Respiratory monitoring methods, devices, electronic equipment and storage media

Abstract

This application provides a respiratory monitoring method, device, electronic device, and storage medium. The respiratory monitoring method includes: an electronic device recording the first coordinates of a patient's surface markers on a CT scanner during CT scan using an optical tracking device, and calculating a first distance from the first coordinates to the plane of the CT scanner; recording the second coordinates of the patient's surface markers on the CT scanner during a puncture procedure using the optical tracking device, and calculating a second distance from the second coordinates to the plane of the CT scanner; the difference between the second distance and the first distance is used to represent the difference between the patient's respiratory state during the puncture procedure and the respiratory state during CT scan. This application embodiment can accurately obtain the difference between the patient's real-time respiratory state and the respiratory state during CT scan.

Description

Technical Field

[0001] This application relates to the field of respiratory measurement technology, specifically to a respiratory monitoring method, device, electronic equipment, and storage medium. Background Technology

[0002] With the continuous development of computer technology, medical technology has also achieved significant breakthroughs. Minimally invasive surgery has gradually become more popular than open surgery because it offers advantages such as smaller wound area, lower infection rate, faster patient recovery, and shorter hospital stays compared to open surgery. However, many minimally invasive surgeries deprive surgeons of direct visual feedback from the surgical site and also present challenges such as a small intraoperative field of view requiring repeated review of preoperative images. Therefore, surgical navigation technology has become a viable solution to alleviate these shortcomings. Using optical measurement devices, the surgical needle, patient's body, and other elements in the actual surgical environment can be mapped onto the software system in real time. Doctors can obtain more information through the computer software system, improving surgical precision and reducing their workload.

[0003] While surgical navigation systems offer many advantages, real-time monitoring of the patient's respiratory status is a crucial step in soft tissue puncture procedures, such as lung punctures. Puncture procedures rely on a single computed tomography (CT) image to determine the location of the lesion, which is a static image. However, the patient's breathing is dynamic, making it impossible to accurately determine the difference between the patient's real-time respiratory status and the respiratory status at the time of the CT scan. Summary of the Invention

[0004] This application provides a respiratory monitoring method, device, electronic device, and storage medium, which can accurately obtain the difference between the patient's real-time respiratory status and the respiratory status at the time of CT scan.

[0005] A first aspect of this application provides a respiratory monitoring method, the method being applied to an electronic device in a respiratory monitoring system, the respiratory monitoring system including the electronic device, an optical tracking device, and a CT bed; the method includes:

[0006] The optical tracking device records the first coordinates of the patient's surface markers on the CT bed during CT scans, and calculates the first distance from the first coordinates to the bed plane of the CT bed.

[0007] The optical tracking device records the second coordinates of the patient's surface markers on the CT bed during the puncture procedure, and calculates the second distance from the second coordinates to the bed plane of the CT bed; the difference between the second distance and the first distance is used to represent the difference between the patient's respiratory state during the puncture procedure and the respiratory state when the CT scan is taken.

[0008] Optionally, the respiratory monitoring system further includes N bed surface markers, which are positioned at different locations on the CT bed surface; before recording the first coordinates of the patient's body surface markers on the CT bed during CT imaging using the optical tracking device, the method further includes:

[0009] The bed plane of the CT bed is determined by tracking the positions of the N bed surface markers using the optical tracking device.

[0010] Optionally, determining the bed plane of the CT bed by tracking the positions of the N bed surface markers using the optical tracking device includes:

[0011] The optical tracking device is used to determine whether the CT bed has moved.

[0012] During the movement of the CT bed, the coordinates of M sets of N bed surface markers are recorded by the optical tracking device, and the plane equation of the CT bed plane is obtained by fitting the coordinates of the M sets of bed surface markers.

[0013] Optionally, the patient's surface markers include Q individual surface markers; the recording of the first coordinates of the patient's surface markers on the CT bed during CT scan using the optical tracking device includes:

[0014] The optical tracking device records the Q first sub-coordinates of the Q individual sub-markers of the patient on the CT bed during CT imaging.

[0015] Calculate the average of the Q first sub-coordinates to obtain the first coordinates of the patient's body surface markers when the CT scan is taken on the CT bed;

[0016] The calculation of the first distance from the first coordinate to the bed plane of the CT bed includes:

[0017] Calculate the distance between the first coordinate and the plane equation of the CT bed.

[0018] Optionally, the patient's surface markers include Q individual surface markers; the recording of the second coordinates of the patient's surface markers on the CT table during the puncture procedure via the optical tracking device includes:

[0019] The optical tracking device records the Q second sub-coordinates of the patient's Q individual sub-markers during the puncture procedure on the CT bed;

[0020] Calculate the average of the Q second sub-coordinates to obtain the second coordinates of the patient's body surface markers during the puncture procedure on the CT bed;

[0021] The calculation of the second distance from the second coordinate to the bed plane of the CT bed includes:

[0022] Calculate the distance between the second coordinate and the plane equation of the CT bed plane.

[0023] Optionally, after calculating the second distance from the second coordinate to the bed plane of the CT bed, the method further includes:

[0024] A breathing curve is generated based on the difference between the second distance and the first distance;

[0025] The breathing curve is displayed.

[0026] Optionally, after calculating the second distance from the second coordinate to the bed plane of the CT bed, the method further includes:

[0027] If the absolute value of the difference between the second distance and the first distance is greater than the first threshold, a prompt message is generated. The prompt message is used to indicate to the doctor that the patient's current respiratory state is significantly different from the respiratory state at the time of the CT scan.

[0028] A second aspect of this application provides a respiratory monitoring device, which is applied to an electronic device in a respiratory monitoring system, the respiratory monitoring system including the electronic device, an optical tracking device, and a CT bed; the device includes:

[0029] A recording unit is used to record, via the optical tracking device, the first distance from the patient's surface markers to the bed plane of the CT bed during CT imaging.

