WO2021007766A1 - 气腹机及其充气控制方法 - Google Patents

气腹机及其充气控制方法 Download PDF

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Publication number
WO2021007766A1
WO2021007766A1 PCT/CN2019/096117 CN2019096117W WO2021007766A1 WO 2021007766 A1 WO2021007766 A1 WO 2021007766A1 CN 2019096117 W CN2019096117 W CN 2019096117W WO 2021007766 A1 WO2021007766 A1 WO 2021007766A1
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Prior art keywords
inflation
pulse
combined
new
inflation pulse
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PCT/CN2019/096117
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English (en)
French (fr)
Inventor
方德魁
樊睿
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深圳迈瑞生物医疗电子股份有限公司
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Application filed by 深圳迈瑞生物医疗电子股份有限公司 filed Critical 深圳迈瑞生物医疗电子股份有限公司
Priority to CN201980097740.2A priority Critical patent/CN114007683A/zh
Priority to PCT/CN2019/096117 priority patent/WO2021007766A1/zh
Publication of WO2021007766A1 publication Critical patent/WO2021007766A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M37/00—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin

Definitions

  • the application relates to an insufflator, in particular to an insufflator capable of realizing intelligent inflation and an inflation control method thereof.
  • Laparoscopic surgery is a rapidly developing method of minimally invasive surgery. It has the advantages of small incision and quick recovery, especially after the scar is small, which meets the needs of the public and is easier to accept.
  • Laparoscopic surgery is to make small incisions with a diameter of 5-12mm in different parts of the abdomen. Through these small incisions, a laparoscope and various special surgical instruments are inserted. The laparoscope is connected to a camera, and the image inside the abdominal cavity is transmitted to the screen through surgical instruments. Complete the operation. The operation of surgical instruments in the abdominal cavity objectively requires a certain space in the abdominal cavity, and the insufflation machine came into being.
  • the pneumoperitoneum is the basis of laparoscopic surgery.
  • the establishment of the pneumoperitoneum can increase the pressure in the abdominal cavity and move the diaphragm upward, providing a good view and sufficient operating space for the operation to ensure the smooth progress of the operation.
  • the air pressure inside the abdominal cavity determines the degree of abdominal cavity expansion. Too little pressure will make the operation space too small and insufficient visual field; too much pressure will cause damage to the internal organs of the abdominal cavity and cause harm to the patient. Therefore, during laparoscopic surgery, it is particularly important to establish a suitable pressure pneumoperitoneum and maintain the stability of the pressure of the pneumoperitoneum machine.
  • the insufflator is connected to the trocar at the patient end through a long (for example, 3m) pneumoperitoneum tube.
  • a long pneumoperitoneum tube When air flows through the pneumoperitoneum tube and related connectors, the pneumoperitoneum tube and related parts The connecting pieces all produce air resistance.
  • the pressure measured by the internal sensor of the insufflator is not the true pressure inside the abdominal cavity, which makes it very difficult to accurately control the abdominal pressure.
  • the pneumoperitoneum needle is used to establish the pneumoperitoneum at first, after the pneumoperitoneum is established, connect the trocar, and then inflate through the trocar .
  • Bernoulli Bernoulli
  • the insufflator is required to adjust the flow rate according to the load change in real time.
  • Most of the insufflation machines on the market currently set the flow rate manually when the load changes. For example, when the pneumoperitoneum is required to establish a pneumoperitoneum, set a smaller flow rate (usually 3-5L/min), and adjust when changing the trocar. Large setting flow makes operation extremely inconvenient.
  • the air leakage scenario is also complicated.
  • the trocar has a weak air leakage; when the trocar is used for electric resection and coagulation, the air leakage or pneumoperitoneum is used.
  • the machine has the function of exhausting smoke; when flushing, the suction device will be used to attract the exhaust.
  • the amount of air leakage varies greatly in different scenarios.
  • the existing insufflators on the market cannot match the air leakage well in real time, which will cause large pressure fluctuations in the abdominal cavity. As shown in Figure 1, the pressure fluctuations in the leakage section are relatively large.
  • the pressure fluctuation is large, on the one hand, it is easy to damage the internal organs of the patient and affect the physiological characteristics of the patient; on the other hand, the pressure fluctuation brings about the change of the abdominal cavity volume, which affects the field of vision of the operator, and brings difficulties to the operation of the operator . Therefore, an insufflator that can adapt to different air leakage conditions and maintain stable abdominal pressure in real time is very important.
  • the embodiment of the present application discloses an insufflator capable of realizing intelligent inflation and an inflation control method thereof to solve the above-mentioned problems.
  • the embodiment of the application discloses an insufflator, including a host, a pneumoperitoneum tube, a flow valve, a pressure sensor, and a processor.
  • the host is provided with an air supply outlet, and one end of the pneumoperitoneum is connected to the host On the air supply outlet, the other end is used to connect with the load;
  • the flow valve is set on the host and connected between the pneumoperitoneum tube and an air source;
  • the pressure sensor is set on the host's supply
  • the air outlet is used to sense the pressure at the air supply outlet;
  • the processor is connected to the flow valve and the pressure sensor; when the load is connected to the air supply outlet, the processor obtains The pressure value at the gas supply outlet measured by the pressure sensor, and the gas flow rate of the flow valve is controlled and adjusted according to the pressure value, so that the gas delivered to the patient's abdominal cavity via the gas supply outlet and the insufflation tube
  • the flow rate is matched with the load to maintain the pressure of the patient's abdominal cavity
  • the embodiment of the present application discloses an insufflation machine, including a host, a pneumoperitoneum tube, a flow valve, and a processor.
  • the host is provided with an air supply outlet, and one end of the pneumoperitoneum tube is connected to the air supply outlet of the host The other end is used to connect to the load;
  • the flow valve is set on the host and connected between the pneumoperitoneum tube and a gas source;
  • the processor obtains the detected abdominal pressure of the patient, and When it is determined that the abdominal pressure at the current sampling point is lower than the abdominal pressure at the previous sampling point by more than the preset value of the abdominal pressure, the flow valve is controlled to inflate through the combined inflation pulse to supplement the loss of abdominal pressure caused by the air leak, and
  • the parameters of the combined inflation pulse are adjusted according to the real-time abdominal pressure, and finally the inflation amount of the adjusted combined inflation pulse is matched with the current leakage amount to maintain the abdominal pressure within a predetermined range.
  • the embodiment of the application also discloses an inflation control method, which is applied to an insufflator.
  • the insufflator includes a host, a pneumoperitoneum tube, a flow valve, and a pressure sensor.
  • the host is provided with an air supply outlet.
  • One end of the tube is connected to the air supply outlet of the host, and the other end is used to connect to the load;
  • the flow valve is set on the host and connected between the pneumoperitoneum tube and a gas source;
  • the pressure sensor is arranged at the air supply outlet of the host, and the inflation control method includes the steps of: the pressure sensor senses the pressure at the air supply outlet; when the load is connected to the air supply outlet, acquiring the The pressure value at the gas supply outlet measured by the pressure sensor; and the gas flow rate of the flow valve is controlled and adjusted according to the pressure value, so that the gas flow rate delivered to the patient's abdominal cavity via the gas supply outlet and the insufflation tube It is matched with the load to maintain the pressure of the patient's abdominal cavity within a preset range, wherein the preset range enables the corresponding part of the abdominal cavity to have a visual field and operating range available for surgery.
  • the embodiment of the application also discloses an inflation control method, which is applied to an insufflator.
  • the insufflator includes a host, a pneumoperitoneum tube and a flow valve.
  • the host is provided with an air supply outlet, and one end of the pneumoperitoneum tube Connected to the air supply outlet of the host, and the other end is used to connect to the load;
  • the flow valve is arranged on the host and connected between the insufflator tube and a gas source;
  • the inflation control method The steps include: obtaining the abdominal pressure of the detected patient; comparing the detected abdominal pressure at the current sampling point with the abdominal pressure at the previous sampling point; comparing the abdominal pressure at the current sampling point with the abdominal pressure at the previous sampling point When the pressure drop is greater than the preset value of the abdominal pressure, the flow valve is controlled to inflate through the combined inflation pulse to supplement the loss of abdominal pressure caused by the leak; and the parameters of the combined inflation pulse are adjusted according to the real-time abdominal pressure to finally make The adjusted combined inflation
  • the insufflation machine and its inflation control method disclosed in the embodiments of the present application can control and adjust the gas flow of the flow valve according to the pressure value, so that the gas is delivered to the patient's abdominal cavity through the air supply outlet and the insufflation tube
  • the gas flow is matched with the load to maintain the pressure of the patient's abdominal cavity within a preset range, where the preset range allows the corresponding part of the abdominal cavity to have a visual field and operating range available for surgery, and the inflation is more intelligent without manual operation by the operator , Convenient and simple;
  • the flow valve is controlled to inflate through the combined inflation pulse to supplement
  • the loss of abdominal pressure caused by air leakage, and the parameters of the combined inflation pulse are adjusted according to the real-time abdominal pressure, so that the inflation volume of the adjusted combined inflation pulse matches the current air leakage volume so that the abdominal pressure is maintained at a predetermined Within the scope, avoid
  • Fig. 1 is a waveform diagram of the working process of an insufflator in the prior art.
  • Fig. 2 is a schematic diagram of modules of an insufflator in an embodiment of the application.
  • Fig. 3 is a schematic diagram of the waveform of the insufflator in an embodiment of the application when the load is changed.
  • FIG. 4 is a schematic diagram of the waveform of the insufflator in an embodiment of the application during air leakage compensation.
  • FIG. 5 is a schematic diagram of the waveform of the insufflator after air leakage compensation in an embodiment of the application.
  • Fig. 6 is a schematic flowchart of an inflation control method when the insufflator is used for load matching in an embodiment of the application.
  • FIG. 7 is a schematic flowchart of an inflation control method when the insufflator is used for air leakage compensation in an embodiment of the application.
  • FIG. 2 is a schematic diagram of modules of an insufflator 100 in an embodiment of the application.
  • the pneumoperitoneum machine 100 is used to establish a pneumoperitoneum during laparoscopic surgery to increase the pressure of the abdominal cavity and move the diaphragm upward, provide a good field of vision and sufficient operating space for the operation, and ensure that the operation can be performed smoothly.
  • the insufflator 100 includes a host 10, a pneumoperitoneum tube 20 and a flow valve 30.
  • the host 10 is provided with an air supply outlet 11.
  • One end of the pneumoperitoneum tube 20 is connected to the air supply outlet 11 of the host 10, and the other end is connected to the load 400.
  • the flow valve 30 is arranged on the host 10 and connected between the pneumoperitoneum tube 20 and a gas source 200. Further, the insufflator 100 further includes a pressure sensor 40 and a processor 50. The pressure sensor 40 is arranged at the air supply outlet 11 of the host 10 for sensing the pressure of the air flow at the air supply outlet 11. The processor 50 is electrically connected to the flow valve 30 and the pressure sensor 40 respectively.
  • the processor 50 obtains the pressure value at the air supply outlet 11 measured by the pressure sensor 40, and controls and adjusts the flow rate according to the pressure value
  • the gas flow rate of the valve 30 makes the gas flow rate delivered into the abdominal cavity of the patient through the gas supply outlet 11 and the pneumoperitoneum tube 20 match the load 400 to maintain the pressure of the patient's abdominal cavity within a preset range, wherein, The preset range makes the corresponding part of the abdominal cavity have a visual field and operating range available for surgery.
  • the load 400 is a medical device used for performing surgical operations, for example, a pneumoperitoneum, a trocar, a trocar, and the like.
  • the pressure sensor 40 is arranged at the air supply outlet 11 of the host 10 instead of inside the pneumoperitoneum 20.
  • the present application can control and adjust the gas flow of the flow valve 30 according to the pressure value at the gas supply outlet 11 sensed by the pressure sensor 40, so that the gas is delivered via the gas supply outlet 11 and the insufflator tube 20.
  • the gas flow into the abdominal cavity of the patient is matched with the load 400 to maintain the pressure of the abdominal cavity of the patient within a preset range, wherein the preset range enables the corresponding part of the abdominal cavity to have a visual field and operating range available for surgery, making inflation more intelligent It is convenient and simple without manual operation by the operator.
  • the overall appearance of the host 10 is box-shaped.
  • the opening of the air supply outlet 11 may be arranged on any surface of the outer surface of the host 10, preferably, may be arranged on the rear side, the left side or the right side of the host 10.
  • the pneumoperitoneum tube 20 is a flexible tube, one end of which is connected to the air supply outlet 11, and the other end is connected to a surgical instrument serving as a load 400, for example, a trocar.
  • the airflow through the pneumoperitoneum tube 20 passes through the incision made on the patient's body and then enters the patient's abdominal cavity to form a pneumoperitoneum, which provides a good field of vision and sufficient operating space for the operation to ensure that the operation can proceed smoothly.
  • the flow valve 30 may be any type of valve body for controlling the gas flow.
  • the pressure sensor 40 may be any type of sensor used for airflow pressure measurement.
  • the processor 50 is arranged on the host 10.
  • the processor 50 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor, or the general-purpose processor may also be any conventional processor, etc.
  • the processor 50 is the control center of the insufflator 100 and connects the entire insufflator with various interfaces and lines. The various parts of the insufflator 100.
