CN209984261U - Numerical control system capable of controlling pressure of renal pelvis in ureteroscope operation in real time based on monitoring of sheath side optical fiber pressure sensor - Google Patents

Abstract

The utility model discloses a numerical control system capable of real-time control of renal pelvis pressure during flexible ureteroscopy based on sheath-side optical fiber pressure sensor monitoring. It is composed of CNC platform and intelligent terminal. In the system, the perfusion pump with the flexible mirror connected to the numerical control platform enters the kidney through the main channel of the ureter introduction sheath, and the optical fiber pressure sensor enters the renal pelvis through the side channel to monitor the renal pelvis pressure. Both channels can be connected to the negative pressure suction of the numerical control platform. The numerical control platform adjusts the perfusion and suction pressure feedback according to the measured pressure, and communicates data with the intelligent terminal through wired/wireless. The utility model has the advantages of real-time precise pressure control, convenient adjustment and maintenance, etc., can effectively prevent complications such as kidney injury and serious infection caused by high pressure during flexible endoscopy, and improve the safety and efficiency of the operation.

Description

Monitoring of renal pelvis pressure during flexible ureteroscopy based on sheath-side fiber optic pressure sensor monitoring CNC system with real-time control

technical field

The utility model relates to the field of medical equipment, in particular to a numerical control operating system for cooperating with flexible ureteroscope surgery, based on optical fiber sensor pressure measurement in a sheath side channel, and capable of realizing automatic real-time monitoring and control of renal intrarenal pressure. The system consists of an optical fiber pressure sensor and corresponding optical system, a ureteral introduction sheath with independent dual channels that can be connected to negative pressure, a numerical control platform with perfusion/suction function, and a mobile terminal installed with acquisition and analysis client software.

Background technique

my country is one of the three high-incidence areas of calculi in the world. Urinary calculi is a common disease in urology. In recent years, the incidence of calculi in the urinary tract has gradually increased. With the development of diagnosis and treatment technology, in the field of stone treatment, traditional open surgery has been replaced by various minimally invasive treatment methods. As a new minimally invasive technique, flexible ureteroscopic surgery has the advantages of less trauma, faster recovery, and higher stone clearance rate. It is currently widely used in the surgical treatment of upper urinary tract stones.

Problems existing in the prior art:

In the current routine flexible ureteroscopic lithotripsy, the powder of the stone and the hematuria in the renal pelvis can cause blurred vision, and irrigation fluid needs to be perfused to keep the vision clear, but at the same time, the pressure in the renal pelvis will increase significantly due to excessive perfusion and poor return flow. , causing infected urine, bacteria and endotoxins to enter the blood and lymphatic circulation, leading to postoperative fever, systemic inflammatory response syndrome, and even fatal urosepsis.

In order to prevent serious infection caused by excessive renal pelvis pressure during flexible endoscopy, it is necessary to control the intraoperative pressure in the renal pelvis within a safe range, so a pressure control system with the operation is developed. Since the system needs to feedback adjust the perfusion velocity and/or the suction value of the negative pressure according to the intraoperative renal pelvis pressure, whether the adopted manometry method can measure the renal pelvis pressure in real time and accurately is to ensure that the system has good performance and The cornerstone of surgical safety. At present, the following pressure measurement methods are mainly used: 1. The retrogradely inserted ureteral catheter is located outside the sheath of the flexible ureteroscope guide sheath, and is connected to a hydraulic pressure gauge to obtain the liquid pressure in the ureteral catheter. 2. A pressure measuring channel is set on the part where the flexible ureteroscope is introduced into the sheath, and the pressure measuring channel is connected to a hydraulic pressure gauge or a sensor is set at the port of the channel to obtain the liquid pressure of the external port of the flexible scope guide sheath. 3. Insert a flexible endoscope introducer sheath with an independent side channel, the distal end of the side channel is located at the end of the introducer sheath, and the proximal opening of the side channel is connected to a hydraulic pressure gauge to obtain the liquid pressure in the side channel. 4. Perform nephrostomy, connect the nephrostomy tube to a hydraulic monitor to monitor the pressure in the renal pelvis. These methods all have certain defects. First, due to the low propagation speed of pressure in the liquid and the long distance from the pressure measurement point to the transducer, the pressure data obtained by the above methods are not real-time. Secondly, the pressure measured by methods 1-3 represents the pressure at the end of the pressure measuring pipe. Because the position of the introducer sheath or ureteral catheter is not fixed during the operation, it is often displaced to the upper ureter due to the surgical operation. At this time, the pressure in the renal pelvis is It cannot be transmitted to the pressure measuring place in time, and the measured pressure value may be low, so there is a position accuracy error. In extreme cases, if there is a stenosis in the ureter (or the ureteropelvic junction) at the distal end of the pressure measuring tube, the error in the measured pressure value will be larger at this time, which may lead to excessive increase in perfusion under misjudgment, and eventually lead to the actual situation in the renal pelvis. high pressure conditions. Although method 4 with nephrostomy can accurately reflect the intrarenal pressure, nephrostomy additionally increases surgical trauma and may increase the risk of surgical bleeding, so it is not suitable for routine use. In addition, some authors conceived of placing a fiber optic pressure sensor at the front end of the flexible ureteroscope to facilitate real-time measurement of the pressure in the operating area. However, due to the intraoperative lithotripsy laser causing the tumbling of the calculus, the appearance of a large number of calculus powder debris, and the laser injection The energy increases the temperature of the pressure measurement area instantaneously, which may cause the liquid pressure in a small range of the front end of the mirror to increase transiently, causing additional impact interference to the optical fiber pressure measurement, which greatly affects the accuracy and accuracy of the pressure measurement. And the stability of the pressure control of the CNC platform. Finally, the control and operation interfaces of these pressure control systems are mostly integrated with the host, and the adjustment parameters and control modules are relatively fixed, which is not conducive to the storage and acquisition of clinical scientific research data and the upgrading and updating of firmware.

SUMMARY OF THE INVENTION

The purpose of the utility model is to provide a numerical control system capable of cooperating with flexible ureteroscope and having intraoperative pressure monitoring function based on sheath side optical fiber pressure sensor monitoring and real-time control of renal pelvis pressure during flexible ureteroscope operation.

