CN115940743A - Intelligent monitoring method and system for motor control of surgical equipment - Google Patents
Intelligent monitoring method and system for motor control of surgical equipment Download PDFInfo
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Abstract
The application relates to the technical field of data processing, and provides an intelligent monitoring method and system for motor control of surgical equipment. The planning motor is controlled to operate according to the set rotating speed of the motor, the set motor operation stability coefficient and the set motor transition stability coefficient, and the actual rotating speed of the planning motor and the actual motor operation stability coefficient are collected; and when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient, optimal motor adjustment control parameters are obtained through optimization to carry out planing motor control. The technical problem of among the prior art medical operation planer's planing motor operation control rely on medical staff experience, lead to having the planing motor running state unstable, lead to the operation effect relatively poor is solved, realize improving planing motor running state and patient treatment demand adaptation degree, ensure that the planing motor requires the technological effect of steady operation according to the operation rotational speed.
Description
Technical Field
The application relates to the technical field of data processing, in particular to an intelligent monitoring method and system for motor control of surgical equipment.
Background
The medical operation planing device is widely applied to operations such as hysteroscope planing operation and the like which need to reduce side damage caused by the operations as medical equipment for common operations in modern medicine.
The doctor needs to carry out medical operation planer operation control based on experience in the operation process of adopting medical operation planer to get rid of the patient of demand to different ages and pathological change tissue, promptly to the regulation control of planing motor operating parameter of medical operation planer.
Besides the defects that the actual operation state of the medical surgical planing device is not matched with the actual treatment requirement of a patient due to the fact that the control of the medical surgical planing device depends on manual experience, the actual operation state of the medical surgical planing device also has the defect of equipment with different information set by a doctor, and the operation accident risk is increased due to the defects.
In summary, in the prior art, when a surgical task is performed, the operation control of the planning motor of the medical surgical planning device depends on the experience of medical staff, which causes the technical problem that the operation of the planning motor is unstable and the operation effect is poor.
Disclosure of Invention
Therefore, it is necessary to provide an intelligent monitoring method and system for motor control of surgical equipment, which can improve the adaptability between the operation state of the planning motor and the treatment requirement of the patient and ensure stable operation of the planning motor according to the operation speed requirement, in order to solve the above technical problems.
An intelligent monitoring method for motor control of surgical equipment, the method comprising: acquiring various types of information of a planing operation to be performed through the information acquisition module to obtain an operation information set; inputting the operation information set into a motor control coefficient database in the motor control module to obtain a set motor rotating speed, a set motor operation stability coefficient and a set motor transition stability coefficient; controlling the planing motor to run under the control of the motor control module according to the set rotating speed of the motor, and acquiring the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set; calculating to obtain an actual motor operation stability coefficient according to the actual rotating speed set and the set rotating speed of the motor; when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient, generating a plurality of motor adjustment control parameters; and optimizing the plurality of motor adjustment control parameters according to the set motor transition stability parameter to obtain an optimal motor adjustment control parameter, and controlling the planing motor through the motor control module.
An intelligent monitoring system for motor control of surgical equipment, the system comprising: the operation information acquisition module is used for acquiring various types of information of the planing operation to be performed through the information acquisition module to obtain an operation information set; the motor coefficient setting module is used for inputting the operation information set into a motor control coefficient database in a motor control module to obtain a set rotating speed of a motor, a set motor operation stability coefficient and a set motor transition stability coefficient; the motor operation control module is used for controlling the planing motor to operate through the motor control module according to the set rotating speed of the motor, and acquiring the actual rotating speed of the planing motor in a plurality of time windows in a preset time period to obtain an actual rotating speed set; the operation condition acquisition module is used for calculating and obtaining an actual motor operation stability coefficient according to the actual rotating speed set and the set rotating speed of the motor; the adjustment parameter generating module is used for generating a plurality of motor adjustment control parameters when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient; and the motor control execution module is used for optimizing the plurality of motor adjustment control parameters according to the set motor transition stability parameters to obtain optimal motor adjustment control parameters, and the planing motor is controlled through the motor control module.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring various types of information to be subjected to a planing operation through the information acquisition module to obtain an operation information set;
inputting the operation information set into a motor control coefficient database in the motor control module to obtain a set motor rotating speed, a set motor operation stability coefficient and a set motor transition stability coefficient;
controlling the planing motor to run under the control of the motor control module according to the set rotating speed of the motor, and acquiring the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set;
calculating to obtain an actual motor operation stability coefficient according to the actual rotating speed set and the set rotating speed of the motor;
when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient, generating a plurality of motor adjustment control parameters;
and optimizing the plurality of motor adjustment control parameters according to the set motor transition stability parameter to obtain an optimal motor adjustment control parameter, and controlling the planing motor through the motor control module.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring various types of information to be subjected to a planing operation through the information acquisition module to obtain an operation information set;
inputting the operation information set into a motor control coefficient database in the motor control module to obtain a set motor rotating speed, a set motor operation stability coefficient and a set motor transition stability coefficient;
controlling the planing motor to run under the control of the motor control module according to the set rotating speed of the motor, and acquiring the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set;
calculating to obtain an actual motor operation stability coefficient according to the actual rotating speed set and the set rotating speed of the motor;
when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient, generating a plurality of motor adjustment control parameters;
and optimizing the plurality of motor adjustment control parameters according to the set motor transition stability parameter to obtain an optimal motor adjustment control parameter, and controlling the planing motor through the motor control module.