  • the processor 50 adjusts the gas flow of the flow valve 30 to match the load 400. Specifically, in one of the embodiments, the processor 50 compares the pressure value of the current sampling point sensed by the pressure sensor 40 with the pressure value of the previous sampling point, and determines the pressure value of the current sampling point. Is greater than the pressure value of the previous sampling point, and the difference between the pressure value of the current sampling point and the pressure value of the previous sampling point is greater than the first threshold, it is determined that the pressure value is far from the insufficiency tube 20
  • the load 400 connected to one end of the host 10 is replaced with a load 400 with a higher pressure, and the gas flow of the flow valve 30 is automatically adjusted to match the load 400 with a higher pressure.
  • the load 400 with greater pressure refers to the load 400 connected to the end of the insufficiency tube 20 far from the host 10 relative to the previous sampling point, and the load with greater pressure, wherein the pressure of the load 400 is due to The diameter and structure of the air flow channel corresponding to each load 400 are different.
  • the load 400 with a higher pressure is connected to the end of the insufflator tube 20 away from the host 10, the air flow of the load 400 The smaller the channel creates more resistance, which makes the air flow through the more pressure.
  • the sampling point refers to the time point at which the processor 50 samples the pressure value sensed by the pressure sensor 40.
  • the present application can automatically and quickly adjust the gas flow of the flow valve 30 to match the load 400 with a higher pressure, so as to avoid excessive pressure caused by the airflow. Damage to the internal organs of the abdominal cavity.
  • the processor 50 determines that the load 400 connected to the end of the pneumoperitoneum tube 20 away from the host 10 is replaced with a load 400 with a higher pressure, and also controls the flow rate.
  • the valve 30 temporarily closes the gas supply, and automatically reduces the gas flow of the flow valve 30 to match the load 400 when the gas supply starts again.
  • the present application first controls the flow valve 30 to temporarily close the air supply, and automatically reduces the gas flow of the flow valve 30 to match the load 400 when the air supply starts again, to avoid air flow
  • the resulting pressure is too large for a short time, causing damage to the internal organs of the abdominal cavity.
  • the processor 50 compares the pressure value of the current sampling point sensed by the pressure sensor 40 with the pressure value of the previous sampling point, and compares the pressure value sensed by the pressure sensor 40 When the pressure value of the current sampling point is less than the pressure value of the previous sampling point, and the difference between the pressure value of the previous sampling point and the pressure value of the current sampling point is greater than the second threshold, it is determined to be
  • the load 400 connected to the end of the tube 20 far from the host 10 is replaced with a load 400 with a lower pressure, and the gas flow of the flow valve 30 is controlled to match the load 400 with a lower pressure.
  • the load 400 with a lower pressure refers to a load 400 with a lower pressure compared to the load 400 connected to the end of the insufficiency tube 20 far from the host 10 at the previous sampling point, wherein the pressure of the load 400 Since the diameter and structure of the air flow channel corresponding to each load 400 are different, when the load 400 with a lower pressure is connected to the end of the insufflator tube 20 far from the host 10, the load 400 The larger the air flow channel produces less resistance, so that less pressure is generated when the air flow passes through.
  • the first threshold and the second threshold are gas pressure thresholds, which may be the same or different, and may be specifically set according to actual needs.
  • the gas flow of the flow valve 30 can be automatically and quickly adjusted to match the load 400 with a lower pressure, so as to prevent the airflow pressure from being too small and affecting the vision of the operator. .
  • the processor 50 determines that the load 400 connected to the end of the pneumoperitoneum tube 20 away from the host 10 is replaced with a load 400 with a lower pressure
  • the processor 50 controls to increase The gas flow of the flow valve 30 matches the load 400 with a lower pressure.
  • the gas flow of the flow valve 30 can be automatically and quickly adjusted to match the load 400 with a lower pressure, so as to prevent the airflow pressure from being too small and affecting the operator's Vision.
  • the process of changing the load from the insufficiency needle to the trocar is: first pull out the insufficiency needle. During this process, the pressure becomes smaller, and the processor 50 determines that the replacement pressure is higher. The load 400 is small, and the corresponding gas flow is adjusted, and then replaced with a trocar. In this process, the pressure becomes larger, and the processor 50 determines the load 400 with a higher pressure and performs corresponding gas flow adjustment.
  • the processor 50 adjusts the gas flow of the flow valve 30 to match the load 400, including: adjusting the flow valve 30 through a PID regulator or a PI regulator The gas flow rate makes it match the load 400.
  • the PID regulator includes a proportional unit, an integral unit, and a differential unit.
  • the processor 50 obtains the current gas flow rate in real time, and compares the current gas flow rate with the ideal flow rate through a proportional unit. A ratio is obtained by comparison, and a current value is obtained by calculating the ratio by the integral unit and the differentiation unit, and the current value is applied to the flow valve 30 to adjust the current gas flow. It reciprocates in this way until the gas flow adjusted to the flow valve 30 matches the load 400, so that the patient's abdominal pressure is maintained within a preset range, providing the required field of vision and operating range for the operation and avoiding damage to the patient's internal organs.
  • the PI regulator includes a proportional unit and an integral unit.
  • the processor 50 obtains the current gas flow rate in real time, and compares the current gas flow rate with the ideal flow rate through the proportional unit. A ratio is obtained by comparison, and a current value is obtained by calculating the ratio by an integral unit, and the current value is applied to the flow valve 30 to adjust the current gas flow. It reciprocates in this way until the gas flow adjusted to the flow valve 30 matches the load 400, so that the patient's abdominal pressure is maintained within a preset range, providing the required field of vision and operating range for the operation and avoiding damage to the patient's internal organs.
  • the load connected to the end of the insufficiency tube 20 away from the host 10 is load 0.
  • the gas flow rate is 50 L/min, and the pressure is maintained at approximately 35 mmHg.
  • load 1 was replaced. Due to the difference in the diameter and structure of the air flow channel corresponding to load 1, load 1 caused the pressure to peak at time T1, which was about 55mmHg.
  • the processor 50 controls the flow valve 30 to temporarily close the gas supply, and adjusts the gas flow to 30L/min through the PID regulator or PI regulator when the gas supply starts again. At this time, the pressure is maintained at About 65mmHg.
  • load 2 was replaced.
  • the processor 50 controls the flow valve 30 to temporarily close the gas supply, and automatically adjusts the gas flow to 30L/min through the PID regulator or the PI regulator when the gas supply starts again.
  • the pressure is maintained at approximately 65 mmHg. Therefore, through the adjustment of the PID regulator or the PI regulator, the pressure generated by the gas flow can be maintained in a constant range, so as to avoid pressure fluctuations from affecting the surgical process.
  • the processor 20 obtains the detected abdominal cavity pressure. It can be understood that the abdominal pressure of the patient can be measured by the abdominal pressure detector 300 when the operation is performed. It is understandable that the abdominal pressure detector 300 may be a dedicated abdominal pressure detection device independent of the insufflator 100, and in other embodiments, it may also be integrated on the insufflator 100 or other surgical equipment.
  • the processor 20 also compares the abdominal pressure at the current sampling point with the abdominal pressure at the previous sampling point, and the abdominal pressure at the current sampling point is less than the abdominal pressure at the previous sampling point, and the abdominal pressure at the previous sampling point is equal to The difference between the abdominal pressure at the current sampling point is greater than the preset value of abdominal pressure, that is, when the abdominal pressure at the current sampling point is lower than the abdominal pressure at the previous sampling point and is greater than the preset value of abdominal pressure, it indicates that this occurs Air leak.
  • the air leakage can include but is not limited to: during the normal inspection process, the trocar has a slight air leakage; when the trocar is used for electrocutting or electrocoagulation to produce smoke, the opening of the trocar for air leakage or use of air Abdominal machine exhausts with smoke exhaust function; when flushing, a suction device is used to suck exhaust; therefore, the processor 50 controls the flow valve 30 to inflate through a combined inflation pulse to supplement the loss of abdominal pressure caused by air leakage , And adjust the parameters of the combined inflation pulse according to the real-time abdominal pressure, and finally match the inflation volume of the adjusted combined inflation pulse with the current leakage volume, so that the abdominal pressure is maintained within a predetermined range.
  • the combined inflation pulse is a series of pulses whose inflation amplitude and inflation time gradually change.
  • the inflation amplitude and inflation time of the inflation pulse train included in the combined inflation pulse are gradually changing.
  • the combined inflation pulse may be, but not limited to, a pulse train that changes regularly.
  • the regularly changing pulse train includes a continuously increasing change pulse train.
  • the continuous incremental change pulse train includes at least a continuous incremental change adjustment of the inflation amplitude and/or the inflation time.
  • the continuous incremental change pulse train refers to the continuous incremental change of the inflation amplitude and the inflation time of the inflation pulse train, for example, the inflation pulse trains 1, 2, 3, 4 shown in FIG. 4.
  • the regularly changing pulse train also includes a regularly fluctuating pulse train.
  • the regularly fluctuating change pulse train means that the inflation time and the inflation time of the inflation pulse train do not continuously change incrementally, but show regular fluctuations.
  • the inflation pulse train shown in FIG. 4 is adjusted to 1, 3, 2, 4. That is, the inflation amplitude and the inflation time follow the fluctuation law of one high and one low respectively.
  • the regularly changing pulse train includes but not limited to the regular change adjustment of parameters such as inflation amplitude and inflation time.
  • the regularly changing pulse train includes at least three inflation pulses, and the inflation time and the inflation amplitude of the at least three inflation pulses change continuously or in regular fluctuations.
  • the combined inflation pulse includes four inflation pulses 1, 2, 3, and 4.
  • the inflation time and inflation amplitude of the four inflation pulses 1, 2, 3, 4 change continuously. Specifically, the inflation time of the four inflation pulses 1, 2, 3, 4 continuously increases, the inflation amplitude continuously increases, and the inflation amplitudes of the inflation pulse 3 and the inflation pulse 4 are substantially equal.
  • the abdominal pressure detector 300 senses the abdominal pressure when the valve is closed after each inflation pulse is completed, for example, As shown in Figure 4, the abdominal pressure when the valve is closed corresponding to inflation pulse 1 is P_close2, the abdominal pressure when the valve is closed corresponding to inflation pulse 2 is P_close3, and the abdominal pressure when the valve is closed corresponding to inflation pulse 3 is P_close4, and The abdominal pressure when the valve is closed corresponding to pulse 4 is P_close5.
  • the processor 50 determines the inflection point of the abdominal cavity pressure according to the valve closing pressure of each inflation pulse in the combined inflation pulse.
  • the inflection point refers to the inflection point from the inflation amount being lower than the leakage amount to the inflation amount being greater than or equal to the leakage amount
  • the abdominal cavity pressures when the valve is closed corresponding to several inflation pulses of the combined inflation pulse are sequentially compared ,
  • the abdominal pressure measured when the valve is closed each time the previous inflation pulse is completed is decreasing relative to the abdominal pressure when the valve is closed after the previous inflation pulse is completed, and the abdominal pressure when the valve is closed after the current inflation pulse is completed is relative to the previous inflation After the pulse is completed, the abdominal pressure when the valve is closed begins to increase, and an inflection point is determined, indicating that the amount of inflation begins to exceed the amount of leakage at this time.
  • the processor 50 uses interpolation to recalculate the inflation amplitude and inflation time of the combined inflation pulse according to the change in the abdominal cavity pressure, and then iteratively updates according to the above algorithm until the inflation amount of the combined inflation pulse matches the leakage amount ,
  • the abdominal pressure can be maintained, so that the valve closing pressure at the completion of each inflation pulse of the combined inflation pulse is basically unchanged.
  • the processor 50 inserts a new inflation pulse at the inflection point, and the inflation time and inflation amplitude of the new inflation pulse are adapted to the inflation time and inflation amplitude of all inflation pulses in the combined inflation pulse.
  • the adaptation of the change law means that if the original inflation pulse of the combined inflation pulse changes continuously and incrementally, the inserted new inflation pulse also adapts to this rule and changes continuously. Regular fluctuations change, the inserted new inflation pulse also shows regular fluctuations.
  • the processor 50 controls to recombine the new inflation pulse and part of the original inflation pulses of the combined inflation pulse into a new combined inflation pulse, wherein the number of inflation pulses of the new combined inflation pulse is equal to The number of original inflation pulses in the combined inflation pulse is equal, and the processor 50 also controls the flow valve 30 to inflate according to the new combined inflation pulse, so that the inflation amount of the adjusted combined inflation pulse is the same as the current leakage.
  • the air volume is matched to keep the abdominal pressure within a predetermined range.
  • the inflation time and inflation amplitude of the new inflation pulse are the same as those of the original inflation pulse in the combined inflation pulse.
  • the value changes in accordance with the law including: in the new combined inflation pulse, the inflation time and the inflation amplitude of the new inflation pulse are respectively greater than the inflation time and inflation amplitude of the previous inflation pulse, and less than the inflation time of the next inflation pulse And the inflation amplitude.
  • the inflation time and inflation amplitude of the new inflation pulse are the same as those of the original inflation pulse in the combined inflation pulse.
  • the amplitude changes are adapted to the law, including: in the new combined inflation pulse, the inflation time and inflation amplitude of the new inflation pulse are compared with the inflation time and inflation amplitude of the previous inflation pulse, and the inflation time of the next inflation pulse And the inflation amplitude shows regular fluctuations, for example, the inflation amplitude shows regular fluctuations with one high and one low.
