A visual guidance endotracheal intubation scope system

Abstract

The present invention discloses a visual guided tracheal intubation scope system, which relates to the technical field of guided tracheal intubation scopes and aims to solve the problem of poor treatment effect of tracheal intubation. The environmental model constructed by the present invention not only includes the diameter and curvature of the trachea, but also takes into account the surrounding tissue structures, which helps doctors to more comprehensively understand the trachea and its surrounding environment, so as to make more accurate decisions. By combining the depth and angle information in the video image data, the real-time three-dimensional pose of the intubation scope is estimated, improving the perception accuracy of the position and pose of the intubation scope, which helps to avoid misoperation. The structured light scanning method combines depth information and image coordinates for reconstruction, and compared with traditional methods, it can generate a three-dimensional model faster. The data quality of the video data 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.

Description

Technical Field

[0001] The present invention relates to the technical field of guided tracheal intubation scopes, and specifically to a visualization-guided tracheal intubation scope system. Background Art

[0002] A guided tracheal intubation scope is a medical device that combines visualization technology and a guidance system to assist doctors in accurately inserting a tracheal catheter into a patient's trachea under general anesthesia or in an emergency.

[0003] Chinese Patent with Publication No. CN202096563U discloses a new type of tracheal intubation scope system. After the tracheal intubation scope cooperates with the tracheal intubation, the curved rigid working end of the tracheal intubation scope can smoothly pass through the patient's trachea and effectively play a fixing role. The oxygen supply channel of the tracheal intubation scope provides the necessary oxygen for the patient. Through the sputum suction channel, the sputum in the patient's throat can be cleared, and instruments with an appropriate diameter can be inserted through the instrument channel to remove foreign objects such as blood clots in the patient's trachea. In this way, the tracheal intubation scope system allows doctors to accurately perform tracheal intubation under direct vision of a monitor, and through the multiple channels provided by the tracheal intubation scope, tracheal intubation can be carried out more accurately and safely. Although the above patent solves the problems of tracheal intubation scope treatment, the following problems still exist in actual operation:

[0004] 1. The treatment equipment is not detected more precisely, and clear data acquisition is not carried out during the treatment process, resulting in poor accuracy of treatment data.

[0005] 2. The acquired image data is not further optimized, and a targeted three-dimensional model is not constructed for the acquired tracheal data, resulting in unclear display of tracheal lumen data.

[0006] 3. The best intubation path is not planned according to the condition of the tracheal lumen, and data detection and alarm are not carried out during the intubation process, resulting in poor treatment effect for the patient. Summary of the Invention

[0007] The object of the present invention is to provide a visualization-guided tracheal intubation scope system. The constructed environmental model not only includes the diameter and curvature of the trachea, but also takes into account the surrounding tissue structures, which helps doctors to more comprehensively understand the trachea and its surrounding environment, so as to make more accurate decisions. By combining the depth and angle information in the video image data, the real-time three-dimensional pose of the intubation scope is estimated, improving the perception accuracy of the position and pose of the intubation scope, which helps to avoid misoperations. The structured light scanning method combines depth information and image coordinates for reconstruction, and compared with traditional methods, it can generate a three-dimensional model faster. The data quality of the video data is monitored in real time to ensure the accuracy and stability of the data. This helps to timely detect and solve data quality problems and avoid errors in subsequent diagnosis or treatment, and can solve the problems in the prior art.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] A visualization-guided tracheal intubation scope system, characterized in that it includes:

[0010] A treatment device detection unit, for:

[0011] Confirm the treatment device for tracheal intubation, perform preoperative detection on the confirmed treatment device, adjust the treatment device according to the detection results, and obtain a standard treatment device after the adjustment is completed;

[0012] A tracheal lumen data acquisition unit, for:

[0013] Use the standard treatment device to perform real-time data acquisition on the tracheal lumen of the patient, and obtain target trachea detection data after the real-time data acquisition is completed;

[0014] A data acquisition processing unit, for:

[0015] Perform image data preprocessing on the target trachea detection data, perform unique coding and labeling after the image data preprocessing is completed, and obtain target trachea image data after the unique coding and labeling is completed;

[0016] A processed data three-dimensional construction unit, for:

[0017] Perform three-dimensional model construction on the target trachea image data, and obtain a trachea three-dimensional model after the three-dimensional model construction is completed;

[0018] A path guidance unit, for:

[0019] Combine the trachea three-dimensional model and the target trachea image data, perform intubation path planning after the data combination is completed, and transmit the planned intubation path to a display terminal for path display;

[0020] A guidance path monitoring and warning unit, for:

