A patient position monitoring method, device, system and storage medium

Abstract

The application provides a patient position monitoring method, comprising: determining the position of a human marker on the surface of a patient according to the operation site of the patient and the position of a reference marker relative to an operating bed; determining the spatial transformation matrix of a reference coordinate system of the patient to a human coordinate system and the coordinates of a human optical ball in the reference coordinate system in real time; marking the spatial transformation matrix of the reference coordinate system of the patient to the human coordinate system and the coordinates of the human optical ball in the reference coordinate system under a set breathing state; and monitoring the position of the patient according to the spatial transformation matrix and the coordinates determined in real time and the marked spatial transformation matrix and coordinates. The above technical solution sets a human marker on the surface of the patient and a reference marker on the operating bed, and identifies the human marker and the reference marker through a spatial positioning device, so that the relative position change of the patient and the operating bed can be monitored in real time, and the accuracy of the patient position monitoring is effectively improved.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of computers, and particularly to methods, devices, systems, and storage media for monitoring patient posture. Background Technology

[0002] During CT (Computed Tomography) scans and biopsies, patients need to follow a doctor's guidance to complete a series of actions: inhalation, breath-holding, and exhalation. During this process, patients may consciously or unconsciously change their posture, leading to changes in respiratory status or postural displacement, which can compromise the accuracy and safety of the entire procedure. Therefore, monitoring the patient's respiratory status and postural displacement is crucial for the accuracy of medical examinations.

[0003] Existing technologies commonly employ wearable human status detection and non-contact detection methods. Wearable human status detection involves the patient wearing a device that monitors human status parameters. Sensors collect signals, which are then processed by circuitry to output a status signal. However, this method cannot effectively track the relative offset between the patient and the bed, and it cannot accurately monitor the patient's status when the bed moves.

[0004] Non-contact detection methods generally refer to radar-based non-contact human condition detection methods and devices. This method typically uses radar to extract features from vital signs and employs intelligent algorithms to determine the movement and posture of the target within the detection area. However, radar works by detecting and determining the target's location based on the reflection of electromagnetic waves. A cluttered external environment can introduce false alarms to radar detection, and the coverage area is fan-shaped with blind spots. Based on the micro-Doppler principle, significant body movements by the patient can affect the accuracy of the detection. Furthermore, such equipment is expensive and unsuitable for mass production. Summary of the Invention

[0005] To address the aforementioned technical issues, this application provides a patient posture monitoring method, device, system, and storage medium, which can effectively monitor changes in patient posture in real time, thereby improving the safety and accuracy of subsequent medical procedures.

[0006] This application provides a method for monitoring patient posture, including:

[0007] Determine the position of the human body markers on the patient's body surface and the position of the reference markers relative to the operating table based on the patient's surgical site;

[0008] The spatial transformation matrix from the patient's reference coordinate system to the human body coordinate system and the coordinates of the human optical sphere in the reference coordinate system are determined in real time.

[0009] Mark the spatial transformation matrix from the reference coordinate system to the human body coordinate system for the patient in the set respiratory state, and the coordinates of the human optical sphere in the reference coordinate system;

[0010] The patient's pose is monitored based on the real-time determined spatial transformation matrix and coordinates, as well as the marked spatial transformation matrix and coordinates.

[0011] The human body marker is provided with at least three human body optical spheres, and the reference marker is provided with at least three reference optical spheres; the human body coordinate system is determined by the spatial positioning device by identifying at least three human body optical spheres; the reference coordinate system is determined by the spatial positioning device by identifying at least three reference optical spheres, and the pose is represented by the spatial transformation matrix from the reference coordinate system to the human body coordinate system and the coordinates of the human body optical spheres in the reference coordinate system.

[0012] This application also provides a patient posture monitoring device, including: a memory and a processor;

[0013] The memory is used to store programs for patient monitoring;

[0014] The processor is configured to read the program for patient monitoring and execute any of the aforementioned patient monitoring methods.

