Esophagus medicine applying system applied to digestive system department

Abstract

The invention relates to the field of surgical esophagus medicine applying, in particular to an esophagus medicine applying system applied to the gastroenterology department, comprising: a medicine injection module comprising a nozzle and an image acquisition assembly; the conveying module comprises a medicine conveying pipe, a flow velocity sensor, a gas flow velocity sensor and a conveying pump; the model construction module is used for generating a three-dimensional model of the esophageal wound surface according to the image of the esophageal wound surface; the control module is used for determining an esophageal peristalsis mode according to the esophageal wound surface three-dimensional model, determining a spraying mode according to the peristalsis mode, including determining a medicine spraying pressure according to a gas flow rate in the esophagus, or determining a medicine spraying distance according to an esophageal liquid flow rate of the esophageal wound surface of a patient, and determining a medicine spraying distance according to the medicine spraying distance. And re-determining the medicine injection distance according to the medicine distribution area of the esophageal wound surface. According to the invention, the accuracy and efficiency of surgical esophageal wound treatment are improved.

Description

Technical Field

[0001] The invention relates to the field of surgical esophageal medication, and in particular to an esophageal medication system used in gastroenterology. Background Art

[0002] In the field of gastroenterology, esophageal diseases are a common and significant type of disease, including esophagitis, esophageal ulcers, esophageal cancer, etc. Traditional treatments for esophageal diseases mainly rely on oral medications, endoscopic treatments, and surgery. However, due to the physiological structure and functional characteristics of the esophagus, oral medications may be partially metabolized or diluted during the gastrointestinal tract, resulting in a limited amount of medication reaching the esophageal wound surface at the site of esophageal lesions, thus affecting the treatment effect. In order to improve the treatment effect of esophageal diseases and reduce the limitations of traditional treatment methods, it is of great practical significance to develop a new type of esophageal medication system. This system should be able to accurately deliver drugs to the site of esophageal lesions, increase the local concentration and duration of drug action, and reduce trauma and risks to patients. The system can automatically adjust the type, dosage, and spray distance of the drug according to the specific situation of the patient to achieve a personalized treatment plan.

[0003] Patent publication number CN110464969A discloses an esophageal applicator for gastroenterology, including a medicine storage cartridge outer wall fixedly connected to a funnel, a scale installed on the outer wall of the medicine storage cartridge, an air bag installed on the top of the medicine storage cartridge, a bottom of the medicine storage cartridge fixedly connected to a fixed seat, an outer wall of the fixed seat connected to an adapter, a fixed buckle installed on the top of the adapter, a transmission tube fixedly connected above the fixed buckle, and a medicine coating component installed on one side of the transmission tube. It can be seen that the esophageal applicator for gastroenterology of the invention has the problem of being unable to capture images of the internal conditions of the esophagus, and thus being unable to monitor the esophageal drug application conditions in real time and adjust the drug spraying distance. Summary of the invention

[0004] To this end, the present invention provides an esophageal medication system for use in gastroenterology to overcome the problem in the prior art that images of the internal conditions of the esophagus cannot be captured, and thus the esophageal medication conditions cannot be monitored in real time and the medication injection distance cannot be adjusted.

[0005] To achieve the above object, the present invention provides an esophageal medication system for use in gastroenterology, comprising:

[0006] A drug injection module, used for spraying drugs to a target position of the esophageal wound of a patient, comprising a nozzle and an image acquisition component connected to the nozzle for acquiring an image of the esophageal wound;

[0007] A delivery module, which is connected to the drug injection module and is used to deliver the drug to the nozzle, including a drug delivery tube connected to the nozzle for delivering the drug to the nozzle, a flow rate sensor connected to the drug delivery tube for detecting the flow rate of esophageal liquid, a gas flow rate sensor connected to the drug delivery tube for detecting the flow rate of gas in the esophagus, and a delivery pump connected to the drug delivery tube for providing power for drug delivery;

[0008] A model building module, which is connected to the drug injection module and is used to generate a three-dimensional model of the esophageal wound surface according to the image of the esophageal wound surface;

[0009] A control module, which is respectively connected to the drug injection module, the delivery module and the model building module, is used to determine the peristaltic mode of the esophagus according to the three-dimensional model of the esophageal wound surface, and determine the injection mode according to the peristaltic mode, including determining the injection pressure of the drug according to the gas flow rate in the esophagus,

[0010] Alternatively, the drug spraying distance is determined according to the esophageal fluid flow rate of the esophageal wound surface of the patient, and the drug spraying distance is re-determined according to the drug distribution area of ​​the esophageal wound surface.

