Control system and method based on multi-point micro-injection of cervix uteri

Abstract

The invention belongs to the technical field of cervix uteri micro-injection, and particularly relates to a control system and method based on cervix uteri multi-point micro-injection. Through three-dimensional image data and accurate calculation, the medicine dosage of each injection point can be adjusted according to specific requirements, it is ensured that medicine can accurately reach a lesion area, personalized medicine injection is carried out according to specific conditions and lesion degrees of cervical tissue, the pertinence and effect of treatment are improved, and the treatment cost is reduced. By means of injection distribution compensation and injection area compensation, uniform distribution of medicine in cervical tissue is guaranteed, the problem that local medicine is too much or too little is avoided, medicine dosage and distribution are accurately controlled, excessive accumulation of the medicine in a non-lesion area is reduced, the risk of side effects is reduced, and by comprehensively considering all compensation values, the accuracy of medicine injection is improved. The medicine dosage of each injection point is optimized, so that the overall treatment effect is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of cervical microinjection, and in particular relates to a control system and method based on cervical multi-point microinjection. Background Art

[0002] With the continuous development of medical technology, the treatment methods for cervical diseases are also constantly innovating and improving. Among them, cervical multi-point microinjection technology, as an emerging treatment method, has attracted widespread attention due to its precision and high efficiency. Cervical multi-point microinjection technology is a treatment method that accurately injects drugs or biological agents into the cervical lesions through a micro-syringe. This technology can achieve multi-point and precise treatment of cervical lesions, with the advantages of less trauma and faster recovery.

[0003] However, the existing cervical multi-point microinjection technology usually relies on the doctor's experience and feel for injection. Due to the complexity and individual differences of cervical tissue, it is difficult to achieve accurate injection depth and drug distribution, which may result in the drug failing to accurately reach the lesion site and affect the treatment effect. Summary of the invention

[0004] The purpose of the present invention is to provide a control method based on cervical multi-point microinjection, which can effectively improve the accuracy and effect of treatment and provide an advanced technical means for the treatment of cervical diseases.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A control method based on cervical multi-point microinjection, comprising:

[0007] Acquire three-dimensional image data of cervical tissue, and acquire multiple target injection points according to the three-dimensional image data;

[0008] Obtaining distribution areas of multiple target injection points, and dividing the cervical tissues where the multiple target injection points are located into multiple injection areas according to the distribution areas;

[0009] Obtaining the position of each injection point in each injection area, and calculating the injection distribution value of each injection area according to the injection point position in each injection area;

[0010] Obtaining an injection distribution compensation value for each injection area according to the injection distribution value of each injection area;

[0011] Obtain the range value of each injection point, and calculate the injection area compensation value of each injection point according to the injection point range value;

[0012] Obtain the abnormality degree of each injection point, and obtain the corresponding abnormality compensation value according to the abnormality degree;

[0013] Obtain the injection amount of each injection point according to the injection distribution compensation value, injection area compensation value and abnormal compensation value;

[0014] Microinjection at each injection point within each injection zone is controlled based on the injected drug dose.

[0015] In a preferred embodiment, the step of acquiring three-dimensional image data of cervical tissue and acquiring multiple target injection points according to the three-dimensional image data includes:

[0016] Obtain three-dimensional imaging data of cervical tissue;

[0017] Extract image data from the three-dimensional image data, and obtain multiple injection point images according to the image data;

[0018] Acquire standard injection point images;

[0019] Determine whether the injection point image conforms to the standard injection point image;

[0020] If the injection point conforms to the standard injection point image, the injection point is determined to meet the microinjection requirements and is marked as the target injection point;

[0021] If the injection point does not conform to the standard injection point image, it is determined that the injection point does not meet the microinjection requirements.

[0022] In a preferred embodiment, the step of obtaining the position of each injection point in each injection area and calculating the injection distribution value of each injection area according to the injection point position in each injection area comprises:

[0023] Establishing a plane rectangular coordinate system on the cervical tissue;

[0024] Obtain the coordinate point of each injection point in each injection area according to a plane rectangular coordinate system;

[0025] The injection distribution value of each injection area is calculated according to the coordinate points of each injection point in each injection area, wherein the calculation formula is:

[0026]

[0027] In the formula, J b It is represented by the injection distribution value of the injection area, i is represented by the number of the coordinate point of the injection point in the injection area, n is represented by the total number of the coordinate points of the injection point in the injection area, and X i Represents the x-axis coordinate point of the i-th injection point, Y i Represented as the y-axis coordinate point of the i-th injection point.

[0028] In a preferred embodiment, the step of obtaining the injection distribution compensation value of each injection area according to the injection distribution value of each injection area comprises:

[0029] Obtain injection distribution evaluation interval value;

[0030] Determine whether the injection distribution value is within the injection distribution evaluation interval value;

[0031] If the injection distribution value is within the injection distribution evaluation interval, the calculation formula for determining the injection distribution compensation value is: In the formula, J c Expressed as injection distribution compensation value, J b It is expressed as the injection distribution value of the injection area, and P is expressed as the standard injection distribution value;

[0032] If the injection distribution value is not within the injection distribution evaluation interval value and is greater than the maximum value of the injection distribution evaluation interval value, the calculation formula for determining the injection distribution compensation value is: In the formula, J c Expressed as injection distribution compensation value, J b It is expressed as the injection distribution value of the injection area, P is expressed as the standard injection distribution value, and g is expressed as the distribution coefficient;

[0033] If the injection distribution value is not within the injection distribution evaluation interval value and is less than the minimum value of the injection distribution evaluation interval value, the injection distribution compensation value is determined to be 1.

