CN106214192A - A kind of motion Medical joint videoendoscopic surgery equipment - Google Patents

Abstract

The present invention relates to bone surgery special equipment, particularly relate to a kind of motion Medical joint videoendoscopic surgery equipment, including support, and be hinged on support turn to platform, and for driving the steer motor turning to platform, and be arranged on the device for spreading turned on platform；Described device for spreading includes driving motor, and is arranged on the change speed gear box driven on motor output shaft, and two screw rods by gear with change speed gear box engaged transmission, and the drag hook being arranged on screw rod；Described two screw rods are oppositely arranged, drag hook moving direction on two screw rods is contrary, described drag hook includes the drag hook handle of horizontally set, and it is disposed longitudinally on the drag hook body on drag hook handle inner end, distance between two drag hook bodies is not more than 6cm, and the drag hook in the present invention a kind of motion Medical joint videoendoscopic surgery equipment, by driving motor to drive, makes operative incision strut stable, operative incision exposes substantially, and saves medical human cost.

Description

A kind of motion Medical joint videoendoscopic surgery equipment

Technical field

The present invention relates to bone surgery special equipment, particularly relate to a kind of motion Medical joint videoendoscopic surgery equipment.

Background technology

The therapeutic effect of artificial joint replacement was through the clinical practice of more than 30 years, and oneself is through obtaining the most certainly and oneself Through developing into a kind for the treatment of means reliably, artificial joint replacement main purpose is to alleviate arthralgia, correction deformity, extensive Multiple and improve the motor function in joint, along with the development of China's economic level, accept every year the patient of joint replacement by Year increases, and therefore also exposes a lot of problem in bones of the body joint replacement, as appeared bones of the body mortar in bones of the body joint replacement, the most right Carry out mainly by many different size of Huffman drag hooks in appearing of bones of the body mortar, but this solution exists the most scarce Fall into: need several assistant's persistence drag hook, not only waste of manpower, also increase trouble to assistant.

Summary of the invention

In order to solve the problems referred to above, it is an object of the invention to provide a kind of motion Medical joint videoendoscopic surgery equipment, this dress Drag hook in putting, by driving motor to drive, makes operative incision strut stable, and operative incision exposes substantially, and saves medical people Power cost.

In order to realize above-mentioned purpose, present invention employs following technical scheme:

A kind of motion Medical joint videoendoscopic surgery equipment, including support, and be hinged on support turn to platform, Yi Jiyong In driving the steer motor turning to platform, and it is arranged on the device for spreading turned on platform；Described device for spreading includes driving Motor, and it is arranged on the change speed gear box driven on motor output shaft, and two spiral shells by gear with change speed gear box engaged transmission Bar, and the drag hook being arranged on screw rod；Described two screw rods are oppositely arranged, and the drag hook moving direction on two screw rods is contrary, Described drag hook includes the drag hook handle of horizontally set, and is disposed longitudinally on the drag hook body on drag hook handle inner end, two drag hook bodies Between distance be not more than 6cm；

Threaded on described screw rod have Mobile base, Mobile base is provided with and clamps mouth, and drag hook is fixed on and clamps in mouth；Logical Cross this structure, the dismounting of drag hook, replacing can be realized；

Described support is movable floor-type support；

Being provided with control module on described driving motor, described control module is provided with signal acquisition module；Described screw rod On displacement detection module is installed, institute's displacement detection module is for detecting the shift length of screw rod, and is gone out by the signal of detection It is defeated by signal acquisition module；Described signal acquisition module is for receiving the detection signal of displacement detection module transmission.

Further, described signal acquisition module signal acquisition method includes:

Characteristic spectrum according to receiving signal determines decision plane；

Judge whether the communication channel receiving signal presents mutatis mutandis static conversion characteristic；

When described communication channel presents mutatis mutandis static conversion characteristic, utilize support vector machine method at described decision plane In select decision boundary；

When communication channel does not present mutatis mutandis static conversion characteristic, utilize fuzzy clustering method in described decision plane Select decision boundary；

According to described decision boundary, the signal received is detected；

The described characteristic spectrum according to reception signal determines that decision plane includes:

The discrete signal vector of the docking collection of letters number carries out linear transformation and obtains unitary transformation matrix；

The energy receiving signal is calculated according to the elements in a main diagonal in described unitary transformation matrix and counter-diagonal element Characteristic spectrum；

