Auxiliary directional adjusting device and method for chest wall port indwelling catheter

Abstract

The invention provides an auxiliary directional adjustment device and method for chest wall port catheterization, and the method comprises the steps: firstly collecting ultrasonic images in a process that a catheter is inserted into a great vein, and extracting the layering features between the catheter and surrounding tissues from all the ultrasonic images; further determining the displacement feedback of the catheter at each supporting position according to the layering characteristics and the displacement angle at each supporting position, so as to determine the trajectory constraint of the catheter at each supporting position; the catheter stability of the catheter in the process of being inserted into the great vein is determined according to the venous pressure information and the pressure mapping relation between the catheter and the surrounding tissue; and then, according to the catheter stability of the catheter in the process of being inserted into the great vein and all the track constraints, determining the guiding auxiliary quantities of the catheter at different supporting positions, and based on all the guiding auxiliary quantities, carrying out directional adjustment on the bending directions of the catheter at the different supporting positions. By means of the scheme, the influence of dynamic anatomical structure changes on orientation of the catheter in the chest wall harbor can be reduced, and the conveying effect of the catheter is improved.

Description

Technical Field

[0001] The present application relates to the technical field of chest wall port catheterization, and more specifically, to an auxiliary directional adjustment device and method for chest wall port catheterization. Background Art

[0002] When placing a catheter in a chest wall port (i.e., intravenous infusion port), image guidance (such as ultrasound, X-ray, etc.) is used to assist in orientation, helping doctors observe the catheter insertion process in real time, ensuring that the catheter accurately enters the target blood vessel and reducing the risk of accidental injury to surrounding tissues and important structures. This technology significantly reduces the incidence of complications such as pneumothorax and vascular puncture errors, and improves the success rate of catheterization. Assisted orientation can also shorten the operation time and reduce patient discomfort. It is especially suitable for patients with complex anatomical structures or special conditions, providing more personalized and accurate operation plans, and improving the effectiveness and safety of catheterization.

[0003] In the prior art, the auxiliary orientation of chest wall port catheterization is mainly ensured by ultrasound guidance and radiation to ensure the advancement direction of the catheter. During operation, the ultrasound equipment displays the anatomical structure of the chest wall area in real time to help doctors accurately find blood vessels and target positions, thereby correctly inserting the catheter. Radiation guidance uses X-rays or fluoroscopic images to confirm the position and direction of the catheter to ensure that it reaches the predetermined position. However, during the catheterization process, the patient will experience dynamic anatomical changes such as changes in body position (for example, from supine to lateral), respiratory fluctuations (for example, the patient's breathing causes the expansion and contraction of the chest cavity), etc. Dynamic anatomical changes will cause the advancement direction of the catheter in the chest wall port to shift in the body, affecting the docking of the catheter with the expected injection point, thereby reducing the drug delivery effect. Therefore, how to reduce the impact of dynamic anatomical changes on the orientation of the catheter in the chest wall port, thereby improving the delivery effect of the catheter, has become a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides an auxiliary directional adjustment device and method for chest wall port catheterization, which can reduce the impact of dynamic anatomical structure changes on the catheter orientation in the chest wall port, thereby improving the delivery effect of the catheter.

[0005] In a first aspect, the present application provides an auxiliary directional adjustment method for chest wall port catheterization, which is a guide device for assisting the insertion of a chest wall port catheter into a large vein, comprising the following steps: Acquiring ultrasound images of the catheter in the chest wall port during the process of being inserted into the large vein according to a preset path, to obtain an ultrasound image set; Extracting hierarchical features between the catheter and surrounding tissue from the ultrasound image set based on a pre-trained model; Determine the displacement feedback of the catheter at each support position according to the layered features and the displacement angle of the catheter at each support position, and then determine the trajectory constraint of the catheter at each support position during the insertion of the catheter into the large vein through all the displacement feedbacks; Acquiring venous pressure information of a vascular pathway between a catheter in a chest wall port and surrounding tissue, and determining catheter stability during insertion of the catheter into a large vein according to the venous pressure information and a pressure mapping relationship between the catheter and surrounding tissue; The guiding assistance amount of the catheter at different supporting positions is determined according to the catheter stability and all trajectory constraints during the process of inserting the catheter into a large vein, and the bending direction of the catheter at different supporting positions is directionally adjusted based on all the guiding assistance amounts.

[0006] In some embodiments, extracting the hierarchical features between the catheter and the surrounding tissue from the ultrasound image set based on the pre-trained model specifically includes: Extracting edge features from each ultrasonic image in the ultrasonic image set to obtain a plurality of ultrasonic edge feature maps; The hierarchical features between the catheter and surrounding tissues are determined based on the pre-trained model and all ultrasound edge feature maps.

[0007] In some embodiments, determining the displacement feedback of the catheter at each support position according to the layered feature and the displacement angle of the catheter at each support position specifically includes: determining an abnormality perception amount of the catheter according to the echo intensity of each ultrasound image in the ultrasound image set; Determine the displacement perception amount of the catheter at each supporting position according to the abnormal perception amount and the displacement angle of the catheter at each supporting position; The displacement feedback of the catheter at each supporting position is determined according to the displacement sensing amount at each supporting position and the layered feature.

[0008] In some embodiments, determining the trajectory constraint at each support position during insertion of the catheter into a large vein through all displacement feedback specifically includes: Acquiring displacement sensing amounts of the catheter at different supporting positions; Select a displacement feedback as the selected displacement feedback; Determining the trajectory constraint of the catheter at the support position corresponding to the selected displacement feedback during insertion into the large vein according to the preset constraint model, the displacement perception amount at the support position corresponding to the selected displacement feedback, and the selected displacement feedback; The trajectory constraint at the support position corresponding to the residual displacement feedback of the catheter during the insertion into the large vein is then determined.

