CN118319308A - A bladder monitoring method and system - Google Patents

Abstract

The invention relates to the field of medical instruments, in particular to a bladder monitoring method and a bladder monitoring system. After the catheter is connected into the urinary catheter inlet, the urinary bladder monitoring system performs initial measurement on the urination pressure, and then enters a monitoring mode or a bladder training mode. The urine drip technology of the non-invasive urination pressure sensing auxiliary photoelectric drip sensor is used for realizing urine drip regulation and metering in a monitoring mode; and simultaneously, the interference of micro-swing on the measurement of urine drops is removed by using a micro-disturbance countermeasure technology based on a gyroscope. The autonomous urination technology using the non-invasive urination pressure sensing auxiliary liquid level sensor is used in the bladder training mode to simulate the urination and urination functions of the human bladder. The invention can realize the monitoring of the urine volume and the urine flow rate all the day and provide personalized bladder training function for patients. The BLE interaction interface provided by the invention can be compatible with a mainstream Internet of things system, and can realize intelligent medical care functions such as remote monitoring and the like.

Description

A bladder monitoring method and system

Technical Field

The present invention relates to the technical field of medical devices, in particular to a bladder monitoring method and a system thereof.

Background technique

Currently, the amount of urine voided is measured clinically by manually reading the amount of urine in the urine bag multiplied by the number of times it is dumped. This method of measurement is not only prone to errors and omissions when recording, but is also limited by the limited medical staff, resulting in the patient's abnormal urination not being discovered in time. In addition, patients with long-term indwelling catheters or patients with pathological bladder dysfunction such as neurogenic bladder need bladder function training in clinical practice to reduce the risk of urinary incontinence and urine retention. Currently, bladder function training in medical institutions relies on medical staff to manually clamp the catheter. However, due to differences in the physical fitness of patients, manual operation cannot control the appropriate urination interval and relies too much on the operating experience of medical staff, which can easily cause the bladder to be in a high-pressure state for a long time or lead to frequent urination.

At present, the technical ecology of the new bladder monitoring system based on electronic devices and related processing algorithms has matured. In terms of urine volume and urine flow rate measurement, patents CN215536942U and CN103598943A both use photoelectric sensors to detect dripping urine drops to measure urine flow rate or urine volume. Patent CN215424669U discloses a device that uses upper and lower probe wires to achieve contact urine drop measurement. However, due to the influence of factors such as urine density and urination pressure, direct urine drop monitoring without regulating the flow rate and drop size of urine droplets is prone to problems such as continuous drops and inconsistent drop size; in addition, in actual clinical work, due to the patient's limb activities, the monitoring instrument will inevitably have a small and irregular swing, which will also cause errors in the results of droplet measurement. In terms of urination pressure and bladder function training, patent CN213311386U discloses a method of using a timing controller and an electromagnet to drive the clamp to open and close to achieve automated bladder function training. However, it fails to adjust the time of opening the catheter according to factors such as differences in the patient's physical fitness and the real-time bladder capacity. At present, there is also a technical solution that uses a pressure sensor to sense the catheter pressure and uses it as a physiological indicator of the timing of opening and closing the catheter. The physiological indicators related to urination pressure include intravesical pressure, intra-abdominal pressure, bladder detrusor contraction pressure and urethral pressure. Except for the detrusor contraction pressure, the other three indicators require the insertion of a pressure measuring catheter into the human body and can only be retained for a short period of time during the examination. Patent CN216294807U proposes a catheter pressure sensing method using liquid as a transmission medium, and uses the pressure information sensed by the pressure sensor as a physiological indicator for controlling the clamping mechanism to open and close the catheter in a specified physiological state. A similar catheter pressure sensing scheme also appears in patent CN103598943B. However, this pressure sensing method is affected by the deformation of the drainage tube wall and the outer shell of the liquid transmission medium, and its accuracy in reflecting the internal bladder pressure remains to be discussed.

There is no technical solution or device in the existing products that can provide patients with urine volume and urine flow rate monitoring functions and bladder training functions at the same time. Most products or technical solutions with bladder training functions use a timing function to control the opening and closing of the urinary catheter to achieve the functions of urination and urine retention, or use a timing device to remind medical staff to open and close the drainage tube. However, the bladder capacity of different patients is different, and the intensity of bladder training required by the same patient at different times will also change. Simply relying on time intervals for bladder function training is too dependent on the experience of medical staff, which will also affect the efficacy of bladder function training.

Summary of the invention

1. Technical issues to be solved

In view of the deficiencies in the prior art, the present invention provides a bladder monitoring method and system thereof, which solves the problems of errors in urine drop measurement, non-invasive urination pressure sensing and manual clamping of the catheter affecting the efficiency of bladder function training proposed in the above background technology.

(II) Technical solution

In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

A bladder monitoring method comprises the following steps:

S1. Connect the urinary catheter to the bladder monitoring system catheter inlet, then perform a system self-check and use the barometer-based non-invasive urination pressure sensing technology to initialize the urination pressure;

S2. After the system self-check and urination pressure initialization are completed, manually select to enter the monitoring mode, and use the urine droplet formation technology assisted by the photoelectric droplet sensor with non-invasive urination pressure sensing and the gyroscope-based micro-disturbance countermeasure technology to improve the urine droplet measurement accuracy;

S3. After the system self-check and urination pressure initialization are completed, manually select to enter the bladder training mode, and use the autonomous urination technology with non-invasive urination pressure sensing and auxiliary liquid level sensor to achieve overall bladder function training and maintenance.

