Visual guide type tracheal intubation endoscope system

Abstract

The invention discloses a visual guide type tracheal intubation mirror system, relates to the technical field of guide type tracheal intubation mirrors, and aims to solve the problem of poor treatment effect of tracheal intubation. The constructed environment model not only comprises the diameter and the bending degree of the trachea, but also considers the surrounding tissue structure, so that a doctor can more comprehensively know the trachea and the surrounding environment of the trachea so as to make a more accurate decision, and the depth and angle information in the video image data is combined, so that the visual effect is improved. The real-time three-dimensional attitude of the intubation lens is estimated, the perception precision of the position and attitude of the intubation lens is improved, misoperation can be avoided, the structured light scanning method is combined with depth information and image coordinates for reconstruction, and compared with a traditional method, a three-dimensional model can be generated more quickly, the data quality of video data can be monitored in real time, and the real-time three-dimensional attitude of the intubation lens can be monitored more accurately. And the accuracy and stability of data are ensured. Therefore, data quality problems can be found and solved in time, and errors in subsequent diagnosis or treatment are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of guided endotracheal intubation mirrors, and in particular to a visualized guided endotracheal intubation mirror system. Background Art

[0002] A guided endotracheoscope is a medical device that combines visualization technology and a guidance system to help doctors accurately insert an endotracheal tube into a patient's trachea during general anesthesia or in an emergency.

[0003] The Chinese patent with publication number CN202096563U discloses a new type of endotracheal intubation mirror system. The endotracheal intubation mirror is mainly used to cooperate with the endotracheal tube. The curved hard working end of the endotracheal intubation mirror can smoothly pass through the patient's trachea and effectively play a fixing role. The oxygen supply channel of the endotracheal intubation mirror provides the patient with the necessary oxygen. The sputum suction channel can clear the sputum in the patient's throat. The instrument channel can pass instruments of appropriate diameter to remove blood clots and other foreign objects in the patient's trachea. In this way, the endotracheal intubation mirror system enables doctors to accurately perform endotracheal intubation under the direct view of the monitor, and through the multiple channels provided by the endotracheal intubation mirror, endotracheal intubation can be performed more accurately and safely. Although the above patent solves the problem of endotracheal intubation mirror treatment, the following problems still exist in actual operation: 1. Failure to conduct more precise testing of treatment equipment and obtain clearer data on the treatment process results in poor accuracy of treatment data.

[0004] 2. The acquired image data was not further optimized, and the acquired tracheal data was not specifically constructed into a three-dimensional model, resulting in unclear display of the tracheal lumen data.

[0005] 3. The optimal intubation path was not planned according to the conditions of the tracheal cavity, and the intubation process was not subject to data detection and alarm, resulting in poor treatment results for patients. Summary of the invention

[0006] The purpose of the present invention is to provide a visual guided tracheal intubation mirror system. The constructed environmental model not only includes the diameter and curvature of the trachea, but also takes into account the surrounding tissue structure, which helps doctors to have a more comprehensive understanding of the trachea and its surrounding environment, so as to make more accurate decisions. The real-time three-dimensional posture of the intubation mirror is estimated by combining the depth and angle information in the video image data, which improves the perception accuracy of the position and posture of the intubation mirror and helps to avoid misoperation. The structured light scanning method combines the depth information and image coordinates for reconstruction. Compared with the traditional method, the three-dimensional model can be generated faster, and the data quality of the video data can be monitored in real time to ensure the accuracy and stability of the data. This helps to timely discover and solve data quality problems, avoid errors in subsequent diagnosis or treatment, and can solve problems in the prior art.

[0007] To achieve the above object, the present invention provides the following technical solutions: A visualization-guided endotracheal intubation system, comprising: Therapeutic equipment testing unit for: Confirm the treatment equipment for endotracheal intubation, conduct preoperative testing on the confirmed treatment equipment, adjust the treatment equipment according to the test results, and obtain the standard treatment equipment after the adjustment; Endotracheal data acquisition unit for: Standard treatment equipment is used to collect real-time data of the patient's tracheal cavity, and after the real-time data collection is completed, the target trachea detection data is obtained; Acquisition data processing unit, used for: The target trachea detection data is subjected to image data preprocessing, and after the image data preprocessing is completed, a unique coding number is performed, and after the unique coding number is completed, the target trachea image data is obtained; Processing data 3D building blocks for: The target trachea image data is subjected to a three-dimensional model construction, and after the three-dimensional model construction is completed, a three-dimensional model of the trachea is obtained; Path guidance unit for: The tracheal three-dimensional model and the target tracheal image data are combined, and after the data combination is completed, the intubation path is planned, and the planned intubation path is transmitted to the display terminal for path display; The guidance path monitoring and early warning unit is used to: Medical staff perform intubation operations according to the intubation path displayed on the display terminal, monitor the intubation process in real time, perform abnormal detection and early warning based on the results of real-time monitoring, and transmit the abnormal detection and early warning data to the display terminal for alarm prompts.

[0008] Preferably, the therapeutic device detection unit is further used for: Confirm the treatment equipment first, which includes endotracheal intubation mirror, endotracheal tube, light source device, video camera, endotracheal fixator, power supply device and auxiliary tools; Then conduct preoperative testing on each treatment device; Among them, the endotracheal intubation scope is tested for integrity, clarity and firmness; the endotracheal tube is tested for integrity and flexibility; the light source equipment is tested for brightness and stability; the video camera is tested for clarity and transmission; the endotracheal fixator is tested for fixing force and adjustment performance; the power supply device is tested for stability and battery; Repair or replace treatment equipment that fails preoperative testing until it passes the test; All therapeutic equipment are marked as standard therapeutic equipment after passing the inspection.