[0015] This application also discloses a patient posture monitoring system, comprising a patient posture monitoring device, a spatial positioning device, a human body marker, and a reference marker, wherein:

[0016] The human body marker is placed at the patient's target location;

[0017] The reference marker is fixed relative to the patient's operating table;

[0018] The spatial positioning device is configured to identify the human body marker and the reference marker, and output the spatial transformation matrix and / or the coordinates of the human body optical sphere in the reference coordinate system;

[0019] The patient posture monitoring device is configured to perform any of the aforementioned patient posture monitoring methods.

[0020] This application also provides a non-transient computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the patient pose monitoring method according to any one of claims 1 to 10 when it is run.

[0021] Compared with existing technologies, this application includes: determining the position of a human body marker on the patient's body surface and the position of a reference marker relative to the operating table based on the patient's surgical site; determining in real time the spatial transformation matrix from the patient's reference coordinate system to the human body coordinate system and the coordinates of the human optical ball in the reference coordinate system; marking the spatial transformation matrix from the reference coordinate system to the human body coordinate system and the coordinates of the human optical ball in the reference coordinate system for the patient in a set breathing state; and monitoring the patient's posture based on the real-time determined spatial transformation matrix and coordinates, as well as the marked spatial transformation matrix and coordinates. The above technical solution sets a human body marker on the patient's body surface and a reference marker on the operating table. By identifying the human body marker and reference marker using a spatial positioning device, the relative positional changes of the patient and the operating table can be monitored in real time, effectively improving the accuracy of patient posture monitoring. Simultaneously, by monitoring the patient's posture in real time, the amplitude of postural changes during the patient's breathing state can be monitored in real time, thereby effectively guiding the patient to maintain the set breathing state and posture. This avoids the problem of inaccurate monitoring of the patient's posture when the operating table moves, thus improving the safety and accuracy of subsequent medical operations. Attached Figure Description

[0022] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0023] Figure 1 This is a flowchart of the patient pose monitoring method according to Embodiment 1 of this application;

[0024] Figure 2 This is a schematic diagram of a patient pose monitoring scenario according to Embodiment 1 of this application;

[0025] Figure 3 This is a schematic diagram of the patient pose monitoring interface in Embodiment 1 of this application;

[0026] Figure 4 This is another schematic diagram of the patient pose monitoring interface in Embodiment 1 of this application.

[0027] Figure 5 This is a schematic diagram of the patient posture monitoring device according to Embodiment 1 of this application;

[0028] Figure 6 This is a schematic diagram of the patient posture monitoring system in Embodiment 1 of this application. Detailed Implementation

[0029] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0030] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0031] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0032] To more clearly illustrate the technical solution of this application, the coordinate system corresponding to the subscripts is explained below, but it is not limited to this in actual application:

[0033] Track represents the coordinate system of the optical device;

[0034] Breath represents the coordinate system of human body markers;

[0035] Bed represents the coordinate system of the reference marker;

[0036] Point represents the coordinates of an optical sphere. In this example, the coordinates of the optical sphere refer to the coordinates of the optical sphere on the human body marker.

[0037] The spatial transformation relationship between the optical equipment coordinate system and the human body coordinate system can be used express.

[0038] The spatial transformation relationship between the optical device coordinate system and the reference optical coordinate system can be used express.

[0039] The spatial transformation relationship between the reference optical coordinate system and the human body coordinate system can be used express.

[0040] The spatial coordinates of a single ball A in the optical device coordinate system can be used express.

[0041] Spatial transformations can include rotation and translation, and can describe spatial transformations from coordinate system A to coordinate system B. For example, a 4x4 matrix can be used to describe a spatial transformation from coordinate system A to coordinate system B, as follows:

[0042]

[0043] The spatial transformation relationship includes rotation and translation. r is a 3x3 rotation matrix describing the rotation, and t is a 3x1 column vector describing the translation. The implementation process of this application is based on these relationships for all related calculations. However, the spatial transformation relationship from coordinate system A to coordinate system B can also be described in other ways, and is not limited to this one method. For example:

[0044]

[0045] Optical devices can be positioned to identify human body markers and reference markers, and are used to obtain data directly from the human body. This matrix data includes a 3*3 rotation matrix and a 3*1 column vector of translation relationships. As long as there are 3 or more small balls, the optical device can provide this data.