  • the processor 50 further controls to recombine the new inflation pulse and part of the original inflation pulse of the combined inflation pulse into a new combined inflation pulse, including: the processing After inserting the new inflation pulse at the inflection point, the device discards at least one of the original inflation pulses of the combined inflation pulse, and removes at least one of the original inflation pulses retained by the combined inflation pulse.
  • One inflation pulse is repeated at least once to obtain the new combined inflation pulse, and the arrangement law of the inflation pulses in the new combination inflation pulse is the same as the arrangement law of the original inflation pulses of the combined inflation pulse, and the flow rate is controlled
  • the valve 30 is inflated according to the new combined inflation pulse.
  • the arrangement law of the inflation pulses in the new combined inflation pulse is the same as the arrangement law of the original inflation pulses of the combined inflation pulse, which means that if the original inflation pulses of the combined inflation pulse are arranged in increasing order, Then, the inflation pulses in the new combined inflation pulse are also arranged in an increasing order; or, if the original inflation pulses of the combined inflation pulse are arranged in regular fluctuations, for example, the inflation amplitude is one high and one low, then the new combination The inflation pulses in the inflation pulse are also arranged according to regular fluctuations.
  • the processor 50 further controls to recombine the new inflation pulse and part of the original inflation pulse of the combined inflation pulse into a new combined inflation pulse, including: the processing After inserting the new inflation pulse into the combined inflation pulse, the device 50 discards one of the original inflation pulses in the combined inflation pulse to form the new combined inflation pulse.
  • the processor 50 after inserting the new inflation pulse into the combined inflation pulse, the processor 50 further generates an original inflation pulse in the combined inflation pulse based on the position where the inflection point appears. Discard to form the new combined inflation pulse.
  • the processor 50 after the processor 50 inserts the new inflation pulse into the combined inflation pulse, it further determines the first one or the other of the combined inflation pulse based on the position where the inflection point appears. The last original inflation pulse is discarded to form the new combined inflation pulse.
  • the processor 50 After inserting the new inflation pulse, the processor 50 retains the previous original inflation pulse, the next original inflation pulse, and the last original inflation pulse adjacent to the new inflation pulse in the combined inflation pulse The adjacent original inflation pulse, and the original inflation pulse before the previous original inflation pulse is discarded. For example, if a new inflation pulse 2.5 is inserted between inflation pulse 2 and inflation pulse 3, then inflation pulse 1 in the original inflation pulse of the combined inflation pulse is discarded, and the new combined inflation pulse is 2, 2.5, 3 , 4.
  • the new combined inflation pulse is: keep the combined inflation pulse and the new inflation pulse.
  • the adjacent previous original inflation pulse, the next original inflation pulse, and the original inflation pulse adjacent to the latter original inflation pulse, and the original inflation pulse adjacent to the latter original inflation pulse is the combined inflation pulse
  • the fourth inflation pulse of the combined inflation pulse is discarded. For example, if a new inflation pulse 1.5 is inserted between inflation pulse 1 and inflation pulse 2, then the new combined inflation pulse It is 1, 1.5, 2, 3, and discards the inflation pulse 4 in the original inflation pulse in the combined inflation pulse.
  • the processor 50 further controls to recombine the new inflation pulse and part of the original inflation pulse of the combined inflation pulse into a new combined inflation pulse, including: the processing After inserting the new inflation pulse into the combined inflation pulse, the device 50 discards a plurality of consecutive original inflation pulses in the combined inflation pulse, and adds an appropriate number before or after the combined inflation pulse. A new inflation pulse to form the new combined inflation pulse; after supplementing an appropriate number of new inflation pulses before or after the combined inflation pulse, the new combined inflation pulse and the original combined inflation pulse The number of pulses is the same.
  • the processor 50 further divides the continuous multiple original inflation pulses in the combined inflation pulse based on the position where the inflection point appears. The inflation pulse is discarded, and an appropriate number of new inflation pulses are added before or after the combined inflation pulse to form the new combined inflation pulse.
  • the new combined inflation pulse is: retain the combined inflation pulse and the new inflation pulse The previous original inflation pulse and the next original inflation pulse are adjacent, and the last original inflation pulse is repeated once, and two original inflation pulses in the combined inflation pulse are discarded. For example, if a new inflation pulse 3.5 is inserted between inflation pulse 3 and inflation pulse 4, the new combined inflation pulses are 3, 3.5, 4, 4, and the original inflation pulses 1 and 2 in the original inflation pulse group are discarded Drop.
  • the inflection point occurs before the inflation pulse 1, it indicates that the inflation amount of the current combined inflation pulse is too large, then a new inflation pulse is inserted before the inflation pulse 1, and the inflation time of the new inflation pulse is The amplitude is respectively the inflation time of the inflation pulse 1 and one-half of the inflation amplitude, then the new combined inflation pulse is 0.5, 1, 2, 3, and the original inflation pulse of the combined inflation pulse The inflation pulse 4 is discarded.
  • the inflection point appears after the inflation pulse 4, it indicates that the inflation amount of the current combined inflation pulse is too small, then the first three original inflation pulses 1, 2, and 3 of the combined inflation pulse are discarded. The original inflation pulse 4 of the combined inflation pulse is retained and repeated three times, and the new combined inflation pulses 4, 4, 4, 4 are obtained.
  • the processor 50 further controls to recombine the new inflation pulse and part of the original inflation pulse of the combined inflation pulse into a new combined inflation pulse, including:
  • the last inflation pulse is discarded to form The new combined inflation pulse
  • the first inflation pulse is discarded to form The new combined inflation pulse
  • the last inflation pulse is included in the combined inflation pulse Discard the consecutive multiple inflation pulses, and add an appropriate number of new inflation pulses before the first inflation pulse to form the new combined inflation pulse; or,
  • the combined inflation pulse includes the first inflation pulse A plurality of consecutive inflation pulses are discarded, and an appropriate number of new inflation pulses are added after the last inflation pulse to form the new combined inflation pulse.
  • each combined inflation pulse determines the inflection point of the abdominal pressure according to the abdominal pressure when the valve is closed corresponding to each inflation pulse in the combined inflation pulse, and adjust the combined inflation pulse so that the inflation amount of the combined inflation pulse is The amount of air leakage reaches a balance, that is, the processor 50 controls the flow valve 30 to inflate according to the new combined inflation pulse after inserting the new inflation pulse, and finally makes the adjusted combined inflation pulse’s inflation rate and the current air leakage amount Match so that the abdominal pressure is maintained within a predetermined range.
  • FIG. 6 is a schematic flowchart of an inflation control method when an insufflator is used for load matching in an embodiment of the application.
  • the inflation control method is applied to an insufflator 100.
  • the insufflator 100 includes a host 10, an insufflator tube 20, a flow valve 30, and a pressure sensor 40.
  • the host 10 is provided with an air supply outlet 11.
  • One end of the pneumoperitoneum tube 20 is connected to the air supply outlet 11 of the host 10, and the other end is used to connect to the load 400;
  • the flow valve 30 is provided on the host 10 and connected to the pneumoperitoneum tube 20
  • the pressure sensor 40 is arranged at the air supply outlet 11 of the host 10, and the execution sequence of the inflation control method is not limited to the sequence shown in FIG. 6.
  • the inflation control method includes the steps:
  • Step S601 The pressure sensor 40 senses the pressure at the air supply outlet 11.
  • Step S602 when the load 400 is connected to the air supply outlet 11, the pressure value at the air supply outlet 11 measured by the pressure sensor 40 is acquired.
  • Step S603 Control and adjust the gas flow of the flow valve 30 according to the pressure value, so that the gas flow delivered into the abdominal cavity of the patient through the gas supply outlet 11 and the insufficiency tube 20 matches the load 400,
  • the preset range enables the corresponding part of the abdominal cavity to have a visual field and operating range available for surgery.
  • the gas flow rate of the flow valve 30 is controlled and adjusted according to the pressure value, so that the gas flow rate delivered to the patient's abdominal cavity through the air supply outlet 11 and the insufflation tube 20 is equal to
  • the matching of the load 400 includes:
  • the gas flow of the flow valve 30 is adjusted to match the load 400 with a higher pressure.
  • adjusting the gas flow of the flow valve 30 to match the load 400 with a higher pressure includes:
  • the flow valve 30 is controlled to temporarily close the gas supply, and when the gas supply starts again, the gas flow of the flow valve 30 is automatically adjusted to match the load 400 with a higher pressure.
  • the gas flow rate of the flow valve 30 is controlled and adjusted according to the pressure value, so that the gas flow rate delivered to the patient's abdominal cavity through the air supply outlet 11 and the insufflation tube 20 is equal to
  • the matching of the load 400 includes:
  • the gas flow of the flow valve 30 is adjusted to match the load 400 with a lower pressure.
  • adjusting the gas flow of the flow valve 30 to match the load 400 with a lower pressure includes:
  • the gas flow of the flow valve 30 is controlled to increase to match the load 400 with a lower pressure.
  • the inflation control method of the present application realizes automatic load matching, which brings great convenience to actual surgical operations.
  • FIG. 7 is a schematic flowchart of an inflation control method when an insufflator is used for air leakage compensation in an embodiment of the application.
  • the inflation control method is applied to the insufflator 100.
  • the pneumoperitoneum machine 100 includes a host computer 10, a pneumoperitoneum tube 20, and a flow valve 30.
  • the host computer 10 is provided with an air supply outlet 11, and one end of the pneumoperitoneum tube 20 is connected to the air supply outlet 11 of the host computer 10. The other end is used to connect to the load 400; the flow valve 30 is arranged on the host 10 and connected between the insufficiency tube 20 and a gas source 200.
  • the execution sequence of the inflation control method is not limited to the sequence shown in FIG. 7.
  • the inflation control method includes the steps:
  • Step S701 Obtain the abdominal pressure of the detected patient
  • Step S702 compare the abdominal pressure at the current sampling point with the abdominal pressure at the previous sampling point
  • Step S703 When the abdominal pressure at the current sampling point is lower than the abdominal pressure at the previous sampling point by more than the preset value of the abdominal pressure, the flow valve 30 is controlled to inflate by combining inflation pulses to supplement the abdominal pressure caused by the air leak Loss; and
  • Step S704 Adjust the parameters of the combined inflation pulse according to the real-time abdominal pressure, and finally match the adjusted combined inflation pulse with the current leakage volume so that the abdominal pressure is maintained within a predetermined range.
  • the combined inflation pulse is a series of pulses whose inflation amplitude and inflation time gradually change.
  • the inflation amplitude and inflation time of the inflation pulse train included in the combined inflation pulse are gradually changing.
  • the combined inflation pulse may be a pulse train that changes regularly.
  • the regularly changing pulse train includes a continuously increasing change pulse train.
  • the continuous incremental change pulse train includes at least a continuous incremental change adjustment of the inflation amplitude and/or the inflation time.
  • the continuous incremental change pulse train refers to the continuous incremental change of the inflation amplitude and the inflation time of the inflation pulse train, for example, the inflation pulse trains 1, 2, 3, 4 shown in FIG. 4.
  • the regularly changing pulse train also includes a regularly fluctuating pulse train.
  • the regularly fluctuating change pulse train means that the inflation time and the inflation time of the inflation pulse train do not continuously change incrementally, but show regular fluctuations.
  • the inflation pulse train shown in FIG. 4 is adjusted to 1, 3, 2, 4.
  • the regularly changing pulse train includes but not limited to the regular change adjustment of parameters such as inflation amplitude and inflation time.
  • the regularly changing pulse train includes at least three inflation pulses, and the inflation time and the inflation amplitude of the at least three inflation pulses change continuously or in regular fluctuations.
  • the combined inflation pulse includes four inflation pulses 1, 2, 3, and 4.
  • the inflation time and inflation amplitude of the four inflation pulses 1, 2, 3, 4 change continuously. Specifically, the inflation time of the four inflation pulses 1, 2, 3, 4 continuously increases, the inflation amplitude continuously increases, and the inflation amplitudes of the inflation pulse 3 and the inflation pulse 4 are substantially equal.
  • the flow valve 30 is controlled to inflate according to the new combined inflation pulse, and finally the inflation amount of the adjusted combined inflation pulse matches the current leakage amount, so that the abdominal cavity pressure is maintained within a predetermined range.
  • determining the inflection point of the abdominal cavity pressure according to the valve closing pressure of each inflation pulse in the combined inflation pulse includes:
  • the abdominal pressure measured when the previous inflation pulse completes the valve closing is relative to the abdominal cavity when the previous inflation pulse completes the valve closing
  • the pressure is decreasing, and the abdominal pressure when the current inflation pulse completes the valve closing starts to increase relative to the abdominal pressure when the last inflation pulse completes the valve closing, it is determined that an inflection point occurs.
