Cleaning device for bronchoscope lens and control system thereof

Abstract

The application provides a bronchoscope lens cleaning device and a control system thereof. The bronchoscope lens cleaning device comprises a working unit and an operating unit. The working unit can extend the bronchoscope lens end along the bronchoscope instrument channel. The working unit comprises a base. A suction channel is arranged on the distal end surface of the base. The operating unit comprises a negative pressure interface in communication with the suction channel. The negative pressure interface can provide negative pressure for the suction channel. The technical problem of inconvenient cleaning during the bronchoscope lens surgery is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a bronchoscope lens cleaning device and a control system thereof. Background Art

[0002] During robotic bronchoscopy, the surgeon uses images captured by the bronchoscope lens and guidance from a navigation system to control the movement of the bronchoscope to the target location. However, bodily fluids such as sputum, secretions, and blood may be present in the bronchi, which can adhere to the lens, blurring the image and affecting the field of view.

[0003] In order to clean the liquid attached to the surface of the lens, the current method is usually to pull the bronchoscope out of the body, wipe the lens with a cloth, and then reinsert it into the bronchus for re-navigation. This method is inefficient, and repeated insertion and withdrawal of the bronchoscope can easily cause damage to the bronchi due to friction. The other method is to inject water into the bronchoscope's forceps tube and then use a negative pressure device to extract the water to remove the attached liquid. However, since the water cannot accurately rinse the lens surface, the lens cleaning effect will be poor, and it cannot be guaranteed that the water injected into the bronchus is completely sucked out, which may cause the patient to choke and cough. Summary of the Invention

[0004] The purpose of the present invention is to provide a bronchoscope lens cleaning device and a control system thereof, so as to solve the technical problem that the bronchoscope lens is inconvenient to clean during surgery.

[0005] The above-mentioned purpose of the present invention can be achieved by adopting the following technical solutions:

[0006] The present invention provides a bronchoscope lens cleaning device, comprising: a working unit and an operating unit, wherein the working unit can extend the end of the bronchoscope lens along the bronchoscope instrument channel, the working unit includes a base, and a suction channel is provided on the distal end surface of the base, and the operating unit includes a negative pressure interface connected to the suction channel, and the negative pressure interface can provide negative pressure for the suction channel.

[0007] In a preferred embodiment, the working unit includes an ultrasonic probe, which is movably mounted on the base, and the operating unit is capable of controlling the movement of the ultrasonic probe relative to the base.

[0008] In a preferred embodiment, the ultrasound probe moves relative to the base along the longitudinal direction thereof.

[0009] In a preferred embodiment, the working unit includes an electromagnetic sensor mounted on the base.

[0010] In a preferred embodiment, the working unit includes a cleaning brush, which is rotatably mounted on the base, and the operating unit can drive the cleaning brush to rotate perpendicular to the longitudinal direction of the base.

[0011] In a preferred embodiment, a brush shaft and a torsion spring are provided on the base, the cleaning brush is mounted on the brush shaft, and the torsion spring can drive the cleaning brush to rotate to be parallel to the longitudinal direction of the base.

[0012] In a preferred embodiment, a longitudinal groove is provided on the base, and the cleaning brush can be rotated into the longitudinal groove.

[0013] In a preferred embodiment, the longitudinal groove is provided with a cleaning channel communicating with the suction channel.

[0014] The present invention provides a control system for a bronchoscope lens cleaning device, the bronchoscope lens cleaning device comprising: a working unit and an operating unit, the working unit being capable of extending the end of the bronchoscope lens along a bronchoscope instrument channel, the working unit comprising a base and an ultrasonic probe, a suction channel being provided on a distal end surface of the base, the operating unit comprising a negative pressure interface connected to the suction channel, the negative pressure interface being capable of providing negative pressure to the suction channel; the ultrasonic probe being movably mounted on the base, the operating unit being capable of controlling the movement of the ultrasonic probe relative to the base; the control system comprising: an identification device, the identification device identifying an area of ​​attached liquid based on an ultrasonic image of the ultrasonic probe.

[0015] In a preferred embodiment, the identification device comprises: establishing a coordinate system, and superimposing the identified attached liquid area in the coordinate system.