In order to solve the related technical problems, the utility model adopts the following technical solutions:

A numerical control system based on sheath-side optical fiber pressure sensor monitoring that can control renal pelvis pressure in real time during flexible ureteroscopy, including flexible ureteroscopy, optical fiber pressure sensor and corresponding optical system, ureteral introduction with independent dual channels that can be connected to negative pressure A sheath, a numerical control platform with perfusion/suction function, and an intelligent terminal device; it is characterized in that: the perfusion pump connected with the flexible ureteroscope to the numerical control platform enters the renal pelvis from the main channel of the ureteral introduction sheath with independent dual channels that can be connected to negative pressure to carry out surgical operations Or perfusion, the fiber optic pressure sensor enters the renal pelvis from the side channel of the ureteral introducer sheath with independent dual channels that can be connected to negative pressure for pressure measurement; the main channel and side channel of the ureteral introducer sheath with independent dual channels that can be connected to negative pressure are two Independent channel, can be connected to the negative pressure suction of the numerical control platform; the numerical control platform feedback adjusts the perfusion pressure and suction negative pressure according to the real-time pressure value measured by the fiber optic pressure sensor, so as to maintain the pressure at the preset safety Within the threshold range; the CNC platform interacts with the intelligent terminal equipment through wired/wireless data.

The optical fiber pressure sensor and the corresponding optical system include an optical fiber pressure sensor and an optical fiber conduction part, and the optical fiber conduction part composed of polarization-maintaining optical fiber enters the renal pelvis or ureter through the side channel of the ureter introduction sheath with independent dual channels that can be connected to negative pressure. For pressure measurement, one end of the optical fiber conducting part is connected to the fiber optic pressure sensor, and the other end passes through the side channel of the ureteral introduction sheath with independent dual channels that can be connected to negative pressure, the Y-shaped valve, and is led out from the main hole of the Y-shaped valve. The receiving port of the optical fiber sensing demodulation module is connected to a numerical control platform with a built-in optical fiber sensing demodulation module.

The described ureteral introduction sheath with independent double channels that can be connected to negative pressure is composed of a hollow outer sheath and a hollow inner core nested into the outer sheath, all of which are made of soft materials; the outer sheath is divided into a body cavity insertion part and a trumpet-shaped Functional connection part; the outer sheath is provided with two independent channels: the main channel and the side channel; the proximal end of the main channel is provided with a side channel, and the side channel is connected to the negative pressure bottle through the connecting pipeline, becoming the first negative pressure channel; Y-type valve connection Side channel, the main hole of the Y-type valve is used to connect the optical fiber signal output end, the side hole of the Y-type valve can be used to connect the negative pressure bottle, and it can also be closed. When the side hole of the Y-type valve is connected to the negative pressure bottle, the side channel Then it becomes the second negative pressure channel; a lateral pressure buffer channel is first set up where the main channel enters the functional connection part, and the pressure buffer channel can be opened to communicate with the outside air during the operation, or it can be closed; behind the pressure buffer channel, there is a The side channel that communicates with the main channel is used to connect the first negative pressure channel; the side channel is an independent channel, used to guide the optical fiber into the operation area, and can be connected to the negative pressure to become the second negative pressure channel; the distal end of the side channel The part is designed as a beveled opening.

The inclination angle between the opening of the inclined plane and the horizontal line of the side channel is equal to 1/2 of the tip angle of the maximum longitudinal section of the ureteral introduction sheath core.

The numerical control platform is a numerical control platform with a built-in optical fiber sensing demodulation module. The numerical control platform integrates the functions of perfusion/suction, pressure measurement data reception, and real-time feedback pressure control. It has a variety of preset working modes, and can be controlled by The panel buttons adjust parameters and switch working modes; the numerical control platform reserves a data exchange port, which can connect to intelligent terminal equipment through wired/wireless.

The above CNC platform can also preset 4 working modes: perfusion-suction pressure control mode, perfusion-pressure monitoring mode of pure perfusion and manometry, suction-pressure monitoring mode of simple suction and manometry, low flow and high negative pressure The calyceal stenosis mode, the perfusion-suction pressure control mode is that the exponential control platform increases/or decreases the speed of the irrigation fluid pumped by the perfusion pump through real-time feedback according to the real-time pressure value measured by the optical fiber pressure sensor. The amount of perfusion pressure, and by increasing/or decreasing the degree of closure of the electronically controlled regulating valve, adjust the suction negative pressure, so as to maintain the pressure within the preset safety threshold range; the numerical control platform can also switch the suitable one according to the intraoperative situation. Any one of 4 preset working modes; for patients with calyceal neck stenosis determined during surgery, when the flexible scope enters the calyx with stenotic calyx neck lithotripsy, the calyceal stenosis built in the CNC platform can be activated Mode, perform low-flow perfusion, high negative pressure suction lithotripsy operation.

The above-mentioned optical fiber sensing demodulation module built into the numerical control platform includes a polarization-maintaining coupler, an elliptically polarized light polarizer, a broadband light source, a signal conditioning and interface circuit, a photoelectric converter and an interferometric demodulator. The polarization-maintaining coupler is used to convert the The elliptically polarized light sent by the elliptically polarized light polarizer is coupled into the optical fiber pressure sensor, and the polarized light reflected by the optical fiber pressure sensor is coupled into the interferometric demodulator; the signal conditioning and interface circuit can convert the electrical energy generated by the photoelectric converter. The signal is conditioned and connected to the numerical control platform through the bus interface after being digitized; the interferometric demodulator can convert the optical phase signal sent by the polarization-maintaining coupler into an optical amplitude signal.

The above CNC platform can also have built-in pressure control algorithm processor and monitoring and protection processor, and the analog signal output of optical fiber pressure sensor is converted to a 16-bit high-speed high-precision analog-to-digital converter and then processed by the serial peripheral bus to the pressure control algorithm. After processing, the pressure control algorithm processor sends out the control signal through the 16-bit high-speed high-precision digital-to-analog converter to the valve output drive control. After the analog-digital converter is converted, it is sent to the monitoring and protection processor through the serial peripheral bus, and the monitoring and protection processor sends a control signal to the valve output drive control after processing, and the valve output drive control is connected to the electric control valve. The pressure control algorithm The processor communicates with the supervisory protection processor through the field bus.