[0034] In a preferred embodiment, the step of obtaining the range value of each injection point in each injection area and calculating the injection area compensation value of each injection point according to the range value of each injection point includes:

[0035] Acquire image data of each injection point in each injection area;

[0036] Obtain the inflection point of the edge contour of each injection point according to the image data of each injection point;

[0037] Establishing a plane rectangular coordinate system on the cervical tissue;

[0038] Obtain the coordinate point of the inflection point of the edge contour of each injection point according to the plane rectangular coordinate system;

[0039] The range value of each injection point is calculated according to the coordinate point of the inflection point of the edge contour of each injection point, where the calculation formula is:

[0040]

[0041] In the formula, S f It is represented by the range value of the injection point, r is represented by the number of the coordinate point of the inflection point of the edge contour of the injection point, m is represented by the total number of coordinate points of the inflection point of the edge contour of the injection point, K r Represented as the x-axis coordinate point of the rth edge contour inflection point, K r+1 Indicates the x-axis coordinate point of the r+1th edge contour inflection point, Lr Represented as the y-axis coordinate point of the rth edge contour inflection point, L r+1 Represented as the y-axis coordinate point of the rth edge contour inflection point, where K m+1 =K1,L m+1 =L1;

[0042] Get the standard injection range value;

[0043] The injection area compensation value of each injection point is calculated according to the standard injection range value and the range value of each injection point, wherein the calculation formula is:

[0044]

[0045] Where, B represents the injection area compensation value of the injection point, S c Expressed as standard injection range values.

[0046] In a preferred embodiment, the step of obtaining the abnormality degree of each injection point and obtaining the corresponding abnormality compensation value according to the abnormality degree includes:

[0047] Obtain the degree of abnormality at each injection point;

[0048] Obtaining an abnormality compensation table, wherein the abnormality compensation table includes multiple abnormality levels and an abnormality compensation value corresponding to each abnormality level;

[0049] Obtain target abnormality level according to the abnormality degree;

[0050] Obtain the corresponding abnormality compensation value from the abnormality compensation table according to the target abnormality level.

[0051] In a preferred embodiment, the step of obtaining the injection amount of each injection point according to the injection distribution compensation value, the injection area compensation value, and the abnormality compensation value includes:

[0052] Obtain standard injection doses;

[0053] The injection dose of each injection point is calculated according to the injection distribution compensation value, the injection area compensation value, the abnormal compensation value and the standard injection dose, wherein the calculation formula is:

[0054] L=J c ·B·H·L b ;

[0055] Where, L represents the injection dose, J c It is expressed as the injection distribution compensation value, B is expressed as the injection area compensation value, H is expressed as the abnormal compensation value, and L is expressed as the injection distribution compensation value. b Expressed as standard injectable dose.

[0056] In a preferred embodiment, after the step of controlling the microinjection of each injection point in each injection area based on the injection drug dosage, the method further comprises:

[0057] Get the injection pressure of each injection point;

[0058] Obtain injection assessment interval pressure;

[0059] Determine whether the injection pressure is within the injection assessment interval pressure;

[0060] If the injection pressure is within the injection assessment interval pressure, the injection at the injection point is normal;

[0061] If the injection pressure is not within the injection assessment interval pressure and is greater than the upper limit of the injection assessment interval pressure, the injection at the injection point is abnormal and an overpressure warning signal of the injection point pressure is issued;

[0062] If the injection pressure is not within the injection assessment interval pressure and is less than the lower limit of the injection assessment interval pressure, the injection at the injection point is abnormal and a warning signal of too low injection point pressure is issued.

[0063] The present invention also provides a control system based on cervical multi-point microinjection, which is used in the above-mentioned control method based on cervical multi-point microinjection, comprising:

[0064] An injection point acquisition module is used to obtain three-dimensional image data of cervical tissue and obtain multiple target injection points based on the three-dimensional image data;

[0065] A partitioning module is used to obtain the distribution areas of multiple target injection points, and divide the cervical tissues where the multiple target injection points are located into multiple injection areas according to the distribution areas;

[0066] A distribution value module is used to obtain the position of each injection point in each injection area, and calculate the injection distribution value of each injection area according to the injection point position in each injection area;

[0067] A distribution compensation module, used for obtaining an injection distribution compensation value of each injection area according to the injection distribution value of each injection area;

[0068] An area compensation module is used to obtain the range value of each injection point and calculate the injection area compensation value of each injection point according to the injection point range value;

[0069] An abnormality compensation module is used to obtain the abnormality degree of each injection point and obtain the corresponding abnormality compensation value according to the abnormality degree;

[0070] A medicine dosage module is used to obtain the injection medicine dosage of each injection point according to the injection distribution compensation value, the injection area compensation value and the abnormal compensation value;

[0071] The control module is used to control the microinjection of each injection point in each injection area based on the injection drug dosage.

[0072] And, a control terminal based on cervical multi-point microinjection, comprising:

[0073] one or more processors;

[0074] a storage device having one or more programs stored thereon;

[0075] When the one or more programs are executed by the one or more processors, the one or more processors implement the control method based on cervical multi-point microinjection.

