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WO2025030963A1 - Procédé d'optimisation de commande de refroidissement local à micro-échelle - Google Patents

Procédé d'optimisation de commande de refroidissement local à micro-échelle Download PDF

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Publication number
WO2025030963A1
WO2025030963A1 PCT/CN2024/093308 CN2024093308W WO2025030963A1 WO 2025030963 A1 WO2025030963 A1 WO 2025030963A1 CN 2024093308 W CN2024093308 W CN 2024093308W WO 2025030963 A1 WO2025030963 A1 WO 2025030963A1
Authority
WO
WIPO (PCT)
Prior art keywords
temperature
local
optimization method
pid
microscale
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/093308
Other languages
English (en)
Chinese (zh)
Inventor
陈惠勇
熊峰
尹嘉文
齐庆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Second Affiliated Hospital of Guangzhou Medical University
Original Assignee
Second Affiliated Hospital of Guangzhou Medical University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Second Affiliated Hospital of Guangzhou Medical University filed Critical Second Affiliated Hospital of Guangzhou Medical University
Priority to PCT/CN2024/093308 priority Critical patent/WO2025030963A1/fr
Priority to ZA2024/08051A priority patent/ZA202408051B/en
Publication of WO2025030963A1 publication Critical patent/WO2025030963A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.

Definitions

  • the invention relates to the field of biomedical engineering and invents a local microscale controlled cooling optimization method.
  • Cryotherapy has been widely used in medical treatments such as skin lesions, muscle injuries and inflammation.
  • Traditional cryotherapy methods usually involve the use of liquid nitrogen, carbon dioxide or other refrigerant compounds to reduce the temperature of local tissues in order to remove diseased tissues, relieve pain or reduce inflammation.
  • these methods have limitations in controlling the size, shape and depth of the cooling area, especially in treatment situations that require highly precise control, such as the removal of warts, hemangiomas, and xanthelasma.
  • Existing technologies often rely on large-scale cooling, which may not only affect the surrounding healthy tissues, but also make it difficult to accurately control the cooling depth, resulting in inconsistent treatment effects.
  • the temperature control of traditional freezing methods mostly relies on the operator's experience and judgment, and lacks real-time temperature monitoring and automatic adjustment mechanisms, which further limits the safety and effectiveness of its application.
  • the present invention is designed based on the following problems:
  • the main purpose of the present invention is to provide a local microscale controlled cooling optimization method, which can effectively solve the problems in the background technology.
  • step S1 cryogenic medium distribution
  • step S2 equipment use
  • PID microprocessor to control the release of the cryogenic medium
  • step S2 equipment use
  • the PID control algorithm includes a proportional adjustment part for calculating the difference between the current temperature and the target temperature to generate a basic adjustment signal.
  • the PID control algorithm further includes an integral adjustment part for accumulating past temperature deviations to provide necessary cumulative adjustment.
  • the PID control algorithm also includes a differential adjustment part for predicting future temperature trends and adjusting the control signal by calculating the rate of change of the temperature deviation.
  • the PID microprocessor is configured to receive continuous temperature readings from the temperature sensor and update various parameters of the PID control algorithm in real time based on these readings.
  • the control algorithm further includes an error handling mechanism that automatically adjusts PID control parameters when abnormal temperature sensor readings are detected.
  • the control algorithm includes a data recording module for recording and storing temperature data and control parameters during each treatment process to support subsequent data analysis and system optimization.
  • the micro-flow pump and electromagnetic control valve precisely control the release of the cryogenic medium.
  • this method can precisely control the flow rate and release rate of liquid nitrogen or other cryogenic media.
  • This fine adjustment makes the cooling of the treatment area more precise, and the depth and range of cooling can be adjusted as needed, thereby protecting the surrounding healthy tissue from unnecessary hypothermia.
  • the PID control algorithm real-time temperature adjustment adopts a proportional-integral-differential (PID) control algorithm, which dynamically adjusts the release of the cooling medium by receiving data obtained from the temperature sensor in real time.
  • PID proportional-integral-differential
  • the PID algorithm calculates the real-time temperature deviation (proportional part), the accumulated value of the deviation (integral part), and the rate of change of the deviation (differential part) to generate a precise control signal to adjust the flow rate of the cryogenic medium, thereby maintaining the treatment area within the target temperature range.
  • the control algorithm includes a data recording module to record key parameters during each treatment, such as temperature data, control parameters, and medium flow. These data are stored in the system and can be used for subsequent analysis to help medical staff evaluate the treatment effect and optimize future treatment plans.