[0009] Preferably, the endotracheal data acquisition unit is further used for: Before collecting real-time data from the patient's tracheal cavity, connect and calibrate the treatment equipment that has passed the preoperative test; After the equipment is connected and calibrated, the patient is disinfected. After the disinfection is completed, the endotracheal intubation scope is inserted into the patient's trachea; After the endotracheal intubation scope is inserted into the patient's trachea, the video camera collects video data of the endotracheal cavity in real time, and the collected video data includes video image data, depth data and angle data; During the real-time acquisition of video data by the video camera, the data quality of the video data is monitored in real time; Data quality includes image clarity, frame rate, and displacement amplitude; When the data quality exceeds the standard data quality threshold, an alarm is issued, and the standard data quality threshold is read from the database; After the real-time acquisition of video data is completed, the target trachea detection data is obtained.

[0010] Preferably, the collected data processing unit is further used for: First, the target trachea detection data is subjected to image data preprocessing, which includes image denoising, image enhancement, image correction, image segmentation and image registration; Image denoising is to remove the noise of the image in the target trachea detection data by using bilateral filtering; Performing image enhancement on the target trachea detection data after image denoising, wherein the image in the target trachea detection data is subjected to contrast enhancement by using histogram equalization, brightness adjustment is performed after contrast enhancement, and high-pass filtering is used for sharpening after brightness adjustment; The enhanced target trachea detection data is subjected to image correction, wherein the image correction is to correct the geometric distortion of the image in the target trachea detection data by using a geometric transformation algorithm, and the color deviation of the image is corrected after the geometric distortion correction is completed; The target trachea detection data after image correction is subjected to image segmentation. The image segmentation is to segment the image in the target trachea detection data according to the gray value of the pixel, separate the tracheal cavity from the surrounding tissue, detect the edge of the tracheal cavity by using the Sobel operator, and segment the area of ​​the tracheal cavity; Performing image registration on the target trachea detection data after image segmentation, wherein the image registration is to perform consistency processing on the image data in the target trachea detection data; After the image segmentation is completed, the target trachea detection data after the image data preprocessing is obtained; The coding rules are retrieved from the database, and the target trachea detection data after image data preprocessing is uniquely coded and labeled according to the coding rules, and the target trachea image data is obtained after the unique coding and labeling.

[0011] Preferably, the three-dimensional construction unit for processing data is further used for: Performing feature extraction on the target trachea image data, wherein the feature extraction is extracting feature points, lines or surfaces from the target trachea image data; After feature extraction, the corresponding features in different images are matched and the depth information of corresponding points between images is calculated; According to the depth information and image coordinates, the three-dimensional model of the trachea was reconstructed using structured light scanning; The reconstructed 3D tracheal model is optimized, and the model optimization includes mesh simplification, surface smoothing and model repair; After the model optimization is completed, the trachea three-dimensional model is obtained.

[0012] Preferably, the path guiding unit is further used for: Reading the tracheal three-dimensional model and target tracheal image data; After the data is read, the coordinate systems of the tracheal three-dimensional model and the target tracheal image data are unified; After the coordinate system is set, the feature descriptor is used to match the features of the tracheal three-dimensional model with the tracheal lumen image data, and after the matching is completed, the corresponding relationship between the tracheal three-dimensional model and the tracheal lumen image data is obtained; Then, the tracheal three-dimensional model and the tracheal lumen image data are voxelized, and after the voxelization, the tracheal three-dimensional model and the tracheal lumen image data are combined using a data fusion algorithm; After the data are combined, the tracheal combination model is obtained.

[0013] Preferably, the path guiding unit is further used for: The environmental model is constructed by using the trachea combined model, and the constructed environmental model includes the diameter, curvature and surrounding tissue structure of the trachea; After the environmental model is built, the starting point and the end point are confirmed; Path generation based on the environment model and the start and end points; Optimizing the generated path, wherein the path optimization is to smooth the generated path; The generated path is optimized and then visualized, and the tracheal intubation path is obtained after visualization; The intubation path is wirelessly transmitted to a display terminal for display.

[0014] Preferably, the guidance path monitoring and early warning unit is also used for: Medical staff check the displayed intubation path on the display terminal and perform operations according to the intubation path; Real-time monitoring of depth information, angle information and path information during operation; The depth information and angle information are used to estimate the real-time three-dimensional posture of the intubation scope by combining the depth and angle information in the video image data; The path information is to compare the real-time tracked intubation scope position with the displayed intubation path, and calculate the deviation between the real-time tracked intubation scope position and the displayed intubation path; Anomaly detection is performed based on the estimated result of the three-dimensional posture and the deviation data between the real-time tracked intubation scope position and the displayed intubation path; When the detection thresholds of depth information, angle information and path information exceed the preset thresholds, the alarm mechanism is automatically triggered; At the same time, different levels of alarm prompts are given according to the range exceeding the preset threshold; Finally, medical staff view the displayed data on the display terminal, which includes the planned path, real-time location, path deviation and alarm information; The planned path uses color and annotation to display the pre-planned intubation path; the real-time position displays the three-dimensional position and posture of the tip of the endotracheal intubation scope in the trachea in real time; the path deviation displays the deviation between the intubation scope and the pre-planned path; the alarm information is the range data that exceeds the preset threshold.

