CN115940743B - Intelligent monitoring method and system for motor control of surgical equipment - Google Patents
Intelligent monitoring method and system for motor control of surgical equipmentDownload PDFInfo
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Abstract
Description
Technical Field
The application relates to the technical field of data processing, in particular to an intelligent monitoring method and system for motor control of surgical equipment.
Background
Medical surgical shavers are widely used as medical equipment for common operations in modern medicine, in operations requiring reduction of side injuries caused by the operations, such as hysteroscopic shaving operations.
In the operation process of patients with different ages and pathological tissue removal requirements by using a medical operation planer, a doctor needs to perform operation control of the medical operation planer based on experience, namely, operation parameter adjustment control of a planing motor of the medical operation planer.
In addition to the fact that the medical surgical shaver control relies on manual experience to have the disadvantage that the actual operating state of the medical surgical shaver is not adapted to the actual treatment needs of the patient, the actual operating state of the medical surgical shaver also has equipment disadvantages which are different from the doctor setting information, and these disadvantages lead to an increased risk of surgical accidents.
In summary, in the prior art, when a surgical task is performed, the operation control of the planing motor of the medical surgical planing device depends on the experience of medical staff, so that the technical problem that the operation of the planing motor is unstable and the surgical effect is poor is caused.
Disclosure of Invention
Based on the foregoing, it is necessary to provide an intelligent monitoring method and system for controlling a motor of a surgical device, which can improve the adaptation degree between the operation state of the planing motor and the treatment requirement of a patient, and ensure that the planing motor stably operates according to the operation rotation speed requirement.
An intelligent monitoring method for motor control of surgical equipment, the method comprises the following steps: acquiring multiple types of information to be subjected to planing operation through the information acquisition module, and acquiring an operation information set; inputting the operation information set into a motor control coefficient database in the motor control module to obtain a motor set rotating speed, a set motor running stability coefficient and a set motor transition stability coefficient; according to the set rotating speed of the motor, controlling the planing motor to control operation through the motor control module, and collecting the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set; calculating to obtain an actual motor running stability coefficient according to the actual rotation speed set and the motor set rotation speed; when the actual motor running stability coefficient does not meet the set motor running stability coefficient, generating a plurality of motor adjustment control parameters; and optimizing the motor adjustment control parameters according to the set motor transition stability parameters to obtain optimal motor adjustment control parameters, and controlling the planing motor through the motor control module.
An intelligent monitoring system for surgical device motor control, the system comprising: the operation information acquisition module is used for acquiring multiple types of information to be subjected to planing operation through the information acquisition module to obtain an operation information set; the motor coefficient setting module is used for inputting the operation information set into a motor control coefficient database in the motor control module to obtain a motor set rotating speed, a motor running stability coefficient and a motor transition stability coefficient; the motor operation control module is used for controlling the planing motor to perform control operation according to the set rotating speed of the motor, and collecting the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set; the operation live acquisition module is used for calculating and obtaining an actual motor operation stability coefficient according to the actual rotation speed set and the motor set rotation speed; the adjustment parameter generation module is used for generating a plurality of motor adjustment control parameters when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient; and the motor control execution module is used for optimizing the motor adjustment control parameters according to the set motor transition stability parameters to obtain optimal motor adjustment control parameters, and the planing motor is controlled by the motor control module.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring multiple types of information to be subjected to planing operation through the information acquisition module, and acquiring an operation information set;
inputting the operation information set into a motor control coefficient database in the motor control module to obtain a motor set rotating speed, a set motor running stability coefficient and a set motor transition stability coefficient;
according to the set rotating speed of the motor, controlling the planing motor to control operation through the motor control module, and collecting the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set;
calculating to obtain an actual motor running stability coefficient according to the actual rotation speed set and the motor set rotation speed;
when the actual motor running stability coefficient does not meet the set motor running stability coefficient, generating a plurality of motor adjustment control parameters;
and optimizing the motor adjustment control parameters according to the set motor transition stability parameters to obtain optimal motor adjustment control parameters, and controlling the planing motor through the motor control module.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring multiple types of information to be subjected to planing operation through the information acquisition module, and acquiring an operation information set;
inputting the operation information set into a motor control coefficient database in the motor control module to obtain a motor set rotating speed, a set motor running stability coefficient and a set motor transition stability coefficient;
according to the set rotating speed of the motor, controlling the planing motor to control operation through the motor control module, and collecting the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set;
calculating to obtain an actual motor running stability coefficient according to the actual rotation speed set and the motor set rotation speed;
when the actual motor running stability coefficient does not meet the set motor running stability coefficient, generating a plurality of motor adjustment control parameters;
and optimizing the motor adjustment control parameters according to the set motor transition stability parameters to obtain optimal motor adjustment control parameters, and controlling the planing motor through the motor control module.