According to the intelligent monitoring method and system for motor control of the surgical equipment, the technical problems that operation control of a planing motor of a medical surgical planer depends on experience of medical staff when a surgical task is executed in the prior art, the operation state of the planing motor is unstable, and the surgical effect is poor are solved, the adaptation degree of the operation state of the planing motor and the treatment requirement of a patient is improved, and the technical effect that the planing motor stably operates according to the operation rotating speed requirement is ensured.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
FIG. 1 is a schematic flow chart of a method for intelligent monitoring of motor control of a surgical device in one embodiment;
FIG. 2 is a schematic flow chart illustrating the process of obtaining a set of surgical information in an intelligent monitoring method for motor control of a surgical device according to an embodiment;
FIG. 3 is a block diagram of an embodiment of an intelligent surgical device motor control monitoring system;
FIG. 4 is a diagram of the internal structure of a computer device in one embodiment.
Description of reference numerals: the system comprises a surgical information acquisition module 1, a motor coefficient setting module 2, a motor operation control module 3, an operation condition acquisition module 4, an adjustment parameter generation module 5 and a motor control execution module 6.
Detailed description of the preferred embodiments
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As shown in fig. 1, the present application provides an intelligent monitoring method for motor control of surgical equipment, which is applied to an intelligent monitoring system for motor control of surgical equipment, the system includes an information acquisition module, a motor control module and a planning motor, the planning motor operates under the control of the motor control module, the method includes:
s100, acquiring various types of information to be planed through the information acquisition module to obtain a surgery information set;
in an embodiment, as shown in fig. 2, the information acquisition module acquires multiple types of information to be subjected to a planning operation, and acquires an operation information set, where the step S100 of the method provided by the present application further includes:
s110, collecting tissues to be subjected to a planing operation through the information collection module to obtain planing tissue information;
s120, collecting the range of the tissue to be planed to obtain planing range information;
s130, acquiring the age of a patient to be subjected to the planing operation, and acquiring age information;
and S140, generating the operation information set based on the shaved tissue information, the shaved range information and the age information.
In particular, it should be understood that medical surgical shavers are widely used as common surgical equipment in modern medicine in operations requiring reduction of side damage caused by the operation, such as hysteroscopic shaving operations. The medical operation planer consists of a planing tool, a planing motor, a motor control module and an information acquisition module. Wherein, the planing tool is connected with the planing motor directly or indirectly (for example, the disposable planing tool bit is used as the planing tool and is arranged on a planing control handle at the front end of the planing motor), the planing tool is driven to operate by the operation of the planing motor, and the actual operation rotating speed of the planing motor is determined by the control parameter of the motor control module.
The information acquisition module is used for acquiring various kinds of relevant information of a patient to be subjected to a planning operation, and specifically, the information acquisition module is connected with an electronic medical record system of a hospital, calls name information of the patient to be subjected to the planning operation at present according to an operation time arrangement sequence of an operating room, and obtains the electronic medical record of the patient to be subjected to the planning operation through traversal retrieval in the electronic medical record system of the hospital according to the name information of the patient.
Obtaining the shaved tissue information of the patient through an electronic medical record, wherein the shaved tissue information is shaved tissue type information, for example, the shaved tissue type is meniscus pathological tissue and intrauterine pathological tissue. The range of the tissue to be planed is collected through the electronic medical record, and planing range information is obtained, wherein the planing range information is position information and a removal target of the lesion tissue which needs to be planed and removed in a patient body actually. The age of a patient to be subjected to a planning operation is acquired through electronic medical record acquisition, and age information is obtained. The shaved tissue information, shaved range information, and age information are collectively referred to as the surgical information set.
This embodiment has realized obtaining and has waited to carry out all kinds of information of planing operation patient through calling patient's case history operation information based on information acquisition system, obtains the technological effect that provides effective data basis for follow-up planing motor operating data when carrying out the excision of planing tissue to control planing cutter.