[0009] In some embodiments, determining the catheter stability during insertion of the catheter into a large vein according to the venous pressure information and the pressure mapping relationship between the catheter and surrounding tissue specifically includes: Determine the pressure load at different supporting positions between the catheter and the surrounding tissue during the insertion of the catheter into the large vein according to the pressure data in the venous pressure information and the pressure mapping relationship between the catheter and the surrounding tissue; Performing linear fitting on the blood flow data in the venous pressure information to obtain a blood flow fitting curve; The catheter stability of the catheter in the chest port is determined based on all pressure loads and the blood flow fitting curve.

[0010] In some embodiments, determining the amount of guidance assistance of the catheter at different support positions according to the catheter stability and all trajectory constraints during the insertion of the catheter into the large vein specifically includes: Convert all trajectory constraints into trajectory constraint sequences; Determining auxiliary constraints at different supporting positions of the catheter during insertion into a large vein according to the trajectory constraint sequence and a preset sliding window; The amount of guiding assistance for the catheter at different support locations is determined by all assistance constraints and the stability of the catheter during insertion into a large vein.

[0011] In some embodiments, the catheter is a smart catheter that integrates sensors, electronic control, and feedback mechanisms.

[0012] In a second aspect, the present application provides an auxiliary directional adjustment device for chest wall port catheterization, comprising: An acquisition module, used for acquiring ultrasound images of the catheter in the chest wall port during the process of being inserted into the large vein according to a preset travel path, to obtain an ultrasound image set; A processing module, configured to extract hierarchical features between the catheter and surrounding tissue from the ultrasound image set based on a pre-trained model; The processing module is further used to determine the displacement feedback of the catheter at each support position according to the layered features and the displacement angle of the catheter at each support position, and then determine the trajectory constraint of the catheter at each support position during the insertion of the catheter into the large vein through all the displacement feedbacks; The processing module is further used to obtain venous pressure information of a vascular pathway between a catheter in a chest wall port and surrounding tissues, and determine catheter stability during insertion of the catheter into a large vein according to the venous pressure information and a pressure mapping relationship between the catheter and surrounding tissues; The execution module is used to determine the guiding assistance amount of the catheter at different supporting positions according to the catheter stability and all trajectory constraints during the process of inserting the catheter into the large vein, and to directionally adjust the bending direction of the catheter at different supporting positions based on all the guiding assistance amounts.

[0013] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned auxiliary directional adjustment method for chest wall port catheterization.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned auxiliary directional adjustment method for chest wall port catheterization.

[0015] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects: In the auxiliary directional adjustment device and method for chest wall port catheterization provided by the present application, first, ultrasound images of the catheter in the chest wall port being inserted into the large vein according to a preset travel path are collected to obtain an ultrasound image set; hierarchical features between the catheter and surrounding tissues are extracted from the ultrasound image set based on a pre-trained model; displacement feedback of the catheter at each support position is determined according to the hierarchical features and the displacement angle of the catheter at each support position, and then the trajectory constraint of the catheter at each support position during the insertion of the catheter into the large vein is determined through all displacement feedbacks; venous pressure information of the vascular passage between the catheter in the chest wall port and the surrounding tissue is obtained, and the catheter stability of the catheter during the insertion of the catheter into the large vein is determined according to the venous pressure information and the pressure mapping relationship between the catheter and the surrounding tissue; the guidance assistance amount of the catheter at different support positions is determined according to the catheter stability of the catheter during the insertion of the catheter into the large vein and all trajectory constraints, and the bending direction of the catheter at different support positions is directionally adjusted based on all the guidance assistance amounts.

[0016] It can be seen that in the present application, the guiding assistance amount of the catheter at different support positions can be determined according to the catheter stability and all trajectory constraints during the insertion of the catheter into the large vein; wherein, firstly, the catheter stability against the pressure changes of the surrounding tissues during the insertion of the catheter is extracted from the venous pressure information using the pressure mapping relationship between the catheter and the surrounding tissues, and by adjusting the catheter stability of the catheter in the chest wall port, it helps to ensure the stable state of the catheter in the chest wall port and prevent it from moving or deviating from the predetermined support position due to pressure changes in the chest wall port. Secondly, the echo intensity of all ultrasound images is quantified to obtain the abnormal perception amount of the abnormal state of the catheter during the insertion of the large vein. Further, the displacement angle of the catheter at each support position and the abnormal perception amount are obtained to obtain the displacement feedback of the instant feedback of the deviation between the actual support position of the monitoring catheter and the preset path. The displacement feedback can reduce the interference of dynamic anatomical structure changes on the catheter orientation, ensuring that the catheter always remains in the ideal support position, thereby effectively coping with changes in body position and physiological fluctuations, and then by quantifying all The displacement feedback is used to extract features to obtain the trajectory constraints at each support position during the insertion of the catheter into the large vein, wherein the trajectory constraints represent parameters for dynamically restricting the trajectory of the catheter during the insertion of the catheter into the large vein. The trajectory constraints can reduce the orientation error caused by dynamic anatomical changes, thereby avoiding the catheter from deviating from the predetermined path due to dynamic anatomical changes. Then, the catheter stability during the insertion of the catheter into the large vein is used to correct all trajectory constraints to obtain the guiding assistance amount of the catheter at different support positions, wherein the guiding assistance amount refers to the adjustment amount required to maintain directional stability at the support position during the insertion of the catheter. The guiding assistance amount can ensure that the catheter can still maintain a stable propulsion state when encountering dynamic anatomical changes, and reduce the deflection and dislocation caused by external disturbances during the intubation process. Finally, the bending direction of the catheter at different support positions is directionally adjusted based on all the guiding assistance amounts. In summary, the scheme of the present application can reduce the influence of dynamic anatomical changes on the orientation of the catheter in the chest wall port, thereby improving the delivery effect of the catheter. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is an exemplary flow chart of an auxiliary directional adjustment method for chest wall port catheterization according to some embodiments of the present application; Figure 2 is a schematic diagram of a process for determining displacement feedback in some embodiments of the present application; Figure 3 is a schematic diagram of a process for determining catheter stability in some embodiments of the present application; Figure 4 is a structural schematic diagram of an auxiliary directional adjustment device for chest wall port catheterization according to some embodiments of the present application; Figure 5It is a structural schematic diagram of a computer device for implementing an auxiliary directional adjustment method for chest wall port catheterization according to some embodiments of the present application. DETAILED DESCRIPTION