[0016] In a preferred embodiment, the identification device comprises: identifying a three-dimensional attached liquid area based on a plurality of ultrasound images of the ultrasound probe at different positions.

[0017] The characteristics and advantages of the present invention are:

[0018] When the bronchoscope is contaminated with mucus and the field of vision is unclear, the cleaning device is inserted through the bronchoscope instrument channel, allowing the working unit to reach the end of the bronchoscope lens. The negative pressure device connected to the negative pressure interface is activated, generating negative pressure in the suction channel, thereby sucking out the mucus. After the attached liquid area is cleaned, the negative pressure suction is stopped. This cleaning device can clean the mucus attached to the surface of the bronchoscope lens, improving the field of vision and avoiding the need to interrupt the operation to clean the lens surface, then remove the bronchoscope and restart the operation, thereby improving the efficiency and safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 This is a schematic diagram of a surgical scene involved in the present invention;

[0021] Figure 2A-2B This is a schematic diagram of a surgical device according to the present invention;

[0022] Figure 3 It is an overall schematic diagram of the cleaning device of the present invention;

[0023] Figure 4A-4B is a schematic diagram of a working unit in the cleaning device of the present invention;

[0024] Figure 5A-5B A schematic diagram of the cleaning process of a working unit in the cleaning device provided by the present invention;

[0025] Figure 6A-6B is a schematic diagram of an operating unit in the cleaning device of the present invention;

[0026] Figure 7 is a schematic diagram of a communication unit of the present invention;

[0027] Figure 8 is a system block diagram of the present invention;

[0028] Figure 9 is a flow chart of the method steps of the present invention;

[0029] Figure 10 This is a flow chart of the method for ultrasonic detection and identification of attached liquid areas of the present invention;

[0030] Figure 11 This is a flow chart for calculating the volume of the attached liquid area of ​​the present invention;

[0031] Figures 12A-12C This is a working state diagram of the ultrasonic probe of the cleaning device of the present invention;

[0032] Figures 13A-13B This is a schematic diagram of the initial detection position calibration of the present invention;

[0033] Figures 14A-14B A schematic diagram of the image processing of the present invention for identifying the boundary of the attached liquid area;

[0034] Figures 15A-15C Schematic diagram of the conversion of contour points in the ultrasound image to the positioning system coordinate system of the present invention

[0035] Figures 16A-16B Schematic diagram of the mucus model reconstructed based on ultrasound images according to the present invention. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0037] like Figure 1 As shown in FIG, a bronchoscopic surgical robot system includes a robotic arm trolley 101, a robotic arm 102, a dynamic positioning data generator 103, an operating table 104, a patient 105, an image navigation trolley 106, an image navigation display 107, a bronchoscopic catheter 108, and a dynamic positioner 109 fixed on the flexible portion of the catheter. Figure 2A As shown, the bronchoscope catheter moves in the bronchus under the control of the mechanical arm motor. The tail end and the tip of the flexible part of the bronchoscope catheter are respectively fixed with a tail end dynamic positioner 201 and a head end dynamic positioner 202. The positioning data of the catheter includes the data of the tail end dynamic positioner 201 and the head end dynamic positioner 202. Figure 2B As shown, the catheter tip is secured with an image acquisition lens 203 and cold light sources 204 symmetrically located on either side of the lens, which are used to capture real-time images of the bronchi. Mucus contamination of the lens tip can blur the image field. The catheter also includes an instrument channel 205, through which biopsy instruments can be inserted, as can the cleaning device provided by the present invention.

[0038] The present invention provides a cleaning device for a bronchoscope lens, such as Figure 3-Figure 7 As shown, the cleaning device includes: a working unit 30 and an operating unit 50. The working unit 30 can extend the end of the bronchoscope lens along the bronchoscope instrument channel. The working unit 30 includes a base 301, and a suction channel 403 is provided on the base 301. The operating unit 50 includes a negative pressure interface 502 connected to the suction channel 403, and the negative pressure interface 502 can provide negative pressure for the suction channel 403.