Furthermore, the specific steps of S1 are as follows:

S11. Self-test of the barometer, liquid level sensing grating in the buffer chamber, thermocouple, motor, photoelectric droplet sensor in the metering chamber, gravity sensor in the urine bag, and gyroscope;

S12, the barometer measures the initial air pressure of the buffer chamber (i.e., atmospheric pressure), the urine stop valve drive motor stroke self-check, the urine bag weighing gravity sensor measures the empty load, and the gyroscope calibrates the initial posture;

S13, connect the urinary catheter to the entrance of the urinary tract (at this time, the urine stop valve is fully open), and as the urine is injected, the water level in the buffer chamber gradually rises, and the real-time reading of the barometer is recorded. After the water level in the buffer chamber stops rising, the highest value is retained as the first urination pressure, and at the same time, the bladder training urinary tract hose is opened to allow urine to be discharged quickly, and the liquid level in the buffer chamber is lowered below the target water level. When the reading of the urine bag gravity sensor no longer changes, it is considered that the urine in the bladder is emptied, and the barometer reading at this time is recorded as the second urination pressure, and the bladder training urinary tract hose is closed;

S14, wherein the method for calculating the first urination pressure and the second urination pressure using the non-invasive urination pressure sensing technology based on a barometer is as follows:

P＝K×P _sensor #(1)

P is the fitted urination pressure, K is the fitting factor, and P _sensor is the barometer reading;

S15. After initialization is completed, manually select to start the dynamic monitoring mode or the urine dynamics training mode.

Furthermore, the specific steps of S2 are as follows:

S21, after the system enters the monitoring mode, the motor controls the bladder training urinary tract hose to close, and the urine drop metering urinary tract hose to open. Since the urine flowing out of the catheter has a low flow rate, uniformly falling drops will form in the metering chamber. The barometer reading at this time should be equal to or slightly higher than the atmospheric pressure.

S22, the main control chip keeps monitoring the readings of the photoelectric sensor and the urine bag gravity sensor, so as to achieve the purpose of monitoring the urine flow rate;

S23. The main control chip keeps monitoring the reading of the thermocouple to achieve the purpose of monitoring the urine temperature.

S24. The main control chip keeps monitoring the reading of the gyroscope to achieve the purpose of monitoring whether the posture of the device is along the plumb line. The core measurement indicator of the gyroscope-based micro-disturbance countermeasure technology is the instrument offset F; it is defined as follows:

F＝a||α _yaw +α _pitch +α _roll ||+b||v _yaw +v _pitch +v _roll ||#(2)

Among them, a and b are fitting factors; ||·|| is the second norm; α _yaw , α _pitch , α _roll are the three-axis deviation angles; v _yaw , v _pitch , v _roll are the three-axis angle change speeds. The bladder monitoring system monitors the deviation F and removes the urine drop measurement information when it is abnormal;

S25. The main control chip keeps monitoring the readings of the droplet photoelectric sensor and the barometer; cooperates with the urine drop metering stop valve motor to achieve the purpose of controlling the falling speed and size of urine drops in the metering chamber. The urine droplet formation technology based on urination pressure sensing auxiliary photoelectric droplet sensor is used to calculate the urine droplet evaluation factor σ for urine droplet size and flow rate control; the calculation method is shown in the following formula:

σ＝k ₁ ×P+k ₂ ×v#(3)

Where _k1 and _k2 are influencing factors; P is the urination pressure; v is the droplet flow rate. The bladder monitoring system uses the urine droplet evaluation factor to give feedback to the urine droplet metering stop valve motor; change the degree of opening of the hose; and thus achieve the purpose of modulating the urine droplet size and flow rate.

Furthermore, the specific steps of S3 are as follows:

S31, the bladder training urinary tract hose and the urine drop measurement urinary tract hose are closed, and urine accumulates in the bladder; due to the presence of gas in the buffer chamber, the gas pressure measured by the barometer is positively correlated with the bladder pressure; the urination pressure reflecting the urine storage level in the bladder can be calculated by formula (1);

S32, manually selecting a bladder training mode after the bladder pressure initialization is completed, and presetting the high pressure duration and pressure threshold;

S33, selecting the first urination pressure as the pressure threshold by default;

S34, the main control chip keeps monitoring the readings of the barometer and the liquid level sensing grating, and when the liquid level approaches the warning value and the urination pressure maintains the high pressure for a long time reaching the warning value, the bladder training urinary tract hose motor is used to open the bladder training urinary tract to achieve the purpose of rapid urination;

S35. When the urination pressure is maintained between the first urination pressure and the second urination pressure, the autonomous urination technology using the non-invasive pressure sensing auxiliary liquid level sensor is used to control the patient's autonomous urination; the core is to use bladder pressure sensing combined with liquid level sensor information to evaluate the patient's urine storage level, and the evaluation factor G is defined as follows:

Among them, P is the urination pressure, H is the height of the buffer chamber liquid level, and t is the monitoring time; the bladder monitoring system gives feedback to the bladder training hose motor through the evaluation factor, controls the opening and closing of the urinary hose, and realizes the urine storage and urination function that meets the physiological needs of the human body;

S36, the main control chip keeps monitoring the urine bag gravity sensor to achieve the purpose of monitoring urine flow rate;

S37, the main control chip keeps monitoring the reading of the thermocouple to achieve the purpose of monitoring the urine temperature;

S38, the main control chip keeps monitoring the reading of the gyroscope to achieve the purpose of monitoring whether the posture of the device is along the plumb line direction;

S39. The main control chip keeps monitoring the readings of the barometer, the liquid level sensing grating and the urine bag gravity sensor. When the barometer reading is close to the second urination pressure, the liquid level is far away from the warning value, and the urine flow rate drops to the preset value, the bladder is closed and the urinary tract hose re-enters the urine storage process.

