Airway intubation guiding method and airway intubation device

Abstract

This application is applicable to the technical field of airway intubation, and particularly relates to an airway intubation guiding method and an airway intubation device. The method includes: obtaining airway structure information; wherein, the airway structure information includes an airway model reflecting the airway structure of the user; obtaining airway analysis information based on the airway structure information; wherein, the airway analysis information includes dilation information, avoidance information, and a termination point; obtaining guiding information based on the airway analysis information; wherein, the guiding information is used to prompt the doctor. The airway intubation guiding method and the airway intubation device provided by the embodiments of this application can improve the problem that the tracheal catheter contacts the bleeding area or the infection area in the patient's airway for a long time during airway intubation, resulting in discomfort to the patient.

Description

Technical Field

[0001] The present application belongs to the technical field of airway intubation, and in particular relates to an airway intubation guiding method and an airway intubation device. Background Art

[0002] Airway intubation is a technology that uses a special endotracheal tube through the mouth or nasal cavity and into the trachea or bronchus from the glottis to establish an artificial airway to ensure the patient's breathing and life safety.

[0003] However, if the patient's airway is difficult (there is bleeding or infection in the airway), during airway intubation, the endotracheal tube will be in contact with the bleeding or infected area in the patient's airway for a long time, which may cause discomfort to the patient. Summary of the invention

[0004] The embodiments of the present application provide an airway intubation guiding method and an airway intubation device, which can improve the problem that the tracheal tube is in contact with the bleeding area or infected area in the patient's airway for a long time during airway intubation, causing discomfort to the patient.

[0005] In a first aspect, an embodiment of the present application provides an airway intubation guiding method, comprising:

[0006] Acquiring airway structure information; wherein the airway structure information includes an airway model reflecting the airway structure of the user;

[0007] Airway analysis information is obtained based on the airway structure information; wherein the airway analysis information includes expansion information, avoidance information and an end point, the expansion information includes expansion area information, the expansion area information includes an expansion area, an expansion position corresponding to the expansion area and an expansion depth, the expansion area reflects a relatively narrow area in the user's airway, the expansion position reflects the relative position of the expansion area and the user's airway, and the expansion depth reflects the insertion depth of the airway intubation device, the avoidance information includes at least one avoidance area information, the avoidance area information includes an avoidance area and an avoidance position corresponding to the avoidance area, the avoidance area reflects an infected or bleeding area on the inner wall of the user's airway, the avoidance position reflects the relative position of the avoidance area and the user's airway, and the end point reflects the relative position of the fixing device of the airway intubation device and the user's airway when the airway intubation device is fixed to the user's airway;

[0008] Guidance information is obtained based on the airway analysis information; wherein the guidance information is used to prompt a doctor.

[0009] The above technical solutions in the embodiments of the present application have at least the following technical effects:

[0010] The airway intubation guidance method provided in the embodiment of the present application can ensure that the method is applicable to the user and provide a basis for subsequent steps by first obtaining the airway structure information of the airway model that reflects the airway structure of the user. Then, based on the airway structure information, airway analysis information including expansion information, avoidance information and end points is obtained to determine the relatively narrow areas in the user's airway or the areas where bleeding or infection occurs, so that specific analysis can be performed on the user's airway problems and provide a basis for subsequent steps. Based on the airway analysis information, guidance information for prompting the doctor is obtained to enable the doctor to adjust the position of the airway intubation device to avoid the airway intubation device from contacting the bleeding area or infected area in the airway for a long time as much as possible, causing discomfort to the patient.

[0011] In a second aspect, an embodiment of the present application provides an airway intubation system, comprising:

[0012] An acquisition unit, configured to acquire airway structure information; wherein the airway structure information includes an airway model reflecting the airway structure of the user;

[0013] A first analysis unit is used to obtain airway analysis information based on the airway structure information; wherein the airway analysis information includes expansion information, avoidance information and an end point, the expansion information includes expansion area information, the expansion area information includes an expansion area, an expansion position corresponding to the expansion area and an expansion depth, the expansion area reflects an area in the user's airway where the airway diameter is smaller than a preset diameter, the expansion position reflects a relative position between the expansion area and the user's airway, and the expansion depth reflects an insertion depth of an airway intubation device, the avoidance information includes at least one avoidance area information, the avoidance area information includes an avoidance area and an avoidance position corresponding to the avoidance area, the avoidance area reflects an area of ​​infection or bleeding on the inner wall of the user's airway, the avoidance position reflects a relative position between the avoidance area and the user's airway, and the end point reflects a relative position between the fixing device of the airway intubation device and the user's airway when the airway intubation device is fixed to the user's airway;

[0014] The second analysis unit is used to obtain guidance information based on the airway analysis information; wherein the guidance information is used to prompt a doctor.

[0015] In a third aspect, an embodiment of the present application provides an airway intubation device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the methods described in the first aspect when executing the computer program.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the above-mentioned first aspects is implemented.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an airway intubation device, the airway intubation device executes the airway intubation guiding method described in any one of the first aspects above.

[0018] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is a flowchart of an airway intubation guidance method provided in one embodiment of the present application;

[0021] Figure 2 is a flow chart of step S200 in the airway intubation guiding method provided in one embodiment of the present application;

[0022] Figure 3 is a flowchart of step S300 in the airway intubation guidance method provided in one embodiment of the present application;

[0023] Figure 4 is a structural schematic diagram of an airway intubation system provided in one embodiment of the present application;

[0024] Figure 5 It is a structural schematic diagram of an airway intubation device provided in one embodiment of the present application;

[0025] Figure 6 It is a partial structural schematic diagram of an air guide device provided in one embodiment of the present application;

[0026] Figure 7 is a partial cross-sectional schematic diagram of an air guide device provided in one embodiment of the present application;

[0027] Figure 8 yes Figure 7 Schematic diagram of the cross section along line AA. DETAILED DESCRIPTION

[0028] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0029] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0030] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0031] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0032] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0033] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0034] In the related technology, airway intubation is a technology that uses a special endotracheal tube through the oral or nasal cavity and into the trachea or bronchus from the glottis to establish an artificial airway to ensure the patient's breathing and life safety.