According to the intelligent monitoring method and system for the motor control of the surgical equipment, the technical problems that the operation state of the planing motor is unstable and the surgical effect is poor due to the fact that the operation control of the planing motor of the medical surgical planing device depends on experience of medical staff when a surgical task is executed in the prior art are solved, the adaptation degree of the operation state of the planing motor to the treatment requirement of a patient is improved, and meanwhile, the technical effect that the planing motor stably operates according to the operation rotating speed requirement is ensured.
The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.
Drawings
FIG. 1 is a flow chart of a method for intelligent monitoring of surgical device motor control in one embodiment;
FIG. 2 is a schematic flow chart of obtaining a surgical information set in an intelligent monitoring method for controlling a motor of a surgical device according to an embodiment;
FIG. 3 is a block diagram of a motor-controlled intelligent monitoring system for surgical equipment according to one embodiment;
Fig. 4 is an internal structural diagram of a computer device in one embodiment.
Reference numerals illustrate: the system comprises a surgicalinformation acquisition module 1, a motorcoefficient setting module 2, a motoroperation control module 3, an operationlive acquisition module 4, an adjustmentparameter generation module 5 and a motorcontrol execution module 6.
Description of the embodiments
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
As shown in fig. 1, the present application provides an intelligent monitoring method for motor control of a surgical device, the method is applied to an intelligent monitoring system for motor control of a surgical device, the system includes an information acquisition module, a motor control module, and a planing motor, the planing motor operates under the control of the motor control module, the method includes:
s100, acquiring multiple types of information to be subjected to planing operation through the information acquisition module, and acquiring an operation information set;
in one embodiment, as shown in fig. 2, the information acquisition module acquires multiple types of information about a planning operation to be performed, and acquires an operation information set, and the method provided in the application further includes:
S110, collecting tissues to be subjected to planing operation through the information collecting module to obtain planing tissue information;
s120, acquiring the range of the tissue to be subjected to the planing operation, and obtaining planing range information;
s130, acquiring the age of a patient to be subjected to planing operation, and acquiring age information;
and S140, generating the operation information set based on the planing tissue information, the planing range information and the age information.
In particular, it should be understood that medical surgical shavers are widely used as modern medical common surgical equipment in operations such as hysteroscopic shaving operations where it is necessary to reduce side injuries caused by the operation. The medical operation planing device is composed of a planing tool, a planing motor, a motor control module and an information acquisition module. Wherein, the planing tool is directly or indirectly connected with the planing motor (for example, a disposable planing tool bit is used as the planing tool, and a planing control handle is arranged at the front end of the planing motor), the planing tool is driven to operate by the operation of the planing motor, and the actual operation rotating speed of the planing motor is determined by the control parameters of the motor control module.
The information acquisition module is used for acquiring various related information of the patient to be subjected to the planning operation, and particularly, the information acquisition module is connected with the hospital electronic medical record system, invokes name information of the current patient to be subjected to the planning operation according to the operation time arrangement sequence of the operating room, and obtains the electronic medical record of the patient to be subjected to the planning operation by traversing and searching in the hospital electronic medical record system according to the name information of the patient.
The shaved tissue information of the patient is obtained through the electronic medical record, wherein the shaved tissue information is shaved tissue type information, and the shaved tissue type is meniscus pathological tissue and intrauterine pathological tissue. And acquiring the range of the tissue to be subjected to the planing operation through the electronic medical record, and obtaining planing range information, wherein the planing range information is the position information of the pathological tissue which is actually required to be planed and removed in the patient and the removal target. And acquiring the age of the patient to be subjected to the planning operation through electronic medical record acquisition, and obtaining age information. The shaved tissue information, shaved range information, and age information are collectively referred to as the procedure information set.
According to the embodiment, the patient medical record operation information is called based on the information acquisition system, so that various information of a patient to be subjected to planing operation is obtained, and a technical effect of providing an effective data basis for the follow-up operation data acquisition of the planing motor when the planing cutter is controlled to conduct planing tissue excision is achieved.
S200, inputting the operation information set into a motor control coefficient database in the motor control module to obtain a motor set rotating speed, a motor running stability coefficient and a motor transition stability coefficient;
In one embodiment, the surgical information set is input into a motor control coefficient database in the motor control module to obtain a set motor rotation speed, a set motor operation stability coefficient and a set motor transition stability coefficient, and the method provided in step S200 further includes:
s210, acquiring a historical planing tissue information set, a historical planing range information set and a historical age information set based on the historical data of planing operation in the historical time;
s220, acquiring a set rotating speed set of a historical motor, a set running stability coefficient set of the historical set motor and a set transition stability coefficient set of the historical set motor based on the historical data of the planing operation in the historical time;
s230, respectively constructing a rotating speed database, a running stability coefficient database and a transition stability coefficient database based on the historical planing tissue information set, the historical planing range information set, the historical age information set, the historical motor set rotating speed set, the historical set motor running stability coefficient set and the historical set motor transition stability system set;
s240, generating the motor control coefficient database based on the rotating speed database, the running stability coefficient database and the transition stability coefficient database;
S250, inputting the operation information set into the rotating speed database, the operation stability coefficient database and the transition stability coefficient database to obtain the set rotating speed of the motor, the set operation stability coefficient of the motor and the set transition stability coefficient of the motor.