S200, inputting the operation information set into a motor control coefficient database in the motor control module to obtain a set rotating speed of a motor, a set motor operation stability coefficient and a set motor transition stability coefficient;
in one embodiment, the operation information set is input into a motor control coefficient database in the motor control module to obtain a set motor rotation speed, a set motor operation stability coefficient, and a set motor transition stability coefficient, and the method provided by the present application further includes step S200:
s210, acquiring a historical planing tissue information set, a historical planing range information set and a historical age information set based on historical data of a planing operation in historical time;
s220, acquiring a set rotating speed set of a historical motor, a set operation stability coefficient of the historical set motor and a set transition stability coefficient of the historical set motor based on historical data of the planing operation in historical time;
s230, respectively constructing a rotating speed database, an operation stability coefficient database and a transition stability coefficient database based on the historical planing organization information set, the historical planing range information set, the historical age information set, the historical motor set rotating speed set, the historical set motor operation stability coefficient set and the historical set motor transition stability system set;
s240, generating the motor control coefficient database based on the rotating speed database, the operation stability coefficient database and the transition stability coefficient database;
and S250, inputting the operation information set into the rotating speed database, the operation stability coefficient database and the transition stability coefficient database to obtain the set rotating speed of the motor, the set motor operation stability coefficient and the set motor transition stability coefficient.
Specifically, in this embodiment, the planing motor is a dc brushless motor, and the planing motor converts dc electric energy into mechanical energy required by the operation of the planing tool. Meanwhile, it should be understood that different types of diseased tissues, the range of diseased tissue removal, and the age of the patient may have different requirements for the operation of the planing tool, i.e., different requirements for the operation data of the planing motor controlling the operation of the planing tool.
In this embodiment, the method for obtaining the operation control data of the planning motor based on the operation information set includes pre-constructing the motor control coefficient database, and specifically, calling and obtaining historical data of planning operations performed by the current medical operation planning device or the medical operation planning devices of the same model in historical events through the information acquisition module.
The historical data specifically comprises a historical age information set formed by a plurality of age information of patients who are subjected to the planning operation treatment, a historical planning tissue information set formed by a plurality of pathological change tissue types of the patients who are subjected to the planning operation treatment, and a historical planning range information set formed by a plurality of pathological change tissue excision ranges of the patients who are subjected to the planning operation treatment.
The historical data simultaneously comprises planing motor operation data of a plurality of patients who are treated by the historical planing operation in the process of performing the planing operation, and a historical motor set rotating speed set, a historical motor operation stability coefficient set and a historical motor transition stability coefficient set are obtained based on the historical data. The motor set rotating speed is the planing motor running rotating speed set by an operator according to the age, the planing tissue and the planing range of a patient and based on medical experience. And the set motor operation stability coefficient is the constraint requirement of the operation rotating speed stability of the planing motor set by the operating doctor based on medical experience according to the age, the planing tissue and the planing range of the patient. The motor transition stability coefficient is a constraint requirement for the planning motor to be lifted from the starting operation to the operation process according to the set rotating speed and the rotating speed transition stability from the set rotating speed to the operation stop process, which is set based on medical experience, according to the age, the planning tissue and the planning range of a patient by an operator.
Based on the historical planing organization information set, the historical planing range information set, the historical age information set, the historical motor set rotating speed set, the historical set motor operation stability coefficient set and the historical set motor transition stability system set, a rotating speed database, an operation stability coefficient database and a transition stability coefficient database are respectively constructed, and the rotating speed database, the operation stability coefficient database and the transition stability coefficient database are combined to generate the motor control coefficient database.
The operation information set comprises the planing tissue information, the planing range information and the age information, and the operation information set is input into the rotating speed database, the planing tissue information, the planing range information and the age information are traversed, compared and the historical set motor operation stability coefficient of the patient with the consistency is obtained and used as the set rotating speed of the motor when the current patient carries out the planing operation. And inputting the operation information set into an operation stability coefficient database and a transition stability coefficient database by adopting the same method to obtain the set rotating speed of the motor, the set motor operation stability coefficient and the set motor transition stability coefficient.
The embodiment obtains the motor setting rotating speed, the motor running stability coefficient and the motor transition stability coefficient required by the control of the planing motor according to the planing tissue information, the planing range information and the age information of the patient to be operated at present, realizes the technical effect of the adaptability of the running state of the patient and the medical operation planer, and indirectly realizes the technical effect of improving the operation safety and the reliability of the patient.
S300, controlling the planing motor to run under the control of the motor control module according to the set rotating speed of the motor, and acquiring the actual rotating speed of the planing motor in a plurality of time windows in a preset time period to obtain an actual rotating speed set;
specifically, in this embodiment, the set rotation speed of the motor is input into the motor control module to control the operation of the planing motor, and a plurality of time windows are set in a preset time period to acquire actual rotation speed data of the planing motor, so as to obtain the actual rotation speed set, where the actual rotation speed set includes actual rotation speed data of a plurality of planing motors, and each actual rotation speed pair has a data acquisition time identifier.
S400, calculating to obtain an actual motor operation stability coefficient according to the actual rotating speed set and the set rotating speed of the motor;
in one embodiment, an actual motor operation stability coefficient is calculated and obtained according to the actual rotation speed set and the set rotation speed of the motor, and step S400 of the method provided by the present application further includes:
s410, calculating to obtain a plurality of rotating speed deviation parameters according to a plurality of actual rotating speeds in the actual rotating speed set and by combining the set rotating speed of the motor;
and S420, calculating the variance of the plurality of rotating speed deviation parameters to obtain the actual motor operation stability coefficient.