[0011] Furthermore, the delivery module also includes a medicine storage bottle connected to the medicine delivery tube for storing the medicine.

[0012] Furthermore, the control module is connected to the model building module to determine the peristaltic frequency of the esophagus according to the three-dimensional model of the esophageal wound surface.

[0013] If the peristaltic frequency of the esophagus is less than or equal to a preset first peristaltic frequency, the control module determines that the peristaltic mode of the esophagus is low-frequency peristalsis, and obtains the gas flow rate in the esophagus detected by the gas flow rate sensor.

[0014] Furthermore, if the gas flow rate in the esophagus is greater than a preset gas flow rate, the injection pressure of the medicine is increased.

[0015] Furthermore, it is characterized in that if the peristaltic frequency of the esophagus is greater than a preset second peristaltic frequency, the control module determines that the peristaltic mode of the esophagus is high-frequency peristalsis, and then controls the flow rate sensor to collect the esophageal fluid flow rate of the esophageal wound surface,

[0016] Wherein, if the esophageal fluid flow rate is greater than a preset esophageal fluid flow rate, the control module increases the drug spraying distance.

[0017] Furthermore, the drug spraying distance is the shortest distance between the esophagus spraying point and the wound surface.

[0018] Furthermore, the increase range of the drug ejection distance is determined by the difference between the esophageal fluid flow rate and the preset esophageal fluid flow rate.

[0019] Furthermore, the control module is also used to extract three-dimensional modeling information from the image of the esophageal wound surface, and construct a three-dimensional model of the esophageal wound surface according to the three-dimensional modeling information.

[0020] Furthermore, the control module is connected to the image acquisition component, and is also used to obtain the drug distribution area of ​​the esophageal wound surface under the condition of increasing the drug spraying distance.

[0021] Among them, if the drug distribution area of ​​the esophageal wound surface is larger than the preset drug distribution area, the drug spraying distance is reduced; the reduced drug spraying distance is determined by the difference between the drug distribution area of ​​the esophageal wound surface and the preset drug distribution area.

[0022] Furthermore, the drug distribution area of ​​the esophageal wound surface is the area of ​​the esophageal surface occupied by a plane figure formed by adjacent, continuous and non-intersecting lines connecting all the outermost edge points of the drug distribution points on the esophageal wound surface captured by the image acquisition component.

[0023] Compared with the prior art, the beneficial effect of the present invention lies in that the medication system of the present invention is provided with a medication injection module, a delivery module, a model building module and a control module. In the actual medication application process of the esophagus, due to the peristalsis in the esophagus, the peristalsis in the medication application process may cause the accuracy of medication application to decrease. By establishing a three-dimensional model of the esophageal wound surface through the image acquisition component and the model building module provided in the medication injection module, and identifying the peristalsis mode according to the three-dimensional model of the esophageal wound surface, and adopting different drug injection modes according to the peristalsis mode, the problem of decreased medication application accuracy caused by esophageal peristalsis is overcome. In the actual medication application process, the gas flow in the esophagus will also interfere with the accuracy of medication application. Therefore, according to the peristalsis mode, the medication application accuracy is reduced. The gas flow rate in the esophagus adjusts the injection pressure of the drug, thereby reducing the influence of the force generated by the gas flow in the esophagus on the accuracy of drug application; there is esophageal fluid in the esophagus, and when the esophageal fluid flows through the esophageal wound, it will carry a part of the drug components, thereby causing the amount of the drug applied on the wound surface to decrease, and therefore the drug injection distance is changed to reduce the influence of the flow rate on the change in the amount of drug applied on the accuracy of drug application; when the drug injection distance is too large, the range of drug distribution will increase, resulting in part of the drug not reaching the esophageal wound surface, thereby causing an error in the drug application position, and therefore the drug injection distance is readjusted to reduce the drug application error, and through the above technical means, the accuracy of drug application in the esophagus is improved.