[0046] Based on the above characterization, the spatial transformation relationship from coordinate system B to coordinate system A and the spatial transformation relationship from coordinate system A to coordinate system B can be defined as follows:

[0047]

[0048] Assuming that the spatial transformation relationships between A and B, and between B and C are known, the spatial transformation relationship between A and C can be solved as follows:

[0049]

[0050] like Figure 1 As shown in the figure, this application provides a method for monitoring patient posture, including:

[0051] Step S101: Determine the position of the human body marker on the patient's body surface and the position of the reference marker relative to the operating table based on the patient's surgical site;

[0052] Step S102: Determine in real time the spatial transformation matrix from the patient's reference coordinate system to the human body coordinate system and the coordinates of the human optical sphere in the reference coordinate system;

[0053] In this step, after the spatial positioning device is activated, it continuously collects data on human body markers and reference markers, and the patient posture monitoring device also continuously acquires data collected by the spatial positioning device.

[0054] Step S103: Mark the spatial transformation matrix from the reference coordinate system to the human body coordinate system of the patient under the set breathing state, and the coordinates of the human optical ball in the reference coordinate system;

[0055] Step S104: Monitor the patient's pose based on the real-time determined spatial transformation matrix and coordinates, as well as the marked spatial transformation matrix and coordinates.

[0056] In this step, the patient's pose is monitored based on the spatial transformation matrix and coordinates determined in real time after marking, as well as the marked spatial transformation matrix and coordinates.

[0057] In this embodiment, at least three human optical spheres are provided on the human body marker, and at least three reference optical spheres are provided on the reference marker; the human coordinate system is determined by the spatial positioning device by recognizing at least three human optical spheres; the reference coordinate system is determined by the spatial positioning device by recognizing at least three reference optical spheres, and the pose is represented by the spatial transformation matrix from the reference coordinate system to the human coordinate system and the coordinates of the human optical spheres in the reference coordinate system.

[0058] The surgery in this embodiment may include scanning CT (Computed Tomography) images, scanning MRI images, puncture surgery, and minimally invasive surgery.

[0059] Spatial positioning devices can be optical devices (such as binocular cameras, 3D cameras, etc.). For example, a binocular camera can be used to collect position data of human body markers and reference markers. Taking the human body coordinate system and human body markers as an example, the relationship between the two can be set in the optical device. For example, taking three human body optical spheres as an example, one of the human body optical spheres is taken as the center, the straight line between the first human body optical sphere and the second human body optical sphere is taken as the X-axis, and the plane containing the three spheres is taken as the XY plane, thereby establishing the human body coordinate system.

[0060] In other embodiments, spatial positioning devices other than optical devices may also be used. The small ball on the marker can be an optical ball, or it can be another type of small ball (such as a magnetic ball). This application does not limit the type of spatial positioning device or the type of small ball. Taking a human body marker as an example, when the small ball is an optical ball, it can be called a human body optical marker; when the small ball is a magnetic ball, it can be called a human body magnetic marker. Similarly, reference markers can include reference optical markers and reference magnetic markers.

[0061] In this embodiment, the respiratory state can be set to either normal breathing or breath-holding. That is, the patient's posture during breath-holding can be marked, or the patient's posture during normal breathing can be marked. In specific application scenarios, the respiratory state at the time of marking can be determined based on the medical procedure to be performed on the patient. For example, if the patient needs to undergo a puncture, the patient's posture during breath-holding can be marked, and then the real-time monitored patient posture can be compared with the marked posture during breath-holding to monitor the changes in the patient's respiratory state and body position. During the subsequent puncture procedure, the patient's posture can be monitored based on the previously marked posture during breath-holding, thereby ensuring the smooth progress of the puncture procedure. If the medical procedure to be performed does not require breath-holding, the patient's posture during normal breathing can be marked.

[0062] like Figure 2 As shown, in the preoperative preparation stage, a scenario for monitoring the patient's posture can be prepared according to the surgical site, including: fixing reference markers to the operating table, attaching human body markers to the patient's body surface (such as the chest, abdomen, etc.), and placing the spatial positioning device in a suitable position so that the human body markers and reference markers on the patient's body surface on the operating table can be seen within the field of view of the spatial positioning device.