Specifically, in this embodiment, the set rotation speed of the motor is used as a subtree, and the plurality of actual rotation speeds in the set of actual rotation speeds are used as subtrees to calculate differences one by one and perform absolute value processing, so as to obtain the plurality of rotation speed deviation parameters. And calculating the variance of the plurality of rotating speed deviation parameters, and taking the obtained variance as the actual motor operation stability coefficient, wherein the smaller the actual motor operation stability coefficient is, the smaller the fluctuation of the rotating speed variation of the planing motor is, the more stable the operation is, and the actual motor operation stability coefficient is obtained by setting and calculating in the embodiment, so that the technical effect of scientifically and accurately obtaining the operation condition of the planing motor is achieved.
S500, when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient, generating a plurality of motor adjustment control parameters;
specifically, in this embodiment, the actual motor operation stability coefficient is obtained, and it is determined whether the actual motor operation stability coefficient meets the set motor operation stability coefficient to determine whether the operation condition of the planning motor meets the requirement of the patient for planning the operation.
In order to improve the effectiveness of adjusting the motor adjustment parameters to adjust the rotation speed of the planing motor, in the following description, an optimization method is adopted to obtain the optimal motor adjustment control parameters from the multiple motor adjustment control parameters to control and adjust the rotation speed of the planing motor.
S600, optimizing the multiple motor adjustment control parameters according to the set motor transition stability parameters to obtain optimal motor adjustment control parameters, and controlling the planing motor through the motor control module.
In an embodiment, optimizing the multiple motor adjustment control parameters according to the set motor transition stability parameter to obtain an optimal motor adjustment control parameter, where the step S600 of the method provided by this application further includes:
s610, randomly selecting and obtaining a first motor adjustment control parameter from the plurality of motor adjustment control parameters, and using the first motor adjustment control parameter as a temporary optimal solution;
s620, inputting the first motor adjustment control parameter, the set motor rotating speed and the operation information set into a motor transition stability parameter analysis model to obtain a first motor transition stability parameter;
s630, judging whether the first motor transition stability parameter meets the set motor transition stability parameter, if so, evaluating based on the size of the first motor transition stability parameter to obtain a first optimizing score, and if not, giving up the first motor to adjust the control parameter;
s640, randomly selecting a second motor adjustment control parameter from the plurality of motor adjustment control parameters again to obtain a second motor transition stability parameter, and obtaining a second optimization score when the first motor transition stability parameter meets the set motor transition stability parameter;
s650, judging whether the second optimizing score is larger than the first optimizing score, if so, taking the second motor adjusting control parameter as a temporary optimal solution, and if not, taking the second motor adjusting control parameter as the temporary optimal solution according to the probability, wherein the probability is reduced along with the increase of the iterative optimizing times;
and S660, continuously carrying out iterative optimization until the number of iterations is preset, and outputting a final temporary optimal solution to obtain the optimal motor adjustment control parameters.
In one embodiment, the first motor adjustment control parameter, the set motor rotation speed, and the surgical information set are input into a motor transition stability parameter analysis model to obtain a first motor transition stability parameter, and the method provided by the present application further includes step S620:
s621, acquiring a plurality of historical operation information sets, historical motor adjustment control parameter sets, historical set rotating speed sets and historical motor transition stability parameter sets based on historical data of the planing operation in historical time;
s622, constructing a motor transition stability parameter analysis model by using the plurality of historical operation information sets, the historical motor adjustment control parameter set, the historical set rotating speed set and the historical motor transition stability parameter set as construction data;
and S623, inputting the first motor adjustment control parameter, the set rotating speed and the operation information set into the motor transition stability parameter analysis model to obtain the first motor transition stability parameter.
In an embodiment, the motor transition stability parameter analysis model is constructed by using the plurality of historical operation information sets, the historical motor adjustment control parameter set, the historical set rotating speed set and the historical motor transition stability parameter set as construction data, and the method step S622 provided by the present application further includes:
s622-1, carrying out data annotation and division on the plurality of historical operation information sets, the historical motor adjustment control parameter set, the historical set rotating speed set and the historical motor transition stability parameter set to obtain a training set, a verification set and a test set;
s622-2, constructing a motor transition stability parameter analysis model based on the BP neural network;
s622-3, adopting the training set to perform supervision training on the motor transition stability parameter analysis model until the motor transition stability parameter analysis model converges or the accuracy rate meets the requirement of preset accuracy rate;
and S622-4, adopting the verification set and the test set to verify and test the motor transition stability parameter analysis model, and if the accuracy rate meets the preset accuracy rate requirement, obtaining the motor transition stability parameter analysis model.