Decision plane is obtained from described energy feature is composed；

The energy receiving signal is calculated according to the elements in a main diagonal in described unitary transformation matrix and counter-diagonal element Characteristic spectrum includes:

The matrix that counter-diagonal is elementary composition carries out square and is multiplied by the matrix of the elements in a main diagonal composition, is received The energy feature spectrum of signal；

From described energy feature is composed, obtain decision plane include:

Encircled energy, waveform symmetry and the local wave function variance composed according to described energy feature are from described energy Characteristic spectrum is extracted least one set characteristic vector；

From the characteristic vector extracted, the characteristic vector as decision plane is obtained according to the mode of pattern classification；

The discrete signal vector of described reception signal is obtained by the sampling of Nyquist law, and sampling length is contained and connect The predetermined ratio energy of the collection of letters number；

Before obtaining decision plane in composing from described energy feature, described method also includes:

Described energy feature spectrum is carried out moving average process；

Described signal acceptance method is applied to communication system or the on-off keying modulation of time-hopping pulse position modulation mode The communication system of mode；

The eigenvector method of described extraction specifically includes following steps:

Obtain signal, by sensor acquisition data and signal is amplified process；

Signal carries out segment processing；From every segment signal, i.e. extract average, variance, the accumulated value of signal and peak value 4 Basic time domain parameter, determine whether that the situation of doubtful leakage occurs by the difference of 4 parameter values of adjacent segment signal the One layer of decision-making judges: if having, and down performs step wavelet packet denoising, no person, jumps to perform to obtain signal；

Wavelet packet denoising；I.e. utilize improvement Wavelet Packet Algorithm that the signal gathered is carried out denoising；

WAVELET PACKET DECOMPOSITION and reconstruct；I.e. utilize improvement Wavelet Packet Algorithm that the signal gathered carries out WAVELET PACKET DECOMPOSITION and weight Structure, obtains list band reconstruction signal；

Extract signal characteristic parameter；I.e. extract from the list band signal of reconstruct: time domain energy, time domain peak, frequency domain energy Amount, frequency domain peak value, coefficient of kurtosis, variance, frequency spectrum and coefficient of skewness 8 represent the parameter of signal characteristic；

Composition characteristic vector, i.e. utilizes principal component analytical method, Binding experiment analysis, selects 3 to 8 from above-mentioned parameter Can substantially represent the parameter composition characteristic vector of sound emission signal characteristic, and these characteristic vectors are input to support vector machine enter Row decision-making judges, i.e. second layer decision-making judges, determines whether that leakage occurs according to the output of support vector machine.

Further, wavelet packet denoising and WAVELET PACKET DECOMPOSITION include with reconstruct:

Signals extension, carries out parabola continuation to each layer signal of WAVELET PACKET DECOMPOSITION；

If signal data is x (a), x (a+1), x (a+2), then the expression formula of continuation operator E is:

$\left\{\begin{array}{c}x(a-1)=3x\left(a\right)-3x(a+1)+x(a+2)\\ x(a+3)=3x(a+2)-3x(a+1)+x\left(a\right)\end{array}\right.;$

Eliminate list band un-necessary frequency composition；

By the signal after continuation and decomposition low pass filter h₀Convolution, obtains low frequency coefficient, is then passed through HF-cut-IF and calculates Son processes, and removes unnecessary frequency content, then carries out down-sampling, obtains the low frequency coefficient of next layer；By the signal after continuation with Decompose high pass filter g₀Convolution, obtains high frequency coefficient, is then passed through LF-cut-IF operator and processes, and removes unnecessary frequency and becomes Point, then carry out down-sampling, and obtaining next layer of high frequency coefficient, HF-cut-IF operator uses following formula

$\left\{\begin{array}{c}X\left(k\right)=\underset{n=0}{\overset{N_j-1}{\Σ}}x\left(n\right)W^{kn},0\≤k\≤\frac{N_j}{4};\frac{3N_j}{4}\≤k\≤N_j\\ X\left(k\right)=0,\\ x\left(n\right)=\underset{k=0}{\overset{N_j-1}{\Σ}}x\left(k\right)W^{-kn},\end{array}\right.$