[0063] Once the scene is ready, the optical equipment can be activated to identify human body markers and reference markers, collect their position data, and mark the spatial transformation matrix from the reference coordinate system to the human body coordinate system under the set breathing state, as well as the coordinates of the human body optical sphere in the reference coordinate system. The set breathing state can be either a breath-holding state or a normal breathing state.

[0064] For example, if the patient is breathing normally, each optical ball will undergo real-time displacement due to the patient's breathing. The maximum displacement data for each optical ball is then collected. If the standard deviation of the data collected over several consecutive cycles is less than a set threshold (e.g., 0.5 mm), it is determined that the patient is in a state of breath-holding. The spatial transformation matrix from the reference coordinate system to the human body coordinate system for the patient in this breath-holding state, as well as the coordinates of the human body optical ball in the reference coordinate system, are then marked.

[0065] The above-mentioned technical solution involves setting human body markers on the patient's body surface and setting reference markers on the operating table. By identifying the human body markers and reference markers through spatial positioning equipment, the relative position changes between the patient and the operating table can be monitored in real time. This allows for real-time monitoring of the patient's respiratory status and changes in body position, avoiding the problem of inaccurate monitoring of the patient's posture when the operating table is moving, thus effectively improving the accuracy of patient posture monitoring.

[0066] In one exemplary embodiment, the spatial transformation matrix from the reference coordinate system to the human body coordinate system for the patient in a set respiratory state in step S103 may include:

[0067] When the patient is in a set breathing state, obtain the spatial transformation matrix from the device coordinate system of the spatial positioning device to the human body coordinate system. and the spatial transformation matrix from the device coordinate system to the reference coordinate system

[0068] According to the formula Obtain the spatial transformation matrix from the reference coordinate system to the human body coordinate system for the patient under the set breathing state.

[0069] In one exemplary embodiment, marking the coordinates of the patient's human optical sphere in the reference coordinate system during the set respiratory state in step S103 may include:

[0070] When the patient is in the set breathing state, the spatial coordinates of the human optical sphere in the device coordinate system are also acquired.

[0071] According to the formula Obtain the spatial coordinates of the human optical sphere in the reference coordinate system.

[0072] In one exemplary embodiment, step S104 may include:

[0073] Step S1041: Determine the first deviation based on the spatial transformation matrix determined in real time and the marked spatial transformation matrix;

[0074] Step S1042: Determine the second deviation based on the real-time determined coordinates and the marked coordinates;

[0075] Step S1043: Determine the deviation between the patient's pose and the pose at the time of marking based on the first deviation and the second deviation;

[0076] Step S1044: Monitor the range of changes in the patient's body position based on the deviation between the postures.

[0077] In this embodiment, the magnitude of positional change refers to the change in the patient's current position compared to the position at the time of marking. When the patient's respiratory state changes, it can lead to a change in the patient's position; therefore, changes in the patient's respiratory state can be monitored by tracking changes in the patient's position.

[0078] It should be noted that the execution order of steps S1041 and S1042 is not specifically limited.

[0079] In one exemplary embodiment, the Z-axis of the reference marker is perpendicular to the horizontal direction of the operating table; step S1041 may include: determining the first deviation based on the offset of the column vector of the spatial transformation matrix determined in real time from the spatial transformation matrix of the marker in the Z-axis direction.

[0080] Step S1042 may include: for each human optical sphere, calculating a first distance between the real-time determined spatial coordinates of the human optical sphere and the marked spatial coordinates of the human optical sphere; and determining the second deviation based on the first distance of each human optical sphere.

[0081] In one exemplary embodiment, determining the second deviation based on a first distance of each human optical sphere may include:

[0082] The maximum distance among the first distances of all human body optical spheres is used as the second deviation; alternatively, the average distance is derived from the first distances of all human body optical spheres and used as the second deviation. In other exemplary embodiments, other algorithms may be used to determine the second deviation for the first distances of all human body optical spheres.

