CN112107471A - Cardiopulmonary resuscitation machine control system based on self-adaptation impedance adjustment - Google Patents
Cardiopulmonary resuscitation machine control system based on self-adaptation impedance adjustment Download PDFInfo
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- CN112107471A CN112107471A CN202010711863.5A CN202010711863A CN112107471A CN 112107471 A CN112107471 A CN 112107471A CN 202010711863 A CN202010711863 A CN 202010711863A CN 112107471 A CN112107471 A CN 112107471A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H31/00—Artificial respiration or heart stimulation, e.g. heart massage
- A61H31/004—Heart stimulation
- A61H31/006—Power driven
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H31/00—Artificial respiration or heart stimulation, e.g. heart massage
- A61H31/004—Heart stimulation
- A61H31/005—Heart stimulation with feedback for the user
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/40—Respiratory characteristics
- A61H2230/405—Respiratory characteristics used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/65—Impedance, e.g. skin conductivity; capacitance, e.g. galvanic skin response [GSR]
- A61H2230/655—Impedance, e.g. skin conductivity; capacitance, e.g. galvanic skin response [GSR] used as a control parameter for the apparatus
Abstract
The invention discloses a cardiopulmonary resuscitator control system and method based on adaptive impedance adjustment. The system comprises a sensor, a control processor, a fuzzy inference system, an impedance controller and an actuating mechanism. From CO2The sensor, the force sensor and the displacement sensor respectively detect the amount of the carbon dioxide at the end of breath and the elastic modulus of the sternum of the patient, and the two values are inferred by a fuzzy system to obtain appropriate impedance control parameters. The pressing force detected by the force sensor outputs position deviation through the impedance model, and the pressing depth is adjusted in a feedback mode. The invention realizes the purpose of optimally adjusting the pressing depth by adjusting the impedance parameters by using the physiological indexes of the human body.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a control system for adjusting the compression depth of a cardio-pulmonary resuscitation machine.
Background
Cardiovascular disease is one of the leading causes of eventual death in humans, with over 1700 million people dying from this disease each year, with a subset of patients presenting with sudden cardiac arrest. The number of sudden death in China is about 180 ten thousand per year, and the average sudden death is 4931 per day; cardiopulmonary resuscitation, the most widely used emergency treatment technology worldwide, is the only effective way to rescue patients with cardiac arrest at present.
In the process of carrying out external chest compression on a patient by using a cardiopulmonary resuscitation machine, the cardiopulmonary resuscitation effect can be reduced due to insufficient compression depth, and secondary injury is easily caused by sternal fracture due to overhigh compression depth; in order to ensure the optimal compression effect, the proper compression depth needs to be adjusted according to the physiological characteristics of the patient; the pressing effect of the patient is improved on the basis of ensuring the pressing safety by adjusting the pressing depth; therefore, it is important to design a cardiopulmonary resuscitation machine control system capable of automatically optimizing and adjusting the compression depth.
Disclosure of Invention
In order to improve the external chest compression effect of the cardiopulmonary resuscitation machine and achieve the aim of automatically adjusting and optimizing the compression depth according to the physiological parameter characteristics of a patient in the compression process, the cardiopulmonary resuscitation machine control system based on adaptive impedance adjustment is invented; the invention is realized by the following technical scheme:
a cardiopulmonary resuscitator control system based on adaptive impedance adjustment comprises CO2The device comprises a sensor, a force sensor, a displacement sensor, a control processor, a fuzzy inference system, an impedance controller and an actuating mechanism; the specific process is as follows:
(1) introducing CO2The signals collected by the sensor are transmitted to the control processor to carry out signal analysis and processing to detect the amount of carbon dioxide at the end of breath of the patient, the force sensor and the displacement sensor are used for detecting the pressing force and the pressing depth of the patient, and the control processor processes the signals to obtain the elastic modulus value of the sternum; the two values respectively reflect the degree of blood perfusion and the risk of sternal fracture, and the invention has reliability in deducing the change of the impedance control parameter from the two values.
(2) Processing by a fuzzy inference system: the input quantity of the fuzzy system is the amount of carbon dioxide at the end of breath and the elastic modulus of sternum, and the output quantity is three parameters of impedance control: the device comprises inertia parameters, damping parameters and rigidity parameters, wherein the inertia parameters can simulate the mass of a person during manual pressing, the damping parameters are set to help reduce the resonance amplitude of a mechanical structure and reduce noise, and the flexibility of the mechanical system can be adjusted through the rigidity parameters; the three parameters respectively represent the inertia characteristic, the damping characteristic and the rigidity characteristic of the pressing physical system; the depth deviation during pressing is adjusted through the parameters, so that the set pressing depth is optimally adjusted, and the method comprises the following specific steps:
when the end-tidal carbon dioxide value is more than or equal to 24mmHg, and the elastic modulus of the sternum is more than or equal to 200N/cm, the compression depth tends to the maximum value, and the compression depth is kept or reduced to ensure the compression safety, so that the rigidity parameter and the inertia parameter are reduced.