LF-cut-IF operator uses following formula

$\left\{\begin{array}{c}X\left(k\right)=\underset{n=0}{\overset{N_j-1}{\Σ}}x\left(n\right)W^{kn},\frac{N_j}{4}\≤k\≤\frac{3N_j}{4}\\ X\left(k\right)=0,\\ x\left(n\right)=\underset{k=0}{\overset{N_j-1}{\Σ}}x\left(k\right)W^{-kn},\end{array}\right.$

Public with in LF-cut-IF operator formula at HF-cut-IF operator, x (n) is 2^jThe coefficient of wavelet packet, N on yardstick_j Represent 2^jThe length of data on yardstick,K=0,1 ..., N_j-1；N=0,1 ..., N_j-1；

List band signal reconstructs:

The high and low frequency coefficient obtained is up-sampled, the most respectively with high pass reconstruction filter g₁Filter with low-pass reconstruction Ripple device h₁Convolution, processes the signal obtained with HF-cut-IF, LF-cut-IF operator respectively, obtains list band reconstruction signal.

Further, described controller module is additionally provided with Data Control processing module, and described Data Control processing module is adopted Being controlled with pid control algorithm, described pid control algorithm includes:

The first step, pid control algorithm is made up of ratio, integration, three links of differential, and mathematical description is:

U (k)=K_px(1)+K_dx(2)+K_ix(3)

In formula, K_pFor proportionality coefficient；K_iFor integration time constant；K_dFor derivative time constant；U (k) is for calculate by PID After obtain drive motor drive distance increase reduced value, x (1) is the corrected value of ratio；X (2) is the corrected value of differential；x (3) it is the corrected value of integration；

Second step, during by the measured value of controller module input quantity and the error of the expected value of controller module and sampling Between obtain the x (1) in the first step, x (2), x (3), computing formula is:

X (1)=error (k)；

X (2)=[error (k)-error_1]/t_s；

X (3)=x (3)+error (k) * t_s；

In formula, error (k) is the error calculated by measured value and expected value in the k moment；t_sFor the sampling time；

3rd step, after upper two steps are programmed, value u (k) of output be to the motor that drives drive distance Correction value, and record.

The present invention uses technique scheme, and the drag hook in this kind of motion Medical joint videoendoscopic surgery equipment is by driving electricity Machine drives, and makes operative incision strut stable, and operative incision exposes substantially, and saves medical human cost, during operation, first Step: need to cut skin, otch rises after bone at the about 6cm of spine outer lower side, along gluteus maximus machine direction to greater trochanter of femur after Prolong, continue and turn to femoral shaft direction, downwardly extend about 5cm, second step: adjust this one motion Medical joint videoendoscopic surgery equipment, tool Body turns to the angle between platform and support to be suitable for bedridden patient angle by adjustment；By turning to the rotation of platform can make support Opening apparatus adapts to operative incision direction.

3rd step: drive motor to drive screw rod to rotate by change speed gear box, and then make the drag hook on screw rod move, pass through drag hook Operative incision can be strutted；Distance between two drag hook bodies is not more than 6cm, the size of reducible bundle operative incision, it is to avoid machinery control Make inaccurate cause pull.

The present invention integrates signal acceptance method, the processing method of equipment, method of testing, signal processing method, it is achieved Functional diversities and full intellectualized, improves production efficiency.

The present invention uses pid control algorithm to be controlled making driving motor further up to the purpose accurately controlled.

Accompanying drawing explanation

The motion Medical joint videoendoscopic surgery device structure schematic diagram that Fig. 1 provides for the embodiment of the present invention.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.

Below in conjunction with the accompanying drawings, the preferred embodiments of the invention are described in further detail, one as shown in Figure 1 Motion Medical joint videoendoscopic surgery equipment, including the support 1 of movable floor-type, and be hinged on support 1 turn to platform 21, And for driving the steer motor 22 turning to platform 21, and it is arranged on the device for spreading turned on platform 21, described one Motion Medical joint videoendoscopic surgery equipment includes driving motor 31, and is arranged on the change speed gear box 32 driven on motor 31 output shaft, And two screw rods 33 by gear with change speed gear box 32 engaged transmission, and the drag hook 4 being arranged on screw rod 33；Described two Screw rod 33 is oppositely arranged, and threaded on screw rod 33 have Mobile base 34, Mobile base 34 is provided with and clamps mouth, and drag hook is fixed on folder In dress mouth；By this structure, can realize the dismounting of drag hook, replacing, the drag hook moving direction on described two screw rods 33 is contrary, institute Stating drag hook and include the drag hook handle 41 of horizontally set, and be disposed longitudinally on the drag hook body 42 on drag hook handle 41 inner end, two are drawn Distance a between coupler body 42 is not more than 6cm.

