A system for guiding lower respiratory gating based on contact force

Abstract

The application relates to the technical field of medical operations, in particular to a contact force guided breath gating system, which solves the problem that the existing breath gating technology in the prior art depends on external equipment such as a depth camera or a breathing machine, which not only increases the complexity of the operation process, but also may introduce the problem of additional uncertainty. The contact force guided breath gating system comprises a contact force sensor for monitoring the contact force between a treatment tool and a patient in real time; a data processing unit for processing the contact force data and judging a breath cycle; and a display interface for displaying key data in the breath process and recommended operation timing. The application can accurately judge the breath cycle of the patient and automatically recommend the best operation timing by monitoring and analyzing the contact force between the treatment tool and the patient in real time.

Description

Technical Field

[0001] This invention relates to the field of medical surgical technology, and in particular to a respiratory gating system based on contact force guidance. Background Technology

[0002] In modern surgical procedures, a patient's respiratory movements significantly impact surgical precision, especially in delicate procedures such as punctures and biopsies. The patient's breathing causes continuous changes in the target area, increasing the difficulty and risk of the surgery. Existing respiratory gating technologies largely rely on external devices, such as depth cameras or ventilators, which not only increases the complexity of the surgical procedure but may also introduce additional uncertainties. Therefore, developing a surgical assistance system that can adapt to changes in the patient's breathing in real time and with precision is of paramount importance. Summary of the Invention

[0003] The purpose of this invention is to provide a respiratory gating system based on contact force guidance, which solves the problem that existing respiratory gating technologies often rely on external devices, such as depth cameras or ventilators, which not only increases the complexity of the surgical procedure but may also introduce additional uncertainties.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A contact force-guided respiratory gating system includes a contact force sensor for real-time monitoring of the contact force between the treatment tool and the patient; a data processing unit for processing the contact force data and determining the respiratory cycle; and a display interface for displaying key data during the respiratory process and recommended timing for surgical procedures.

[0006] Preferably, the data processing unit further includes a signal analysis module, used to analyze the changes in force during the respiratory cycle through advanced signal analysis algorithms, thereby accurately determining the periodicity of breathing.

[0007] Preferably, the signal analysis module further includes: a stability assessment submodule for assessing the stability of breathing; and a respiratory cycle calculation submodule for determining the length of a single respiratory cycle based on the average time of a stable respiratory cycle.

[0008] Preferably, the data processing unit further includes a breath-holding position recommendation module, which is used to automatically determine the appropriate stable breathing area for surgery based on biological theory, and use it as the recommended breath-holding position.

[0009] Preferably, the breath-holding position recommendation module further includes: a ratio recording submodule for recording the respiratory phase ratio during the first breath-hold; and a breath-holding interval update submodule for updating the recommended breath-holding interval according to the ratio, so as to ensure the consistency of respiratory phase when holding breath at different positions.

[0010] Preferably, the display interface includes: a respiratory force change curve display area, used to show the real-time changes in force during the patient's respiratory cycle; and a breath-holding position and interval display area, used to clearly indicate the recommended precise breath-holding position and safe time interval.

[0011] Preferably, the system can provide doctors with real-time surgical guidance to ensure the accuracy of the surgery and the safety of the patient.

[0012] This invention has at least the following beneficial effects:

[0013] The beneficial effects of this invention lie in its ability to accurately determine the patient's respiratory cycle and automatically recommend the optimal timing for surgical intervention by real-time monitoring and analysis of the contact force between the treatment tool and the patient. This not only significantly improves the safety and success rate of surgery but also greatly reduces the workload of physicians. Furthermore, this invention eliminates the need for external equipment, simplifying the surgical procedure and reducing uncertainty. Therefore, this invention provides a highly efficient and precise respiratory gating solution for modern medical surgery. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0017] Example 1

[0018] Reference Figure 1 A contact force-guided respiratory gating system includes a contact force sensor for real-time monitoring of the contact force between the treatment tool and the patient; a data processing unit for processing the contact force data and determining the respiratory cycle; and a display interface for displaying key data during the respiratory process and recommended timing for surgical procedures.