  • controlling to recombine the new inflation pulse and part of the original inflation pulse of the combined inflation pulse into a new combined inflation pulse includes:
  • At least one of the original inflation pulses of the combined inflation pulse is discarded, and at least one of the original inflation pulses retained by the combined inflation pulse is inflated
  • the pulse is repeated at least once to obtain the new combined inflation pulse, and the sequence of inflation pulses in the new combined inflation pulse is the same as the sequence of the original inflation pulses of the combined inflation pulse;
  • controlling to recombine the new inflation pulse and a part of the original inflation pulse of the combined inflation pulse into a new combined inflation pulse includes: inserting the new inflation pulse into all the inflation pulses. After the combined inflation pulse, one of the original inflation pulses in the combined inflation pulse is discarded to form the new combined inflation pulse.
  • the method includes: after inserting the new inflation pulse into the combined inflation pulse, discarding one of the original inflation pulses in the combined inflation pulse based on the position where the inflection point occurs to form the new combined inflation pulse.
  • the method includes: after inserting the new inflation pulse into the combined inflation pulse, discarding the first or last original inflation pulse in the combined inflation pulse based on the position where the inflection point occurs to form the new inflation pulse. Combined inflation pulse.
  • the processor 50 After inserting the new inflation pulse, the processor 50 retains the previous original inflation pulse, the next original inflation pulse, and the last original inflation pulse adjacent to the new inflation pulse in the combined inflation pulse The adjacent original inflation pulse, and the original inflation pulse before the previous original inflation pulse is discarded. For example, if a new inflation pulse 2.5 is inserted between inflation pulse 2 and inflation pulse 3, then inflation pulse 1 in the original inflation pulse of the combined inflation pulse is discarded, and the new combined inflation pulse is 2, 2.5, 3 , 4.
  • the new combined inflation pulse is: keep the combined inflation pulse and the new inflation pulse.
  • the adjacent previous original inflation pulse, the next original inflation pulse, and the original inflation pulse adjacent to the latter original inflation pulse, and the original inflation pulse adjacent to the latter original inflation pulse is the combined inflation pulse
  • the fourth inflation pulse of the combined inflation pulse is discarded. For example, if a new inflation pulse 1.5 is inserted between inflation pulse 1 and inflation pulse 2, then the new combined inflation pulse It is 1, 1.5, 2, 3, and discards the inflation pulse 4 in the original inflation pulse in the combined inflation pulse.
  • controlling to recombine the new inflation pulse and a part of the original inflation pulse of the combined inflation pulse into a new combined inflation pulse includes: inserting the new inflation pulse into all the inflation pulses. After the combined inflation pulse, the continuous multiple original inflation pulses in the combined inflation pulse are discarded, and an appropriate number of new inflation pulses are added before or after the combined inflation pulse to form the new combination Inflation pulse; after adding an appropriate number of new inflation pulses before or after the combined inflation pulse, the number of pulses of the new combined inflation pulse is the same as the original combined inflation pulse.
  • a plurality of consecutive original inflation pulses in the combined inflation pulse are also discarded based on the position where the inflection point occurs, And an appropriate number of new inflation pulses are added before or after the combined inflation pulse to form the new combined inflation pulse.
  • the new combined inflation pulse is: retain the combined inflation pulse and the new inflation pulse The previous original inflation pulse and the next original inflation pulse are adjacent, and the last original inflation pulse is repeated once, and two original inflation pulses in the combined inflation pulse are discarded. For example, if a new inflation pulse 3.5 is inserted between inflation pulse 3 and inflation pulse 4, the new combined inflation pulses are 3, 3.5, 4, 4, and the original inflation pulses 1 and 2 in the original inflation pulse group are discarded Drop.
  • the inflection point occurs before the inflation pulse 1, it indicates that the inflation amount of the current combined inflation pulse is too large, then a new inflation pulse is inserted before the inflation pulse 1, and the inflation time of the new inflation pulse is The amplitude is respectively the inflation time of the inflation pulse 1 and one-half of the inflation amplitude, then the new combined inflation pulse is 0.5, 1, 2, 3, and the original inflation pulse of the combined inflation pulse The inflation pulse 4 is discarded.
  • the inflection point appears after the inflation pulse 4, it indicates that the inflation amount of the current combined inflation pulse is too small, then the first three original inflation pulses 1, 2, and 3 of the combined inflation pulse are discarded. The original inflation pulse 4 of the combined inflation pulse is retained and repeated three times, and the new combined inflation pulses 4, 4, 4, 4 are obtained.
  • controlling to recombine the new inflation pulse and part of the original inflation pulse of the combined inflation pulse into a new combined inflation pulse includes:
  • the last inflation pulse is discarded to form The new combined inflation pulse
  • the first inflation pulse is discarded to form The new combined inflation pulse
  • the last inflation pulse is included in the combined inflation pulse Discard the consecutive multiple inflation pulses, and add an appropriate number of new inflation pulses before the first inflation pulse to form the new combined inflation pulse; or,
  • the combined inflation pulse includes the first inflation pulse A plurality of consecutive inflation pulses are discarded, and an appropriate number of new inflation pulses are added after the last inflation pulse to form the new combined inflation pulse.
  • the processor 50 controls the flow valve 30 to inflate according to the new combined inflation pulse after inserting the new inflation pulse, and finally makes the adjusted combined inflation pulse match the current leakage volume, so that the abdominal pressure Maintain within the predetermined range.
  • the insufflator 100 further includes a memory, and the memory may be a computer-readable storage medium such as a memory card, a solid-state memory, a micro hard disk, and an optical disk.
  • the memory may be a computer-readable storage medium such as a memory card, a solid-state memory, a micro hard disk, and an optical disk.
  • a number of program instructions are stored in the memory, and the program instructions can be called by the processor 50 to perform the aforementioned functions.