[0035] However, if the patient's airway is difficult (there is bleeding or infection in the airway), during airway intubation, the endotracheal tube will be in contact with the bleeding or infected area in the patient's airway for a long time, which may cause discomfort to the patient.

[0036] To solve the above problems, an embodiment of the present application provides an airway intubation guidance method and an airway intubation device. In this method, by first obtaining the airway structure information of the airway model that reflects the airway structure of the user, it is possible to ensure that the method is applicable to the user and provide a basis for subsequent steps. Then, based on the airway structure information, airway analysis information including expansion information, avoidance information and end points is obtained to determine the relatively narrow areas in the user's airway or the areas where bleeding or infection occurs, so that specific analysis can be performed on the user's airway problems and provide a basis for subsequent steps. Based on the airway analysis information, guidance information for prompting the doctor is obtained to enable the doctor to adjust the position of the airway intubation device to try to avoid the airway intubation device from contacting the bleeding area or infected area in the airway for a long time, causing discomfort to the patient.

[0037] The airway intubation guidance method provided in the embodiment of the present application can be applied to an airway intubation device. In this case, the airway intubation device is the executor of the airway intubation guidance method provided in the embodiment of the present application. The embodiment of the present application does not impose any restrictions on the specific type of the airway intubation device.

[0038] For example, the airway intubation device may include a moving device, an air guiding device, an image acquisition device, an expansion device, a fixing device and a control device. The control device is respectively connected to the moving device, the air guiding device, the image acquisition device, the expansion device and the fixing device for communication.

[0039] The mobile device is a device that can record the extension of the air guide device into the user's airway and the extension distance of the air guide device. For example, the mobile device can be a wire length meter, an ultrasonic distance measuring device, etc., but is not limited thereto.

[0040] See also Figures 6 to 8The air guide device is a device that can extend into the user's airway and deform and can transport oxygen. For example, the air guide device may include: a first conduit 10, a second conduit 20, a third conduit 30, a plurality of deformation mechanisms 40 and a driving member 41; the first conduit 10 has a first accommodating space 11, and the outer wall of the first conduit 10 may be engraved with scales; the second conduit 20 is located in the first accommodating space 11 and is coaxial with the first conduit 10, and the second conduit 20 has a second accommodating space 21; the third conduit 30 is located in the second accommodating space 21, and is arranged on the second conduit 20 and is coaxial with the second conduit 20, the third conduit 30 has a delivery channel 31, the driving member 41 is connected to the delivery channel 31, and the driving member 41 can transport oxygen through the delivery channel 31; the plurality of deformation mechanisms 40 are located in the first accommodating space 11 and located between the first conduit 10 and the second conduit 20, and uniformly distributed along the circumferential direction of the second conduit 20 and arranged on the second conduit 20 along the length direction of the second conduit 20 and connected to the first conduit 10, the deformation mechanism 40 is connected to the second conduit 20 and the first conduit 10, the deformation mechanism 40 is used to partially deform to change the position of part of the first conduit 10, the flexibility of the second conduit 20 can be less than the flexibility of the first conduit 10 and the third conduit 30, so that the deformation mechanism 40 can better drive the first conduit 10, the second conduit 20 and the third conduit 30 to bend when deformed, each deformation mechanism 40 is respectively connected to a driving member 41, and the driving member 41 is used to drive the deformation mechanism 40 to deform, for example, the deformation mechanism 40 can include a driving tube 42, a plurality of solenoid valves 43 and a plurality of air bags 44;The driving tube 42 is connected to the driving member 41 and multiple air bags 44 at the same time. The end of the driving tube 42 away from the driving member 41 is a closed end. The gas transported by the driving member 41 through the driving tube 42 cannot leak through the closed end. The driving member 41 is a device that can drive the air bags 44 to expand or contract through the driving tube 42. For example, the driving member 41 can be a piston air pump, a rotary vane air pump, etc., but is not limited to this. Multiple solenoid valves 43 are respectively arranged at the connection between each air bag 44 and the driving tube 42. The solenoid valve 43 can be connected to the control device for communication. The solenoid valve 43 is used to disconnect the air bag 44 from the driving tube 42. Multiple air bags 44 (rubber air bags, nylon air bags, etc.) are evenly arranged on the second catheter 20 along the length direction of the second catheter 20. The airbags 44 are respectively connected to the second catheter 20 and the first catheter 10, the airbags 44 have an expansion accommodating space, and there are gaps between the airbags 44. The outer wall of the third catheter 30 is provided with a plurality of annular protrusions 32 along the circumferential direction of the third catheter 30, and each annular protrusion 32 corresponds to each airbag 44 respectively. When the deformation mechanism 40 is projected in a direction perpendicular to the length direction of the second catheter 20, the projection of the annular protrusion 32 can be located in the middle of the corresponding projection of the airbag 44, so that the airbag 44 provides support for the airbag 44 when it is expanded, so that the deformation degree of the airbag 44 at both ends along the length direction of the second catheter 20 is greater than the deformation degree in the middle of the airbag 44, and the third catheter 30 is connected to the second catheter 20 through the annular protrusion 32. When the airbag 44 needs to be expanded, the electromagnetic valve 43 corresponding to the airbag 44 that needs to be expanded is in an open state, and the electromagnetic valve 43 corresponding to the airbag 44 that does not need to be expanded is in a closed state. Then the driving member 41 inflates the expansion accommodation space through the driving tube 42 to expand the airbag 44. When the airbag 44 needs to be contracted, the electromagnetic valve 43 corresponding to the airbag 44 that needs to be contracted is in an open state, and the electromagnetic valve 43 corresponding to the airbag 44 that does not need to be contracted is in a closed state. Then the driving member 41 extracts air in the expansion accommodation space through the driving tube 42 to contract the airbag 44. ;