[0018] In order to better understand the technical solution of the present application, the solution of the present application will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0019] refer to Figure 1 , which is an exemplary flow chart of an auxiliary directional adjustment method for chest wall port catheterization according to some embodiments of the present application. The auxiliary directional adjustment method 100 for chest wall port catheterization mainly includes the following steps: In step 101, ultrasound images are collected during the process of inserting a catheter in a chest wall port into a large vein according to a preset path, to obtain an ultrasound image set.

[0020] In a specific implementation, after starting the ultrasound-assisted device, an ultrasound image of the chest wall port catheter being inserted into a large vein along a preset path is obtained from the host of the ultrasound-assisted device, thereby obtaining multiple ultrasound images, and a collection of all ultrasound images is used as an ultrasound image set.

[0021] It should be noted that the ultrasound-assisted equipment described in this application is composed of an ultrasound probe, a host (ultrasound console), a display, image processing software, and a data storage and transmission system. The ultrasound probe can emit high-frequency sound waves (usually in the range of 1-20 MHz), and the ultrasound probe also receives these reflected sound waves and converts them into electrical signals. The host (ultrasound console) processes the electrical signals from the ultrasound probe, performs filtering, amplification and digitization, and finally converts the data into a visual ultrasound image.

[0022] It should also be noted that the catheter described in the present application is an intelligent catheter that integrates sensors, electronic control and feedback mechanisms, which can provide real-time position, direction, angle, curvature and other information, and automatically adjust its position and posture as needed. The sensors built into the catheter include pressure sensors, position sensors, angle sensors and bending sensors.

[0023] In addition, it should be noted that the travel path described in the present application represents the path of the catheter in the chest wall port during the insertion of the great vein. Before the operation, imaging technologies such as computed tomography (CT) and magnetic resonance imaging (MRI) can be used to obtain anatomical image data of the patient's chest wall, thoracic cavity and great veins. Then, the anatomical image data is three-dimensionally reconstructed, and the catheter insertion process is simulated using the path planning software. By analyzing the reconstructed anatomical model, the path planning software generates the best travel path for the catheter. Ultrasound images exist at different support positions on the travel path, wherein the support position represents the specific point of the catheter in the insertion path used to provide catheter stability and direction control. The support position can ensure that the catheter maintains the correct path and angle during the insertion process to prevent accidental movement, bending or position deviation of the catheter. In addition, there is a sequence of support positions of the catheter in the insertion path. The support position just entering the insertion path is the first support position, and so on. Each support position on the travel path corresponds to an ultrasound image. In other embodiments, other methods can also be used to achieve this, which will not be repeated here.

[0024] In step 102, hierarchical features between the catheter and surrounding tissues are extracted from the ultrasound image set based on a pre-trained model.

[0025] In some embodiments, extracting the hierarchical features between the catheter and the surrounding tissue from the ultrasound image set based on the pre-trained model can be implemented by the following steps: Extracting edge features from each ultrasonic image in the ultrasonic image set to obtain a plurality of ultrasonic edge feature maps; The hierarchical features between the catheter and surrounding tissues are determined based on the pre-trained model and all ultrasound edge feature maps.

[0026] In the specific implementation, first, a filtering algorithm (for example, median filtering, Gaussian filtering, etc., which are not limited here) is used to filter each ultrasonic image in the ultrasonic image set to reduce the noise in the ultrasonic image and improve the quality of the ultrasonic image, and each ultrasonic image after filtering is used as an ultrasonic filtered image. Secondly, an edge detection algorithm (for example, Canny, Sobel and other edge detection algorithms, which are not limited here) is used to extract edges from all ultrasonic filtered images, and then the ultrasonic filtered images after edge extraction are used as ultrasonic edge feature maps. In other embodiments, other methods can also be used for implementation, which will not be repeated here.

[0027] It should be noted that the pre-trained model in the present application can be pre-trained using a deep learning model such as U-Net, DeepLabV3 or ResNet. First, the ultrasound image set of the catheter and the surrounding tissue boundary is annotated, and then the edge features are extracted from the annotated ultrasound image. Then, the image after edge feature extraction is trained, and the deep learning model obtained after the training is used as the pre-trained model. Other methods can also be used in other embodiments, which are not limited here.

[0028] In specific implementation, determining the hierarchical features between the catheter and the surrounding tissue based on the pre-trained model and all ultrasonic edge feature maps can be implemented in the following manner, namely: performing a forward operation on each ultrasonic edge feature map based on the pre-trained model, and after the forward operation is completed, obtaining the features extracted by the pooling layer of the model, and using the features extracted by each ultrasonic edge feature map in the pooling layer of the model as edge pooling features, thereby using a set of all edge pooling features as the hierarchical features between the catheter and the surrounding tissue, wherein each edge pooling feature corresponds to an ultrasonic image, and each support position on the travel path corresponds to an ultrasonic image, that is, each edge pooling feature corresponds to a support position of the catheter on the travel path. In other embodiments, other methods may also be used for implementation, which are not limited here.