Being provided with control module on described driving motor, described control module is provided with signal acquisition module；Described screw rod On displacement detection module is installed, institute's displacement detection module is for detecting the shift length of screw rod, and is gone out by the signal of detection It is defeated by signal acquisition module；Described signal acquisition module is for receiving the detection signal of displacement detection module transmission.

Further, described signal acquisition module signal acquisition method includes:

Characteristic spectrum according to receiving signal determines decision plane；

Judge whether the communication channel receiving signal presents mutatis mutandis static conversion characteristic；

When described communication channel presents mutatis mutandis static conversion characteristic, utilize support vector machine method at described decision plane In select decision boundary；

When communication channel does not present mutatis mutandis static conversion characteristic, utilize fuzzy clustering method in described decision plane Select decision boundary；

According to described decision boundary, the signal received is detected；

The described characteristic spectrum according to reception signal determines that decision plane includes:

The discrete signal vector of the docking collection of letters number carries out linear transformation and obtains unitary transformation matrix；

The energy receiving signal is calculated according to the elements in a main diagonal in described unitary transformation matrix and counter-diagonal element Characteristic spectrum；

Decision plane is obtained from described energy feature is composed；

The energy receiving signal is calculated according to the elements in a main diagonal in described unitary transformation matrix and counter-diagonal element Characteristic spectrum includes:

The matrix that counter-diagonal is elementary composition carries out square and is multiplied by the matrix of the elements in a main diagonal composition, is received The energy feature spectrum of signal；

From described energy feature is composed, obtain decision plane include:

Encircled energy, waveform symmetry and the local wave function variance composed according to described energy feature are from described energy Characteristic spectrum is extracted least one set characteristic vector；

From the characteristic vector extracted, the characteristic vector as decision plane is obtained according to the mode of pattern classification；

The discrete signal vector of described reception signal is obtained by the sampling of Nyquist law, and sampling length is contained and connect The predetermined ratio energy of the collection of letters number；

Before obtaining decision plane in composing from described energy feature, described method also includes:

Described energy feature spectrum is carried out moving average process；

Described signal acceptance method is applied to communication system or the on-off keying modulation of time-hopping pulse position modulation mode The communication system of mode；

The eigenvector method of described extraction specifically includes following steps:

Obtain signal, by sensor acquisition data and signal is amplified process；

Signal carries out segment processing；From every segment signal, i.e. extract average, variance, the accumulated value of signal and peak value 4 Basic time domain parameter, determine whether that the situation of doubtful leakage occurs by the difference of 4 parameter values of adjacent segment signal the One layer of decision-making judges: if having, and down performs step wavelet packet denoising, no person, jumps to perform to obtain signal；

Wavelet packet denoising；I.e. utilize improvement Wavelet Packet Algorithm that the signal gathered is carried out denoising；

WAVELET PACKET DECOMPOSITION and reconstruct；I.e. utilize improvement Wavelet Packet Algorithm that the signal gathered carries out WAVELET PACKET DECOMPOSITION and weight Structure, obtains list band reconstruction signal；

Extract signal characteristic parameter；I.e. extract from the list band signal of reconstruct: time domain energy, time domain peak, frequency domain energy Amount, frequency domain peak value, coefficient of kurtosis, variance, frequency spectrum and coefficient of skewness 8 represent the parameter of signal characteristic；

Composition characteristic vector, i.e. utilizes principal component analytical method, Binding experiment analysis, selects 3 to 8 from above-mentioned parameter Can substantially represent the parameter composition characteristic vector of sound emission signal characteristic, and these characteristic vectors are input to support vector machine enter Row decision-making judges, i.e. second layer decision-making judges, determines whether that leakage occurs according to the output of support vector machine.