[0041] The image acquisition device is arranged on the other end of the air guide device, and the image acquisition device is used to take images of the inner wall of the user's airway. For example, the image acquisition device can be a medical endoscope camera, an electronic bronchoscope, etc., but not limited to this. The expansion device is movably and deformably arranged on the end of the air guide device away from the moving device. The expansion device is used to deform when it reaches the narrow area in the user's airway and collide with the inner wall of the user's airway to expand the narrow area in the user's airway. After the expansion device is deformed, the expansion device can be separated from the air guide device so that the expansion device does not move with the movement of the air guide device. For example, the expansion device can be a hard bronchoscope, an airway stent, etc., but not limited to this. The fixing device is deformably arranged on the end of the air guide device away from the moving device. The fixing device is used to fix the air guide device to the user's airway. For example, the fixing device can be a tracheal tube fixer, a rubber airbag, etc., but not limited to this.

[0042] In order to better understand the airway intubation guidance method provided in the embodiment of the present application, the specific implementation process of the airway intubation guidance method provided in the embodiment of the present application is exemplarily introduced below.

[0043] Figure 1 A schematic flow chart of an airway intubation guidance method provided in an embodiment of the present application is shown, and the airway intubation guidance method includes:

[0044] S100, obtaining airway structure information; wherein the airway structure information includes an airway model reflecting the airway structure of the user.

[0045] It is understood that the airway model may be a DICOM format model or an OBJ format model, but is not limited thereto. The airway structure information may be obtained by CT (computed tomography) reconstruction or MRI (magnetic resonance imaging) reconstruction, but is not limited thereto. Obtaining the airway structure information of the airway model reflecting the airway structure of the user can ensure that the method is applicable to the user and provide a basis for subsequent steps.

[0046] S200, obtaining airway analysis information based on airway structure information; wherein the airway analysis information includes expansion information, avoidance information and an end point, the expansion information includes expansion area information, the expansion area information includes an expansion area, an expansion position corresponding to the expansion area and an expansion depth, the expansion area reflects a relatively narrow area in the user's airway, the expansion position reflects a relative position of the expansion area to the user's airway, and the expansion depth reflects an insertion depth of the airway intubation device, the avoidance information includes at least one avoidance area information, the avoidance area information includes an avoidance area and an avoidance position corresponding to the avoidance area, the avoidance area reflects an infected or bleeding area on the inner wall of the user's airway, the avoidance position reflects the relative position of the avoidance area to the user's airway, and the end point reflects the relative position of a fixing device of the airway intubation device and the user's airway when the airway intubation device is fixed to the user's airway.

[0047] It can be understood that the preset diameter can be 1.8 cm, 2.4 cm, etc., but is not limited to this. The narrower area in the airway can be an area where the airway cross-sectional area is less than 1.8 square centimeters, or an area where the airway diameter is less than 1.8 cm, etc., but is not limited to this. The method of obtaining airway analysis information based on airway structure information can be to input the airway model in the airway structure information into the airway recognition model obtained after machine learning through a large amount of data, and the airway recognition model automatically analyzes the input airway model, or the airway structure information can be sent to the doctor, and the doctor's annotations on the airway model to reflect the area of ​​airway stenosis, the area of ​​bleeding or infection in the airway, etc., but is not limited to this. Obtaining airway analysis information based on airway structure information can perform specific analysis on the user's airway problems and provide a basis for subsequent steps.

[0048] In one possible implementation, see Figure 2 S200, obtaining airway analysis information based on airway structure information, including:

[0049] S210, inputting the airway model into the airway identification model to obtain an analysis model; wherein the analysis model includes the airway model and an expansion area and at least one avoidance area marked on the airway model, the expansion area is an area in the airway model where the airway wall is thickened or irregular, and the avoidance area is an area in the airway model where abnormal density shadows exist.

[0050] It can be understood that the airway recognition model is obtained by machine learning training using multiple sets of data, and the multiple sets of data include first-class data and second-class data. Each set of data in the first class includes: an airway model and an expansion area and at least one avoidance area manually marked on the airway model, and each set of data in the second class includes: an airway model that does not include expansion areas and avoidance areas and a manually marked label reflecting that the model does not include expansion areas and avoidance areas. The analysis model obtained by automatically analyzing the airway model through the airway recognition model can reduce the workload of doctors to a certain extent and improve work efficiency.

[0051] Exemplarily, after obtaining the analysis model through the airway recognition model, the analysis model can be sent to a doctor and feedback from the doctor can be received. If the feedback information indicates that the analysis model is reliable, the subsequent steps can be continued. If the feedback information indicates that the analysis model is unreliable, the subsequent steps can be continued after receiving the analysis model sent back by the doctor. The analysis model sent back by the doctor may include expansion areas and / or avoidance areas additionally marked on the analysis model.

[0052] S220, establishing an analysis coordinate system based on the analysis model; wherein the origin of the analysis coordinate system is the user's incisors, and the Y-axis direction of the analysis coordinate system is parallel to the length direction of the user's airway.

