CN103007391B - Predictive adaptive control system for liquid medicament push-injecting - Google Patents
Predictive adaptive control system for liquid medicament push-injecting Download PDFInfo
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Abstract
The invention discloses a predictive adaptive control system for liquid medicament push-injecting, and relates to the technical field of automatic control of the liquid medicament push-injecting in clinical surgery. The predictive adaptive control system includes a main control module and a liquid medicament push-injecting module. The liquid medicament push-injecting module includes a micro-controller and a medical injector. The micro-controller is connected to a prediction control algorithm module of the main control module. The prediction control algorithm module sends a push-injecting time of next hearbeat period to the micro-controller. The micro-controller method controls a micro-impeller and further controls the impelling speed, the push-injecting time and the push-injecting stop time of the medical injector. In the system, the medicament impelling speed, the push-injecting time, the push-injecting stop time and the medicament push-injecting amount in the liquid medicament push-injecting module are controlled by the main control module, so that the response speed and the real-time control capability of the liquid medicament push-injecting module are improved; the scientific, reasonable and safe medicament application is realized, namely local organs obtain maximum medicament concentration and the maximum medicament concentration remains long enough time without backflow by little medicament dose; and therefore, the damage to healthy tissue is reduced.
Description
Technical field
The present invention relates to clinical operation and push away medicine automatic control technology field, particularly a kind of prediction adaptive control system of injecting for medicinal liquid.
Background technology
At present, treatment to cancer clinically, what generally adopt is the chemotherapy that intravascular gets involved injection, i.e. puncture, intubate under the monitoring of digital subtracting X-ray system (DSA), conduit is introduced to the entrance to supply artery of the tumor branch, inject chemotherapeutic at duct entry end.The method, at first for cardiovascular disease, is applied to the each position of the whole body such as nervous system, tumor various diseases Clinics and Practices later very soon.Many especially for tumor at China's interventional therapy, account for interventional therapy major part, become a kind of conventional therapy in combined therapy of tumour.Intervening mode is also got involved in the moving lung intervention of lung, arteriae bronchiales intervention from vascular, and intracavity is got involved, and in tumor, directly gets involved.
Current intravascular clinically gets involved while pushing away medicine, and ubiquity and only paid close attention to tumor focus, cancerous cell, thereby has taked to eliminate cancerous cell as target, and the aggressivity that carries out heavy dose, perfusion at a high speed with simple hand propelled syringe pushes away medicine chemotherapy.But while utilizing this traditional-handwork to push away prescription formula, after medicinal liquid intravasation, just follow vessel inner blood flow direction and flowing to the each portion of whole body, cannot be with patient's the meeting such as pressure value, heart rate along with patient's self regulatory mechanism is made a response and the parameter that changes is associated, make medicinal liquid only have part to enter pathological changes tumor vessel, cause this medicinal liquid both to kill cancerous cell, also killed Normocellular result; And push away in medicine process, the excessive or excessive velocities of the push-in stroke of medicinal liquid also can cause many clinical problems, not only increases patient's financial burden, has also increased medical personnel's workload.
Summary of the invention
The object of the invention is to overcome existing above-mentioned deficiency in prior art, a kind of prediction adaptive control system of injecting for medicinal liquid that reduces healthy tissue is provided.