Specifically, in this embodiment, the planing motor is a dc brushless motor, and the planing motor converts the dc electric energy into mechanical energy required for the planing tool to operate. At the same time, it should be understood that different lesion tissue types, lesion tissue excision ranges and patient ages are different for the operation of the planing tool, i.e. for the operation data of the planing motor controlling the operation of the planing tool.
In this embodiment, the method for obtaining the operation control data of the planing motor based on the operation information set includes pre-constructing the motor control coefficient database, specifically, calling and obtaining, by the information collecting module, historical data of the planing operation performed by the current medical surgical planer or the medical surgical planer of the same type in a historical event.
The historical data specifically comprises a historical age information set formed by age information of a plurality of historical patient who are subjected to planning surgery, a historical planning tissue information set formed by lesion tissue types of the plurality of historical patient who are subjected to planning surgery, and a historical planning range information set formed by lesion tissue excision ranges of the plurality of historical patient who are subjected to planning surgery.
The historical data simultaneously comprises planning motor operation data of a plurality of patients who receive planning surgery in the planning surgery process, and a historical motor set rotating speed set, a historical motor set operation stability coefficient set and a historical motor set transition stability coefficient set are obtained based on the historical data. The set rotating speed of the motor is the operating rotating speed of the planing motor set by an operator based on medical experience according to the age of a patient, the planing tissue and the planing range. The set motor running stability coefficient is a constraint requirement for the running rotating speed stability of the planing motor, which is set by an operator based on medical experience according to the age of a patient, the planing tissue and the planing range. The motor transition stability coefficient is a transition stability constraint requirement for the planing motor from starting operation to motor rotation speed in the process of running according to a set rotation speed and a transition stability constraint requirement from the set rotation speed to stopping operation, which are set by an operator according to the age of a patient, planing tissues and planing range conditions based on medical experience.
And respectively constructing a rotating speed database, a running stability coefficient database and a transitional stability coefficient database based on the historical planing tissue information set, the historical planing range information set, the historical age information set, the historical motor set rotating speed set, the historical set motor running stability coefficient set and the historical set motor transitional stability system set, and merging the rotating speed database, the running stability coefficient database and the transitional stability coefficient database to generate the motor control coefficient database.
The operation information set comprises the planing tissue information, planing range information and age information, the operation information set is input into the rotating speed database for traversing comparison to obtain a historical setting motor operation stability coefficient of a patient with consistency of planing tissue, planing range and age as the motor setting rotating speed when the current patient performs planing operation. And inputting the operation information set into an operation stability coefficient database and a transition stability coefficient database by adopting the same method to obtain the motor set rotating speed, the motor operation stability coefficient and the motor transition stability coefficient.
According to the embodiment, the technical effects of suitability of the patient condition and the running state of the medical operation planer are achieved, and the technical effects of improving the operation safety and reliability of the patient are indirectly achieved by obtaining the motor set rotating speed, the motor running stability coefficient and the motor transition stability coefficient which are required by controlling the planing motor according to the planing tissue information, the planing range information and the age information of the patient to be operated currently.
S300, controlling the planing motor to control operation through the motor control module according to the set rotating speed of the motor, and collecting the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set;
Specifically, in this embodiment, the set rotational speed of the motor is input into the motor control module to control the planing motor to operate, and a plurality of time windows are set in a preset time period to collect actual rotational speed data of the planing motor, so as to obtain the actual rotational speed set, where the actual rotational speed set includes actual rotational speed data of a plurality of planing motors, and each actual rotational speed pair has a data collection time identifier.
S400, calculating and obtaining an actual motor running stability coefficient according to the actual rotation speed set and the motor set rotation speed;
in one embodiment, according to the actual rotation speed set and the motor set rotation speed, an actual motor operation stability coefficient is obtained through calculation, and the method step S400 provided in the present application further includes:
s410, according to a plurality of actual rotating speeds in the actual rotating speed set, setting the rotating speed by combining the motor, and calculating to obtain a plurality of rotating speed deviation parameters;
s420, calculating variances of the rotating speed deviation parameters to obtain the actual motor operation stability coefficient.
Specifically, in this embodiment, the motor set rotation speed is used as a reduced number, and the plurality of actual rotation speeds in the actual rotation speed set are used as reduced numbers to calculate difference values one by one and perform absolute value processing, so as to obtain the plurality of rotation speed deviation parameters. The variances of the rotating speed deviation parameters are calculated, the obtained variances are used as the actual motor operation stability coefficients, the smaller the actual motor operation stability coefficients are, the smaller the rotating speed variation fluctuation of the planing motor is, the more stable the planing motor is operated, and the technical effect of scientifically and accurately knowing the operation condition of the planing motor is achieved by setting and calculating the actual motor operation stability coefficients.