[0021] Medical staff perform intubation operations according to the intubation path displayed on the display terminal, monitor the intubation operation process in real time, perform anomaly detection and warning based on the results of real-time monitoring, and transmit the data of anomaly detection and warning to the display terminal for alarm prompts;

[0022] Perform preoperative detection on the confirmed treatment equipment, including performing integrity and flexibility detection on the tracheal catheter. Specifically:

[0023] Apply external pressure to the tracheal catheter and detect the deformation of the tracheal catheter. Determine the pressure-deformation correspondence relationship of the tracheal catheter according to the change parameters of the deformation with the external pressure;

[0024] Determine the tube body deformation ability of the tracheal catheter under normal ambient air pressure according to the pressure-deformation correspondence relationship, and determine the flexibility of the tracheal catheter according to the tube body deformation ability;

[0025] Collect the visual calibration parameters of the tracheal catheter when it is folded, and determine the tube end coordinate parameters and connection end coordinate parameters of the tracheal catheter according to the visual calibration parameters;

[0026] Obtain the light scattering parameters of the projection space, and construct an image mapping mathematical model of the projection space according to the light scattering parameters;

[0027] Determine the tube end space point parameters and connection end space point parameters through the image mapping mathematical model, and determine the distortion visual error according to the tube end space point parameters, connection end space point parameters, tube end coordinate parameters and connection end coordinate parameters;

[0028] Determine the projection scaling coefficient based on the distortion visual error, and determine the actual length and structural parameters of the tracheal catheter based on the projection scaling coefficient and the visual length parameters between the tube end and the connection end;

[0029] Determine whether the specification of the tracheal catheter is complete according to the actual length and structural parameters. If so, collect the shape change video of the tracheal catheter when inputting gas;

[0030] Extract the shape change frames of the tracheal catheter when inputting gas from the shape change video, and compare the shape change frames to determine whether the tracheal catheter is blocked;

[0031] If so, determine the catheter blockage position according to the shape change abnormal points and mark it. If not, confirm the complete function of the tracheal catheter.

[0032] Preferably, the treatment equipment detection unit is further used for:

[0033] First confirm the treatment equipment. The treatment equipment includes a tracheal intubation scope, a tracheal catheter, a light source device, a video camera, a tracheal fixator, a power supply device and auxiliary tools;

[0034] Then, preoperative detection is performed on each treatment device;

[0035] Among them, integrity detection, clarity detection, and firmness detection are performed on the tracheal intubation scope; integrity and flexibility detection are performed on the tracheal catheter; brightness and stability detection are performed on the light source device; clarity and transmission detection are performed on the video camera; fixing force and adjustment performance detection are performed on the tracheal fixator; stability and battery detection are performed on the power supply device;

[0036] Repair or replace the treatment devices that fail the preoperative detection until the detection is qualified;

[0037] After all the treatment devices are detected to be qualified, they are marked as standard treatment devices.

[0038] Preferably, the tracheal lumen data acquisition unit is further used for:

[0039] Before real-time data acquisition of the patient's tracheal lumen, first perform device connection and calibration on the treatment devices that pass the preoperative detection;

[0040] After the device connection and calibration are completed, perform disinfection work on the patient. After the disinfection work is completed, insert the tracheal intubation scope into the patient's trachea;

[0041] After the tracheal intubation scope is inserted into the patient's trachea, the video camera real-time collects video data of the tracheal lumen. The collected video data includes video image data, depth data, and angle data;

[0042] During the real-time video data acquisition by the video camera, the data quality of the video data is monitored in real time;

[0043] The data quality includes image clarity, frame rate, and displacement amplitude;

[0044] When the data quality exceeds the standard data quality threshold, an alarm prompt is issued. The standard data quality threshold is read from the database;

[0045] After the real-time video data acquisition is completed, the target tracheal detection data is obtained.

[0046] Preferably, the acquired data processing unit is further used for:

[0047] First, perform preprocessing on the image data of the target tracheal detection data. The image data preprocessing includes image denoising, image enhancement, image correction, image segmentation, and image registration;

[0048] Image denoising is to remove the noise in the image of the target tracheal detection data by using bilateral filtering;

[0049] Perform image enhancement on the target trachea detection data after image denoising. The image enhancement is to perform contrast enhancement on the image in the target trachea detection data using histogram equalization, perform brightness adjustment after contrast enhancement, and perform sharpening processing using high-pass filtering after brightness adjustment;

[0050] Perform image correction on the target trachea detection data after image enhancement. The image correction is to correct the geometric distortion of the image in the target trachea detection data using a geometric transformation algorithm, and correct the color deviation of the image after the geometric distortion correction is completed;