[0083] In one exemplary embodiment, step S1044 may include:

[0084] Based on the first deviation and the second deviation, it is determined whether the patient's positional change is within the set surgical requirement range and whether the patient's breathing is too shallow or too deep, and corresponding prompts are given through graphics.

[0085] In this embodiment, surgical requirements can be set. These requirements can be a range from a set minimum positional amplitude (hereinafter referred to as the minimum value) to a set maximum positional change amplitude (hereinafter referred to as the maximum value). The median value of this range is the average value calculated based on the minimum and maximum positional change amplitudes. The median value corresponds to the zero line on the patient posture monitoring interface, i.e., it is set to 0. The absolute value of the difference between the minimum positional change amplitude and the median value is equal to the second deviation threshold, and the absolute value of the difference between the maximum positional change amplitude and the median value is also equal to the second deviation threshold.

[0086] For example, if the second deviation threshold is set to 3 mm, then the maximum positional change amplitude is 3 mm, the minimum positional change amplitude is -3 mm, and the median value (i.e., the zero line) is 0 mm. The range corresponding to the surgical requirements can be determined based on the medical procedures performed on the patient.

[0087] Based on the first and second deviations, it can be ultimately determined whether the patient's positional changes meet the surgical requirements and whether the patient's breathing is too shallow or too deep. Specifically, this can include the following:

[0088] When the first deviation is positive and the second deviation is greater than the set second deviation threshold, it is determined that the patient's positional change is higher than the maximum value required for surgery, and the patient's breathing is too deep at this time.

[0089] If the first deviation is negative and the second deviation is greater than the set second deviation threshold, it is determined that the patient's positional change is lower than the minimum value required for surgery, and the patient's breathing is too shallow at this time.

[0090] When the first deviation is positive and the second deviation is less than or equal to the set second deviation threshold, it is determined that the patient's positional change meets the surgical requirements and the patient's breathing is deep at this time.

[0091] When the first deviation is negative and the second deviation is less than or equal to the set second deviation threshold, it is determined that the patient's positional change range meets the surgical requirements and the patient's breathing is shallow at this time.

[0092] like Figure 3 and Figure 4 As shown, after judging the first and second deviations, the patient's respiratory status can be displayed graphically. For example, when the patient's first deviation is positive, the filled portion of the bar chart is at the median average line (corresponding to...). Figure 3 and Figure 4Above line B in the graph, when the patient's first deviation is negative, the filled portion of the bar chart is below the median average. The distance between the filled portion and the median average corresponds to the patient's second deviation; for example, the smaller the second deviation, the closer the filled portion is to the median average. If the patient is holding their breath and the second deviation is less than the set second deviation threshold, a success indicator is displayed near the bar chart, and the bar chart can be filled with the appropriate color (e.g., green). Conversely, if the patient is not holding their breath or the second deviation is greater than the set second deviation threshold, a failure indicator is displayed near the bar chart, and the bar chart can be filled with the appropriate color (e.g., red). This graphical display can guide the patient to adjust their breathing to the required level or the midpoint between the surgical requirements (line B position).

[0093] In this embodiment, the optimal respiratory state can be determined by the median value required for the surgery. To ensure the smooth progress of the surgery, it is desirable for the patient's respiratory state to remain near this median value. The first deviation is used to indicate whether the patient's current respiratory state is higher than the median value required for the surgery, and the second deviation is used to indicate whether the patient's current respiratory state is within the range required for the surgery.

[0094] Assuming the breathing state is set as breath-holding, for example... Figure 3 and Figure 4 The diagram shown below illustrates a patient posture monitoring interface (this interface is only an example and can be displayed in other forms). The area between lines A and C on the right represents the surgical breath-holding requirement, which is set as a range from a minimum to a maximum value. Line B represents the midpoint of the surgical breath-holding requirement, which can be considered the optimal point for surgical breath-holding. The two triangular bars below line C indicate the range of changes in the patient's current position. When the apex of the triangle reaches the area between lines A and C, the patient's breath-holding state is considered to meet the surgical breath-holding requirement; when the apex of the triangle is on line A or below line C, the patient's breath-holding state is considered to not meet the requirement. This graphical display allows both patients and medical staff to clearly and intuitively understand the patient's breath-holding status.