[0024] Furthermore, the esophageal medication system of the present invention overcomes the problem of different pressure requirements due to different wound conditions and treatment needs by setting a nozzle and a delivery pump to adjust the pressure of drug delivery, thereby improving the accuracy of drug coverage of the wound.

[0025] Furthermore, the esophageal medication system of the present invention sets a first peristaltic frequency and a second peristaltic frequency, identifies the peristaltic frequency of the esophagus and determines the peristaltic mode according to the three-dimensional model of the esophageal wound surface, so that the drug can be stably attached to the esophageal wound surface, thereby overcoming the problem that the drug is quickly pushed away before it fully contacts the wound surface due to excessively rapid esophageal peristalsis, thereby improving the adhesion rate of the drug on the wound surface.

[0026] Furthermore, the present invention sets a preset gas flow rate. When the gas flow rate in the esophagus is relatively high, the airflow will hinder the normal delivery of the drug, and the drug may be easily blown away or flushed away from the normal path by the fast-flowing gas before reaching the predetermined esophageal wound position. By increasing the injection pressure of the drug, the problem that the drug cannot effectively contact the wound due to the excessively fast gas flow rate is overcome, thereby improving the accuracy of drug application.

[0027] Furthermore, the esophageal medication system of the present invention overcomes the problem of the drug being sprayed directly on the swollen wound surface and being quickly washed away due to the excessively fast esophageal fluid flow rate by setting a preset esophageal fluid flow rate and increasing the drug spray distance according to the esophageal fluid flow rate, thereby increasing the time the drug stays around the wound surface and takes effect, reducing the problem of repeated medication due to drug waste, and improving the effectiveness of the medication process.

[0028] Furthermore, the esophageal medication system of the present invention sets a preset drug distribution area and reduces the drug spray distance when the drug distribution area exceeds the set drug distribution area, thereby overcoming the problem of a small amount of drug reaching the wound surface due to the drug diffusion effect not meeting the requirements, thereby improving the utilization efficiency of drug resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural diagram of an esophageal medication delivery system for use in gastroenterology according to an embodiment of the present invention;

[0030] Figure 2 This is an overall structural block diagram of the esophageal medication delivery system used in gastroenterology according to an embodiment of the present invention;

[0031] Figure 3 This is a structural block diagram of a drug injection module of an esophageal drug delivery system for gastroenterology application according to an embodiment of the present invention;

[0032] Figure 4 It is a logic flow chart of the esophageal medication delivery system used in gastroenterology according to an embodiment of the present invention;

[0033] The accompanying drawings are marked as follows: 1-display screen, 2-medicine storage bottle, 3-delivery pump, 4-drug delivery tube, 5-nozzle, 6-endoscope, 7-flow rate sensor, 8-operating table, 9-gas flow rate sensor. DETAILED DESCRIPTION

[0034] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0036] It will be understood by those skilled in the art that, unless otherwise stated, the singular forms "a", "an" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in this specification refers to the presence of features, integers, steps, operations, elements / components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements / components. It should be understood that when we refer to a module as being "connected" or "coupled" to another module, it may be directly connected or coupled to the other module, or there may be an intermediate unit. In addition, "connected" or "coupled" used herein may include wireless connection or wireless coupling.