[0039] When the bronchoscope is contaminated with liquid, obscuring the field of vision, the cleaning device is inserted through the bronchoscope instrument channel, allowing the working unit 30 to reach the end of the bronchoscope lens. The negative pressure device connected to the negative pressure interface 502 is activated, generating negative pressure in the suction channel 403, thereby aspirating the attached liquid. Once the attached liquid is cleared, the negative pressure suction is stopped. This cleaning device can clean liquid attached to the surface of the bronchoscope lens, improving the field of vision and avoiding the need to interrupt the surgery to clean the lens surface, remove the bronchoscope, and then restart the surgery, thereby improving surgical efficiency and safety.

[0040] The operating unit 50 can be operated by hand, and the distal end of the operating unit 50 is connected to the communication unit 60. When in use, the working unit 30 is inserted into the instrument channel of the bronchoscope catheter and acts on the catheter head end. The operating unit 50 remains on the outside of the bronchoscope catheter, and the communication unit 60 is connected to the bronchoscope operating trolley.

[0041] In one embodiment, the working unit 30 includes an ultrasonic probe 401, which is movably mounted on the base 301. The operating unit 50 can control the movement of the ultrasonic probe 401 relative to the base 301. Through the ultrasonic probe 401, ultrasonic images are collected to detect the liquid attached to the end of the bronchoscope lens and its boundaries.

[0042] Furthermore, the ultrasonic probe 401 moves longitudinally relative to the base 301, and the ultrasonic probe 401 extends from the bronchoscope into the attached liquid area to detect the boundary of the attached liquid area at the end of the bronchoscope. The ultrasonic probe 401 can move to different positions and collect ultrasonic images respectively. Using multiple ultrasonic images collected at different positions, it is convenient to detect the attached liquid more accurately.

[0043] In one embodiment, the working unit 30 includes an electromagnetic sensor 402 mounted on the base 301 for collecting positioning data of the working unit 30 and locating the spatial position of the head end of the working unit 30. Preferably, the electromagnetic sensor 402 is fixed to the inner wall of the base 301.

[0044] The suction channel 403 is connected to the negative pressure interface 502 through a pipe. When the negative pressure is turned on, the attached liquid is sucked into the suction channel 403. The arrangement of the suction channel 403 is not limited to one. For example, the suction channel 403 can be set on the side wall of the base 301. In one embodiment of the present invention, Figure 4A-4B As shown, the suction channel 403 is provided on the distal end surface of the base 301 to facilitate the suction of liquid.

[0045] In one embodiment, the working unit 30 includes a cleaning brush 404 mounted on the base 301. The cleaning brush 404 is used to clean liquid from the lens surface. By rotating the operating unit 50, the operator can rotate the working unit 30, thereby rotating the cleaning brush 404 to clean the attached liquid.

[0046] Furthermore, the cleaning brush 404 is rotatably mounted on the base 301, and the operating unit 50 can drive the cleaning brush 404 to rotate perpendicular to the longitudinal direction of the base 301. Figure 5A-5B As shown, when the cleaning brush 404 is rotated to be perpendicular to the longitudinal direction of the base 301, the cleaning brush 404 can be attached to the surface of the bronchoscope lens to facilitate cleaning of the liquid on the surface of the bronchoscope lens; by rotating the cleaning brush 404 to adjust its position, the space occupied by the working unit 30 is reduced, making it convenient to transport the working unit 30 from the instrument channel of the bronchoscope catheter to the catheter head.

[0047] The base 301 is equipped with a brush shaft 406 and a torsion spring 405. The cleaning brush 404 is mounted on the brush shaft 406. The torsion spring 405 can drive the cleaning brush 404 to rotate parallel to the longitudinal direction of the base 301. The torsion spring 405 resets the cleaning brush 404. The base 301 is provided with a longitudinal groove 302, into which the cleaning brush 404 can rotate. This reduces the space occupied by the working unit 30 during transportation and facilitates transportation. The brush shaft 406 and torsion spring 405 are both located in the longitudinal groove 302. The cleaning brush 404 can rotate up to 90 degrees.

[0048] Furthermore, the longitudinal groove 302 is provided with a cleaning channel 4031 communicating with the suction channel 403. When the suction channel 403 starts negative pressure, the liquid adsorbed on the cleaning brush 404 will be sucked away through the cleaning channel 4031 together with the liquid sucked through the suction channel 403.