Further, wavelet packet denoising and WAVELET PACKET DECOMPOSITION include with reconstruct:

Signals extension, carries out parabola continuation to each layer signal of WAVELET PACKET DECOMPOSITION；

If signal data is x (a), x (a+1), x (a+2), then the expression formula of continuation operator E is:

$\left\{\begin{array}{c}x(a-1)=3x\left(a\right)-3x(a+1)+x(a+2)\\ x(a+3)=3x(a+2)-3x(a+1)+x\left(a\right)\end{array}\right.;$

Eliminate list band un-necessary frequency composition；

By the signal after continuation and decomposition low pass filter h₀Convolution, obtains low frequency coefficient, is then passed through HF-cut-IF and calculates Son processes, and removes unnecessary frequency content, then carries out down-sampling, obtains the low frequency coefficient of next layer；By the signal after continuation with Decompose high pass filter g₀Convolution, obtains high frequency coefficient, is then passed through LF-cut-IF operator and processes, and removes unnecessary frequency and becomes Point, then carry out down-sampling, and obtaining next layer of high frequency coefficient, HF-cut-IF operator uses following formula

$\left\{\begin{array}{c}X\left(k\right)=\underset{n=0}{\overset{N_j-1}{\Σ}}x\left(n\right)W^{kn},0\≤k\≤\frac{N_j}{4};\frac{3N_j}{4}\≤k\≤N_j\\ X\left(k\right)=0,\\ x\left(n\right)=\underset{k=0}{\overset{N_j-1}{\Σ}}x\left(k\right)W^{-kn},\end{array}\right.$

LF-cut-IF operator uses following formula

$\left\{\begin{array}{c}X\left(k\right)=\underset{n=0}{\overset{N_j-1}{\Σ}}x\left(n\right)W^{kn},\frac{N_j}{4}\≤k\≤\frac{3N_j}{4}\\ X\left(k\right)=0,\\ x\left(n\right)=\underset{k=0}{\overset{N_j-1}{\Σ}}x\left(k\right)W^{-kn},\end{array}\right.$

Public with in LF-cut-IF operator formula at HF-cut-IF operator, x (n) is 2^jThe coefficient of wavelet packet, N on yardstick_j Represent 2^jThe length of data on yardstick,K=0,1 ..., N_j-1；N=0,1 ..., N_j-1；

List band signal reconstructs:

The high and low frequency coefficient obtained is up-sampled, the most respectively with high pass reconstruction filter g₁Filter with low-pass reconstruction Ripple device h₁Convolution, processes the signal obtained with HF-cut-IF, LF-cut-IF operator respectively, obtains list band reconstruction signal.

Further, described controller module is additionally provided with Data Control processing module, and described Data Control processing module is adopted Being controlled with pid control algorithm, described pid control algorithm includes:

The first step, pid control algorithm is made up of ratio, integration, three links of differential, and mathematical description is:

U (k)=K_px(1)+K_dx(2)+K_ix(3)

In formula, K_pFor proportionality coefficient；K_iFor integration time constant；K_dFor derivative time constant；U (k) is for calculate by PID After obtain drive motor drive distance increase reduced value, x (1) is the corrected value of ratio；X (2) is the corrected value of differential；x (3) it is the corrected value of integration；

Second step, during by the measured value of controller module input quantity and the error of the expected value of controller module and sampling Between obtain the x (1) in the first step, x (2), x (3), computing formula is:

X (1)=error (k)；

X (2)=[error (k)-error_1]/t_s；

X (3)=x (3)+error (k) * t_s；

In formula, error (k) is the error calculated by measured value and expected value in the k moment；t_sFor the sampling time；

3rd step, after upper two steps are programmed, value u (k) of output be to the motor that drives drive distance Correction value, and record.

In sum, the drag hook in this kind of motion Medical joint videoendoscopic surgery equipment, by driving motor 31 to drive, makes hands Art otch struts stable, and operative incision exposes substantially, and saves medical human cost.During operation, the first step: need percutaneous incision Skin, otch rises after bone at the about 6cm of spine outer lower side, along gluteus maximus machine direction to greater trochanter of femur after prolong, continue and turn to femur Dry direction, downwardly extends about 5cm, second step: adjust this one motion Medical joint videoendoscopic surgery equipment, turn to especially by adjustment Angle between platform 21 and support 1 is suitable for bedridden patient angle；By turning to the rotation of platform 21 that device for spreading can be made to fit Answer operative incision direction.3rd step: drive motor 31 to drive screw rod 33 to rotate by change speed gear box 32, and then make drawing on screw rod 33 Hook moves, and can be strutted by operative incision by drag hook；Distance between two drag hook bodies 42 is not more than 6cm, reducible bundle operative incision Size, it is to avoid Mechanical course is inaccurate pulling of causing.