Furthermore, a bladder monitoring system is provided, the bladder monitoring system comprising:

Main control chip: used for information collection of various electronic devices, control motor feedback, and control low-power Bluetooth BLE information transmission;

Barometer: connected to the main control chip, used to measure the gas pressure in the buffer chamber, and then fit the urination pressure in the embedded device;

Thermocouple: In the buffer room, connected to the main control chip, used to measure urine temperature;

Gyroscope: connected to the main control chip, used to measure the position and posture of the monitoring device;

Urine drop metering stop valve motor: connected to the main control chip, used to control the opening and closing of the urine drop metering urinary tract hose;

Bladder training urine stop valve motor: connected to the main control chip, used to control the opening and closing of the bladder training urinary tract hose;

Urine bag gravity sensor: connected to the main control chip, used to measure the real-time weight of the urine bag;

Photoelectric droplet sensor: connected to the main control chip, used to measure the number of urine droplets in the metering chamber;

Liquid level sensing grating: connected to the main control chip, used to measure the real-time liquid level in the buffer chamber;

Display module: connected to the main control chip, used to display the monitoring information of the urine measuring instrument;

Voice module: connected to the main control chip for alarms and prompts;

Controller: connected to the main control chip, used to set parameters and emergency stop;

Low-power Bluetooth BLE: connected to the main control chip and used to synchronize information with the mobile terminal;

Power supply module: used to supply power to the electronic devices numbered to;

Urine bag hanger: connected to the urine bag gravity sensor, used to hang the urine bag;

Buffer chamber: There is a liquid level sensing grating on the side, made of medical rigid plastic, used for short-term storage of urine and measurement of urination pressure;

Metering chamber: There is a photoelectric droplet sensor on the side, made of medical rigid plastic, used for urine droplet measurement;

Urine drop metering urinary hose: connected to the metering chamber, made of medical rubber with a small diameter of 2-4mm; used to control the opening and closing of the urine drop metering passage;

Bladder training urinary tract hose: connected to the buffer chamber, made of medical rubber material, with a larger diameter of 5-8mm; used for opening and closing the bladder training pathway.

(III) Beneficial effects

Compared with the prior art, the present invention provides a bladder monitoring method and system thereof, which have the following beneficial effects:

The present invention can reduce the risk of clogging of the catheter hose due to abnormal urine components; can achieve more accurate urine droplet measurement; can sense urination pressure non-invasively throughout the day; can achieve all-day automatic urine flow rate and urine volume measurement functions and all-day personalized bladder maintenance and recovery functions; can achieve measurement standardization and process standardization in the entire monitoring process, minimize manual participation, reduce the intensity of medical work while avoiding the impact of manual operation differences on treatment effects

BRIEF DESCRIPTION OF THE DRAWINGS

Figure 1 is a hardware block diagram of the bladder monitoring system;

Fig. 2 is a block diagram of the bladder monitoring system;

Figure 3 is a general flow chart of the bladder monitoring system;

Figure 4 Monitoring mode workflow diagram;

Fig. 5 Workflow diagram of bladder training mode.

In the figure: 1. Main control chip, 2. Barometer, 3. Thermocouple, 4. Gyroscope, 5. Urine drop metering stop valve motor, 6. Bladder training stop valve motor, 7. Urine bag gravity sensor, 8. Photoelectric drop sensor, 9. Liquid level sensing grating, 10. Display module, 11. Voice module, 12. Controller, 13. Low power Bluetooth, BLE 14. Power supply module, 15. Urine bag hanger, 16. Cache chamber, 17. Measuring chamber, 18. Urine drop metering urinary tract hose, 19. Bladder training urinary tract hose.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Example 1

As shown in FIGS. 1-5 , a bladder monitoring method provided by an embodiment of the present invention comprises the following steps:

S1. Connect the urinary catheter to the bladder monitoring system catheter inlet, then perform a system self-check and use the non-invasive urination pressure sensing technology based on the barometer 2 to initialize the urination pressure;

S2, after the system self-check and urination pressure initialization are completed, manually select to enter the monitoring mode, and use the urine droplet formation technology of the photoelectric droplet sensor 8 assisted by non-invasive urination pressure sensing and the micro-disturbance countermeasure technology based on the gyroscope 4 to improve the urine droplet measurement accuracy;

S3. After the system self-check and urination pressure initialization are completed, manually select to enter the bladder training mode, and use the autonomous urination technology with non-invasive urination pressure sensing and auxiliary liquid level sensor to achieve overall bladder function training and maintenance.