[0030] The recording unit is also used to record, via the optical tracking device, a second distance from the patient's surface markers to the bed plane of the CT bed during the puncture procedure; the difference between the second distance and the first distance is used to represent the difference between the patient's respiratory state during the puncture procedure and the respiratory state during the CT scan.

[0031] A third aspect of this application provides an electronic device including a processor and a memory, the memory being used to store a computer program, the computer program including program instructions, and the processor being configured to invoke the program instructions to execute the step instructions as described in the first aspect of this application.

[0032] A fourth aspect of this application provides a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform some or all of the steps described in the first aspect of this application.

[0033] A fifth aspect of this application provides a computer program product, wherein the computer program product includes a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform some or all of the steps described in the first aspect of this application. The computer program product may be a software installation package.

[0034] In this embodiment, an optical tracking device records the first coordinates of the patient's surface markers on the CT bed during CT scans and calculates the first distance from the first coordinates to the CT bed plane. The optical tracking device also records the second coordinates of the patient's surface markers during the puncture procedure and calculates the second distance from the second coordinates to the CT bed plane. The difference between the second and first distances represents the difference between the patient's respiratory state during the puncture procedure and the respiratory state during the CT scan. This embodiment allows for the determination of the distances from the patient's surface markers to the CT bed plane during CT scans and during the puncture procedure, thus accurately revealing the difference between the patient's real-time respiratory state during the puncture procedure and the respiratory state during the CT scan. This can help doctors assess the patient's respiratory state in real-time during the puncture procedure. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of a respiratory monitoring system provided in an embodiment of this application;

[0037] Figure 2 This is a schematic flowchart of a respiratory monitoring method provided in an embodiment of this application;

[0038] Figure 3 This is a schematic flowchart of another respiratory monitoring method provided in an embodiment of this application;

[0039] Figure 4 This is a schematic flowchart of another respiratory monitoring method provided in an embodiment of this application;

[0040] Figure 5 This is a schematic flowchart of another respiratory monitoring method provided in an embodiment of this application;

[0041] Figure 6 This is a schematic flowchart of a respiratory monitoring method provided in an embodiment of this application;

[0042] Figure 7 This is a schematic diagram showing the positional relationship between an optical tracking device, an electronic device, and a CT bed, provided in an embodiment of this application.

[0043] Figure 8 This is a schematic diagram of the bed plane observed in a surgical navigation system, provided in an embodiment of this application;

[0044] Figure 9 This is a schematic diagram of attaching surface markers to a patient's body in preparation for taking CT images, provided in an embodiment of this application;

[0045] Figure 10 This is a schematic diagram illustrating how a patient's respiratory status is interactively calibrated through a software system, as provided in an embodiment of this application.

[0046] Figure 11 This is a schematic diagram of the real-time respiratory status displayed through the system interface of the surgical navigation system provided in this application embodiment;

[0047] Figure 12 This is a schematic diagram of the structure of a respiratory monitoring device provided in an embodiment of this application;

[0048] Figure 13 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0051] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0052] Currently, measuring patient respiration using optical tracking systems typically involves rigidly registering the patient's surface markers tracked by the optical system with CT markers taken during CT scans to determine the difference between the surface deformation caused by respiration at any given moment and the deformation observed during CT scans. Since the body surface does not undergo rigid deformation during respiration, the correlation between the deformation of the patient's surface markers and the patient's respiratory state is low. This registration method is not only time-consuming but also has low accuracy. The following description, with reference to the accompanying drawings, illustrates the respiratory monitoring method, device, electronic equipment, and storage medium of this application, which can accurately determine the difference between the patient's real-time respiratory state during puncture surgery and the respiratory state observed during CT scans.

[0053] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a respiratory monitoring system provided in an embodiment of this application. Figure 1 As shown, the respiratory monitoring system 100 includes an electronic device 10, an optical tracking device 20, and a CT bed 30.

[0054] The optical tracking device 20 is used to record the first coordinates of the patient 50's body surface marker 40 when the patient 50 is taking a CT scan on the CT bed 30;

[0055] Electronic device 10 is used to calculate a first distance from the first coordinate to the bed plane of the CT bed 30;

[0056] The optical tracking device 20 is used to record the second coordinates of the patient 50's body surface marker 40 during the puncture procedure on the CT bed 30;

[0057] Electronic device 10 is used to calculate a second distance from the second coordinate to the bed plane of the CT bed 30; the difference between the second distance and the first distance is used to represent the difference between the respiratory state of the patient 50 during the puncture procedure and the respiratory state during the CT scan.

[0058] The surface marker 40 for patient 50 can be fixedly attached to the patient's body surface, such as the abdomen or chest. For patient 50 who uses abdominal breathing, the abdominal area changes more significantly than the chest area during respiration. Fixing the surface marker 40 to the abdomen allows for more sensitive monitoring of the patient's respiratory status by observing changes in the marker 40, compared to attaching it to the chest. Similarly, for patient 50 who uses thoracic breathing, the chest area changes more significantly than the abdomen during respiration. Fixing the surface marker 40 to the chest allows for more sensitive monitoring of the patient's respiratory status by observing changes in the marker 40, compared to attaching it to the abdomen.

[0059] The surface marker 40 can be affixed to the patient's body surface without affecting the location of the puncture procedure. Once the surface marker 40 is fixedly affixed to the patient's body surface, it will not be moved manually during computed tomography (CT) scans and the puncture procedure.

[0060] The number of surface markers 40 can be set to be greater than or equal to one. The surface markers 40 in this embodiment can be used to detect the respiratory status of the patient 50. This embodiment can also attach other functional surface markers to the patient 50's body surface.

[0061] The optical tracking device 20 can be fixedly installed next to the CT bed 30.

[0062] It should be noted that the patient undergoes both CT scans and biopsies on the same CT bed. Although the CT bed height is adjustable, it remains unchanged during these procedures. Similarly, the position of the optical tracking device 20 remains constant during these same procedures.