Specifically, the numerical control system of the present invention consists of a flexible ureteroscope introducing sheath, an optical fiber pressure sensor and its corresponding interferometric demodulation optical sensing system, a numerical control platform with perfusion/suction function, and a collection and analysis function. It is composed of intelligent terminal equipment with terminal software. 1. The ureteral introducer sheath with independent dual channels that can be connected to negative pressure: the ureteral introducer sheath has a main channel and a side channel. Both channels can be connected to the suction pipeline controlled by the numerical control platform for negative pressure suction. The diameter of the main channel is softer than that of the ureter. The scope is slightly larger. During the operation, the flexible ureteroscope enters the renal pelvis and ureter through the main channel for lithotripsy and other surgical operations. The fiber optic pressure sensor enters the renal pelvis and ureter surgery area through an independent side channel for pressure measurement. In addition, a "pressure buffer channel" is designed at the end of the main channel, which can act like a "safety valve" to avoid extreme high pressure in the renal pelvis due to system failure, or excessive negative pressure leading to ureteral or renal pelvis mucosa. Aspirate the introducer sheath channel. In addition, the operator can temporarily close the opening of the buffer channel with fingers at any time during the operation, and then manually increase the suction negative pressure, and at the same time cooperate with the retraction of the flexible mirror, so that the stone debris remaining near the opening of the renal pelvis of the sheath or blocked in the sheath , The blood clot is easily sucked out, ensuring the smooth return of the flushing fluid. 2. Optical fiber pressure sensor and corresponding optical system: A small-volume Bragg grating that can enter the renal pelvis with the guide sheath is used as the pressure sensor. The sensor modulates the pressure information in the renal pelvis on the polarization angle of the incident elliptically polarized light. The reflection mirror at the bottom of the Bragg grating is reflected by the polarization maintaining fiber back to the interferometric optical demodulator built in the numerical control platform to demodulate the pressure signal and digitize it and send it to the numerical control pressure control system as a display and control parameter. 3. Numerical control platform with perfusion/suction function: It adopts high-speed and high-reliability data acquisition system and advanced proportional-integral dual-loop control algorithm. The perfusion pressure, speed, and suction pressure of negative pressure, as well as a variety of preset perfusion/suction pressure control modes, can be adjusted according to the specific situation during the operation. In addition, the port is set to output the pressure measured by the optical fiber and the real-time parameters when the platform is working in the form of digital signals, and connect the computer or mobile terminal equipment through wired/wireless. In addition, the CNC platform reserves input ports, which can be used to modify the preset working modes, add new working modes, and calibrate and maintain key parameters through the client. 4. Install the intelligent terminal equipment that collects the client software: the intelligent terminal equipment can be a computer, a tablet, a smart phone, and the terminal program is connected to the front-end pressure sensor for data connection, and the front-end sensor data is received in real time, and data analysis is performed. In addition, the terminal program is real-time. Store each set of experimental data, build a database through experimental accumulation, conduct data analysis, and gradually optimize the pressure control plan through data iterative convergence, generate a situational optimal pressure control mode according to the specific clinical situation, and then import the newly generated mode into the CNC platform for It can be updated and maintained according to the key parameters of the CNC platform, and related programs and data interfaces are also opened to facilitate the addition of various functional modules to the client as needed in the later stage.

Main features and beneficial effects of the present utility model:

1. The pressure measurement is real-time, accurate and high in precision: the present utility model adopts an optical fiber pressure sensor for pressure measurement. Compared with the traditional hydraulic sensor, its main advantage is that the transmission speed is fast, the sensitivity and precision are high, and the pressure measurement can be realized. real-time monitoring. Due to the small diameter of the fiber optic pressure sensor, the diameter of the side channel of the flexible ureteroscope introducing sheath has to be designed as small as possible, which may avoid the overall diameter of the introducing sheath being too thick and increasing the difficulty of surgical sheath placement. The optical fiber pressure sensor is similar in shape and flexibility to the safety guide wire, so it can smoothly enter the perfusion area of the renal pelvis or ureter through the side channel. Because in the renal collecting system, the renal pelvis is connected with each renal calyx, and the liquid pressure in the collecting system is constant. It is basically the same, so when the flexible scope is in the renal calyx, the pressure measured by the optical fiber in the renal pelvis can accurately reflect the pressure in the renal collecting system at this time, avoiding the positional accuracy of the pressure measurement caused by the sensor located in the upper ureter. error. 2. Good system safety, smooth negative pressure suction, and high stone extraction efficiency: Compared with single-channel suction, dual-channel negative pressure suction is "double insurance", which reduces the chance of poor reflux caused by clot and gravel blockage. The "pressure buffer channel" design of the main channel at the end of the introduction sheath can act like a "safety valve", avoiding extreme high pressure in the renal pelvis due to system failure, or excessive negative pressure leading to inhalation of the ureter or renal pelvis mucosa. The sheath channel ensures the safety of the operation. In addition, the position of the "pressure buffer channel" is convenient for the operator to operate. The operator can manually increase the suction negative pressure at any time during the operation, and cooperate with the retraction of the flexible mirror to remove the stone debris remaining near the opening of the sheath renal pelvis or in the sheath. And blood clots are easily sucked out, which improves the stone extraction efficiency and further ensures the smooth flow of the flushing fluid. 3. The perfusion/suction numerical control has 4 preset working modes (perfusion-suction pressure control mode, perfusion-pressure monitoring mode, suction-pressure monitoring mode, calyceal stenosis mode), and the speed and pressure of the perfusion pump can also be adjusted manually. , the size of negative pressure suction and other basic parameters to adapt to the needs of surgery in different situations. For individual patients with calyceal neck stenosis, when the flexible scope enters the calyceal lithotripsy with narrow neck, the "Calyceal Stenosis Mode" can be activated to perform lithotripsy under low-flow perfusion and high negative pressure suction. 4. Convenience in post-maintenance: The intelligent terminal equipment with the client software installed can collect, store and analyze the detailed data during the operation, generate the optimal pressure control mode, and import the newly generated working mode into the CNC platform for use. The terminal equipment can also maintain or update the key parameters and working modes of the CNC platform in the later stage.

To sum up, the utility model has the advantages of sensitive and accurate pressure measurement, smooth suction of negative pressure, real-time and accurate pressure control, multiple mode switching to cope with different situations, convenient later update and maintenance, and the like. The application of this system can effectively prevent the occurrence of serious complications such as renal injury and urinary sepsis caused by intrarenal hypertension during flexible ureteroscopic surgery, and improve the safety and efficiency of the surgical operation to a certain extent.

Description of drawings

Fig. 1 is the use state diagram of the system of the present invention.

Figure 2 is a panel view of the CNC platform.

Fig. 3 is a longitudinal cross-sectional view of a flexible ureteroscope introducing sheath inserted into the inner core.

FIG. 4 is a cross-sectional view of the middle section of the insertion part of the sheath body lumen of the sheath of the flexible ureteroscope introduced into the sheath.

FIG. 5 is a design diagram of an optical fiber pressure sensor and an interferometric optical demodulator.