[0053] It can be understood that the analysis coordinate system can be a three-dimensional coordinate system or a two-dimensional coordinate system, etc., but it is not limited to this. The coordinate values ​​in the analysis coordinate system can reflect the length or width of the user's airway. The method of establishing the analysis coordinate system based on the analysis model can be to establish the coordinate system through the boundaries or feature points of the analysis model, or the doctor can adjust the position of the analysis model in the coordinate system so that the coordinate axes reflected by any point on the analysis model in the coordinate system are all positive numbers, etc., but it is not limited to this. Establishing the analysis coordinate system based on the analysis model can provide a basis for subsequent steps.

[0054] S230, obtaining airway analysis information based on the analysis model and the analysis coordinate system.

[0055] It can be understood that the way to obtain airway analysis information based on the analysis model and the analysis coordinate system can be to analyze the X-axis value range and the Y-axis value range occupied by the expansion area and each avoidance area in the analysis model on the analysis coordinate system, and calculate the distance from the expansion area and each avoidance area to the origin to obtain airway analysis information, or it can be to send the analysis model and the analysis coordinate system to the doctor, and receive the data returned by the doctor after the analysis and judgment of the analysis model and the analysis coordinate system, etc., but not limited to this. Obtaining airway analysis information based on the analysis model and the analysis coordinate system can ensure that the information obtained conforms to the user's airway and provide a basis for subsequent steps.

[0056] In one possible implementation, see Figure 2 , S230, obtaining airway analysis information based on the analysis model and the analysis coordinate system, including:

[0057] S231, projecting the analysis model along the X-axis of the analysis coordinate system onto the Y-axis of the analysis coordinate system to obtain a model projection.

[0058] It can be understood that the method of projecting the analysis model along the X-axis of the analysis coordinate system onto the Y-axis of the analysis coordinate system may be through vector projection or through three-dimensional modeling software (Blender, 3ds Max), but is not limited thereto. Projecting the analysis model along the X-axis of the analysis coordinate system onto the Y-axis of the analysis coordinate system to convert the three-dimensional analysis model into a two-dimensional graphic or to convert the two-dimensional analysis model into a line segment can simplify the analysis process of subsequent steps, improve processing efficiency, and provide a basis for subsequent steps.

[0059] S232, obtaining the airway length and total length coordinate values; wherein the airway length is the actual length value of the user's airway, and the total length coordinate value is the coordinate value of the Y-axis coordinate farthest from the origin on the Y-axis projection of the analysis model.

[0060] It is understood that the unit of airway length can be centimeters, millimeters, etc., but not limited thereto. The airway length can be obtained by receiving length data transmitted by a doctor or by measuring by CT (computed tomography), etc., but not limited thereto. Obtaining the coordinate values ​​of the airway length and total length can provide a basis for subsequent steps.

[0061] S233, the value obtained by dividing the airway length by the total length coordinate value is confirmed as the distance value.

[0062] It can be understood that confirming the value obtained by dividing the airway length by the total length coordinate value as the distance value can provide a basis for restoring the real length of the airway after the analysis model is enlarged or reduced.

[0063] For example, assuming that the airway length is 14 centimeters and the total length coordinate value is 140, the distance value = 14 / 140 = 0.1 centimeters.

[0064] S234, the value obtained by multiplying the Y-axis coordinate value closest to the origin of the analysis coordinate system on the projection of the expansion area by the distance value is confirmed as the first expansion depth, the value obtained by multiplying the Y-axis coordinate value farthest from the origin of the analysis coordinate system on the expansion area by the distance value is confirmed as the second expansion depth, the numerical range from the first expansion depth to the second expansion depth is confirmed as the expansion position, and the value reflected by the first expansion depth and the value reflected by the second expansion depth are added and divided by 2 to obtain the value confirmed as the expansion depth.

[0065] It can be understood that confirming the first expansion depth, the second expansion depth, the expansion position and the expansion depth can provide a basis for subsequent steps.

[0066] For example, assuming that the Y-axis coordinate value closest to the origin of the analysis coordinate system on the projection of the expansion area is 10, and the Y-axis coordinate value farthest from the origin of the analysis coordinate system on the expansion area is 20, and the distance value is 0.1 cm, then the first expansion depth = 10*0.1=1, the second expansion depth = 20*0.1=2, the expansion position is (1,2), and the expansion depth = (1+2) / 2=1.5 cm.

[0067] S235 , confirming the expansion area, expansion position, and expansion depth as expansion information.

[0068] It can be understood that confirming the expansion area, expansion position and expansion depth as expansion information can provide a basis for subsequent steps.

[0069] S236, analyze the projections of each avoidance area respectively, and confirm the value obtained by multiplying the Y-axis coordinate value on the projection of the avoidance area that is closest to the origin of the analysis coordinate system by the distance value as the first avoidance depth, and multiplying the Y-axis coordinate value on the avoidance area that is farthest from the origin of the analysis coordinate system by the distance value as the second avoidance depth, confirm the numerical range from the first avoidance depth to the second avoidance depth as the avoidance position, and confirm the avoidance area and the avoidance position as the avoidance information.

[0070] It can be understood that by analyzing the projections of each avoidance area respectively to obtain avoidance information corresponding to each avoidance area respectively, each bleeding or infected area in the airway can be processed separately. Confirming the first avoidance depth, the second avoidance depth and the avoidance position, and confirming the avoidance area and the avoidance position as avoidance information can provide a basis for subsequent steps.