Specifically, in this embodiment, the motor transition stability parameter reflects a stability degree of a transition of the planing motor from a start operation to a motor speed increase during an operation at a set rotation speed, and a rotation speed transition stability degree of the planing motor from the set rotation speed to a stop operation.
And pre-constructing the motor transition stability parameter analysis model for obtaining the motor transition stability parameters. The method comprises the steps of acquiring model construction data of the motor transition stability parameter analysis model, acquiring a plurality of historical operation information sets, historical motor adjustment control parameter sets, historical set rotating speed sets and historical motor transition stability parameter sets of a plurality of historical patients based on historical data of planing operation in historical time, extracting data of the plurality of historical patients based on the plurality of historical patients, and generating a plurality of groups of historical operation information, historical motor adjustment control parameters, historical set rotating speeds and historical motor transition stability parameters.
It should be understood that a plurality of historical operation information in the historical operation information set and the operation information set are the same type of data, a plurality of historical motor adjustment control parameters in the historical motor adjustment control parameter set and the motor adjustment control parameters are the same type of data, a plurality of historical set rotating speeds in the historical set rotating speed set and the motor set rotating speed are the same type of data, and a plurality of historical motor transition stability parameters in the historical motor transition stability parameter set and the motor transition stability parameters are the same type of data.
And carrying out data labeling and division on the multiple historical operation information sets, the historical motor adjustment control parameter set, the historical set rotating speed set and the historical motor transition stability parameter set by a data quantity division method of preferably collecting 8.
And constructing the motor transition stability parameter analysis model based on the BP neural network, wherein input data of the motor transition stability parameter analysis model are motor adjustment control parameters, set rotating speed and operation information sets, and an output result is a motor transition stability parameter.
And adopting the training set to supervise and train the motor transition stability parameter analysis model until the convergence of the motor transition stability parameter analysis model or the accuracy reaches a preset accuracy requirement, for example, the accuracy of the output result of the motor transition stability parameter analysis model is higher than 95%, and the motor transition stability parameter analysis model can be considered to be successfully trained.
And verifying and testing the motor transition stability parameter analysis model by adopting the verification set and the test set, and if the accuracy rate meets the preset accuracy rate requirement, obtaining the motor transition stability parameter analysis model.
And randomly selecting and obtaining a first motor adjustment control parameter from the plurality of motor adjustment control parameters, and using the first motor adjustment control parameter as a temporary optimal solution. And inputting the first motor adjustment control parameter, the set motor rotating speed and the operation information set into a motor transition stability parameter analysis model to obtain a first motor transition stability parameter.
And judging whether the first motor transition stability parameter meets the set motor transition stability parameter, if so, calculating to obtain a parameter difference value between the first motor transition stability parameter and the set motor transition stability parameter, evaluating data deviation degree based on the parameter difference value to obtain a first optimization score, and if not, giving up the first motor adjustment control parameter.
And when the first motor transition stability parameter meets the set motor transition stability parameter, randomly selecting a second motor adjustment control parameter from the multiple motor adjustment control parameters again, if so, obtaining the second motor transition stability parameter by adopting a first optimization score and a first motor adjustment control parameter obtaining method, and evaluating to obtain a second optimization score when the second motor transition stability parameter meets the set motor transition stability parameter.
In order to avoid the situation that the iterative optimization of the optimal motor adjustment control parameter falls into the local optimization, the embodiment presets the probability that the iterative motor adjustment control parameter is the optimal solution, and the probability is steadily reduced along with the increase of the iterative optimization times, for example, when the second optimization score of the second motor adjustment control parameter is smaller than the first optimization score, 95% of the probability is the optimal motor adjustment control parameter, and when the third optimization score of the third motor adjustment control parameter is smaller than the current optimization score of the temporary optimal solution, 90% of the probability is the optimal motor adjustment control parameter.
And judging whether the second optimization score is larger than the first optimization score, if so, taking the second motor adjustment control parameter as a temporary optimal solution, if not, taking the second motor adjustment control parameter as the temporary optimal solution according to the probability, and adding the first motor adjustment control parameter and the second motor adjustment control parameter into an optimal motor adjustment control parameter set.
And continuing to perform iterative optimization until the number of iterations is preset (for example, 10 iterations), taking the motor adjustment control parameter corresponding to the final temporary optimal solution as the optimal motor adjustment control parameter, and controlling the planing motor by using the optimal motor adjustment control parameter to adjust the rotating speed so as to ensure the stable rotating speed.
This embodiment adopts motor adjustment control parameter to carry out the motor transition stability parameter under the planing motor control through constructing motor transition stability parameter analysis model and acquires, and adopt the mode of seeking optimality to obtain optimum motor adjustment control parameter, the effective regulation control planing motor rotational speed has been realized, so that planing motor rotational speed approaches to the motor and sets for the rotational speed, planing motor's operating stability approaches to setting for motor transition stability parameter, improve planing motor operation deviation regulation validity and timeliness, improve planing motor running state and patient treatment demand adaptation degree, ensure planing motor according to the technological effect of the steady operation of running speed requirement simultaneously.
