急救止血训练模拟系统的建模、仿真与实现
发布时间：2018-07-23 13:41
【摘要】： 据科学统计,自然灾害、突发事件等造成的创伤伤员在1小时内死亡的数量约占创伤死亡的50%。二战以后的局部战争表明,30%-60%的阵亡原因是严重失血造成的,其中50%阵亡人员是可以挽救的,但是因为失血过多,伤员在被送到救治机构之前就已经死亡,这表明有效止血是降低阵亡率的关键因素。 在恶劣的战场环境下,缺乏急救知识的参战官兵自救互救的效果难以保证,这势必会加大伤残率,因而有必要采取有效的方法普及急救知识,开展急救技能培训。然而目前还没有针对战地急救训练的模拟人产品,战地急救训练手段落后,战士没有急救的实践机会,实际操作能力不强,培训工作停留在“光说不练”的层面上。战场有其特殊性,战伤的救治不同于一般情况,因而需要针对战场特点开发适合的急救训练系统。本文研究针对战场战伤需求开发急救止血训练模拟系统,该系统将改进现有止血模块的不足,其应用能够提高广大官兵的急救止血技能。 目前,医学培训模拟人在急救止血培训方面仅存在无控制的出血手臂,该手臂未量化重要血流压力参数,不能动态显示手臂肱动脉血流压力的变化。所以本课题的提出旨在实现急救止血训练中模拟手臂肱动脉血流压力和流量的变化,科学有效地为操作者提供真实的压力手感,让培训者进行止血操作实践。 止血模拟系统的研究具有以下意义:针对战场恶劣环境,战伤特征,为学员提供医疗模拟训练,降低伤亡率;针对急救器材的研制,提供智能测试和评估的平台;可使非医务人员如警察、民航乘务员、宾馆饭店服务员等,明显提高紧急救治动脉出血的能力;为广大医疗工作者提供了一个学习急救止血技术的平台。 本课题主要研究急救止血训练模拟系统的控制问题。首先根据人体血液循环系统理论,基于三元件Westerhof模型理论建立了止血训练模拟装置;通过系统时域辨识方法获得止血训练模拟系统的传递函数模型,设计控制器,进行Matlab数值仿真,并优化控制参数;最后设计了以C8051F330为核心的单片机系统,实现了压力信号采集及A/D转换,运用数字PID算法控制四联阀,从而达到了肱动脉压力曲线的模拟。具体研究内容安排如下: 1、首先介绍了该课题的来源及意义;论述了血液循环系统理论,主要分析了心血管系统各参数、血压形成机理及影响血压的因素;急救止血训练模拟系统装置在国内外还未有存在,本文就该系统的相关研究方面包括医学模拟教育的发展,心血管系统建模的研究和全人工心脏测试系统进行详述。 2、然后进行体外模拟循环装置的建模。分析了心血管系统单弹性腔模型,基于Westerhof三元件弹性腔模型,运用数学模型思想设计体外循环模拟试验平台,用功能相似的实验器材模拟顺应性元件、惯性元件和阻力元件,建立起与弹性腔模型相似,与体外循环原理相同的单回路血液循环模拟装置。 以血流压力和流量为研究对象,分析了被控对象的特点,由于模拟血液循环系统还具有流动特性,元件加工误差,物理模型元件的局限性,难以建立精确的数学模型。因此,选定了实验建模方法。要对控制装置四联阀进行建模,四联阀的开关状态组合跟随输入的标准肱动脉压力信号而调节和控制液流压力和流量。运用二进制概念设计四联阀各开度权重,四联阀可以理解为一个阀门开关不同权重的四个可以根据动脉压力范围进行调试四联阀各开度的权重,映射为四位二进制值。根据四联阀各阀门开度的阶跃响应曲线性质的一致性,将四联阀理想化为连续系统,运用传递函数辨识方法对该系统分析求解,建立一合理的简化数学模型。 3、系统的控制设计与仿真。 控制器设计包括开环控制设计和闭环控制设计。开环控制中利用肱动脉压力曲线与正弦曲线的特征相似性,运用Matlab-simulink仿真工具将正弦函数量化,取一定的采样时间,依据压力值范围60～140mmHg,根据16个压力值对应时间调节四联阀开度及开关时间,使阀的不同组合达到2~4种状态,从而实现血流压力的调节。闭环控制中根据PID控制原理,理想假设四联阀为连续系统,且不考虑延时,根据PID控制器特性以及二阶系统的性能参数的函数关系,设定超调量和和调节时间,求解得到控制器参数值。仿真阶跃响应曲线与计算值的误差在相对误差范围内。 仿真分别进行了开环控制和闭环控制仿真。开环控制仿真实验中,根据开环控制原理,结果仿真的控制曲线达到了有效跟踪预期的肱动脉压力曲线的良好效果,但延时较为明显。闭环控制仿真实验中,由于四联阀的组合控制16(2~4)种状态,是不连续的系统,为达到真实离散控制效果,将被控对象量化,规定限幅区间。结果表明,控制曲线能够对输入信号达到相对较好的跟踪,若阀门组合值达到64(2~6)种,将会实现对预期输入信号更有效的跟踪。 4、最后进行了样机的试制与调试。样机的试制依次在硬件电路设计,控制软件设计(数字PID控制设计,上位机软件界面设计),原理样机进行了叙述;对硬件设备、软件系统进行了调试,并给出了控制结果。
[Abstract]:According to scientific statistics, the number of casualties caused by natural disasters and emergencies in 1 hours is about the local war after the 50%. after World War II. The cause of the death of 30%-60% is caused by severe bleeding, and 50% of them can be saved, but because of the excessive loss of blood, the wounded are sent to the medical institutions. Prior to death, this indicates that effective hemostasis is a key factor in reducing the rate of death.
In the harsh battlefield environment, the effect of self rescue and mutual rescue is difficult to guarantee, which is bound to increase the rate of disability. Therefore, it is necessary to adopt effective methods to popularize first aid knowledge and carry out first aid skills training. However, there is no simulation product for the training of battlefield first aid, and the training means of battlefield first aid are backward, The soldiers have no practical opportunity for first aid, the actual operation ability is not strong, the training work stays on the level of "light said do not practice". The battlefield has its special characteristics. The treatment of the war is different from the general situation, so it is necessary to develop a suitable first aid training system for the battlefield characteristics. The system will improve the deficiency of the existing hemostasis module, and its application can improve the emergency stop bleeding skills of the officers and men.