In order to realize foregoing invention object, the invention provides following technical scheme:
A prediction adaptive control system of injecting for medicinal liquid, comprises that main control module and medicinal liquid inject module, it is characterized in that, described main control module comprises the detection module for gathering human blood-pressure value, and described detection module comprises pressure transducer; Described detection module is passed to memory field by this pressure value and stores, form pressure value array, described memory field is connected with identification module, the pressure value array of described identification module identification memory field obtains real-time cardiac cycle and the characteristic parameter in the cycle, described identification module is also connected with predictive control algorithm module, and described predictive control algorithm module is by calculating injecting the moment of next cardiac cycle to characteristic parameter;
The predictive control algorithm module of main control module injected module and is connected in by described medicinal liquid, described medicinal liquid is injected module and is comprised microcontroller and injector for medical purpose, described medicinal liquid is injected module and is connected in predictive control algorithm module by microcontroller, the moment of injecting of next cardiac cycle is sent to microcontroller by described predictive control algorithm module, described microcontroller is connected with micro-thruster, described micro-thruster is connected with injector for medical purpose, the fltting speed of described microprocessor controls micro-thruster, inject the moment and inject and stop the moment, and then the injection speed of control injector for medical purpose, inject the moment and inject and stop the moment,
Described system is according to steps of processing signal:
(1) gather pressure value: by the detection module Real-time Collection human blood-pressure value in main control module, the memory field being stored in main control module in the mode of recursion forms pressure value array;
(2) obtain relevant parameter: the identification module in main control module obtains real-time cardiac cycle and the characteristic parameter in the cycle by identification pressure value array; Obtain patient's symptom parameter by health check-up;
(3) calculate and push away the medicine moment: setting pushes away the medicine moment according to symptom parameter; Main control module, according to pushing away medicine moment, real-time cardiac cycle and the characteristic parameter in the cycle, calculates pushing away the medicine moment in next cardiac cycle by predictive control algorithm;
(4) start medicinal liquid and inject module: main control module is sent to the medicine moment that pushes away in the next cardiac cycle calculating medicinal liquid and injects the microcontroller in module, described microcontroller pushes away medicine moment t in advance according to this
delay, start medicinal liquid and inject in module micro-injector and carry out medicinal liquid and inject, described t
delayfor medicinal liquid is injected the time delay of module;
(5) self adaptation of injecting: the pressure value that detection module collection is new, the cardiac cycle by the sampling pressure value newly obtaining, newly identifying and the characteristic parameter in the cycle and the pressure value, cardiac cycle and the characteristic parameter weighted average in the cycle that gather before, the parameter of upgrading predictive control algorithm, realizes the adaptivity that medicinal liquid PREDICTIVE CONTROL is injected;
In step (1), the mode of recursion refers to when the new pressure value of sampling enters pressure value array, loses one group of sampling pressure value the earliest simultaneously, and the dimension of pressure value array is remained unchanged;
In step (2), the characteristic parameter in cardiac cycle comprises systolic pressure, diastolic pressure, diastole duration, systolic period duration; Symptom parameter comprises that diameter of tumor, supply artery of the tumor, tumor inject a distance apart from default medicinal liquid;
In step (3), the initial time of phase while pushing away in the characteristic parameter that the medicine moment refers to cardiac cycle; In next cardiac cycle, push away medicine moment t
r(k+1) by equation t
r(k+1) '=t
r(k)+T
m(k)+
ξ [(t
r(k)-t
r(k) ', t
r(k-1)-t
r(k-1) ', Lt
r(k-m)-t
r(k=m) ']
tcalculate, wherein, t
r(k) be in current cardiac cycle this time phase initial time, i.e. current pushing away the medicine moment; t
r(k) ' in the current cardiac cycle that draws according to the calculation of characteristic parameters in last cardiac cycle for predictive control algorithm this time phase initial time; T
m(k) be Grey models GM (1,1) according to before the duration of the current cardiac cycle that calculates of cardiac cycle fluctuation pattern; Length of field when m is prediction, and m>0; ξ is error coefficient vector, determines the weight of each error component, ξ=[ξ
1ξ
2l ξ
n], 0 < ξ
n< 1, n=1,2,3 ..., m;
Being implemented as follows of Grey models GM (1,1):
If cardiac cycle initial data is classified T as
0(k) (k=1,2, Ln), T
1(k) (k=1,2, Ln) is T
0(k) one-accumulate and,
The gray level model differential equation is T
(0)(k)+aT
(1)(k)=b k=1,2, Ln; N>0; Order
And parameter to be identified is θ=[a, b]
t,
Order
θ=(B
tb)
-1b
ty, obtains prediction expression T
0(k+1)=T
1(k+1)-T
1(K)=(1-exp (a)) [T
0(1)-b/a] exp (ak), in above formula, in the time of k<n, the reducing value T of T initial data row is exported in prediction
0(k), in the time of k=n, the prediction output valve in prediction output next moment of T, in the time of k>n, the prediction output valve after k+n the cardiac cycle of prediction output T.