[0063] Optional, such as Figure 1 As shown, the respiratory monitoring system 100 also includes N bed surface markers (such as... Figure 1As shown in Figures 61, 62, ..., 6N, the N bed surface markers are positioned at different locations on the surface of the CT bed 30. The electronic device 10 can determine the bed surface of the CT bed 30 by tracking the positions of the N bed surface markers using the optical tracking device 20. The N bed surface markers can be positioned within the tracking range of the optical tracking device 20. The N bed surface markers can be optical markers, and the surface of each bed surface marker can include a reflective coating for reflecting infrared light.

[0064] Figure 1 The optical tracking device 20 and the electronic device 10 can communicate via a connection 70. This communication connection 70 can be a wired communication connection or a wireless communication connection, and this application does not limit it in this regard.

[0065] In this embodiment, the surface marker 40 can be positioned within the tracking range of the optical tracking device 20. The surface marker 40 can be an optical marker, and its surface may include a reflective coating for reflecting infrared light. The optical tracking device 20 may include a first infrared sensor 21 and a second infrared sensor 22. Both the first infrared sensor 21 and the second infrared sensor 22 can emit and receive infrared light. The surface marker 40 can reflect (rather than scatter) infrared (IR) light back to the first infrared sensor 21 and the second infrared sensor 22 through its reflective coating. The first infrared sensor 21 and the second infrared sensor 22 utilize binocular vision to... Figure 1 The light rays shown (such as) Figure 1 The intersection of the dashed lines (as shown) allows for the positioning of the surface marker 40, thereby enabling the measurement of its three-dimensional spatial coordinates and obtaining the three-dimensional spatial coordinates of the surface marker 40. The optical tracking device 20 can record the three-dimensional spatial coordinates of the surface marker 40 in real time. For example, the optical tracking device 20 can periodically record the three-dimensional spatial coordinates of the surface marker 40. While ensuring that the surface marker 40 can be tracked by the optical tracking device 20, the volume of the surface marker 40 can be set as small as possible to reduce the error in the three-dimensional spatial coordinates measured by the optical tracking device 20.

[0066] Electronic device 10 can be a device with data processing and communication capabilities. For example, electronic device 10 can be a personal computer. Electronic device 10 can also include a display, which can display a first distance, a second distance calculated in real time, and the difference between the patient's respiratory status during the puncture procedure and the respiratory status during CT scan.

[0067] The embodiments of this application can obtain the distance from the patient's body surface markers to the CT bed plane during CT imaging and during the puncture procedure, thereby accurately knowing the difference between the patient's real-time respiratory status during the puncture procedure and the respiratory status during CT imaging. This can help doctors judge the patient's respiratory status in real time during the puncture procedure.

[0068] Please see Figure 2 , Figure 2 This is a schematic flowchart of a respiratory monitoring method provided in an embodiment of this application. Figure 2 The respiratory monitoring method shown can be applied to Figure 1 The respiratory monitoring system shown. (As shown) Figure 2 As shown, the respiratory monitoring method includes the following steps.

[0069] 201. The electronic device records the first coordinates of the patient's surface markers on the CT bed during CT imaging using an optical tracking device, and calculates the first distance from the first coordinates to the bed plane of the CT bed.

[0070] In this embodiment of the application, the patient's treatment process includes the following steps: 1. Taking CT images; 2. Determining the location of the lesion based on the CT images; 3. Performing a puncture operation based on the determined location of the lesion.

[0071] Aspiration is a surgical procedure used to diagnose or treat diseases. Under strict aseptic conditions, various specialized needles are inserted into blood vessels, body cavities, or organs to aspirate fluid or tissue. Examination of the aspirated fluid or tissue reveals its nature and any lesions, aiding in diagnosis. Medications can also be injected through the needle for therapeutic purposes. Aspiration procedures can include: venous puncture, arterial puncture, lumbar puncture, thoracentesis, abdominal paracentesis, pericardial puncture, bone marrow aspiration, liver puncture, spleen puncture, lung puncture, kidney puncture, cerebellomedullary cistern puncture, lymph node puncture, joint puncture, and maxillary sinus puncture.

[0072] For lesions located in the lung region, the location of the lesion may change significantly when the patient breathes. In order to ensure that the surgical needle does not deviate from the lesion during the lung puncture procedure, the patient's breathing state during the puncture procedure needs to be as close as possible to the breathing state during the CT scan.

[0073] Because patients must hold their breath during a CT scan on a CT bed, the coordinates of the patient's surface markers generally do not change during the scan. Electronic equipment can record the initial coordinates of the patient's surface markers on the CT bed using optical tracking devices, and calculate the initial distance from these initial coordinates to the CT bed plane. The initial coordinates are determined during the CT scan, and once determined, the initial distance is also determined; this initial distance can be considered a reference value. The initial distance can be used to represent the respiratory state during the CT scan and can be considered a standard respiratory state.

[0074] The bed surface of a CT bed can be predetermined. This can be achieved by manually measuring the bed surface under an optical tracking system. Alternatively, the bed surface can be determined by tracking the position of bed surface markers on the CT bed using an optical tracking device.

[0075] The first coordinate can be a three-dimensional spatial coordinate measured by the optical tracking system of the optical tracking device. The bed plane of the CT table can be a three-dimensional plane measured by the optical tracking system of the optical tracking device. The first distance from the first coordinate to the bed plane of the CT table can be calculated by calculating the distance from a point to a plane.

[0076] The patient may have one or at least two surface markers. When the patient has one surface marker, the electronic device acquires the first coordinates of the patient's surface marker on the CT table, as recorded by the optical tracking device, during the CT scan.

[0077] In one possible embodiment, when the patient has at least two surface markers, the electronic device can obtain at least two coordinates of the patient's at least two surface markers on the CT bed recorded by the optical tracking device during CT imaging, and the electronic device can average the at least two coordinates to obtain a first coordinate.