As shown in FIG. 1 , FIG. 2 and FIG. 3 , in some embodiments, the specific steps of S1 are as follows:

S11, self-test of the barometer 2, liquid level sensing grating 9, thermocouple 3, motor, photoelectric droplet sensor 8 in metering chamber 17, urine bag gravity sensor 7, and gyroscope 4;

S12, the barometer 2 measures the initial air pressure of the buffer chamber 16, i.e., the atmospheric pressure, the travel self-check of the urine stop valve drive motor, the urine bag weighing gravity sensor measures the empty load, and the gyroscope 4 calibrates the initial position;

S13, connect the urinary catheter to the entrance of the urinary tract, and then the urine stop valve is fully opened. As the urine is injected into the buffer chamber 16, the water level gradually rises, and the real-time reading of the barometer 2 is recorded. After the water level line of the buffer chamber 16 stops rising, the highest value is retained as the first urination pressure, and at the same time, the bladder training urinary tract hose 19 is opened to allow urine to be discharged quickly, and the liquid level of the buffer chamber 16 is lowered below the target water level line. When the reading of the urine bag gravity sensor 7 no longer changes, it is considered that the urine in the bladder is emptied, and the reading of the barometer 2 at this time is recorded as the second urination pressure, and the bladder training urinary tract hose 19 is closed;

S14, wherein the method for calculating the first urination pressure and the second urination pressure using the non-invasive urination pressure sensing technology based on the barometer 2 is as follows:

P＝K×P _sensor #(1)

P is the fitted urination pressure, K is the fitting factor, and P _sensor is the barometer 2 reading;

S15. After initialization is completed, manually select to start the dynamic monitoring mode or the urine dynamics training mode.

As shown in FIG. 4 , in some embodiments, the specific steps of S2 are as follows:

S21, after the system enters the monitoring mode, the motor controls the bladder training urinary tract hose 19 to close, and the urine drop metering urinary tract hose 18 to open. Since the urine flow rate out of the catheter is low, uniformly falling drops will form in the metering chamber 17. At this time, the reading of the barometer 2 should be equal to or slightly higher than the atmospheric pressure.

S22, the main control chip keeps monitoring the readings of the photoelectric sensor and the urine bag gravity sensor 7, so as to achieve the purpose of monitoring the urine flow rate;

S23, the main control chip keeps monitoring the reading of the thermocouple 3, so as to achieve the purpose of monitoring the urine temperature.

S24, the main control chip 1 keeps monitoring the reading of the gyroscope 4, so as to achieve the purpose of monitoring whether the posture of the device is along the plumb line. The core measurement indicator of the micro-disturbance countermeasure technology based on the gyroscope 4 is the instrument offset F, which is defined as follows:

F＝a||α _yaw +α _pitch +α _roll ||+b||v _yaw +v _pitch +v _roll ||#(2)

Among them, a and b are fitting factors; ||·|| is the second norm; α _yaw , α _pitch , α _roll are the three-axis deviation angles; v _yaw , v _pitch , v _roll are the three-axis angle change speeds. The bladder monitoring system monitors the deviation F and removes the urine drop measurement information when it is abnormal;

S25, the main control chip 1 keeps monitoring the readings of the drop photoelectric sensor and the barometer 2; cooperates with the urine drop metering and urine stop valve motor 5 to achieve the purpose of controlling the falling speed and size of urine drops in the metering chamber 17. The urine droplet formation technology based on urination pressure sensing auxiliary photoelectric droplet sensor 8 is used to calculate the urine droplet evaluation factor σ for urine droplet size and flow rate control; the calculation method is shown in the following formula:

σ＝k ₁ ×P+k ₂ ×v#(3)

Where _k1 and _k2 are influencing factors; P is the urination pressure; v is the droplet flow rate. The bladder monitoring system uses the urine droplet evaluation factor to give feedback to the urine droplet metering urinary tract hose 18 motor; change the degree of opening of the hose; and thus achieve the purpose of modulating the urine droplet size and flow rate.

As shown in FIG. 5 , in some embodiments, the specific steps of S3 are as follows:

S31, the bladder training urinary tract hose 19 and the urine drop metering urinary tract hose 18 are closed, and urine is accumulated in the bladder; due to the presence of gas in the buffer chamber 16, the gas pressure measured by the barometer 2 is positively correlated with the bladder pressure; the urination pressure reflecting the urine storage level in the bladder can be calculated by formula 1;

S32, manually selecting a bladder training mode after the bladder pressure initialization is completed, and presetting the high pressure duration and pressure threshold;

S33, selecting the first urination pressure as the pressure threshold by default;

S34, the main control chip 1 keeps monitoring the readings of the barometer 2 and the liquid level sensing grating 9, and when the liquid level approaches the warning value and the urination pressure maintains the high pressure for a long time reaching the warning value, the bladder training urine stop valve motor 6 is cooperated to open the bladder training urinary tract to achieve the purpose of rapid urination;

S35. When the urination pressure is maintained between the first urination pressure and the second urination pressure, the autonomous urination technology using the non-invasive pressure sensing auxiliary liquid level sensor is used to control the patient's autonomous urination; the core is to use bladder pressure sensing combined with liquid level sensing grating 9 information to evaluate the patient's urine storage level, and the evaluation factor G is defined as follows:

Wherein, P is the urination pressure, H is the height of the liquid level in the buffer chamber 16, and t is the monitoring time; the bladder monitoring system gives feedback to the bladder training hose motor through the evaluation factor, controls the opening and closing of the urinary hose, and realizes the urine storage and urination function that meets the physiological needs of the human body;

S36, the main control chip 1 keeps monitoring the urine bag gravity sensor 7 to achieve the purpose of monitoring the urine flow rate;

S37, the main control chip 1 keeps monitoring the reading of the thermocouple 3 to achieve the purpose of monitoring the urine temperature;

S38, the main control chip 1 keeps monitoring the reading of the gyroscope 4 to achieve the purpose of monitoring whether the posture of the device is along the plumb line direction;

S39, the main control chip 1 keeps monitoring the readings of the barometer 2, the liquid level sensing grating and the urine bag gravity sensor 7. When the reading of the barometer 2 is close to the second urination pressure, the liquid level is far away from the warning value, and the urine flow rate drops to the preset value, the bladder training urinary tract hose 19 is closed to re-enter the urine storage process.

