CN115836894A - A press hemostasis reinforcing means for femoral artery presses hemostasis robot - Google Patents
A press hemostasis reinforcing means for femoral artery presses hemostasis robot Download PDFInfo
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Abstract
The embodiment of the application relates to the technical field of medical equipment, in particular to a pressing hemostasis enhancing device for a femoral artery pressing hemostasis robot, which comprises a physiological signal acquisition module and a data processing module; the output end of the physiological signal acquisition module is connected with the input end of the data processing module; the physiological signal acquisition module is used for acquiring physiological parameters of a patient and sending the physiological parameters to the data processing module, and the data processing module is communicated through the robot host and receives the pressing state parameters of the robot; the data processing module obtains robot control parameters based on the physiological parameters and the pressing state parameters, and sends the robot control parameters to the robot host; and the robot host adjusts the pressing instruction based on the robot control parameters, so that the robot executes the pressing operation. The application provides a press hemostasis reinforcing means can solve the unable accurate location of current hemostasis device and bleed the point and nimble problem of adjusting according to the pressure degree.
Description
Technical Field
The embodiment of the application relates to the technical field of medical equipment, in particular to a pressing hemostasis enhancing device for a femoral artery pressing hemostasis robot.
Background
With the development of medical technology, interventional procedures have been widely applied to clinical treatment of cardiovascular and cerebrovascular diseases, peripheral vascular diseases and the like, and are called as the gold standard for diagnosing vasculopathy, wherein the femoral artery is relatively thick and relatively fixed in position, and is easy to puncture successfully, so the femoral artery puncture has the advantages of being easy to master and suitable for large interventional instruments, and gradually becomes an important approach for interventional procedures. After femoral artery puncture, leave great pinhole on the femoral artery vascular wall of puncture point, puncture point blood pressure is higher simultaneously, has the difficult problem of stanching, and clinical data shows that stanching improper complication is high after the femoral artery puncture, seriously endangers patient's physiology and psychological rehabilitation.
At present, after clinical femoral artery puncture, the existing hemostasis mode is usually achieved through manual compression, a femoral artery compressor or a blood vessel plugging device. However, for manual hemostasis by compression, the manual hemostasis by compression is usually applied to the needle hole on the surface of the thigh skin, and due to the factors of the puncture angle, the position of the blood vessel of the human body and the thickness of the fat layer, there is always a certain deviation between the needle hole on the surface of the skin and the real bleeding point on the wall of the arterial blood vessel, so that the manual hemostasis by compression often works in a certain blind pressure state, the phenomenon of incapability of pressing often occurs, and the manual hemostasis by compression is not favorable for timely hemostasis and quick recovery. For hemostasis of the femoral artery compressor, the femoral artery compressor only reduces the labor burden of manual compression and cannot accurately position a real bleeding point; for the hemostasis of the blood vessel occluder, the blood vessel occluder directly acts on the needle hole of the arterial blood vessel wall, so that the defect of blind pressure is made up to a certain extent, but the price is high and the operation is troublesome; in addition, the blood vessel stopper stanchs and implants redundant instruments into the body of a patient, the rejection reaction and the operation complexity of the patient have the defects of operation failure and residual substances in the body, and the blood vessel stopper has no obvious effect on reducing the complications in the perioperative period.
Disclosure of Invention
The embodiment of the application provides a press hemostasis reinforcing apparatus that is used for arteria femoralis to press hemostasis robot, solves the unable accurate location of current hemostasis device and bleeds the point and nimble problem of adjusting according to the pressure intensity.
In order to solve the technical problem, in a first aspect, an embodiment of the present application provides a compression hemostasis enhancing device for a femoral artery compression hemostasis robot, including: the physiological signal acquisition module and the data processing module; the output end of the physiological signal acquisition module is connected with the input end of the data processing module; the physiological signal acquisition module is used for acquiring physiological parameters of a patient and sending the physiological parameters to the data processing module; the data processing module is communicated through a robot host and receives the pressing state parameters of the robot; the data processing module obtains robot control parameters based on the physiological parameters and the robot pressing state parameters transmitted by the robot host, and sends the robot control parameters to the robot host; and the robot host adjusts the pressing instruction based on the robot control parameters, so that the robot executes the pressing operation.