At present, medical training simulators have only uncontrolled bleeding arms in emergency hemostasis training. The arm does not quantify the important parameters of blood pressure and can not dynamically display the changes in the pressure of the arm's brachial artery. Therefore, the aim of this project is to realize the change of the pressure and flow of the brachial artery in the first aid hemostasis training. Learning effectively provides the operator with a real sense of pressure, allowing trainers to perform the practice of hemostasis.
The research of hemostasis simulation system has the following significance: to provide medical simulation training for students, reduce casualty rate, provide intelligent testing and evaluation platform for the development of emergency equipment, and make non medical personnel such as police, civil aviation attendants, hotel and hotel attendants to improve emergency treatment. The ability of pulse bleeding provides a platform for the majority of medical workers to learn the technology of first aid hemostasis.
This topic mainly studies the control problem of the simulation system of first-aid hemostasis training. First, based on the theory of human blood circulation system, a simulation device for hemostasis training is set up based on the theory of three components Westerhof model, and the transfer function model of the hemostat training simulation system is obtained by the system time domain identification method, and the controller is designed for the Matlab numerical imitation. Finally, the control parameters are optimized. At last, a single chip microcomputer system with C8051F330 as the core is designed to realize the pressure signal acquisition and A/D conversion, and the digital PID algorithm is used to control the quadruple valve, thus the brachial artery pressure curve is simulated. The specific research contents are as follows:
1, first, it introduces the origin and significance of the subject, discusses the theory of blood circulation system, mainly analyzes the parameters of the cardiovascular system, the mechanism of blood pressure formation and the factors that affect the blood pressure. The equipment of the first aid hemostasis training simulation system has not yet existed at home and abroad. This article is about the development of the medical simulation education in the related research of this system. The cardiovascular system modeling and the total artificial heart testing system are described in detail.
2, then the modeling of an in vitro simulated circulation device is carried out. The model of the single elastic cavity of the cardiovascular system is analyzed. Based on the Westerhof three element elastic cavity model, an external circulation simulation test platform is designed by using the mathematical model idea. The model is used to simulate the compliance element, the inertial element and the resistance element, and the model of the elastic cavity is built. A single loop blood circulation simulator similar to that of cardiopulmonary bypass is similar.