In one embodiment, as shown in fig. 3, there is provided a surgical device motor controlled intelligent monitoring system, comprising: the system comprises a surgery information acquisition module 1, a motor coefficient setting module 2, a motor operation control module 3, a live operation acquisition module 4, an adjustment parameter generation module 5 and a motor control execution module 6, wherein:
the operation information acquisition module 1 is used for acquiring various types of information of the planing operation to be performed through the information acquisition module to obtain an operation information set;
the motor coefficient setting module 2 is used for inputting the operation information set into a motor control coefficient database in a motor control module to obtain a set rotating speed of a motor, a set motor operation stability coefficient and a set motor transition stability coefficient;
the motor operation control module 3 is used for controlling the planing motor to operate through the motor control module according to the set rotating speed of the motor, collecting the actual rotating speed of the planing motor in a plurality of time windows in a preset time period, and obtaining an actual rotating speed set;
the operation condition acquisition module 4 is used for calculating and obtaining an actual motor operation stability coefficient according to the actual rotating speed set and the set rotating speed of the motor;
the adjustment parameter generating module 5 is configured to generate a plurality of motor adjustment control parameters when the actual motor operation stability coefficient does not satisfy the set motor operation stability coefficient;
and the motor control execution module 6 is used for optimizing the plurality of motor adjustment control parameters according to the set motor transition stability parameter to obtain an optimal motor adjustment control parameter, and controlling the planing motor through the motor control module.
In one embodiment, the system further comprises:
the planning tissue acquisition unit is used for acquiring tissues to be subjected to planning operation through the information acquisition module to obtain planning tissue information;
the planing range determining unit is used for acquiring the range of the tissue to be planed to obtain planing range information;
the patient age acquisition unit is used for acquiring the age of a patient to be subjected to a planing operation and acquiring age information;
an information set generating unit configured to generate the surgery information set based on the shaved tissue information, the shaved range information, and the age information.
In one embodiment, the system further comprises:
the historical information extraction unit is used for acquiring a historical planing tissue information set, a historical planing range information set and a historical age information set based on historical data of the planing operation performed within historical time;
the historical data acquisition unit is used for acquiring a historical motor set rotating speed set, a historical set motor operation stability coefficient set and a historical set motor transition stability coefficient set based on historical data of the planing operation in historical time;
the database construction unit is used for respectively constructing a rotating speed database, an operation stability coefficient database and a transition stability coefficient database on the basis of the historical planing organization information set, the historical planing range information set, the historical age information set, the historical motor set rotating speed set, the historical set motor operation stability coefficient set and the historical set motor transition stability system set;
a database generating unit for generating the motor control coefficient database based on the rotational speed database, the operation stability coefficient database and the transition stability coefficient database;
and the motor coefficient obtaining unit is used for inputting the operation information set into the rotating speed database, the operation stability coefficient database and the transition stability coefficient database to obtain the set rotating speed of the motor, the set motor operation stability coefficient and the set motor transition stability coefficient.
In one embodiment, the system further comprises:
the deviation parameter calculation unit is used for calculating and obtaining a plurality of rotating speed deviation parameters according to a plurality of actual rotating speeds in the actual rotating speed set and by combining the set rotating speed of the motor;
and the stable parameter calculating unit is used for calculating the variance of the plurality of rotating speed deviation parameters to obtain the actual motor operation stability coefficient.
In one embodiment, the system further comprises:
the control parameter selection unit is used for randomly selecting a first motor adjustment control parameter from the plurality of motor adjustment control parameters and using the first motor adjustment control parameter as a temporary optimal solution;
the data model analysis unit is used for inputting the first motor adjustment control parameter, the set motor rotating speed and the operation information set into a motor transition stability parameter analysis model to obtain a first motor transition stability parameter;
the stability parameter judging unit is used for judging whether the first motor transition stability parameter meets the set motor transition stability parameter, if so, the stability parameter judging unit evaluates based on the size of the first motor transition stability parameter to obtain a first optimization score, and if not, the stability parameter judging unit gives up the first motor adjustment control parameter;
the optimizing score obtaining unit is used for randomly selecting and obtaining a second motor adjusting control parameter from the plurality of motor adjusting control parameters again, obtaining a second motor transition stability parameter, and obtaining a second optimizing score when the first motor transition stability parameter meets the set motor transition stability parameter;
the iteration optimizing execution unit is used for judging whether the second optimizing score is larger than the first optimizing score or not, if so, taking the second motor adjusting control parameter as a temporary optimal solution, and if not, taking the second motor adjusting control parameter as the temporary optimal solution according to a probability, wherein the probability is reduced along with the increase of the iteration optimizing times;
and the iteration optimizing control unit is used for continuously carrying out iteration optimizing until the number of times of iteration is preset, outputting a final temporary optimal solution and obtaining the optimal motor adjustment control parameter.