[0076] The technical effects achieved by the present invention are:

[0077] The present invention, through three-dimensional imaging data and precise calculation, the drug dosage of each injection point can be adjusted according to specific needs, ensuring that the drug can accurately reach the diseased area, and performing personalized drug injection according to the specific conditions and degree of disease of cervical tissue, thereby improving the pertinence and effect of treatment. By means of injection distribution compensation and injection area compensation, the uniform distribution of the drug in the cervical tissue is ensured, avoiding the problem of excessive or insufficient local drug, accurately controlling the drug dosage and distribution, reducing the excessive accumulation of drugs in non-lesion areas, and reducing the risk of side effects. By comprehensively considering various compensation values, the drug dosage of each injection point is ensured to be optimized, thereby improving the overall treatment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 is a flow chart of the method provided by the present invention;

[0079] Figure 2 It is a system module diagram provided by the present invention. DETAILED DESCRIPTION

[0080] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0081] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0082] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" that appears in different places in this specification does not refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0083] Secondly, the present invention is described in detail in conjunction with schematic diagrams. When describing the embodiments of the present invention in detail, for the convenience of explanation, the schematic diagrams are only examples and should not limit the scope of protection of the present invention.

[0084] Please see attached Figure 1 As shown, a control method based on cervical multi-point microinjection is provided, comprising:

[0085] S1. Acquire three-dimensional image data of cervical tissue, and acquire multiple target injection points according to the three-dimensional image data;

[0086] S2, obtaining distribution areas of multiple target injection points, and dividing the cervical tissue where the multiple target injection points are located into multiple injection areas according to the distribution areas;

[0087] S3, obtaining the position of each injection point in each injection area, and calculating the injection distribution value of each injection area according to the injection point position in each injection area;

[0088] S4, obtaining an injection distribution compensation value of each injection area according to the injection distribution value of each injection area;

[0089] S5. Obtain the range value of each injection point, and calculate the injection area compensation value of each injection point according to the injection point range value;

[0090] S6. Obtain the abnormality degree of each injection point, and obtain the corresponding abnormality compensation value according to the abnormality degree;

[0091] S7, obtaining the injection amount of each injection point according to the injection distribution compensation value, the injection area compensation value, and the abnormality compensation value;

[0092] S8. Control the microinjection of each injection point within each injection area based on the injected drug dosage.

[0093] As in the above steps S1 to S8, first, three-dimensional image data of cervical tissue are obtained by imaging technology. These data provide detailed structural and morphological information of the cervix. Based on these three-dimensional image data, multiple target injection points are determined. These injection points are usually selected according to treatment needs. According to the distribution areas of the multiple target injection points, the cervical tissue is divided into multiple injection areas. In order to better manage and control the injection process, the position of each injection point is determined in each injection area. According to these position data, the injection distribution value of each injection area is calculated, which reflects the distribution density and uniformity of the injection points in the injection area. According to the injection distribution value of each injection area, the required compensation value is determined. In order to ensure the uniformity and effectiveness of the drug distribution in the entire injection area, the range value of each injection point (i.e., the area affected by each injection point) is obtained. According to the range value, the injection area compensation value of each injection point is calculated. In order to ensure that the amount of drug injected at each injection point matches the area affected by it, the corresponding abnormal compensation is determined according to the abnormality of each injection point (such as the severity of the lesion). This step is to provide additional drug volume for special treatment of the diseased area, comprehensively consider the injection distribution compensation value, injection area compensation value and abnormal compensation value, determine the final injection drug volume for each injection point, and perform microinjection on each injection point in each injection area based on the calculated injection drug volume. By precisely controlling the injection volume, the effective distribution and therapeutic effect of the drug in the cervical tissue can be ensured. Through three-dimensional imaging data and precise calculations, the drug dosage of each injection point can be adjusted according to specific needs to ensure that the drug can accurately reach the diseased area. According to the specific situation and degree of lesions of the cervical tissue, personalized drug injection is performed, which improves the targetedness and effect of the treatment. Through injection distribution compensation and injection area compensation, the uniform distribution of the drug in the cervical tissue is guaranteed, avoiding the problem of too much or too little local drug. The drug dosage and distribution are precisely controlled, reducing the excessive accumulation of drugs in non-lesion areas and reducing the risk of side effects. By comprehensively considering various compensation values, the drug dosage of each injection point is ensured to be optimized, thereby improving the overall treatment effect.

[0094] In a preferred embodiment, the step of acquiring three-dimensional image data of cervical tissue and acquiring multiple target injection points according to the three-dimensional image data includes:

[0095] S101, obtaining three-dimensional image data of cervical tissue;

[0096] S102, extracting image data from the three-dimensional image data, and acquiring multiple injection point images according to the image data;

[0097] S103, acquiring a standard injection point image;

[0098] S104, determining whether the injection point image conforms to the standard injection point image;

[0099] If the injection point conforms to the standard injection point image, the injection point is determined to meet the microinjection requirements and is marked as the target injection point;

[0100] If the injection point does not conform to the standard injection point image, it is determined that the injection point does not meet the microinjection requirements.