  • the present invention also provides a computer-readable storage medium.
  • the computer-readable storage medium stores a number of program instructions. After the program instructions are invoked and executed by the processor 50, Figure 6-7 is executed. Any of the method steps to achieve load adaptive matching and achieve leakage matching.
  • the computer storage medium is the memory 50, which can be any storage device capable of storing information, such as a memory card, a solid-state memory, a micro hard disk, and an optical disk.
  • the inflation control method applied to air leakage compensation of the present application realizes automatic air leakage compensation, which brings great convenience to actual surgical operations.

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Abstract

一种气腹机(100)，包括主机(10)、气腹管(20)、流量阀(30)、压力传感器(40)和处理器(50)。主机(10)上设置有供气出口(11)，气腹管(20)的一端连接供气出口(11)，另一端用于与负载(400)相连；流量阀(30)设置在主机(10)上，并连接在气腹管(20)和一气源(200)之间；压力传感器(40)设置在供气出口(11)，用于感测供气出口(11)处的压力；处理器(50)与流量阀(30)和压力传感器(40)连接；当负载(400)连接在供气出口(11)时，处理器(50)获取压力值并控制调节流量阀(30)的气体流量，使得经由供气出口(11)以及气腹管(20)输送至病人腹腔内的气体流量与负载(400)相匹配以维持病人腹腔的压力在预设范围内。一种气体流量控制方法，能够实现负载(400)自适应匹配和漏气自适应匹配。

Description

气腹机及其充气控制方法 技术领域
本申请涉及一种气腹机，尤其涉及一种能够实现智能充气的气腹机及其充气控制方法。
背景技术
腹腔镜手术是一门发展迅速的微创手术方法，具有切口小、恢复快等优点，尤其是术后瘢痕小，符合大众需求，更易被人接受。腹腔镜手术就是在腹部的不同部位做直径5-12mm小切口，通过这些小切口插入腹腔镜和各种特殊的手术器械，腹腔镜连接摄像头，将腹腔内部的图像传输到屏幕上，通过手术器械完成手术。在腹腔内部操作手术器械，客观要求腹腔内部要有一定的空间，气腹机便应运而生。
气腹机是腹腔镜手术的基础，气腹的建立可以使得腹腔内压力增高，膈肌上移，为手术提供良好的视野和足够的操作空间，保障手术的顺利进行。腹腔内部气压的大小决定了腹腔膨胀的程度，压力过小，会使得手术空间过小，视野不足；压力过大，会造成腹腔内部脏器的损伤，对病人产生危害。所以，在腹腔镜手术过程中，建立合适压力的气腹并维持气腹机压力的稳定性显得尤为重要。
实际手术过程中，气腹机通过一根长度较长(例如，3m)的气腹管与病人端的套管针相连，当有气流流过气腹管及相关连接件时，气腹管及相关连接件均产生气阻，此时气腹机内部传感器测得的压力并不是腹腔内部的真实压力，这使得准确控制腹腔压力非常困难。
另外，在手术过程中，气腹管连接病人端的负载会经常变化，就一般手术过程而言，起始用气腹针建立气腹，气腹建立完成后连接穿刺器，后续通过套管针充气。根据伯努利方程可知，同等流速流经管道时，流速大，压力就小，所以当同样流速流经气腹针、穿刺器、套管针等时，流速差异非常大，而且不同区间的压力变化也不同。如果整个过程中保持充气流速不变，会造成气腹针下流速过大，套管针下流量过小。流速过高，对人体损伤就会增大；流速过小，会造成充气速度减慢，甚至会使腹腔压力丧失，所以就对气腹机提出了能够实时根据负载变化调整流量的要求。现有市场上气腹机在负载变化时，大多通过人为调节设置流量，比如要求在气腹针建立气腹时，设置较小流量(一般为3-5L/min)，更换套管针时调大设置流量，操作极为不便。
在腹腔镜手术过程中，漏气场景也同样复杂，比如在正常检查过程中，套管针存在微弱漏气；在进行电切、电凝产生烟雾时，开放套管针漏气或使用气腹机排烟功能排气；在冲洗时，会使用吸引器吸引排气。不同的场景，漏气量差异较大，现有市场上气腹机不能很好的实时匹配漏气，会造成腹腔内部压力波动较大，如图1所示，在漏气段压力波动比较大，压力波动较大，一方面容易损伤病人内脏，影响病人生理特征；另一方面，压力波动带来的是腹腔容积的变化，影响到手术操作者的视野，为手术操作者的操作带来困难。因此，能够适应不同漏气情况、实时维持稳定腹腔压力的气腹机至关重要。
发明内容
本申请实施例公开一种能够实现智能充气的气腹机及其充气控制方法，以解决上述问题。
本申请实施例公开一种气腹机，包括主机、气腹管、流量阀、压力传感器和处理器，所述主机上设置有供气出口，所述气腹管的一端连接在所述主机的供气出口上，另一端用于与负载相连；所述流量阀设置在所述主机上，并连接在所述气腹管与一气源之间；所述压力传感器设置在所述主机的供气出口处，用于感测供气出口处的压力；所述处理器与所述流量阀和所述压力传感器连接；当所述负载连接在所述供气出口时，所述处理器获取所述压力传感器测到的供气出口处的压力值，并根据所述压力值控制调节所述流量阀的气体流量，使得经由所述供气出口以及所述气腹管输送至病人腹腔内的气体流量与所述负载相匹配以维持病人腹腔的压力在预设范围内，其中，该预设范围使得腹腔对应部位具有可供手术的视野和操作范围。
本申请实施例公开一种气腹机，包括主机、气腹管、流量阀和处理器，所述主机上设置有供气出口，所述气腹管的一端连接在所述主机的供气出口上，另一端用于与负载相连；所述流量阀设置在所述主机上，并连接在所述气腹管与一气源之间；所述处理器获取检测到的病人的腹腔压力，并在确定当前采样点的腹腔压力相比上一采样点的腹腔压力下降大于腹腔压力预设值时，控制所述流量阀通过组合充气脉冲进行充气以补充漏气所导致的腹腔压力的损失，并根据实时的腹腔压力调整所述组合充气脉冲的参数，最终使得调整后的组合充气脉冲的充气量与当前漏气量相匹配以使得腹腔压力维持在预定范围内。
本申请实施例还公开一种充气控制方法，应用于气腹机上，所述气腹机包括主机、气腹管、流量阀和压力传感器，所述主机上设置有供气出口，所述气腹管的一端连接在所述主机的供气出口上，另一端用于与负载相连；所述流量阀设置在所述主机上，并连接在所述气腹管与一气源之间；所述压力传感器设置在所述主机的供气出口处，所述充气控制方法包括步骤：所述压力传感器感测供气出口处的压力；当所述负载连接在所述供气出口时，获取所述压力传感器测到的供气出口处的压力值；及根据所述压力值控制调节所述流量阀的气体流量，使得经由所述供气出口以及所述气腹管输送至病人腹腔内的气体流量与所述负载相匹配，以维持病人腹腔的压力在预设范围内，其中，该预设范围使得腹腔对应部位具有可供手术的视野和操作范围。
本申请实施例还公开一种充气控制方法，应用于气腹机上，所述气腹机包括主机、气腹管和流量阀，所述主机上设置有供气出口，所述气腹管的一端连接在所述主机的供气出口上，另一端用于与负载相连；所述流量阀设置在所述主机上，并连接在所述气腹管与一气源之间；所述充气控制方法包括步骤：获取检测到的病人的腹腔压力；将检测到的当前采样点的腹腔压力与上一采样点的腹腔压力进行比较；在所述当前采样点的腹腔压力相比上一采样点的腹腔压力下降大于腹腔压力预设值时，控制所述流量阀通过组合充气脉冲进行充气以补充漏气所导致的腹腔压力的损失；及根据实时的腹腔压力调整所述组合充气脉冲的参数，最终使得调整后的组合充气脉冲与当前漏气量相匹配以使得腹腔压力维持在预定范围内。
本申请实施例公开的气腹机及其充气控制方法，能够根据所述压力值控制调节所述流量阀的气体流量，使得经由所述供气出口以及所述气腹管输送至病人腹腔内的气体流量与所述负载相匹配以维持病人腹腔的压力在预设范围内，其中，该预设范围使得腹腔对应部位具有 可供手术的视野和操作范围，充气更加智能化，无需术者手动操作，便捷简单；同时，本申请还在检测到的当前采样点的腹腔压力相比上一采样点的腹腔压力下降大于腹腔压力预设值时，控制所述流量阀通过组合充气脉冲进行充气以补充漏气所导致的腹腔压力的损失，并根据实时的腹腔压力调整所述组合充气脉冲的参数，最终使得调整后的组合充气脉冲的充气量与当前漏气量相匹配以使得腹腔压力维持在预定范围内，避免漏气对手术造成干扰。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为现有技术中气腹机的工作过程的波形示意图。
图2为本申请一实施例中的气腹机的模块示意图。
图3为本申请一实施例中的气腹机在更换负载时的波形示意图。
图4为本申请一实施例中的气腹机在漏气补偿时的波形示意图。
图5为本申请一实施例中的气腹机在经过漏气补偿后的波形示意图。
图6为本申请一实施例中的气腹机用于负载匹配时的充气控制方法的流程示意图。
图7为本申请一实施例中的气腹机用于漏气补偿时的充气控制方法的流程示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别不同对象，而非用于描述特定顺序。此外，术语“包括”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
说明书后续描述为实施本申请的较佳实施例，然上述描述乃以说明本申请的一般原则为目的，并非用以限定本申请的范围。本申请的保护范围当视所附权利要求所界定者为准。
请参阅图2，图2为本申请一实施例中的气腹机100的模块示意图。所述气腹机100用于在腹腔镜手术时，建立气腹使得腹腔压力增高，膈肌上移，为手术提供良好的视野和足够的操作空间，保障手术可以顺利进行。具体地，所述气腹机100包括主机10、气腹管20和流量阀30。所述主机10上设置有供气出口11。所述气腹管20的一端连接在所述主机10的供气出口11上，另一端与负载400相连。所述流量阀30设置在所述主机10上，并连接在所述气腹管20和一气源200之间。进一步地，所述气腹机100还包括压力传感器40和处理器50。所述压力传感器40设置在所述主机10的供气出口11处，用于感测供气出口11处的气 流的压力。所述处理器50分别与所述流量阀30和所述压力传感器40电性连接。当所述负载400连接在所述供气出口11时，所述处理器50获取所述压力传感器40处测到的供气出口11处的压力值，并根据所述压力值控制调节所述流量阀30的气体流量，使得经由所述供气出口11以及所述气腹管20输送至病人腹腔内的气体流量与所述负载400相匹配以维持病人腹腔的压力在预设范围内，其中，该预设范围使得腹腔对应部位具有可供手术的视野和操作范围。
可以理解的是，在其中一实施例中，所述负载400为用于进行手术操作的医疗器械，例如，气腹针、穿刺器、套管针等。
可以理解的是，在其中一实施例中，所述压力传感器40设置在所述主机10的供气出口11处，而非所述气腹管20内部。
从而，本申请能够根据所述压力传感器40感测的供气出口11处的压力值，控制调节所述流量阀30的气体流量，使得经由所述供气出口11以及所述气腹管20输送至病人腹腔内的气体流量与所述负载400相匹配以维持病人腹腔的压力在预设范围内，其中，该预设范围使得腹腔对应部位具有可供手术的视野和操作范围，使得充气更加智能化，无需术者手动操作，便捷简单。
具体地，在其中一实施例中，所述主机10外形整体呈盒体状。所述供气出口11的开口可以设置在所述主机10的外表面的任意一个面上，优选地，可以设置在所述主机10的后侧面、左侧面或者右侧面上。所述气腹管20是软管，其一端接在所述供气出口11上，另一端连接在作为负载400的手术器械上，例如，套管针上。经由所述气腹管20的气流穿过病人身体上所开的切口后进入病人腹腔内形成气腹，为手术提供良好的视野和足够的操作空间，保障手术可以顺利进行。所述流量阀30可以是任意形式的用于控制气体流量的阀体。所述压力传感器40可以是任意形式的用于进行气流压力测量的传感器。所述处理器50设置在所述主机10上。所述处理器50可以是中央处理单元(Central Processing Unit，CPU)，还可以是其它通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其它可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。所述通用处理器可以是微处理器或者所述通用处理器也可以是任何常规的处理器等，所述处理器50是所述气腹机100的控制中心，利用各种接口和线路连接整个所述气腹机100的各个部分。
所述处理器50调节所述流量阀30的气体流量使其与所述负载400相匹配。具体地，在其中一实施例中，所述处理器50将所述压力传感器40所感测的当前采样点的压力值与上一采样点的压力值进行比较，并在确定当前采样点的压力值大于上一采样点的压力值，且，所述当前采样点的压力值与所述上一采样点的压力值的差值大于第一阈值时，确定与所述气腹管20的远离所述主机10的一端连接的负载400更换为了压力更大的负载400，则自动调节所述流量阀30的气体流量使其与所述压力更大的负载400相匹配。其中，所述压力更大的负载400是指相对于上一采样点所述气腹管20的远离所述主机10的一端连接的负载400，压力更大的负载，其中，负载400的压力由于每个负载400对应的气流通道的直径、结构等的不同而不同，当将该压力更大的负载400接在所述气腹管20的远离所述主机10的一端时，该负载400的气流通道更小产生的阻力更大使得气流通过时产生更大的压力。
其中，采样点，是指所述处理器50采样所述压力传感器40所感测到的压力值的时间点。
从而，本申请在更换压力更大的负载400之后，能够自动快速调节所述流量阀30的气体流量使其与所述压力更大的负载400相匹配，避免气流所产生的压力过大而造成腹腔内部脏器的损伤。
进一步地，在其中一实施例中，所述处理器50在确定与所述气腹管20的远离所述主机10的一端连接的负载400更换为了压力更大的负载400，还控制所述流量阀30暂时关闭供气，并在再次开始供气时自动调低流量阀30的气体流量使其与负载400相匹配。
从而，本申请在更换压力更大的负载400之后，先控制流量阀30暂时关闭供气，并在再次开始供气时自动调低流量阀30的气体流量使其与负载400相匹配，避免气流所产生的压力短时间过大而造成腹腔内部脏器的损伤。
具体地，在其中一实施例中，所述处理器50将所述压力传感器40所感测的当前采样点的压力值与上一采样点的压力值进行比较，并在所述压力传感器40所感测的当前采样点的压力值小于上一采样点的压力值，且所述上一采样点的压力值与所述当前采样点的压力值的差值大于第二阈值时，确定与所述气腹管20的远离所述主机10的一端连接的负载400更换为了压力更小的负载400，则控制调节所述流量阀30的气体流量使其与所述压力更小的负载400相匹配。其中，所述压力更小的负载400是指，相对于上一采样点所述气腹管20的远离所述主机10的一端连接的负载400，压力更小的负载，其中，负载400的压力由于每个负载400对应的气流通道的直径、结构等的不同而不同，当将该压力更小的负载400接在所述气腹管20的远离所述主机10的一端时，该负载400的气流通道更大所产生的阻力更小使得气流通过时产生更小的压力。
其中，所述第一阈值和所述第二阈值为气体压力阈值，两者可以相同也可以不同，具体可以根据实际需要设置。
从而，本申请在更换压力更小的负载400之后，能够自动快速调节流量阀30的气体流量使其与所述压力更小的负载400相匹配，避免气流压力过小而影响到手术者的视野。
进一步地，在其中一实施例中，所述处理器50在确定与所述气腹管20的远离所述主机10的一端连接的负载400更换为了压力更小的负载400时，则控制调大所述流量阀30的气体流量使其与所述压力更小的负载400相匹配。
从而，本申请在更换压力更小的负载400之后，能够自动快速调大流量阀30的气体流量使其与所述压力更小的负载400相匹配，避免气流压力过小而影响到手术者的视野。
需要说明的是，更换负载，例如，将负载从气腹针更换到套管针的过程为：首先拔掉气腹针，这个过程中，压力变小，所述处理器50确定为更换压力更小的负载400，并进行相应的气体流量调整，再更换为套管针，这个过程中，压力变大，所述处理器50确定为压力更大的负载400，并进行相应的气体流量调整。