In some exemplary embodiments, the data processing module comprises a physiological parameter interaction module, a machine parameter interaction module and an algorithm module; the physiological parameter interaction module is used for receiving the physiological parameters acquired by the physiological signal acquisition module, analyzing the physiological parameters and sending the physiological parameter analysis result to the algorithm module; the robot parameter interaction module is used for performing data interaction with the robot host, receiving robot pressing state parameters transmitted by the robot host in real time and sending the pressing state parameters to the algorithm module; the algorithm module is used for calculating to obtain robot control parameters according to the physiological parameter analysis result and the robot pressing state parameters, and sending the robot control parameters to the robot host.
In some exemplary embodiments, the data processing module further comprises: a data visualization module; the data visualization module is used for analyzing the physiological parameters synchronously when the physiological parameter interaction module receives the physiological parameters and dynamically displaying the physiological parameter analysis result in a visualization mode.
In some exemplary embodiments, the physiological signal acquisition module comprises a signal acquisition control unit, an electrocardiograph lead wire, a blood oxygen finger stall, a body temperature sensor, a blood pressure cuff and an ultrasonic probe, and the electrocardiograph lead wire, the blood oxygen finger stall, the body temperature sensor, the blood pressure cuff and the ultrasonic probe are all connected with the signal acquisition control unit.
In some exemplary embodiments, the electrocardiograph lead is a five-lead electrocardiograph lead for realizing the acquisition of electrocardiograph waveforms and respiratory waveforms; the blood oxygen finger stall is used for realizing pulse wave acquisition; the body temperature sensors at least comprise two sensors and are used for realizing the body temperature measurement of the patient; the blood pressure cuff is used for realizing blood pressure measurement of a patient; the ultrasound probe is used to acquire ultrasound images of a patient.
In some exemplary embodiments, the electrocardiograph lead wire, the blood oxygen finger sleeve, the body temperature sensor, the blood pressure cuff and the ultrasonic probe respectively transmit the acquired data to the signal acquisition control unit, and the signal acquisition control unit calculates the physiological parameters according to the acquired data.
In some exemplary embodiments, the physiological parameters include electrocardiogram, pulse wave, blood oxygen saturation, heart rate, blood pressure, body temperature, respiration, blood flow velocity, ventricular volume curve, and stroke volume.
In some exemplary embodiments, the physiological signal acquisition module is connected with the data processing module through a serial port line, and the data processing module is connected with the robot host through an Ethernet network line; the physiological signal acquisition module sends the physiological parameters to the data processing module through the serial port; the data processing module is used for processing the physiological parameters, calculating to obtain robot control parameters based on the pressing state parameters transmitted by the robot host, and sending the robot control parameters to the robot host through the Ethernet.
The technical scheme provided by the embodiment of the application has at least the following advantages:
the embodiment of this application provides a hemostasis reinforcing means that presses that is used for femoral artery to press hemostatic robot to the problem that current hemostasis device can't accurate location bleed point and nimble adjustment press the pressure degree, should press hemostasis reinforcing means and include: the physiological signal acquisition module and the data processing module; the output end of the physiological signal acquisition module is connected with the input end of the data processing module; the physiological signal acquisition module is used for acquiring physiological parameters of a patient and sending the physiological parameters to the data processing module; the data processing module is communicated through a robot host and receives the pressing state parameters of the robot; the data processing module obtains robot control parameters based on the physiological parameters and the pressing state parameters transmitted by the robot host, and sends the robot control parameters to the robot host; and the robot host adjusts the pressing instruction based on the robot control parameters, so that the robot executes the pressing operation. The pressing hemostasis enhancing device provided by the embodiment of the application can intelligently sense the physiological state of a patient in real time through the physiological signal acquisition module and generate a related control command based on the physiological state, so that the robot can automatically perform dynamic adjustment to adjust the pressing strength and the posture in real time to complete a pressing task.