Preferably, above-mentioned prediction adaptive control system of injecting for medicinal liquid, the predictive control algorithm module of main control module injected microcontroller in module and is connected in by described medicinal liquid; Described micro-thruster comprises shell and motor, and described motor is connected with screw mandrel by shaft coupling, and the described screw mandrel other end is fixed on a side relative with motor, and described screw mandrel is connected with syringe top; Described injector for medical purpose is fixed on the shell of described micro-thruster, and the position of the piston rod tail end of described injector for medical purpose and described syringe top is suitable.Motor drives the motion of syringe top by shaft coupling, and screw mandrel can be converted to rotatablely moving of shaft coupling the rectilinear motion of syringe top, thereby makes syringe top can promote piston rod injection liquid.
Preferably, above-mentioned prediction adaptive control system of injecting for medicinal liquid, on described micro-thruster shell, be also provided with for limiting mobile the first limit switch and the second limit switch in syringe top, in the time that syringe inner carrier contacts with syringe top, described the first limit switch contacts with syringe top, distance between described the first limit switch and the second limit switch is less than syringe length, and the second limit switch is positioned at the direction of motion of piston rod the side away from syringe.
Preferably, above-mentioned prediction adaptive control system of injecting for medicinal liquid, described the first limit switch and the second limit switch are connected with alarm device.The first limit switch is reported to the police in the time contacting with syringe top, notifies the injection of medical personnel's syringe inner liquid medicine complete, can remind medical personnel to change in time syringe.When the second limit switch contacts with syringe top, report to the police, remind the piston rod in medical personnel's syringe to arrive rearmost position.
Preferably, above-mentioned prediction adaptive control system of injecting for medicinal liquid, is also provided with pressure-strain sheet between described syringe top and described piston rod tail end.Microcontroller calculates by the pressure of pressure-strain sheet perception, and the speed of control step motor, make the propulsive force of motor and blood pressure push back power and balance each other, not carrying out medicinal liquid while injecting, can avoid medicinal liquid to be pushed out syringe and blood also can not reflux, in pressure balance.
Medicinal liquid is injected the medicine speed that pushes away in module and is pushed away dose and controls by main control module, improve medicinal liquid and injected the response speed of module and control ability in real time, and can realize in blood flow rate and carry out mutually slowly injecting of medicinal liquid when diastole, while making medicinal liquid enter human vas, do not diluted rapidly by blood flow at a high speed, thereby maintenance higher concentration, be more conducive to medicinal liquid and kill cancerous cell, thereby realize science, rationally, safe medication, with less drug dose, obtain maximum drug level and stop the sufficiently long time and without backflowing in local organs, reduce healthy tissue.Not only changed current intravascular get involved push away in medicine by craft inject very important lack of standardization, at a high speed, heavy dose of injection and many clinical problems of causing, also greatly alleviated national and patient financial burden, reduced medical worker's muscle power and energy.
Compared with prior art, beneficial effect of the present invention:
1, herb liquid of the present invention is injected the medicine speed that pushes away in module and is pushed away dose and controls by main control module, improve medicinal liquid and injected the response speed of module and control ability in real time, and can realize in blood flow rate and carry out mutually slowly injecting of medicinal liquid when diastole, while making medicinal liquid enter human vas, do not diluted rapidly by blood flow at a high speed, thereby maintenance higher concentration, be more conducive to medicinal liquid and kill cancerous cell, thereby realize science, rationally, safe medication, with less drug dose, obtain maximum drug level and stop the sufficiently long time and without backflowing in local organs, reduce healthy tissue.
2, the present invention uses the composition medicinal liquids such as microcontroller, micro-thruster and injector for medical purpose to inject module, not only changed current intravascular get involved push away in medicine by craft inject very important lack of standardization, at a high speed, heavy dose of injection and many clinical problems of causing, also greatly alleviated national and patient financial burden, reduced medical worker's muscle power and energy.
3, because adopting predictive control algorithm, the present invention carries out the calculating of cardiac cycle and the characteristic parameter in the cycle, according to the cardiac cycle calculating and the characteristic parameter in the cycle, the time phase of the medicinal liquid intravasation porch that prediction is released in next cardiac cycle, pre-cooling medicinal liquid is injected module, can immediately adjust and push away the medicine moment, avoid causing patient's discomfort and affect treatment consequence.