S500, when the actual motor running stability coefficient does not meet the set motor running stability coefficient, generating a plurality of motor adjustment control parameters;
specifically, in this embodiment, the actual motor operation stability coefficient is obtained, by determining whether the actual motor operation stability coefficient meets the set motor operation stability coefficient, so as to determine whether the operation condition of the planing motor meets the requirement of the patient on the planing operation, when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient, the effect of the operation may be affected, and then a plurality of motor adjustment control parameters, such as adjustment control parameters for adjusting the signal change speed of the dc brushless motor, are randomly generated, and the plurality of motor adjustment control parameters are used for adjusting the rotation speed of the planing motor, so that the rotation speed of the planing motor approaches to be stable.
In order to improve the efficiency of the motor adjustment parameters in planing motor rotation speed adjustment, in the embodiment, an optimizing mode is adopted in the subsequent description to obtain the optimal motor adjustment control parameters from the plurality of motor adjustment control parameters for planing motor rotation speed control adjustment.
And S600, optimizing the motor adjustment control parameters according to the set motor transition stability parameters to obtain optimal motor adjustment control parameters, and controlling the planing motor through the motor control module.
In one embodiment, according to the set motor transient stability parameter, optimizing the plurality of motor adjustment control parameters to obtain an optimal motor adjustment control parameter, the method provided in step S600 further includes:
s610, randomly selecting and obtaining a first motor adjustment control parameter from the motor adjustment control parameters, and taking the first motor adjustment control parameter as a temporary optimal solution;
s620, inputting the first motor adjustment control parameter, the motor set rotating speed and the operation information set into a motor transition stability parameter analysis model to obtain a first motor transition stability parameter;
s630, judging whether the first motor transition stability parameter meets the set motor transition stability parameter, if so, evaluating based on the magnitude of the first motor transition stability parameter to obtain a first optimizing score, and if not, discarding the first motor adjustment control parameter;
s640, randomly selecting and obtaining a second motor adjustment control parameter from the plurality of motor adjustment control parameters again, obtaining a second motor transition stability parameter, and obtaining a second optimizing score when the first motor transition stability parameter meets the set motor transition stability parameter;
S650, judging whether the second optimizing score is larger than the first optimizing score, if so, taking the second motor adjusting control parameter as a temporary optimal solution, and if not, taking the second motor adjusting control parameter as the temporary optimal solution according to probability, wherein the probability is reduced along with the increase of iterative optimizing times;
and S660, continuing to perform iterative optimization until the preset iterative times, and outputting a final temporary optimal solution to obtain the optimal motor adjustment control parameters.
In one embodiment, the first motor adjustment control parameter, the motor setting rotation speed and the operation information set are input into a motor transition stability parameter analysis model to obtain a first motor transition stability parameter, and the method provided in step S620 further includes:
s621, acquiring a plurality of historical operation information sets, a historical motor adjustment control parameter set, a historical setting rotating speed set and a historical motor transition stability parameter set based on the historical data of the planing operation in the historical time;
s622, constructing a motor transition stability parameter analysis model by adopting the plurality of historical operation information sets, the historical motor adjustment control parameter sets, the historical set rotating speed sets and the historical motor transition stability parameter sets as construction data;
S623, inputting the first motor adjustment control parameter, the set rotating speed and the operation information set into the motor transition stability parameter analysis model to obtain the first motor transition stability parameter.
In one embodiment, the plurality of historical operation information sets, the historical motor adjustment control parameter set, the historical setting rotation speed set and the historical motor transition stability parameter set are used as construction data to construct the motor transition stability parameter analysis model, and the method provided in step S622 further includes:
s622-1, marking and dividing data of the plurality of historical operation information sets, the historical motor adjustment control parameter sets, the historical set rotating speed sets and the historical motor transition stability parameter sets to obtain a training set, a verification set and a test set;
s622-2, constructing a motor transition stability parameter analysis model based on a BP neural network;
s622-3, performing supervision training on the motor transition stability parameter analysis model by adopting the training set until the motor transition stability parameter analysis model converges or the accuracy meets the requirement of a preset accuracy;
s622-4, verifying and testing the motor transition stability parameter analysis model by adopting the verification set and the test set, and obtaining the motor transition stability parameter analysis model if the accuracy meets the preset accuracy requirement.
Specifically, in this embodiment, the motor transition stability parameter reflects the degree of stability of the planing motor from the start operation to the motor speed boost transition in accordance with the set speed operation, and the degree of speed transition stability of the motor speed transition from the set speed to the stop operation.