Drawings
One or more embodiments are illustrated by corresponding figures in the drawings, which are not to be construed as limiting the embodiments, unless expressly stated otherwise, and the drawings are not to scale.
Fig. 1 is a schematic structural diagram of a compression hemostasis enhancing device for a femoral artery compression hemostasis robot according to an embodiment of the present application.
Detailed Description
Known from the background art, the existing pressing hemostasis device has the problems that the bleeding point cannot be accurately positioned and the pressing force cannot be flexibly adjusted.
At present, the femoral artery automatic pressing hemostasis robot can replace a doctor to automatically perform femoral artery pressing hemostasis on a patient. However, the individual robot lacks feedback of physiological parameters of the patient, cannot sense whether the machine is properly pressed, and needs manual adjustment if the machine is not properly pressed. Although the general monitor in the market can provide five-lead electrocardio, respiration, heart rate, blood pressure, body temperature, pulse wave and blood oxygen saturation parameters, the general monitor cannot provide blood flow speed, ventricular volume curve and stroke output parameters. In addition, a general monitor data interface on the market is closed and is not opened outside, and the physiological parameter information collected by the equipment cannot be communicated with the pressing hemostasis robot. Therefore, because the femoral artery compression hemostasis robot has the problem of insufficient intelligence and flexibility in practical application, if the robot performs the compression hemostasis operation, the thigh of a patient slightly moves, and the compression effect of the robot is reduced or even the compression is disabled. Based on this, the robot is required to be capable of intelligently sensing the physiological state of the patient and adjusting the pressing strength and the posture in real time.
In order to solve the technical problem, an embodiment of the present application provides a compression hemostasis enhancing device for a femoral artery compression hemostasis robot, including: the physiological signal acquisition module and the data processing module; the output end of the physiological signal acquisition module is connected with the input end of the data processing module; the physiological signal acquisition module is used for acquiring physiological parameters of a patient and sending the physiological parameters to the data processing module; the data processing module is communicated through a robot host and receives the pressing state parameters of the robot; the data processing module obtains robot control parameters based on the physiological parameters and the pressing state parameters transmitted by the robot host, and sends the robot control parameters to the robot host; and the robot host adjusts the pressing instruction based on the robot control parameters, so that the robot executes the pressing operation. This application is through providing one and is used for femoral artery to press hemostasis reinforcing means of hemostasis robot, can gather and feed back patient's physiological state in real time to based on this physiological state generation relevant control command, thereby by the autonomic dynamic adjustment that carries on of robot, the instruction is pressed in the nimble adjustment, accomplishes and presses the task.
Embodiments of the present application will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in the various embodiments of the present application, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
Referring to fig. 1, an embodiment of the present application provides a compression hemostasis enhancing device 1 for a femoral artery compression hemostasis robot, including: a physiological signal acquisition module 101 and a data processing module 102; the output end of the physiological signal acquisition module 101 is connected with the input end of the data processing module 102, and the data processing module 102 is also in communication connection with the robot host 2; the physiological signal acquisition module 101 is used for acquiring physiological parameters of a patient and sending the physiological parameters to the data processing module 102; the data processing module 102 receives the pressing state parameters of the robot through the communication of the robot host 2; the data processing module 102 obtains robot control parameters based on the physiological parameters and the robot pressing state parameters transmitted by the robot host 2, and transmits the robot control parameters to the robot host 2; the robot host 2 adjusts the pressing instruction based on the robot control parameter, so that the robot executes the pressing operation.
The pressing hemostasis enhancing device provided by the embodiment of the application is peripheral equipment of a pressing hemostasis robot and is used for enhancing the function of the pressing hemostasis robot. The pressing hemostasis enhancement device is used for collecting various physiological parameters such as five-lead electrocardio, pulse wave, blood oxygen saturation, heart rate, blood pressure, body temperature, respiration, blood flow speed, ventricular volume curve and stroke output quantity of a patient to be hemostatic pressed in real time, meanwhile, the pressing strength and the posture of the robot are collected in real time, the various physiological parameters of the patient (the pressed person) and the pressing strength and the pressing posture of the robot are combined, a new robot pressing control command is generated through a pressing algorithm in a calculation mode and sent to a robot host, the pressing strength and the posture are adjusted in real time, and therefore the function of enhancing the pressing hemostasis is achieved.