[0029] It should be noted that the layered features described in the present application represent the layered relationship and local structural features of the supporting position of the catheter in the surrounding tissue. The layered features help provide real-time feedback during the catheter insertion process, so that the supporting position of the catheter in the surrounding tissue can be accurately identified to ensure its correct insertion into the large vein.

[0030] In step 103, the displacement feedback of the catheter at each support position is determined according to the layered features and the displacement angle of the catheter at each support position, and then the trajectory constraint of the catheter at each support position during insertion into the large vein is determined through all the displacement feedbacks.

[0031] In some embodiments, reference Figure 2 As shown, this figure is a schematic diagram of the process of determining displacement feedback in some embodiments of the present application. In this embodiment, the displacement feedback of the catheter at each support position is determined according to the layered features and the displacement angle of the catheter at each support position, which can be implemented by the following steps: First, in step 1031, the abnormal perception amount of the catheter is determined according to the echo intensity of each ultrasound image in the ultrasound image set; Next, in step 1032, the displacement sensing amount of the catheter at each supporting position is determined by using the abnormal sensing amount and the displacement angle of the catheter at each supporting position; Then, in step 1033, the displacement feedback of the catheter at each supporting position is determined according to the displacement sensing amount at each supporting position and the hierarchical feature.

[0032] In specific implementation, determining the abnormal perception amount of the catheter according to the echo intensity of each ultrasonic image in the ultrasonic image set can be implemented in the following manner, namely: first, selecting an ultrasonic image from the ultrasonic image set as the selected ultrasonic image, and taking the total number of ultrasonic images in the ultrasonic image set as the selected total number, then sorting the grayscale values ​​of the pixels in the selected ultrasonic image in descending order, and taking the sequence obtained by the descending order as the grayscale sequence of the selected ultrasonic image, and then selecting the same number of grayscale values ​​as the total number of selected values ​​from the grayscale sequence in order from large to small, and calculating the mean of all the grayscale values, and taking the obtained mean as the echo intensity of the selected ultrasonic image, and continuing to determine the echo intensity of the remaining ultrasonic images in the ultrasonic image set, and then calculating the mean and variance of all the echo intensities, subtracting the mean from the maximum echo intensity and dividing it by the variance, and taking the value obtained by the division as the abnormal perception amount of the catheter. In other embodiments, other methods can also be used for implementation, which will not be repeated here.

[0033] It should be noted that the abnormal sensing amount described in the present application refers to the parameter amount of sensing the abnormal state of the catheter during the process of being placed in the large vein, such as deviation, bending or improper support position.

[0034] In addition, it should be noted that the displacement angle refers to the offset angle of the catheter relative to the predetermined path or axis when passing through different support positions. The displacement angle of the catheter at different support positions can be measured in real time by integrating a micro angle sensor on the catheter.

[0035] In specific implementation, determining the displacement perception amount of the catheter at each supporting position by the abnormal perception amount and the displacement angle of the catheter at each supporting position can be implemented in the following manner, namely: subtracting the displacement angle of the catheter at the first supporting position from the displacement angle at the second supporting position, multiplying the value obtained by the difference by the abnormal perception amount, and using the multiplied value as the displacement perception amount of the catheter at the first supporting position, and then subtracting the displacement angle at the second supporting position from the displacement angle at the third supporting position, multiplying the value obtained by the difference by the abnormal perception amount, and using the multiplied value as the displacement perception amount of the catheter at the second supporting position, and so on, until the last supporting position, subtracting the displacement angle at the last supporting position from the displacement angle at the first supporting position, multiplying the value obtained by the difference by the abnormal perception amount, and using the multiplied value as the displacement perception amount of the catheter at the last supporting position. In other embodiments, other methods can also be used for implementation, which are not limited here.

[0036] It should be noted that the displacement perception quantity described in the present application represents the parameters of the displacement generated by the catheter under the influence of angle changes during its movement. The displacement perception quantity can help adjust the orientation of the catheter to ensure its accuracy in the large vein. In addition, each displacement perception quantity corresponds to a support position of the catheter.

[0037] In specific implementation, the displacement feedback of the catheter at each support position is determined according to the displacement perception amount at each support position and the hierarchical feature, which can be implemented in the following manner, namely: select a support position as the selected support position, select the edge pooling feature at the selected support position from the hierarchical feature, square each value in the selected edge pooling feature, sum all the squared values, thereby squaring the summed value, and taking the squaring value as the balance coefficient, further adding the difference between the maximum value and the minimum value in the selected edge pooling feature to the product of the balance coefficient and the displacement perception amount at the selected support position, and taking the added value as the displacement feedback of the catheter at the selected support position, and continuing to determine the displacement feedback of the catheter at the remaining support positions. In other embodiments, other methods can also be used for implementation, which will not be repeated here.

[0038] It should be noted that the displacement feedback described in the present application represents an instant feedback value for monitoring the deviation between the actual support position of the catheter and the preset path. Displacement feedback can reduce the interference of dynamic anatomical changes on the catheter orientation, ensuring that the catheter always remains in the ideal support position, thereby effectively responding to changes in body position and physiological fluctuations. In addition, each displacement feedback corresponds to a support position.

[0039] In some embodiments, determining the trajectory constraint of each support position during insertion of the catheter into a large vein through all displacement feedback can be achieved by the following steps: Acquiring displacement sensing amounts of the catheter at different supporting positions; Select a displacement feedback as the selected displacement feedback; Determining the trajectory constraint of the catheter at the support position corresponding to the selected displacement feedback during insertion into the large vein according to the preset constraint model, the displacement perception amount at the support position corresponding to the selected displacement feedback, and the selected displacement feedback; The trajectory constraint at the support position corresponding to the residual displacement feedback of the catheter during the insertion into the large vein is then determined.