And pre-constructing the motor transition stability parameter analysis model for obtaining the motor transition stability parameter. The method comprises the steps of acquiring model construction data of a motor transition stability parameter analysis model, acquiring a plurality of historical operation information sets, historical motor adjustment control parameter sets, historical setting rotating speed sets and historical motor transition stability parameter sets of a plurality of historical patients based on historical data of planning operations in historical time, and extracting data of the plurality of data sets based on the plurality of historical patients to generate a plurality of groups of historical operation information, historical motor adjustment control parameters, historical setting rotating speeds and historical motor transition stability parameters.
It should be understood that the plurality of historical surgical information in the historical surgical information set and the surgical information set are the same type of data, the plurality of historical motor adjustment control parameters in the historical motor adjustment control parameter set and the motor adjustment control parameters are the same type of data, the plurality of historical set rotational speeds in the historical set rotational speed set and the motor set rotational speed are the same type of data, and the plurality of historical motor transition stability parameters in the historical motor transition stability parameter set and the motor transition stability parameter are the same type of data.
And carrying out data labeling and partitioning on the data volume partitioning methods of the historical operation information sets, the historical motor adjustment control parameter sets, the historical setting rotating speed sets and the historical motor transition stability parameter sets, wherein the data volume partitioning methods are used for preferentially acquiring 8:1:1, so as to obtain a training set, a verification set and a test set.
Based on BP neural network, the motor transition stability parameter analysis model is constructed, input data of the motor transition stability parameter analysis model is motor adjustment control parameters, set rotating speed and operation information set, and output results are motor transition stability parameters.
And performing supervision training on the motor transition stability parameter analysis model by adopting the training set until the motor transition stability parameter analysis model converges or the accuracy meets the preset accuracy requirement, for example, the accuracy of the output result of the motor transition stability parameter analysis model is higher than 95%, and the motor transition stability parameter analysis model can be considered to be successfully trained.
And verifying and testing the motor transition stability parameter analysis model by adopting the verification set and the test set, and obtaining the motor transition stability parameter analysis model if the accuracy meets the preset accuracy requirement.
And randomly selecting and obtaining a first motor adjustment control parameter from the plurality of motor adjustment control parameters, and taking the first motor adjustment control parameter as a temporary optimal solution. And inputting the first motor adjustment control parameter, the motor set rotating speed and the operation information set into a motor transition stability parameter analysis model to obtain a first motor transition stability parameter.
Judging whether the first motor transition stability parameter meets the set motor transition stability parameter, if so, calculating to obtain a parameter difference value between the first motor transition stability parameter and the set motor transition stability parameter, evaluating the data deviation degree based on the parameter difference value to obtain a first optimizing score, and if not, discarding the first motor adjustment control parameter.
And when the first motor transition stability parameter meets the set motor transition stability parameter, randomly selecting and obtaining a second motor adjustment control parameter from the plurality of motor adjustment control parameters again, and obtaining the second motor transition stability parameter by adopting a first optimizing score and a first motor adjustment control parameter obtaining method if the first motor transition stability parameter is processed in a normal way, and evaluating and obtaining the second optimizing score when the second motor transition stability parameter meets the set motor transition stability parameter.
In order to avoid the iterative optimization of the optimal motor adjustment control parameters and trap into the local optimization, the embodiment presets the probability that the iterative motor adjustment control parameters are optimal solutions, the probability is steadily reduced along with the increase of the iterative optimization times, for example, when the second optimization score of the second motor adjustment control parameters is smaller than the first optimization score, 95% of the probability is the optimal motor adjustment control parameters, and when the third optimization score of the third motor adjustment control parameters is smaller than the optimization score of the current temporary optimal solution, 90% of the probability is the optimal motor adjustment control parameters, so that the trapping into the local optimization can be avoided, and the optimizing accuracy rate is improved in the later period of optimizing.
Judging whether the second optimizing score is larger than the first optimizing score, if so, taking the second motor adjusting control parameter as a temporary optimal solution, if not, taking the second motor adjusting control parameter as the temporary optimal solution according to probability, adding the first motor adjusting control parameter and the second motor adjusting control parameter into an optimal motor adjusting control parameter set, and noting that the probability is reduced along with the increase of iterative optimizing times.
And continuing iterative optimization until the preset iteration times (for example, 10 iterations), taking the motor adjustment control parameter corresponding to the final temporary optimal solution as the optimal motor adjustment control parameter, and adopting the optimal motor adjustment control parameter to control the planing motor to carry out rotation speed adjustment so as to ensure the stability of rotation speed.
According to the embodiment, the motor transient stability parameter under the control of the planing motor is obtained by constructing the motor transient stability parameter analysis model and adopting the motor regulation control parameter, and the optimal motor regulation control parameter is obtained by adopting the optimizing mode, so that the speed of the planing motor is effectively regulated and controlled, the speed of the planing motor is enabled to approach to the set speed of the motor, the running stability of the planing motor approaches to the set motor transient stability parameter, the running deviation regulation effectiveness and timeliness of the planing motor are improved, the running state of the planing motor and the treatment requirement adaptation degree of a patient are improved, and meanwhile, the technical effect that the planing motor runs stably according to the running speed requirement is ensured.