[0078] In another possible embodiment, when the patient has at least two surface markers, the optical tracking device records at least two coordinates of the patient's at least two surface markers on the CT table during CT imaging. The optical tracking device averages these at least two coordinates to obtain a first coordinate, which the electronic device can obtain from the optical tracking device.

[0079] 202. The electronic device records the second coordinates of the patient's body surface markers on the CT bed during the puncture procedure using an optical tracking device, and calculates the second distance from the second coordinates to the bed plane of the CT bed; the difference between the second distance and the first distance is used to represent the difference between the patient's respiratory state during the puncture procedure and the respiratory state when the CT scan is taken.

[0080] In this embodiment, to ensure that the patient's breathing state during the puncture procedure is as close as possible to that during the CT scan, the patient can undergo breathing training, specifically breath-holding training, to find a comfortable breathing state (breath-holding state). When the patient is taking the CT scan, they can then hold their breath in the breathing state they found during the training.

[0081] The puncture procedure typically takes between a few seconds and a dozen seconds. Therefore, patients can find and maintain their breathing state (breath-holding state) during the puncture procedure, just as closely as possible to ensure that their breathing state during the puncture procedure is similar to that during the CT scan.

[0082] During a puncture procedure on a CT scan table, the patient needs to adjust their breathing to closely resemble the breathing pattern observed during the CT scan. At this time, electronic equipment uses optical tracking to record the second coordinates of the patient's surface markers on the CT scan table during the puncture procedure, and calculates the second distance from these second coordinates to the CT scan table plane. This second distance changes as the patient adjusts their breathing.

[0083] The difference between the second distance and the first distance represents the difference between the patient's respiratory status during the puncture procedure and the respiratory status during the CT scan. The electronic device can display this difference, which can be used to instruct the patient to adjust their breathing so that the difference is as close to zero as possible. Once the patient has adjusted their breathing and is holding their breath, the second distance remains constant. The difference between the second and first distances at this point can then be used to instruct the physician to proceed with the puncture procedure.

[0084] The second coordinate can be a three-dimensional spatial coordinate measured by the optical tracking system of the optical tracking device. The bed plane of the CT table can be a three-dimensional plane measured by the optical tracking system of the optical tracking device. The second distance from the second coordinate to the bed plane of the CT table can be calculated by calculating the distance from a point to a plane.

[0085] The patient may have one or at least two surface markers. When the patient has one surface marker, the electronic device acquires the second coordinates of the patient's surface marker on the CT table during the puncture procedure, as recorded by the optical tracking device.

[0086] In one possible embodiment, when there are at least two patient surface markers, the electronic device can obtain at least two coordinates of the patient's at least two surface markers on the CT bed during the puncture procedure, as recorded by the optical tracking device, and the electronic device can average these at least two coordinates to obtain a second coordinate.

[0087] In another possible embodiment, when the patient has at least two surface markers, the optical tracking device records at least two coordinates of the patient's at least two surface markers on the CT table during the puncture procedure. The optical tracking device averages these at least two coordinates to obtain a second coordinate, which the electronic device can obtain from the optical tracking device.

[0088] The embodiments of this application can quantify respiration by measuring the distance from the patient's surface markers to the CT bed plane. This not only has low algorithm complexity, but its representation method is also relatively intuitive and easy to understand.

[0089] An optical tracking device can record the second coordinates of the patient's surface markers on the CT table in real time during the puncture procedure, and calculate the second distance from the second coordinates to the CT table plane. This allows the doctor to know the difference between the patient's real-time respiratory status and the respiratory status at the time of the CT scan.

[0090] In this embodiment, the distance from the patient's surface markers to the CT bed plane during CT scan and during puncture surgery can be obtained, thereby accurately determining the difference between the patient's real-time respiratory status during puncture surgery and the respiratory status during CT scan. This can help doctors judge the patient's respiratory status in real time during puncture surgery.

[0091] Please see Figure 3 , Figure 3 This is a schematic flowchart of another respiratory monitoring method provided in the embodiments of this application. Figure 3 The respiratory monitoring method shown can be applied to Figure 1 The respiratory monitoring system shown. (As shown) Figure 3 As shown, the respiratory monitoring method includes the following steps.

[0092] 301. Electronic devices determine the bed plane of the CT bed by tracking the positions of N bed surface markers using optical tracking devices.

[0093] In this embodiment, N bed surface markers can be positioned at different locations on the CT bed surface. An optical tracking device tracks the positions of the N bed surface markers. The N bed surface markers can be positioned within the tracking range of the optical tracking device. The N bed surface markers can be optical markers, and their surfaces can include a reflective coating for reflecting infrared light. The optical tracking device can include an infrared (IR) light source and an infrared sensor. The N bed surface markers can reflect (rather than scatter) the infrared (IR) light emitted by the infrared light source of the optical tracking device back to the infrared sensor through the reflective coating on their surfaces. The infrared sensor of the optical tracking device uses binocular vision (see the above-described method for measuring the coordinates of surface markers) to triangulate the three-dimensional spatial coordinates of the N bed surface markers, thereby obtaining their three-dimensional spatial coordinates.

[0094] Where N can be an integer greater than or equal to 3. An electronic device can fit its plane based on at least 3 coordinates. Specifically, the plane can be fitted using fitting algorithms (e.g., least squares method or solving overdetermined equations).

[0095] In one possible embodiment, the embodiments of this application can determine the bed plane of the CT bed by means of a fitting algorithm based on the N coordinates of N bed surface markers tracked by the optical tracking device, without moving the CT bed.

[0096] In one possible embodiment, the embodiments of this application can determine the bed plane of the CT bed by means of a fitting algorithm based on M sets of bed surface marker coordinates of N bed surface markers tracked by the optical tracking device (each set of bed surface marker coordinates may include N coordinates of N bed surface markers monitored at a certain moment) while the CT bed is moving.

[0097] Optionally, step 301 may include the following steps:

[0098] (11) The electronic device determines whether the CT bed has moved through the optical tracking device;

[0099] (12) During the movement of the CT bed, the electronic device records the coordinates of M sets of bed surface markers of the N bed surface markers through the optical tracking device, and obtains the plane equation of the bed plane of the CT bed by fitting the coordinates of the M sets of bed surface markers.