[0040] It should be noted that the constraint model preset in the present application represents a model that imposes restriction parameters to ensure that the catheter moves along a predetermined path in the chest wall port and maintains the correct support position and posture during its movement. The restriction parameters include support position constraints, angle constraints, etc. In this embodiment, MATLAB can be used to establish a flexible body model of the catheter, and then the particle swarm optimization algorithm can be used to optimize the flexible body model, and the obtained model is used as the constraint model.

[0041] In specific implementation, the trajectory constraint of the selected displacement feedback corresponding to the support position of the catheter during the insertion of the catheter into the large vein is determined according to the preset constraint model, the displacement perception amount at the support position corresponding to the selected displacement feedback, and the selected displacement feedback. The following method is used for the determination, namely: the displacement angle and support position information at the support position corresponding to the selected displacement feedback are obtained, the obtained displacement angle and support position information are input into the preset constraint model, and the output result of the constraint model is used as the optimal angle constraint amount. Then, a negative exponential function with the natural logarithm e as the base is calculated for the selected displacement feedback, and the value obtained after calculating the negative exponential function with the natural logarithm e as the base is used as the displacement feedback coefficient. Furthermore, the displacement feedback coefficient is multiplied by the displacement perception amount at the support position corresponding to the selected displacement feedback, and the multiplied value is added to the optimal angle constraint amount, and the added value is used as the trajectory constraint of the selected displacement feedback corresponding to the support position of the catheter during the insertion of the catheter into the large vein. Other methods can also be used to implement this in other embodiments, which will not be repeated here.

[0042] It should be noted that the trajectory constraint described in the present application represents the parameters for dynamically limiting the trajectory of the catheter during insertion into a large vein. The trajectory constraint can reduce the orientation error caused by dynamic anatomical changes, thereby preventing the catheter from deviating from the predetermined path due to dynamic anatomical changes.

[0043] In step 104, venous pressure information of the vascular pathway between the catheter and the surrounding tissue in the chest wall port is obtained, and the catheter stability during the insertion of the catheter into the large vein is determined according to the venous pressure information and the pressure mapping relationship between the catheter and the surrounding tissue.

[0044] In specific implementation, a color Doppler ultrasound device is used to obtain blood flow data of the vascular pathway between the catheter and the surrounding tissue, and then a pressure sensor placed on the catheter is used to collect pressure data between the catheter and the surrounding tissue during the process of inserting the catheter into the large vein. The collection of blood flow data and pressure data is used as the venous pressure information of the vascular pathway between the catheter in the chest wall port and the surrounding tissue.

[0045] It should be noted that the blood flow data described in the present application is an ordered sequence composed of multiple venous blood flow rates, wherein the venous blood flow rate represents the blood flow rate of the vein 60 seconds before the catheter is inserted into the large vein and the blood flow rate of the vein 30 seconds during the process of inserting the catheter into the large vein, and the blood flow rate is obtained once every 1 second, and the pressure data is an ordered sequence composed of multiple pressure values, wherein the pressure value represents the pressure at different supporting positions between the catheter and the surrounding tissue during the process of inserting the catheter into the large vein. In addition, since one supporting position on the travel path corresponds to one ultrasound image, each pressure value corresponds to one ultrasound image.

[0046] In some embodiments, reference Figure 3 As shown, this figure is a schematic diagram of the process of determining the stability of the catheter in some embodiments of the present application. In this embodiment, the catheter stability of the catheter during the insertion of the catheter into the large vein can be determined according to the venous pressure information and the pressure mapping relationship between the catheter and the surrounding tissue, which can be achieved by the following steps: First, in step 1041, the pressure loads at different supporting positions between the catheter and the surrounding tissue during the process of inserting the catheter into the large vein are determined according to the pressure data in the venous pressure information and the pressure mapping relationship between the catheter and the surrounding tissue; Secondly, in step 1042, a linear fit is performed on the blood flow data in the venous pressure information to obtain a blood flow fitting curve; Then, in step 1043, the catheter stability of the catheter in the chest wall port is determined based on all pressure loads and the blood flow fitting curve.

[0047] It should be noted that the pressure mapping relationship between the catheter and the surrounding tissue described in the present application represents a relationship model that describes the distribution and change of pressure between the catheter and the surrounding tissue in different regions. First, historical ultrasound images of the catheter at different support positions are obtained. These historical ultrasound images should cover the entire area of ​​the catheter and the surrounding tissue so that a complete mapping relationship can be established. Then, the historical pressure values ​​of the catheter at different support positions are obtained, and it is ensured that these historical pressure values ​​correspond to the support positions in all historical ultrasound images. Secondly, all historical pressure values ​​are used as pressure mapping values ​​corresponding to historical ultrasound images, and then a convolutional neural network (for example: VGG16, ResNet, etc., not limited here) is used to train all historical ultrasound images, and the model after the training is used as the pressure mapping relationship between the catheter and the surrounding tissue. In other embodiments, other methods can also be used to achieve this, which is not limited here.

[0048] In specific implementation, the pressure load at different supporting positions between the catheter and the surrounding tissue during the insertion of the catheter into the large vein is determined according to the pressure data in the venous pressure information and the pressure mapping relationship between the catheter and the surrounding tissue. The following method can be used for this purpose, namely: a pressure value is selected from the pressure data in the venous pressure information as the selected pressure value, and then an ultrasonic image corresponding to the selected pressure value is selected, and the ultrasonic image is used as input into the pressure mapping relationship between the catheter and the surrounding tissue, so as to obtain the pressure mapping value of the ultrasonic image; further, the selected pressure value is subtracted from the pressure mapping value of the ultrasonic image, and the pressure load obtained after the subtraction is used as the pressure load at the supporting position corresponding to the selected pressure value between the catheter and the surrounding tissue during the insertion of the catheter into the large vein, and the pressure load at the supporting position corresponding to the remaining pressure values ​​between the catheter and the surrounding tissue during the insertion of the catheter into the large vein is further determined. Other methods can also be used for this purpose in other embodiments, which will not be repeated here.