In one embodiment, as shown in fig. 3, there is provided an intelligent monitoring system for surgical device motor control, comprising: the system comprises an operationinformation acquisition module 1, a motorcoefficient setting module 2, a motoroperation control module 3, an operationlive acquisition module 4, an adjustmentparameter generation module 5 and a motorcontrol execution module 6, wherein:
the operationinformation acquisition module 1 is used for acquiring multiple types of information to be subjected to planing operation through the information acquisition module to obtain an operation information set;
The motorcoefficient setting module 2 is used for inputting the operation information set into a motor control coefficient database in the motor control module to obtain a motor set rotating speed, a set motor running stability coefficient and a set motor transition stability coefficient;
the motoroperation control module 3 is used for controlling the planing motor to perform control operation according to the set rotating speed of the motor, and collecting the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set;
the operationlive acquisition module 4 is used for calculating and obtaining an actual motor operation stability coefficient according to the actual rotation speed set and the motor set rotation speed;
the adjustmentparameter generation module 5 is configured to generate a plurality of motor adjustment control parameters when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient;
and the motorcontrol execution module 6 is used for optimizing the motor adjustment control parameters according to the set motor transition stability parameters to obtain optimal motor adjustment control parameters, and controlling the planing motor through the motor control module.
In one embodiment, the system further comprises:
the planing tissue acquisition unit is used for acquiring tissues to be subjected to planing operation through the information acquisition module to obtain planing tissue information;
the planing range determining unit is used for collecting the range of the tissue to be subjected to the planing operation and obtaining planing range information;
the patient age acquisition unit is used for acquiring the age of a patient to be subjected to planning operation and acquiring age information;
an information set generating unit for generating the surgical information set based on the shaved tissue information, the shaved range information, and the age information.
In one embodiment, the system further comprises:
a history information extraction unit for acquiring a history planing tissue information set, a history planing range information set and a history age information set based on history data of a planing operation performed in a history time;
the historical data acquisition unit is used for acquiring a historical motor set rotating speed set, a historical set motor running stability coefficient set and a historical set motor transition stability coefficient set based on the historical data of the planing operation in the historical time;
the database construction unit is used for respectively constructing a rotating speed database, a running stability coefficient database and a transition stability coefficient database based on the historical planing tissue information set, the historical planing range information set, the historical age information set, the historical motor set rotating speed set, the historical set motor running stability coefficient set and the historical set motor transition stability system set;
The database generation unit is used for generating the motor control coefficient database based on the rotating speed database, the running stability coefficient database and the transition stability coefficient database;
and the motor coefficient obtaining unit is used for inputting the operation information set into the rotating speed database, the operation stability coefficient database and the transition stability coefficient database to obtain the set rotating speed of the motor, the set motor operation stability coefficient and the set motor transition stability coefficient.
In one embodiment, the system further comprises:
the deviation parameter calculation unit is used for calculating a plurality of rotation speed deviation parameters according to a plurality of actual rotation speeds in the actual rotation speed set and combining the set rotation speeds of the motor;
and the stability parameter calculation unit is used for calculating the variances of the rotating speed deviation parameters and obtaining the actual motor operation stability coefficient.
In one embodiment, the system further comprises:
a control parameter selecting unit, configured to randomly select a first motor adjustment control parameter from the plurality of motor adjustment control parameters, and use the first motor adjustment control parameter as a temporary optimal solution;
the data model analysis unit is used for inputting the first motor adjustment control parameter, the motor set rotating speed and the operation information set into a motor transition stability parameter analysis model to obtain a first motor transition stability parameter;
The stability parameter judging unit is used for judging whether the first motor transition stability parameter meets the set motor transition stability parameter, if yes, the first motor transition stability parameter is evaluated based on the magnitude of the first motor transition stability parameter to obtain a first optimizing score, and if not, the first motor adjustment control parameter is abandoned;
the optimizing score obtaining unit is used for randomly selecting and obtaining a second motor adjustment control parameter from the plurality of motor adjustment control parameters again, obtaining a second motor transition stability parameter, and obtaining a second optimizing score when the first motor transition stability parameter meets the set motor transition stability parameter;
the iterative optimization execution unit is used for judging whether the second optimization score is larger than the first optimization score, if so, taking the second motor adjustment control parameter as a temporary optimal solution, and if not, taking the second motor adjustment control parameter as the temporary optimal solution according to the probability, wherein the probability is reduced along with the increase of the iterative optimization times;
and the iterative optimization control unit is used for continuing iterative optimization until the preset iterative times, and outputting a final temporary optimal solution to obtain the optimal motor adjustment control parameters.