[0071] For example, assuming that the Y-axis coordinate value closest to the origin of the analysis coordinate system on the projection of the avoidance area is 10, and the Y-axis coordinate value farthest from the origin of the analysis coordinate system on the expansion area is 20, and the distance value is 0.1 cm, then the first avoidance depth = 10*0.1=1, the second avoidance depth = 20*0.1=2, and the avoidance position is (1,2).

[0072] S237, confirm the expansion information and all avoidance information as airway analysis information.

[0073] It can be understood that confirming the expansion information and all avoidance information as airway analysis information can determine the relatively narrow areas in the user's airway or the areas where bleeding or infection occurs, thereby enabling specific analysis of the user's airway problems and providing a basis for subsequent steps.

[0074] S300, obtaining guidance information based on the airway analysis information, wherein the guidance information is used to prompt the doctor.

[0075] It can be understood that the guidance information obtained based on the airway analysis information can prompt the doctor to dilate the narrow area in the user's airway in time to increase the ventilation volume, and try to avoid the airway intubation device from being in contact with the bleeding area or infected area in the airway for a long time, causing discomfort to the patient.

[0076] In one possible implementation, see Figure 3 S300, obtaining guidance information based on the airway analysis information, including:

[0077] S310, acquiring the insertion depth in real time, and obtaining at least one avoidance image information based on the insertion depth and the avoidance information; wherein the insertion depth reflects the depth of the air guide device inserted into the user's airway, and the avoidance image information is image information acquired by the image acquisition device of the airway intubation device when the air guide device is located in the user's airway, and each avoidance image information corresponds to each avoidance area respectively, and the avoidance image information includes at least one avoidance image, and the avoidance image is an image reflecting the inner wall of the user's airway in the avoidance area.

[0078] It can be understood that the method of obtaining the insertion depth can be to obtain the moving distance of the air guide device in real time, or to receive the data transmitted by the doctor in real time, etc., but it is not limited to this. The method of obtaining the avoidance image information based on the insertion depth and avoidance information can be to control the image acquisition device to take a preset number of images (10, 20, etc.) of the inner wall of the user's airway and receive the images when the insertion depth is equal to the first avoidance depth, or to control the image acquisition device to take an image of the inner wall of the user's airway and receive the images every time the insertion depth increases by a preset step value (1 cm, 0.5 cm, etc.) after the insertion depth is equal to the first avoidance depth, but it is not limited to this. Obtaining the avoidance image information based on the insertion depth and avoidance information can provide a basis for subsequent steps.

[0079] In one possible implementation, see Figure 3 In step S310, at least one avoidance image information is obtained based on the insertion depth and the avoidance information, including:

[0080] S311, when the insertion depth is equal to any first avoidance depth, continuously sending shooting instructions to the image acquisition device; wherein the shooting instructions are used to instruct the image acquisition device to shoot an avoidance image along a direction parallel to the length direction of the user's airway.

[0081] It can be understood that the shooting instruction is used to instruct the image acquisition device to shoot the avoidance image in a direction parallel to the length direction of the user's airway, and the method may be to shoot an avoidance image every 1 second, or to shoot an avoidance image every time the image acquisition device moves 0.5 cm, etc., but is not limited thereto. The shooting instruction that instructs the image acquisition device to shoot the avoidance image in a direction parallel to the length direction of the user's airway can fully display the inner wall of the user's airway on an avoidance image (the inner wall of the user's airway is displayed in a circular ring on the avoidance image), providing a basis for determining the direction of bleeding or infection on the inner wall of the user's airway.

[0082] S312: When the insertion depth is equal to any second avoidance depth, stop sending a shooting instruction to the image acquisition device.

[0083] It can be understood that when the insertion depth is equal to any second avoidance depth, it means that the image acquisition device is about to move away from the bleeding or infected area on the user's airway, and the image acquired by the image acquisition device cannot be used as a basis for subsequent steps. Stopping the sending of shooting instructions to the image acquisition device can reduce the storage space occupied to a certain extent and improve processing efficiency.

[0084] S313, when the image acquisition device switches from the start shooting state to the stop shooting state, the avoidance image captured during the shooting process is confirmed as avoidance image information, and the avoidance image information is matched with the avoidance area corresponding to the avoidance position corresponding to the first avoidance depth and the second avoidance depth.

[0085] It can be understood that confirming the avoidance image captured during the shooting process as avoidance image information and making the avoidance image information correspond to the avoidance area that the image acquisition device has just passed can provide a basis for subsequent steps.

[0086] S320, when the insertion depth is equal to the expansion depth, generating expansion prompt information; wherein the expansion prompt information is used to prompt the doctor to control the expansion device to expand the user's airway in the expansion area.

[0087] It is understood that when the insertion depth is equal to the expansion depth, it means that the expansion device has moved to a narrow area in the user's airway that needs expansion. Sending a message to the doctor to prompt the doctor to control the expansion device to expand the user's airway in the expansion area can increase the ventilation volume of the user's airway.

[0088] S330, when the airway intubation device extends to the position reflected by the end point, a fixed prompt information is generated; wherein the fixed prompt information is used to prompt the doctor to stop moving the airway device and to control the fixing device to be fixed to the user's airway.

[0089] It is understandable that when the airway intubation device extends to the position reflected by the end point, the doctor is prompted to stop moving the gas guide device to prevent the gas guide device from extending too far into the airway. The doctor is prompted to control the fixing device to fix the user's airway, fix the fixing device to the position of the user's airway, reduce the risk of the gas guide device falling out of the airway, and avoid problems such as insufficient ventilation or gas leakage caused by displacement of the gas guide device.

[0090] S340, obtaining guidance information based on all avoidance image information and avoidance information.