[0049] The surface of the cleaning brush 404 is preferably a brush, cloth, or other material that is non-damaging to the bronchoscope lens and has an absorbent effect. During use, the cleaning brush 404 is placed in close contact with the surface of the bronchoscope lens. The operating unit 50 is rotated to rotate the base 301 and the cleaning brush 404. The cleaning brush 404 wipes the lens surface, and the cleaning channel 4031 absorbs liquid.

[0050] An ultrasonic probe 401 detects and captures ultrasonic images within a preset range of travel in front of the bronchoscope lens. An electromagnetic sensor 402 locates the position of the working unit 30 tip in real time. A suction channel 403 is used to aspirate liquid, and a cleaning brush 404 is used to clean liquid from the lens surface. The operator holds the operating unit 50 and controls the movement of the working unit 30 using a control device.

[0051] like Figure 6A As shown, the operating unit 50 includes: a hand wheel 501, a negative pressure interface 502 and a push button 503. The hand wheel 501 controls the length of the ultrasonic probe 401 extending from the tip of the base 301 through an internal transmission structure, so that the ultrasonic probe 401 can be translated within a preset longitudinal stroke along the base 301. The ultrasonic probe 401 can reach three position states under the control of the hand wheel 501. In one embodiment, as shown in FIG. Figure 6B As shown, handwheel 501 is marked with scale marks 5011. Rotating handwheel 501 by one unit angle causes ultrasound probe 401 to move by one unit length. Each time handwheel 501 is rotated by one unit angle, the distance moved by ultrasound probe 401 corresponding to the current scale mark is transmitted to the processing unit, which simultaneously captures an ultrasound image. The rotational range of handwheel 501 corresponds to the travel range of ultrasound probe 401.

[0052] Negative pressure port 502 is connected to suction channel 403, allowing connection to an external vacuum pump to pump liquid. Disconnecting the vacuum pump stops pumping. A push knob 503 controls the position of cleaning brush 404. Specifically, via an internal steel wire and torsion spring 405, push knob 503 switches the cleaning brush 404 between its initial and cleaning positions.

[0053] The communication unit 60 connected to the operating unit 50 transmits the ultrasound image via the quick-plug interface 601. The quick-plug interface 601 serves to connect the cleaning device to the bronchoscope operating trolley, realizes communication, and can be quickly plugged in and out.

[0054] The processing unit processes the image collected by ultrasound, identifies the attached liquid area, establishes a three-dimensional model and calculates the volume of the attached liquid area, and superimposes the model on the three-dimensional bronchial tree image of the bronchoscopic surgical navigation. The suction channel 403 is connected to the negative pressure device to suck out the mucus, and the ultrasound probe 401 continues to detect and dynamically build the model. When the calculated volume of the attached liquid area is less than the threshold, it is considered that the current attached liquid area has been cleaned and the negative pressure suction is stopped. Subsequently, the ultrasound probe 401 is retracted, and the cleaning brush 404 is turned over to a 90-degree angle with the bronchoscope tube, close to the lens surface. The working unit 30 is rotated so that the cleaning brush 404 repeatedly wipes the bronchoscope lens until the lens is clear. After cleaning, the cleaning brush 404 is retracted. When the bronchoscope encounters a contaminated lens again, the cleaning device is used to clean the lens again.

[0055] The display unit can display a three-dimensional model and prompt information. The processing unit receives the positioning data, the movement distance of the ultrasonic probe 401 and the ultrasonic image from the working unit 30. After processing, the three-dimensional model data of the attached liquid area, the calculation result of the attached liquid volume and the positioning prompt information of the cleaning device are sent to the display unit. Specifically, the processing unit includes: (1) obtaining the position of the working unit 30; (2) calculating the relative position of the working unit 30 and the bronchoscope in real time; (3) acquiring the ultrasonic image; (4) processing the ultrasonic image in real time, identifying and calculating the boundary of the attached liquid area, and establishing a three-dimensional model of the attached liquid area; (5) calculating the volume of the attached liquid area in real time; (6) presetting a threshold. When the volume of the attached liquid area is less than the threshold, it is considered that the current attached liquid area has been cleaned and a prompt is given. The display unit displays the attached liquid area model and prompt information to guide the user to operate the working unit 30, such as starting and stopping ultrasonic detection, starting and stopping negative pressure suction, adjusting the position of the head end detection cleaning unit, etc. The display unit can superimpose the three-dimensional model of the attached liquid area on the three-dimensional bronchial tree model and display prompt information. When the working unit 30 reaches the end of the bronchoscope lens and the cleaning brush 404 is aligned with the lens, it is considered that the cleaning device is in place and a prompt is given; when the working unit 30 is exposed from the end of the bronchoscope lens and the cleaning brush 404 is exposed, a prompt is given.