[0051] Perform image segmentation on the target trachea detection data after image correction. The image segmentation is to segment the image in the target trachea detection data according to the gray value of the pixels, separate the tracheal lumen from the surrounding tissues, detect the edge of the tracheal lumen using the Sobel operator, and segment the area of the tracheal lumen;

[0052] Perform image registration on the target trachea detection data after image segmentation. The image registration is to perform consistency processing on the image data in the target trachea detection data;

[0053] After image segmentation is completed, the target trachea detection data with preprocessed image data is obtained;

[0054] Retrieve the coding rule from the database, and perform unique coding and labeling on the target trachea detection data with preprocessed image data according to the coding rule. After unique coding and labeling, the target trachea image data is obtained.

[0055] Preferably, the processing data three-dimensional construction unit is further used for:

[0056] Extract features from the target trachea image data. The feature extraction is to extract feature points, lines or surfaces from the target trachea image data;

[0057] After feature extraction is completed, match the corresponding features in different images, and calculate the depth information of the corresponding points between the images;

[0058] According to the depth information and image coordinates, use the structured light scanning method to reconstruct the three-dimensional model of the trachea;

[0059] Perform model optimization on the reconstructed three-dimensional model of the trachea. The model optimization includes mesh simplification, surface smoothing and model repair;

[0060] After model optimization is completed, the three-dimensional model of the trachea is obtained.

[0061] Preferably, the path guidance unit is further used for:

[0062] Read the data of the three-dimensional model of the trachea and the target trachea image data;

[0063] After the data is read, the coordinate systems of the three-dimensional trachea model and the target trachea image data are unified;

[0064] After the coordinate systems are unified, feature descriptors are used to match the features of the three-dimensional trachea model and the trachea lumen image data. After the matching is completed, the corresponding relationship between the three-dimensional trachea model and the trachea lumen image data is obtained;

[0065] Then, the three-dimensional trachea model and the trachea lumen image data are voxelized. After the voxelization process, a data fusion algorithm is used to combine the three-dimensional trachea model and the trachea lumen image data;

[0066] After the data combination is completed, a combined trachea model is obtained.

[0067] Preferably, the path guidance unit is further configured to:

[0068] Use the combined trachea model to construct an environmental model, and the constructed environmental model includes the diameter, bending degree, and surrounding tissue structure of the trachea;

[0069] After the environmental model is constructed, the starting point and the ending point are confirmed;

[0070] Generate a path according to the environmental model and the starting point and the ending point;

[0071] Optimize the generated path, and the path optimization is to smooth the generated path;

[0072] After the generated path is optimized, perform path visualization processing. After the visualization processing, the intubation path of the trachea is obtained;

[0073] Transmit the intubation path wirelessly to the display terminal for displaying the intubation path.

[0074] Preferably, the guiding path monitoring and warning unit is further configured to:

[0075] Medical staff view the displayed intubation path on the display terminal and perform operations according to the intubation path;

[0076] During the operation process, the depth information, angle information, and path information are monitored in real time;

[0077] Among them, the depth information and the angle information are used to estimate the real-time three-dimensional pose of the intubation scope by combining the depth and angle information in the video image data;

[0078] The path information is to compare the real-time tracked position of the intubation scope with the displayed intubation path and calculate the deviation between the real-time tracked position of the intubation scope and the displayed intubation path;

[0079] Anomaly detection is performed based on the estimated result of the three-dimensional pose and the deviation data between the real-time tracked position of the intubation scope and the displayed intubation path;

[0080] When the detection thresholds of the depth information, angle information, and path information exceed the preset thresholds, the alarm mechanism is automatically triggered;

[0081] Meanwhile, according to the range exceeding the preset threshold, different levels of alarm prompts are given;

[0082] Finally, medical staff view the display data on the display terminal, and the display data includes the planned path, real-time position, path deviation, and alarm information;

[0083] The planned path uses colors and markings to display the pre-planned intubation path; the real-time position shows the three-dimensional position and pose of the tip of the tracheal intubation scope in the trachea in real time; the path deviation shows the deviation between the intubation scope and the pre-planned path; the alarm information is the range data exceeding the preset threshold.