[0100] In this embodiment, the electronic device determines whether the CT bed has moved by judging whether the difference between the coordinates of the same bed surface marker at two adjacent recording times (for example, the difference between the coordinates with the largest change in two coordinates) is greater than a first preset threshold. If the difference between the two coordinates is greater than the first preset threshold, it can be determined that the CT bed has started to move. Alternatively, it can judge whether the Euclidean distance between the two coordinates of the same bed surface marker at two adjacent recording times (for example, the difference between the coordinates with the largest change in two coordinates) is greater than a second preset threshold. If the Euclidean distance between the two coordinates is greater than the second preset threshold, it can be determined that the CT bed has started to move. This allows for the efficient use of the CT scanner's own functions, with the movement of the CT bed triggering the execution of the plane fitting algorithm, facilitating the doctor's operation.

[0101] During the movement of the CT bed, the optical tracking device can periodically record the coordinates of N bed surface markers. For example, if the CT bed movement lasts for 2 seconds and the optical tracking device records data every 0.1 seconds, then during the movement of the CT bed, the electronic equipment records 20 sets of coordinates for the N bed surface markers through the optical tracking device. Based on these 20 sets of coordinates, a fitting algorithm is used to determine the plane equation of the CT bed surface.

[0102] Fitting algorithms can include least squares or solving overdetermined equations.

[0103] 1. Solve overdetermined equations

[0104] For a plane, its equation can be expressed as z = ax + by + c. Fitting a plane to discrete points is essentially solving an overdetermined equation: by substituting the M×N coordinates recorded by the optical tracking device into the plane equation, we can solve for a, b, and c, thus obtaining the plane equation. For example, the M×N coordinates include: (x... 11 y 11 z 11 ), (x 12 y 12 z 12 ), ..., (x 1N y 1N z 1N ), (x 21 y 21 z 21 ), (x 22 y 22 z 22 ), ..., (x 2N y 2N z 2N ), ..., (x mN y mN z mNSubstituting the M×N coordinates into the plane equation yields an overdetermined equation. Solving this overdetermined equation provides the coordinates a, b, and c, thus providing the plane equation.

[0105] 2. Least Squares Method

[0106] For a plane, its equation can be expressed as z = ax + by + c. Fitting a plane to discrete points—that is, finding a plane whose "distance" to each point is minimized—is achieved using the least squares method: S = ∑(ax + by + c). i +by i +cz i ) 2 In other words, we need to find a set of a, b, c such that the value of S is minimized for the existing discrete points, thus obtaining the plane equation.

[0107] In this embodiment, the CT bed plane is fitted by moving the CT bed, allowing for the use of more coordinates for fitting, resulting in a more accurate fitted bed plane. Furthermore, the electronic device can display the movement process of the CT bed, providing a clear visual representation of the fitted CT bed plane.

[0108] After performing step 301, steps 302 and 303 can be performed for each patient who has undergone CT scans and puncture procedures on the CT bed. Step 301 does not need to be repeated, which improves the efficiency of calculating the first and second distances. It eliminates the need to re-fit the CT bed plane after each height adjustment, allowing for a rapid assessment of the difference between the patient's respiratory status during the puncture procedure and during the CT scan. The CT bed can be adjusted in height for different patients (but not in angle). During height adjustments, the CT bed plane remains parallel to the original bed plane. It is sufficient that the plane equation is parallel to the bed plane; they do not need to completely coincide. The height of the CT bed must remain unchanged during the execution of steps 302 and 303.

[0109] 302. The electronic device records the first coordinates of the patient's surface markers on the CT bed during CT imaging using an optical tracking device, and calculates the first distance from the first coordinates to the bed plane of the CT bed.

[0110] 303. The electronic device records the second coordinates of the patient's surface markers on the CT bed during the puncture procedure using an optical tracking device, and calculates the second distance from the second coordinates to the bed plane of the CT bed; the difference between the second distance and the first distance is used to represent the difference between the patient's respiratory state during the puncture procedure and the respiratory state when the CT scan is taken.

[0111] The specific implementation of steps 302 to 303 can be found in steps 201 to 202, and will not be repeated here.

[0112] Optionally, the patient's surface markers include Q individual surface sub-markers; in step 302, the electronic device records the first coordinates of the patient's surface markers on the CT bed during CT imaging via an optical tracking device, including:

[0113] The electronic device records the Q first sub-coordinates of the Q individual sub-markers of the patient on the CT bed during CT imaging via the optical tracking device;

[0114] The electronic device calculates the average of the Q first sub-coordinates to obtain the first coordinates of the patient's body surface markers when the CT scan is taken on the CT bed;

[0115] In step 302, the electronic device calculates the first distance from the first coordinate to the plane of the CT bed, including:

[0116] The electronic device calculates the distance between the first coordinate and the plane equation of the CT bed plane.

[0117] In this embodiment, the first coordinate can be a three-dimensional coordinate. The body surface markers include Q individual body surface sub-markers, where Q is an integer greater than or equal to 2. This embodiment can calculate the average of the Q first sub-coordinates based on the Q individual body surface sub-markers to obtain the first coordinates of the patient's body surface markers during CT scans. Because the first coordinates consider the average coordinates of multiple body surface sub-markers, they are not affected by errors in the coordinates of individual body surface sub-markers, thus resulting in a more accurate first distance.

[0118] Optionally, the patient's surface markers include Q individual surface sub-markers; in step 303, the electronic device records the second coordinates of the patient's surface markers on the CT table during the puncture procedure using an optical tracking device, including:

[0119] The electronic device records the Q second sub-coordinates of the Q individual sub-markers of the patient on the CT bed during the puncture procedure via the optical tracking device;

[0120] The electronic device calculates the average of the Q second sub-coordinates to obtain the second coordinates of the patient's surface markers during the puncture procedure on the CT bed;

[0121] In step 303, the electronic device calculates the second distance from the second coordinate to the bed plane of the CT bed, including:

[0122] Calculate the distance between the second coordinate and the plane equation of the CT bed plane.