In one embodiment, the system further comprises:
the historical data acquisition unit is used for acquiring a plurality of historical operation information sets, historical motor adjustment control parameter sets, historical set rotating speed sets and historical motor transition stability parameter sets based on historical data of the planing operation performed within historical time;
the analysis model construction unit is used for constructing the motor transition stability parameter analysis model by adopting the plurality of historical operation information sets, the historical motor adjustment control parameter set, the historical set rotating speed set and the historical motor transition stability parameter set as construction data;
and the model output obtaining unit is used for inputting the first motor adjustment control parameter, the set rotating speed and the operation information set into the motor transition stability parameter analysis model to obtain the first motor transition stability parameter.
In one embodiment, the system further comprises:
the training data setting unit is used for carrying out data labeling and division on the plurality of historical operation information sets, the historical motor adjustment control parameter set, the historical set rotating speed set and the historical motor transition stability parameter set to obtain a training set, a verification set and a test set;
the analysis model construction unit is used for constructing the motor transition stability parameter analysis model based on the BP neural network;
the analysis model training unit is used for adopting the training set to perform supervision training on the motor transition stability parameter analysis model until the motor transition stability parameter analysis model converges or the accuracy reaches the preset accuracy requirement;
and the analysis model test unit is used for verifying and testing the motor transition stability parameter analysis model by adopting the verification set and the test set, and obtaining the motor transition stability parameter analysis model if the accuracy rate meets the preset accuracy rate requirement.
For a specific embodiment of the intelligent monitoring system for controlling the motor of the surgical device, reference may be made to the above embodiments of the intelligent monitoring method for controlling the motor of the surgical device, and details are not repeated herein. All or part of the modules in the intelligent monitoring device for motor control of the surgical equipment can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The database of the computer device is used for storing news data, time attenuation factors and other data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement an intelligent monitoring method for motor control of a surgical device.
It will be appreciated by those skilled in the art that the configuration shown in fig. 4 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring various types of information of a planing operation to be performed through the information acquisition module to obtain an operation information set; inputting the operation information set into a motor control coefficient database in the motor control module to obtain a set motor rotating speed, a set motor operation stability coefficient and a set motor transition stability coefficient; controlling the planing motor to run under the control of the motor control module according to the set rotating speed of the motor, and acquiring the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set; calculating to obtain an actual motor operation stability coefficient according to the actual rotating speed set and the motor set rotating speed; when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient, generating a plurality of motor adjustment control parameters; and optimizing the plurality of motor adjustment control parameters according to the set motor transition stability parameter to obtain an optimal motor adjustment control parameter, and controlling the planing motor through the motor control module.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. An intelligent monitoring method for motor control of surgical equipment, which is applied to an intelligent monitoring system for motor control of surgical equipment, wherein the system comprises an information acquisition module, a motor control module and a planing motor, the planing motor operates under the control of the motor control module, and the method comprises the following steps:
acquiring various types of information of a planing operation to be performed through the information acquisition module to obtain an operation information set;
inputting the operation information set into a motor control coefficient database in the motor control module to obtain a set motor rotating speed, a set motor operation stability coefficient and a set motor transition stability coefficient;
controlling the planing motor to run under the control of the motor control module according to the set rotating speed of the motor, and acquiring the actual rotating speed of the planing motor in a plurality of time windows within a preset time period to obtain an actual rotating speed set;
calculating to obtain an actual motor operation stability coefficient according to the actual rotating speed set and the set rotating speed of the motor;
when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient, generating a plurality of motor adjustment control parameters;
and optimizing the plurality of motor adjustment control parameters according to the set motor transition stability parameter to obtain an optimal motor adjustment control parameter, and controlling the planing motor through the motor control module.
2. The method according to claim 1, wherein obtaining, by the information collecting module, a plurality of types of information to be used for performing a planning operation, and obtaining a set of operation information comprises:
collecting tissues to be subjected to a planing operation through the information collection module to obtain information of the planed tissues;
collecting the range of tissues to be subjected to a planing operation to obtain planing range information;
acquiring the age of a patient to be subjected to a planing operation, and acquiring age information;
generating the set of surgical information based on the shaved tissue information, shaved range information, and age information.
3. The method of claim 2, wherein inputting the set of surgical information into a motor control coefficient database within the motor control module to obtain a motor set rotational speed, a set motor operational stability coefficient, and a set motor transition stability coefficient comprises:
acquiring a historical shaved tissue information set, a historical shaved range information set and a historical age information set based on historical data of the shaving operation in historical time;
based on historical data of a planing operation in historical time, acquiring a historical motor set rotating speed set, a historical set motor operation stability coefficient set and a historical set motor transition stability coefficient set;
respectively constructing a rotating speed database, an operating stability coefficient database and a transition stability coefficient database on the basis of the historical planing organization information set, the historical planing range information set, the historical age information set, the historical motor set rotating speed set, the historical set motor operating stability coefficient set and the historical set motor transition stability system set;
generating the motor control coefficient database based on the rotating speed database, the operation stability coefficient database and the transition stability coefficient database;
and inputting the operation information set into the rotating speed database, the operation stability coefficient database and the transition stability coefficient database to obtain the set rotating speed of the motor, the set motor operation stability coefficient and the set motor transition stability coefficient.