When the carbon dioxide value at the end of respiration is less than or equal to 10mmHg and the elastic modulus of the sternum is less than or equal to 140N/cm, the pressing depth is insufficient, the pressing depth is increased to ensure the pressing effect, and the rigidity parameter and the inertia parameter are increased.
When the carbon dioxide value at the end of respiration is less than or equal to 10mmHg and the elastic modulus of the sternum is more than or equal to 200N/cm, the pressing risk is high, the risk of sternum fracture exists, and the pressing depth and the rigidity parameter and the inertia parameter are reduced at the moment.
When the carbon dioxide value at the end of respiration is higher than or equal to 24mmHg and the elastic modulus of the sternum is less than or equal to 140N/cm, the fracture risk is lower, the compression depth can be increased, and the rigidity parameter, the damping parameter and the inertia parameter are increased.
Obtaining an impedance control parameter at the moment through fuzzy reasoning, wherein the force sensor can detect the pressing force, input the pressing force into the impedance controller to output a position deviation, and the position deviation feeds back and adjusts the pressing depth at the moment; the appointed compression depth is input into the execution mechanism after being corrected and optimized, the execution mechanism carries out chest compression on the patient with cardiac arrest, the sensor is used again for measuring various physiological parameters of the human body, and the fuzzy system is used for adjusting the impedance control parameter again.
The fuzzy rule table of the invention is shown in the following table, the defuzzification adopts a weighted average method, and the algorithm is
The invention utilizes CO2The sensors, force sensors, and displacement sensors detect the patient's physiological indices that regulate impedance control parameters, not only using the amount of carbon dioxide at the end of breath and the modulus of elasticity of the sternum as input to the fuzzy system, but also a series of quantities that reflect the effect and risk of compression, such as brain oxygen content, thoracic impedance signals, etc.
The invention utilizes the reasoning of the fuzzy system to obtain the optimized impedance control parameters, is not limited to the reasoning of the fuzzy system, and can adopt any judgment logic.
Compared with the prior art, the invention has the beneficial effects that:
(1) compared with the control scheme of the conventional cardio-pulmonary resuscitation machine, the invention can realize the simultaneous control of the pressing force and the pressing depth of the cardio-pulmonary resuscitation machine by adopting the impedance control strategy, so that the cardio-pulmonary resuscitation machine has better flexibility.
(2) The invention takes the amount of the carbon dioxide at the end of breath and the elastic modulus of the sternum as the input of a fuzzy system, outputs the inertia parameter, the damping parameter and the rigidity parameter of impedance control through fuzzy reasoning, and automatically adjusts the proper impedance control parameter under different pressing conditions, so that the adjustment capability of the cardiopulmonary resuscitator has good adaptability.
(3) The invention uses the sensor to monitor the physiological index of the patient in real time, and the compression depth is reduced immediately once the higher compression risk is found, so that the compression depth is always kept in a safe range, the function of protecting the patient is achieved, and the safety is good.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that various changes or modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should be construed as the protection scope of the present invention.
Drawings
FIG. 1 is a schematic diagram of a cardiopulmonary resuscitation machine control based on adaptive impedance adjustment;
Detailed Description
To more fully illustrate the objects, aspects and advantages of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and specific examples, which are only for illustrative purposes.
(1) Creating an adaptive impedance adjusted chest compression control system from CO2The device comprises a sensor, a force sensor, a displacement sensor, a control processor, a fuzzy inference system, an impedance controller and an actuating mechanism.
(2) Using CO2The sensor measures the amount of carbon dioxide at the end of breath in the process of pressing the patient, the force sensor and the displacement sensor are used for detecting the pressing force and the pressing depth of the patient, and the control processor processes the signals to obtain the elastic modulus value of the sternum.