4, to push away the medicine moment be according to patient's pressure value, cardiac cycle and the calculation of characteristic parameters in the cycle due to of the present invention, medical personnel also can see the dynamic waveform of patient's blood pressure when observation pushes away medicine situation, can facilitate medical personnel's fast processing emergency situations.
Brief description of the drawings:
Fig. 1 is the prediction adaptive control system principle schematic that the present invention injects for medicinal liquid.
Fig. 2 is the structural representation that herb liquid of the present invention is injected module.
Fig. 3 is the flow chart of the present invention's prediction self-adaptation control method of injecting for medicinal liquid.
Labelling in figure: 1-shell, 2-motor, 3-shaft coupling, 4-the first limit switch, 5-the second limit switch, 6-screw mandrel, 7-syringe top, 8-pressure-strain sheet, 9-piston rod, 10-syringe.
Detailed description of the invention
Below in conjunction with test example and detailed description of the invention, the present invention is described in further detail.But this should be interpreted as to the scope of the above-mentioned theme of the present invention only limits to following embodiment, all technology realizing based on content of the present invention all belong to scope of the present invention.
Embodiment
A kind of prediction adaptive control system of injecting for medicinal liquid, as shown in Figure 1, comprise that main control module and medicinal liquid inject module, described main control module comprises the detection module for gathering human blood-pressure value, described detection module is passed to memory field by this pressure value and stores, form pressure value array, described memory field is connected with identification module, the pressure value array of described identification module identification memory field obtains real-time cardiac cycle and the characteristic parameter in the cycle, described identification module is also connected with predictive control algorithm module, described predictive control algorithm module is by calculating injecting the moment of next cardiac cycle to characteristic parameter,
The predictive control algorithm module of main control module injected module and is connected in by described medicinal liquid, described medicinal liquid is injected module and is comprised microcontroller and injector for medical purpose, described medicinal liquid is injected module and is connected in predictive control algorithm module by microcontroller, the moment of injecting of next cardiac cycle is sent to microcontroller by described predictive control algorithm module, described microcontroller is connected with micro-thruster, described micro-thruster is connected with injector for medical purpose, the fltting speed of described microprocessor controls micro-thruster, inject the moment and inject and stop the moment, and then the injection speed of control injector for medical purpose, inject the moment and inject and stop the moment.
Medicinal liquid is injected module and is comprised microcontroller, micro-thruster and injector for medical purpose, and described microcontroller is connected in the predictive control algorithm module of main control module; As shown in Figure 2, described micro-thruster comprises shell 1 and motor 2, and described motor 2 is connected with screw mandrel 6 by shaft coupling 3, and described screw mandrel 6 other ends are fixed on a side relative with motor 2, and described screw mandrel 6 is connected with syringe top 7; Described injector for medical purpose is fixed on the shell 1 of described micro-thruster, and the position of piston rod 9 tail ends of described injector for medical purpose and described syringe top 7 is suitable, between described syringe top 7 and described piston rod 9 tail ends, is also provided with pressure-strain sheet 8; In described micro-thruster shell 1, be also provided with for limiting syringe top 7 the first limit switch 4 moving and the second limit switches 5, in the time that syringe 10 inner carriers contact with syringe top, described the first limit switch 4 contacts with syringe top 7, distance between described the first limit switch 4 and the second limit switch 5 is less than syringe 10 length, and the second limit switch 5 is positioned at the direction of motion of piston rod 9 side away from syringe 10;
When main control module by predictive control algorithm module to medicinal liquid inject module send next cardiac cycle push away the medicine moment time, microcontroller starts motor and drives shaft coupling rotation, and will rotatablely move and change rectilinear motion into by screw mandrel, drive syringe top to make piston rod movement, the medicinal liquid promoting in syringe enters human body; Pressure-strain sheet is used for the resistance of meeting while responding to injection liquid, and this resistance is sent to microcontroller, the resistance that while judging that by the size of thrust medicinal liquid enters human body, blood vessel runs into; In the time of syringe top contact the first limit switch, give the alarm that it is complete to notify medical personnel to inject, in the time of syringe top contact the second limit switch, give the alarm and notify medical personnel's piston rod to arrive rearmost position.Motor is after the medicinal liquid task of injecting starts, do not carry out medicinal liquid while injecting, in lower-speed state, microcontroller calculates by the pressure of pressure-strain sheet perception, and the speed of control step motor, make the propulsive force of motor and blood pressure push back power and balance each other, not carrying out medicinal liquid while injecting, can avoid medicinal liquid to be pushed out syringe and blood also can not reflux, in pressure balance.