A bladder monitoring system, comprising:

Main control chip 1: used for information collection of various electronic devices, control motor feedback, and control low-power Bluetooth BLE information transmission;

Barometer 2: connected to the main control chip 1, used to measure the gas pressure in the buffer chamber 16, and then fit the urination pressure in the embedded device;

Thermocouple 3: in the buffer chamber 16, connected to the main control chip 1, used to measure the urine temperature;

Gyroscope 4: connected to the main control chip 1, used to measure the position and posture of the monitoring device;

Urine drop metering and urine stopping valve motor 5: connected to the main control chip 1, used to control the opening and closing of the urine drop metering urinary tract hose 18;

Bladder training urine stopping valve motor 6: connected to the main control chip 1, used to control the opening and closing of the bladder training urinary tract hose 19;

Urine bag gravity sensor 7: connected to the main control chip 1, used to measure the real-time weight of the urine bag;

Photoelectric droplet sensor 8: connected to the main control chip 1, used to measure the number of urine droplets in the metering chamber 17;

Liquid level sensing grating 9: connected to the main control chip 1, used to measure the real-time liquid level height in the buffer chamber 16;

Display module 10: connected to the main control chip 1, used to display the monitoring information of the urine measuring instrument;

Voice module 11: connected to the main control chip 1, used for alarm and prompt;

Controller 12: connected to the main control chip 1, used for setting parameters and emergency stop;

Low-power Bluetooth BLE13: connected to the main control chip 1, used to synchronize information with the mobile terminal;

Power supply module 14: used to supply power to the electronic devices numbered 1 to 13;

Urine bag hanger 15: connected to the urine bag gravity sensor 7, used for hanging the urine bag;

Buffer chamber 16: There is a liquid level sensing grating 9 on the side, made of medical rigid plastic material, used for short-term storage of urine and measurement of urination pressure;

Measuring chamber 17: There is a photoelectric droplet sensor 8 on the side, made of medical rigid plastic material, used for urine droplet measurement;

Urine drop metering urinary tract hose 18: connected to the metering chamber 17, made of medical rubber with a small diameter of 2-4 mm; used to control the opening and closing of the urine drop metering passage;

Bladder training urinary tract hose 19: connected to the buffer chamber 16, made of medical rubber material, with a larger diameter of 5-8mm; used for opening and closing the bladder training passage.

Example 2

In this embodiment, the patient's bladder function is impaired and the patient loses the ability to urinate autonomously. The monitoring mode of the bladder monitoring system is used to monitor urine volume information throughout the day. In this embodiment, a bladder monitoring method proposed by the present invention includes the following steps:

S1. Connect the urinary catheter to the bladder monitoring system catheter inlet, then perform a system self-check and use the non-invasive urination pressure sensing technology based on the barometer 2 to initialize the urination pressure;

S2, after the system self-check and urination pressure initialization are completed, manually select to enter the monitoring mode, and use the urine droplet formation technology of the photoelectric droplet sensor 8 assisted by non-invasive urination pressure sensing and the micro-disturbance countermeasure technology based on the gyroscope 4 to improve the urine droplet measurement accuracy;

As shown in FIG. 1 , FIG. 2 and FIG. 3 , in this embodiment, the specific steps of S1 are as follows:

S11, self-checking the barometer 2, the liquid level sensing grating 9 in the buffer chamber, the thermocouple 3, the motor, the photoelectric droplet sensor 8 in the metering chamber 17, the urine bag gravity sensor 7, and the gyroscope 4;

S12, the barometer 2 measures the initial air pressure of the buffer chamber 16, i.e., the atmospheric pressure, the travel self-check of the urine stop valve drive motor, the urine bag weighing gravity sensor measures the empty load, and the gyroscope 4 calibrates the initial position;

S13, connect the urinary catheter to the entrance of the urinary tract, and then the urine stop valve is fully opened. As the urine is injected into the buffer chamber 16, the water level gradually rises, and the real-time reading of the barometer 2 is recorded. After the water level line of the buffer chamber 16 stops rising, the highest value is retained as the first urination pressure, and at the same time, the bladder training urinary tract hose 19 is opened to allow urine to be discharged quickly, and the liquid level of the buffer chamber 16 is lowered below the target water level line. When the reading of the urine bag gravity sensor 7 no longer changes, it is considered that the urine in the bladder is emptied, and the reading of the barometer 2 at this time is recorded as the second urination pressure, and the bladder training urinary tract hose 19 is closed;

S14, wherein the method for calculating the first urination pressure and the second urination pressure using the non-invasive urination pressure sensing technology based on the barometer 2 is as follows:

P＝K×P _sensor #(1)

P is the fitted urination pressure, K is the fitting factor, and P _sensor is the barometer 2 reading;

S15. After initialization is completed, manually select to start the dynamic monitoring mode or the urine dynamics training mode.