[0123] In this embodiment, the second coordinate can be a three-dimensional coordinate. The body surface markers include Q individual body surface sub-markers, where Q is an integer greater than or equal to 2. This embodiment can calculate the average of the Q second sub-coordinates based on the Q individual body surface sub-markers to obtain the second coordinates of the patient's body surface markers during CT scans. Because the second coordinates consider the average coordinates of multiple body surface sub-markers, they are not affected by errors in the coordinates of individual body surface sub-markers, thus resulting in a more accurate second distance.

[0124] Optical tracking devices track surface markers, establish local coordinate systems, and determine plane equations. Their high tracking accuracy and real-time feedback enhance the real-time feedback during surgical navigation, helping doctors to assess the patient's respiratory status in real time.

[0125] Please see Figure 4 , Figure 4 This is a schematic flowchart of another respiratory monitoring method provided in the embodiments of this application. Figure 4 The respiratory monitoring method shown can be applied to Figure 1 The respiratory monitoring system shown. (As shown) Figure 4 As shown, the respiratory monitoring method includes the following steps.

[0126] 401. The electronic device records the first coordinates of the patient's surface markers on the CT bed during CT imaging using an optical tracking device, and calculates the first distance from the first coordinates to the bed plane of the CT bed.

[0127] 402. The electronic device records the second coordinates of the patient's surface markers on the CT bed during the puncture procedure using an optical tracking device, and calculates the second distance from the second coordinates to the bed plane of the CT bed; the difference between the second distance and the first distance is used to represent the difference between the patient's respiratory state during the puncture procedure and the respiratory state when the CT scan is taken.

[0128] The specific implementation of steps 401 to 402 can be found in steps 201 to 202, and will not be repeated here.

[0129] 403. The electronic device generates a breathing curve based on the difference between the second distance and the first distance.

[0130] In this embodiment, the electronic device can generate a breathing curve based on the difference between a second distance and a first distance measured at multiple times. The horizontal axis of the breathing curve represents time, and the vertical axis represents the difference between the second distance and the first distance. Since the second distance is generated in real time, the breathing curve is also generated in real time.

[0131] 404, the electronic device displays the breathing curve.

[0132] In this embodiment, the electronic device may include a display that shows a respiratory curve. Doctors can perform the puncture procedure based on the real-time generated respiratory curve. This can reduce the difficulty of the procedure and shorten the time required for the puncture.

[0133] Please see Figure 5 , Figure 5 This is a schematic flowchart of another respiratory monitoring method provided in the embodiments of this application. Figure 5 The respiratory monitoring method shown can be applied to Figure 1 The respiratory monitoring system shown. (As shown) Figure 5 As shown, the respiratory monitoring method includes the following steps.

[0134] 501. The electronic device records the first coordinates of the patient's surface markers on the CT bed during CT imaging using an optical tracking device, and calculates the first distance from the first coordinates to the bed plane of the CT bed.

[0135] 502. The electronic device records the second coordinates of the patient's surface markers on the CT bed during the puncture procedure using an optical tracking device, and calculates the second distance from the second coordinates to the CT bed plane; the difference between the second distance and the first distance is used to represent the difference between the patient's respiratory state during the puncture procedure and the respiratory state when the CT scan is taken.

[0136] The specific implementation of steps 501 to 502 can be found in steps 201 to 202, and will not be repeated here.

[0137] 503. If the absolute value of the difference between the second distance and the first distance is greater than the first threshold, the electronic device generates a prompt message to inform the doctor that the patient's current breathing state is significantly different from the breathing state at the time of the CT scan.

[0138] The first threshold can be preset and stored in the electronic device's memory (e.g., non-volatile memory). For example, the first threshold can be set to 5 millimeters.

[0139] When the absolute value of the difference between the second distance and the first distance is equal to the first threshold, the electronic device may generate a prompt message or may not generate a prompt message; this application embodiment does not limit this.

[0140] The first threshold can also be determined based on the area of ​​the lesion on the CT image. The first threshold is positively correlated with the area of ​​the lesion on the CT image; for example, the square of the first threshold can be proportional to the area of ​​the lesion on the CT image. Generally speaking, the larger the area of ​​the lesion on the CT image, the larger the first threshold. Flexible setting of the first threshold allows for different approaches. When the lesion area is large, a relatively large first threshold can be set, eliminating the need for the patient to hold their breath during the puncture, and ensuring the needle remains within the lesion's range. Conversely, when the lesion area is small, a relatively small first threshold can be set, ensuring the needle remains within the lesion's range as long as the absolute value of the difference between the second and first distances is less than the first threshold.

[0141] In this embodiment, the prompt information may include at least one of text prompts, image prompts, and voice prompts. Text and image prompts can be displayed on the electronic device's screen. Voice prompts can be delivered through the electronic device's speaker.

[0142] In this embodiment, the electronic device generates prompts that can be displayed on the device's screen or through its speaker. It can measure the patient's respiration in real time, allowing the doctor to understand the difference between the patient's real-time respiratory status and the respiratory status observed during the puncture procedure. It can also issue a puncture error alert if the absolute value of the difference between the second distance and the first distance exceeds a first threshold, thereby reducing surgical risks.

[0143] Please see Figure 6 , Figure 6 This is a schematic diagram of a specific process of a respiratory monitoring method provided in an embodiment of this application. Figure 6 The respiratory monitoring method shown can be applied to Figure 1 The respiratory monitoring system shown. (As shown) Figure 6 As shown, the respiratory monitoring method includes the following steps.

[0144] 601. Initialize the optical tracking system and correctly position the optical tracking device and the surgical navigation system.

[0145] An optical tracking system is a software system installed on an optical tracking device. A surgical navigation system is a software system installed on an electronic device.