[0015] Preferably, the endotracheal tube is tested for integrity and flexibility, specifically: Applying external pressure to the endotracheal tube and detecting the deformation of the endotracheal tube, and determining the pressure-deformation correspondence of the endotracheal tube according to the variation parameters of the deformation with the external pressure; Determine the deformation capacity of the endotracheal tube under normal ambient pressure according to the pressure-deformation correspondence, and determine the flexibility of the endotracheal tube according to the deformation capacity of the tube; Collecting visual calibration parameters of the tracheal tube when it is folded in half, and determining the tube end coordinate parameters and the connection end coordinate parameters of the tracheal tube according to the visual calibration parameters; Obtaining light scattering parameters of the projection space, and constructing an image mapping mathematical model of the projection space according to the light scattering parameters; Determine the pipe end space point parameters and the connection end space point parameters through the image mapping mathematical model, and determine the distortion visual error according to the pipe end space point parameters and the connection end space point parameters as well as the pipe end coordinate parameters and the connection end coordinate parameters; Determine a projection scaling factor based on the distortion visual error, and determine the actual length and structural parameters of the endotracheal tube based on the projection scaling factor and a visual length parameter between the tube end and the connection end; Determine whether the specifications of the endotracheal tube are complete based on the actual length and structural parameters. If so, collect a video of the shape change of the endotracheal tube when gas is input; Extract the shape change frames of the tracheal tube when the gas is input according to the shape change video, and compare the shape change frames to determine whether the tracheal tube is blocked; If yes, determine the location of tube blockage based on the abnormal point of shape change and mark it; if no, confirm that the endotracheal tube is fully functional.

[0016] Preferably, the power supply device is subjected to stability detection, specifically: Detect the current internal resistance of the built-in battery of the power supply device, and calculate the remaining health life coefficient of the built-in battery based on the current internal resistance: Where Q represents the remaining health life coefficient of the built-in battery. Expressed as the current internal resistance of the built-in battery, Indicates the factory internal resistance of the built-in battery. Expressed as a reference internal resistance of a significantly aged built-in battery, Expressed as the usage intensity factor of the power supply device; Determine the power supply state quantity and the power supply observation quantity of the power supply device according to the remaining life coefficient of the built-in battery; The working stability index of the power supply device is calculated based on the power supply state quantity, the power supply observation quantity and the single minimum discharge intensity coefficient of the power supply device: Where D represents the working stability index of the power supply device, Expressed as the single minimum discharge intensity coefficient of the power supply device, Expressed as the reserve factor of the power supply unit, Expressed as the power supply state quantity, It is represented as the observed quantity of electric energy supply, ln is represented as the natural logarithm, Expressed as the system noise of the power supply unit, It is expressed as the discharge efficiency of the power supply device, T is the unit direction quantity, C is the rated capacity of the built-in battery, It is expressed as the discharge interference factor of the built-in battery under the remaining life coefficient; The discharge stability of the power supply device is determined according to the working stability index of the power supply device.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The visual guided tracheal intubation system provided by the present invention can collect video data of the tracheal cavity in real time after the tracheal intubation scope is inserted into the patient's trachea. This data provides doctors with comprehensive diagnostic information, helps to more accurately assess the patient's tracheal condition, and monitors the data quality of the video data in real time to ensure the accuracy and stability of the data. This helps to timely discover and solve data quality problems and avoid errors in subsequent diagnosis or treatment.

[0018] 2. The feature extraction and matching algorithms of the visualization-guided tracheal intubation system provided by the present invention generally have high computational efficiency and can quickly process large amounts of image data. The structured light scanning method combines depth information and image coordinates for reconstruction, and can generate a three-dimensional model faster than traditional methods. The reconstructed three-dimensional tracheal model can be used in multiple aspects such as surgical planning, disease diagnosis, and treatment evaluation.

[0019] 3. The visual guided tracheal intubation mirror system provided by the present invention constructs an environmental model that not only includes the diameter and curvature of the trachea, but also takes into account the surrounding tissue structure, which helps doctors to have a more comprehensive understanding of the trachea and its surrounding environment, and thus make more accurate decisions. Combined with the depth and angle information in the video image data, the real-time three-dimensional posture of the intubation mirror is estimated, which improves the perception accuracy of the intubation mirror's position and posture, and helps to avoid misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of a visual guided endotracheal intubation mirror unit of the present invention; Figure 2 The figure is a schematic diagram of the process of the visualized guided endotracheal intubation mirror of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] In order to solve the problem in the prior art that the treatment equipment is not tested more accurately before the patient receives treatment, and clearer data of the treatment process is not obtained, which leads to poor accuracy of the treatment data, please refer to Figure 1 and Figure 2 , this embodiment provides the following technical solutions: A visualization-guided endotracheal intubation system, comprising: Therapeutic equipment testing unit for: Confirm the treatment equipment for endotracheal intubation, conduct preoperative testing on the confirmed treatment equipment, adjust the treatment equipment according to the test results, and obtain the standard treatment equipment after the adjustment; Endotracheal data acquisition unit for: Standard treatment equipment is used to collect real-time data of the patient's tracheal cavity, and after the real-time data collection is completed, the target trachea detection data is obtained; Acquisition data processing unit, used for: The target trachea detection data is subjected to image data preprocessing, and after the image data preprocessing is completed, a unique coding number is performed, and after the unique coding number is completed, the target trachea image data is obtained; Processing data 3D building blocks for: The target trachea image data is subjected to a three-dimensional model construction, and after the three-dimensional model construction is completed, a three-dimensional model of the trachea is obtained; Path guidance unit for: The tracheal three-dimensional model and the target tracheal image data are combined, and after the data combination is completed, the intubation path is planned, and the planned intubation path is transmitted to the display terminal for path display; The guidance path monitoring and early warning unit is used to: Medical staff perform intubation operations according to the intubation path displayed on the display terminal, monitor the intubation process in real time, perform abnormal detection and early warning based on the results of real-time monitoring, and transmit the abnormal detection and early warning data to the display terminal for alarm prompts.