As shown in FIG. 4 , in some embodiments, the specific steps of S2 are as follows:

S21, after the system enters the monitoring mode, the motor controls the bladder training urinary tract hose 19 to close, and the urine drop metering urinary tract hose 18 to open. Since the urine flow rate out of the catheter is low, uniformly falling drops will form in the metering chamber 17. At this time, the reading of the barometer 2 should be equal to or slightly higher than the atmospheric pressure.

S22, the main control chip 1 keeps monitoring the readings of the photoelectric sensor and the urine bag gravity sensor 7, so as to achieve the purpose of monitoring the urine flow rate;

S23, the main control chip 1 keeps monitoring the reading of the thermocouple 3, so as to monitor the urine temperature. S24, the main control chip 1 keeps monitoring the reading of the gyroscope 4, so as to monitor whether the posture of the device is along the plumb line. The core measurement indicator of the micro-disturbance countermeasure technology based on the gyroscope 4 is the instrument offset F, which is defined as follows:

F＝a||α _yaw +α _pitch +α _roll ||+b||v _yaw +v _pitch +v _roll ||#(2)

Among them, a and b are fitting factors; ||·|| is the second norm; α _yaw , α _pitch , α _roll are the three-axis deviation angles; v _yaw , v _pitch , v _roll are the three-axis angle change speeds. The bladder monitoring system monitors the deviation F and removes the urine drop measurement information when it is abnormal;

S25, the main control chip 1 keeps monitoring the readings of the drop photoelectric sensor and the barometer 2; cooperates with the urine drop metering and urine stop valve motor 5 to achieve the purpose of controlling the falling speed and size of urine drops in the metering chamber 17. The urine droplet formation technology based on urination pressure sensing auxiliary photoelectric droplet sensor 8 is used to calculate the urine droplet evaluation factor σ for urine droplet size and flow rate control; the calculation method is shown in the following formula:

σ＝k ₁ ×P+k ₂ ×v#(3)

Where _k1 and _k2 are influencing factors; P is the urination pressure; v is the droplet flow rate. The bladder monitoring system uses the urine droplet evaluation factor to give feedback to the urine droplet metering stop valve motor 5, change the degree of opening of the hose, and thereby achieve the purpose of modulating the urine droplet size and flow rate.

Example 3

In this embodiment, the patient has the ability to urinate autonomously but needs to stay in bed with a urinary catheter, and the bladder training function of the bladder monitoring system is used to maintain and train the bladder function. In this embodiment, a bladder monitoring method proposed by the present invention includes the following steps:

S1. Connect the urinary catheter to the bladder monitoring system catheter inlet, then perform a system self-check and use the non-invasive urination pressure sensing technology based on the barometer 2 to initialize the urination pressure;

S3. After the system self-check and urination pressure initialization are completed, manually select to enter the bladder training mode, and use the autonomous urination technology with non-invasive urination pressure sensing and auxiliary liquid level sensor to achieve overall bladder function training and maintenance.

As shown in FIG. 1 , FIG. 2 and FIG. 3 , in this embodiment, the specific steps of S1 are as follows:

S11, self-checking the barometer 2, the liquid level sensing grating in the buffer chamber 16, the thermocouple 3, the motor, the photoelectric droplet sensor 8 in the metering chamber 17, the urine bag gravity sensor 7, and the gyroscope 4;

S12, the barometer 2 measures the initial air pressure of the buffer chamber 16, i.e., the atmospheric pressure, the travel self-check of the urine stop valve drive motor, the urine bag weighing gravity sensor measures the empty load, and the gyroscope 4 calibrates the initial position;

S13, connect the urinary catheter to the entrance of the urinary tract, and then the urine stop valve is fully opened. As the urine is injected into the buffer chamber 16, the water level gradually rises, and the real-time reading of the barometer 2 is recorded. After the water level line of the buffer chamber 16 stops rising, the highest value is retained as the first urination pressure, and at the same time, the bladder training urinary tract hose 19 is opened to allow urine to be discharged quickly, and the liquid level of the buffer chamber 16 is lowered below the target water level line. When the reading of the urine bag gravity sensor 7 no longer changes, it is considered that the urine in the bladder is emptied, and the reading of the barometer 2 at this time is recorded as the second urination pressure, and the bladder training urinary tract hose 19 is closed;

S14, wherein the method for calculating the first urination pressure and the second urination pressure using the non-invasive urination pressure sensing technology based on the barometer 2 is as follows:

P＝K×P _sensor #(1)

P is the fitted urination pressure, K is the fitting factor, and P _sensor is the barometer 2 reading;

S15. After initialization is completed, manually select to start the dynamic monitoring mode or the urine dynamics training mode.