[0146] Please see Figure 7 , Figure 7 This is a schematic diagram showing the positional relationship between an optical tracking device, an electronic device, and a CT bed provided in an embodiment of this application.

[0147] 602. Place bed surface markers on the CT bed, move the bed using the CT machine, and use the software to generate the bed plane equation. Observe whether the bed plane is generated correctly in the surgical navigation system. If it is generated correctly, remove the bed surface markers.

[0148] Whether the bed plane is generated correctly refers to whether the markers observed from the surgical navigation system are all on the plane. If they are all on the plane, then the bed plane is generated correctly.

[0149] Please see Figure 8 , Figure 8 This is a schematic diagram of the bed plane observed in a surgical navigation system, provided in an embodiment of this application. Figure 8 The circles in the diagram represent bed surface markings.

[0150] 603. Apply surface markers to the patient's body in preparation for taking CT images.

[0151] Please see Figure 9 , Figure 9 This is a schematic diagram of attaching surface markers to a patient's body in preparation for taking CT images, as provided in an embodiment of this application.

[0152] Please see Figure 10 , Figure 10 This is a schematic diagram illustrating how a patient's respiratory status is interactively calibrated through a software system, as provided in an embodiment of this application. During a CT scan, the patient's respiratory status (at the time of the CT scan) is calibrated through interaction between the surgical navigation system and the optical tracking system.

[0153] 604. After the CT scan is completed, a puncture procedure is performed, and the patient's respiratory status curve is drawn in real time on the system interface of the surgical navigation system.

[0154] Please see Figure 11 , Figure 11 This is a schematic diagram showing the real-time respiratory status displayed through the system interface of the surgical navigation system provided in this application embodiment. Figure 11 The curve in the figure represents the real-time breathing state (i.e., the value of the second distance), and the thick straight line at 40 mm represents the breathing state at the calibration time (i.e., the value of the first distance). Figure 11 The horizontal axis represents time, and the vertical axis represents respiratory status (unit: millimeters). From Figure 11 It can be seen that the difference between the latest respiratory state (i.e., the latest value of the second distance) and the respiratory state at the calibration time (i.e., the value of the first distance) is equal to -4.57 mm.

[0155] 605. The doctor observes the breathing curve drawn in real time by the software and performs the puncture surgery.

[0156] The above describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0157] This application embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0158] Please see Figure 12 , Figure 12 This is a schematic diagram of a respiratory monitoring device provided in an embodiment of this application. The respiratory monitoring device 1200 is applied to an electronic device in a respiratory monitoring system, which includes the electronic device, an optical tracking device, and a CT bed. The respiratory monitoring device 1200 may include a recording unit 1201 and a computing unit 1202, wherein:

[0159] Recording unit 1201 is used to record the first coordinates of the patient's body surface markers on the CT bed during CT scan using the optical tracking device;

[0160] Calculation unit 1202 is used to calculate the first distance from the first coordinate to the bed plane of the CT bed;

[0161] The recording unit 1201 is also used to record the second coordinates of the patient's body surface markers on the CT bed during the puncture procedure via the optical tracking device;

[0162] The calculation unit 1202 is also used to calculate a second distance from the second coordinate to the bed plane of the CT bed; the difference between the second distance and the first distance is used to represent the difference between the patient's respiratory state during the puncture surgery and the respiratory state when the CT scan is taken.

[0163] Optionally, the respiratory monitoring system further includes N bed surface markers, which are set at different positions on the CT bed surface; the respiratory monitoring device 1200 may include a determination unit 1203;

[0164] The determining unit 1203 is used to determine the bed plane of the CT bed by tracking the positions of the N bed surface markers through the optical tracking device before the recording unit 1201 records the first coordinates of the patient's body surface markers on the CT bed during CT imaging through the optical tracking device.

[0165] Optionally, the determining unit 1203 determines the bed plane of the CT bed by tracking the positions of the N bed surface markers through the optical tracking device, including: determining whether the CT bed is moving through the optical tracking device; during the movement of the CT bed, recording M sets of bed surface marker coordinates of the N bed surface markers through the optical tracking device, and fitting the plane equation of the bed plane of the CT bed based on the M sets of bed surface marker coordinates.

[0166] Optionally, the patient's surface markers include Q individual surface sub-markers; the recording unit 1201 records the first coordinates of the patient's surface markers on the CT bed during CT scans via the optical tracking device, including: recording Q first sub-coordinates of the Q individual surface sub-markers on the CT bed during CT scans via the optical tracking device; calculating the average of the Q first sub-coordinates to obtain the first coordinates of the patient's surface markers on the CT bed during CT scans;

[0167] The calculation unit 1202 calculates the first distance from the first coordinate to the bed plane of the CT bed, including: calculating the distance between the plane equations of the first coordinate and the bed plane of the CT bed.

[0168] Optionally, the patient's surface markers include Q individual surface sub-markers; the recording unit 1201 records the second coordinates of the patient's surface markers on the CT bed during the puncture procedure using the optical tracking device, including: recording Q second sub-coordinates of the patient's Q individual surface sub-markers on the CT bed during the puncture procedure using the optical tracking device; calculating the average of the Q second sub-coordinates to obtain the second coordinates of the patient's surface markers on the CT bed during the puncture procedure;

[0169] The calculation unit 1202 calculates the second distance from the second coordinate to the bed plane of the CT bed, including: calculating the distance between the plane equations of the second coordinate and the bed plane of the CT bed.

[0170] Optionally, the respiratory monitoring device 1200 may also include a generation unit 1204 and a display unit 1205.

[0171] The generation unit 1204 is used to generate a respiratory curve based on the difference between the second distance and the first distance after the calculation unit 1202 calculates the second distance from the second coordinate to the bed plane of the CT bed;

[0172] The display unit 1205 is used to display the breathing curve.