[0084] Preferably, the power supply device is subjected to stability detection, specifically:

[0085] 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 according to the current internal resistance:

[0086]

[0087] Among them, represents the remaining health life coefficient of the built-in battery, represents the current internal resistance of the built-in battery, represents the factory internal resistance of the built-in battery, represents the reference internal resistance of the significantly aged built-in battery, represents the usage intensity coefficient of the power supply device;

[0088] Determine the power supply state quantity and power supply observation quantity of the power supply device according to the remaining life coefficient of the built-in battery;

[0089] Calculate the working stability index of the power supply device according to the power supply state quantity, power supply observation quantity, and the single minimum discharge intensity coefficient of the power supply device:

[0090]

[0091] Among them, represents the working stability index of the power supply device, represents the single minimum discharge intensity coefficient of the power supply device, represents the reserve coefficient of the power supply device, represents the power supply state quantity, Expressed as an observable quantity of power supply, Expressed as the natural logarithm, Expressed as the system noise of the power supply device, Expressed as the discharge efficiency of the power supply device, Expressed as a unit direction vector, Expressed as the rated capacity of the built-in battery, Expressed as the discharge interference factor of the built-in battery under the remaining life coefficient;

[0092] Determine the discharge stability of the power supply device according to the working stability index of the power supply device.

[0093] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0094] 1. For the visual guidance tracheal intubation scope system provided by the present invention, after the tracheal intubation scope is inserted into the patient's trachea, the video camera can collect video data of the tracheal lumen in real time. These data provide comprehensive diagnostic information for doctors, helping to more accurately evaluate the patient's tracheal condition, and real-time monitoring the data quality of the video data to ensure the accuracy and stability of the data. This helps to timely detect and solve data quality problems, avoiding errors in subsequent diagnosis or treatment.

[0095] 2. For the visual guidance tracheal intubation scope system provided by the present invention, the feature extraction and matching algorithms usually have high computational efficiency and can quickly process a large amount of image data. The structured light scanning method combines depth information and image coordinates for reconstruction. Compared with traditional methods, it can generate a three-dimensional model faster. The reconstructed three-dimensional tracheal model can be used in multiple aspects such as surgical planning, disease diagnosis, and treatment evaluation.

[0096] 3. For the visual guidance tracheal intubation scope system provided by the present invention, the constructed environmental model not only includes the diameter and curvature of the trachea, but also considers the surrounding tissue structures. This helps doctors to more comprehensively understand the trachea and its surrounding environment, thus making more accurate decisions. Combining the depth and angle information in the video image data, estimating the real-time three-dimensional pose of the intubation scope, improving the perception accuracy of the position and pose of the intubation scope, and helping to avoid misoperations. Description of the Drawings

[0097] Figure 1 Schematic diagram of the visual guidance tracheal intubation scope unit of the present invention;

[0098] Figure 2 Schematic diagram of the process of the visual guidance tracheal intubation scope of the present invention. Detailed Embodiments

[0099] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0100] In order to solve the problem in the prior art that before a patient undergoes treatment, the treatment device is not more accurately detected, and the data acquisition during the treatment process is not clearer, resulting in poor accuracy of the treatment data, please refer to Figure 1 and Figure 2 , the following technical solutions are provided in this embodiment:

[0101] A visual guidance tracheal intubation scope system, comprising:

[0102] A treatment device detection unit, for:

[0103] Confirm the treatment device for tracheal intubation, perform preoperative detection on the confirmed treatment device, adjust the treatment device according to the detection results, and obtain a standard treatment device after the adjustment is completed;

[0104] A tracheal lumen data acquisition unit, for:

[0105] Use the standard treatment device to perform real-time data acquisition on the tracheal lumen of the patient, and obtain target tracheal detection data after the real-time data acquisition is completed;

[0106] A data acquisition processing unit, for:

[0107] Perform image data preprocessing on the target tracheal detection data, perform unique coding and labeling after the image data preprocessing is completed, and obtain target tracheal image data after the unique coding and labeling is completed;

[0108] A processed data three-dimensional construction unit, for:

[0109] Perform three-dimensional model construction on the target tracheal image data, and obtain a tracheal three-dimensional model after the three-dimensional model construction is completed;

[0110] A path guidance unit, for:

[0111] Combine the tracheal three-dimensional model and the target tracheal image data, perform intubation path planning after the data combination is completed, and transmit the planned intubation path to the display terminal for path display;

[0112] A guidance path monitoring and warning unit, for:

[0113] Medical staff perform intubation operations according to the intubation path displayed on the display terminal, monitor the intubation operation process in real time, perform anomaly detection and warning based on the results of real-time monitoring, and transmit the data of anomaly detection and warning to the display terminal for alarm prompts.