[0095] Specifically, if the first deviation is positive and the second deviation is greater than the set second threshold, then it is determined that the patient's breath-holding amplitude is higher than the maximum value required for surgical breath-holding (at this time, the apex of the triangle is higher than line A).

[0096] If the first deviation is negative and the second deviation is greater than the set second threshold, then the patient's breath-holding amplitude is determined to be lower than the minimum value required for surgical breath-holding (at this time, the apex of the triangle is lower than line C, similar to...). Figure 3 The display status of the right-hand column (e.g., via symbols) Figure 3 The "×" symbol indicates that the current breath-holding level does not meet the requirements for surgery.

[0097] If the first deviation is positive and the second deviation is less than or equal to the set second threshold, then the patient's breath-holding amplitude is determined to meet the surgical breath-holding requirements and the breath-holding amplitude is higher than the median value of the surgical breath-holding requirements (at this time, the apex of the triangle is between line A and line B). For example, this can be determined by symbols (such as...). Figure 4 The "√" symbol indicates that the current breath-holding range meets the surgical requirements.

[0098] If the first deviation is negative and the second deviation is less than or equal to the set second threshold, then it is determined that the patient's breath-holding amplitude meets the surgical breath-holding requirements and the breath-holding amplitude is lower than the median value of the surgical breath-holding requirements (at this time, the apex of the triangle is between line C and line B).

[0099] In the aforementioned technical solution, monitoring the patient's posture can guide their breathing. The doctor can visually see through the bar chart on the posture monitoring interface whether the patient's breathing is within the required range for the surgery. If it is not within the required range, the doctor guides the patient to adjust their breath-holding range to between lines A and C, or to line B, to achieve the optimal breath-holding state, thereby ensuring the accuracy and success rate of CT image acquisition and puncture surgery. Simultaneously, the bar chart dynamically displays the patient's breathing status in real time, allowing the patient to intuitively understand whether their breathing meets the requirements through the posture monitoring interface.

[0100] In one exemplary embodiment, the method further includes:

[0101] The puncture path is determined based on medical images acquired from the patient under the set respiratory state.

[0102] When the deviation between the patient's position and the marked position meets the set surgical deviation conditions and the patient is holding their breath, the puncture operation is performed according to the determined puncture path.

[0103] Monitoring the patient's position ensures the safety and accuracy of subsequent puncture procedures.

[0104] In this embodiment, medical images may include CT images, MRI images, etc.

[0105] like Figure 5 As shown, this embodiment also provides a patient posture monitoring device, including: a memory 10 and a processor 11;

[0106] The memory 10 is used to store programs for patient monitoring;

[0107] The processor 11 is used to read the program for patient monitoring and execute any of the aforementioned patient pose monitoring methods.

[0108] like Figure 6 As shown, this embodiment also provides a patient posture monitoring system, including a patient posture monitoring device 1, a spatial positioning device 2, a human body marker 3, and a reference marker 4, wherein:

[0109] The human body marker 3 is placed at the patient's target location;

[0110] The reference marker 4 is fixed relative to the patient's operating table;

[0111] The spatial positioning device is configured to identify the human body marker and the reference marker, and output the spatial transformation matrix and / or the coordinates of the human body optical sphere in the reference coordinate system;

[0112] The patient posture monitoring device is configured to perform any of the aforementioned patient posture monitoring methods.

[0113] This embodiment also provides a non-transient computer-readable storage medium storing a computer program, wherein the computer program is configured to execute any of the aforementioned patient pose monitoring methods at runtime.