[0091] It can be understood that obtaining guidance information based on all avoidance image information and avoidance information can prompt the doctor to control the air guide device so that the air guide device avoids bleeding or infected areas in the user's airway to a certain extent, thereby reducing the possibility of the user feeling uncomfortable.

[0092] In one possible implementation, see Figure 3 , S340, obtaining guidance information based on all avoidance image information and avoidance information, including:

[0093] S341, based on all the avoidance image information, a plurality of avoidance surfaces respectively corresponding to the avoidance image information are obtained; wherein the avoidance surfaces reflect the areas that the air guide device needs to avoid.

[0094] It can be understood that the method of obtaining multiple avoidance surfaces corresponding to each avoidance image information based on all the avoidance image information can be to determine the relative position of the area of ​​bleeding or infection of the user and the gas guide device in each avoidance image, or it can be to send all the avoidance image information to the doctor and receive the data sent back by the doctor, etc., but it is not limited to this.

[0095] In one possible implementation, see Figure 3 , S341, based on all the avoidance image information, a plurality of avoidance surfaces corresponding to each avoidance image information are obtained, including:

[0096] S3411, input the avoidance images in each avoidance image information into the image recognition model respectively to obtain multiple analysis images; wherein the analysis image includes the avoidance image and the avoidance range reflecting the user's airway infection or bleeding marked on the avoidance image.

[0097] It can be understood that the image recognition model is obtained by machine learning training using multiple sets of data, and the multiple sets of data include the first type of data and the second type of data. Each set of data in the first type of data includes: at least one avoidance image reflecting the area of ​​bleeding or infection in the user's airway and the area range of the area reflecting bleeding or infection in the user's airway manually annotated on the avoidance image, and each set of data in the second type of data includes: the avoidance image does not include the area reflecting bleeding or infection in the user's airway and the label manually annotated on the avoidance image reflecting that there is no area reflecting bleeding or infection in the user's airway in the image. Obtaining analysis images through image recognition models can reduce the workload of doctors and improve work efficiency.

[0098] S3412, after stacking the analysis images in the same direction, the overlapping area formed by the avoidance ranges is confirmed as the avoidance surface.

[0099] It is understood that the way to stack the analysis images in the same direction may be to overlap the edges of the analysis images, or to overlap the feature points after determining the feature points on the analysis images, but is not limited thereto. Confirming the overlapping area formed by the avoidance ranges as the avoidance surface can ensure the reliability of the avoidance surface.

[0100] S342, obtaining an avoidance plan based on all avoidance surfaces; wherein the avoidance plan is used to prompt the doctor to control the gas guide device.

[0101] It is understandable that the avoidance solution based on all avoidance surfaces may be obtained by planning the position of the air guide device in the user's airway based on each avoidance surface, or by sending all avoidance surfaces to the doctor and receiving the avoidance solution sent back by the doctor, etc., but is not limited thereto. Obtaining the avoidance solution based on all avoidance surfaces can ensure the reliability of the avoidance solution.

[0102] In one possible implementation, see Figure 3 , S342, obtain an avoidance solution based on all avoidance surfaces, including:

[0103] S3421, mark the airbag on the air guide device that is close to the avoidance surface and located at the first avoidance depth and the second avoidance depth corresponding to the avoidance area corresponding to the avoidance surface as an inflatable airbag.

[0104] It can be understood that the way to mark the inflatable airbags can be to mark the airbags closest to the avoidance surface along the diameter direction of the cross section of the air guide device on the analysis image as length airbags, and then mark the airbags in the length airbags that are located in the user's airway at a depth equal to the first avoidance depth and the second avoidance depth as inflatable airbags, or to receive marking data reflecting the inflatable airbags marked on the air guide device transmitted by the doctor, but is not limited thereto. Marking the airbags that are close to the avoidance surface and located at the first avoidance depth and the second avoidance depth corresponding to the avoidance area corresponding to the avoidance surface as inflatable airbags can provide a basis for subsequent steps.

[0105] S3422, mark the airbag on the air guide device that is away from the avoidance surface and located at the first avoidance depth and the second avoidance depth corresponding to the avoidance area corresponding to the avoidance surface as a deflated airbag.

[0106] It can be understood that the method of marking the contraction airbags can be to mark the airbag farthest from the avoidance surface in the diameter direction of the cross-section of the air guide device on the analysis image as a length airbag, and then mark the airbags in the length airbags that are located in the user's airway at a depth equal to the first avoidance depth and the second avoidance depth as contraction airbags, or it can be to receive marking data transmitted by a doctor that reflects the contraction airbags marked on the air guide device, etc., but it is not limited to this.

[0107] S3423, obtain an avoidance solution based on all inflatable airbags and all deflated airbags.

[0108] It can be understood that the way to obtain an avoidance plan based on all the inflatable airbags and all the deflation airbags can be to generate an avoidance plan that prompts the doctor to control all the inflatable airbags to expand at the same time and control all the deflation airbags to deflate at the same time, or it can be to generate an avoidance plan that prompts the doctor to control the expansion of the inflatable airbags and control the deflation of the deflation airbags in sequence from deep to shallow according to the depth in the user's airway, etc., but is not limited to this.

[0109] In one possible implementation, see Figure 3 , S3523, based on all inflatable airbags and all deflated airbags, an avoidance solution is obtained, including:

[0110] S34231, obtaining a plurality of area distances corresponding to the avoidance areas respectively; wherein the area distance is the distance from the avoidance area to the end point.