[0019] A contact force sensor, mounted on the treatment tool, is used to monitor the contact force between the tool and the patient in real time. The sensor converts the contact force signal into an electrical signal and transmits it to the data processing unit.

[0020] The data processing unit receives electrical signals from the contact force sensor and processes and analyzes them, specifically including the following steps:

[0021] Signal preprocessing: The received contact force signal is filtered and denoised to improve signal quality.

[0022] Respiratory cycle determination: Through signal analysis algorithms, such as waveform recognition and peak detection, the periodicity of breathing is accurately determined, including the stages of inhalation, exhalation and breath-holding.

[0023] Recommended breath-holding position: Based on biological theory and respiratory cycle judgment, the system automatically determines the suitable stable breathing area for surgery, i.e., the recommended breath-holding position.

[0024] Implementation: Before the surgery begins, the doctor will gently touch the patient's abdominal skin using a treatment tool equipped with a contact force sensor. During this process, the system will record the contact force data at each stage of the surgery in detail.

[0025] This system uses real-time processing technology to analyze the collected contact force data to determine the patient's respiratory cycle. The methods for determining the respiratory cycle primarily utilize the following contact force curve-based techniques:

[0026] (1) By analyzing the peaks and troughs in the force change curve, the various stages of respiration can be determined.

[0027] (2) Calculate the difference between consecutive peaks and troughs to assess the stability of breathing.

[0028] (3) Calculate the time interval between the peaks and troughs during multiple breaths, and then calculate the total breathing time.

[0029] (4) Calculate the average value based on the total breathing time to obtain the duration of a single breathing cycle.

[0030] We use the signal processing tools from the SciPy library to perform these calculations. Specifically, the following formulas can be applied for analysis:

[0031] Calculate the difference between the peaks and troughs:

[0032]

[0033] in, and These represent the force values ​​at the crest and trough of the wave, respectively.

[0034] Assessing respiratory stability:

[0035] If for several consecutive respiratory cycles If the change is less than the set threshold ratio, then breathing is considered stable.

[0036] Calculate the duration of a single respiratory cycle:

[0037]

[0038] in and The time points representing the corresponding peaks and troughs, and n is the number of peak-trough pairs.

[0039] Through these analyses, the system can provide accurate respiratory cycle data, helping doctors to better control critical moments during surgery.

[0040] Based on biological theory, the system automatically identifies the stable breathing zone—usually at the end of inspiration—when the lungs expand to their maximum size and the patient's muscles briefly relax, resulting in decreased contact force. Therefore, this period is defined as the recommended breath-holding position during surgery to allow for surgical procedures to be performed in the patient's most stable state.

[0041] To accurately determine the recommended breath-holding position, the system defines the end-expiratory phase as the position from the trough to 85% of the peak, based on changes in contact force. The specific calculation formula is as follows:

[0042]

[0043] in, and These are the time points of the trough and the peak, respectively.

[0044] To increase the margin of error in surgical procedures, the system will also define a recommended breath-holding interval, which is based on... Centered on the target area, the range fluctuates by ±15%. This setting not only ensures the precision of the surgical procedure but also provides a necessary safety margin, making the surgical operation more flexible and safer.

[0045] Based on biological principles, the human body's deformation during respiration typically follows a linear pattern. To ensure consistent respiratory phase during surgical procedures on different parts of the patient, the system records the respiratory phase ratio at the initial breath-hold. This ratio is used to periodically update the recommended breath-hold interval to guarantee consistency in respiratory phase across different times and locations. The system employs the following steps and formulas to achieve this function:

[0046] During the initial surgery, the force at the moment of breath-holding was recorded as a percentage of the total respiratory cycle.

[0047]

[0048] in The force value at the moment of breath-holding.

[0049] In subsequent surgeries, the force value for the new recommended breath-holding position is determined using the proportion R from the initial surgical record.

[0050]

[0051] in, and This represents the force values ​​at the troughs and peaks of the new cycle. In this way, the system can ensure that the force value ratio during breath-holding remains consistent across different surgical stages, thereby maintaining respiratory phase stability and improving surgical precision and safety.