[0023] Specifically, through the strict equipment testing process and high-quality use of medical equipment by the treatment equipment testing unit, patients' trust and satisfaction with medical institutions can be enhanced. The data quality of video data can be monitored in real time by the endotracheal data acquisition unit to ensure the accuracy and stability of the data. The acquisition data processing unit ensures that image data acquired at different times or with different equipment can be compared and contrasted with each other, thereby improving the availability and comparability of the data. The feature extraction and matching steps of the data processing three-dimensional construction unit can cope with the changes in tracheal morphology in different images, and features can be effectively identified and matched even under different lighting, angles or occlusion conditions. The path guidance unit can accurately match the features of the tracheal three-dimensional model with the endotracheal image data, further enhancing the accuracy of the model. The real-time three-dimensional posture of the intubation mirror is estimated by the guided path monitoring and early warning unit, thereby improving the perception accuracy of the position and posture of the intubation mirror and helping to avoid misoperation.

[0024] Therapeutic equipment detection unit is also used for: Confirm the treatment equipment first, which includes endotracheal intubation mirror, endotracheal tube, light source device, video camera, endotracheal fixator, power supply device and auxiliary tools; Then conduct preoperative testing on each treatment device; Among them, the endotracheal intubation scope is tested for integrity, clarity and firmness; the endotracheal tube is tested for integrity and flexibility; the light source equipment is tested for brightness and stability; the video camera is tested for clarity and transmission; the endotracheal fixator is tested for fixing force and adjustment performance; the power supply device is tested for stability and battery; Repair or replace treatment equipment that fails preoperative testing until it passes the test; All therapeutic equipment are marked as standard therapeutic equipment after passing the inspection.

[0025] Specifically, by conducting comprehensive preoperative testing of treatment equipment, potential safety hazards, such as equipment damage and functional failure, can be discovered and resolved in a timely manner, thereby ensuring that the equipment used during the operation is safe and reliable. Qualified treatment equipment is one of the important factors to ensure the success of the operation. For example, the clarity of the endotracheal intubation mirror, the flexibility of the endotracheal tube, the brightness and stability of the light source equipment, etc., all directly affect the field of view, the convenience of operation and the accuracy of the operation. Therefore, through strict testing, this solution ensures that the equipment required for the operation is in good condition, which helps to improve the success rate of the operation. Preoperative testing can also help discover potential failures of the equipment and repair or replace it in time, thereby avoiding medical accidents caused by equipment failure during the operation. This not only protects the safety of patients, but also reduces the legal risks of medical institutions. By timely repairing or replacing unqualified equipment, the solution avoids delays or cancellations of operations due to equipment failure, thereby optimizing the use of medical resources. At the same time, this also reduces the waste and losses caused by equipment damage. Strict equipment testing procedures and high-quality use of medical equipment can enhance patients' trust and satisfaction with medical institutions.

[0026] The endotracheal data acquisition unit is also used for: Before collecting real-time data from the patient's tracheal cavity, connect and calibrate the treatment equipment that has passed the preoperative test; After the equipment is connected and calibrated, the patient is disinfected. After the disinfection is completed, the endotracheal intubation scope is inserted into the patient's trachea; After the endotracheal intubation scope is inserted into the patient's trachea, the video camera collects video data of the endotracheal cavity in real time, and the collected video data includes video image data, depth data and angle data; During the real-time acquisition of video data by the video camera, the data quality of the video data is monitored in real time; Data quality includes image clarity, frame rate, and displacement amplitude; When the data quality exceeds the standard data quality threshold, an alarm is issued, and the standard data quality threshold is read from the database; After the real-time acquisition of video data is completed, the target trachea detection data is obtained.

[0027] Specifically, the treatment equipment is tested, connected and calibrated before surgery to ensure the accuracy and safety of the equipment and reduce the risk of inaccurate diagnosis or treatment caused by equipment failure or error. After the equipment is connected and calibrated, the patient is disinfected. This is an important step to be responsible for the patient's health and can effectively reduce the risk of cross infection. After the endotracheal intubation scope is inserted into the patient's trachea, the video camera can collect video data of the tracheal cavity in real time, including video image data, depth data and angle data. These data provide doctors with comprehensive diagnostic information and help to more accurately evaluate the patient's tracheal condition. The data quality of the video data (such as image clarity, frame rate and displacement amplitude) is monitored in real time to ensure the accuracy and stability of the data. This helps to timely discover and solve data quality problems and avoid errors in subsequent diagnosis or treatment. When the data quality exceeds the standard data quality threshold, the system can automatically issue an alarm prompt. This intelligent alarm system can detect data anomalies in a timely manner and remind operators to take corresponding measures, thereby improving the accuracy and efficiency of data acquisition. The standard data quality threshold is read from the database, which ensures that the evaluation criteria for data quality are consistent and helps standardize and trace the data. At the same time, this also provides doctors with reliable data reference, helping to make more accurate diagnoses.

[0028] In order to solve the problem that the acquired image data is not further optimized and processed in the prior art, and the acquired tracheal data is not targeted for 3D model construction, which leads to unclear display of tracheal lumen data, please refer to Figure 1 and Figure 2 , this embodiment provides the following technical solutions: The data acquisition processing unit is also used for: First, the target trachea detection data is subjected to image data preprocessing, which includes image denoising, image enhancement, image correction, image segmentation and image registration; Image denoising is to remove the noise of the image in the target trachea detection data by using bilateral filtering; Performing image enhancement on the target trachea detection data after image denoising, wherein the image in the target trachea detection data is subjected to contrast enhancement by using histogram equalization, brightness adjustment is performed after contrast enhancement, and high-pass filtering is used for sharpening after brightness adjustment; The enhanced target trachea detection data is subjected to image correction, wherein the image correction is to correct the geometric distortion of the image in the target trachea detection data by using a geometric transformation algorithm, and the color deviation of the image is corrected after the geometric distortion correction is completed; The target trachea detection data after image correction is subjected to image segmentation. The image segmentation is to segment the image in the target trachea detection data according to the gray value of the pixel, separate the tracheal cavity from the surrounding tissue, detect the edge of the tracheal cavity by using the Sobel operator, and segment the area of ​​the tracheal cavity; Performing image registration on the target trachea detection data after image segmentation, wherein the image registration is to perform consistency processing on the image data in the target trachea detection data; After the image segmentation is completed, the target trachea detection data after the image data preprocessing is obtained; The coding rules are retrieved from the database, and the target trachea detection data after image data preprocessing is uniquely coded and labeled according to the coding rules, and the target trachea image data is obtained after the unique coding and labeling.