[0114] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A method for monitoring patient posture, comprising: Determine the position of the human body markers on the patient's body surface and the position of the reference markers relative to the operating table based on the patient's surgical site; The spatial transformation matrix from the patient's reference coordinate system to the human body coordinate system and the coordinates of the human optical sphere in the reference coordinate system are determined in real time. Mark the spatial transformation matrix from the reference coordinate system to the human body coordinate system for the patient in the set respiratory state, and the coordinates of the human optical sphere in the reference coordinate system; The patient's pose is monitored based on the real-time determined spatial transformation matrix and coordinates, as well as the marked spatial transformation matrix and coordinates. The human body marker is provided with at least three human body optical spheres, and the reference marker is provided with at least three reference optical spheres; The human body coordinate system is determined by the spatial positioning device by identifying at least three human body optical spheres; the reference coordinate system is determined by the spatial positioning device by identifying at least three reference optical spheres, and the pose is represented by the spatial transformation matrix from the reference coordinate system to the human body coordinate system and the coordinates of the human body optical spheres in the reference coordinate system.

2. The patient posture monitoring method as described in claim 1, characterized in that: The spatial transformation matrix from the reference coordinate system to the human coordinate system, which marks the patient under a set respiratory state, includes: When the patient is in a set breathing state, obtain the spatial transformation matrix from the device coordinate system of the spatial positioning device to the human body coordinate system. and the spatial transformation matrix from the device coordinate system to the reference coordinate system According to the formula Obtain the spatial transformation matrix from the reference coordinate system to the human body coordinate system for the patient under the set breathing state.

3. The patient posture monitoring method as described in claim 2, characterized in that: The coordinates of the optical sphere marking the patient's body in the reference coordinate system under the set respiratory state include: When the patient is in the set breathing state, the spatial coordinates of the human optical sphere in the device coordinate system are also acquired. According to the formula Obtain the spatial coordinates of the human optical sphere in the reference coordinate system.

4. The patient posture monitoring method as described in claim 3, characterized in that: The monitoring of the patient's pose based on the real-time determined spatial transformation matrix and coordinates, as well as the marked spatial transformation matrix and coordinates, includes: The first deviation is determined based on the real-time spatial transformation matrix and the marked spatial transformation matrix, and the second deviation is determined based on the real-time coordinates and the marked coordinates. The deviation between the patient's pose and the pose at the time of marking is determined based on the first deviation and the second deviation; The patient's positional changes are monitored based on the deviations between the postures.

5. The patient posture monitoring method as described in claim 4, characterized in that: The Z-axis of the reference marker is perpendicular to the horizontal direction of the operating table; The determination of the first deviation based on the real-time determined spatial transformation matrix and the marked spatial transformation matrix includes: The first deviation is determined based on the offset of the column vector of the spatial transformation matrix determined in real time and the marked spatial transformation matrix in the Z-axis direction; The determination of the second deviation based on the real-time determined coordinates and the marked coordinates includes: For each human optical sphere, calculate the first distance between the real-time determined spatial coordinates of the human optical sphere and the marked spatial coordinates of the human optical sphere; determine the second deviation based on the first distance of each human optical sphere.

6. The patient pose monitoring method as described in any one of claims 4 to 5, characterized in that: The monitoring of the patient's positional changes based on the deviation between the postures includes: Based on the first deviation and the second deviation, it is determined whether the patient's positional change during respiration is too shallow or too deep, and corresponding prompts are given through graphics.

7. The patient posture monitoring method as described in claim 6, characterized in that: The method further includes: The puncture path is determined based on medical images acquired from the patient under the set breathing state; When the deviation between the patient's position and the marked position meets the set surgical deviation conditions and the patient is holding their breath, the puncture operation is performed according to the determined puncture path.

8. A patient posture monitoring device, comprising: Memory and processor; characterized in that: The memory is used to store programs for patient monitoring; The processor is configured to read the program for patient monitoring and execute the patient pose monitoring method as described in any one of claims 1 to 7.

9. A patient posture monitoring system, characterized in that, Includes patient posture monitoring devices, spatial positioning equipment, human body markers, and reference markers, among which: The human body marker is placed at the patient's target location; The reference marker is fixed relative to the patient's operating table; The spatial positioning device is configured to identify the human body marker and the reference marker, and output the spatial transformation matrix and / or the coordinates of the human body optical sphere in the reference coordinate system; The patient posture monitoring device is configured to perform the patient posture monitoring method as described in any one of claims 1 to 7.

10. A non-transient computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the patient pose monitoring method according to any one of claims 1 to 7 when it is run.

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