As shown in Figure 3, above-mentioned prediction adaptive control system of injecting for medicinal liquid is according to steps of processing signal:
(1) gather pressure value: by the detection module Real-time Collection human blood-pressure value in main control module, the memory field being stored in main control module in the mode of recursion forms pressure value array;
(2) obtain relevant parameter: the identification module in main control module obtains real-time cardiac cycle and the characteristic parameter in the cycle by identification pressure value array; Obtain patient's symptom parameter by health check-up;
(3) calculate and push away the medicine moment: setting pushes away the medicine moment according to symptom parameter; Main control module, according to pushing away medicine moment, real-time cardiac cycle and the characteristic parameter in the cycle, calculates pushing away the medicine moment in next cardiac cycle by predictive control algorithm;
(4) start medicinal liquid and inject module: main control module is sent to the medicine moment that pushes away in the next cardiac cycle calculating medicinal liquid and injects the microcontroller in module, described microcontroller pushes away medicine moment t in advance according to this
delay, start medicinal liquid and inject in module micro-injector and carry out medicinal liquid and inject, described t
delayfor medicinal liquid is injected the time delay of module;
(5) self adaptation of injecting: the pressure value that detection module collection is new, the cardiac cycle by the sampling pressure value newly obtaining, newly identifying and the characteristic parameter in the cycle and the pressure value, cardiac cycle and the characteristic parameter weighted average in the cycle that gather before, the parameter of upgrading predictive control algorithm, realizes the adaptivity that medicinal liquid PREDICTIVE CONTROL is injected.
Pushing away the medicine moment is associated according to patient's pressure value, cardiac cycle and the characteristic parameter in the cycle, can immediately adjust and push away the medicine moment, avoids causing patient's discomfort and affects treatment consequence.
In step (1), detection module comprises pressure transducer; The mode of recursion refers to when the new pressure value of sampling enters pressure value array, loses one group of sampling pressure value the earliest simultaneously, and the dimension of pressure value array is remained unchanged.
In step (2), the characteristic parameter in cardiac cycle comprises systolic pressure, diastolic pressure, diastole duration, systolic period duration etc.; Symptom parameter comprises that diameter of tumor, supply artery of the tumor, tumor inject a distance etc. apart from default medicinal liquid.
In step (3), the initial time of phase while pushing away in the characteristic parameter that the medicine moment refers to cardiac cycle; In next cardiac cycle, push away medicine moment t
r(k+1) by equation t
r(k+1) '=t
r(k)+T
m(k)+
ξ [(t
r(k)-t
r(k) ', t
r(k-1)-t
r(k-1) ', Lt
r(k-m)-t
r(k=m) ']
tcalculate, wherein, t
r(k) be in current cardiac cycle this time phase initial time, i.e. current pushing away the medicine moment; t
r(k) ' in the current cardiac cycle that draws according to the calculation of characteristic parameters in last cardiac cycle for predictive control algorithm this time phase initial time; T
m(k) be Grey models GM (1,1) according to before the duration of the current cardiac cycle that calculates of cardiac cycle fluctuation pattern; Length of field when m is prediction, and m>0; ξ is error coefficient vector, determines the weight of each error component, ξ=[ξ
1ξ
2l ξ
n], 0 < ξ
n< 1, n=1,2,3 ..., m.