[0049] In specific implementation, linear fitting is performed on the blood flow data in the venous pressure information to obtain a blood flow fitting curve, which can be achieved in the following manner, namely: all blood flow rates in the blood flow data are sorted in ascending order, and the sorted sequence is used as a blood flow rate sequence, the blood flow rate sequence is fit using the least squares support vector machine algorithm in the prior art, and the fitted curve is used as the blood flow fitting curve. In other embodiments, other fitting algorithms can also be used, which are not limited here.

[0050] It should be noted that the catheter stability described in the present application represents a stability parameter for resisting changes in surrounding tissue pressure during catheter insertion. By adjusting the catheter stability of the catheter in the chest wall port, the stable state of the catheter in the chest wall port can be ensured to prevent it from moving or deviating from the predetermined support position due to pressure changes in the chest wall port. As a preferred embodiment, the catheter stability of the catheter in the chest wall port is determined based on all pressure loads and the blood flow fitting curve. The following method is used, namely: taking the derivative of the blood flow fitting curve, selecting the largest derivative and the smallest derivative from all the derivatives, further subtracting the smallest derivative from the largest derivative, and then multiplying the subtracted value by the sum of all pressure loads, and using the multiplied value as the catheter stability of the catheter in the chest wall port. In other embodiments, other methods can also be used to achieve this, which will not be repeated here.

[0051] In step 105, the guiding assistance amount of the catheter at different supporting positions is determined according to the catheter stability and all trajectory constraints during the process of inserting the catheter into the large vein, and the bending direction of the catheter at different supporting positions is directionally adjusted based on all the guiding assistance amounts.

[0052] In some embodiments, determining the amount of guidance assistance of the catheter at different support positions according to the catheter stability and all trajectory constraints during insertion of the catheter into a large vein can be achieved by the following steps: Convert all trajectory constraints into trajectory constraint sequences; Determining auxiliary constraints at different supporting positions of the catheter during insertion into a large vein according to the trajectory constraint sequence and a preset sliding window; The amount of guiding assistance for the catheter at different support locations is determined by all assistance constraints and the stability of the catheter during insertion into a large vein.

[0053] It should be noted that the sliding window described in the present application represents a sequence for processing a trajectory constraint sequence, and can be set using a fixed-length sequence, wherein the fixed length can be set using a value obtained by taking the square root of the total number of trajectory constraints in the trajectory constraint sequence and rounding it down. In other embodiments, other methods can also be used to implement it, which will not be repeated here.

[0054] In a specific implementation, converting all trajectory constraints into a trajectory constraint sequence can be achieved in the following manner, namely, sorting all trajectory constraints in ascending order, and using the sorted sequence as the trajectory constraint sequence; determining the auxiliary constraints at different supporting positions of the catheter during the insertion of the catheter into the large vein according to the trajectory constraint sequence and a preset sliding window can be achieved in the following manner, namely, aligning the sliding window with the first trajectory constraint in the trajectory constraint sequence, selecting the largest trajectory constraint and the smallest trajectory constraint from the trajectory constraints covered by the sliding window, and then using the difference between the largest trajectory constraint and the smallest trajectory constraint as the auxiliary constraint corresponding to the first trajectory constraint during the insertion of the catheter into the large vein. The auxiliary constraint at the supporting position is obtained by moving the sliding window to align the sliding window with the second trajectory constraint in the trajectory constraint sequence, selecting the largest trajectory constraint and the smallest trajectory constraint from the trajectory constraints covered by the sliding window, and then taking the difference between the largest trajectory constraint and the smallest trajectory constraint as the auxiliary constraint at the supporting position corresponding to the second trajectory constraint during the insertion of the catheter into the great vein. The above steps are repeated, and the sliding window is moved in sequence until the sliding window is aligned with the last trajectory constraint in the trajectory constraint sequence, thereby obtaining the auxiliary constraints at different supporting positions during the insertion of the catheter into the great vein. Other methods may also be used to achieve this, which will not be repeated here.

[0055] It should be noted that the auxiliary constraints described in the present application represent parameters for auxiliary restrictions on trajectory constraints during the insertion of the catheter into a large vein. The auxiliary constraints can correct the directional deviation of the catheter caused by dynamic anatomical changes and external interference during the insertion process, thereby ensuring the smooth movement of the catheter in a complex path, wherein each auxiliary constraint corresponds to a supporting position of the catheter during the insertion process of the catheter into a large vein.

[0056] In specific implementation, the following method can be used to determine the amount of guidance assistance for the catheter at different support positions through all the auxiliary constraints and the catheter stability during the process of inserting the catheter into the great vein, namely: select an auxiliary constraint as the selected auxiliary constraint, then select the largest auxiliary constraint from all the remaining auxiliary constraints, calculate the negative exponential function with the natural logarithm e as the base for the difference between the selected auxiliary constraint and the largest auxiliary constraint, then add 1 to the value obtained after calculating the negative exponential function with the natural logarithm e as the base, further use the added value to multiply the quotient between the selected auxiliary constraint and the catheter stability, and use the multiplied value as the guidance assistance amount at the support position corresponding to the selected auxiliary constraint during the process of inserting the catheter into the great vein, and continue to determine the guidance assistance amount at the support positions corresponding to the remaining auxiliary constraints during the process of inserting the catheter into the great vein. In other embodiments, other methods can also be used for implementation, which are not limited here.

[0057] It should be noted that the guiding assistance amount mentioned in the present application refers to the adjustment amount required to maintain the directional stability of the catheter at the supporting position during the insertion process of the catheter. The guiding assistance amount can ensure that the catheter can maintain a stable propulsion state when encountering dynamic anatomical changes, thereby reducing the deviation and dislocation caused by external disturbances during the intubation process.