Specifically, the physiological signal acquisition module 101 may include a signal acquisition control unit 1011 and a plurality of different acquisition units 1012. The signal collection control unit 1011 may be a physiological parameter collection circuit board. The data processing module 102 can be an upper computer (industrial personal computer), a robot system is installed in the upper computer, upper computer software is installed in the robot system, the physiological signal acquisition module 101 acquires relevant patient physiological parameters, and acquired physiological parameter data are sent to the upper computer software through a serial port. The data processing module 102 (upper computer software) receives the uploaded physiological parameter data, performs analysis processing at the same time, and displays the physiological parameters of the patient. The displayed physiological parameters are five-lead electrocardio, respiration, heart rate, blood pressure, body temperature, pulse wave, blood oxygen saturation parameters, blood flow velocity, ventricular volume curve and stroke output. Meanwhile, the data processing module 102 (upper computer software) receives the parameters such as the pressing force, the pressing posture and the like returned by the robot host 2. The data processing module 102 (upper computer software) generates a new robot control command by a pressing algorithm in combination with the received physiological parameter data and the parameters such as the pressing force and the pressing posture transmitted by the robot host. The robot applies a new pressing force according to the new command, and the pressing posture is adjusted.
In some embodiments, the data processing module 102 includes a physiological parameter interaction module 1021, a machine parameter interaction module 1022, and an algorithm module 1023; the physiological parameter interaction module 1021 is used for receiving the physiological parameters acquired by the physiological signal acquisition module 101, analyzing the physiological parameters, and sending the physiological parameter analysis result to the algorithm module 1023; the robot parameter interaction module 1022 is configured to perform data interaction with the robot host 2, receive the robot pressing state parameter transmitted by the robot host 2 in real time, and send the robot pressing state parameter to the algorithm module 1023; the algorithm module 1023 is used for calculating robot control parameters according to the physiological parameter analysis result and the robot pressing state parameters, and sending the robot control parameters to the robot host 2.
It should be noted that the algorithm module 1023 in the data processing module 102 sends the robot control parameters to the robot host 2 in real time through the robot parameter interaction module 1022, and receives the robot pressing state parameters transmitted by the robot host 2 to adjust the robot control parameters, and generates a new pressing instruction to adjust the robot behavior.
In some embodiments, the data processing module 102 further comprises: a data visualization module 1024; the data visualization module 1024 is configured to analyze the physiological parameters synchronously when the physiological parameter interaction module 1021 receives the physiological parameters, and dynamically display the physiological parameter analysis result in a visualization manner.
Specifically, the data processing module 102 (upper computer software) serves as a data processing center, and integrates data receiving, data processing and data visualization functions. The data processing module 102 realizes data processing through a physiological parameter interaction module 1021, a data visualization module 1024, a robot parameter interaction module 1022 and an algorithm module 1023; the physiological parameter interaction module 1021 receives the physiological parameters uploaded by the physiological parameter device through the serial port, analyzes the serial port data, acquires the five-lead electrocardio, blood oxygen and other data uploaded by the physiological parameter device, and calculates the values of aVR, aVF and aVL through the electrocardio data. Meanwhile, the physiological parameter interaction module 1021 also has a function of sending instructions to the physiological parameter equipment, the physiological parameter equipment can be controlled to measure the blood pressure of the user through the instructions, and the measurement result is uploaded through a data packet and analyzed through the module. The physiological parameter interaction module 1021 also acquires ultrasound images. And measuring and calculating parameters of blood flow velocity, ventricular volume curve and stroke output through the acquired ultrasonic images. When the physiological parameter interaction module 1021 receives the data, the data visualization module 1024 synchronously displays the analyzed and calculated data dynamically, and presents the data to the user in a visualization manner. The robot parameter interaction module 1022 interacts with the robot through a network and receives parameters such as the pressure degree, the posture and the coordinates of the robot in real time; and feeding back the value output by the algorithm to the robot end, and controlling the robot to adjust the pressing pressure and the pressing posture. The algorithm module 1023 inputs the physiological parameter data and the robot parameters, calculates and outputs robot control parameters, and sends the data to the robot end in real time through the robot parameter interaction module 1022 to adjust the robot behavior.