[0101] As in the above steps S101 to S104, three-dimensional image data of cervical tissue are acquired using medical imaging equipment (such as MRI, CT or ultrasound), which provide comprehensive and detailed structural information of cervical tissue. Two-dimensional image data are extracted from the acquired three-dimensional image data, and these image data contain information of different sections and layers of cervical tissue. Based on these image data, multiple potential injection point images are identified and extracted. These potential injection point images are selected based on the features and marks in the image data. Predefined standard injection point images are used. These standard images are usually determined based on a large amount of clinical data and expert knowledge, and represent ideal injection point features. The extracted injection point images are compared with the standard injection point images to determine whether each injection point image meets the features of the standard injection point image. If the injection point image meets the standard injection point image, it is determined that the injection point meets the requirements of microinjection and is marked as a target injection point. If the injection point image does not meet the requirements, the injection point is marked as a target injection point. If the image of the injection point does not meet the standard, it is determined that the injection point does not meet the requirements of microinjection and is excluded. By using three-dimensional imaging data and standard injection point images, injection points that meet the requirements can be accurately identified and located, avoiding the risk of blind injection. By comparing with the standard injection point images, it is ensured that only injection points that meet specific standards are selected as target injection points, thereby improving the accuracy and effectiveness of microinjection. Using the standard injection point image as a reference reduces the error and subjectivity of manual judgment, and improves the consistency and reliability of injection point selection. Based on specific three-dimensional imaging data and standard images, personalized injection plans can be provided for different patients to ensure that the treatment plan for each patient is optimized. Accurate injection point selection and positioning ensure that the drug can accurately reach the lesion area, improve the treatment effect and the patient's recovery speed, reduce the number of injection points that do not meet the requirements, reduce the risks that may occur during the injection process, and improve the safety of the entire treatment process.

[0102] In a preferred embodiment, the step of obtaining the position of each injection point in each injection area and calculating the injection distribution value of each injection area according to the injection point position in each injection area includes:

[0103] S301, establishing a plane rectangular coordinate system on the cervical tissue;

[0104] S302, obtaining the coordinate point of each injection point in each injection area according to a plane rectangular coordinate system;

[0105] S303, calculating the injection distribution value of each injection area according to the coordinate points of each injection point in each injection area, wherein the calculation formula is:

[0106]

[0107] In the formula, J b It is represented by the injection distribution value of the injection area, i is represented by the number of the coordinate point of the injection point in the injection area, n is represented by the total number of the coordinate points of the injection point in the injection area, and X i Represents the x-axis coordinate point of the i-th injection point, Y i Represented as the y-axis coordinate point of the i-th injection point.

[0108] As in the above steps S301 to S303, a plane rectangular coordinate system is established on the three-dimensional image data of the cervical tissue to accurately locate and calculate the position of the injection point. This coordinate system usually takes the center of the cervix or a significant anatomical point as the origin, defines the directions of the X-axis and the Y-axis, and obtains the specific coordinate points (x, y) of all injection points in each injection area based on the established plane rectangular coordinate system. These coordinate points are determined by image analysis and recognition technology, reflecting the specific position of each injection point on the cervical plane. According to the injection point coordinate points in each injection area, the injection distribution value of each injection area is calculated. By establishing a plane rectangular coordinate system on the cervical tissue, the injection distribution value of each injection point can be accurately obtained. By obtaining the specific coordinates of each injection point, a scientific distribution analysis can be performed to understand the distribution of injection points in each injection area, and provide basic data for subsequent calculations of injection distribution values. By calculating the injection distribution value, the uniformity of the injection points in each injection area can be evaluated to ensure that the drug is evenly distributed in the cervical tissue and avoid problems with too much or too little local drug. According to the calculation results of the injection distribution value, the injection plan can be optimized, and the position and number of injection points can be adjusted to achieve the best therapeutic effect. Accurate injection point position and distribution analysis can improve the accuracy of microinjection, ensure that the drug can accurately reach the lesion area, and improve the therapeutic effect.

[0109] In a preferred embodiment, the step of obtaining the injection distribution compensation value of each injection area according to the injection distribution value of each injection area includes:

[0110] S401, obtaining injection distribution evaluation interval value;

[0111] S402, determining whether the injection distribution value is within the injection distribution evaluation interval value;

[0112] If the injection distribution value is within the injection distribution evaluation interval, the calculation formula for determining the injection distribution compensation value is: In the formula, J cExpressed as injection distribution compensation value, J b It is expressed as the injection distribution value of the injection area, and P is expressed as the standard injection distribution value;

[0113] If the injection distribution value is not within the injection distribution evaluation interval value and is greater than the maximum value of the injection distribution evaluation interval value, the calculation formula for determining the injection distribution compensation value is: In the formula, J c Expressed as injection distribution compensation value, J b It is expressed as the injection distribution value of the injection area, P is expressed as the standard injection distribution value, and g is expressed as the distribution coefficient;

[0114] If the injection distribution value is not within the injection distribution evaluation interval value and is less than the minimum value of the injection distribution evaluation interval value, the injection distribution compensation value is determined to be 1.

[0115] As in the above steps S401 to S402, first, determine an injection distribution evaluation interval value, which is formulated based on a large amount of clinical data and standard injection distribution values, and represents an ideal injection distribution range. Calculate the injection distribution value of each injection area, and determine whether the value is within the preset injection distribution evaluation interval value. According to the injection distribution value relative to the evaluation interval, select the corresponding compensation value calculation formula. If the injection distribution value is within the evaluation interval, this means that the compensation value is determined based on the ratio of the actual distribution value of the injection area to the standard distribution value. If the injection distribution value is greater than the maximum value of the evaluation interval, this means that the compensation value is determined based on the ratio of the product of the actual distribution value of the injection area and the distribution coefficient to the standard distribution value. If the injection distribution value is less than the maximum value of the evaluation interval, this means that the compensation value is determined based on the ratio of the actual distribution value of the injection area to the product of the distribution coefficient and the standard distribution value. The minimum value is set, and the injection distribution compensation value is directly set to 1, which means that no additional compensation is performed for the case where the distribution value is too small. By using different calculation formulas, accurate compensation can be performed for different injection distribution situations to ensure the uniformity and effectiveness of drug distribution. According to the relationship between the injection distribution value and the evaluation interval, the compensation value is adaptively adjusted to improve the flexibility and adaptability of the injection plan. The accuracy of the injection distribution compensation value is improved through scientific calculation methods to ensure the uniformity of drug distribution in each injection area. The use of clear evaluation intervals and calculation formulas reduces the errors and subjectivity of manual judgment, improves the reliability of the injection plan, and ensures that the drug can effectively cover the lesion area through precise distribution compensation, thereby improving the overall treatment effect and the patient's recovery speed.