[0058] In specific implementation, the directional adjustment of the bending direction of the catheter at different support positions based on all the guiding auxiliary quantities can be achieved in the following manner, namely: calculating the average of all the guiding auxiliary quantities, and using the obtained average as the guiding auxiliary balance quantity, selecting a support position of the catheter as the selected support position, if the guiding auxiliary quantity at the selected support position is greater than the guiding auxiliary balance quantity, then subtracting the guiding auxiliary balance quantity from the guiding auxiliary quantity, and using the subtracted value as the directional adjustment quantity, using the bending sensor on the catheter to obtain the bending direction of the catheter, and using the directional adjustment quantity as the adjustment quantity in the opposite direction of the bending direction, and then using the electronic control mechanism on the catheter to automatically control the direction of the catheter The catheter bends in the opposite direction of the catheter bending. If the guidance assistance amount at the selected support position is less than the guidance assistance balancing amount, the guidance assistance amount is subtracted from the guidance assistance balancing amount, and the subtracted value is used as the directional adjustment amount. The bending direction of the catheter is obtained by using a bending sensor on the catheter, and the directional adjustment amount is used as the adjustment amount in the opposite direction of the bending direction. Then, the electronic control mechanism on the catheter is used to automatically control the catheter to bend in the opposite direction of the catheter bending. If the guidance assistance amount at the selected support position is equal to the guidance assistance balancing amount, no adjustment is made, and the bending direction of the catheter at the remaining support positions is continued to be adjusted. Other methods can also be used to achieve this in other embodiments, which will not be repeated here.

[0059] In addition, in another aspect of the present application, in some embodiments, the present application provides an auxiliary directional adjustment device for chest wall port catheterization, referring to Figure 4 , which is a schematic diagram of the structure of an auxiliary directional adjustment device for chest wall port catheterization according to some embodiments of the present application, the auxiliary directional adjustment device for chest wall port catheterization 400 includes: a collection module 401, a processing module 402 and an execution module 403, which are respectively described as follows: The acquisition module 401 in the present application is mainly used to acquire ultrasound images of the catheter in the chest wall port during the process of being inserted into the large vein according to the preset travel path, so as to obtain an ultrasound image set; A processing module 402, in the present application, the processing module 402 is used to extract the hierarchical features between the catheter and the surrounding tissue from the ultrasound image set based on a pre-trained model; It should be noted that the processing module 402 in the present application is also used to determine the displacement feedback of the catheter at each support position according to the layered features and the displacement angle of the catheter at each support position, and then determine the trajectory constraint of the catheter at each support position during the insertion of the catheter into the large vein through all the displacement feedbacks; In addition, the processing module 402 in the present application is also used to obtain venous pressure information of the vascular pathway between the catheter and the surrounding tissue in the chest wall port, and determine the catheter stability of the catheter during the insertion of the catheter into the large vein according to the venous pressure information and the pressure mapping relationship between the catheter and the surrounding tissue; Execution module 403, in the present application, execution module 403 is mainly used to determine the guidance assistance amount of the catheter at different support positions according to the catheter stability and all trajectory constraints during the insertion of the catheter into the large vein, and to directionally adjust the bending direction of the catheter at different support positions based on all the guidance assistance amounts.

[0060] In addition, the present application also provides a computer device, which includes a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned auxiliary directional adjustment method for chest wall port catheterization.

[0061] In some embodiments, reference Figure 5 , which is a schematic diagram of the structure of a computer device for implementing an auxiliary directional adjustment method for chest wall port catheterization according to some embodiments of the present application. The auxiliary directional adjustment method for chest wall port catheterization in the above embodiment can be Figure 5 The computer device 500 shown in the figure is implemented, and the computer device 500 includes at least one processor 501, a communication bus 502, a memory 503 and at least one communication interface 504.

[0062] The processor 501 may be a general-purpose central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more processors for controlling the execution of the auxiliary directional adjustment method for chest wall port catheterization in the present application.

[0063] The communication bus 502 may be used to transmit information between the above-mentioned components.

[0064] The memory 503 may be a read only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read only memory (EEPROM), a compact disc read only memory (CD ROM) or other optical disc storage, an optical disc storage (including a compressed optical disc, a laser disc, an optical disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 503 may exist independently and be connected to the processor 501 via the communication bus 502. The memory 503 may also be integrated with the processor 501.

[0065] The memory 503 is used to store the program code for executing the solution of the present application, and the execution is controlled by the processor 501. The processor 501 is used to execute the program code stored in the memory 503. The program code may include one or more software modules. The method described in the above method embodiment can be implemented by the processor 501 and one or more software modules in the program code in the memory 503.

[0066] The communication interface 504 uses any transceiver or other device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0067] In a specific implementation, as an embodiment, a computer device may include multiple processors, each of which may be a single-core (single CPU) processor or a multi-core (multi CPU) processor. The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0068] The above-mentioned computer device may be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the computer device may be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device. The embodiment of the present application does not limit the type of computer device.

[0069] In addition, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the auxiliary directional adjustment method for chest wall port catheterization is implemented.

[0070] In summary, in the auxiliary directional adjustment device and method for chest wall port catheterization disclosed in the embodiment of the present application, firstly, ultrasound images of the catheter in the chest wall port are collected during the process of inserting the catheter into the large vein according to the preset travel path to obtain an ultrasound image set; based on the pre-trained model, the hierarchical features between the catheter and the surrounding tissue are extracted from the ultrasound image set; the displacement feedback of the catheter at each support position is determined according to the hierarchical features and the displacement angle of the catheter at each support position, and then the trajectory constraint of the catheter at each support position during the insertion of the catheter into the large vein is determined through all displacement feedbacks; the venous pressure information of the vascular passage between the catheter in the chest wall port and the surrounding tissue is obtained, and the catheter stability of the catheter during the insertion of the large vein is determined according to the venous pressure information and the pressure mapping relationship between the catheter and the surrounding tissue; the guiding auxiliary amount of the catheter at different supporting positions is determined according to the catheter stability during the insertion of the catheter into the large vein and all trajectory constraints, and the bending direction of the catheter at different supporting positions is directional adjusted based on all guiding auxiliary amounts. The scheme of the present application can reduce the influence of dynamic anatomical changes on the orientation of the catheter in the chest wall port, thereby improving the delivery effect of the catheter.