[0052] The system interface is specifically designed to display key data during the respiratory process, providing doctors with real-time and precise surgical guidance. The interface will include the following core elements:

[0053] Respiratory force variation curve: This curve shows the real-time changes in force during the patient's respiratory cycle, including peaks and troughs, helping doctors observe and assess the patient's respiratory dynamics.

[0054] Recommended precise breath-holding position and interval: The system calculates and recommends the most suitable specific position and safe time interval for breath-holding based on the respiratory force variation curve, which is determined according to the ratio of force values ​​at the peak and trough. This recommended position will be clearly marked on the interface to ensure that doctors can guide patients to hold their breath at the optimal time.

[0055] Respiratory cycle and current respiratory status: The interface will also display the duration of the entire respiratory cycle and the specific stage of the current respiratory cycle, such as inhalation, breath-holding, or exhalation, so that doctors can make corresponding surgical decisions based on the patient's specific respiratory status.

[0056] These features provide a comprehensive view to help doctors optimize respiratory gating procedures, ensuring surgical precision and patient safety.

[0057] According to the above embodiments: The beneficial effects of the present invention are that by real-time monitoring and analysis of the contact force between the treatment tool and the patient, the patient's respiratory cycle can be accurately determined and the optimal timing for surgical operation can be automatically recommended. This not only significantly improves the safety and success rate of the operation, but also greatly reduces the workload of doctors. In addition, the present invention does not rely on external equipment, simplifies the surgical procedure, and reduces uncertainty. The present invention provides an efficient and precise respiratory gating solution for modern medical surgery.

[0058] Example 2

[0059] Reference Figure 1The data processing unit further includes: a signal analysis module, used to analyze force changes during the respiratory cycle using advanced signal analysis algorithms to accurately determine the periodicity of breathing; the signal analysis module further includes: a stability assessment submodule, used to assess respiratory stability; and a respiratory cycle calculation submodule, used to determine the length of a single respiratory cycle based on the average time of a stable respiratory cycle; the data processing unit also includes: a breath-holding position recommendation module, used to automatically determine a suitable stable respiratory region for surgery based on biological theory and use it as a recommended breath-holding position; the breath-holding position recommendation module further includes: a ratio recording submodule, used to record the respiratory phase ratio at the first breath-hold; and a breath-holding interval update submodule, used to update the recommended breath-holding interval according to the ratio, ensuring the consistency of respiratory phase when holding breaths at different positions; the display interface includes: a respiratory force change curve display area, used to display the real-time changes in force during the patient's respiratory cycle; and a breath-holding position and interval display area, used to clearly mark the recommended precise breath-holding position and safe time interval; the system can provide doctors with real-time surgical operation guidance, ensuring the accuracy of surgery and the safety of patients;

[0060] The display interface shows key data during the respiratory process and recommended timing for surgical interventions. Specifically, it includes:

[0061] (1) Respiratory force change curve: The real-time changes in force during the patient's respiratory cycle are displayed in a graphical way to help doctors observe the patient's respiratory dynamics intuitively.

[0062] (2) Recommended breath-holding position and interval: The recommended precise breath-holding position and safe time interval are clearly marked on the interface so that doctors can perform surgical operations at the best time.

[0063] System operation process

[0064] Before the surgery begins, the doctor will gently touch the patient's abdominal skin with a treatment tool equipped with a contact force sensor. The system will then record and analyze the contact force data to determine the respiratory cycle and stability. Based on biological theory, the system will automatically determine the recommended breath-holding position and display the relevant information on the screen. The doctor will then guide the patient to hold their breath within the appropriate time interval according to the recommended breath-holding position and interval provided by the system. The doctor will then perform the surgical procedure within the recommended breath-holding time to ensure the accuracy and safety of the surgery.

[0065] The contact force-guided respiratory gating system of the present invention has the following significant technical advantages compared with traditional respiratory gating technology:

[0066] Real-time monitoring and accuracy: Real-time monitoring of the patient's respiratory changes via contact force sensors ensures rapid data updates, guaranteeing doctors access to the latest and most accurate respiratory data. A precise respiratory cycle determination algorithm accurately identifies the patient's respiratory stage, providing precise timing for surgical procedures.