Being implemented as follows of Grey models GM (1,1):
If cardiac cycle initial data is classified T as
0(k) (k=1,2, Ln), T
1(k) (k=1,2, Ln) is T
0(k) one-accumulate and,
The gray level model differential equation is T
(0)(k)+aT
(1)(k)=b k=1,2, Ln; N>0; Order
And parameter to be identified is θ=[a, b]
t,
Order
θ=(B
tb)
-1b
ty, obtains prediction expression T
0(k+1)=T
1(k+1)-T
1(K)=(1-exp (a)) [T
0(1)-b/a] exp (ak), in above formula, in the time of k<n, the reducing value T of T initial data row is exported in prediction
0(k), in the time of k=n, the prediction output valve in prediction output next moment of T, in the time of k>n, the prediction output valve after k+n the cardiac cycle of prediction output T.
Claims (5)
1. a prediction adaptive control system of injecting for medicinal liquid, comprises that main control module and medicinal liquid inject module, it is characterized in that, described main control module comprises the detection module for gathering human blood-pressure value, and described detection module comprises pressure transducer; Described detection module is passed to memory field by this pressure value and stores, form pressure value array, described memory field is connected with identification module, the pressure value array of described identification module identification memory field obtains real-time cardiac cycle and the characteristic parameter in the cycle, described identification module is also connected with predictive control algorithm module, and described predictive control algorithm module is by calculating injecting the moment of next cardiac cycle to characteristic parameter;
The predictive control algorithm module of main control module injected module and is connected in by described medicinal liquid, described medicinal liquid is injected module and is comprised microcontroller and injector for medical purpose, described medicinal liquid is injected module and is connected in predictive control algorithm module by microcontroller, the moment of injecting of next cardiac cycle is sent to microcontroller by described predictive control algorithm module, described microcontroller is connected with micro-thruster, described micro-thruster is connected with injector for medical purpose, the fltting speed of described microprocessor controls micro-thruster, inject the moment and inject and stop the moment, and then the injection speed of control injector for medical purpose, inject the moment and inject and stop the moment,
Described system is according to steps of processing signal:
(1) gather pressure value: by the detection module Real-time Collection human blood-pressure value in main control module, the memory field being stored in main control module in the mode of recursion forms pressure value array;
(2) obtain relevant parameter: the identification module in main control module obtains real-time cardiac cycle and the characteristic parameter in the cycle by identification pressure value array; Obtain patient's symptom parameter by health check-up;
(3) calculate and push away the medicine moment: setting pushes away the medicine moment according to symptom parameter; Main control module, according to pushing away medicine moment, real-time cardiac cycle and the characteristic parameter in the cycle, calculates pushing away the medicine moment in next cardiac cycle by predictive control algorithm;
(4) start medicinal liquid and inject module: main control module is sent to the medicine moment that pushes away in the next cardiac cycle calculating medicinal liquid and injects the microcontroller in module, described microcontroller pushes away medicine moment t in advance according to this
delay, start medicinal liquid and inject in module micro-injector and carry out medicinal liquid and inject, described t
delayfor medicinal liquid is injected the time delay of module;
(5) self adaptation of injecting: the pressure value that detection module collection is new, the cardiac cycle by the sampling pressure value newly obtaining, newly identifying and the characteristic parameter in the cycle and the pressure value, cardiac cycle and the characteristic parameter weighted average in the cycle that gather before, the parameter of upgrading predictive control algorithm, realizes the adaptivity that medicinal liquid PREDICTIVE CONTROL is injected;
In step (1), the mode of recursion refers to when the new pressure value of sampling enters pressure value array, loses one group of sampling pressure value the earliest simultaneously, and the dimension of pressure value array is remained unchanged;
In step (2), the characteristic parameter in cardiac cycle comprises systolic pressure, diastolic pressure, diastole duration, systolic period duration; Symptom parameter comprises that diameter of tumor, supply artery of the tumor, tumor inject a distance apart from default medicinal liquid;