Utilize technical scheme of the present invention, or those skilled in the art is under the inspiration of technical solution of the present invention, if Count out similar technical scheme, and reach above-mentioned technique effect, all fall into protection scope of the present invention.

Claims (4)

1. a motion Medical joint videoendoscopic surgery equipment, it is characterised in that include support, and turning to of being hinged on support is flat Platform, and for driving the steer motor turning to platform, and it is arranged on the device for spreading turned on platform；Described device for spreading Including driving motor, and it is arranged on the change speed gear box driven on motor output shaft, and by gear and change speed gear box engaged transmission Two screw rods, and the drag hook being arranged on screw rod；Described two screw rods are oppositely arranged, the drag hook side of movement on two screw rods To on the contrary, described drag hook includes the drag hook handle of horizontally set, and is disposed longitudinally on the drag hook body on drag hook handle inner end, two Distance between drag hook body is not more than 6cm；

Threaded on described screw rod have Mobile base, Mobile base is provided with and clamps mouth, and drag hook is fixed on and clamps in mouth；Described Frame is movable floor-type support；

Being provided with control module on described driving motor, described control module is provided with signal acquisition module；Pacify on described screw rod Equipped with displacement detection module, institute's displacement detection module is for detecting the shift length of screw rod, and goes out to be defeated by by the signal of detection Signal acquisition module；Described signal acquisition module is for receiving the detection signal of displacement detection module transmission.

2. motion Medical joint videoendoscopic surgery equipment as claimed in claim 1, it is characterised in that described signal acquisition module signal Acquisition method includes:

Characteristic spectrum according to receiving signal determines decision plane；

Judge whether the communication channel receiving signal presents mutatis mutandis static conversion characteristic；

When described communication channel presents mutatis mutandis static conversion characteristic, support vector machine method is utilized to select in described decision plane Go out decision boundary；

When communication channel does not present mutatis mutandis static conversion characteristic, fuzzy clustering method is utilized to select in described decision plane Decision boundary；

According to described decision boundary, the signal received is detected；

The described characteristic spectrum according to reception signal determines that decision plane includes:

The discrete signal vector of the docking collection of letters number carries out linear transformation and obtains unitary transformation matrix；

The energy feature receiving signal is calculated according to the elements in a main diagonal in described unitary transformation matrix and counter-diagonal element Spectrum；

Decision plane is obtained from described energy feature is composed；

The energy feature receiving signal is calculated according to the elements in a main diagonal in described unitary transformation matrix and counter-diagonal element Spectrum includes:

The matrix that counter-diagonal is elementary composition carries out square and is multiplied by the matrix of the elements in a main diagonal composition, obtains receiving signal Energy feature spectrum；

From described energy feature is composed, obtain decision plane include:

Encircled energy, waveform symmetry and the local wave function variance composed according to described energy feature are from described energy feature Spectrum is extracted least one set characteristic vector；

From the characteristic vector extracted, the characteristic vector as decision plane is obtained according to the mode of pattern classification；

The discrete signal vector of described reception signal is obtained by the sampling of Nyquist law, and sampling length contains reception letter Number predetermined ratio energy；

Before obtaining decision plane in composing from described energy feature, described method also includes:

Described energy feature spectrum is carried out moving average process；

Described signal acceptance method is applied to communication system or the on-off keying modulation system of time-hopping pulse position modulation mode Communication system；

The eigenvector method of described extraction specifically includes following steps:

Obtain signal, by sensor acquisition data and signal is amplified process；

Signal carries out segment processing；From every segment signal, i.e. extract average, variance, the accumulated value of signal and peak value 4 basic Time domain parameter, determines whether, by the difference of 4 parameter values of adjacent segment signal, the ground floor that the situation of doubtful leakage occurs Decision-making judges: if having, and down performs step wavelet packet denoising, no person, jumps to perform to obtain signal；

Wavelet packet denoising；I.e. utilize improvement Wavelet Packet Algorithm that the signal gathered is carried out denoising；

WAVELET PACKET DECOMPOSITION and reconstruct；I.e. utilize improvement Wavelet Packet Algorithm that the signal gathered is carried out WAVELET PACKET DECOMPOSITION and reconstruct, To list band reconstruction signal；

Extract signal characteristic parameter；I.e. extract from the list band signal of reconstruct: time domain energy, time domain peak, frequency domain energy, frequently Territory peak value, coefficient of kurtosis, variance, frequency spectrum and coefficient of skewness 8 represent the parameter of signal characteristic；

Composition characteristic vector, i.e. utilizes principal component analytical method, Binding experiment analysis, selects 3 to 8 energy bright from above-mentioned parameter The aobvious parameter composition characteristic vector representing sound emission signal characteristic, and these characteristic vectors are input to support vector machine carry out certainly Plan judges, i.e. second layer decision-making judges, determines whether that leakage occurs according to the output of support vector machine.