FIG. 6 is a system block diagram of a high-reliability renal pelvis pressure digital controller built in a numerical control platform, based on a fieldbus architecture and dual processors.

FIG. 7 is a circuit schematic diagram of the pressure control algorithm processor and the monitoring and protection processor module.

Figure 8 is a circuit schematic diagram of a 16-bit high-speed high-precision analog-to-digital converter.

Figure 9 is a circuit schematic diagram of a 10-bit high-speed high-precision analog-to-digital converter.

Figure 10 is a circuit schematic diagram of a 16-bit high-speed high-precision digital-to-analog converter.

Figure 11 is a circuit schematic diagram of the valve output drive control.

FIG. 12 is a flowchart of the intelligent terminal device and client software.

In the figure: outer sheath 1, main channel 1-1, side channel 1-2, side channel side opening 1-3, pressure buffer channel 1-4, side channel 1-5, body cavity insert 1-6, function Connection part 1-7, buckle 1-8, detachable sealing cover 1-9, sealing gasket 1-10, CNC platform 2, perfusion pump 2-1, LCD panel 2-2, negative pressure bottle 2-3 , control panel buttons 2-4, indicator lights 2-5, negative pressure bottle outlet 2-6, interactive port 2-7, optical fiber sensing demodulation module receiving port 2-8, alarm buzzer 2-9, electronic control Regulating valve 2-10, optical fiber pressure sensor 3-1, optical fiber transmission part 3-2, optical fiber signal output end 3-3, flexible ureteroscope 4, water inlet valve 5, Y-type valve 6, main hole 7 of Y-type valve , the side hole 8 of the Y-shaped valve, the water inlet pipe 9, the connecting pipe 10, the pipe 11, the intelligent terminal equipment 12, the inner core 13, the inclination angle β between the inclined plane and the horizontal line of the side channel, the tip angle α of the maximum longitudinal section of the inner core, the renal pelvis 14 , rinsing solution 15, optical fiber sensing demodulation module 16, polarization maintaining coupler 16-1, elliptically polarized light polarizer 16-2, broadband light source 16-3, signal conditioning and interface circuit 16-4, photoelectric converter 16 -5, Interferometric demodulator 16-6.

Detailed ways

In order to enable those skilled in the art to better understand the present invention, the implementation and operation of the present invention will now be described in detail with reference to the accompanying drawings.

As shown in Figure 1, the present utility model provides a numerical control system based on sheath side optical fiber pressure sensor monitoring that can perform real-time control of renal pelvis pressure during flexible ureteroscopy, including flexible ureteroscope, optical fiber pressure sensor and corresponding optical system, belt The independent dual-channel ureteral introduction sheath that can be connected to negative pressure, the numerical control platform 2 with perfusion/suction function, and the intelligent terminal device 12; the flexible ureteroscope is a product of the prior art; The intelligent terminal device 12, the described acquisition and analysis function client software is a technology that can be realized by ordinary technicians, and the running software used in the numerical control platform 2 is a technology that can be realized by ordinary technicians, and it is characterized in that: the flexible ureteroscope is connected to the numerical control platform The perfusion pump enters the renal pelvis from the main channel 1-1 with an independent dual-channel ureteral introduction sheath that can be connected to negative pressure for surgical operation or/and perfusion, and the optical fiber pressure sensor enters the renal pelvis from the side channel 1-2 for pressure measurement; ureter The two independent channels of the introducer sheath can be connected to the negative pressure suction of CNC platform 2; the preset 4 working modes of CNC platform 2 are perfusion-suction pressure control mode, perfusion-pressure monitoring mode of simple perfusion and manometry, simple suction and manometry suction-pressure monitoring mode, low flow and high negative pressure calyceal stenosis mode, the CNC platform can flexibly switch any one of the 4 preset working modes according to intraoperative conditions; the perfusion- The suction pressure control mode is a conventional working mode, and its working mode is that the numerical control platform 2 increases/or decreases the speed of the irrigation fluid pumped by the perfusion pump 2-1 through real-time feedback according to the real-time pressure value measured by the optical fiber pressure sensor, Adjust the perfusion pressure, and by increasing/or decreasing the degree of closure of the electronically controlled regulating valve 2-10, adjust the suction negative pressure, so as to maintain the pressure within the preset safety threshold range; For patients with calyceal neck stenosis, when the flexible scope enters the calyx with stenotic calyx neck for lithotripsy, the calyceal stenosis mode built in CNC platform 2 can be activated to perform lithotripsy operation under low-flow perfusion and high negative pressure suction. The low voltage in the renal pelvis is ensured; the numerical control platform 2 communicates data with the intelligent terminal equipment through wired/wireless, and the terminal equipment collects, stores and analyzes the intraoperative data through the preset client software, generates the optimal working mode, and The newly generated optimized working mode can be imported into the CNC platform 2 to further increase the working mode of the CNC platform 2; the terminal equipment can also perform later maintenance or/or update on the key parameters of the CNC platform 2 and the 4 preset working modes.