[0029] Specifically, image denoising removes noise through bilateral filtering, which can remove unnecessary noise while retaining image edge details, making subsequent processing more accurate. Image enhancement histogram equalization enhances the contrast of the image, brightness adjustment and high-pass filter sharpening further improve the visual effect of the image, making the tracheal structure clearer, image correction geometric transformation algorithm corrects geometric distortion, and color deviation correction ensures the authenticity of image color, all of which help to improve the accuracy of tracheal detection. Image segmentation based on pixel gray value segmentation and Sobel operator edge detection can accurately separate the tracheal lumen from the surrounding tissue, providing reliable data for subsequent tracheal analysis. Image registration processes image data for consistency, ensuring that image data collected at different times or with different devices can be compared and contrasted with each other, improving the availability and comparability of data. According to the coding rules, the pre-processed image data is uniquely coded and labeled, which is convenient for data storage, retrieval and management, and also for subsequent data analysis and research. Each processing step can be adjusted and optimized according to actual conditions, such as filtering parameters, segmentation thresholds, etc., to meet different tracheal detection needs.

[0030] Processing data 3D building blocks, also used for: Performing feature extraction on the target trachea image data, wherein the feature extraction is extracting feature points, lines or surfaces from the target trachea image data; After feature extraction, the corresponding features in different images are matched and the depth information of corresponding points between images is calculated; According to the depth information and image coordinates, the three-dimensional model of the trachea was reconstructed using structured light scanning; The reconstructed 3D tracheal model is optimized, and the model optimization includes mesh simplification, surface smoothing and model repair; After the model optimization is completed, the trachea three-dimensional model is obtained.

[0031] Specifically, through feature extraction, the key feature points, lines or surfaces of the trachea can be accurately captured from the image, providing accurate basic data for subsequent model reconstruction. The structured light scanning method itself has high precision and can accurately reconstruct the three-dimensional shape of the trachea based on depth information and image coordinates. The feature extraction and matching steps can cope with the changes in tracheal morphology in different images, and can effectively identify and match features even under different lighting, angles or occlusion conditions. The mesh simplification, surface smoothing and model repair in the model optimization step can handle noise, holes or irregularities that may appear during the reconstruction process, and improve the integrity and stability of the model. Feature extraction and matching algorithms usually have high computational efficiency and can quickly process large amounts of image data. The structured light scanning method combines depth information and image coordinates for reconstruction, and can generate three-dimensional models faster than traditional methods. Mesh simplification and surface smoothing in the model optimization step help reduce the data volume and complexity of the model, thereby improving the efficiency of subsequent processing and analysis. From feature extraction to model optimization, most steps can be completed automatically through algorithms and software, reducing human intervention and errors. The high degree of automation means that a large amount of tracheal image data can be processed, which is suitable for large-scale clinical research or diagnostic applications. The reconstructed tracheal three-dimensional model can be used in surgical planning, disease diagnosis, treatment evaluation and other aspects, providing doctors with more intuitive and accurate information support.

[0032] In order to solve the problem that the prior art does not plan the best intubation path according to the condition of the tracheal cavity, and does not perform data detection and alarm during the intubation process, thus resulting in poor treatment effect for patients, please refer to Figure 1 and Figure 2 , this embodiment provides the following technical solutions: The path guidance unit is also used for: Reading the tracheal three-dimensional model and target tracheal image data; After the data is read, the coordinate systems of the tracheal three-dimensional model and the target tracheal image data are unified; After the coordinate system is set, the feature descriptor is used to match the features of the tracheal three-dimensional model with the tracheal lumen image data, and after the matching is completed, the corresponding relationship between the tracheal three-dimensional model and the tracheal lumen image data is obtained; Then, the tracheal three-dimensional model and the tracheal lumen image data are voxelized, and after the voxelization, the tracheal three-dimensional model and the tracheal lumen image data are combined using a data fusion algorithm; After the data are combined, the tracheal combination model is obtained.

[0033] The environmental model is constructed by using the trachea combined model, and the constructed environmental model includes the diameter, curvature and surrounding tissue structure of the trachea; After the environmental model is built, the starting point and the end point are confirmed; Path generation based on the environment model and the start and end points; Optimizing the generated path, wherein the path optimization is to smooth the generated path; The generated path is optimized and then visualized, and the tracheal intubation path is obtained after visualization; The intubation path is wirelessly transmitted to a display terminal for display.

[0034] Specifically, by unifying the coordinate systems of the tracheal 3D model and the target tracheal image data, the consistency between the data is ensured, thereby improving the accuracy of subsequent feature matching and data fusion. The use of feature descriptors can accurately match the features of the tracheal 3D model and the tracheal lumen image data, further enhancing the accuracy of the model. The data fusion algorithm effectively combines the tracheal 3D model with the tracheal lumen image data to form a comprehensive tracheal combined model, which provides a more complete and accurate data basis for subsequent path generation. The constructed environmental model not only includes the diameter and curvature of the trachea, but also takes into account the surrounding tissue structure, which helps doctors to have a more comprehensive understanding of the trachea and its surrounding environment, so as to make more accurate decisions. The path is generated according to the environmental model and the starting and ending points, ensuring the feasibility and effectiveness of the path. The path optimization process smoothes the generated path, improves the practicality and safety of the path, and reduces the potential risks during intubation. The path visualization process enables the intubation path to be clearly presented on the display terminal, which is convenient for doctors to observe and judge intuitively, and improves the accuracy and safety of the operation.