[0067] Non-invasive and comfortable: The contact force sensor gently touches the patient's skin in a non-invasive manner, without the need for insertion or wearing any devices, thus improving patient comfort. It requires no active cooperation from the patient or any change in breathing habits, reducing patient stress and discomfort.

[0068] Intelligent and automated features: The system can automatically analyze respiratory data and recommend the optimal time for surgery, reducing errors and delays caused by human judgment. The intelligent breath-holding position recommendation function enables doctors to perform surgery within the optimal time window, improving the safety and efficiency of the procedure.

[0069] Ease of use and intuitiveness: The display interface is simple and clear, with respiratory force variation curves and recommended breath-holding positions readily apparent, enabling doctors to quickly understand and respond. The system operation process is simple and intuitive; doctors only need to follow the on-screen prompts.

[0070] Wide Applicability: This system is not only suitable for specific surgical types or patient groups, but can also be widely applied to various medical surgeries requiring precise control of respiratory timing. It provides an effective solution for situations where respiratory movements increase the difficulty of surgery.

[0071] Safety and Reliability: By monitoring and analyzing the patient's respiratory data in real time, the system can promptly issue warnings or stop the surgical procedure in abnormal situations, ensuring patient safety. Multiple experimental and clinical tests have verified the reliability and stability of this system.

[0072] According to the above embodiments: Implementation effect: By real-time monitoring and analysis of the contact force between the treatment tool and the patient, the present invention can accurately determine the patient's respiratory cycle and automatically recommend the optimal timing for surgical operation. Implementing the present invention can significantly improve the safety and success rate of surgery, reduce the workload of doctors, simplify the surgical procedure, and reduce uncertainty.

[0073] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A respiratory gating system based on contact force guidance, characterized in that, include: A contact force sensor is installed on the treatment tool; the contact force sensor is used to monitor the contact force between the treatment tool and the patient in real time; a data processing unit is used to process the contact force data and determine the respiratory cycle; and a display interface is used to display key data during the respiratory process and recommended surgical timing. The data processing unit also includes a breath-holding position recommendation module, which is used to automatically determine the appropriate stable breathing area for surgery based on biological theory and use it as the recommended breath-holding position; The breath-holding position recommendation module further includes: a proportion recording submodule, used to record the respiratory phase proportion R during the first breath-hold, wherein... , The force value at the moment of breath-holding. and These are the trough and peak force values ​​of the contact force waveform during the respiratory cycle; and the breath-hold interval update submodule, used to update the force values ​​based on the phase ratio R and the peak force of the new respiratory cycle. With trough Force value, calculate the new recommended breath-holding position ,in This is to ensure that the respiratory phase remains consistent when holding one's breath at different stages of surgery; Among them, the phase ratio R is obtained by recording the ratio of the force value at the moment of the first breath-hold to the force value of the entire respiratory cycle, based on the biological principle that human respiratory deformation follows a linear pattern. The breath-holding interval update submodule is also used to define a new recommended breath-holding position. The recommended breath-holding range is centered on the central point, and this range fluctuates within ±15%. The display interface includes: a respiratory force change curve display area, used to show the real-time changes in force during the patient's respiratory cycle; and a breath-holding position and interval display area, used to clearly mark the newly recommended breath-holding position on the respiratory force change curve. And the recommended breath-holding interval centered on that location; The display interface is also used to show the respiratory cycle and the current respiratory status, including the length of the entire respiratory cycle and the specific stage of the current respiratory cycle.

2. The respiratory gating system based on contact force guidance according to claim 1, characterized in that, The data processing unit further includes a signal analysis module, which is used to analyze the changes in force during the respiratory cycle through signal analysis algorithms, thereby accurately determining the periodicity of breathing.

3. The respiratory gating system based on contact force guidance according to claim 2, characterized in that, The signal analysis module further includes: a stability assessment submodule for assessing the stability of breathing, and a respiratory cycle calculation submodule for determining the length of a single respiratory cycle based on the average time of a stable respiratory cycle.

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