3. motion Medical joint videoendoscopic surgery equipment as claimed in claim 2, it is characterised in that wavelet packet denoising and wavelet packet divide Solve and include with reconstruct:

Signals extension, carries out parabola continuation to each layer signal of WAVELET PACKET DECOMPOSITION；

If signal data is x (a), x (a+1), x (a+2), then the expression formula of continuation operator E is:

$\left\{\begin{array}{c}x(a-1)=3x\left(a\right)-3x(a+1)+x(a+2)\\ x(a+3)=3x(a+2)-3x(a+1)+x\left(a\right)\end{array}\right.;$

Eliminate list band un-necessary frequency composition；

By the signal after continuation and decomposition low pass filter h₀Convolution, obtains low frequency coefficient, is then passed through at HF-cut-IF operator Reason, removes unnecessary frequency content, then carries out down-sampling, obtain the low frequency coefficient of next layer；By the signal after continuation and decomposition High pass filter g₀Convolution, obtains high frequency coefficient, is then passed through LF-cut-IF operator and processes, removes unnecessary frequency content, then Carrying out down-sampling, obtain next layer of high frequency coefficient, HF-cut-IF operator uses following formula

$\left\{\begin{array}{c}X\left(k\right)=\underset{n=0}{\overset{N_j-1}{\Σ}}x\left(n\right)W^{kn},0\≤k\≤\frac{N_j}{4};\frac{3N_j}{4}\≤k\≤N_j\\ X\left(k\right)=0,\\ x\left(n\right)=\underset{k=0}{\overset{N_j-1}{\Σ}}x\left(k\right)W^{-kn},\end{array}\right.$

LF-cut-IF operator uses following formula

$\left\{\begin{array}{c}X\left(k\right)=\underset{n=0}{\overset{N_j-1}{\Σ}}x\left(n\right)W^{kn},\frac{N_j}{4}\≤k\≤\frac{3N_j}{4}\\ X\left(k\right)=0,\\ x\left(n\right)=\underset{k=0}{\overset{N_j-1}{\Σ}}x\left(k\right)W^{-kn},\end{array}\right.$

Public with in LF-cut-IF operator formula at HF-cut-IF operator, x (n) is 2^jThe coefficient of wavelet packet, N on yardstick_jRepresent 2^jThe length of data on yardstick,K=0,1 ..., N_j-1；N=0,1 ..., N_j-1；

List band signal reconstructs:

The high and low frequency coefficient obtained is up-sampled, the most respectively with high pass reconstruction filter g₁With low-pass reconstruction filter h₁ Convolution, processes the signal obtained with HF-cut-IF, LF-cut-IF operator respectively, obtains list band reconstruction signal.

4. motion Medical joint videoendoscopic surgery equipment as claimed in claim 1, it is characterised in that described controller module also sets up Having Data Control processing module, described Data Control processing module uses pid control algorithm to be controlled, and described PID controls to calculate Method includes:

The first step, pid control algorithm is made up of ratio, integration, three links of differential, and mathematical description is:

U (k)=K_px(1)+K_dx(2)+K_ix(3)

In formula, K_pFor proportionality coefficient；K_iFor integration time constant；K_dFor derivative time constant；U (k) is for obtaining after being calculated by PID The motor that drives arrived drives the increase reduced value of distance, and x (1) is the corrected value of ratio；X (2) is the corrected value of differential；X (3) is The corrected value of integration；

Second step, was asked by error and the sampling time of the measured value of controller module input quantity with the expected value of controller module Going out the x (1) in the first step, x (2), x (3), computing formula is:

X (1)=error (k)；

X (2)=[error (k)-error_1]/t_s；

X (3)=x (3)+error (k) * t_s；

In formula, error (k) is the error calculated by measured value and expected value in the k moment；t_sFor the sampling time；

3rd step, after upper two steps are programmed, value u (k) of output be to drive motor drive distance correction Value, and record.