[0114] Specifically, through the strict equipment detection process and high-quality use of medical equipment by the treatment equipment detection unit, the trust and satisfaction of patients towards medical institutions can be enhanced. Through the tracheal lumen data acquisition unit, the data quality of video data is monitored in real time to ensure the accuracy and stability of the data. Through the acquired data processing unit, the image data collected at different times or by different devices can be compared and contrasted with each other, improving the usability and comparability of the data. Through the feature extraction and matching steps of the processed data three-dimensional construction unit, the tracheal morphological changes in different images can be addressed. Even under different lighting, angles, or occlusion conditions, features can be effectively identified and matched. Through the path guidance unit, the features of the tracheal three-dimensional model can be accurately matched with the tracheal lumen image data, further enhancing the accuracy of the model. Through the guidance path monitoring and warning unit, the real-time three-dimensional pose of the intubation scope is estimated, improving the perception accuracy of the position and pose of the intubation scope and helping to avoid misoperations.

[0115] The treatment equipment detection unit is also used for:

[0116] Confirm the treatment equipment first. The treatment equipment includes an endotracheal intubation scope, an endotracheal tube, a light source device, a video camera, a tracheal fixator, a power supply device, and auxiliary tools;

[0117] Then perform preoperative detection on each treatment equipment;

[0118] Among them, perform integrity detection, clarity detection, and firmness detection on the endotracheal intubation scope; perform integrity and flexibility detection on the endotracheal tube; perform brightness and stability detection on the light source device; perform clarity and transmission detection on the video camera; perform fixation force and adjustment performance detection on the tracheal fixator; perform stability and battery detection on the power supply device;

[0119] Repair or replace the treatment equipment that fails the preoperative detection until the detection is qualified;

[0120] After all the treatment equipment passes the detection, it is marked as standard treatment equipment.

[0121] Specifically, through comprehensive preoperative testing of the treatment equipment, potential safety hazards such as equipment damage and functional failure can be detected and resolved in a timely manner, ensuring that the equipment used during the operation is safe, reliable, and qualified. A qualified treatment equipment is one of the important factors for ensuring the success of the operation. For example, the clarity of the tracheal intubation scope, the flexibility of the tracheal catheter, the brightness and stability of the light source equipment, etc. all directly affect the surgical field of view, the convenience of operation, and the accuracy of the operation. Therefore, through strict testing, this solution ensures the proper functioning of the equipment required for the operation, which helps to improve the success rate of the operation. Preoperative testing can also help detect potential equipment failures and perform repairs or replacements in a timely manner, thus avoiding medical accidents caused by equipment failures during the operation. This not only protects the safety of patients but also reduces the legal risks of medical institutions. By promptly repairing or replacing unqualified equipment, this solution avoids surgical delays or cancellations caused by equipment failures, thereby optimizing the utilization of medical resources. At the same time, it also reduces waste and losses caused by equipment damage. Strict equipment testing procedures and the use of high-quality medical equipment can enhance patients' trust and satisfaction with medical institutions.

[0122] The tracheal lumen data acquisition unit is also used for:

[0123] Before performing real-time data acquisition of the patient's tracheal lumen, first connect and calibrate the treatment equipment that has passed the preoperative testing;

[0124] After the equipment connection and calibration are completed, disinfect the patient. After the disinfection work is completed, insert the tracheal intubation scope into the patient's trachea;

[0125] After the tracheal intubation scope is inserted into the patient's trachea, the video camera collects real-time video data of the tracheal lumen. The collected video data includes video image data, depth data, and angle data;

[0126] During the real-time video data acquisition process by the video camera, monitor the data quality of the video data in real time;

[0127] The data quality includes image clarity, frame rate, and displacement amplitude;

[0128] When the data quality exceeds the standard data quality threshold, an alarm prompt is issued. The standard data quality threshold is read from the database;

[0129] After the real-time video data acquisition is completed, the target tracheal detection data is obtained.

[0130] Specifically, before the operation, the treatment equipment is detected, connected, and calibrated to ensure the accuracy and safety of the equipment, reducing the risk of inaccurate diagnosis or treatment caused by equipment failures or errors. After the equipment is connected and calibrated, the patient is disinfected, which is an important step in being responsible for the patient's health and can effectively reduce the risk of cross-infection. After inserting the tracheal endoscope into the patient's trachea, the video camera can collect real-time video data of the tracheal lumen, including video image data, depth data, and angle data. These data provide comprehensive diagnostic information for doctors, helping 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 promptly detect and solve data quality problems, avoiding 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 promptly detect data anomalies and remind the operator to take corresponding measures, thereby improving the accuracy and efficiency of data collection. The standard data quality threshold is read from the database, which ensures the consistency of the data quality assessment criteria, helps with data standardization and traceability. At the same time, it also provides reliable data references for doctors, helping to make more accurate diagnoses.