As shown in Figure 1, the direction of the arrow in the figure is the direction of the flow of the flushing fluid under the working state of the system. In the flexible ureteroscopy operation, firstly insert the outer sheath 1 of the flexible ureteroscope into the ureter according to the routine operation, and the outer sheath 1 of the outer sheath 1 is placed in the ureter. The distal end is located in the renal pelvis or the upper ureter. After removing the inner core 13, the flexible ureteroscope 4 enters the renal pelvis 14 through the main channel 1-1, and the water inlet valve 5 of the flexible ureteroscope is connected to the water inlet pipe 9 of the numerical control platform for perfusion, The water pipeline 9 is connected to the flushing liquid 15, and the perfusion speed is adjusted in real time by the perfusion pump 2-1 according to the measured renal pelvis pressure. The proximal end of the main channel 1-1 is provided with a laterally open pressure buffer channel 1-4. Preferably, the pressure buffer channel 1-4 is open during the operation to communicate with the outside air. Of course, when it needs to be closed, it can also be closed. The main channel 1-1 is provided with a side channel 1-5 at the proximal end, and the connecting pipe 10 is connected to the negative pressure bottle 2-3 to become the first negative pressure channel. The pressure bottle outlet 2-6 is sucked into the central negative pressure suction or electric negative pressure suction device of the operating room along the pipeline 11. The pressure buffer channel 1-4 has two important functions. First, avoid extreme high or low pressure in the renal pelvis due to system failure: if the pressure buffer channel 1-4 is blocked by negative pressure suction in the direction of the operator during the operation, or the operation is blocked. The failure of medium and negative pressure suction may lead to a transient pressure increase in the renal pelvis due to the incomplete shutdown of the perfusion pump in a very short period of time. At this time, the perfusate in the renal pelvis can flow out through pressure buffer channels 1-4, avoiding Hypertension in the renal pelvis occurs due to fluid hyperperfusion. On the contrary, the flushing fluid 15 may be used up during the operation, which needs to be replaced manually, or the negative pressure set by the system is too strong. At this time, because the pressure buffer channel is open and communicated with the outside air, it can effectively avoid the negative pressure of the renal pelvis and ureter mucosa. The pressure is too strong and is sucked into the ureteral sheath, which ensures the safety of the operation. 2. It is conducive to the active aspiration of stone debris and blood clots during the operation: when the flexible mirror is placed in the main channel 1-1 for surgical operation, the main channel 1-1 is located near the opening of the renal pelvis or in the main channel 1-1. Large stone debris and blood clots are retained and blocked. At this time, the operator uses his fingers to close the opening of the buffer channel 1-4, which can temporarily increase the suction negative pressure in the channel, and at the same time cooperate with the flexible scope to retreat to the lateral channel 1- After 5, the retained or blocked blood clots and stones can be quickly sucked out. Preferably, the path connecting the pipeline 11 to the negative pressure equipment needs to pass through the electronically controlled regulating valve 2-10. The electronically controlled regulating valve is in the prior art, and the electronically controlled regulating valve 2-10 adjusts its opening and closing feedback according to the measured renal pelvis pressure. degree, so as to adjust the tightness of its compression to the pipeline 11, so as to achieve the purpose of adjusting the negative pressure suction flow. Preferably, the pipe 11 is made of a soft silicone material that is easily deformed passively.

As shown in Figure 1, the optical fiber conducting part 3-2 composed of polarization maintaining optical fiber enters the renal pelvis or ureter for pressure measurement through the side channel 1-2. One end of the optical fiber conducting part 3-2 is connected to the optical fiber pressure sensor 3-1, and the other end is sequentially Pass through the side channel 1-2, Y-type valve 6, lead out from the main hole 7 of the Y-type valve, and then connect to the optical fiber signal output terminal 3-3, and connect to the optical fiber sensing demodulation module receiving port 2-8 of the numerical control platform. The side hole 8 of the Y-shaped valve can be connected to the negative pressure bottle 2-3, and can also be closed. Preferably, when the side hole 8 of the Y-shaped valve can be connected to the negative pressure bottle 2-3, the side channel 1-2 becomes the second negative pressure channel.

As shown in FIG. 1 , the numerical control platform 2 reserves interactive ports 2-7 for data, and can connect the intelligent terminal device 12 with pre-installed client software through wired/wireless connection. Preferably, the intelligent terminal device 12 collects important parameters such as intraoperative measurement of perfusion pressure, flow rate, negative pressure suction, and intrarenal pelvis pressure through the client software, performs data analysis, and generates an optimized pressure control mode, and can use the interactive port 2- 7. Maintain and update the parameters and working modes of the CNC platform.

As shown in Figure 2, the CNC platform 2 integrates the functions of perfusion/suction, pressure measurement data reception, and real-time feedback pressure control. By adjusting the buttons 2-4 on the control panel, various required working modes can be selected, and the target pressure can be set safely. Threshold range, perfusion flow rate, pressure, suction size of negative pressure and other parameters, the LCD panel 2-2 displays the parameters and working status in real time. The CNC platform is also provided with indicator lights 2-5 and alarm buzzer 2-9. The indicator light is yellow in normal working state. When the pressure exceeds the preset safety threshold, the perfusion pump 2-1 stops working or slows down the perfusion speed. At the same time, the numerical control platform 2 increases the negative pressure suction flow, the indicator lights 2-5 flash red, and the buzzer 2-9 alarms. Preferably, the indicator light off and the volume of the buzzer can also be adjusted through the control panel.

As shown in FIG. 3 , the ureteral introduction sheath with independent dual channels and negative pressure accessible by flexible ureteroscope is composed of a hollow outer sheath 1 and a hollow inner core 13 nested into the outer sheath, all of which are made of soft materials. The outer sheath is further divided into a body cavity insertion part 1-6 and a horn-shaped functional connection part 1-7. The functional connection part 1-7 can be combined with the buckle 1-8 at the end of the inner core 13, which is used for the sheath insertion operation process. The inner core 13 is fixed in the middle. Introducer sheath 1 is provided with two independent channels: main channel 1-1 and side channel 1-2. A lateral pressure buffer channel 1-4 is firstly provided where the main channel 1-1 enters the functional connection part 1-7. Behind the pressure buffer channel 1-4, a side channel 1-5 communicated with the main channel 1-1 is arranged for connecting to the first negative pressure channel. The main channel entrance is axially provided at the end of the functional connection part 1-7, and there is a detachable sealing cover 1-9 at the entrance of the main channel, which is embedded with a sealing gasket ring 1-10. The center of the gasket is designed with a radial opening, which is convenient for instrument insertion and maintenance. Air tightness. The side channel 1-2 is independent from the outside of the introduction sheath. After it enters the functional joint part 1-7, it continues to the side channel side opening 1-3 at a certain inclination angle, and is connected to the Y-shaped valve 6. The type valve 6 respectively leads out the optical fiber and connects the second negative pressure channel. Preferably, in order to reduce the resistance during the surgical sheath placement, a hydrophilic gel layer is coated on the entire length of the outer surface of the insertion portion of the flexible ureteroscope introducing sheath. The distal head of the side channel 1-2 is designed as an inclined surface opening, and the inclination angle β of the inclined surface and the horizontal line of the side channel is equal to 1/2 of the tip angle α of the maximum longitudinal section of the inner core 13 . Preferably, the outer sheath of the introduction sheath is made of a transparent material, which is convenient for observing the condition of the ureteral mucosa.

As shown in Fig. 4, 1-1 is the main channel of the ureteral introduction sheath, and 1-2 is the side channel of the ureteral introduction sheath. Preferably, the cross section of the main channel 1-1 is circular, the diameter is 12Fr, the cross section of the side channel is arc design, and the maximum vertical distance between the top of the channel and the bottom is 1mm.