[0056] The working method of the cleaning device for the bronchoscope lens comprises: detecting the attached liquid area; cleaning the attached liquid area; and cleaning the attached liquid on the lens surface.

[0057] Furthermore, detecting the attached liquid area includes:

[0058] S1: The cleaning device is inserted into the instrument channel of the bronchoscope, and the positioning data of the electromagnetic sensor 402 at the head end of the device is collected. The relative position of the electromagnetic sensor 402 and the bronchoscope is calculated. When the electromagnetic sensor 402 reaches the end of the bronchoscope lens and the cleaning brush 404 is aligned with the lens, the processor gives a prompt and fixes the cleaning device.

[0059] S2: Turn the hand wheel 501 of the cleaning device to move the ultrasonic probe 401 from the initial position to the initial detection position, and the processor gives a prompt; start the ultrasonic detection function, collect ultrasonic images, and transmit the signal to the processor;

[0060] S3: Process the ultrasound image and use the differences in ultrasound wave parameters in the medium to identify the boundary position point set P of the liquid in the ultrasound image; map P from the ultrasound image coordinate system to the CT image coordinate system through coordinate transformation to obtain the position point set P1; establish a planar closed region in three-dimensional space with P1 as the boundary, and overlay it on the three-dimensional bronchial tree image;

[0061] S4: Turn the hand wheel 501 of the cleaning device to move the ultrasound probe 401 between the initial detection position and the maximum detection position and continuously detect the boundary of the attached liquid. The three-dimensional bronchial tree image is superimposed layer by layer to display the three-dimensional spatial morphology of the attached liquid area.

[0062] S5: Based on the modeling results, the volume of the current attached liquid area is calculated in real time;

[0063] Furthermore, cleaning the area where the liquid adheres includes:

[0064] S6: Start negative pressure to suck the liquid attached to the end of the bronchoscope lens and discharge it from the suction channel 403. After a specific time interval, stop the negative pressure suction;

[0065] S7: Move the ultrasonic probe 401 to collect ultrasonic images within the range of the ultrasonic probe 401 again, identify, model and display the current shape of the attached liquid area, and calculate the volume of the attached liquid area;

[0066] S8: Repeat S6 and S7 until the volume of attached liquid is less than a preset threshold. It is considered that the attached liquid area at the end of the bronchoscope has been cleaned, and the processor gives a prompt, and there is no need to start negative pressure suction again;

[0067] S9: Turn the hand wheel 501 of the cleaning device to retract the ultrasonic probe 401 into the cleaning device;

[0068] Furthermore, cleaning the liquid attached to the lens surface includes:

[0069] S10: Extend the working unit 30 from the bronchoscope, and calculate the relative position of the working unit 30 and the bronchoscope using the positioning information. When the distance the working unit 30 is extended relative to the bronchoscope is equal to the length of the cleaning brush 404, the cleaning brush 404 has been exposed from the bronchoscope, and the processor gives a prompt;

[0070] S11: Push the handle button to flip the cleaning brush 404 from the initial position to the cleaning position. At this time, the cleaning brush 404 is in close contact with the lens surface.

[0071] S12: Rotate the controller handle clockwise and counterclockwise several times to drive the head end of the working unit 30 to rotate, so that the cleaning brush 404 repeatedly wipes the lens surface until the lens is clear;

[0072] S13: Push the handle button to flip the cleaning brush 404 to its initial position, and withdraw the cleaning device into the bronchoscope;

[0073] S14: The longitudinal groove 302 is connected to the suction channel 403. When the negative pressure suction of liquid is started next time, the liquid remaining on the brush can be taken out together, thereby achieving the purpose of cleaning the brush.