[0111] It is understood that the regional distance can be obtained by subtracting the first avoidance depth corresponding to the avoidance area from the airway length, or by subtracting the second avoidance depth corresponding to the avoidance area from the airway length, etc., but is not limited thereto. Obtaining multiple regional distances corresponding to each avoidance area can provide a basis for subsequent steps.

[0112] S34232, confirm the processing order of the inflatable airbags and the deflated airbags according to the distances of each area, confirm all the inflatable airbags and all the deflated airbags corresponding to the avoidance area corresponding to the area with the shortest distance as the first processing objects, confirm all the inflatable airbags and all the deflated airbags corresponding to the avoidance area corresponding to the area with the second shortest distance in the area distance as the second processing objects, and so on, until all the avoidance areas are confirmed.

[0113] It can be understood that determining the processing order of expanding and contracting airbags according to the distances of various regions can provide a basis for subsequent steps.

[0114] Exemplarily, assuming that there are three area distances, which are 1 cm, 2 cm and 3 cm respectively, the first processing object is all the inflatable airbags and all the deflated airbags corresponding to the avoidance area corresponding to the area distance of 1 cm, the second processing object is all the inflatable airbags and all the deflated airbags corresponding to the avoidance area corresponding to the area distance of 2 cm, the third processing object is all the inflatable airbags and all the deflated airbags corresponding to the avoidance area corresponding to the area distance of 3 cm, and so on.

[0115] S34233, confirming the processing objects corresponding to all the avoidance areas sorted in the processing order as avoidance solutions.

[0116] It can be understood that the treatment order of the inflatable airbag and the deflated airbag reminds the doctor to control the inflation of each inflatable airbag and the deflated airbag in turn according to the treatment order corresponding to the treatment object, so as to avoid the movement of the fixing device and cause problems such as insufficient ventilation or gas leakage as much as possible.

[0117] Exemplarily, when the doctor controls the various expansion and contraction bags for the first time, the avoidance plan should prompt the doctor to control only the expansion and contraction bags corresponding to the first treatment object; when the doctor controls the various expansion and contraction bags for the second time, the avoidance plan should prompt the doctor to control only the expansion and contraction bags corresponding to the second treatment object; when the doctor controls the various expansion and contraction bags for the third time, the avoidance plan should prompt the doctor to control only the expansion and contraction bags corresponding to the third treatment object, and so on.

[0118] S343: Confirm the avoidance solution as guidance information.

[0119] It can be understood that confirming the avoidance plan as guidance information can prompt doctors to try to avoid the airway intubation device from being in contact with the bleeding area or infected area in the airway for a long time, which may cause discomfort to the patient.

[0120] Exemplarily, before confirming the avoidance plan as the guidance information, the doctor may modify the avoidance plan, and then confirm the modified avoidance plan as the guidance information.

[0121] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0122] Corresponding to the airway intubation guidance method described in the above embodiment, the embodiment of the present application also provides an airway intubation system, and each unit of the system can implement each step of the airway intubation guidance method. Figure 4 A structural block diagram of an airway intubation system provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0123] Reference Figure 4 The system comprises:

[0124] The acquisition unit is used to acquire airway structure information; wherein the analysis information includes an airway model reflecting the airway structure of the user.

[0125] A first analysis unit is used to obtain airway analysis information based on the airway structure information; wherein the airway analysis information includes expansion information, avoidance information and an end point, the expansion information includes expansion area information, the expansion area information includes an expansion area, an expansion position corresponding to the expansion area and an expansion depth, the expansion area reflects an area in the user's airway where the airway diameter is less than 1.8 cm, the expansion position reflects the relative position of the expansion area to the user's airway, and the expansion depth reflects the insertion depth of the airway intubation device, the avoidance information includes at least one avoidance area information, the avoidance area information includes an avoidance area and an avoidance position corresponding to the avoidance area, the avoidance area reflects an area of ​​infection or bleeding on the inner wall of the user's airway, the avoidance position reflects the relative position of the avoidance area to the user's airway, and the end point reflects the relative position of the fixing device of the airway intubation device and the user's airway when the airway intubation device is fixed to the user's airway.

[0126] The second analysis unit is used to obtain guidance information based on the airway analysis information; wherein the guidance information is used to prompt a doctor.

[0127] It should be noted that the information interaction, execution process and other contents between the above-mentioned units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0128] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0129] The present application also provides an airway intubation device. Figure 5 This is a schematic diagram of the structure of an airway intubation device provided in one embodiment of the present application. Figure 5 As shown, the airway intubation device of this embodiment further includes a control device 6. The control device 6 includes: at least one processor 60 ( Figure 5 Only one is shown), at least one memory 61 ( Figure 5 Only one is shown in the figure) and a computer program 62 stored in the at least one memory 61 and executable on the at least one processor 60. When the processor 60 executes the computer program 62, the airway intubation device implements the steps of any of the above-mentioned airway intubation guiding method embodiments, or the airway intubation device implements the functions of each unit in the above-mentioned system embodiments.

[0130] Exemplarily, the computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 62 in the control device 6.

[0131] The control device 6 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The control device 6 may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 5 It is merely an example of an airway intubation device and does not constitute a limitation of the airway intubation device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, buses, etc.

[0132] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0133] In some embodiments, the memory 61 may be an internal storage unit of the control device 6, such as a hard disk or memory of the control device 6. In other embodiments, the memory 61 may also be an external storage device of the control device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the control device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the control device 6. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0134] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0135] An embodiment of the present application provides a computer program product. When the computer program product is run on an airway intubation device, the airway intubation device implements the steps in any of the above method embodiments.