4. The method of claim 1, wherein calculating an actual motor operating stability factor from the set of actual rotational speeds and the set rotational speed of the motor comprises:
calculating to obtain a plurality of rotating speed deviation parameters according to a plurality of actual rotating speeds in the actual rotating speed set and by combining the set rotating speed of the motor;
and calculating the variance of the plurality of rotating speed deviation parameters to obtain the actual motor operation stability coefficient.
5. The method of claim 1, wherein optimizing the plurality of motor regulation control parameters according to the set motor transient stability parameter to obtain an optimal motor regulation control parameter comprises:
randomly selecting a first motor adjustment control parameter from the plurality of motor adjustment control parameters to be used as a temporary optimal solution;
inputting the first motor adjustment control parameter, the set motor rotating speed and the operation information set into a motor transition stability parameter analysis model to obtain a first motor transition stability parameter;
judging whether the first motor transition stability parameter meets the set motor transition stability parameter, if so, evaluating based on the first motor transition stability parameter to obtain a first optimization score, and if not, giving up the first motor adjustment control parameter;
randomly selecting and obtaining a second motor adjustment control parameter from the plurality of motor adjustment control parameters again, obtaining a second motor transition stability parameter, and obtaining a second optimization score when the first motor transition stability parameter meets the set motor transition stability parameter;
judging whether the second optimizing score is larger than the first optimizing score, if so, taking the second motor adjusting control parameter as a temporary optimal solution, and if not, taking the second motor adjusting control parameter as the temporary optimal solution according to a probability, wherein the probability is reduced along with the increase of the iterative optimizing times;
and continuously carrying out iteration optimization until the number of times of iteration is preset, and outputting a final temporary optimal solution to obtain the optimal motor adjustment control parameter.
6. The method of claim 5, wherein inputting the first motor adjustment control parameter, the set motor speed, and the set surgical information into a motor transient stability parameter analysis model to obtain a first motor transient stability parameter comprises:
based on historical data of a planing operation performed within historical time, acquiring a plurality of historical operation information sets, historical motor adjustment control parameter sets, historical set rotating speed sets and historical motor transition stability parameter sets;
establishing a motor transition stability parameter analysis model by using the plurality of historical operation information sets, the historical motor adjustment control parameter set, the historical set rotating speed set and the historical motor transition stability parameter set as construction data;
and inputting the first motor adjustment control parameter, the set rotating speed and the operation information set into the motor transition stability parameter analysis model to obtain the first motor transition stability parameter.
7. The method of claim 6, wherein constructing the motor transient stability parameter analysis model using the plurality of sets of historical procedure information, historical motor adjustment control parameters, historical set of rotational speeds, and historical motor transient stability parameters as construction data comprises:
carrying out data annotation and division on the plurality of historical operation information sets, the historical motor adjustment control parameter set, the historical set rotating speed set and the historical motor transition stability parameter set to obtain a training set, a verification set and a test set;
constructing a motor transition stability parameter analysis model based on a BP neural network;
adopting the training set to perform supervision training on the motor transition stability parameter analysis model until the convergence of the motor transition stability parameter analysis model or the accuracy reaches a preset accuracy requirement;
and verifying and testing the motor transition stability parameter analysis model by adopting the verification set and the test set, and if the accuracy rate meets the preset accuracy rate requirement, obtaining the motor transition stability parameter analysis model.
8. An intelligent surgical device motor control monitoring system, the system comprising:
the operation information acquisition module is used for acquiring various types of information of the planing operation to be performed through the information acquisition module to obtain an operation information set;
the motor coefficient setting module is used for inputting the operation information set into a motor control coefficient database in a motor control module to obtain a set rotating speed of a motor, a set motor operation stability coefficient and a set motor transition stability coefficient;
the motor operation control module is used for controlling the planing motor to operate through the motor control module according to the set rotating speed of the motor, and acquiring the actual rotating speed of the planing motor in a plurality of time windows in a preset time period to obtain an actual rotating speed set;
the operation condition acquisition module is used for calculating and obtaining an actual motor operation stability coefficient according to the actual rotating speed set and the set rotating speed of the motor;
the adjustment parameter generating module is used for generating a plurality of motor adjustment control parameters when the actual motor operation stability coefficient does not meet the set motor operation stability coefficient;
and the motor control execution module is used for optimizing the plurality of motor adjustment control parameters according to the set motor transition stability parameters to obtain optimal motor adjustment control parameters, and the planing motor is controlled through the motor control module.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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