[0173] Optionally, the respiratory monitoring device 1200 may also include an alerting unit 1206;

[0174] The prompting unit 1206 is used to generate a prompting message after the calculation unit 1202 calculates the second distance from the second coordinate to the bed plane of the CT bed, and when the absolute value of the difference between the second distance and the first distance is greater than a first threshold, the prompting message is used to prompt the doctor that the patient's current breathing state is significantly different from the breathing state when the CT scan was taken.

[0175] In this embodiment, the recording unit 1201 can be a communication module for interaction between the electronic device and the optical tracking device. The calculation unit 1202, the determination unit 1203, and the generation unit 1204 can be processors in the electronic device. The display unit 1205 can be a display in the electronic device. The prompting unit 1206 can be a display and / or a speaker in the electronic device.

[0176] In this embodiment, the distance from the patient's surface markers to the CT bed plane during CT scan and during puncture surgery can be obtained, thereby accurately determining the difference between the patient's real-time respiratory status during puncture surgery and the respiratory status during CT scan. This can help doctors judge the patient's respiratory status in real time during puncture surgery.

[0177] Please see Figure 13 , Figure 13 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 13As shown, the electronic device 1300 includes a processor 1301 and a memory 1302, which are interconnected via a communication bus 1303. The communication bus 1303 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 1303 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 13 The bus is represented by a single thick line, but this does not indicate that there is only one bus or one type of bus. Memory 1302 stores computer programs, which include program instructions. Processor 1301 is configured to invoke these program instructions, which include instructions for execution. Figures 2-6 It includes some or all of the steps in the methods.

[0178] Processor 1301 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of programs in the above scheme.

[0179] The memory 1302 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory may exist independently and be connected to the processor via a bus. The memory may also be integrated with the processor.

[0180] The electronic device 1300 may further include a communication module 1304 and a display 1305. The communication module 1304 can communicate with the optical tracking device. The communication module 1304 can be a wireless communication module (e.g., a WiFi module, a Bluetooth module, etc.) or a wired communication module.

[0181] In addition, the electronic device 1300 may also include general components such as communication interfaces (e.g., USB interfaces, microphone interfaces, etc.) and antennas, which will not be described in detail here.

[0182] In this embodiment, the distance from the patient's surface markers to the CT bed plane during CT scan and during puncture surgery can be obtained, thereby accurately determining the difference between the patient's real-time respiratory status during puncture surgery and the respiratory status during CT scan. This can help doctors judge the patient's respiratory status in real time during puncture surgery.

[0183] This application also provides a computer-readable storage medium storing a computer program for electronic data interchange that causes a computer to perform some or all of the steps of any of the respiratory monitoring methods described in the above method embodiments.

[0184] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0185] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0186] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0187] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0188] Furthermore, the functional units in the various embodiments of the application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0189] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0190] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: a flash drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk, etc.

[0191] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A respiratory monitoring device, characterized in that, The device is used in an electronic device within a respiratory monitoring system, the respiratory monitoring system including the electronic device, an optical tracking device, and a CT bed; the device includes: The recording unit is used to record the first coordinates of the patient's body surface markers on the CT bed during CT scan using the optical tracking device; A calculation unit is used to calculate a first distance from the first coordinate to the bed plane of the CT bed; The recording unit is also used to record the second coordinates of the patient's body surface markers on the CT bed during the puncture procedure via the optical tracking device; The calculation unit is also used to calculate a second distance from the second coordinate to the bed plane of the CT bed; the difference between the second distance and the first distance is used to represent the difference between the patient's respiratory state during the puncture procedure and the respiratory state during the CT scan. The patient's surface markers include Q individual surface sub-markers; the recording unit records the first coordinates of the patient's surface markers on the CT bed during CT scans via the optical tracking device, including: recording Q first sub-coordinates of the patient's Q individual surface sub-markers on the CT bed during CT scans via the optical tracking device; calculating the average of the Q first sub-coordinates to obtain the first coordinates of the patient's surface markers on the CT bed during CT scans; The calculation unit calculates the first distance from the first coordinate to the bed plane of the CT bed, including: calculating the distance between the plane equations of the first coordinate and the bed plane of the CT bed; The recording unit records the second coordinates of the patient's surface markers on the CT bed during the puncture procedure using the optical tracking device, including: recording Q second sub-coordinates of the Q individual surface markers of the patient on the CT bed during the puncture procedure using the optical tracking device; calculating the average of the Q second sub-coordinates to obtain the second coordinates of the patient's surface markers on the CT bed during the puncture procedure; The calculation unit calculates the second distance from the second coordinate to the bed plane of the CT bed, including: calculating the distance between the plane equations of the second coordinate and the bed plane of the CT bed.

2. The apparatus according to claim 1, characterized in that, The respiratory monitoring system also includes N bed surface markers, which are set at different positions on the CT bed surface; before the optical tracking device records the first coordinates of the patient's body surface markers on the CT bed during CT imaging, the device also includes a determination unit; The determining unit is used to determine the bed plane of the CT bed by tracking the positions of the N bed surface markers through the optical tracking device.

3. The apparatus according to claim 2, characterized in that, The determining unit determines the bed plane of the CT bed by tracking the positions of the N bed surface markers through the optical tracking device, including: determining whether the CT bed is moving through the optical tracking device; during the movement of the CT bed, recording M sets of bed surface marker coordinates of the N bed surface markers through the optical tracking device, and fitting the plane equation of the bed plane of the CT bed based on the M sets of bed surface marker coordinates.

4. The apparatus according to any one of claims 1 to 3, characterized in that, The device further includes a generation unit and a display unit; The generation unit is used to generate a breathing curve based on the difference between the second distance and the first distance; The display unit is used to display the breathing curve.

5. The apparatus according to any one of claims 1 to 3, characterized in that, The device also includes a prompting unit; The prompting unit is used to generate a prompting message when the absolute value of the difference between the second distance and the first distance is greater than a first threshold. The prompting message is used to indicate to the doctor that the patient's current respiratory state is significantly different from the respiratory state at the time of the CT scan.

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