[0131] To solve the problem in the prior art that the acquired image data is not further optimized and the acquired tracheal data is not specifically constructed into a three-dimensional model, resulting in unclear display of tracheal lumen data, please refer to Figure 1 and Figure 2 , this embodiment provides the following technical solutions:

[0132] The data acquisition and processing unit is further configured to:

[0133] First, perform image data preprocessing on the target tracheal detection data. The image data preprocessing includes image denoising, image enhancement, image correction, image segmentation, and image registration;

[0134] Image denoising is to remove the noise in the image of the target tracheal detection data using bilateral filtering;

[0135] Perform image enhancement on the target tracheal detection data after image denoising. Image enhancement is to enhance the contrast of the image in the target tracheal detection data using histogram equalization, adjust the brightness after contrast enhancement, and perform sharpening processing using high-pass filtering after brightness adjustment;

[0136] Perform image correction on the target tracheal detection data after image enhancement. Image correction is to correct the geometric distortion of the image in the target tracheal detection data using a geometric transformation algorithm, and correct the color deviation of the image after geometric distortion correction;

[0137] Perform image segmentation on the target trachea detection data after image correction. Image segmentation means segmenting the image in the target trachea detection data according to the gray values of pixels, separating the tracheal lumen from the surrounding tissues, using the Sobel operator to detect the edges of the tracheal lumen, and segmenting the area of the tracheal lumen;

[0138] Perform image registration on the target trachea detection data after image segmentation. Image registration means performing consistency processing on the image data in the target trachea detection data;

[0139] After image segmentation is completed, the target trachea detection data with completed image data preprocessing is obtained;

[0140] Retrieve the coding rule from the database, and perform unique coding and labeling on the target trachea detection data with completed image data preprocessing according to the coding rule. After unique coding and labeling, the target trachea image data is obtained.

[0141] Specifically, image denoising removes noise through bilateral filtering, which can remove unnecessary noise while retaining the edge details of the image, making subsequent processing more accurate. Image enhancement by histogram equalization enhances the contrast of the image, and brightness adjustment and high-pass filtering sharpening further improve the visual effect of the image, making the tracheal structure clearer. Geometric transformation algorithm in image correction corrects geometric distortion, and color deviation correction ensures the authenticity of the image color. All these contribute to improving the accuracy of trachea detection. Image segmentation based on pixel gray value segmentation and Sobel operator edge detection can accurately separate the tracheal lumen from the surrounding tissues, providing reliable data for subsequent trachea analysis. Image registration performs consistency processing on the image data, ensuring that image data collected at different times or by different devices can be compared and contrasted with each other, improving the usability and comparability of the data. Performing unique coding and labeling on the preprocessed image data according to the coding rule facilitates data storage, retrieval, and management, and also facilitates subsequent data analysis and research. Each processing step can be adjusted and optimized according to the actual situation, such as filtering parameters, segmentation thresholds, etc., to adapt to different trachea detection requirements.

[0142] The data processing three-dimensional construction unit is also used for:

[0143] Extract features from the target trachea image data. Feature extraction means extracting feature points, lines, or surfaces from the target trachea image data;

[0144] After feature extraction is completed, match the corresponding features in different images and calculate the depth information of the corresponding points between the images;

[0145] According to the depth information and image coordinates, use the structured light scanning method to reconstruct the three-dimensional model of the trachea;

[0146] Optimize the three-dimensional model of the reconstructed trachea, and the model optimization includes mesh simplification, surface smoothing, and model repair;

[0147] After the model optimization is completed, a three-dimensional trachea model is obtained.

[0148] Specifically, through feature extraction, 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 handle the morphological changes of the trachea in different images. Even under different lighting, angles, or occlusions, features can be effectively identified and matched. The mesh simplification, surface smoothing, and model repair in the model optimization step can handle the noise, holes, or irregularities that may occur during the reconstruction process, improving the integrity and stability of the model. The feature extraction and matching algorithms usually have high computational efficiency and can quickly process a large amount of image data. The structured light scanning method combines depth information and image coordinates for reconstruction, and compared with traditional methods, it can generate a three-dimensional model faster. The 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 automatically completed by algorithms and software, reducing manual intervention and errors. High automation means that a large amount of trachea image data can be processed, which is suitable for large-scale clinical research or diagnostic applications. The reconstructed three-dimensional trachea model can be used in multiple aspects such as surgical planning, disease diagnosis, and treatment evaluation, providing more intuitive and accurate information support for doctors.