As shown in FIG. 5 , in this embodiment, the specific steps of S3 are as follows:

S31, the bladder training urinary tract hose 19 and the urine drop metering urinary tract hose 18 are closed, and urine is accumulated in the bladder; due to the presence of gas in the buffer chamber 16, the gas pressure measured by the barometer 2 is positively correlated with the bladder pressure; the urination pressure reflecting the urine storage level in the bladder can be calculated by formula 1;

S32, manually selecting a bladder training mode after the bladder pressure initialization is completed, and presetting the high pressure duration and pressure threshold;

S33, selecting the first urination pressure as the pressure threshold by default;

S34, the main control chip 1 keeps monitoring the readings of the barometer 2 and the liquid level sensing grating. When the liquid level approaches the warning value and the urination pressure maintains the high pressure for a period of time that reaches the warning value, the bladder training urination stop valve motor 6 opens the bladder training urinary tract to achieve the purpose of rapid urination;

S35. When the urination pressure is maintained between the first urination pressure and the second urination pressure, the autonomous urination technology using the non-invasive pressure sensing auxiliary liquid level sensor is used to control the patient's autonomous urination; the core is to use bladder pressure sensing combined with liquid level sensor information to evaluate the patient's urine storage level, and the evaluation factor G is defined as follows:

Wherein, P is the urination pressure, H is the height of the liquid level in the buffer chamber 16, and t is the monitoring time; the bladder monitoring system gives feedback to the bladder training hose motor through the evaluation factor, controls the opening and closing of the urinary hose, and realizes the urine storage and urination function that meets the physiological needs of the human body;

S36, the main control chip 1 keeps monitoring the urine bag gravity sensor 7 to achieve the purpose of monitoring the urine flow rate;

S37, the main control chip 1 keeps monitoring the reading of the thermocouple 3 to achieve the purpose of monitoring the urine temperature;

S38, the main control chip 1 keeps monitoring the reading of the gyroscope 4 to achieve the purpose of monitoring whether the posture of the device is along the plumb line direction;

S39, the main control chip 1 keeps monitoring the readings of the barometer 2, the liquid level sensing grating and the urine bag gravity sensor 7. When the reading of the barometer 2 is close to the second urination pressure, the liquid level is far away from the warning value, and the urine flow rate drops to the preset value, the bladder training urinary tract hose 19 is closed to re-enter the urine storage process.

Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (5)