As shown in Figure 5, 3-1 is an optical fiber pressure sensor placed at the end of the renal pelvis, and the sampled signals pass through the optical fiber conduction part 3-2 composed of polarization-maintaining optical fibers, and the optical fiber signal output end 3-3 is connected to the optical fiber of the numerical control platform. The receiving ports 2-8 of the sensing demodulation module enter into the optical fiber sensing demodulation module 16 built in the numerical control platform. 16-1 is a polarization-maintaining coupler, which is used to transmit the elliptical polarization sent by the elliptically polarized light polarizer 16-2. The polarized light is coupled into the optical fiber pressure sensor 3-1, and the polarized light reflected back by the optical fiber pressure sensor 3-1 is coupled into the interferometric demodulator. 16-2 is an elliptically polarized light polarizer. 16-3 is a broadband light source. 16-4 is a signal conditioning and interface circuit, its function is to perform signal conditioning on the electrical signal generated by the photoelectric converter 16-5, and after digitization, it is connected to the data bus of the central processing unit of the numerical control platform through the bus interface. 16-5 is a photoelectric converter. 16-6 is an interferometric demodulator, the function of which is to convert the optical phase signal sent by the polarization-maintaining coupler 16-1 into an optical amplitude signal. Preferably, the optical fiber pressure sensor 3-1 is a fiber Bragg grating pressure sensor. Preferably, the broadband light source is an amplified spontaneous emission broadband light source. Preferably, the entire length of the outer films of the optical fiber pressure sensor 3-1 and the optical fiber conducting portion 3-2 is coated with a hydrophilic gel layer. Preferably, the diameter of the optical fiber pressure sensor is 0.1 mm˜0.8 mm.

Figure 6 is a system block diagram of a high-reliability digital controller for renal pelvis pressure in flexible ureteroscopic surgery based on fieldbus architecture and dual processors, which is built into the numerical control platform 2 and serves as a The main digital control components have the following control functions: fiber optic pressure sensor analog signal output, all the way to 16-bit high-speed high-precision analog-to-digital converter after conversion to the pressure control algorithm processor through the serial peripheral bus, pressure control algorithm processor After processing, the control signal is sent to the valve output drive control through the 16-bit high-speed high-precision digital-to-analog converter. The valve output drive control is connected to the electronic control valve 2-10, and the analog signal of the optical fiber pressure sensor is output to another 10-bit high-speed analog-to-digital converter. After conversion, it is sent to the monitoring and protection processor through the serial peripheral bus. After processing, the monitoring and protection processor sends a control signal to the valve output drive control. The valve output drive control is connected to the electronically controlled regulating valve 2-10. The pressure control algorithm processes The controller communicates with the monitoring and protection processor through the field bus; the operation mode of the system is described in detail below: Pressure control algorithm processor: The processor model is STM32F103 of STMicroelectronics, and it runs digital pressure control algorithm inside. The input of the algorithm comes from the digital conversion result of the 16-bit high-speed high-precision analog-to-digital converter, and the output of the algorithm is written into the 16-bit high-speed high-precision digital-to-analog converter and converts the output to analog quantity, which is used to control the electronic control valve 2-10, etc. executive body. Monitoring and protection processor: The processor model is STM32F103 of STMicroelectronics, and the processor has three functions: 1) Obtain the output of the optical fiber pressure sensor through an independent 10-bit high-speed analog-to-digital converter, and determine in real time whether it is in the Within the safety range, if the limit is exceeded, the emergency shutdown signal will be output immediately to stop the actuators such as the electronic control valve 2-10 to protect the safety of patients. 2) Through the field bus, exchange data with the pressure control algorithm processor in real time, and judge the control process parameters sent by the pressure control algorithm processor in real time. Once any process parameter exceeds the limit, immediately output an emergency shutdown signal to make the electronic control adjust. Actuators such as valves 2-10 are shut down to protect patient safety. 3) Exchange heartbeat data packets with the pressure control algorithm processor, that is, send heartbeat data packets to the pressure control algorithm processor within a specified time interval, and wait for the response from the pressure control algorithm processor. If the response times out, monitor the protection processing The controller determines that the pressure control algorithm processor crashes, and immediately outputs an emergency shutdown signal to stop the actuators such as the electronic control valve 2-10 to protect the safety of the patient. Fieldbus: A highly reliable fieldbus communication protocol is used for data exchange between two processors. Optical fiber pressure sensor analog signal: This signal is the output from the optical fiber pressure sensor system, which is used to characterize the real-time pressure in the renal pelvis. It uses a 4-20mA current loop signal to improve the anti-interference characteristics of the system. 16-bit high-speed and high-precision analog-to-digital converter: In order to improve the control accuracy and control speed, a successive comparison type high-speed high-precision 16-bit analog-to-digital converter is used, and is connected to the pressure control algorithm processor through the serial peripheral bus. Used to provide input to the pressure control algorithm. Its sampling rate is 20Kps. 10-bit high-speed analog-to-digital converter: In order to protect the safety of patients in real time, a 16-bit high-speed high-precision analog-to-digital converter is used here, and its sampling rate is 1Mps. The converter independently feeds the pressure value of the optical fiber pressure sensor to the pressure control algorithm processor in real time. 16-bit high-speed high-precision digital-analog converter: the output of the digital pressure control algorithm running in the pressure control algorithm processor is in digital format, which is input to the digital-analog converter through the serial peripheral bus, and the analog output is output after conversion Use control electronic control valve 2-10 and other actuators. Valve output drive control: It is used for the drive signal of electronic control valve 2-10, which has emergency shutdown enable control, which can be output in the monitoring and protection controller.

Figure 7 shows the circuit schematic diagram of the pressure control algorithm processor module and the monitoring and protection processor module. Since the circuits of the two processor modules are highly consistent, they are combined for description. The components with bit numbers U1A and U1B are 32-bit high-performance processors of Cortex-M3 architecture, and the processor model is STM32F103 of STMicroelectronics. The chip capacitors C4, C5, C6, C7, C8 and C9 are connected in parallel to form the filter capacitor of the processor. One end of the parallel connection is connected to the positive pole of the power supply of U1B, and the other end is connected to the negative pole of the power supply of U1B. The crystal oscillator Y1 is connected to pins 5 and 6 of U1B to provide the processor with a high-stability oscillating signal with a frequency of 8MHz. After frequency multiplication by the phase-locked loop inside the processor, a core clock signal with a main frequency of 72MHz is generated for processing. device use. J1 is the program debugging interface, which is used for downloading and online debugging of embedded programs. D1 and D2 are light-emitting diodes, and their positive poles are connected to pins 45 and 46 of U1A after passing through resistors R2 and R3, respectively, to display the working state of the processor. U2 is a field bus interface chip, its 1 feet and 4 feet are connected with the corresponding function pins of the processor, and the 6 feet and 7 feet are connected to the field bus.