[0116] In a preferred embodiment, the step of obtaining the range value of each injection point in each injection area and calculating the injection area compensation value of each injection point according to the range value of each injection point includes:

[0117] S501, acquiring image data of each injection point in each injection area;

[0118] S502, obtaining the inflection point of the edge contour of each injection point according to the image data of each injection point;

[0119] S503, establishing a plane rectangular coordinate system on the cervical tissue;

[0120] S504, obtaining the coordinate point of the inflection point of the edge contour of each injection point according to a plane rectangular coordinate system;

[0121] S505, calculating the range value of each injection point according to the coordinate point of the inflection point of the edge contour of each injection point, wherein the calculation formula is:

[0122]

[0123] In the formula, S f It is represented by the range value of the injection point, r is represented by the number of the coordinate point of the inflection point of the edge contour of the injection point, m is represented by the total number of coordinate points of the inflection point of the edge contour of the injection point, K r Represented as the x-axis coordinate point of the rth edge contour inflection point, K r+1 Indicates the x-axis coordinate point of the r+1th edge contour inflection point, L r Represented as the y-axis coordinate point of the rth edge contour inflection point, L r+1 Represented as the y-axis coordinate point of the rth edge contour inflection point, where K m+1 =K1,L m+1 =L1;

[0124] S506, obtaining a standard injection range value;

[0125] S507, calculating the injection area compensation value of each injection point according to the standard injection range value and the range value of each injection point, wherein the calculation formula is:

[0126]

[0127] Where, B represents the injection area compensation value of the injection point, S c Expressed as standard injection range values.

[0128] As in the above steps S501 to S507, the injection point image data in each injection area is extracted from the three-dimensional image data. These image data contain detailed structural information of the injection points. According to the injection point image data, the edge contour inflection point of each injection point is obtained by image processing technology (such as edge detection, contour extraction, etc.). The inflection point refers to the key point on the injection point contour. These points are used to describe the shape and range of the injection point. A plane rectangular coordinate system is established on the cervical tissue to accurately locate and calculate the coordinates of the inflection point of the injection point edge contour. According to the established plane rectangular coordinate system, the specific coordinate points (x, y) of the inflection point of the edge contour of each injection point are obtained. These coordinate points accurately describe the shape and position of the injection point. According to the coordinate points of the inflection point of the edge contour of each injection point, the range value of each injection point is calculated. The range value can be calculated by calculating the surface of the contour. The area is determined by the area around the injection point, which reflects the size of the injection point. A standard injection range value is determined. This value is usually determined based on a large amount of clinical data and experience, and represents the ideal injection point size. The injection area compensation value of each injection point is calculated based on the standard injection range value and the actual range value of each injection point. By obtaining the edge contour inflection point and coordinate point of the injection point, the actual range value of each injection point can be accurately measured to ensure the accuracy of the data. By calculating the injection area compensation value, the drug dosage can be adjusted according to the actual area of ​​each injection point to ensure the uniform distribution of the drug in the cervical tissue and improve the treatment effect. The use of precise image processing and coordinate calculation technology improves the calculation accuracy of the injection point range value and compensation value, reduces errors, and avoids excessive accumulation of drugs in non-lesion areas and reduces the risk of side effects by accurately controlling the drug dosage.

[0129] In a preferred embodiment, the step of obtaining the abnormality degree of each injection point and obtaining the corresponding abnormality compensation value according to the abnormality degree includes:

[0130] S601, obtaining the abnormality degree of each injection point;

[0131] S602, obtaining an abnormality compensation table, wherein the abnormality compensation table includes multiple abnormality levels and an abnormality compensation value corresponding to each abnormality level;

[0132] S603, obtaining a target abnormality level according to the abnormality degree;

[0133] S604. Obtain a corresponding abnormality compensation value from the abnormality compensation table according to the target abnormality level.

[0134] As in the above steps S601 to S604, the abnormality level of each injection point is obtained through image processing technology, pathological analysis or other diagnostic means. The abnormality level can reflect the severity, range, morphological characteristics and other information of the lesion, and an abnormality compensation table is established, which lists multiple abnormality levels (such as mild, moderate, severe) and the abnormality compensation value corresponding to each abnormality level. This compensation table is usually formulated based on a large amount of clinical data and expert experience. According to the abnormality level of each injection point, it is classified into a corresponding target abnormality level. The abnormality level can be mild, moderate, or severe. According to the target abnormality level, the corresponding abnormality compensation is searched and obtained from the abnormality compensation table. The abnormal compensation value is preset for a specific abnormal level and is used to adjust the drug dosage. By evaluating the abnormality level of each injection point, accurate drug compensation can be performed for lesions of different degrees to ensure that the lesion area is fully treated. According to the specific abnormality level of each injection point, a personalized compensation value is provided to optimize the drug dosage of each injection point and achieve more effective treatment. The use of the abnormal compensation table for standardized processing reduces the error of subjective judgment and improves the calculation accuracy and consistency of the compensation value. The abnormal compensation table is developed based on clinical data and expert experience, which can provide a scientific basis for the formulation of treatment plans and improve the reliability and effectiveness of treatment.