具体地，在其中一实施例中，所述处理器50调节所述流量阀30的气体流量使其与所述负载400相匹配，包括：通过PID调节器或者PI调节器调节所述流量阀30的气体流量使其与所述负载400相匹配。
具体地，在其中一实施例中，所述PID调节器包括比例单元、积分单元和微分单元。例 如，当通过PID调节器调节所述流量阀30的气体流量使其与所述负载400相匹配时，所述处理器50实时获取当前气体流量，并通过比例单元将该当前气体流量与理想流量进行比较获得一个比例，且通过积分单元和微分单元对该比例进行运算得到一个电流值，该电流值作用于所述流量阀30以调节当前气体流量。如此往复，直至调节至所述流量阀30的气体流量与所述负载400相匹配，使得病人的腹腔压力维持在预设范围内，为手术提供所需视野和操作范围且避免病人内脏受到损伤。
同理，所述PI调节器包括比例单元和积分单元。例如，当通过PI调节器调节所述流量阀30的气体流量使其与所述负载400相匹配时，所述处理器50实时获取当前气体流量，并通过比例单元将该当前气体流量与理想流量进行比较获得一个比例，且通过积分单元对该比例进行运算得到一个电流值，该电流值作用于所述流量阀30以调节当前气体流量。如此往复，直至调节至所述流量阀30的气体流量与所述负载400相匹配，使得病人的腹腔压力维持在预设范围内，为手术提供所需视野和操作范围且避免病人内脏受到损伤。
例如，请参考图3，在T1时刻之前，与所述气腹管20的远离所述主机10的一端连接的负载为负载0，此时，气体流量为50L/min，压力大约维持在35mmHg。在T1时刻时，更换了负载1，由于负载1对应的气流通道的直径、结构的不同，负载1造成压力在T1时刻出现了峰值，大约为55mmHg。此时，所述处理器50控制所述流量阀30暂时关闭供气，并在再次开始供气时通过所述PID调节器或者PI调节器调节气体流量至30L/min，此时，压力维持在大约65mmHg。在T2时刻时，更换了负载2，由于负载2对应的气流通道的直径、结构的不同，负载2造成压力在T2时刻出现了峰值，大约75mmHg。此时，所述处理器50控制所述流量阀30暂时关闭供气，并在再次开始供气时通过所述PID调节器或者所述PI调节器自动调节气体流量至30L/min，此时，压力维持在大约65mmHg。从而，通过PID调节器或者PI调节器的调节，使得气体流量所产生的压力维持在恒定范围内，避免压力波动对手术过程造成影响。
具体地，在其中一实施例中，所述处理器20获取检测到的腹腔压力。可以理解的是，当进行手术时，病人的腹腔压力可通过腹腔压力检测器300测得。可以理解的是，腹腔压力检测器300可以是独立于气腹机100的腹腔压力专用检测设备，在其它实施例中，也可以被集成于气腹机100上或者其它手术设备上。所述处理器20还将当前采样点的腹腔压力与上一采样点的腹腔压力进行比较，并在当前采样点的腹腔压力小于上一采样点的腹腔压力，且上一采样点的腹腔压力与当前采样点的腹腔压力之间的差值大于腹腔压力预设值，也就是说，当前采样点的腹腔压力相比上一采样点的腹腔压力下降大于腹腔压力预设值时，表明此时出现漏气。可以理解的是，发生漏气的情况可以有但不限于：在正常检查过程中，套管针存在微弱漏气；在进行电切、电凝产生烟雾时，开放套管针漏气或使用气腹机排烟功能排气；在冲洗时，会使用吸引器吸引排气；于是，所述处理器50控制所述流量阀30通过组合充气脉冲进行充气以补充漏气所导致的腹腔压力的损失，并根据实时的腹腔压力调整所述组合充气脉冲的参数，最终使得调整后的组合充气脉冲的充气量与当前漏气量相匹配，以使得腹腔压力维持在预定范围内。
具体地，在其中一实施例中，所述组合充气脉冲为一串充气幅值和充气时间逐步变化的 脉冲。也就是说，所述组合充气脉冲所包括的充气脉冲串的充气幅值和充气时间在逐步变化。
进一步地，在其中一实施例中，所述组合充气脉冲可以是但不限于有规律变化脉冲串。所述有规律变化脉冲串包括连续递增变化脉冲串。所述连续递增变化脉冲串至少包括充气幅值和/或充气时间的连续递增变化调整。具体地，所述连续递增变化脉冲串是指充气脉冲串的充气幅值和充气时间发生连续递增变化，例如，图4中所示的充气脉冲串1、2、3、4。
可以理解的是，在其它实施例中，所述有规律变化脉冲串还包括有规律波动变化脉冲串。所述有规律波动变化脉冲串是指充气脉冲串的充气时间和充气时间没有连续递增变化，但呈有规律波动变化，例如，将图4所示的充气脉冲串调整成1、3、2、4，即充气幅值和充气时间分别遵循一高一低的波动规律。
进一步地，在其中一实施例中，所述有规律变化脉冲串包括并不限于充气幅值和充气时间等参数的有规律变化调整。
具体地，在其中一实施例中，所述有规律变化脉冲串包括至少三个充气脉冲，所述至少三个充气脉冲的充气时间和充气幅值呈连续递增变化或者有规律波动变化。例如，本实施例中，所述组合充气脉冲包括四个充气脉冲1、2、3、4。所述四个充气脉冲1、2、3、4的充气时间和充气幅值呈连续性变化。具体地，所述四个充气脉冲1、2、3、4的充气时间呈连续递增，充气幅值呈连续递增，且充气脉冲3和充气脉冲4的充气幅值基本相等。
具体地，在其中一实施例中，在执行完所述组合充气脉冲中的每个充气脉冲时，所述腹腔压力检测器300感测每个充气脉冲完成后关阀时的腹腔压力，例如，如图4所示的充气脉冲1对应的关阀时的腹腔压力为P_close2，充气脉冲2对应的关阀时的腹腔压力为P_close3，充气脉冲3对应的关阀时的腹腔压力为P_close4，和充气脉冲4对应的关阀时的腹腔压力为P_close5。所述处理器50在所述组合充气脉冲执行完成后，根据所述组合充气脉冲中的每个充气脉冲的关阀压力确定腹腔压力的拐点。其中，所述拐点是指从充气量低于漏气量到充气量大于等于漏气量的拐点，具体是将所述组合充气脉冲的若干个充气脉冲对应的关阀时的腹腔压力进行依次比较，当之前每次充气脉冲完成关阀时所测得的腹腔压力相对上一充气脉冲完成后关阀时的腹腔压力都是递减，且当前充气脉冲完成后关阀时的腹腔压力相对上一充气脉冲完成后关阀时的腹腔压力开始递增，则确定出现拐点，表明此时充气量开始大于漏气量。所述处理器50根据所述腹腔压力的变化采用插值法重新计算组合充气脉冲的充气幅值和充气时间，后续依据以上算法，不断迭代更新，直至组合充气脉冲的充气量与漏气量相匹配，能够维持住腹腔压力，使得组合充气脉冲的各个充气脉冲完成时的关阀压力基本无变化。
具体地，所述处理器50在该拐点处插入一个新充气脉冲，该新充气脉冲的充气时间和充气幅值与该组合充气脉冲中所有充气脉冲的充气时间和充气幅值的变化规律相适应。其中，所述变化规律相适应是指，若组合充气脉冲的原始充气脉冲是呈连续递增变化，则插入的新充气脉冲也适应这个规律呈连续递增变化，若组合充气脉冲的原始充气脉冲呈有规律波动变化，则插入的新充气脉冲也呈有规律波动变化。例如，组合充气脉冲的原始充气脉冲呈连续递增变化时，在充气脉冲2和充气脉冲3之间插入的新充气脉冲2.5，该充气脉冲2.5的充气时间和充气幅值分别大于充气脉冲2的充气时间和充气幅值，并且，分别小于充气脉冲3的充气时间和充气幅值。所述处理器50还控制将该新充气脉冲与所述组合充气脉冲的原始充气 脉冲中的部分充气脉冲重新组合为新组合充气脉冲，其中，所述新组合充气脉冲的充气脉冲的个数与所述组合充气脉冲中原始充气脉冲的个数相等，所述处理器50还控制所述流量阀30按照所述新组合充气脉冲进行充气，最终使得调整后的组合充气脉冲的充气量与当前漏气量相匹配，以使得腹腔压力维持在预定范围内。
具体地，在其中一实施例中，当所述组合充气脉冲包括连续递增变化脉冲串时，该新充气脉冲的充气时间和充气幅值与该组合充气脉冲中原始充气脉冲的充气时间和充气幅值的变化规律相适应，包括：在新组合充气脉冲中，该新充气脉冲的充气时间和充气幅值分别大于上一充气脉冲的充气时间和充气幅值，并小于下一充气脉冲的充气时间和充气幅值。
具体地，在另一实施例中，当所述组合充气脉冲包括有规律波动变化脉冲串时，该新充气脉冲的充气时间和充气幅值与该组合充气脉冲中原始充气脉冲的充气时间和充气幅值的变化规律相适应，包括：在新组合充气脉冲中，该新充气脉冲的充气时间和充气幅值相较上一充气脉冲的充气时间和充气幅值，以及下一充气脉冲的充气时间和充气幅值呈有规律波动变化，例如，充气振幅呈一高一低的有规律波动变化。
具体地，在其中一实施例中，所述处理器50还控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：所述处理器在该拐点处插入所述新充气脉冲之后，还将所述组合充气脉冲的原始充气脉冲中的至少一个充气脉冲舍弃掉，并将所述组合充气脉冲所保留下来的原始充气脉冲中的至少一个充气脉冲重复至少一次，以得到所述新组合充气脉冲，且所述新组合充气脉冲中的充气脉冲的排列规律与所述组合充气脉冲的原始充气脉冲的排列规律相同，及控制所述流量阀30按照所述新组合充气脉冲进行充气。
具体地，所述新组合充气脉冲中的充气脉冲的排列规律与所述组合充气脉冲的原有的充气脉冲的排列规律相同，是指，若所述组合充气脉冲的原始充气脉冲按照递增排列，则，所述新组合充气脉冲中的充气脉冲也按照递增排列；或者，若所述组合充气脉冲的原始充气脉冲按照有规律波动排列，例如，充气振幅一高一低，则，所述新组合充气脉冲中的充气脉冲也按照有规律波动排列。
具体地，在其中一实施例中，所述处理器50还控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：所述处理器50在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
具体地，在其中一实施例中，所述处理器50在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
具体地，在其中一实施例中，所述处理器50在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中的第一个或最后一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
以所述组合充气脉冲包括四个充气脉冲1、2、3、4为例进行说明。所述处理器50在插入所述新充气脉冲之后，保留所述组合充气脉冲中与所述新充气脉冲相邻的前一原始充气脉 冲、后一原始充气脉冲以及与所述后一原始充气脉冲相邻的原始充气脉冲，并将位于所述前一原始充气脉冲之前的原始充气脉冲舍弃掉。例如，如果在充气脉冲2和充气脉冲3之间插入新充气脉冲2.5，则，将所述组合充气脉冲的原始充气脉冲中的充气脉冲1舍弃掉，新的组合充气脉冲为2、2.5、3、4。
又如，如果所述前一原始充气脉冲为所述组合充气脉冲中原始充气脉冲中的第一充气脉冲，则，新组合充气脉冲为：保留所述组合充气脉冲中与所述新充气脉冲相邻的前一原始充气脉冲、后一原始充气脉冲以及与所述后一原始充气脉冲相邻的原始充气脉冲，且与所述后一原始充气脉冲相邻的原始充气脉冲为所述组合充气脉冲的第三个原始充气脉冲，则将所述组合充气脉冲的第四个充气脉冲舍弃掉，比如，如果在充气脉冲1和充气脉冲2之间插入新充气脉冲1.5，则，新的组合充气脉冲为1、1.5、2、3，并将所述组合充气脉冲中原始充气脉冲中的充气脉冲4舍弃掉。
具体地，在其中一实施例中，所述处理器50还控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：所述处理器50在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中连续的多个原始充气脉冲舍弃掉，并在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲后，使得所述新组合充气脉冲与原始的所述组合充气脉冲的脉冲个数相同。
具体地，在其中一实施例中，所述处理器50在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中连续的多个原始充气脉冲舍弃掉，并在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲。
例如，如果所述后一原始充气脉冲为所述组合充气脉冲中原始充气脉冲中的最后一原始充气脉冲，则，新的组合充气脉冲为：保留所述组合充气脉冲中与所述新充气脉冲相邻的前一原始充气脉冲以及后一原始充气脉冲，并将所述后一原始充气脉冲重复一次，且将所述组合充气脉冲中的原始充气脉冲舍弃掉两个。比如，如果在充气脉冲3和充气脉冲4之间插入新充气脉冲3.5，则，新的组合充气脉冲为3、3.5、4、4，并将原充气脉冲组中的原始充气脉冲1和2舍弃掉。
又如，如果所述拐点出现在所述充气脉冲1之前，表明当前组合充气脉冲的充气量过大，则，在充气脉冲1之前插入一个新充气脉冲，且该新充气脉冲的充气时间和充气幅值分别为所述充气脉冲1的充气时间和充气幅值的二分之一，则，将新的组合充气脉冲为0.5、1、2、3，并所述组合充气脉冲的原始充气脉冲中的充气脉冲4舍弃掉。
又如，如果所述拐点出现在所述充气脉冲4之后，表明当前组合充气脉冲的充气量过小，则将所述组合充气脉冲的前三个原始充气脉冲1、2、3都舍弃掉，并保留所述组合充气脉冲的原始充气脉冲4且重复三次，而得到新的组合充气脉冲为4、4、4、4。
也就是说，在其中一实施例中，所述处理器50还控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：
当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述 拐点靠近所述第一个充气脉冲时，将所述最后一个充气脉冲舍弃掉，以组成所述新组合充气脉冲；或者，
当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述最后一个充气脉冲时，将所述第一个充气脉冲舍弃掉，以组成所述新组合充气脉冲；或者，
当所述拐点位于所述组合充气脉冲中第一个充气脉冲前面时，将所述组合充气脉冲中包括最后一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述第一个脉冲前面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
当所述拐点位于所述组合充气脉冲中最后一个充气脉冲前面时，将所述组合充气脉冲中包括第一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述最后一个充气脉冲后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述第一个充气脉冲时，将所述组合充气脉冲中包括最后一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述第一个充气脉冲前面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述最后一个充气脉冲时，将所述组合充气脉冲中包括第一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述最后一个充气脉冲后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲。
如此重复，在每次组合充气脉冲完成之后，根据组合充气脉冲中的每个充气脉冲对应的关阀时的腹腔压力，确定腹腔压力的拐点，并调整组合充气脉冲使得组合充气脉冲的充气量与漏气量达到一个平衡，即，所述处理器50控制所述流量阀30按照插入新充气脉冲之后的新组合充气脉冲进行充气，最终使得调整后的组合充气脉冲的充气量与当前漏气量相匹配，以使得腹腔压力维持在预定范围内。
请一并参考图6，图6为本申请一实施例中气腹机用于负载匹配时的充气控制方法的流程示意图。所述充气控制方法应用于气腹机100上，所述气腹机100包括主机10、气腹管20、流量阀30和压力传感器40，所述主机10上设置有供气出口11，所述气腹管20的一端连接在所述主机10的供气出口11上，另一端用于与负载400相连；所述流量阀30设置在所述主机10上，并连接在所述气腹管20与一气源200之间；所述压力传感器40设置在所述主机10的供气出口11处，所述充气控制方法的执行顺序并不限于图6所示的顺序。所述充气控制方法包括步骤：
步骤S601：所述压力传感器40感测供气出口11处的压力。
步骤S602：当所述负载400连接在所述供气出口11时，获取所述压力传感器40测到的供气出口11处的压力值。
步骤S603：根据所述压力值控制调节所述流量阀30的气体流量，使得经由所述供气出口11以及所述气腹管20输送至病人腹腔内的气体流量与所述负载400相匹配，以维持病人腹腔的压力在预设范围内，其中，该预设范围使得腹腔对应部位具有可供手术的视野和操作 范围。
具体地，在其中一实施例中，根据所述压力值控制调节所述流量阀30的气体流量，使得经由所述供气出口11以及所述气腹管20输送至病人腹腔内的气体流量与所述负载400相匹配，包括：