In some embodiments, the physiological signal acquisition module 101 includes a signal acquisition control unit 1011 and a plurality of different acquisition units 1021, and the acquisition units 1021 may include an electrocardiographic lead wire, a blood oxygen finger cot, a body temperature sensor, a blood pressure cuff, and an ultrasound probe, wherein the electrocardiographic lead wire, the blood oxygen finger cot, the body temperature sensor, the blood pressure cuff, and the ultrasound probe are all connected to the signal acquisition control unit.
In some embodiments, the electrocardiograph lead is a five-lead electrocardiograph lead for realizing the acquisition of electrocardiograph waveforms and respiratory waveforms; the blood oxygen finger stall is used for realizing pulse wave and blood oxygen saturation acquisition; the body temperature sensors at least comprise two sensors and are used for realizing the body temperature measurement of the patient; the blood pressure cuff is used for realizing blood pressure measurement of a patient; the ultrasonic probe is used for acquiring an ultrasonic image of a patient; the electrocardio lead wire, the blood oxygen finger stall, the body temperature sensor, the blood pressure cuff and the ultrasonic probe respectively send collected data to the signal collection control unit, and the signal collection control unit calculates to obtain physiological parameters according to the collected data.
Specifically, the physiological signal acquisition module 101 is connected with a five-lead electrocardiograph lead wire, a blood oxygen finger stall, two body temperature sensors and an ultrasonic probe. When in use, the five-wire electrocardio lead wire is connected with the electrocardio patch and is pasted on a specific position of a patient to realize the acquisition of the electrocardio waveform and the respiration waveform. The blood oxygen finger stall is sleeved on the index finger of the patient to realize pulse wave acquisition. The two body temperature sensors are attached to specific positions of a patient, so that the body temperature of the patient is measured. A blood pressure sleeve area is sleeved on the arm of a patient, and the device can carry out inflation and deflation processes on the blood pressure sleeve area when in use, so that the blood pressure of the patient is measured. The signal acquisition control unit 1011 of the physiological signal acquisition module 101 may be a microcontroller, and can be implemented by embedding a microcontroller in the physiological signal acquisition module 101. The microcontroller runs embedded codes, so that the heart rate, the blood pressure and the blood oxygen saturation of a patient can be calculated through pulse waves, electrocardiographic waveforms and the inflation and deflation conditions of the blood pressure cuff. The blood flow velocity of the patient can be checked by the ultrasonic probe on the physiological signal acquisition module 101. Meanwhile, a preoperative doctor needs to obtain images of all cross sections of the heart in the same state through an ultrasonic probe, firstly, the device is positioned outside the heart, the device can rotate at a given angle, when heart data are collected, a synchronous electrocardiogram is connected firstly, and the device rotates around a central shaft at a given angle, so that each frame of image collected by the physiological signal collection module 101 is displayed on different cross sections of the heart in the same state. The physiological signal acquisition module 101 sends the acquired ultrasound images to the data processing module 102 (upper computer software) through a serial port, and the data processing module 102 processes the acquired images to obtain a ventricular volume curve and a stroke output. The measurement of the blood flow rate, the ventricular volume curve and the stroke volume is completed before the operation, and the data processing module 102 fixes the three parameters during the operation. The physiological parameter acquisition module 101 is connected with the data processing module 102 through a serial port line. The physiological parameter acquisition module 101 transmits the acquired patient-related physiological parameters to the data processing module 102 (upper computer software) through serial lines. The data processing module 102 is connected to the robot main unit 2 via an ethernet cable. As one example, the robot host 2 may be an automatic femoral artery compression hemostasis robot. The femoral artery automatic pressing hemostasis robot transmits the pressing force parameter of the robot and the rotation position parameter of each motor of the robot to the data processing module 102 through the Ethernet. The data processing module 102 deconstructs the pressing gesture of the robot by combining the constructed femoral artery pressing hemostasis robot model with the rotation position parameters of each motor of the robot.