[0135] In a preferred embodiment, the step of obtaining the injection amount of each injection point according to the injection distribution compensation value, the injection area compensation value, and the abnormality compensation value includes:

[0136] S701, obtaining a standard injection dose;

[0137] S702, calculating the injection dose of each injection point according to the injection distribution compensation value, the injection area compensation value, the abnormality compensation value and the standard injection dose, wherein the calculation formula is:

[0138] L=J c ·B·H·L b ;

[0139] Where, L represents the injection dose, J c It is expressed as the injection distribution compensation value, B is expressed as the injection area compensation value, H is expressed as the abnormal compensation value, and L is expressed as the injection distribution compensation value. b Expressed as standard injectable dose.

[0140] As in the above steps S701 to S702, a standard injection drug dose is determined. This standard dose is determined based on clinical research and treatment experience, and represents the basic drug dose required for each injection point under ideal conditions. The specific injection drug dose for each injection point is calculated based on the injection distribution compensation value, the injection area compensation value, the abnormality compensation value and the standard injection drug dose. This formula comprehensively considers the impact of each compensation value on the drug dose to ensure that each injection point obtains an appropriate amount of drug. By comprehensively considering the injection distribution, area and abnormality compensation values, the drug dose for each injection point can be adjusted according to its specific situation to achieve personalized treatment. Using the standard injection drug dose as a basis and combining multiple compensation values ​​for adjustment can improve the accuracy of the drug dose, ensure the effective distribution of the drug in the lesion area, accurately calculate the drug dose for each injection point, avoid drug waste, and improve drug utilization. Dynamic adjustment based on the compensation value obtained in real time can cope with different lesion degrees and distribution conditions, and improve the flexibility and adaptability of the treatment plan.

[0141] In a preferred embodiment, after the step of controlling the microinjection of each injection point in each injection area based on the injection drug dosage, the method further comprises:

[0142] S8001. Obtain the injection pressure of each injection point;

[0143] S8002, obtaining the injection assessment interval pressure;

[0144] S8003, determining whether the injection pressure is within the injection assessment interval pressure;

[0145] If the injection pressure is within the injection assessment interval pressure, the injection at the injection point is normal;

[0146] If the injection pressure is not within the injection assessment interval pressure and is greater than the upper limit of the injection assessment interval pressure, the injection at the injection point is abnormal and an overpressure warning signal of the injection point pressure is issued;

[0147] If the injection pressure is not within the injection assessment interval pressure and is less than the lower limit of the injection assessment interval pressure, the injection at the injection point is abnormal and a warning signal of too low injection point pressure is issued.

[0148] As in the above steps S8001 to S8003, the injection pressure of each injection point during the microinjection process is obtained in real time through a pressure sensor or other monitoring equipment. The injection pressure refers to the force applied when the drug is injected into the tissue. An injection evaluation interval pressure is determined. This interval is set based on a large amount of clinical data and experience, representing the range of normal injection pressure. The actual injection pressure is compared with the evaluation interval pressure to determine whether the injection is normal. If the injection pressure is within the evaluation interval pressure, it means that the injection process is normal. If the injection pressure is greater than the upper limit of the evaluation interval, it means that the injection pressure of the injection point is too high, and an overpressure warning signal is issued to remind the operator to adjust the injection pressure. If the injection pressure is less than the lower limit of the evaluation interval, it means that the injection pressure of the injection point is too low, and an underpressure warning signal should be issued to remind the operator that the injection point is abnormal and the puncture of the injection point needs to be rechecked. Real-time monitoring By comparing the injection pressure with the pressure in the evaluation interval, abnormal pressure conditions can be discovered in time to ensure the safety of the injection process. By monitoring and adjusting the injection pressure, it is ensured that the drug can be injected into the lesion area with appropriate pressure, thereby improving the accuracy and effectiveness of the treatment, avoiding tissue damage caused by excessive injection pressure, and avoiding ineffective drug penetration caused by excessively low pressure, thereby reducing adverse reactions during the treatment process. Through pressure monitoring and warning signals, a real-time feedback mechanism is established, which can adjust the injection parameters in time and optimize the treatment process. Real-time monitoring and adjustment of the injection pressure can improve treatment efficiency and reduce repeated operations and treatment time caused by abnormal pressure. Appropriate injection pressure can reduce the patient's pain, improve the patient's comfort and treatment experience, and through a scientific pressure monitoring and evaluation mechanism, the injection process can be systematically managed to improve the scientificity and reliability of the overall treatment plan.

[0149] Please see attached Figure 2 As shown, the present invention also provides a control system based on cervical multi-point microinjection, which is used in the above-mentioned control method based on cervical multi-point microinjection, comprising:

[0150] An injection point acquisition module is used to obtain three-dimensional image data of cervical tissue and obtain multiple target injection points based on the three-dimensional image data;

[0151] A partitioning module is used to obtain the distribution areas of multiple target injection points, and divide the cervical tissues where the multiple target injection points are located into multiple injection areas according to the distribution areas;

[0152] A distribution value module is used to obtain the position of each injection point in each injection area, and calculate the injection distribution value of each injection area according to the injection point position in each injection area;

[0153] A distribution compensation module, used for obtaining an injection distribution compensation value of each injection area according to the injection distribution value of each injection area;

[0154] An area compensation module is used to obtain the range value of each injection point and calculate the injection area compensation value of each injection point according to the injection point range value;

[0155] An abnormality compensation module is used to obtain the abnormality degree of each injection point and obtain the corresponding abnormality compensation value according to the abnormality degree;

[0156] A medicine dosage module is used to obtain the injection medicine dosage of each injection point according to the injection distribution compensation value, the injection area compensation value and the abnormal compensation value;

[0157] The control module is used to control the microinjection of each injection point in each injection area based on the injection drug dosage.