Figure 8 shows the circuit schematic diagram of the 16-bit high-speed and high-precision analog-to-digital converter. The 16-bit high-speed high-precision analog-to-digital converter module includes the AD7683 successive comparison type 16-bit analog-to-digital converter from ADI Company and a 16-bit analog-to-digital converter composed of REF5025. 2.5V low temperature drift high precision voltage reference source. The analog signal sent by the fiber optic pressure sensor is input to the second pin of the analog-to-digital converter U3 (model AD7683) through the port VIN, and the digital signal is programmed after conversion inside the serial number composed of SCK, SDO and CS. The peripheral bus is fed into the pressure control algorithm processor U1A as the input of the pressure control algorithm. The voltage reference chip U4 provides a 2.5V reference voltage with a temperature drift coefficient lower than 10ppm, which is buffered by the operational amplifier U5A and sent to the first pin of the analog-to-digital converter U3 (model AD7683).

Figure 9 shows the circuit schematic diagram of the 10-bit high-speed and high-precision analog-to-digital converter. The 10-bit high-speed and high-precision analog-to-digital converter module is composed of the MCP3204 successive comparison type 10-bit analog-to-digital converter from Microchip Corporation. The analog signal sent by the fiber optic pressure sensor is input to the first pin of the analog-to-digital converter U6 (model MCP3204) through the port VIN, and the digital signal is programmed after conversion inside it, which is composed of SCK, DOUT, DIN and nCS. The serial peripheral bus is fed into the supervisory protection processor U1B as the input of the safety supervisory algorithm. The algorithm determines in real time whether the pressure in the patient's renal pelvis is within a safe range. If it exceeds the limit, it immediately outputs an emergency shutdown signal to stop the output valve and other actuators to protect the patient's safety.

Figure 10 shows the circuit schematic diagram of the 16-bit high-speed high-precision digital-to-analog converter. The digital control quantity output by the pressure control algorithm in the pressure control algorithm processor passes through the serial peripheral bus composed of nCS, SCK, and DIN three-way signals. into the digital-to-analog converter U8. The converter adopts the 16-bit high-speed high-precision digital-to-analog converter U8 (model AD5662) from American ADI Company. The converted analog quantity is sent to the second-order active low-pass filter composed of operational amplifiers U7A, R17, R18, C30 and C32 by the 4-pin output of U8. The filter is used to filter out interference signals greater than the Nyquist frequency to ensure the purity of the output signal. The operational amplifier U7A selects the high-speed and low-power operational amplifier AD8606 from American ADI Company.

Figure 11 shows the circuit schematic diagram of the valve output drive control. OUT+ and OUT- are connected to the valve actuator to supply power to the valve and control its opening and closing. The valve of the present invention is preferably an electronically controlled regulating valve 2- 10. The electronic switch is composed of power field effect transistors Q1 and Q2, which controls the presence or absence of power supply to the valve under the control of the input enable signal EN. The EN signal is connected to the emergency shutdown signal output by the monitoring and protection processor module. When an abnormal situation occurs, the valve can be emergency closed through EN to protect the patient. The analog control signal sent by the 16-bit digital-to-analog converter is added to the VIN port, and sent to the DC constant current source composed of the operational amplifier U9A, the transistor Q3, and the current sampling resistor R30. By changing the size of VIN, the degree of opening and closing of the valve is controlled, so as to achieve the purpose of controlling the pressure in the patient's renal pelvis.

As shown in Figure 12, the intelligent terminal equipment adopts the client/server working module. By establishing a data center on the server side, the data collected for each operation is transmitted to the server in real time/offline, and the data is accumulated. Through big data operation and analysis, gradually Optimize the working mode. The client software includes a computer terminal and a mobile terminal, and the computer terminal and the mobile terminal can work online or offline. During the operation, the computer terminal communicates data with the CNC platform through wired means. Under the control of the client software, the data is collected and stored in real time, and the working mode is optimized through big data analysis in the later stage, and can be fed back to the CNC platform. The client software is mainly composed of user front-end programs such as data feedback, chart analysis and parameter control, as well as background service programs such as data acquisition module, data analysis module and data storage module, as well as core algorithms. The overall working principle is that the data acquisition module interacts with the numerical control platform, stores the collected information in real time, and transmits it to the data analysis module, analyzes and calculates through the core algorithm, displays the corresponding chart analysis content in real time, and adjusts key control parameters in real time. The feedback is given to the CNC platform, and through the data accumulated in the data center, various working modes are gradually optimized.

The above descriptions are only illustrative specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Any person skilled in the art can make equivalent changes without departing from the concept and principles of the present invention. Modifications should all belong to the protection scope of the present invention. The parts or materials mentioned above are conventional or commercially available parts unless otherwise specified.

Claims (8)