[0074] The cleaning device can effectively clean the liquid attached to the surface of the lens during bronchoscopic surgery, making the field of view clear; it avoids the problem of interrupting the surgery and pulling the bronchoscope out of the human body and starting again in order to clean the lens surface, thereby improving the efficiency of the surgery; it can use a visual method to display the area where the liquid is attached and the morphological changes of the area where the liquid is attached after negative pressure suction, making liquid cleaning more intuitive; it can control the start and stop of the negative pressure function as the area where the liquid is attached changes, thereby preventing situations that may cause harm, such as tracheal closure due to continuous negative pressure.

[0075] The present invention provides a control system for a bronchoscope lens cleaning device, which includes: a working unit 30 and an operating unit 50. The working unit 30 can extend the end of the bronchoscope lens along the bronchoscope instrument channel. The working unit 30 includes a base 301 and an ultrasonic probe 401. The base 301 is provided with a suction channel 403. The operating unit 50 includes a negative pressure interface 502 connected to the suction channel 403, and the negative pressure interface 502 can provide negative pressure for the suction channel 403. The ultrasonic probe 401 can be movably mounted on the base 301, and the operating unit 50 can control the movement of the ultrasonic probe 401 relative to the base 301. Figure 8-16B As shown, the control system includes: an identification device, which identifies the attached liquid area based on the ultrasonic image of the ultrasonic probe 401.

[0076] like Figure 10 As shown in Figure 2, ultrasound detection and identification of attached fluid areas are performed using the characteristics of ultrasound propagation in different media. Ultrasound has almost no reflection in liquids, resulting in ultrasound images showing anechoic or hypoechoic dark areas. Ultrasound is partially reflected in bronchial soft tissue, resulting in ultrasound images showing varying shades of gray. Ultrasound is almost incapable of penetrating air, resulting in ultrasound images showing hyperechoic features. The processing unit uses image processing to identify the boundary between the attached fluid area and air or bronchial soft tissue, and calculates the location of the attached fluid boundary.

[0077] The ultrasonic probe 401 can move to different positions relative to the base 301. The ultrasonic probe 401 includes an ultrasonic transducer 4011, such as Figure 12A As shown, the ultrasonic probe 401 is in the initial state. When the ultrasonic probe 401 is not working, it is stored at the initial position inside the base 301. The relative position relationship between the center of the ultrasonic transducer 4011 (i.e., the position at which radial ultrasonic waves are emitted) and the electromagnetic sensor 402 can be calibrated by physical measurement to determine the position of the ultrasonic probe 401 in the bronchoscope positioning system.

[0078] like Figure 12BAs shown, the ultrasonic probe 401 is in the initial detection state. The ultrasonic probe 401 starts detecting when it is in this state. The determination of this state can be determined by, but not limited to, the following methods: (1) before use, the ultrasonic transducer 4011 is completely exposed from the cleaning device catheter, and the length of the probe extending toward the distal end of the cleaning device relative to the initial position is marked; (2) when in use, the ultrasonic transducer 4011 is opened at the initial position. Since the ultrasonic waves emitted by the ultrasonic transducer 4011 are reflected by the inner wall of the cleaning device catheter, the ultrasonic image is darker; when the probe is extended forward to be exposed from the device catheter, the ultrasonic image will become significantly brighter; repeatedly measure the changes in the brightness and darkness of the ultrasonic image to determine the most suitable effective detection position of the probe, and mark the length of the probe extending toward the distal end of the cleaning device relative to the initial position;

[0079] like Figure 12C As shown, the ultrasonic probe 401 is in the maximum detection state, as shown in FIG. Figure 12C : Preset stroke, the ultrasonic probe 401 can move within the range of not exceeding the maximum detection position. The detection range of the ultrasonic probe 401 is 360 degrees perpendicular to the ultrasonic transducer 4011, and a certain resolution size of the ultrasonic image.