[0037] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, they are respectively a structural diagram of an esophageal medication delivery system for gastroenterology application according to an embodiment of the present invention, an overall structural block diagram, a structural block diagram of a medication injection module, and a logic flow chart. An esophageal medication delivery system for gastroenterology application according to the present invention comprises:

[0038] A drug injection module, used for spraying drugs to a target position of the esophageal wound of a patient, comprising a nozzle 5 and an image acquisition component connected to the nozzle 5 for acquiring an image of the esophageal wound;

[0039] A delivery module, which is connected to the drug injection module and is used to deliver the drug to the nozzle 5, including a drug delivery tube 4 connected to the nozzle 5 for delivering the drug to the nozzle 5, a flow rate sensor 7 connected to the drug delivery tube 4 for detecting the esophageal liquid flow rate, a gas flow rate sensor 9 connected to the drug delivery tube 4 for detecting the gas flow rate in the esophagus, and a delivery pump 3 connected to the drug delivery tube 4 for providing power for drug delivery;

[0040] A model building module, which is connected to the drug injection module and is used to generate a three-dimensional model of the esophageal wound surface according to the image of the esophageal wound surface;

[0041] A control module, which is respectively connected to the drug injection module, the delivery module and the model building module, is used to determine the peristaltic mode of the esophagus according to the three-dimensional model of the esophageal wound surface, and determine the injection mode according to the peristaltic mode, including determining the injection pressure of the drug according to the gas flow rate in the esophagus,

[0042] Alternatively, the drug spraying distance is determined according to the esophageal fluid flow rate of the esophageal wound surface of the patient, and the drug spraying distance is re-determined according to the drug distribution area of ​​the esophageal wound surface.

[0043] Specifically, the image acquisition component is an endoscope 6.

[0044] Specifically, the esophageal medication system also includes a display screen 1 connected to the model building module for displaying a three-dimensional model of the esophageal wound surface.

[0045] In practice, the drug application system of the present invention is provided with a drug injection module, a delivery module, a model building module and a control module. In the actual esophageal drug application process, due to the peristalsis phenomenon in the esophagus, the peristalsis phenomenon may cause the accuracy of drug application to decrease during the drug application process. By establishing a three-dimensional model of the esophageal wound surface through the image acquisition component and the model building module provided in the drug injection module, and identifying the peristalsis mode according to the three-dimensional model of the esophageal wound surface, and adopting different drug injection modes according to the peristalsis mode, the problem of decreased drug application accuracy caused by esophageal peristalsis is overcome. In the actual drug application process, the gas flow in the esophagus will also interfere with the accuracy of drug application. Therefore, according to the gas flow in the esophagus, the drug injection mode is used to inject different drugs according to the peristalsis mode. The injection pressure of the drug is adjusted quickly to reduce the influence of the force generated by the gas flow in the esophagus on the accuracy of drug application; there is esophageal fluid in the esophagus. When the esophageal fluid flows through the esophageal wound, it will carry a part of the drug components, thus causing the amount of the drug applied on the wound to decrease. Therefore, the drug injection distance is changed to reduce the influence of the flow rate on the change in the amount of drug applied and the accuracy of drug application; when the drug injection distance is too large, the range of drug distribution will increase, causing part of the drug to fail to reach the esophageal wound, thereby causing an error in the drug application position. Therefore, the drug injection distance is readjusted to reduce the drug application error. Through the above technical means, the accuracy of drug application in the esophagus is improved.

[0046] Specifically, the delivery module further includes a medicine storage bottle 2 connected to the medicine delivery tube 4 for storing the medicine.

[0047] In practice, the esophageal medication system of the present invention overcomes the problem of different pressure requirements due to different wound conditions and treatment requirements by setting a nozzle 5 and adjusting the pressure of drug delivery by setting a delivery pump 3, thereby improving the accuracy of drug coverage of the wound.

[0048] Specifically, the control module is connected to the model building module to determine the peristaltic frequency of the esophagus according to the three-dimensional model of the esophageal wound surface.

[0049] Among them, if the peristaltic frequency of the esophagus is less than or equal to the preset first peristaltic frequency, the control module determines that the peristaltic mode of the esophagus is low-frequency peristalsis, and obtains the gas flow rate in the esophagus detected by the gas flow rate sensor 9.