[0035] The guidance path monitoring and early warning unit is also used for: Medical staff check the displayed intubation path on the display terminal and perform operations according to the intubation path; Real-time monitoring of depth information, angle information and path information during operation; The depth information and angle information are used to estimate the real-time three-dimensional posture of the intubation scope by combining the depth and angle information in the video image data; The path information is to compare the real-time tracked intubation scope position with the displayed intubation path, and calculate the deviation between the real-time tracked intubation scope position and the displayed intubation path; Anomaly detection is performed based on the estimated result of the three-dimensional posture and the deviation data between the real-time tracked intubation scope position and the displayed intubation path; When the detection thresholds of depth information, angle information and path information exceed the preset thresholds, the alarm mechanism is automatically triggered; At the same time, different levels of alarm prompts are given according to the range exceeding the preset threshold; Finally, medical staff view the displayed data on the display terminal, which includes the planned path, real-time location, path deviation and alarm information; The planned path uses color and annotation to display the pre-planned intubation path; the real-time position displays the three-dimensional position and posture of the tip of the endotracheal intubation scope in the trachea in real time; the path deviation displays the deviation between the intubation scope and the pre-planned path; the alarm information is the range data that exceeds the preset threshold.

[0036] Specifically, medical staff can directly view the intubation path on the display terminal and operate according to the displayed path, which greatly simplifies the operation process and improves the intuitiveness and accuracy of the operation. Real-time monitoring of depth information, angle information and path information provides medical staff with instant operation feedback, which helps to adjust the intubation position and posture in time to ensure the accuracy and safety of the operation. Combined with the depth and angle information in the video image data, the real-time three-dimensional posture of the intubation mirror is estimated, which improves the perception accuracy of the position and posture of the intubation mirror and helps to avoid misoperation. By comparing the real-time tracked intubation mirror position with the displayed intubation path and performing abnormality detection based on deviation data, it helps to timely discover and correct deviations in the intubation process and ensure the accuracy of the intubation path. When the detection threshold of the depth information, angle information and path information exceeds the preset threshold, the alarm mechanism is automatically triggered, and different degrees of alarm prompts are given according to the degree of exceeding the range, which helps medical staff to respond to and handle abnormal situations in time and ensure the safety of patients. The planned path, real-time position, path deviation and alarm information displayed on the display terminal provide comprehensive operation guidance and feedback for medical staff, which helps them better understand the overall situation of the intubation process.

[0037] The endotracheal tube is tested for integrity and flexibility, specifically: Applying external pressure to the endotracheal tube and detecting the deformation of the endotracheal tube, and determining the pressure-deformation correspondence of the endotracheal tube according to the variation parameters of the deformation with the external pressure; Determine the deformation capacity of the endotracheal tube under normal ambient pressure according to the pressure-deformation correspondence, and determine the flexibility of the endotracheal tube according to the deformation capacity of the tube; Collecting visual calibration parameters of the tracheal tube when it is folded in half, and determining the tube end coordinate parameters and the connection end coordinate parameters of the tracheal tube according to the visual calibration parameters; Obtaining light scattering parameters of the projection space, and constructing an image mapping mathematical model of the projection space according to the light scattering parameters; Determine the pipe end space point parameters and the connection end space point parameters through the image mapping mathematical model, and determine the distortion visual error according to the pipe end space point parameters and the connection end space point parameters as well as the pipe end coordinate parameters and the connection end coordinate parameters; Determine a projection scaling factor based on the distortion visual error, and determine the actual length and structural parameters of the endotracheal tube based on the projection scaling factor and a visual length parameter between the tube end and the connection end; Determine whether the specifications of the endotracheal tube are complete based on the actual length and structural parameters. If so, collect a video of the shape change of the endotracheal tube when gas is input; Extract the shape change frames of the tracheal tube when the gas is input according to the shape change video, and compare the shape change frames to determine whether the tracheal tube is blocked; If yes, determine the location of tube blockage based on the abnormal point of shape change and mark it; if no, confirm that the endotracheal tube is fully functional.

[0038] The beneficial effects of the above technical solution are as follows: by determining the flexibility of the tracheal tube according to the deformation capacity of the tube body, the flexibility of the tracheal tube can be quickly evaluated based on the most intuitive external force application method, thereby improving the evaluation efficiency and accuracy. Furthermore, by adjusting the visual parameters according to the projection distortion visual error, the influence of human visual errors can be avoided, the quality and reliability of the data can be guaranteed, and a comprehensive evaluation of the integrity of the tracheal tube can be achieved.

[0039] The visual guided endotracheal intubation system according to claim 2 is characterized in that the power supply device is subjected to stability detection, specifically: Detect the current internal resistance of the built-in battery of the power supply device, and calculate the remaining health life coefficient of the built-in battery based on the current internal resistance: Where Q represents the remaining health life coefficient of the built-in battery. Expressed as the current internal resistance of the built-in battery, Indicates the factory internal resistance of the built-in battery. Expressed as a reference internal resistance of a significantly aged built-in battery, Expressed as the usage intensity factor of the power supply device; Determine the power supply state quantity and the power supply observation quantity of the power supply device according to the remaining life coefficient of the built-in battery; The working stability index of the power supply device is calculated based on the power supply state quantity, the power supply observation quantity and the single minimum discharge intensity coefficient of the power supply device: Where D represents the working stability index of the power supply device, Expressed as the single minimum discharge intensity coefficient of the power supply device, Expressed as the reserve factor of the power supply unit, Expressed as the power supply state quantity, It is represented as the observed quantity of electric energy supply, ln is represented as the natural logarithm, Expressed as the system noise of the power supply unit, It is expressed as the discharge efficiency of the power supply device, T is the unit direction quantity, C is the rated capacity of the built-in battery, It is expressed as the discharge interference factor of the built-in battery under the remaining life coefficient; The discharge stability of the power supply device is determined according to the working stability index of the power supply device.