In some embodiments, the physiological parameters include electrocardiogram, pulse wave, blood oxygen saturation, heart rate, blood pressure, body temperature, respiration, blood flow velocity, ventricular volume curve, and stroke volume.
In some embodiments, the physiological signal acquisition module 101 is connected with the data processing module 102 through a serial port line, and the data processing module 102 is connected with the robot host 2 through an ethernet network line; the physiological signal acquisition module 101 sends the physiological parameters to the data processing module 102 through a serial port; the data processing module 102 performs data processing on the physiological parameters, calculates the robot control parameters based on the pressing state parameters transmitted by the robot host 2, and transmits the robot control parameters to the robot host 2 through the ethernet.
To sum up, the pressing hemostasis enhancing device for the femoral artery pressing hemostasis robot provided by the embodiment of the application can simultaneously detect physiological parameters such as 5-lead electrocardio, pulse wave, oxyhemoglobin saturation, heart rate, blood pressure, body temperature, respiration, blood flow speed, ventricular volume curve and stroke output, and the common monitor in the prior art can not complete the work. In addition, the pressing hemostasis enhancing device for the femoral artery pressing hemostasis robot provided by the embodiment of the application is also the brain of the femoral artery pressing hemostasis robot, and the pressing parameters are adjusted through a control algorithm by collecting the physiological parameters of a patient (a person to be pressed with hemostasis) and combining the current pressing posture of the robot, so that a new pressing command is generated, and the robot can finish a pressing task with high quality.
The utility model provides a press hemostasis enhancing device for hemostasis robot is pressed to femoral artery has combined the function of general monitor and ultrasonic equipment, presses hemostasis enhancing device through being used for femoral artery to press hemostasis robot can detect physiological parameters such as 5 electrocardio, pulse wave, blood oxygen saturation, rhythm of the heart, blood pressure, body temperature, breathing, blood flow speed, ventricle volume curve, output volume of beating simultaneously. Simultaneously the hemostasis reinforcing means that presses that is used for femoral artery to press hemostasis robot that this application embodiment provided has opened data interface and has given to pressing hemostasis robot, presses hemostasis robot's second brain in other words, makes to press hemostasis robot more intelligent, accomplishes to press hemostasis action and is imitated higher quality more.
The hemostasis reinforcing means that presses that is used for femoral artery to press hemostasis robot that this application embodiment provided shows through the experiment that physiological parameter gathers intact for femoral artery presses hemostasis reinforcing means and robot of pressing of hemostasis robot and is interactive good.
By above technical scheme, this application embodiment provides a hemostasis by compression reinforcing apparatus for femoral artery presses hemostasis robot to the problem that current hemostasis device can't accurate location bleed point and nimble adjustment press the pressure degree, should press hemostasis reinforcing apparatus 1 and include: a physiological signal acquisition module 101 and a data processing module 102; the output end of the physiological signal acquisition module 101 is connected with the input end of the data processing module 102; the physiological signal acquisition module 101 is used for acquiring physiological parameters of a patient and sending the physiological parameters to the data processing module 102; the data processing module 102 receives the robot pressing state parameters through the communication of the robot host 2; the data processing module 102 obtains robot control parameters based on the physiological parameters and the pressing state parameters transmitted by the robot host 2, and sends the robot control parameters to the robot host 2; the robot host 2 adjusts the pressing instruction based on the robot control parameter, so that the robot executes the pressing operation. The utility model provides a press hemostasis reinforcing apparatus for femoral artery presses hemostasis robot can real-time intelligent perception patient's physiological state through physiological signal collection module 101, generates relevant control command based on this physiological state to by the autonomic dynamic adjustment that carries on of robot, accomplish the task of pressing with the gesture according to the pressure degree with real-time adjustment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the present application, and that various changes in form and details may be made therein without departing from the spirit and scope of the present application in practice. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present disclosure, and the scope of the present disclosure should be defined only by the appended claims.