[0050] Specifically, the step of determining the peristaltic frequency of the esophagus based on the three-dimensional model of the esophageal wound surface is as follows: selecting a number of sampling points located on the esophageal wall on the three-dimensional model, tracking the position changes of these marking points in a continuous time series, and obtaining the motion trajectory of the sampling points by analyzing the displacement of the marking points in three-dimensional space, determining a complete cycle of esophageal peristalsis based on the motion trajectory of the sampling points, and counting the number of complete cycles of esophageal peristalsis per unit time to obtain the peristaltic frequency of the esophagus.

[0051] In practice, the esophageal medication system of the present invention sets a first peristaltic frequency and a second peristaltic frequency, and identifies the peristaltic frequency of the esophagus according to the three-dimensional model of the esophageal wound surface, thereby overcoming the problem that the drug is quickly pushed away before it fully contacts the wound surface due to excessively rapid esophageal peristalsis, thereby improving the adhesion rate of the drug on the wound surface.

[0052] Specifically, if the gas flow rate in the esophagus is greater than a preset gas flow rate, the injection pressure of the drug is increased.

[0053] In practice, the present invention sets a preset gas flow rate. When the gas flow rate in the esophagus is relatively high, the airflow will hinder the normal delivery of the drug, and the drug may be easily blown away or flushed away from the normal path by the fast-flowing gas before reaching the predetermined esophageal wound surface. By increasing the injection pressure of the drug, the problem that the drug cannot effectively contact the wound surface due to the excessively fast gas flow rate is overcome, thereby improving the accuracy of drug application.

[0054] Optionally, the preset first peristaltic frequency may be in a value range of [3 times / min, 7 times / min], and the preset gas flow rate may be in a value range of [7 cm / s, 13 cm / s];

[0055] Preferably, the preferred embodiment of the preset first peristaltic frequency is 5 times / min, and the preferred embodiment of the preset gas flow rate is 10 cm / s.

[0056] In implementation, when the gas flow rate in the esophagus is greater than the preset gas flow rate by 0.5 cm / s, the injection pressure of the drug increases by 0.005 MPa. When the gas flow rate in the esophagus is greater than the preset gas flow rate by more than 0.5 cm / s, the injection pressure of the drug increases by 0.001 MPa for every 0.2 cm / s.

[0057] For example, the peristaltic frequency of the esophagus of a patient is 4 times / min, which is less than the preset first peristaltic frequency. The control module determines that the peristaltic mode of the esophagus is low-frequency peristalsis, and the gas flow rate in the esophagus is 11.1 cm / s, which is greater than the preset gas flow rate of 1.1 cm / s. The current drug injection pressure is 0.05 MPa, and the increased drug injection pressure is 0.05+0.005+[(1.1-0.5) / 0.2]×0.001=0.058 MPa.

[0058] Specifically, if the peristaltic frequency of the esophagus is greater than the preset second peristaltic frequency, the control module determines that the peristaltic mode of the esophagus is high-frequency peristalsis, and then controls the flow rate sensor to collect the esophageal fluid flow rate of the esophageal wound surface.

[0059] Wherein, if the esophageal fluid flow rate is greater than a preset esophageal fluid flow rate, the control module increases the drug spraying distance.

[0060] Optionally, the preset second peristaltic frequency may be in the range of [8 times / min, 12 times / min];

[0061] Preferably, the preferred embodiment of the preset second peristaltic frequency is 10 times / min.

[0062] Specifically, the drug injection distance is the shortest distance between the esophagus injection point and the wound surface.

[0063] Specifically, the increase range of the drug ejection distance is determined by the difference between the esophageal fluid flow rate and the preset esophageal fluid flow rate.

[0064] Specifically, if the esophageal fluid flow rate is greater than a preset esophageal fluid flow rate, the drug spraying distance is increased.