[0080] Furthermore, the initial detection position calibration includes

[0081] When the ultrasonic probe 401 is located in the bronchus wrapped by liquid and the ultrasonic transducer 4011 is within the effective detection area, as shown in FIG. Figure 13A As shown, the radial ultrasound image 1301 collected by the ultrasound probe 401 includes: an ineffective area 1302 at the center of the ultrasound transducer 4011, a dark area 1303 formed by the attached liquid area, a boundary 1304 between the attached liquid area and the air or bronchial soft tissue, and other ultrasound detection areas 1305 with light and dark changes.

[0082] When the ultrasonic transducer 4011 is in the catheter, Figure 13B As shown, the radial ultrasound image 1301 collected by the ultrasound probe 401 includes: an invalid area 1302 at the center of the ultrasound transducer 4011, a dark area 1306 formed after the sound wave is reflected by the inner wall of the cleaning device catheter, and an invalid ultrasound image 1307.

[0083] Through image processing, the method of identifying the boundary of the attached liquid area. Figure 14A As shown in FIG, the schematic diagram of the ultrasound image includes: a dark area 1303 formed by the attached liquid area, a boundary 1304 between the attached liquid area and the air or bronchial soft tissue, and other ultrasound detection areas with light and dark changes 1305. The processing of the ultrasound image includes: using an anisotropic diffusion filter algorithm to smooth and reduce noise on the image; Figure 14BAs shown, the Canny edge detection algorithm is used to extract the contours in the image; the edge data is traversed to extract each connected domain as the candidate edge 1401 and the candidate edge 1402 of the attached liquid area in the current image; the grayscale values ​​in each connected domain of the selected edge are traversed, and when the difference between the average grayscale value and the preset mucus grayscale value is less than a preset threshold, the connected domain is set as the attached liquid area, the contour is the contour of the attached liquid, and is added to the contour set of the current image.

[0084] In one embodiment, the recognition device includes: establishing a coordinate system and superimposing the identified attached liquid area in the coordinate system. The recognition device includes: identifying the three-dimensional attached liquid area based on multiple ultrasound images of the ultrasound probe 401 at different positions.

[0085] Specifically, the contour points in the ultrasound image are converted to the positioning system coordinate system, and the position T and posture R (R is composed of three direction vectors X, Y, and Z of the X-axis, Y-axis, and Z-axis) are used to describe the posture information. R = {XYZ}, and the posture can be represented by a matrix

[0086] like Figure 15A As shown, the center of the ultrasound image 1301 (i.e., the center point of the ultrasound transducer 4011) is used as the coordinate origin of the image, and the direction perpendicular to the image is used as the Z axis to establish a right-handed coordinate system, i.e., the ultrasound image (EBUS) coordinate system, and calculate the coordinate point set P of the attached liquid contour point. c_ ;

[0087] After preoperative calibration, it is obtained that when the ultrasound probe 401 is at the initial position, the relative position M of the ultrasound transducer 4011 relative to the electromagnetic sensor 402 is EBUS_O→S ;

[0088] Obtain the positioning data of the electromagnetic sensor 402 (S) and obtain the position M of the electromagnetic sensor 402 in the positioning system (EM) coordinate system S→EM ;

[0089] like Figure 15B As shown, during the detection process, the ultrasonic probe 401 is translated in a direction parallel to the base 301, and the translation amount changes with the rotation of the hand wheel 501. After obtaining the translation amount, the current position M of the center of the ultrasonic transducer 4011 relative to its initial position is calculated. EBUS→EBUS_O ;

[0090] Based on the above results, the position M of the EBUS coordinate system in the EM coordinate system in the ultrasound image 1301 acquired at the current position of the ultrasound probe 401 is calculated to be M=M EBUS→EBUS_O *M EBUS_→S *M S→EM ;

[0091] like Figure 15C, P c_ The contour points in the EM coordinate system are transferred to obtain the contour point set P in the EM coordinate system. c_ =P c_ *M.