[0158] As mentioned above, the injection point acquisition module uses high-precision imaging equipment (such as MRI or CT) to obtain a three-dimensional image of the cervical tissue, identifies and extracts multiple target injection points through image processing algorithms, and the partitioning module analyzes the spatial distribution of the target injection points. Based on the density and position of the injection points, the cervical tissue is divided into several injection areas for more accurate subsequent processing. The distribution value module establishes a plane rectangular coordinate system, obtains the coordinate point of each injection point, and calculates the injection distribution value of each injection area through these coordinate points to reflect the distribution of the injection point in the injection area. The distribution compensation module evaluates whether the injection distribution value of each injection area is within the preset evaluation interval, calculates and adjusts the compensation value to ensure the uniform distribution of the drug in the injection area. The area compensation module extracts the injection point image data, obtains the edge contour and inflection point of the injection point, calculates the actual range value of each injection point, and obtains the injection area compensation value after comparing it with the standard range value. The abnormal compensation module evaluates the abnormality of each injection point and obtains the corresponding compensation according to the abnormal compensation table. The drug dosage module combines the standard injection drug dosage, comprehensively considers various compensation values, and accurately calculates the drug dosage required for each injection point. The control module controls the microinjection equipment to inject drugs according to the specific drug dosage of each injection point, monitors and adjusts the injection pressure in real time, and ensures the safety and effectiveness of the injection process. Through the multi-point microinjection control system, precise treatment of cervical tissue is achieved to ensure that the drug is accurately distributed to the lesion area and improve the treatment effect. The system can adjust the drug dosage according to the specific situation of each injection point (such as distribution, area, and degree of abnormality), provide personalized treatment plans, and improve the pertinence and effectiveness of treatment. The control module monitors the injection pressure in real time to ensure the safety of the injection process, and promptly issues abnormal warning signals to avoid risks caused by abnormal injection pressure. By accurately calculating the drug dosage and adjusting the injection parameters in real time, the utilization rate of the drug is improved, waste is reduced, resource allocation is optimized, and precise drug distribution and control are achieved to reduce the accumulation of drugs in non-lesion areas, reduce side effects, and improve the safety of treatment.

[0159] And, a control terminal based on cervical multi-point microinjection, comprising:

[0160] one or more processors;

[0161] a storage device having one or more programs stored thereon;

[0162] When the one or more programs are executed by the one or more processors, the one or more processors implement the control method based on cervical multi-point microinjection.

[0163] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A control method based on cervical multi-point microinjection, characterized in that: include: Acquire three-dimensional image data of cervical tissue, and acquire multiple target injection points according to the three-dimensional image data; Obtaining distribution areas of multiple target injection points, and dividing the cervical tissues where the multiple target injection points are located into multiple injection areas according to the distribution areas; Obtaining the position of each injection point in each injection area, and calculating the injection distribution value of each injection area according to the injection point position in each injection area; Obtaining an injection distribution compensation value for each injection area according to the injection distribution value of each injection area; Obtain the range value of each injection point, and calculate the injection area compensation value of each injection point according to the injection point range value; Obtain the abnormality degree of each injection point, and obtain the corresponding abnormality compensation value according to the abnormality degree; Obtain the injection amount of each injection point according to the injection distribution compensation value, injection area compensation value and abnormal compensation value; Microinjection at each injection point within each injection zone is controlled based on the injected drug dose.

2. The control method based on cervical multi-point microinjection according to claim 1, characterized in that: The step of obtaining three-dimensional image data of cervical tissue and obtaining multiple target injection points according to the three-dimensional image data includes: Obtain three-dimensional imaging data of cervical tissue; Extract image data from the three-dimensional image data, and obtain multiple injection point images according to the image data; Acquire standard injection point images; Determine whether the injection point image conforms to the standard injection point image; If the injection point conforms to the standard injection point image, the injection point is determined to meet the microinjection requirements and is marked as the target injection point; If the injection point does not conform to the standard injection point image, it is determined that the injection point does not meet the microinjection requirements.

3. The control method based on cervical multi-point microinjection according to claim 1, characterized in that: The step of obtaining the position of each injection point in each injection area and calculating the injection distribution value of each injection area according to the position of the injection point in each injection area comprises: Establishing a rectangular coordinate system on the cervical tissue; Obtain the coordinate point of each injection point in each injection area according to a plane rectangular coordinate system; The injection distribution value of each injection area is calculated according to the coordinate points of each injection point in each injection area, wherein the calculation formula is: In the formula, J b It is represented by the injection distribution value of the injection area, i is represented by the number of the coordinate point of the injection point in the injection area, n is represented by the total number of the coordinate points of the injection point in the injection area, and X i Represents the x-axis coordinate point of the i-th injection point, Y i Represented as the y-axis coordinate point of the i-th injection point.