[0040] The beneficial effect of the above technical solution is: by calculating the remaining healthy life coefficient of the built-in battery, the power supply performance parameters of the power supply device can be intuitively evaluated, and then the working stability index of the power supply device can be calculated based on the performance parameters, so that the evaluation results are more in line with actual power consumption and objective, and the accuracy and reliability of the evaluation results are improved.

[0041] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0042] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A visual guided endotracheal intubation system, characterized in that: include: Therapeutic equipment testing unit for: Confirm the treatment equipment for endotracheal intubation, conduct preoperative testing on the confirmed treatment equipment, adjust the treatment equipment according to the test results, and obtain the standard treatment equipment after the adjustment; Endotracheal data acquisition unit for: Standard treatment equipment is used to collect real-time data of the patient's tracheal cavity, and after the real-time data collection is completed, the target trachea detection data is obtained; Acquisition data processing unit, used for: The target trachea detection data is subjected to image data preprocessing, and after the image data preprocessing is completed, a unique coding number is performed, and after the unique coding number is completed, the target trachea image data is obtained; Processing data 3D building blocks for: The target trachea image data is subjected to a three-dimensional model construction, and after the three-dimensional model construction is completed, a three-dimensional model of the trachea is obtained; Path guidance unit for: The tracheal three-dimensional model and the target tracheal image data are combined, and after the data combination is completed, the intubation path is planned, and the planned intubation path is transmitted to the display terminal for path display; The guidance path monitoring and early warning unit is used to: Medical staff perform intubation operations according to the intubation path displayed on the display terminal, monitor the intubation process in real time, perform abnormal detection and early warning based on the results of real-time monitoring, and transmit the abnormal detection and early warning data to the display terminal for alarm prompts.

2. A visualization-guided endotracheal intubation system according to claim 1, characterized in that: The therapeutic equipment detection unit is further used for: Confirm the treatment equipment first, which includes endotracheal intubation mirror, endotracheal tube, light source device, video camera, endotracheal fixator, power supply device and auxiliary tools; Then conduct preoperative testing on each treatment device; Among them, the endotracheal intubation scope is tested for integrity, clarity and firmness; the endotracheal tube is tested for integrity and flexibility; the light source equipment is tested for brightness and stability; the video camera is tested for clarity and transmission; the endotracheal fixator is tested for fixing force and adjustment performance; the power supply device is tested for stability and battery; Repair or replace treatment equipment that fails preoperative testing until it passes the test; All therapeutic equipment are marked as standard therapeutic equipment after passing the inspection.

3. A visualization-guided endotracheal intubation system according to claim 2, characterized in that: The endotracheal tube is tested for integrity and flexibility, specifically: Applying external pressure to the endotracheal tube and detecting the deformation of the endotracheal tube, and determining the pressure-deformation correspondence of the endotracheal tube according to the variation parameters of the deformation with the external pressure; Determine the deformation capacity of the endotracheal tube under normal ambient pressure according to the pressure-deformation correspondence, and determine the flexibility of the endotracheal tube according to the deformation capacity of the tube; Collecting visual calibration parameters of the tracheal tube when it is folded in half, and determining the tube end coordinate parameters and the connection end coordinate parameters of the tracheal tube according to the visual calibration parameters; Obtaining light scattering parameters of the projection space, and constructing an image mapping mathematical model of the projection space according to the light scattering parameters; Determine the pipe end space point parameters and the connection end space point parameters through the image mapping mathematical model, and determine the distortion visual error according to the pipe end space point parameters and the connection end space point parameters as well as the pipe end coordinate parameters and the connection end coordinate parameters; Determine a projection scaling factor based on the distortion visual error, and determine the actual length and structural parameters of the endotracheal tube based on the projection scaling factor and a visual length parameter between the tube end and the connection end; Determine whether the specifications of the endotracheal tube are complete based on the actual length and structural parameters. If so, collect a video of the shape change of the endotracheal tube when gas is input; Extract the shape change frames of the tracheal tube when the gas is input according to the shape change video, and compare the shape change frames to determine whether the tracheal tube is blocked; If yes, determine the location of tube blockage based on the abnormal point of shape change and mark it; if no, confirm that the endotracheal tube is fully functional.

4. A visualization-guided endotracheal intubation system according to claim 2, characterized in that: The power supply device is tested for stability, specifically: Detect the current internal resistance of the built-in battery of the power supply device, and calculate the remaining health life coefficient of the built-in battery based on the current internal resistance: Where Q represents the remaining health life coefficient of the built-in battery. Expressed as the current internal resistance of the built-in battery, Indicates the factory internal resistance of the built-in battery. Expressed as a reference internal resistance of a significantly aged built-in battery, Expressed as the usage intensity factor of the power supply device; Determine the power supply state quantity and the power supply observation quantity of the power supply device according to the remaining life coefficient of the built-in battery; The working stability index of the power supply device is calculated based on the power supply state quantity, the power supply observation quantity and the single minimum discharge intensity coefficient of the power supply device: Where D represents the working stability index of the power supply device, Expressed as the single minimum discharge intensity coefficient of the power supply device, Expressed as the reserve factor of the power supply unit, Expressed as the power supply state quantity, It is represented as the observed quantity of electric energy supply, ln is represented as the natural logarithm, Expressed as the system noise of the power supply unit, It is expressed as the discharge efficiency of the power supply device, T is the unit direction quantity, C is the rated capacity of the built-in battery, It is expressed as the discharge interference factor of the built-in battery under the remaining life coefficient; The discharge stability of the power supply device is determined according to the working stability index of the power supply device.