将所述压力传感器40所感测的当前采样点的压力值与上一采样点的压力值进行比较；
在确定当前采样点的压力值大于上一采样点的压力值，且，所述当前采样点的压力值与所述上一采样点的压力值的差值大于第一阈值时，确定与所述气腹管20的远离所述主机10的一端连接的负载400更换为了压力更大的负载400；及
调节所述流量阀30的气体流量与所述压力更大的负载400相匹配。
具体地，在其中一实施例中，调节所述流量阀30的气体流量与所述压力更大的负载400相匹配，包括：
控制所述流量阀30暂时关闭供气，并在再次开始供气时自动调低所述流量阀30的气体流量使其与所述压力更大的负载400相匹配。
具体地，在其中一实施例中，根据所述压力值控制调节所述流量阀30的气体流量，使得经由所述供气出口11以及所述气腹管20输送至病人腹腔内的气体流量与所述负载400相匹配，包括：
将所述压力传感器40所感测的当前采样点的压力值与上一采样点的压力值进行比较；
在确定当前采样点的压力值小于上一采样点的压力值，且所述上一采样点的压力值与所述当前采样点的压力值的差值大于第二阈值时，确定与所述气腹管20的远离所述主机10的一端连接的负载400更换为了压力更小的负载400；及
调节所述流量阀30的气体流量使其与所述压力更小的负载400相匹配。
具体地，在其中一实施例中，调节所述流量阀30的气体流量使其与所述压力更小的负载400相匹配，包括：
在确定当前已更换压力更小的负载400时，则控制调大所述流量阀30的气体流量使其与所述压力更小的负载400相匹配。
从而，本申请的充气控制方法实现了自动匹配负载，为实际手术操作带来了极大的便利。
请一并参考图7，图7为本申请一实施例中气腹机用于漏气补偿时的充气控制方法流程示意图。所述充气控制方法应用于气腹机100上。所述气腹机100包括主机10、气腹管20和流量阀30，所述主机10上设置有供气出口11，所述气腹管20的一端连接在所述主机10的供气出口11上，另一端用于与负载400相连；所述流量阀30设置在所述主机10上，并连接在所述气腹管20与一气源200之间。所述充气控制方法的执行顺序并不限于图7所示的顺序。所述充气控制方法包括步骤：
步骤S701：获取检测到的病人的腹腔压力；
步骤S702：将当前采样点的腹腔压力与上一采样点的腹腔压力进行比较；
步骤S703：在当前采样点的腹腔压力相比上一采样点的腹腔压力下降大于腹腔压力预设值时，控制所述流量阀30通过组合充气脉冲进行充气以补充漏气所导致的腹腔压力的损失；及
步骤S704：根据实时的腹腔压力调整所述组合充气脉冲的参数，最终使得调整后的组合充气脉冲与当前漏气量相匹配以使得腹腔压力维持在预定范围内。
具体地，在其中一实施例中，所述组合充气脉冲为一串充气幅值和充气时间逐步变化的脉冲。也就是说，所述组合充气脉冲所包括的充气脉冲串的充气幅值和充气时间在逐步变化。
进一步地，在其中一实施例中，所述组合充气脉冲可以是有规律变化脉冲串。所述有规律变化脉冲串包括连续递增变化脉冲串。所述连续递增变化脉冲串至少包括充气幅值和/或充气时间的连续递增变化调整。具体地，所述连续递增变化脉冲串是指充气脉冲串的充气幅值和充气时间发生连续递增变化，例如，图4中所示的充气脉冲串1、2、3、4。
可以理解的是，在其它实施例中，所述有规律变化脉冲串还包括有规律波动变化脉冲串。所述有规律波动变化脉冲串是指充气脉冲串的充气时间和充气时间没有连续递增变化，但呈有规律波动变化，例如，将图4所示的充气脉冲串调整成1、3、2、4。
进一步地，在其中一实施例中，所述有规律变化脉冲串包括并不限于充气幅值和充气时间等参数的有规律变化调整。
具体地，在其中一实施例中，所述有规律变化脉冲串包括至少三个充气脉冲，所述至少三个充气脉冲的充气时间和充气幅值呈连续递增变化或者有规律波动变化。本实施例中，所述组合充气脉冲包括四个充气脉冲1、2、3、4。所述四个充气脉冲1、2、3、4的充气时间和充气幅值呈连续性变化。具体地，所述四个充气脉冲1、2、3、4的充气时间呈连续递增，充气幅值呈连续递增，且充气脉冲3和充气脉冲4的充气幅值基本相等。
“根据实时的腹腔压力调整所述组合充气脉冲的参数，最终使得调整后的组合充气脉冲与当前漏气量相匹配以使得腹腔压力维持在预定范围内”包括：
在执行所述组合充气脉冲中的每个充气脉冲时，获取每个充气脉冲完成后关阀时的腹腔压力；
在所述组合充气脉冲执行完成后，根据所述组合充气脉冲中的每个充气脉冲的关阀压力确定腹腔压力的拐点；
在该拐点处插入一个新充气脉冲，该新充气脉冲的充气时间和充气幅值与该组合充气脉冲中所有充气脉冲的充气时间和充气幅值的变化规律相适应；
控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，其中，所述新组合充气脉冲的充气脉冲的个数与所述组合充气脉冲中原始充气脉冲的个数相等；及
控制所述流量阀30按照所述新组合充气脉冲进行充气，最终使得调整后的组合充气脉冲的充气量与当前漏气量相匹配，以使得腹腔压力维持在预定范围内。
具体地，在其中一实施例中，在所述组合充气脉冲执行完成后，根据所述组合充气脉冲中的每个充气脉冲的关阀压力确定腹腔压力的拐点，包括：
将所述组合充气脉冲的若干个充气脉冲对应的关阀时的腹腔压力进行依次比较，当之前每次充气脉冲完成关阀时所测得的腹腔压力相对上一充气脉冲完成关阀时的腹腔压力都是递减，且当前充气脉冲完成关阀时的腹腔压力相对上一充气脉冲完成关阀时的腹腔压力开始递增，则确定出现拐点。
具体地，在其中一实施例中，“控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲”包括：
在该拐点处插入所述新充气脉冲之后还将所述组合充气脉冲的原始充气脉冲中的至少一个充气脉冲舍弃掉，及将所述组合充气脉冲所保留下来的原始充气脉冲中的至少一个充气脉冲重复至少一次，以得到所述新组合充气脉冲，且所述新组合充气脉冲中的充气脉冲的排列规律与所述组合充气脉冲的原始充气脉冲的排列规律相同；及，
控制所述流量阀30按照所述新组合充气脉冲进行充气
具体地，在其中一实施例中，控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
具体地，在其中一实施例中，在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲，包括：在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
具体地，在其中一实施例中，在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲，包括：在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中的第一个或最后一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
以所述组合充气脉冲包括四个充气脉冲1、2、3、4为例进行说明。所述处理器50在插入所述新充气脉冲之后，保留所述组合充气脉冲中与所述新充气脉冲相邻的前一原始充气脉冲、后一原始充气脉冲以及与所述后一原始充气脉冲相邻的原始充气脉冲，并将位于所述前一原始充气脉冲之前的原始充气脉冲舍弃掉。例如，如果在充气脉冲2和充气脉冲3之间插入新充气脉冲2.5，则，将所述组合充气脉冲的原始充气脉冲中的充气脉冲1舍弃掉，新的组合充气脉冲为2、2.5、3、4。
又如，如果所述前一原始充气脉冲为所述组合充气脉冲中原始充气脉冲中的第一充气脉冲，则，新组合充气脉冲为：保留所述组合充气脉冲中与所述新充气脉冲相邻的前一原始充气脉冲、后一原始充气脉冲以及与所述后一原始充气脉冲相邻的原始充气脉冲，且与所述后一原始充气脉冲相邻的原始充气脉冲为所述组合充气脉冲的第三个原始充气脉冲，则将所述组合充气脉冲的第四个充气脉冲舍弃掉，比如，如果在充气脉冲1和充气脉冲2之间插入新充气脉冲1.5，则，新的组合充气脉冲为1、1.5、2、3，并将所述组合充气脉冲中原始充气脉冲中的充气脉冲4舍弃掉。
具体地，在其中一实施例中，控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中连续的多个原始充气脉冲舍弃掉，并在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲后，使得所述新组合充气脉冲与原始的所述 组合充气脉冲的脉冲个数相同。
具体地，在其中一实施例中，在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中连续的多个原始充气脉冲舍弃掉，并在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲。
例如，如果所述后一原始充气脉冲为所述组合充气脉冲中原始充气脉冲中的最后一原始充气脉冲，则，新的组合充气脉冲为：保留所述组合充气脉冲中与所述新充气脉冲相邻的前一原始充气脉冲以及后一原始充气脉冲，并将所述后一原始充气脉冲重复一次，且将所述组合充气脉冲中的原始充气脉冲舍弃掉两个。比如，如果在充气脉冲3和充气脉冲4之间插入新充气脉冲3.5，则，新的组合充气脉冲为3、3.5、4、4，并将原充气脉冲组中的原始充气脉冲1和2舍弃掉。
又如，如果所述拐点出现在所述充气脉冲1之前，表明当前组合充气脉冲的充气量过大，则，在充气脉冲1之前插入一个新充气脉冲，且该新充气脉冲的充气时间和充气幅值分别为所述充气脉冲1的充气时间和充气幅值的二分之一，则，将新的组合充气脉冲为0.5、1、2、3，并所述组合充气脉冲的原始充气脉冲中的充气脉冲4舍弃掉。
又如，如果所述拐点出现在所述充气脉冲4之后，表明当前组合充气脉冲的充气量过小，则将所述组合充气脉冲的前三个原始充气脉冲1、2、3都舍弃掉，并保留所述组合充气脉冲的原始充气脉冲4且重复三次，而得到新的组合充气脉冲为4、4、4、4。
也就是说，在其中一实施例中，控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：
当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述第一个充气脉冲时，将所述最后一个充气脉冲舍弃掉，以组成所述新组合充气脉冲；或者，
当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述最后一个充气脉冲时，将所述第一个充气脉冲舍弃掉，以组成所述新组合充气脉冲；或者，
当所述拐点位于所述组合充气脉冲中第一个充气脉冲前面时，将所述组合充气脉冲中包括最后一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述第一个脉冲前面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
当所述拐点位于所述组合充气脉冲中最后一个充气脉冲前面时，将所述组合充气脉冲中包括第一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述最后一个充气脉冲后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述第一个充气脉冲时，将所述组合充气脉冲中包括最后一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述第一个充气脉冲前面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述最后一个充气脉冲时，将所述组合充气脉冲中包括第一个充气脉冲的连续多个 充气脉冲舍弃掉，并在所述最后一个充气脉冲后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲。
如此重复，在每次组合充气脉冲完成之后，根据组合充气脉冲中的每个充气脉冲对应的关阀时的腹腔压力，确定腹腔压力的拐点，并调整组合充气脉冲使得充气量与漏气量达到一个平衡，即，所述处理器50控制所述流量阀30按照插入新充气脉冲之后的新组合充气脉冲进行充气，最终使得调整后的组合充气脉冲与当前漏气量相匹配，以使得腹腔压力维持在预定范围内。
进一步地，所述气腹机100还包括存储器，所述存储器可为存储卡、固态存储器、微硬盘、光盘等计算机可读存储介质等。在一些实施例中，所述存储器中存储有若干程序指令，所述程序指令可被处理器50调用后执行前述的功能。
在一些实施例中，本发明还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有若干程序指令，所述若干程序指令供处理器50调用执行后，执行图6-7的任一方法步骤，从而实现负载自适应匹配，以及实现漏气匹配。在一些实施例中，所述计算机存储介质即为所述存储器50，可为存储卡、固态存储器、微硬盘、光盘等任意可存储信息的存储设备。
从而，本申请的应用于漏气补偿的充气控制方法实现了漏气自动补偿，为实际手术操作带来了极大的便利。
以上对本申请实施例进行了详细介绍，本文中应用了具体个例对本申请的原理及实施例进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施例及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (39)

  1. 一种气腹机，其特征在于，所述气腹机包括主机、气腹管、流量阀、压力传感器和处理器，所述主机上设置有供气出口，所述气腹管的一端连接在所述主机的供气出口上，另一端用于与负载相连；所述流量阀设置在所述主机上，并连接在所述气腹管与一气源之间；所述压力传感器设置在所述主机的供气出口处，用于感测供气出口处的压力；所述处理器与所述流量阀和所述压力传感器连接；当所述负载连接在所述供气出口时，所述处理器获取所述压力传感器测到的供气出口处的压力值，并根据所述压力值控制调节所述流量阀的气体流量，使得经由所述供气出口以及所述气腹管输送至病人腹腔内的气体流量与所述负载相匹配以维持病人腹腔的压力在预设范围内，其中，该预设范围使得腹腔对应部位具有可供手术的视野和操作范围。
  2. 如权利要求1所述的气腹机，其特征在于，所述处理器将所述压力传感器所感测的当前采样点的压力值与上一采样点的压力值进行比较，并在确定当前采样点的压力值大于上一采样点的压力值，且，所述当前采样点的压力值与所述上一采样点的压力值的差值大于第一阈值时，确定与所述气腹管的远离所述主机的一端连接的负载更换为了压力更大的负载，则调节所述流量阀的气体流量与所述压力更大的负载相匹配。
  3. 如权利要求2所述的气腹机，其特征在于，所述处理器在确定与所述气腹管的远离所述主机的一端连接的负载更换为了压力更大的负载，还控制所述流量阀暂时关闭供气，且在再次开始供气时调低所述流量阀的气体流量使其与所述压力更大的负载相匹配。
  4. 如权利要求1所述的气腹机，其特征在于，所述处理器将所述压力传感器所感测的当前采样点的压力值与上一采样点的压力值进行比较，并在确定当前采样点的压力值小于上一采样点的压力值，且所述上一采样点的压力值与所述当前采样点的压力值的差值大于第二阈值时，确定与所述气腹管的远离所述主机的一端连接的负载更换为了压力更小的负载，则调节所述流量阀的气体流量使其与所述压力更小的负载相匹配。
  5. 如权利要求4所述的气腹机，其特征在于，所述处理器在确定与所述气腹管的远离所述主机的一端连接的负载更换为了压力更小的负载，则控制调大所述流量阀的气体流量使其与所述压力更小的负载相匹配。
  6. 如权利要求2至5任一项所述的气腹机，其特征在于，所述处理器根据PID调节器或PI调节器调节所述流量阀的气体流量使其与所述压力更大或更小的负载相匹配。
  7. 一种气腹机，其特征在于，所述气腹机包括主机、气腹管、流量阀和处理器，所述主机上设置有供气出口，所述气腹管的一端连接在所述主机的供气出口上，另一端用于与负载相连；所述流量阀设置在所述主机上，并连接在所述气腹管与一气源之间；所述处理器获取检测到的病人的腹腔压力，并在确定当前采样点的腹腔压力相比上一采样点的腹腔压力下降大于腹腔压力预设值时，控制所述流量阀通过组合充气脉冲进行充气以补充漏气所导致的腹腔压力的损失，并根据实时的腹腔压力调整所述组合充气脉冲的参数，最终使得调整后的组合充气脉冲的充气量与当前漏气量相匹配以使得腹腔压力维持在预定范围内。
  8. 如权利要求7所述的气腹机，其特征在于，所述气腹机还包括腹腔压力检测器，所述腹腔压力检测器用于检测病人的腹腔压力并将检测数据传输至所述处理器进行处理；或者，
    所述腹腔压力由一独立于所述气腹机的腹腔压力检测器检测而得，且该腹腔压力检测器将监测数据传输至所述气腹机的处理器进行处理。
  9. 如权利要求7所述的气腹机，其特征在于，所述组合充气脉冲包括有规律变化脉冲串。
  10. 如权利要求9所述的气腹机，其特征在于，所述有规律变化脉冲串包括连续递增变化脉冲串，所述连续递增变化脉冲串至少包括充气幅值和/或充气时间的连续递增变化调整。