Taking the flow pressure and flow as the research object, the characteristics of the controlled object are analyzed. Because the simulation blood circulation system also has the flow characteristics, the error of the components and the limitations of the physical model components, it is difficult to establish a precise mathematical model. Therefore, the experimental modeling method is selected. The four coupling valves are modeled and the four joint valves are open. The state combination follows the input standard brachial pressure signal and adjusts and controls the flow pressure and flow. Using the binary concept to design the various opening weights of the quadruple valve, the quadruple valve can be understood as the weight of the four valves with different weights of a valve switch, which can be mapped to four bits according to the pressure range of the arterial pressure. According to the consistency of the step response curve of each valve opening of the quadruple valve, the quadruple valve is idealized as a continuous system, and the transfer function identification method is used to analyze and solve the system, and a reasonable simplified mathematical model is established.
3, the control design and Simulation of the system.
The design of the controller includes the open loop control design and the closed loop control design. In the open loop control, the characteristic similarity between the brachial pressure curve and the sinusoidal curve is used. The sinusoidal function is quantized by Matlab-simulink simulation tool, taking a certain sampling time, according to the range of pressure value from 60 to 140mmHg, and adjusting the quadruple valve according to the corresponding time of the 16 pressure values. The opening and switching time make the different combinations of the valve reach the 2~4 state, thus realizing the regulation of the pressure of the blood flow. In the closed loop control, according to the principle of PID control, the ideal hypothesis is that the quadruple valve is a continuous system without considering the delay. According to the characteristics of the PID controller and the function relation of the performance parameter of the two order system, the overshoot and the adjustment time are set. The parameters of the controller are obtained. The error between the simulation step response curve and the calculated value is within the range of relative error.
The simulation experiment of open loop control and the open loop control simulation experiment, according to the principle of open loop control, the simulation control curve achieves the good effect of tracking the expected pressure curve of the brachial artery effectively, but the delay is more obvious. In the closed loop control simulation experiment, the 16 (2~4) state of the quadruple valve is controlled by the combination of the quadruple valve. The result shows that the control curve can achieve a relatively good tracking of the input signal. If the valve combination value reaches 64 (2~6), it will achieve more effective tracking of the expected input signal.
4, the prototype is tested and debugged at the end. The prototype is designed in turn in the hardware circuit design, the control software design (digital PID control design, the upper computer software interface design), the principle prototype is narrated, the hardware equipment, the software system are debugged and the control results are given.
【学位授予单位】：中国人民解放军军事医学科学院
【学位级别】：硕士
【学位授予年份】：2008
【分类号】：R82;TP391.9
本文编号：2139590
[Abstract]:According to scientific statistics, the number of casualties caused by natural disasters and emergencies in 1 hours is about the local war after the 50%. after World War II. The cause of the death of 30%-60% is caused by severe bleeding, and 50% of them can be saved, but because of the excessive loss of blood, the wounded are sent to the medical institutions. Prior to death, this indicates that effective hemostasis is a key factor in reducing the rate of death.
In the harsh battlefield environment, the effect of self rescue and mutual rescue is difficult to guarantee, which is bound to increase the rate of disability. Therefore, it is necessary to adopt effective methods to popularize first aid knowledge and carry out first aid skills training. However, there is no simulation product for the training of battlefield first aid, and the training means of battlefield first aid are backward, The soldiers have no practical opportunity for first aid, the actual operation ability is not strong, the training work stays on the level of "light said do not practice". The battlefield has its special characteristics. The treatment of the war is different from the general situation, so it is necessary to develop a suitable first aid training system for the battlefield characteristics. The system will improve the deficiency of the existing hemostasis module, and its application can improve the emergency stop bleeding skills of the officers and men.
At present, medical training simulators have only uncontrolled bleeding arms in emergency hemostasis training. The arm does not quantify the important parameters of blood pressure and can not dynamically display the changes in the pressure of the arm's brachial artery. Therefore, the aim of this project is to realize the change of the pressure and flow of the brachial artery in the first aid hemostasis training. Learning effectively provides the operator with a real sense of pressure, allowing trainers to perform the practice of hemostasis.
The research of hemostasis simulation system has the following significance: to provide medical simulation training for students, reduce casualty rate, provide intelligent testing and evaluation platform for the development of emergency equipment, and make non medical personnel such as police, civil aviation attendants, hotel and hotel attendants to improve emergency treatment. The ability of pulse bleeding provides a platform for the majority of medical workers to learn the technology of first aid hemostasis.