  • Error handling mechanism In the control algorithm, an error handling mechanism is used to deal with possible sensor failures or data anomalies. This mechanism can automatically identify abnormal readings and temporarily adjust control parameters until the problem is resolved or manually intervened, thereby ensuring the continuity and safety of the treatment process.
  • FIG1 is a flow chart of an implementation method of the present invention.
  • FIG2 is a flow chart of a method for using the device of the present invention.
  • FIG3 is a diagram showing the PID implementation concept of the present invention.
  • the terms “upper”, “lower”, “inner”, “outer”, “front end”, “rear end”, “two ends”, “one end”, “the other end” and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.
  • the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components.
  • connected can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components.
  • step S1 cryogenic medium distribution
  • step S2 equipment use
  • PID microprocessor to control the release of the cryogenic medium
  • step S2 equipment use
  • the PID control algorithm includes a proportional adjustment part for calculating the difference between the current temperature and the target temperature to generate a basic adjustment signal.
  • the PID control algorithm further includes an integral adjustment part for accumulating past temperature deviations to provide necessary cumulative adjustment.
  • the PID control algorithm also includes a differential adjustment part for predicting future temperature trends and adjusting the control signal by calculating the rate of change of the temperature deviation.
  • the PID microprocessor is configured to receive continuous temperature readings from the temperature sensor and update various parameters of the PID control algorithm in real time based on these readings.
  • the control algorithm further includes an error handling mechanism that automatically adjusts PID control parameters when abnormal temperature sensor readings are detected.
  • the control algorithm includes a data recording module for recording and storing temperature data and control parameters during each treatment process to support subsequent data analysis and system optimization.
  • Treatment planning Before treatment begins, medical staff enter the specific requirements of the treatment through a dedicated software interface, including the size, shape, desired cooling depth and target temperature of the treatment area. This step is the basis for ensuring accurate treatment.
  • Probe configuration Select a probe of the corresponding shape and size based on the input treatment requirements. Each probe is designed with a different surface area and contact angle to adapt to different treatment areas and depth requirements.
  • cryogenic media is precisely controlled by programmable micro-flow pumps and solenoid valves according to the treatment needs.
  • the micro-flow pump can adjust the liquid flow per minute, while the solenoid valve is used to precisely control the rapid start and stop of the cryogenic media, which is essential for achieving rapid temperature changes.
  • cryogenic media such as liquid nitrogen or carbon dioxide, is selected according to the specific needs of the treatment. Liquid nitrogen is suitable for treatments that require rapid cooling, while carbon dioxide may be suitable for shallower freezing needs.
  • Proportional control This part is responsible for processing immediate temperature deviations and generating a control signal proportional to the deviation. When the proportional coefficient (Kp) is higher, the system responds faster, but too high a value may cause overshoot.
  • Integral control I
  • the integral part handles the cumulative effect of temperature deviations and helps eliminate long-term steady-state errors.
  • the integral coefficient (Ki) should be adjusted carefully to prevent the system from over-responding.
  • Derivative control (D) The derivative part predicts future trends in temperature and improves system stability and response speed.
  • the derivative coefficient (Kd) can help reduce or avoid oscillations.
  • the control system updates the PID control parameters by monitoring the readings of the temperature sensor in real time. These parameters continuously adjust the flow of the cryogenic medium to accurately maintain the treatment area within the set temperature range.
  • Non-contact temperature monitoring is implemented through an infrared camera, which can cover the entire treatment area and provide real-time thermal images, which intuitively show the temperature distribution and any abnormal hot spots. All data collected during the treatment process, such as temperature changes, PID parameter adjustments, media flow, etc., are recorded in the database. These data can be used for subsequent analysis to evaluate the treatment effect and further optimize the treatment parameters.
  • the system has an automatic detection function and can respond immediately when abnormal temperature sensor data or equipment malfunction is found.
  • the system can choose to automatically adjust relevant parameters or stop the supply of freezing medium, and issue an alarm to notify the operator.
  • the system will automatically lock to prevent further operation until the problem is resolved.
  • GUI Graphical User Interface
  • the operator makes all settings through an intuitive Graphical User Interface (GUI), which displays the current treatment status, real-time temperature images and historical data analysis results.
  • GUI Graphical User Interface
  • the GUI is designed to be user-friendly, ensuring that the operator can easily set up and monitor the treatment process.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Otolaryngology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Thermotherapy And Cooling Therapy Devices (AREA)

