquire image information including a target object acquired by the image acquisition device;
And the first adjusting unit is used for responding to the image information to enable the movement of the target object to be in a set range, and improving the maximum pulse signal value of the composite pulse signal under the condition that the volume change amount of the perfusion fluid is satisfied to be in the set change range.
6. The control apparatus of claim 1, wherein the controller is further communicatively coupled to an image acquisition device, the acquisition module further comprising:
a fourth acquisition unit, configured to acquire image information including a target object acquired by the image acquisition device;
And the second adjusting unit is used for responding to the image information that the movement of the target object is out of a set range, the area of the aggregation area of the target object is larger than the set area, and the pulse frequency of the composite pulse signal is improved under the condition that the volume change of the perfusion fluid is within the set change range.
7. The control apparatus of claim 1, wherein the controller is further communicatively coupled to an image acquisition device, the acquisition module further comprising:
a fourth acquisition unit, configured to acquire image information including a target object acquired by the image acquisition device;
And the third adjusting unit is used for responding to the image information that the movement of the target object is out of a set range, the particles of the target object are in a random suspension state and/or the definition index of the acquired image is smaller than the set definition index, and the pulse frequency of the composite pulse signal is reduced under the condition that the volume change amount of the perfusion fluid is within the set change range.
8. The control apparatus of claim 1, wherein the controller is further communicatively coupled to an image acquisition device, the acquisition module further comprising:
a fourth acquisition unit, configured to acquire image information including a target object acquired by the image acquisition device;
A fourth adjusting unit configured to determine a first pulse frequency and a second pulse frequency based on a current pulse frequency in response to the image information that the movement of the target object is out of a set range, the first pulse frequency being greater than the current pulse frequency, the second pulse frequency being the current pulse frequency or a pulse frequency that makes the perfusion flow constant;
A frequency determining unit configured to determine the pulse frequency as the first pulse frequency in a first period of time and determine the pulse frequency as the second pulse frequency in a second period of time;
and the alternating unit is used for controlling the pulse frequency of the composite pulse signal in a mode that the first time period and the second time period are circularly and alternately executed.
9. The control apparatus according to any one of claims 1 to 8, wherein the controller is further communicatively connected to an image capturing device, the control apparatus further comprising:
the control module is used for controlling the operation of the perfusion equipment according to a first mode, wherein the first mode is a pulse mode with constant perfusion flow;
The acquisition module is used for acquiring the image information containing the target object acquired by the image acquisition equipment in real time;
the flow reducing module is used for responding to the image information to reduce the perfusion flow when the movement of the target object is within a set range;
and the mode switching module is used for responding to the condition that the working pressure value of the target area where the target object is positioned is smaller than the set working pressure value and entering a second mode, wherein the second mode comprises at least two pulse signals with different pulse parameters.
10. The control apparatus of any one of claims 1 to 8, wherein the controller is further communicatively coupled to an instruction input device, the acquisition module further configured to:
and responding to a control instruction sent by the instruction input device, and determining the composite pulse signal corresponding to the control instruction.
11. A controller comprising a control device of a perfusion apparatus according to any one of claims 1 to 10.
12. An endoscope system, comprising:
A perfusion apparatus;
the controller of claim 11, in communication with the perfusion apparatus.
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| CN112049788A (en) * | 2020-06-19 | 2020-12-08 | 珠海维尔康生物科技有限公司 | Perfusion pump flow control method and device |
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