This topic mainly studies the control problem of the simulation system of first-aid hemostasis training. First, based on the theory of human blood circulation system, a simulation device for hemostasis training is set up based on the theory of three components Westerhof model, and the transfer function model of the hemostat training simulation system is obtained by the system time domain identification method, and the controller is designed for the Matlab numerical imitation. Finally, the control parameters are optimized. At last, a single chip microcomputer system with C8051F330 as the core is designed to realize the pressure signal acquisition and A/D conversion, and the digital PID algorithm is used to control the quadruple valve, thus the brachial artery pressure curve is simulated. The specific research contents are as follows:
1, first, it introduces the origin and significance of the subject, discusses the theory of blood circulation system, mainly analyzes the parameters of the cardiovascular system, the mechanism of blood pressure formation and the factors that affect the blood pressure. The equipment of the first aid hemostasis training simulation system has not yet existed at home and abroad. This article is about the development of the medical simulation education in the related research of this system. The cardiovascular system modeling and the total artificial heart testing system are described in detail.
2, then the modeling of an in vitro simulated circulation device is carried out. The model of the single elastic cavity of the cardiovascular system is analyzed. Based on the Westerhof three element elastic cavity model, an external circulation simulation test platform is designed by using the mathematical model idea. The model is used to simulate the compliance element, the inertial element and the resistance element, and the model of the elastic cavity is built. A single loop blood circulation simulator similar to that of cardiopulmonary bypass is similar.
Taking the flow pressure and flow as the research object, the characteristics of the controlled object are analyzed. Because the simulation blood circulation system also has the flow characteristics, the error of the components and the limitations of the physical model components, it is difficult to establish a precise mathematical model. Therefore, the experimental modeling method is selected. The four coupling valves are modeled and the four joint valves are open. The state combination follows the input standard brachial pressure signal and adjusts and controls the flow pressure and flow. Using the binary concept to design the various opening weights of the quadruple valve, the quadruple valve can be understood as the weight of the four valves with different weights of a valve switch, which can be mapped to four bits according to the pressure range of the arterial pressure. According to the consistency of the step response curve of each valve opening of the quadruple valve, the quadruple valve is idealized as a continuous system, and the transfer function identification method is used to analyze and solve the system, and a reasonable simplified mathematical model is established.
3, the control design and Simulation of the system.
The design of the controller includes the open loop control design and the closed loop control design. In the open loop control, the characteristic similarity between the brachial pressure curve and the sinusoidal curve is used. The sinusoidal function is quantized by Matlab-simulink simulation tool, taking a certain sampling time, according to the range of pressure value from 60 to 140mmHg, and adjusting the quadruple valve according to the corresponding time of the 16 pressure values. The opening and switching time make the different combinations of the valve reach the 2~4 state, thus realizing the regulation of the pressure of the blood flow. In the closed loop control, according to the principle of PID control, the ideal hypothesis is that the quadruple valve is a continuous system without considering the delay. According to the characteristics of the PID controller and the function relation of the performance parameter of the two order system, the overshoot and the adjustment time are set. The parameters of the controller are obtained. The error between the simulation step response curve and the calculated value is within the range of relative error.
The simulation experiment of open loop control and the open loop control simulation experiment, according to the principle of open loop control, the simulation control curve achieves the good effect of tracking the expected pressure curve of the brachial artery effectively, but the delay is more obvious. In the closed loop control simulation experiment, the 16 (2~4) state of the quadruple valve is controlled by the combination of the quadruple valve. The result shows that the control curve can achieve a relatively good tracking of the input signal. If the valve combination value reaches 64 (2~6), it will achieve more effective tracking of the expected input signal.
4, the prototype is tested and debugged at the end. The prototype is designed in turn in the hardware circuit design, the control software design (digital PID control design, the upper computer software interface design), the principle prototype is narrated, the hardware equipment, the software system are debugged and the control results are given.
【学位授予单位】：中国人民解放军军事医学科学院
【学位级别】：硕士
【学位授予年份】：2008
【分类号】：R82;TP391.9
【引证文献】
相关硕士学位论文 前1条
1 赵一博;四容水箱过程控制装置设计与实现[D];北方工业大学;2011年
，本文编号：2139590
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