[0092] Reconstruct the model of attached liquid based on ultrasound images. Figure 16A As shown, based on the point set P c_ The calculation method is as follows: as the ultrasonic probe 401 is translated, the point set P of all images whose contour sets are not empty in the EM coordinate system is calculated. c__ ; The position M of the bronchoscope positioning system in the CT coordinate system is obtained through the registration process of the bronchoscopic surgery EM→CT ;P c__ The contour points in the CT coordinate system are converted to obtain the contour point set P in the CT coordinate system. c__ =P c__l *M EM→CT ;like Figure 16B As shown, through the point set P c__ , an attached fluid model 1601 based on the CT coordinate system is reconstructed and superimposed with the three-dimensional bronchial tree model 1602 for display.

[0093] The above descriptions are only several embodiments of the present invention. Those skilled in the art may make various changes or modifications to the embodiments of the present invention based on the contents disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. A cleaning device for a bronchoscope lens, characterized in that: include: A working unit and an operating unit, wherein the working unit can extend the end of the bronchoscope lens along the bronchoscope instrument channel, the working unit includes a base, a suction channel is provided on the distal end face of the base, and the operating unit includes a negative pressure interface connected to the suction channel, and the negative pressure interface can provide negative pressure for the suction channel; the working unit includes an ultrasonic probe and a cleaning brush for cleaning the lens surface, the ultrasonic probe can be movably installed on the base so as to be able to move to different positions and respectively collect ultrasonic images, and the attached liquid is detected using multiple ultrasonic images collected at different positions; the working unit also includes an electromagnetic sensor installed on the base, the electromagnetic sensor is used to collect positioning data of the working unit and locate the spatial posture of the head end of the working unit.

2. The cleaning device for a bronchoscope lens according to claim 1, characterized in that: The operating unit can control the ultrasound probe to move relative to the base.

3. The cleaning device for a bronchoscope lens according to claim 2, characterized in that: The ultrasonic probe moves relative to the base along the longitudinal direction thereof.

4. The cleaning device for a bronchoscope lens according to claim 2, characterized in that: The operating unit includes a hand wheel, and the hand wheel controls the length of the ultrasonic probe extending from the head end of the base through a transmission structure, so that the ultrasonic probe can be translated within a preset stroke along the longitudinal direction of the base.

5. The cleaning device for a bronchoscope lens according to claim 1, characterized in that: The cleaning brush is rotatably mounted on the base, and the operating unit can drive the cleaning brush to rotate perpendicular to the longitudinal direction of the base.

6. The cleaning device for a bronchoscope lens according to claim 5, characterized in that: The base is provided with a brush rotating shaft and a torsion spring. The cleaning brush is mounted on the brush rotating shaft. The torsion spring can drive the cleaning brush to rotate to be parallel to the longitudinal direction of the base.

7. The cleaning device for a bronchoscope lens according to claim 6, characterized in that: The base is provided with a longitudinal groove, and the cleaning brush can be rotated into the longitudinal groove.

8. The cleaning device for a bronchoscope lens according to claim 7, characterized in that: The longitudinal groove is provided with a cleaning channel communicating with the suction channel.

9. The cleaning device for a bronchoscope lens according to claim 5, characterized in that: The surface of the cleaning brush is a brush or cloth that does not damage the bronchoscope lens and has an adsorption effect.

10. A control system for a bronchoscope lens cleaning device, characterized in that: The cleaning device for a bronchoscope lens comprises: a working unit and an operating unit, wherein the working unit is capable of extending the end of the bronchoscope lens along the bronchoscope instrument channel, the working unit comprises a base and an ultrasonic probe, a suction channel is provided on the distal end surface of the base, the operating unit comprises a negative pressure interface connected to the suction channel, and the negative pressure interface is capable of providing negative pressure to the suction channel; the ultrasonic probe is movably mounted on the base, and the operating unit is capable of controlling the movement of the ultrasonic probe relative to the base; the working unit comprises an electromagnetic sensor mounted on the base and a cleaning brush for cleaning the lens surface, the electromagnetic sensor is used to collect positioning data of the working unit and locate the spatial posture of the head end of the working unit; The control system includes: an identification device, which identifies a three-dimensional attached liquid area based on a plurality of ultrasonic images of the ultrasonic probe at different positions.

11. The control system of the bronchoscope lens cleaning device according to claim 10, characterized in that: The identification device includes: establishing a coordinate system, and superimposing the identified attached liquid area in the coordinate system.

Images