Claims (8)
1. A compression hemostasis enhancing device for a femoral artery compression hemostasis robot, comprising: the physiological signal acquisition module and the data processing module; the output end of the physiological signal acquisition module is connected with the input end of the data processing module;
the physiological signal acquisition module is used for acquiring physiological parameters of a patient and sending the physiological parameters to the data processing module;
the data processing module is communicated through a robot host and receives the pressing state parameters of the robot; the data processing module obtains robot control parameters based on the physiological parameters and the robot pressing state parameters transmitted by the robot host, and sends the robot control parameters to the robot host;
and the robot host adjusts the pressing instruction based on the robot control parameters to enable the robot to execute the pressing operation.
2. A compression hemostasis enhancing device for a femoral artery compression hemostasis robot as defined in claim 1,
the data processing module comprises a physiological parameter interaction module, a machine parameter interaction module and an algorithm module; the physiological parameter interaction module is used for receiving the physiological parameters acquired by the physiological signal acquisition module, analyzing the physiological parameters and sending physiological parameter analysis results to the algorithm module;
the robot parameter interaction module is used for performing data interaction with the robot host, receiving robot pressing state parameters transmitted by the robot host in real time and sending the robot pressing state parameters to the algorithm module;
the algorithm module is used for calculating to obtain robot control parameters according to the physiological parameter analysis result and the robot pressing state parameters, and sending the robot control parameters to the robot host.
3. The compression hemostasis enhancement device for a femoral artery compression hemostasis robot of claim 2, wherein the data processing module further comprises: a data visualization module;
the data visualization module is used for analyzing the physiological parameters synchronously when the physiological parameter interaction module receives the physiological parameters and dynamically displaying the physiological parameter analysis result in a visualization mode.
4. The compression hemostasis enhancement device for the femoral artery compression hemostasis robot according to claim 1, wherein the physiological signal acquisition module comprises a signal acquisition control unit, an electrocardiograph lead wire, a blood oxygen finger stall, a body temperature sensor, a blood pressure cuff and an ultrasonic probe, and the electrocardiograph lead wire, the blood oxygen finger stall, the body temperature sensor, the blood pressure cuff and the ultrasonic probe are all connected with the signal acquisition control unit.
5. The compression hemostasis enhancement device for the femoral artery compression hemostasis robot according to claim 4, wherein the electrocardiograph lead wire is a five-lead electrocardiograph lead wire and is used for realizing the collection of electrocardiograph waveforms and respiratory waveforms;
the blood oxygen finger stall is used for realizing pulse wave acquisition;
the body temperature sensors at least comprise two sensors and are used for realizing the body temperature measurement of the patient;
the blood pressure cuff is used for realizing blood pressure measurement of a patient;
the ultrasound probe is used for acquiring an ultrasound image of a patient.
6. The compression hemostasis enhancement device for the femoral artery compression hemostasis robot according to claim 4, wherein the electrocardiograph lead wire, the blood oxygen finger stall, the body temperature sensor, the blood pressure cuff and the ultrasonic probe respectively send acquired data to the signal acquisition control unit, and the signal acquisition control unit calculates physiological parameters according to the acquired data.
7. The compression hemostasis enhancement device for a femoral artery compression hemostasis robot according to claim 4, wherein the physiological parameters include electrocardiogram, pulse wave, blood oxygen saturation, heart rate, blood pressure, body temperature, respiration, blood flow velocity, ventricular volume curve, and stroke volume.
8. The compression hemostasis enhancement device for a femoral artery compression hemostasis robot according to claim 1, wherein the physiological signal acquisition module is connected with the data processing module through a serial port line, and the data processing module is connected with the robot host through an Ethernet network line;
the physiological signal acquisition module sends the physiological parameters to a data processing module through a serial port;
the data processing module is used for processing the physiological parameters, calculating to obtain robot control parameters based on the pressing state parameters transmitted by the robot host, and sending the robot control parameters to the robot host through the Ethernet.
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