  11. 如权利要求9所述的气腹机，其特征在于，所述有规律变化脉冲串包括有规律波动变化脉冲串，所述有规律波动变化脉冲串至少包括充气幅值和/或充气时间的有规律波动变化调整。
  12. 如权利要求9所述的气腹机，其特征在于，所述有规律变化脉冲串包括至少三个充气脉冲，所述至少三个充气脉冲的充气时间和/或充气幅值连续递增变化或者有规律波动变化。
  13. 如权利要求7所述的气腹机，其特征在于，在执行所述组合充气脉冲中的每个充气脉冲时，所述处理器获取每个充气脉冲完成后关阀时的腹腔压力，并在所述组合充气脉冲执行完成后，根据所述组合充气脉冲中的每个充气脉冲的关阀压力确定腹腔压力的拐点，并在该拐点处插入一个新充气脉冲，该新充气脉冲的充气时间和充气幅值分别与该组合充气脉冲中所有充气脉冲的充气时间和充气幅值的变化规律相适应，所述处理器还控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，其中，所述新组合充气脉冲与所述组合充气脉冲中的充气脉冲个数相等，所述处理器还控制所述流量阀按照所述新组合充气脉冲进行充气，最终使得调整后的组合充气脉冲的充气量与当前漏气量相匹配，以使得腹腔压力维持在预定范围内。
  14. 如权利要求13所述的气腹机，其特征在于，所述处理器还控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：所述处理器在该拐点处插入所述新充气脉冲之后，还将所述组合充气脉冲的原始充气脉冲中的至少一个充气脉冲舍弃掉，并将所述组合充气脉冲中所保留下来的原始充气脉冲中的至少一个充气脉冲重复至少一次，以得到所述新组合充气脉冲，且所述新组合充气脉冲中的充气脉冲的排列规律与所述组合充气脉冲的原始充气脉冲的排列规律相同，且控制所述流量阀按照所述新组合充气脉冲进行充气。
  15. 如权利要求13所述的气腹机，其特征在于，所述处理器控制将该新充气脉冲与所述组合充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：所述处理器在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
  16. 如权利要求15所述的气腹机，其特征在于，所述处理器在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
  17. 如权利要求16所述的气腹机，其特征在于，所述处理器在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中的第一个或最后一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
  18. 如权利要求13所述的气腹机，其特征在于，所述处理器控制将该新充气脉冲与所述 组合充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：所述处理器在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中连续的多个原始充气脉冲舍弃掉，并在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲后，使得所述新组合充气脉冲与原始的所述组合充气脉冲的脉冲个数相同。
  19. 如权利要求18所述的气腹机，其特征在于，所述处理器在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中连续的多个原始充气脉冲舍弃掉，并在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲。
  20. 如权利要求13所述的气腹机，其特征在于，所述处理器还控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：
    当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述第一个充气脉冲时，将所述最后一个充气脉冲舍弃掉，以组成所述新组合充气脉冲；或者，
    当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述最后一个充气脉冲时，将所述第一个充气脉冲舍弃掉，以组成所述新组合充气脉冲；或者，
    当所述拐点位于所述组合充气脉冲中第一个充气脉冲前面时，将所述组合充气脉冲中包括最后一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述第一个脉冲前面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
    当所述拐点位于所述组合充气脉冲中最后一个充气脉冲前面时，将所述组合充气脉冲中包括第一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述最后一个充气脉冲后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
    当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述第一个充气脉冲时，将所述组合充气脉冲中包括最后一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述第一个充气脉冲前面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
    当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述最后一个充气脉冲时，将所述组合充气脉冲中包括第一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述最后一个充气脉冲后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲。
  21. 一种充气控制方法，其特征在于，应用于气腹机上，所述气腹机包括主机、气腹管、流量阀和压力传感器，所述主机上设置有供气出口，所述气腹管的一端连接在所述主机的供气出口上，另一端用于与负载相连；所述流量阀设置在所述主机上，并连接在所述气腹管与一气源之间；所述压力传感器设置在所述主机的供气出口处，所述充气控制方法包括步骤：
    所述压力传感器感测供气出口处的压力；
    当所述负载连接在所述供气出口时，获取所述压力传感器测到的供气出口处的压力值； 及
    根据所述压力值控制调节所述流量阀的气体流量，使得经由所述供气出口以及所述气腹管输送至病人腹腔内的气体流量与所述负载相匹配，以维持病人腹腔的压力在预设范围内，其中，该预设范围使得腹腔对应部位具有可供手术的视野和操作范围。
  22. 如权利要求21所述的充气控制方法，其特征在于，根据所述压力值控制调节所述流量阀的气体流量，使得经由所述供气出口以及所述气腹管输送至病人腹腔内的气体流量与所述负载相匹配，包括：
    将所述压力传感器所感测的当前采样点的压力值与上一采样点的压力值进行比较；
    在确定当前采样点的压力值大于上一采样点的压力值，且，所述当前采样点的压力值与所述上一采样点的压力值的差值大于第一阈值时，确定与所述气腹管的远离所述主机的一端连接的负载更换为了压力更大的负载；及
    调节所述流量阀的气体流量与所述压力更大的负载相匹配。
  23. 如权利要求22所述的充气控制方法，其特征在于，调节所述流量阀的气体流量与所述压力更大的负载相匹配，包括：
    控制所述流量阀暂时关闭供气，且在再次开始供气时控制调低所述流量阀的气体流量使其与所述压力更大的负载相匹配。
  24. 如权利要求21所述的充气控制方法，其特征在于，根据所述压力值控制调节所述流量阀的气体流量，使得经由所述供气出口以及所述气腹管输送至病人腹腔内的气体流量与所述负载相匹配，包括：
    将所述压力传感器所感测的当前采样点的压力值与上一采样点的压力值进行比较；
    在确定当前采样点的压力值小于上一采样点的压力值，且所述上一采样点的压力值与所述当前采样点的压力值的差值大于第二阈值时，确定与所述气腹管的远离所述主机的一端连接的负载更换为了压力更小的负载；及
    调节所述流量阀的气体流量使其与所述压力更小的负载相匹配。
  25. 如权利要求24所述的充气控制方法，其特征在于，调节所述流量阀的气体流量使其与所述压力更小的负载相匹配，包括：
    在确定当前已更换压力更小的负载时，则控制调大所述流量阀的气体流量使其与所述压力更小的负载相匹配。
  26. 一种充气控制方法，其特征在于，应用于气腹机上，所述气腹机包括主机、气腹管和流量阀，所述主机上设置有供气出口，所述气腹管的一端连接在所述主机的供气出口上，另一端用于与负载相连；所述流量阀设置在所述主机上，并连接在所述气腹管与一气源之间；所述充气控制方法包括步骤：
    获取检测到的病人的腹腔压力；
    将检测到的当前采样点的腹腔压力与上一采样点的腹腔压力进行比较；
    在所述当前采样点的腹腔压力相比上一采样点的腹腔压力下降大于腹腔压力预设值时，控制所述流量阀通过组合充气脉冲进行充气以补充漏气所导致的腹腔压力的损失；及
    根据实时的腹腔压力调整所述组合充气脉冲的参数，最终使得调整后的组合充气脉冲与 当前漏气量相匹配以使得腹腔压力维持在预定范围内。
  27. 如权利要求26所述的充气控制方法，其特征在于，所述组合充气脉冲包括有规律变化脉冲串。
  28. 如权利要求27所述的充气控制方法，其特征在于，所述有规律变化脉冲串包括连续递增变化脉冲串，所述连续递增变化脉冲串至少包括充气幅值和/或充气时间的连续递增变化调整。
  29. 如权利要求27所述的充气控制方法，其特征在于，所述有规律变化脉冲串包括有规律波动变化脉冲串，所述有规律波动变化脉冲串至少包括充气幅值和/或充气时间的有规律波动变化调整。
  30. 如权利要求27所述的充气控制方法，其特征在于，所述有规律变化脉冲串包括至少三个充气脉冲，所述至少三个充气脉冲的充气时间和/或充气幅值连续递增变化或者有规律波动变化。
  31. 如权利要求26所述的充气控制方法，其特征在于，“根据实时的腹腔压力调整所述组合充气脉冲的参数，最终使得调整后的组合充气脉冲与当前漏气量相匹配以使得腹腔压力维持在预定范围内”包括：
    在执行所述组合充气脉冲中的每个充气脉冲时，获取每个充气脉冲完成后关阀时的腹腔压力；
    在所述组合充气脉冲执行完成后，根据所述组合充气脉冲中的每个充气脉冲的关阀压力确定腹腔压力的拐点；
    在该拐点处插入一个新充气脉冲，该新充气脉冲的充气时间和充气幅值分别与该组合充气脉冲中所有充气脉冲的充气时间和充气幅值的变化规律相适应；及
    控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，其中，所述新组合充气脉冲与所述组合充气脉冲中的充气脉冲个数相等；及
    控制所述流量阀按照所述新组合充气脉冲进行充气，最终使得调整后的组合充气脉冲的充气量与当前漏气量相匹配，以使得腹腔压力维持在预定范围内。
  32. 如权利要求31所述的充气控制方法，其特征在于，“控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲”包括：
    在该拐点处插入所述新充气脉冲之后，还将所述组合充气脉冲的原始充气脉冲中的至少一个充气脉冲舍弃掉，并将所述组合充气脉冲中所保留下来的原始充气脉冲中的至少一个充气脉冲重复至少一次，以得到所述新组合充气脉冲，且所述新组合充气脉冲中的充气脉冲的排列规律与所述组合充气脉冲的原始充气脉冲的排列规律相同；及
    控制所述流量阀按照所述新组合充气脉冲进行充气。
  33. 如权利要求31所述的充气控制方法，其特征在于，“控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲”包括：
    在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
  34. 如权利要求33所述的充气控制方法，其特征在于，“在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲”包括：
    在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
  35. 如权利要求33所述的充气控制方法，其特征在于，“在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中的一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲”包括：
    在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中的第一个或最后一个原始充气脉冲舍弃掉，以形成所述新组合充气脉冲。
  36. 如权利要求32所述的充气控制方法，其特征在于，“控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲”包括：
    在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中连续的多个原始充气脉冲舍弃掉，并在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲后，使得所述新组合充气脉冲与原始的所述组合充气脉冲的脉冲个数相同。
  37. 如权利要求36所述的充气控制方法，其特征在于，“在将所述新充气脉冲插入所述组合充气脉冲之后，还将所述组合充气脉冲中连续的多个原始充气脉冲舍弃掉，并在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲”包括：
    在将所述新充气脉冲插入所述组合充气脉冲之后，还基于所述拐点出现的位置将所述组合充气脉冲中连续的多个原始充气脉冲舍弃掉，并在所述组合充气脉冲前面或后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲。
  38. 如权利要求31所述的充气控制方法，其特征在于，控制将该新充气脉冲与所述组合充气脉冲的原始充气脉冲中的部分充气脉冲重新组合为新组合充气脉冲，包括：
    当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述第一个充气脉冲时，将所述最后一个充气脉冲舍弃掉，以组成所述新组合充气脉冲；或者，
    当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述最后一个充气脉冲时，将所述第一个充气脉冲舍弃掉，以组成所述新组合充气脉冲；或者，
    当所述拐点位于所述组合充气脉冲中第一个充气脉冲前面时，将所述组合充气脉冲中包括最后一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述第一个脉冲前面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
    当所述拐点位于所述组合充气脉冲中最后一个充气脉冲前面时，将所述组合充气脉冲中包括第一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述最后一个充气脉冲后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
    当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述 拐点靠近所述第一个充气脉冲时，将所述组合充气脉冲中包括最后一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述第一个充气脉冲前面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲；或者，
    当所述拐点位于所述组合充气脉冲中第一个充气脉冲和最后一个充气脉冲之间，且所述拐点靠近所述最后一个充气脉冲时，将所述组合充气脉冲中包括第一个充气脉冲的连续多个充气脉冲舍弃掉，并在所述最后一个充气脉冲后面补充适当个数的新的充气脉冲，以形成所述新组合充气脉冲。
  39. 一种计算机可读存储介质，所述计算机可读存储介质中存储有若干程序指令，所述若干程序指令供处理器调用执行后，执行如权利要求21至38任一项的步骤。
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