Abstract

La présente invention concerne un procédé d'optimisation de commande de refroidissement local à micro-échelle et appartient au domaine de l'ingénierie biomédicale. Dans le procédé, le refroidissement précis d'une zone à traiter est obtenu au moyen de la commande précise de la libération d'un milieu cryogénique. Une pompe à micro-flux et une soupape de commande à solénoïde sont utilisées pour régler avec précision le débit et la vitesse du milieu cryogénique, et un capteur de température intégré dans une sonde est utilisé pour surveiller en temps réel la température de la région à traiter. Le procédé comprend en outre un algorithme de commande basé sur un principe PID (proportionnel intégral dérivé) qui règle dynamiquement la libération du milieu cryogénique sur la base de données de température en temps réel, de façon à maintenir une température de traitement cible. De plus, dans le procédé, une surveillance de température sans contact est effectuée sur la région à traiter au moyen d'une caméra infrarouge, et des données produites pendant un processus de traitement sont enregistrées, ce qui permet d'optimiser un effet thérapeutique. La technologie fournit un procédé de cryothérapie locale sûr et précis, applicable à une thérapie médicale pour la dermatose, les lésions musculaires, les inflammations, etc.
PCT/CN2024/093308 2024-05-15 2024-05-15 Procédé d'optimisation de commande de refroidissement local à micro-échelle Pending WO2025030963A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2024/093308 WO2025030963A1 (fr) 2024-05-15 2024-05-15 Procédé d'optimisation de commande de refroidissement local à micro-échelle
ZA2024/08051A ZA202408051B (en) 2024-05-15 2024-10-24 Optimization method of local micro-scale controlled cooling

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2024/093308 WO2025030963A1 (fr) 2024-05-15 2024-05-15 Procédé d'optimisation de commande de refroidissement local à micro-échelle

Publications (1)

Publication Number Publication Date
WO2025030963A1 true WO2025030963A1 (fr) 2025-02-13

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WO (1) WO2025030963A1 (fr)
ZA (1) ZA202408051B (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120272442A (zh) * 2025-06-10 2025-07-08 长春生物制品研究所有限责任公司 一种Vero细胞单次病毒收获液实时澄清系统和方法
CN120416334A (zh) * 2025-07-02 2025-08-01 重庆蚂蚁消费金融有限公司 一种事务请求处理方法、装置、存储介质及电子设备

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* Cited by examiner, † Cited by third party
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US20150351822A1 (en) * 2014-06-04 2015-12-10 Thomas Mulcahey Method and system for consistent, repeatable, and safe cryospray treatment of airway tissue
CN107951559A (zh) * 2018-01-05 2018-04-24 北京阳光易帮医疗科技有限公司 一种低温手术系统
CN110464444A (zh) * 2019-08-14 2019-11-19 心诺普医疗技术（北京）有限公司 一种温度可控的冷冻消融系统
CN111529047A (zh) * 2020-06-23 2020-08-14 上海微创电生理医疗科技股份有限公司 冷冻消融温度控制方法、系统及介质
US20230270483A1 (en) * 2022-02-28 2023-08-31 Icecure Medical Ltd. Cryogen Flow Control
CN117398172A (zh) * 2023-11-17 2024-01-16 迈得诺医疗科技集团有限公司 一种冷冻消融仪的控制方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150351822A1 (en) * 2014-06-04 2015-12-10 Thomas Mulcahey Method and system for consistent, repeatable, and safe cryospray treatment of airway tissue
CN107951559A (zh) * 2018-01-05 2018-04-24 北京阳光易帮医疗科技有限公司 一种低温手术系统
CN110464444A (zh) * 2019-08-14 2019-11-19 心诺普医疗技术（北京）有限公司 一种温度可控的冷冻消融系统
CN111529047A (zh) * 2020-06-23 2020-08-14 上海微创电生理医疗科技股份有限公司 冷冻消融温度控制方法、系统及介质
CN112263321A (zh) * 2020-06-23 2021-01-26 上海微创电生理医疗科技股份有限公司 冷冻消融温度控制方法、系统及介质
US20230270483A1 (en) * 2022-02-28 2023-08-31 Icecure Medical Ltd. Cryogen Flow Control
CN117398172A (zh) * 2023-11-17 2024-01-16 迈得诺医疗科技集团有限公司 一种冷冻消融仪的控制方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120272442A (zh) * 2025-06-10 2025-07-08 长春生物制品研究所有限责任公司 一种Vero细胞单次病毒收获液实时澄清系统和方法
CN120416334A (zh) * 2025-07-02 2025-08-01 重庆蚂蚁消费金融有限公司 一种事务请求处理方法、装置、存储介质及电子设备

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