1. A bladder monitoring method, characterized in that: comprising the following steps: S1. Connect the urinary catheter to the bladder monitoring system catheter inlet, then perform a system self-check and use the barometer-based non-invasive urination pressure sensing technology to initialize the urination pressure; S2. After the system self-check and urination pressure initialization are completed, manually select to enter the monitoring mode, and use the urine droplet formation technology assisted by the photoelectric droplet sensor with non-invasive urination pressure sensing and the gyroscope-based micro-disturbance countermeasure technology to improve the urine droplet measurement accuracy; S3. After the system self-check and urination pressure initialization are completed, manually select to enter the bladder training mode, and use the autonomous urination technology with non-invasive urination pressure sensing and auxiliary liquid level sensor to achieve overall bladder function training and maintenance. 2. A bladder monitoring method according to claim 1, characterized in that: the specific steps of S1 are as follows: S11. Self-test of the barometer, liquid level sensing grating in the buffer chamber, thermocouple, motor, photoelectric droplet sensor in the metering chamber, gravity sensor in the urine bag, and gyroscope; S12, the barometer measures the initial air pressure of the buffer chamber (i.e., atmospheric pressure), the urine stop valve drive motor stroke self-check, the urine bag weighing gravity sensor measures the empty load, and the gyroscope calibrates the initial posture; S13, connect the urinary catheter to the entrance of the urinary tract (at this time, the urine stop valve is fully open), and as the urine is injected, the water level in the buffer chamber gradually rises, and the real-time reading of the barometer is recorded. After the water level in the buffer chamber stops rising, the highest value is retained as the first urination pressure, and at the same time, the bladder training urinary tract hose is opened to allow urine to be discharged quickly, and the liquid level in the buffer chamber is lowered below the target water level. When the reading of the urine bag gravity sensor no longer changes, it is considered that the urine in the bladder is emptied, and the barometer reading at this time is recorded as the second urination pressure, and the bladder training urinary tract hose is closed; S14, wherein the method for calculating the first urination pressure and the second urination pressure using the non-invasive urination pressure sensing technology based on a barometer is as follows: P＝K×P _sensor #(1) P is the fitted urination pressure, K is the fitting factor, and P _sensor is the barometer reading; S15. After initialization is completed, manually select to start the dynamic monitoring mode or the urine dynamics training mode. 3. A bladder monitoring method according to claim 1, characterized in that: the specific steps of S2 are as follows: S21, after the system enters the monitoring mode, the motor controls the bladder training urinary tract hose to close, and the urine drop metering urinary tract hose to open. Since the urine flowing out of the catheter has a low flow rate, uniformly falling drops will form in the metering chamber. The barometer reading at this time should be equal to or slightly higher than the atmospheric pressure. S22, the main control chip keeps monitoring the readings of the photoelectric sensor and the urine bag gravity sensor, so as to achieve the purpose of monitoring the urine flow rate; S23. The main control chip keeps monitoring the reading of the thermocouple to achieve the purpose of monitoring the urine temperature. S24. The main control chip keeps monitoring the reading of the gyroscope to achieve the purpose of monitoring whether the device posture is along the plumb line. The core measurement indicator of the gyroscope-based micro-disturbance countermeasure technology is the instrument offset F; it is defined as follows: F＝a||α _yaw +α _pitch +α _roll ||+b||v _yaw +v _pitch +v _roll ||#(2) Among them, a and b are fitting factors; ||·|| is the second norm; α _yaw , α _pitch , α _roll are the three-axis deviation angles; v _yaw , v _pitch , v _roll are the three-axis angle change speeds. The bladder monitoring system removes abnormal urine drop measurement information by monitoring the deviation F; S25. The main control chip keeps monitoring the readings of the droplet photoelectric sensor and the barometer; cooperates with the urine drop metering stop valve motor to achieve the purpose of controlling the falling speed and size of urine drops in the metering chamber. The urine droplet formation technology based on urination pressure sensing auxiliary photoelectric droplet sensor is used to calculate the urine droplet evaluation factor σ for urine droplet size and flow rate control; the calculation method is shown in the following formula: σ＝k ₁ ×P+k ₂ ×v#(3) Where _k1 and _k2 are influencing factors; P is the urination pressure; v is the droplet flow rate. The bladder monitoring system uses the urine droplet evaluation factor to give feedback to the urine droplet metering stop valve motor; change the degree of opening of the hose; and thus achieve the purpose of modulating the urine droplet size and flow rate. 4. A bladder monitoring method according to claim 1, characterized in that: the specific steps of S3 are as follows: S31, the bladder training urinary tract hose and the urine drop measurement urinary tract hose are closed, and urine accumulates in the bladder; due to the presence of gas in the buffer chamber, the gas pressure measured by the barometer is positively correlated with the bladder pressure; the urination pressure reflecting the urine storage level in the bladder can be calculated by formula (1); S32, manually selecting a bladder training mode after the bladder pressure initialization is completed, and presetting the high pressure duration and pressure threshold; S33, selecting the first urination pressure as the pressure threshold by default; S34, the main control chip keeps monitoring the readings of the barometer and the liquid level sensing grating, and when the liquid level approaches the warning value and the urination pressure maintains the high pressure for a long time reaching the warning value, the bladder training urinary tract hose motor is cooperated to open the bladder training urinary tract to achieve the purpose of rapid urination; S35. When the urination pressure is maintained between the first urination pressure and the second urination pressure, the autonomous urination technology using the non-invasive pressure sensing auxiliary liquid level sensor is used to control the patient's autonomous urination; the core is to use bladder pressure sensing combined with liquid level sensor information to evaluate the patient's urine storage level, and the evaluation factor G is defined as follows: Among them, P is the urination pressure, H is the height of the buffer chamber liquid level, and t is the monitoring time; the bladder monitoring system gives feedback to the bladder training hose motor through the evaluation factor, controls the opening and closing of the urinary hose, and realizes the urine storage and urination function that meets the physiological needs of the human body; S36, the main control chip keeps monitoring the urine bag gravity sensor to achieve the purpose of monitoring urine flow rate; S37, the main control chip keeps monitoring the reading of the thermocouple to achieve the purpose of monitoring the urine temperature; S38, the main control chip keeps monitoring the reading of the gyroscope to achieve the purpose of monitoring whether the posture of the device is along the plumb line direction; S39. The main control chip keeps monitoring the readings of the barometer, the liquid level sensing grating and the urine bag gravity sensor. When the barometer reading is close to the second urination pressure, the liquid level is far away from the warning value, and the urine flow rate drops to the preset value, the bladder is closed and the urinary tract hose re-enters the urine storage process. 5. A bladder monitoring system according to claims 1-4, comprising: Main control chip (1): used for information collection of various electronic devices, controlling motor feedback, and controlling low-power Bluetooth BLE information transmission; Barometer (2): connected to the main control chip (1), used to measure the gas pressure in the buffer chamber, and then fit the urination pressure in the embedded device; Thermocouple (3): in the buffer chamber, connected to the main control chip (1), used to measure the urine temperature; Gyroscope (4): connected to the main control chip (1), used to measure the position and posture of the monitoring device; Urine drop metering urine stop valve motor (5): connected to the main control chip (1), used to control the opening and closing of the urine drop metering urinary tract hose; Bladder training urine stopping valve motor (6): connected to the main control chip (1), used to control the opening and closing of the bladder training urinary tract hose (19); Urine bag gravity sensor (7): connected to the main control chip (1), used to measure the real-time weight of the urine bag; Photoelectric droplet sensor (8): connected to the main control chip (1), used to measure the number of urine droplets in the metering chamber (17); Liquid level sensing grating (9): connected to the main control chip (1), used to measure the real-time liquid level height in the buffer chamber (16); Display module (10): connected to the main control chip (1), used to display monitoring information of the urine measuring instrument; Voice module (11): connected to the main control chip (1) and used for alarm and prompt; Controller (12): connected to the main control chip (1), used for setting parameters and emergency stop; Low-power Bluetooth BLE (13): connected to the main control chip (1) and used to synchronize information with the mobile terminal; Power supply module (14): used to supply power to the electronic devices numbered (1) to (13); Urine bag hanger (15): connected to the urine bag gravity sensor (7) and used for hanging the urine bag; Buffer chamber (16): with a liquid level sensing grating (9) on the side, made of medical rigid plastic material, used for short-term storage of urine and measurement of urination pressure; Measuring chamber (17): with photoelectric droplet sensor (8) on the side, made of medical rigid plastic material, used for urine droplet measurement; Urine drop metering urinary tract hose (18): connected to the metering chamber (17), made of medical rubber with a small diameter of 2-4 mm; used to control the opening and closing of the urine drop metering passage; Bladder training urinary tract hose (19): connected to the buffer chamber (16), made of medical rubber material, with a relatively large diameter of 5-8 mm; used for opening and closing the bladder training passage.