[0149] To solve the problems in the prior art that there is no optimal intubation path planning based on the condition of the tracheal lumen and no data detection and alarm during the intubation process, resulting in poor treatment effects for patients, please refer to Figure 1 and Figure 2 , this embodiment provides the following technical solutions:

[0150] The path guidance unit is also used for:

[0151] Read the data of the three-dimensional trachea model and the target trachea image data;

[0152] After the data is read, unify the coordinate systems of the three-dimensional trachea model and the target trachea image data;

[0153] After the coordinate systems are unified, use feature descriptors to match the features of the three-dimensional trachea model and the tracheal lumen image data. After the matching is completed, the corresponding relationship between the three-dimensional trachea model and the tracheal lumen image data is obtained;

[0154] Then, the three-dimensional trachea model and the tracheal lumen image data are voxelized. After voxelization, a data fusion algorithm is used to combine the three-dimensional trachea model and the tracheal lumen image data;

[0155] After the data combination is completed, a trachea combined model is obtained.

[0156] The environmental model is constructed using the trachea combined model. The constructed environmental model includes the diameter of the trachea, the degree of curvature, and the surrounding tissue structure;

[0157] After the environmental model is constructed, the starting point and the ending point are confirmed;

[0158] Based on the environmental model and the starting point and the ending point, a path is generated;

[0159] The generated path is optimized. The path optimization is to smooth the generated path;

[0160] After the generated path is optimized, path visualization processing is performed. After the visualization processing, the trachea intubation path is obtained;

[0161] The intubation path is wirelessly transmitted to a display terminal for displaying the intubation path.

[0162] Specifically, by unifying the coordinate systems of the three-dimensional trachea model and the target trachea 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 three-dimensional trachea model and the tracheal lumen image data, further enhancing the accuracy of the model. The data fusion algorithm effectively combines the three-dimensional trachea model and the tracheal lumen image data to form a comprehensive trachea combined model, which provides a more complete and accurate data basis for subsequent path generation. The constructed environmental model includes not only the diameter and curvature of the trachea, but also the surrounding tissue structure, which helps doctors understand the trachea and its surrounding environment more comprehensively, thereby making more accurate decisions. The path is generated based on the environmental model and the starting point and the ending point, ensuring the feasibility and effectiveness of the path. The path optimization process smooths the generated path, improving the practicality and safety of the path and reducing the potential risks during intubation. The path visualization processing enables the intubation path to be clearly presented on the display terminal, facilitating doctors to visually observe and judge, and improving the accuracy and safety of the surgery.

[0163] The guiding path monitoring and warning unit is also used for:

[0164] Medical staff view the displayed intubation path on the display terminal and perform operations according to the intubation path;

[0165] Monitor depth information, angle information, and path information in real time during the operation;

[0166] Among them, 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;

[0167] The path information is to compare the real-time tracked position of the intubation scope with the displayed intubation path and calculate the deviation between the real-time tracked position of the intubation scope and the displayed intubation path;

[0168] Perform anomaly detection based on the estimation result of the three-dimensional posture and the deviation data between the real-time tracked position of the intubation scope and the displayed intubation path;

[0169] When the detection thresholds of the depth information, angle information, and path information exceed the preset thresholds, automatically trigger the alarm mechanism;

[0170] At the same time, according to the range exceeding the preset threshold, give different levels of alarm prompts;

[0171] Finally, medical staff view the display data on the display terminal, and the display data includes the planned path, real-time position, path deviation, and alarm information;

[0172] The planned path uses colors and markings to display the pre-planned intubation path; the real-time position is to display the three-dimensional position and posture of the tip of the tracheal intubation scope in the trachea in real time; the path deviation is to display the deviation between the intubation scope and the pre-planned path; the alarm information is the range data exceeding the preset threshold.

[0173] 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, improves the intuitiveness and accuracy of the operation. Real-time monitoring of depth information, angle information, and path information provides immediate operation feedback for medical staff, helps to timely adjust the intubation position and posture, ensures the accuracy and safety of the operation. Combining the depth and angle information in the video image data to estimate the real-time three-dimensional posture of the intubation scope improves the perception accuracy of the position and posture of the intubation scope, helps to avoid misoperation. By comparing the real-time tracked position of the intubation scope with the displayed intubation path and performing anomaly detection based on the deviation data, it helps to timely detect and correct the deviation during intubation, ensuring the accuracy of the intubation path. When the detection thresholds of the depth information, angle information, and path information exceed the preset thresholds, automatically trigger the alarm mechanism and give different levels of alarm prompts according to the degree of the exceeded range, which helps medical staff to timely respond to and handle abnormal situations, ensuring 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, helping them to better master the overall situation of the intubation process.