In one embodiment, the system further comprises:
the historical data acquisition unit is used for acquiring a plurality of historical operation information sets, a historical motor adjustment control parameter set, a historical setting rotating speed set and a historical motor transition stability parameter set based on the historical data of the planing operation in the historical time;
the analysis model construction unit is used for constructing the motor transition stability parameter analysis model by adopting the plurality of historical operation information sets, the historical motor adjustment control parameter sets, the historical setting rotating speed sets and the historical motor transition stability parameter sets as construction data;
the model output obtaining unit is used for inputting the first motor adjustment control parameter, the set rotating speed and the operation information set into the motor transition stability parameter analysis model to obtain the first motor transition stability parameter.
In one embodiment, the system further comprises:
the training data setting unit is used for marking and dividing the data of the plurality of historical operation information sets, the historical motor adjustment control parameter sets, the historical setting rotating speed sets and the historical motor transition stability parameter sets to obtain a training set, a verification set and a test set;
The analysis model construction unit is used for constructing the motor transition stability parameter analysis model based on the BP neural network;
the analysis model training unit is used for performing supervision training on the motor transition stability parameter analysis model by adopting the training set until the motor transition stability parameter analysis model converges or the accuracy rate reaches the preset accuracy rate requirement;
and the analysis model testing unit is used for verifying and testing the motor transition stability parameter analysis model by adopting the verification set and the test set, and obtaining the motor transition stability parameter analysis model if the accuracy rate meets the preset accuracy rate requirement.
For a specific embodiment of an intelligent monitoring system for motor control of a surgical device, reference may be made to the above embodiment of an intelligent monitoring method for motor control of a surgical device, which is not described herein. The above-mentioned intelligent monitoring device for controlling motor of surgical equipment can be implemented by all or part of software, hardware and their combination. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing news data, time attenuation factors and other data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements an intelligent monitoring method for motor control of surgical equipment.
Those skilled in the art will appreciate that the structures shown in FIG. 4 are block diagrams only and do not constitute a limitation of the computer device on which the present aspects apply, and that a particular computer device may include more or less components than those shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of: acquiring multiple types of information to be subjected to planing operation through the information acquisition module, and acquiring an operation information set; inputting the operation information set into a motor control coefficient database in the motor control module to obtain a motor set rotating speed, a set motor running stability coefficient and a set motor transition stability coefficient; according to the set rotating speed of the motor, controlling the planing motor to control operation through the motor control module, and collecting the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set; calculating to obtain an actual motor running stability coefficient according to the actual rotation speed set and the motor set rotation speed; when the actual motor running stability coefficient does not meet the set motor running stability coefficient, generating a plurality of motor adjustment control parameters; and optimizing the motor adjustment control parameters according to the set motor transition stability parameters to obtain optimal motor adjustment control parameters, and controlling the planing motor through the motor control module.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. An intelligent monitoring method for motor control of surgical equipment, wherein the method is applied to an intelligent monitoring system for motor control of surgical equipment, the system comprises an information acquisition module, a motor control module and a planing motor, the planing motor operates under the control of the motor control module, and the method comprises the following steps:
acquiring multiple types of information to be subjected to planing operation through the information acquisition module, and acquiring an operation information set;
Inputting the operation information set into a motor control coefficient database in the motor control module to obtain a motor set rotating speed, a set motor running stability coefficient and a set motor transition stability coefficient;
according to the set rotating speed of the motor, controlling the planing motor to control operation through the motor control module, and collecting the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set;
calculating to obtain an actual motor running stability coefficient according to the actual rotation speed set and the motor set rotation speed;
when the actual motor running stability coefficient does not meet the set motor running stability coefficient, generating a plurality of motor adjustment control parameters;
and optimizing the motor adjustment control parameters according to the set motor transition stability coefficient to obtain the optimal motor adjustment control parameters, and controlling the planing motor through the motor control module.
2. The method of claim 1, wherein obtaining, by the information acquisition module, a plurality of types of information to be subjected to a planning operation, obtaining a set of operation information, comprises:
Acquiring tissues to be subjected to planing operation through the information acquisition module to obtain planing tissue information;
acquiring the range of the tissue to be subjected to the planing operation, and obtaining planing range information;
acquiring the age of a patient to be subjected to planing operation, and acquiring age information;
the set of surgical information is generated based on the shaved tissue information, shaved range information, and age information.
3. The method of claim 2, wherein inputting the set of surgical information into a motor control coefficient database within the motor control module to obtain a motor set rotational speed, a set motor operational stability coefficient, and a set motor transient stability coefficient, comprises:
acquiring a historical planing tissue information set, a historical planing range information set and a historical age information set based on historical data of planing operation in historical time;
acquiring a set rotating speed set of a historical motor, a set running stability coefficient set of the historical set motor and a set transitional stability coefficient set of the historical set motor based on historical data of planing operation in historical time;
respectively constructing a rotating speed database, a running stability coefficient database and a transition stability coefficient database based on the historical planing tissue information set, the historical planing range information set, the historical age information set, the historical motor set rotating speed set, the historical set motor running stability coefficient set and the historical set motor transition stability system set;
Generating the motor control coefficient database based on the rotating speed database, the running stability coefficient database and the transition stability coefficient database;
and inputting the operation information set into the rotating speed database, the running stability coefficient database and the transition stability coefficient database to obtain the motor set rotating speed, the motor running stability coefficient and the motor transition stability coefficient.