1. A numerical control system capable of real-time control of renal pelvis pressure during flexible ureteroscopy based on the monitoring of sheath-side optical fiber pressure sensor, including flexible ureteroscopy, optical fiber pressure sensor and corresponding optical system, with independent dual-channel can be connected to negative pressure. A ureteral introduction sheath, a numerical control platform (2) with perfusion/suction function, and an intelligent terminal device (12); it is characterized in that: a perfusion pump connected to the numerical control platform by a flexible ureteroscope is introduced into the sheath from a ureteral introduction sheath with an independent dual channel that can be connected to negative pressure. The main channel (1-1) enters the renal pelvis for surgical operation or perfusion, and the fiber optic pressure sensor enters the renal pelvis from the side channel (1-2) with an independent dual-channel ureteral introduction sheath that can be connected to negative pressure for pressure measurement; The main channel and side channel (1-2) of the ureteral introduction sheath that can be connected to negative pressure are two independent channels, both of which can be connected to the negative pressure suction of the numerical control platform (2); the numerical control platform (2) is measured according to the optical fiber pressure sensor. The real-time pressure value obtained, feedback adjusts the size of the perfusion pressure and the size of the suction negative pressure, so as to maintain the pressure within the preset safety threshold range; the numerical control platform (2) communicates data with the intelligent terminal equipment through wired/wireless . 2. The numerical control system capable of real-time control of renal pelvis pressure in flexible ureteroscopy based on sheath side optical fiber pressure sensor monitoring according to claim 1, is characterized in that: described optical fiber pressure sensor and corresponding optical system comprise optical fiber pressure The sensor (3-1) and the optical fiber conduction part (3-2), the optical fiber conduction part (3-2) composed of the polarization maintaining optical fiber passes through the side channel (1-2) of the ureteral introduction sheath with independent dual channels that can be connected to negative pressure. ) into the renal pelvis or ureter for pressure measurement, one end of the optical fiber conduction part (3-2) is connected to the optical fiber pressure sensor (3-1), and the other end is sequentially passed through the side channel (1) of the ureter introducing sheath with independent dual channels that can be connected to negative pressure -2), Y-type valve (6), lead out from the main hole (7) of the Y-type valve, and connect to the built-in through the optical fiber signal output terminal (3-3) and the optical fiber sensing demodulation module receiving port (2-8). A numerical control platform (2) with an optical fiber sensing demodulation module (16). 3. The numerical control system capable of real-time control of renal pelvis pressure in flexible ureteroscopy based on sheath-side optical fiber pressure sensor monitoring according to claim 1, is characterized in that: the described ureter introduction with independent dual channels that can be connected to negative pressure The sheath is composed of a hollow outer sheath and a hollow inner core (13) nested into the outer sheath, both of which are made of soft materials; the outer sheath is divided into a body cavity insertion part (1-6) and a trumpet-shaped functional connection part (1- 7); the outer sheath (1) is provided with two independent channels: the main channel (1-1) and the side channel; the proximal end of the main channel (1-1) is provided with a side channel (1-5), and the side channel (1- 5) Connect the negative pressure bottle (2-3) through the connecting pipe (10) to become the first negative pressure channel; the Y-type valve (6) is connected to the side channel (1-2), and the main hole of the Y-type valve (6) (7) It is used to connect the optical fiber signal output end. The side hole (8) of the Y-type valve can be used to connect the negative pressure bottle (2-3), and it can also be closed. When the side hole (8) of the Y-type valve is connected to the negative pressure When the bottle is opened, the side channel (1-2) becomes the second negative pressure channel; when the main channel (1-1) enters the functional connection part (1-7), a lateral pressure buffer channel (1-4) is set first, The pressure buffer channel (1-4) can be opened to communicate with the outside air during the operation, and it can also be closed; behind the pressure buffer channel (1-4), there is a side channel (1) that communicates with the main channel (1-1). -5), used to connect the first negative pressure channel; side channel (1-2) is an independent channel, used to guide the optical fiber into the operation area, and can be connected to negative pressure to become the second negative pressure channel; side channel (1-2) ), the distal head is designed with a beveled opening. 4. The numerical control system capable of real-time control of renal pelvis pressure during flexible ureteroscopy based on sheath-side optical fiber pressure sensor monitoring according to claim 3, characterized in that: the inclination angle (β) of the slope opening and the horizontal line of the side channel is the same as that of the lateral channel. The tip angle (α) of the maximum longitudinal section of the ureteral introduction sheath core is equal to 1/2. 5. The numerical control system capable of real-time control of renal pelvis pressure during flexible ureteroscopy based on sheath-side optical fiber pressure sensor monitoring according to claim 1, characterized in that: the numerical control platform (2) is a built-in optical fiber sensor The numerical control platform (2) of the demodulation module (16), the numerical control platform integrates the functions of perfusion/suction, pressure measurement data reception, and real-time feedback pressure control, and has a variety of preset working modes, which can be controlled through the control panel buttons (2- 4) Adjust parameters and switch working modes; the numerical control platform reserves data exchange ports (2-7), which can be connected to intelligent terminal equipment (12) by wire/wireless. 6. The numerical control system capable of real-time control of renal pelvis pressure during flexible ureteroscopy based on sheath side optical fiber pressure sensor monitoring according to claim 1 or 5, characterized in that: the numerical control platform (2) presets 4 kinds of work The modes are perfusion-suction pressure control mode, perfusion-pressure monitoring mode of pure perfusion and manometry, suction-pressure monitoring mode of pure suction and manometry, and calyceal stenosis mode of low flow and high negative pressure. The pressure control mode is that the exponential control platform increases/or decreases the speed of the irrigation pump (2-1) pumping the irrigation fluid through real-time feedback according to the real-time pressure value measured by the optical fiber pressure sensor, adjusts the perfusion pressure, and increases/reduces the irrigation pressure by increasing the pressure. / Or reduce the degree of closing of the electronic control valve (2-10), and adjust the suction negative pressure, so as to maintain the pressure within the preset safety threshold range; the CNC platform can also switch between four suitable types according to intraoperative conditions Any one of the preset working modes; for patients with calyceal neck stenosis determined during surgery, when the flexible scope enters the calyx with stenotic calyx neck for lithotripsy, the calyx built in the CNC platform (2) can be activated Stenosis mode, low flow perfusion, high negative pressure suction lithotripsy operation. 7. The numerical control system capable of real-time control of renal pelvis pressure in flexible ureteroscopy based on sheath side optical fiber pressure sensor monitoring according to claim 2 or 5, is characterized in that: the optical fiber sensing demodulation module ( 16) Including polarization maintaining coupler (16-1), elliptically polarized light polarizer (16-2), broadband light source (16-3), signal conditioning and interface circuit, photoelectric converter (16-5) and interference type The demodulator (16-6) and the polarization-maintaining coupler (16-1) are used to couple the elliptically polarized light sent by the elliptically polarized light polarizer into the optical fiber pressure sensor (3-1), and the optical fiber pressure sensor ( 3-1) The reflected polarized light is coupled into the interferometric demodulator; the signal conditioning and interface circuit (16-4) can perform signal conditioning on the electrical signal generated by the photoelectric converter (16-5), and digitize it through the The bus interface is connected to the numerical control platform; the interferometric demodulator (16-6) can convert the optical phase signal sent by the polarization-maintaining coupler (16-1) into an optical amplitude signal. 8. a kind of numerical control system based on sheath side optical fiber pressure sensor monitoring according to claim 2 or 5 that can control the renal pelvis pressure in real time in flexible ureteroscopy, it is characterized in that: a pressure control algorithm processor is built in the numerical control platform And monitoring protection processor, fiber optic pressure sensor analog signal output, all the way to 16-bit high-speed high-precision analog-to-digital converter after conversion through the serial peripheral bus to the pressure control algorithm processor, the pressure control algorithm processor sends out control signals after processing. The 16-bit high-speed high-precision digital-analog converter is connected to the valve output drive control, the valve output drive control is connected to the electronic control valve, and the analog signal output of the optical fiber pressure sensor is sent to the 10-bit high-speed analog-to-digital converter through the serial peripheral bus. The monitoring and protection processor sends control signals to the valve output drive control after processing, and the valve output drive control is connected to the electronically controlled regulating valve. The pressure control algorithm processor communicates with the monitoring and protection processor through the field bus.

Images