4. The control method based on cervical multi-point microinjection according to claim 1, characterized in that: The step of obtaining the injection distribution compensation value of each injection area according to the injection distribution value of each injection area comprises: Obtain injection distribution evaluation interval value; Determine whether the injection distribution value is within the injection distribution evaluation interval value; If the injection distribution value is within the injection distribution evaluation interval, the calculation formula for determining the injection distribution compensation value is: In the formula, J c Expressed as injection distribution compensation value, J b It is expressed as the injection distribution value of the injection area, and P is expressed as the standard injection distribution value; If the injection distribution value is not within the injection distribution evaluation interval value and is greater than the maximum value of the injection distribution evaluation interval value, the calculation formula for determining the injection distribution compensation value is: In the formula, J c Expressed as injection distribution compensation value, J b It is expressed as the injection distribution value of the injection area, P is expressed as the standard injection distribution value, and g is expressed as the distribution coefficient; If the injection distribution value is not within the injection distribution evaluation interval value and is less than the minimum value of the injection distribution evaluation interval value, the injection distribution compensation value is determined to be 1.

5. The control method based on cervical multi-point microinjection according to claim 1, characterized in that: The step of obtaining the range value of each injection point in each injection area and calculating the injection area compensation value of each injection point according to the range value of each injection point includes: Acquire image data of each injection point in each injection area; Obtain the inflection point of the edge contour of each injection point according to the image data of each injection point; Establishing a rectangular coordinate system on the cervical tissue; Obtain the coordinate point of the inflection point of the edge contour of each injection point according to the plane rectangular coordinate system; The range value of each injection point is calculated according to the coordinate point of the inflection point of the edge contour of each injection point, where the calculation formula is: In the formula, S f It is represented by the range value of the injection point, r is represented by the number of the coordinate point of the inflection point of the edge contour of the injection point, m is represented by the total number of coordinate points of the inflection point of the edge contour of the injection point, K r Represented as the x-axis coordinate point of the rth edge contour inflection point, K r+1 Indicates the x-axis coordinate point of the r+1th edge contour inflection point, L r Represented as the y-axis coordinate point of the rth edge contour inflection point, L r+1 Represented as the y-axis coordinate point of the rth edge contour inflection point, where K m+1 =K1,L m+1 =L1; Get the standard injection range value; The injection area compensation value of each injection point is calculated according to the standard injection range value and the range value of each injection point, wherein the calculation formula is: Where, B represents the injection area compensation value of the injection point, S c Expressed as standard injection range values.

6. The control method based on cervical multi-point microinjection according to claim 1, characterized in that: The step of obtaining the abnormality degree of each injection point and obtaining the corresponding abnormality compensation value according to the abnormality degree includes: Obtain the degree of abnormality at each injection point; Obtaining an abnormality compensation table, wherein the abnormality compensation table includes multiple abnormality levels and an abnormality compensation value corresponding to each abnormality level; Obtain target abnormality level according to the abnormality degree; The corresponding abnormality compensation value is obtained from the abnormality compensation table according to the target abnormality level.

7. The control method based on cervical multi-point microinjection according to claim 1, characterized in that: The step of obtaining the injection amount of each injection point according to the injection distribution compensation value, the injection area compensation value, and the abnormality compensation value includes: Obtain standard injection doses; The injection dose of each injection point is calculated according to the injection distribution compensation value, the injection area compensation value, the abnormal compensation value and the standard injection dose, wherein the calculation formula is: L=J c ·B·H·L b ; Where, L represents the injection dose, J c It is expressed as the injection distribution compensation value, B is expressed as the injection area compensation value, H is expressed as the abnormal compensation value, and L is expressed as the injection distribution compensation value. b Expressed as standard injectable dose.

8. The control method based on cervical multi-point microinjection according to claim 1, characterized in that: After the step of controlling the microinjection of each injection point in each injection area based on the injection drug dosage, the method further includes: Get the injection pressure of each injection point; Obtain injection assessment interval pressure; Determine whether the injection pressure is within the injection assessment interval pressure; If the injection pressure is within the injection assessment interval pressure, the injection at the injection point is normal; If the injection pressure is not within the injection assessment interval pressure and is greater than the upper limit of the injection assessment interval pressure, the injection at the injection point is abnormal and an overpressure warning signal of the injection point pressure is issued; If the injection pressure is not within the injection assessment interval pressure and is less than the lower limit of the injection assessment interval pressure, the injection at the injection point is abnormal and a warning signal of too low injection point pressure is issued.

9. A control system based on cervical multi-point microinjection, applied to the control method based on cervical multi-point microinjection according to any one of claims 1 to 8, characterized in that: include: An injection point acquisition module is used to obtain three-dimensional image data of cervical tissue and obtain multiple target injection points based on the three-dimensional image data; A partitioning module is used to obtain the distribution areas of multiple target injection points, and divide the cervical tissues where the multiple target injection points are located into multiple injection areas according to the distribution areas; A distribution value module is used to obtain the position of each injection point in each injection area, and calculate the injection distribution value of each injection area according to the injection point position in each injection area; A distribution compensation module, used for obtaining an injection distribution compensation value of each injection area according to the injection distribution value of each injection area; An area compensation module is used to obtain the range value of each injection point and calculate the injection area compensation value of each injection point according to the injection point range value; An abnormality compensation module is used to obtain the abnormality degree of each injection point and obtain the corresponding abnormality compensation value according to the abnormality degree; A medicine dosage module is used to obtain the injection medicine dosage of each injection point according to the injection distribution compensation value, the injection area compensation value and the abnormal compensation value; The control module is used to control the microinjection of each injection point in each injection area based on the injection drug dosage.

10. A control terminal based on cervical multi-point microinjection, characterized in that: include: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the one or more processors implement the control method based on cervical multi-point microinjection as described in any one of claims 1-8.

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