4. The method of claim 1, wherein calculating an actual motor operational stability factor based on the actual set of rotational speeds and the motor set rotational speed comprises:
according to a plurality of actual rotating speeds in the actual rotating speed set, combining the set rotating speeds of the motor, and calculating to obtain a plurality of rotating speed deviation parameters;
and calculating the variance of the rotating speed deviation parameters to obtain the actual motor operation stability coefficient.
5. The method of claim 1, wherein optimizing the plurality of motor adjustment control parameters based on the set motor transient stability coefficient to obtain an optimal motor adjustment control parameter comprises:
randomly selecting a first motor adjustment control parameter from the plurality of motor adjustment control parameters, and taking the first motor adjustment control parameter as a temporary optimal solution;
Inputting the first motor adjustment control parameter, the motor set rotating speed and the operation information set into a motor transition stability coefficient analysis model to obtain a first motor transition stability coefficient;
judging whether the first motor transition stability coefficient meets the set motor transition stability coefficient, if so, evaluating based on the first motor transition stability coefficient to obtain a first optimizing score, and if not, discarding the first motor adjustment control parameter;
randomly selecting and obtaining a second motor adjustment control parameter from the plurality of motor adjustment control parameters again, obtaining a second motor transition stability coefficient, and obtaining a second optimizing score when the first motor transition stability coefficient meets the set motor transition stability coefficient;
judging whether the second optimizing score is larger than the first optimizing score, if so, taking the second motor adjusting control parameter as a temporary optimal solution, and if not, taking the second motor adjusting control parameter as the temporary optimal solution according to probability, wherein the probability is reduced along with the increase of iterative optimizing times;
and continuing to perform iterative optimization until the preset iteration times, and outputting a final temporary optimal solution to obtain the optimal motor adjustment control parameters.
6. The method of claim 5, wherein inputting the first motor adjustment control parameter, the motor set rotational speed, and the set of surgical information into a motor transition stability coefficient analysis model to obtain a first motor transition stability coefficient, comprising:
acquiring a plurality of historical operation information sets, a historical motor adjustment control parameter set, a historical setting rotating speed set and a historical motor transition stability coefficient set based on historical data of planning operations in historical time;
the plurality of historical operation information sets, the historical motor adjustment control parameter sets, the historical set rotating speed sets and the historical motor transition stability coefficient sets are used as construction data to construct the motor transition stability coefficient analysis model;
and inputting the first motor adjustment control parameter, the set rotating speed and the operation information set into the motor transition stability coefficient analysis model to obtain the first motor transition stability coefficient.
7. The method of claim 6, wherein constructing the motor transient stability coefficient analysis model using the plurality of historical surgical information sets, historical motor adjustment control parameter sets, historical set rotational speed sets, and historical motor transient stability coefficient sets as construction data comprises:
Marking and dividing data of the plurality of historical operation information sets, the historical motor adjustment control parameter sets, the historical set rotating speed sets and the historical motor transition stability coefficient sets to obtain a training set, a verification set and a test set;
constructing a motor transition stability coefficient analysis model based on a BP neural network;
the training set is adopted to conduct supervision training on the motor transition stability coefficient analysis model until the motor transition stability coefficient analysis model converges or the accuracy meets the preset accuracy requirement;
and verifying and testing the motor transition stability coefficient analysis model by adopting the verification set and the test set, and obtaining the motor transition stability coefficient analysis model if the accuracy meets the preset accuracy requirement.
8. An intelligent monitoring system for motor control of surgical equipment, the system comprising:
the operation information acquisition module is used for acquiring multiple types of information to be subjected to planing operation through the information acquisition module to obtain an operation information set;
the motor coefficient setting module is used for inputting the operation information set into a motor control coefficient database in the motor control module to obtain a motor set rotating speed, a motor running stability coefficient and a motor transition stability coefficient;
The motor operation control module is used for controlling the planing motor to perform control operation according to the set rotating speed of the motor, and collecting the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set;
the operation live acquisition module is used for calculating and obtaining an actual motor operation stability coefficient according to the actual rotation speed set and the motor set rotation speed;
the adjustment parameter generation module is used for generating a plurality of motor adjustment control parameters when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient;
and the motor control execution module is used for optimizing the motor adjustment control parameters according to the set motor transition stability coefficient to obtain the optimal motor adjustment control parameters, and the planing motor is controlled by the motor control module.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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