[0174] Perform integrity and flexibility tests on the tracheal catheter, specifically as follows:

[0175] Apply external pressure to the tracheal catheter and detect the deformation of the tracheal catheter. Determine the pressure-deformation correspondence of the tracheal catheter according to the change parameters of the deformation with the external pressure;

[0176] Determine the tube body deformation ability of the tracheal catheter under normal ambient air pressure according to the pressure-deformation correspondence, and determine the flexibility of the tracheal catheter according to the tube body deformation ability;

[0177] Collect the visual calibration parameters when the tracheal catheter is folded, and determine the tube end coordinate parameters and connection end coordinate parameters of the tracheal catheter according to the visual calibration parameters;

[0178] Obtain the light scattering parameters of the projection space, and construct an image mapping mathematical model of the projection space according to the light scattering parameters;

[0179] Determine the tube end space point parameters and connection end space point parameters through the image mapping mathematical model, and determine the distortion visual error according to the tube end space point parameters, connection end space point parameters, tube end coordinate parameters and connection end coordinate parameters;

[0180] Determine the projection scaling coefficient based on the distortion visual error, and determine the actual length and structural parameters of the tracheal catheter based on the projection scaling coefficient and the visual length parameters between the tube end and the connection end;

[0181] Determine whether the specification of the tracheal catheter is complete according to the actual length and structural parameters. If so, collect the shape change video of the tracheal catheter when inputting gas;

[0182] Extract the shape change frames of the tracheal catheter when inputting gas from the shape change video, and compare the shape change frames to determine whether there is a blockage in the tracheal catheter;

[0183] If so, determine the catheter blockage position according to the abnormal shape change points and mark it. If not, confirm the complete function of the tracheal catheter.

[0184] The beneficial effects of the above technical solutions are as follows: By determining the flexibility of the tracheal catheter according to the tube body deformation ability, the flexibility of the tracheal catheter can be quickly evaluated based on the most intuitive external force application method, improving the evaluation efficiency and accuracy. Further, by adjusting the visual parameters according to the projection distortion visual error, the influence of human visual error can be avoided, ensuring the quality and reliability of the data, and realizing a comprehensive evaluation of the integrity of the tracheal catheter.

[0185] Perform stability tests on the power supply device, specifically as follows:

[0186] 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 according to the current internal resistance:

[0187]

[0188] Among them, represents the remaining health life coefficient of the built-in battery, represents the current internal resistance of the built-in battery, represents the internal resistance of the built-in battery at the factory, represents the reference internal resistance of the significantly aged built-in battery, represents the usage intensity coefficient of the power supply device;

[0189] Determine the power supply state quantity and power supply observation quantity of the power supply device according to the remaining life coefficient of the built-in battery;

[0190] Calculate the working stability index of the power supply device according to the power supply state quantity, power supply observation quantity and the single minimum discharge intensity coefficient of the power supply device:

[0191]

[0192] Among them, represents the working stability index of the power supply device, represents the single minimum discharge intensity coefficient of the power supply device, represents the reserve coefficient of the power supply device, represents the power supply state quantity, represents the power supply observation quantity, represents the natural logarithm, represents the system noise of the power supply device, represents the discharge efficiency of the power supply device, represents the unit direction vector, represents the rated capacity of the built-in battery, represents the discharge interference factor of the built-in battery under the remaining life coefficient;

[0193] Determine the discharge stability of the power supply device according to the working stability index of the power supply device.

[0194] The beneficial effects of the above technical solutions are as follows: By calculating the remaining health 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 according to the performance parameters, making the evaluation result more in line with the actual power consumption situation and objectivity, and improving the accuracy and reliability of the evaluation result.

[0195] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0196] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present 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; The confirmed treatment equipment will be tested before surgery, including the integrity and flexibility of the endotracheal tube, 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.

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 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: in, Expressed as 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: in, Expressed as 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, is represented as the power supply observable, Expressed as natural logarithm, Expressed as the system noise of the power supply unit, Expressed as the discharge efficiency of the power supply device, Expressed as a unit direction quantity, Indicates 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.

4. A visualization-guided endotracheal intubation system according to claim 3, 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.

5. A visualization-guided endotracheal intubation system according to claim 4, 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.

6. 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.

7. A visualization-guided endotracheal intubation system according to claim 6, 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.

8. A visualization-guided endotracheal intubation system according to claim 7, 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.

9. A visualization-guided endotracheal intubation system according to claim 8, 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.

Images