5. A visualization-guided endotracheal intubation system according to claim 2, characterized in that: The tracheal cavity data acquisition unit is also used for: Before collecting real-time data from the patient's tracheal cavity, connect and calibrate the treatment equipment that has passed the preoperative test; After the equipment is connected and calibrated, the patient is disinfected. After the disinfection is completed, the endotracheal intubation scope is inserted into the patient's trachea; After the endotracheal intubation scope is inserted into the patient's trachea, the video camera collects video data of the endotracheal cavity in real time, and the collected video data includes video image data, depth data and angle data; During the real-time acquisition of video data by the video camera, the data quality of the video data is monitored in real time; Data quality includes image clarity, frame rate, and displacement amplitude; When the data quality exceeds the standard data quality threshold, an alarm is issued, and the standard data quality threshold is read from the database; After the real-time acquisition of video data is completed, the target trachea detection data is obtained.

6. A visualization-guided endotracheal intubation system according to claim 5, characterized in that: The data collection processing unit is further used for: First, the target trachea detection data is subjected to image data preprocessing, which includes image denoising, image enhancement, image correction, image segmentation and image registration; Image denoising is to remove the noise of the image in the target trachea detection data by using bilateral filtering; Performing image enhancement on the target trachea detection data after image denoising, wherein the image in the target trachea detection data is subjected to contrast enhancement by using histogram equalization, brightness adjustment is performed after contrast enhancement, and high-pass filtering is used for sharpening after brightness adjustment; The enhanced target trachea detection data is subjected to image correction, wherein the image correction is to correct the geometric distortion of the image in the target trachea detection data by using a geometric transformation algorithm, and the color deviation of the image is corrected after the geometric distortion correction is completed; The target trachea detection data after image correction is subjected to image segmentation. The image segmentation is to segment the image in the target trachea detection data according to the gray value of the pixel, separate the tracheal cavity from the surrounding tissue, detect the edge of the tracheal cavity by using the Sobel operator, and segment the area of ​​the tracheal cavity; Performing image registration on the target trachea detection data after image segmentation, wherein the image registration is to perform consistency processing on the image data in the target trachea detection data; After the image segmentation is completed, the target trachea detection data after the image data preprocessing is obtained; The coding rules are retrieved from the database, and the target trachea detection data after image data preprocessing is uniquely coded and labeled according to the coding rules, and the target trachea image data is obtained after the unique coding and labeling.

7. A visualization-guided endotracheal intubation system according to claim 5, characterized in that: The processing data three-dimensional construction unit is also used for: Performing feature extraction on the target trachea image data, wherein the feature extraction is extracting feature points, lines or surfaces from the target trachea image data; After feature extraction, the corresponding features in different images are matched and the depth information of corresponding points between images is calculated; According to the depth information and image coordinates, the three-dimensional model of the trachea was reconstructed using structured light scanning; The reconstructed 3D tracheal model is optimized, and the model optimization includes mesh simplification, surface smoothing and model repair; After the model optimization is completed, the trachea three-dimensional model is obtained.

8. A visualization-guided endotracheal intubation system according to claim 7, characterized in that: The path guiding unit is further used for: Reading the tracheal three-dimensional model and target tracheal image data; After the data is read, the coordinate systems of the tracheal three-dimensional model and the target tracheal image data are unified; After the coordinate system is set, the feature descriptor is used to match the features of the tracheal three-dimensional model with the tracheal lumen image data, and after the matching is completed, the corresponding relationship between the tracheal three-dimensional model and the tracheal lumen image data is obtained; Then, the tracheal three-dimensional model and the tracheal lumen image data are voxelized, and after the voxelization, the tracheal three-dimensional model and the tracheal lumen image data are combined using a data fusion algorithm; After the data are combined, the tracheal combination model is obtained.

9. A visualization-guided endotracheal intubation system according to claim 8, characterized in that: The path guiding unit is further used for: The environmental model is constructed by using the trachea combined model, and the constructed environmental model includes the diameter, curvature and surrounding tissue structure of the trachea; After the environmental model is built, the starting point and the end point are confirmed; Path generation based on the environment model and the start and end points; Optimizing the generated path, wherein the path optimization is to smooth the generated path; The generated path is optimized and then visualized, and the tracheal intubation path is obtained after visualization; The intubation path is wirelessly transmitted to a display terminal for display.

10. A visualization-guided endotracheal intubation system according to claim 9, characterized in that: The guidance path monitoring and early warning unit is also used for: Medical staff check the displayed intubation path on the display terminal and perform operations according to the intubation path; Real-time monitoring of depth information, angle information and path information during operation; The depth information and angle information are used to estimate the real-time three-dimensional posture of the intubation scope by combining the depth and angle information in the video image data; The path information is to compare the real-time tracked intubation scope position with the displayed intubation path, and calculate the deviation between the real-time tracked intubation scope position and the displayed intubation path; Anomaly detection is performed based on the estimated result of the three-dimensional posture and the deviation data between the real-time tracked intubation scope position and the displayed intubation path; When the detection thresholds of depth information, angle information and path information exceed the preset thresholds, the alarm mechanism is automatically triggered; At the same time, different levels of alarm prompts are given according to the range exceeding the preset threshold; Finally, medical staff view the displayed data on the display terminal, which includes the planned path, real-time location, path deviation and alarm information; The planned path uses color and annotation to display the pre-planned intubation path; the real-time position displays the three-dimensional position and posture of the tip of the endotracheal intubation scope in the trachea in real time; the path deviation displays the deviation between the intubation scope and the pre-planned path; the alarm information is the range data that exceeds the preset threshold.

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