[0071] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0072] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An auxiliary directional adjustment method for chest wall port catheterization, characterized in that: The steps include: Acquiring ultrasound images of the catheter in the chest wall port during the process of being inserted into the large vein according to a preset path, to obtain an ultrasound image set; Extracting hierarchical features between the catheter and surrounding tissue from the ultrasound image set based on a pre-trained model; Determine the displacement feedback of the catheter at each support position according to the layered features and the displacement angle of the catheter at each support position, and then determine the trajectory constraint of the catheter at each support position during the insertion of the catheter into the large vein through all the displacement feedbacks; Acquiring venous pressure information of a vascular pathway between a catheter in a chest wall port and surrounding tissue, and determining catheter stability during insertion of the catheter into a large vein according to the venous pressure information and a pressure mapping relationship between the catheter and surrounding tissue; The guiding assistance amount of the catheter at different supporting positions is determined according to the catheter stability and all trajectory constraints during the process of inserting the catheter into a large vein, and the bending direction of the catheter at different supporting positions is directionally adjusted based on all the guiding assistance amounts.

2. The method according to claim 1, characterized in that Extracting the hierarchical features between the catheter and the surrounding tissue from the ultrasound image set based on the pre-trained model specifically includes: Extracting edge features from each ultrasonic image in the ultrasonic image set to obtain a plurality of ultrasonic edge feature maps; The hierarchical features between the catheter and surrounding tissues are determined based on the pre-trained model and all ultrasound edge feature maps.

3. The method according to claim 1, characterized in that Determining the displacement feedback of the catheter at each supporting position according to the layered feature and the displacement angle of the catheter at each supporting position specifically includes: determining an abnormality perception amount of the catheter according to the echo intensity of each ultrasound image in the ultrasound image set; Determine the displacement perception amount of the catheter at each supporting position according to the abnormal perception amount and the displacement angle of the catheter at each supporting position; The displacement feedback of the catheter at each supporting position is determined according to the displacement sensing amount at each supporting position and the layered feature.

4. The method according to claim 1, characterized in that Determining the trajectory constraints at each support position during the insertion of the catheter into the large vein through all displacement feedback specifically includes: Acquiring displacement sensing amounts of the catheter at different supporting positions; Select a displacement feedback as the selected displacement feedback; Determining the trajectory constraint of the catheter at the support position corresponding to the selected displacement feedback during insertion into the large vein according to the preset constraint model, the displacement perception amount at the support position corresponding to the selected displacement feedback, and the selected displacement feedback; The trajectory constraint at the support position corresponding to the residual displacement feedback of the catheter during the insertion into the large vein is then determined.

5. The method according to claim 1, characterized in that Determining the catheter stability during the insertion of the catheter into the large vein according to the venous pressure information and the pressure mapping relationship between the catheter and the surrounding tissue specifically includes: Determine the pressure load at different supporting positions between the catheter and the surrounding tissue during the insertion of the catheter into the large vein according to the pressure data in the venous pressure information and the pressure mapping relationship between the catheter and the surrounding tissue; Performing linear fitting on the blood flow data in the venous pressure information to obtain a blood flow fitting curve; The catheter stability of the catheter in the chest port is determined based on all pressure loads and the blood flow fitting curve.

6. The method according to claim 1, characterized in that Determining the guiding assistance amount of the catheter at different supporting positions according to the catheter stability and all trajectory constraints during the process of inserting the catheter into the large vein specifically includes: Convert all trajectory constraints into trajectory constraint sequences; Determining auxiliary constraints at different supporting positions of the catheter during insertion into a large vein according to the trajectory constraint sequence and a preset sliding window; The amount of guiding assistance for the catheter at different support locations is determined by all assistance constraints and the stability of the catheter during insertion into a large vein.

7. The method according to claim 1, characterized in that The catheter is an intelligent catheter integrating sensors, electronic control and feedback mechanisms.

8. An auxiliary directional adjustment device for chest wall port catheterization, characterized in that: include: An acquisition module, used for acquiring ultrasound images of the catheter in the chest wall port during the process of being inserted into the large vein according to a preset travel path, to obtain an ultrasound image set; A processing module, configured to extract hierarchical features between the catheter and surrounding tissue from the ultrasound image set based on a pre-trained model; The processing module is further used to determine the displacement feedback of the catheter at each support position according to the layered features and the displacement angle of the catheter at each support position, and then determine the trajectory constraint of the catheter at each support position during the insertion of the catheter into the large vein through all the displacement feedbacks; The processing module is further used to obtain venous pressure information of a vascular pathway between a catheter in a chest wall port and surrounding tissues, and determine catheter stability during insertion of the catheter into a large vein according to the venous pressure information and a pressure mapping relationship between the catheter and surrounding tissues; The execution module is used to determine the guiding assistance amount of the catheter at different supporting positions according to the catheter stability and all trajectory constraints during the process of inserting the catheter into the large vein, and to directionally adjust the bending direction of the catheter at different supporting positions based on all the guiding assistance amounts.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the auxiliary directional adjustment method for chest wall port catheterization according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the auxiliary directional adjustment method for chest wall port catheterization according to any one of claims 1 to 7 is implemented.

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