In step (3), the initial time of phase while pushing away in the characteristic parameter that the medicine moment refers to cardiac cycle; In next cardiac cycle, push away medicine moment t
r(k+1) by equation t
r(k+1) '=t
r(k)+T
m(k)+
ξ [(t
r(k)-t
r(k) ', t
r(k-1)-t
r(k-1) ', Lt
r(k-m)-t
r(k=m) ']
tcalculate, wherein, t
r(k) be in current cardiac cycle this time phase initial time, i.e. current pushing away the medicine moment; t
r(k) ' in the current cardiac cycle that draws according to the calculation of characteristic parameters in last cardiac cycle for predictive control algorithm this time phase initial time; T
m(k) be Grey models GM (1,1) according to before the duration of the current cardiac cycle that calculates of cardiac cycle fluctuation pattern; Length of field when m is prediction, and m>0; ξ is error coefficient vector, determines the weight of each error component, ξ=[ξ
1ξ
2l ξ
n], 0 < ξ
n< 1, n=1,2,3 ..., m;
Being implemented as follows of Grey models GM (1,1):
If cardiac cycle initial data is classified T as
0(k) (k=1,2, Ln), T
1(k) (k=1,2, Ln) is T
0(k) one-accumulate and,
The gray level model differential equation is T
(0)(k)+aT
(1)(k)=b k=1,2, Ln; N>0; Order
And parameter to be identified is θ=[a, b]
t,
Order
θ=(B
tb)
-1b
ty, obtains prediction expression T
0(k+1)=T
1(k+1)-T
1(K)=(1-exp (a)) [T
0(1)-b/a] exp (ak), in above formula, in the time of k<n, the reducing value T of T initial data row is exported in prediction
0(k), in the time of k=n, the prediction output valve in prediction output next moment of T, in the time of k>n, the prediction output valve after k+n the cardiac cycle of prediction output T.
2. prediction adaptive control system of injecting for medicinal liquid according to claim 1, is characterized in that, the predictive control algorithm module of main control module injected microcontroller in module and be connected in by described medicinal liquid; Described micro-thruster comprises shell and motor, and described motor is connected with screw mandrel by shaft coupling, and the described screw mandrel other end is fixed on a side relative with motor, and described screw mandrel is connected with syringe top; Described injector for medical purpose is fixed on the shell of described micro-thruster, and the position of the piston rod tail end of described injector for medical purpose and described syringe top is suitable.
3. prediction adaptive control system of injecting for medicinal liquid according to claim 2, it is characterized in that, on described micro-thruster shell, be also provided with for limiting mobile the first limit switch and the second limit switch in syringe top, in the time that syringe inner carrier contacts with syringe top, described the first limit switch contacts with syringe top, distance between described the first limit switch and the second limit switch is less than syringe length, and the second limit switch is positioned at the direction of motion of piston rod the side away from syringe.
4. prediction adaptive control system of injecting for medicinal liquid according to claim 3, is characterized in that, described the first limit switch and the second limit switch are connected with alarm device.
5. prediction adaptive control system of injecting for medicinal liquid according to claim 4, is characterized in that, between described syringe top and described piston rod tail end, is also provided with pressure-strain sheet.
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| CN107224635A (en) * | 2017-07-01 | 2017-10-03 | 苏州能斯达电子科技有限公司 | A kind of injection of insulin is pumped monitoring device |
| CN108992743B (en) * | 2018-08-06 | 2022-01-07 | 广州友沃医疗设备有限公司 | Injection method and device for automatically generating injection plan |
| CN112741706B (en) * | 2019-10-29 | 2024-05-14 | 北京大学第三医院（北京大学第三临床医学院） | Method and device for preparing diffusion source and method for measuring physiological parameters of extracellular space of solid tissue |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2065486U (en) * | 1989-02-27 | 1990-11-14 | 罗建明 | Micro automatic syringe |
| CN1482927A (en) * | 2000-12-22 | 2004-03-17 | DCA��ƹ�������˾ | Injection device with replaceable medicament cartridge |
| CN1561241A (en) * | 2001-07-31 | 2005-01-05 | 斯科特实验室公司 | Apparatuses and methods for titrating drug delivery |
| CN201643200U (en) * | 2010-05-17 | 2010-11-24 | 中国人民解放军南京军区南京总医院 | Infusion speed adjusting device |
| CN102247638A (en) * | 2011-04-12 | 2011-11-23 | 四川大学 | Haemodynamics-based forecast self-adaptive injection device |
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