[0065] Optionally, the preset esophageal fluid flow rate may be in the range of [0.1 cm / s, 0.25 cm / s];

[0066] Preferably, the preferred embodiment of the preset esophageal fluid flow rate is 0.2 cm / s;

[0067] In implementation, for every 0.1 cm / s that the patient's esophageal fluid flow rate exceeds the preset esophageal fluid flow rate, the drug spray distance is increased by 0.05 cm compared to the current drug spray distance;

[0068] For example, the patient's esophageal fluid flow rate is 0.3 cm / s, which is greater than the preset esophageal fluid flow rate. The current drug spray distance is 0.5 cm, and the increased drug spray distance is 0.5+[(0.3-0.2) / 0.1]×0.05=0.55 cm.

[0069] Specifically, the nozzle 5 is a rotatable nozzle 5 , and the drug spraying distance is achieved by changing the spraying angle of the nozzle 5 ; the spraying angle of the nozzle 5 is the angle between the central axis of the nozzle 5 and the drug delivery tube 4 between the drug storage bottle 2 and the nozzle 5 .

[0070] In practice, the esophageal medication system of the present invention sets a preset esophageal fluid flow rate and increases the drug spray distance according to the esophageal fluid flow rate, thereby overcoming the problem of the drug being sprayed directly on the swollen wound surface and being quickly washed away due to the excessively fast esophageal fluid flow rate. It increases the time that the drug stays around the wound surface and takes effect, reduces the problem of repeated medication due to drug waste, and improves the effectiveness of the medication process.

[0071] Specifically, the model building module is also used to extract three-dimensional modeling information from the image of the esophageal wound surface, and build a three-dimensional model of the esophageal wound surface according to the three-dimensional modeling information;

[0072] The three-dimensional modeling information includes wound area, wound depth, wound contour and wound position in the esophagus.

[0073] Specifically, the steps for establishing the three-dimensional model of the esophageal wound are as follows: determining the wound area according to the grayscale value of the esophageal wound image, determining the wound depth according to the texture change of the wound area, determining the wound contour according to the edge detection algorithm, determining the position of the wound in the esophagus according to the human anatomical reference data, and using a surface fitting algorithm to construct the three-dimensional model of the esophageal wound according to the collected wound area, wound depth, wound contour and wound position in the esophagus.

[0074] Specifically, the control module is connected to the image acquisition component, and is also used to obtain the drug distribution area of ​​the esophageal wound surface under the condition of increasing the drug spraying distance.

[0075] Among them, if the drug distribution area of ​​the esophageal wound surface is larger than the preset drug distribution area, the drug spraying distance is reduced; the reduced drug spraying distance is determined by the difference between the drug distribution area of ​​the esophageal wound surface and the preset drug distribution area.

[0076] In practice, the esophageal medication system of the present invention sets a preset drug distribution area. When the drug distribution area exceeds the preset drug distribution area, the drug spray distance is reduced, thereby overcoming the problem of a small amount of drug reaching the wound surface due to the drug diffusion effect not meeting the requirements, thereby improving the utilization efficiency of drug resources.

[0077] Optionally, the preset drug distribution area may be in the range of [0.3 cm 2 ,0.5cm 2 ];

[0078] Preferably, the preferred embodiment of the preset drug distribution area is 0.4 cm 2 ;

[0079] In practice, the drug distribution area of ​​the patient's esophageal wound surface exceeds the preset drug distribution area by 0.1 cm 2 , the drug spraying distance is reduced by 0.06cm compared with the current drug spraying distance;

[0080] For example, the drug distribution area of ​​the patient's esophageal wound is 0.6 cm 2 , which is greater than the preset drug distribution area, the current drug spraying distance is 0.55 cm, and the reduced drug spraying distance is 0.55-[(0.6-0.4) / 0.1]×0.06=0.43 cm.

[0081] Specifically, the drug distribution area of ​​the esophageal wound surface is the area of ​​the esophageal surface occupied by a plane figure formed by adjacent, continuous and non-intersecting lines connecting all the outermost edge points of the drug distribution points on the esophageal wound surface captured by the image acquisition component.

