恒压腹腔镜手术辅助系统  

Constant Pressure Laparoscopic Surgery Assistant System

作　　者：徐银铃 黄陈[2] 陈庆奎[1] XU Yinling;HUANG Chen;CHEN Qingkui(School of Optical-Electrical Computer Engineering,University of Shanghai for Science&Technology,Shanghai 200093;Shanghai Ceneral Hospital,Shanghai 200080)

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093 [2]上海市第一人民医院,上海200080

出　　处：《计算机与数字工程》2024年第6期1643-1649,共7页Computer & Digital Engineering

基　　金：国家自然科学基金项目(编号:61572325);上海重点科技攻关项目(编号:19DZ1208903);高等学校博士学科点专项科研博导基金(编号:20113120110008);上海交通大学医学院医工交叉项目(编号:YG2017MS28)资助。

摘　　要：随着腹腔镜手术在临床上的广泛应用,逐渐暴露出电子气腹机的局限性:一方面气腹机在建立气腹的同时会造成腹腔压力冲击,使体内部分组织受到损伤;另一方面,气腹机调节腹压时容易超调,腹腔压力控制的稳定性不够。针对腹腔镜手术中腹腔压力控制稳定性、柔顺性问题,提出了恒压腹腔镜手术辅助系统:对传统气腹机结构做出改进,用电动调节阀取代原本的多级电磁阀组合结构,实现渐变式流量调节;分析了阀口流量特性并对腹腔建模,提出了渐变式阀门函数,能提前关闭阀门,避免了由阀门滞后带来的腹压超调;最后系统在渐变式恒压控制策略下保证手术过程腹压的稳定。实验表明系统在该策略下能够稳定的工作。With the wide application of laparoscopic surgery in clinical practice,the limitations of electronic pneumoperitone-um machines are gradually exposed:on the one hand,pneumoperitoneum machines will cause pressure shocks in the abdominal cavity while establishing pneumoperitoneum,which will damage some tissues in the body.On the other hand,the stability of the pneumoperitoneum for abdominal pressure control still needs to be improved.Aiming at the stability and flexibility of abdominal pressure control in laparoscopic surgery,a constant pressure laparoscopic surgery assistant system is proposed.This system im-proves the traditional pneumoperitoneum by replacing the multi-stage solenoid valve combination structure with an electric regulat-ing valve,and realizes a gradual flow adjustment.After analyzing the flow characteristics of the valve port and modeling the abdomi-nal cavity,a gradual valve function is obtained,which can close the valve in advance and avoid the overshoot of the abdominal pres-sure caused by the valve lag.Finally,the system ensures the stability of abdominal pressure during the operation under the gradual constant pressure control strategy.Experiments show that the system can work stably under this strategy.

关 键 词：Raspberry PI 柔顺控制 自动化技术 电动调节阀 

分 类 号：R612[医药卫生—外科学]