(3) Establishing a fuzzy reasoning system, and compiling a proper fuzzy rule, wherein the amount of carbon dioxide at the end of respiration and the elasticity modulus of the sternum are used as input values, and the inertia parameter, the damping parameter and the rigidity parameter of the impedance controller are used as output values;
simultaneously writing reasonable fuzzy rules, wherein the fuzzy rule table is shown in the following table, the defuzzification adopts a weighted average method, and the algorithm is
(4) And inputting the amount of carbon dioxide at the end of breath and the value of the elastic modulus of the sternum obtained by processing into a fuzzy reasoning system, and obtaining an impedance control parameter which can generate the maximum compression benefit on the basis of ensuring the compression safety at the moment through the fuzzy reasoning system.
(5) Inputting the value detected by the force sensor into an impedance controller, obtaining the pressing depth deviation at the moment through the impedance controller, designing a pressing depth feedback loop, and adjusting the appointed pressing depth by using the pressing depth deviation so as to be suitable for the specific needs of a patient, wherein the specific needs are as follows:
when the carbon dioxide value at the end of respiration is more than or equal to 24mmHg and the elastic modulus of the sternum is more than or equal to 200N/cm, the compression depth tends to the maximum value, and the compression depth is kept or reduced to ensure the compression safety, so that the rigidity parameter and the inertia parameter are reduced;
when the carbon dioxide value at the end of respiration is less than or equal to 10mmHg and the elastic modulus of the sternum is less than or equal to 140N/cm, the pressing depth is insufficient, the pressing depth is increased to ensure the pressing effect, and the rigidity parameter and the inertia parameter are increased;
when the carbon dioxide value at the end of respiration is less than or equal to 10mmHg and the elastic modulus of the sternum is more than or equal to 200N/cm, the pressing risk is high, the risk of sternum fracture exists, and the pressing depth should be reduced, and the rigidity parameter and the inertia parameter should be reduced;
when the carbon dioxide value at the end of respiration is higher than or equal to 24mmHg and the elastic modulus of the sternum is less than or equal to 140N/cm, the fracture risk is lower, the compression depth can be increased, and the rigidity parameter, the damping parameter and the inertia parameter are increased;
(6) inputting the adjusted pressing depth into an execution mechanism, and accurately executing a pressing depth command by the execution mechanism so as to press the patient; the sensor again detects the physiological signal and a new cycle is started.
Claims (2)
1. A cardiopulmonary resuscitator control system based on adaptive impedance adjustment is characterized in that: the cardiopulmonary resuscitator control system based on adaptive impedance adjustment comprises CO2The device comprises a sensor, a force sensor, a displacement sensor, a control processor, a fuzzy inference system, an impedance controller and an executing mechanism, and comprises the following specific processes:
(1) introducing CO2The signals collected by the sensor are transmitted to the control processor to carry out signal analysis and processing to detect the amount of carbon dioxide at the end of breath of the patient, the force sensor and the displacement sensor are used for detecting the pressing force and the pressing depth of the patient, and the control processor processes the signals to obtain the elastic modulus value of the sternum;
(2) processing by a fuzzy inference system: the input quantity of the fuzzy system is the amount of carbon dioxide at the end of breath and the elastic modulus of sternum, and the output quantity is three parameters of impedance control: inertia parameters, damping parameters, stiffness parameters; the depth deviation during pressing is adjusted through the parameters, so that the set pressing depth is optimally adjusted, and the method comprises the following specific steps:
when the carbon dioxide value at the end of respiration is more than or equal to 24mmHg and the elastic modulus of the sternum is more than or equal to 200N/cm, the compression depth tends to the maximum value, and the compression depth is kept or reduced to ensure the compression safety, so that the rigidity parameter and the inertia parameter are reduced;
when the carbon dioxide value at the end of respiration is less than or equal to 10mmHg and the elastic modulus of the sternum is less than or equal to 140N/cm, the pressing depth is insufficient, the pressing depth is increased to ensure the pressing effect, and the rigidity parameter and the inertia parameter are increased;
when the carbon dioxide value at the end of respiration is less than or equal to 10mmHg and the elastic modulus of the sternum is more than or equal to 200N/cm, the pressing risk is high, the risk of sternum fracture exists, and the pressing depth should be reduced, and the rigidity parameter and the inertia parameter should be reduced;
when the carbon dioxide value at the end of respiration is higher than or equal to 24mmHg and the elastic modulus of the sternum is less than or equal to 140N/cm, the fracture risk is lower, the compression depth can be increased, and the rigidity parameter, the damping parameter and the inertia parameter are increased.
2. The adaptive impedance adjustment based cardiopulmonary resuscitation control system of claim 1, wherein: and (3) in the step (2), a weighted average method is adopted for defuzzification.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114053130A (en) * | 2021-12-08 | 2022-02-18 | 山东大学 | Based on PETCO2Auxiliary control method and system for external chest compression device |
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