[0082] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An esophageal medication system for use in gastroenterology, characterized in that: include: A drug injection module, used for spraying drugs to a target position of the esophageal wound of a patient, comprising a nozzle and an image acquisition component connected to the nozzle for acquiring an image of the esophageal wound; A delivery module, which is connected to the drug injection module and is used to deliver the drug to the nozzle, including a drug delivery tube connected to the nozzle for delivering the drug to the nozzle, a flow rate sensor connected to the drug delivery tube for detecting the flow rate of esophageal liquid, a gas flow rate sensor connected to the drug delivery tube for detecting the flow rate of gas in the esophagus, and a delivery pump connected to the drug delivery tube for providing power for drug delivery; A model building module, which is connected to the drug injection module and is used to generate a three-dimensional model of the esophageal wound surface according to the image of the esophageal wound surface; A control module, which is respectively connected to the drug injection module, the delivery module and the model building module, is used to determine the peristaltic mode of the esophagus according to the three-dimensional model of the esophageal wound surface, and determine the injection mode according to the peristaltic mode, including determining the injection pressure of the drug according to the gas flow rate in the esophagus, Alternatively, the drug spraying distance is determined according to the esophageal fluid flow rate of the esophageal wound surface of the patient, and the drug spraying distance is re-determined according to the drug distribution area of ​​the esophageal wound surface.

2. The esophageal medication system for gastroenterology according to claim 1, characterized in that: The delivery module also includes a medicine storage bottle connected to the medicine delivery tube for storing the medicine.

3. The esophageal medication system for gastroenterology according to claim 2, characterized in that: The control module is connected to the model building module and is used to determine the peristaltic frequency of the esophagus according to the three-dimensional model of the esophageal wound surface. If the peristaltic frequency of the esophagus is less than or equal to a preset first peristaltic frequency, the control module determines that the peristaltic mode of the esophagus is low-frequency peristalsis, and obtains the gas flow rate in the esophagus detected by the gas flow rate sensor.

4. The esophageal medication system for use in gastroenterology according to claim 3, characterized in that: If the gas flow rate in the esophagus is greater than the preset gas flow rate, the injection pressure of the medicine is increased.

5. The esophageal medication system for use in gastroenterology according to claim 4, characterized in that: If the peristaltic frequency of the esophagus is greater than the preset second peristaltic frequency, the control module determines that the peristaltic mode of the esophagus is high-frequency peristalsis, and controls the flow rate sensor to collect the esophageal fluid flow rate of the esophageal wound surface. Wherein, if the esophageal fluid flow rate is greater than a preset esophageal fluid flow rate, the control module increases the drug spraying distance.

6. The esophageal medication system for use in gastroenterology according to claim 5, characterized in that: The drug spraying distance is the shortest distance between the esophagus spraying point and the wound surface.

7. The esophageal medication system for use in gastroenterology according to claim 6, characterized in that: The increase range of the drug ejection distance is determined by the difference between the esophageal fluid flow rate and the preset esophageal fluid flow rate.

8. The esophageal medication system for use in gastroenterology according to claim 7, characterized in that: The model building module is also used to extract three-dimensional modeling information from the image of the esophageal wound surface, and to build a three-dimensional model of the esophageal wound surface based on the three-dimensional modeling information.

9. The esophageal medication delivery system for use in gastroenterology according to claim 8, characterized in that: The control module is connected to the image acquisition component, and is also used to obtain the drug distribution area of ​​the esophageal wound surface under the condition of increasing the drug spraying distance. Among them, if the drug distribution area of ​​the esophageal wound surface is larger than the preset drug distribution area, the drug spraying distance is reduced; the reduced drug spraying distance is determined by the difference between the drug distribution area of ​​the esophageal wound surface and the preset drug distribution area.

10. The esophagus medication system for use in gastroenterology according to claim 9, characterized in that: The drug distribution area of ​​the esophageal wound surface is the area of ​​the esophageal surface occupied by a plane figure formed by adjacent, continuous and non-intersecting lines connecting all the outermost edge points of the drug distribution points on the esophageal wound surface captured by the image acquisition component.

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