[0136] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the airway intubation device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0137] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0138] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0139] In the embodiments provided in the present application, it should be understood that the disclosed airway intubation systems, devices and methods can be implemented in other ways. For example, the airway intubation system and device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0140] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0141] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for guiding airway intubation, characterized in that: Applied to an airway intubation device, the method comprises: Acquiring airway structure information; wherein the airway structure information includes an airway model reflecting the airway structure of the user; The airway analysis information is obtained based on the airway structure information; wherein the airway analysis information includes expansion information, avoidance information and an end point, the expansion information includes expansion area information, the expansion area information includes an expansion area, an expansion position corresponding to the expansion area and an expansion depth, the expansion area reflects an area in the user's airway where the airway diameter is smaller than a preset diameter, the expansion position reflects the relative position of the expansion area and the user's airway, the expansion depth reflects the insertion depth of the airway intubation device, the avoidance information includes at least one avoidance area information, the avoidance area information includes an avoidance area and an avoidance position corresponding to the avoidance area, the avoidance area reflects an area of ​​infection or bleeding on the inner wall of the user's airway, the avoidance position reflects the relative position of the avoidance area and the user's airway, and the end point reflects the relative position of the fixing device of the airway intubation device and the user's airway when the airway intubation device is fixed to the user's airway; Obtaining guidance information based on the airway analysis information; wherein the guidance information is used to prompt a doctor; Wherein, obtaining airway analysis information based on the airway structure information includes: Inputting the airway model into the airway recognition model to obtain an analysis model; wherein the analysis model includes the airway model and the expansion area and at least one avoidance area marked on the airway model, the expansion area is an area in the airway model where the airway wall is thickened or irregular, and the avoidance area is an area in the airway model where an abnormal density shadow exists; An analysis coordinate system is established based on the analysis model; wherein the origin of the analysis coordinate system is the user's incisors, and the Y-axis direction of the analysis coordinate system is parallel to the length direction of the user's airway; The airway analysis information is obtained based on the analysis model and the analysis coordinate system.

2. The airway intubation guiding method according to claim 1, characterized in that: The obtaining of the airway analysis information based on the analysis model and the analysis coordinate system includes: Projecting the analysis model along the X-axis of the analysis coordinate system onto the Y-axis of the analysis coordinate system to obtain a model projection; Obtaining airway length and total length coordinate values; wherein the airway length is the actual length value of the user's airway, and the total length coordinate value is the coordinate value of the Y-axis coordinate farthest from the origin on the Y-axis projection of the analysis model; The value obtained by dividing the airway length by the total length coordinate value is confirmed as the distance value; The value obtained by multiplying the Y-axis coordinate value closest to the origin of the analysis coordinate system on the projection of the expansion area by the distance value is confirmed as the first expansion depth, the value obtained by multiplying the Y-axis coordinate value farthest from the origin of the analysis coordinate system on the expansion area by the distance value is confirmed as the second expansion depth, the numerical range from the first expansion depth to the second expansion depth is confirmed as the expansion position, and the value reflected by the first expansion depth and the value reflected by the second expansion depth are added and divided by 2 to obtain the value confirmed as the expansion depth; confirming the expansion area, the expansion position and the expansion depth as the expansion information; Analyze the projections of each of the avoidance areas respectively, and confirm the value obtained by multiplying the Y-axis coordinate value on the projection of the avoidance area that is closest to the origin of the analysis coordinate system by the distance value as the first avoidance depth, and multiplying the Y-axis coordinate value on the avoidance area that is farthest from the origin of the analysis coordinate system by the distance value as the second avoidance depth, confirm the numerical range from the first avoidance depth to the second avoidance depth as the avoidance position, and confirm the avoidance area and the avoidance position as the avoidance information; The expansion information and all of the avoidance information are confirmed as the airway analysis information.

3. An airway intubation system, characterized in that: Applicable to an airway intubation device, the system comprises: An acquisition unit, configured to acquire airway structure information; wherein the airway structure information includes an airway model reflecting the airway structure of the user; A first analysis unit is used to obtain airway analysis information based on the airway structure information; wherein the airway analysis information includes expansion information, avoidance information and an end point, the expansion information includes expansion area information, the expansion area information includes an expansion area, an expansion position corresponding to the expansion area and an expansion depth, the expansion area reflects an area in the user's airway where the airway diameter is smaller than a preset diameter, the expansion position reflects a relative position between the expansion area and the user's airway, and the expansion depth reflects an insertion depth of an airway intubation device, the avoidance information includes at least one avoidance area information, the avoidance area information includes an avoidance area and an avoidance position corresponding to the avoidance area, the avoidance area reflects an area of ​​infection or bleeding on the inner wall of the user's airway, the avoidance position reflects a relative position between the avoidance area and the user's airway, and the end point reflects a relative position between the fixing device of the airway intubation device and the user's airway when the airway intubation device is fixed to the user's airway; A second analysis unit, configured to obtain guidance information based on the airway analysis information; wherein the guidance information is used to prompt a doctor; Wherein, the first analysis unit is further used for: Inputting the airway model into the airway recognition model to obtain an analysis model; wherein the analysis model includes the airway model and the expansion area and at least one avoidance area marked on the airway model, the expansion area is an area in the airway model where the airway wall is thickened or irregular, and the avoidance area is an area in the airway model where an abnormal density shadow exists; An analysis coordinate system is established based on the analysis model; wherein the origin of the analysis coordinate system is the user's incisors, and the Y-axis direction of the analysis coordinate system is parallel to the length direction of the user's airway; The airway analysis information is obtained based on the analysis model and the analysis coordinate system.

4. The airway intubation system according to claim 3, characterized in that: The obtaining of the airway analysis information based on the analysis model and the analysis coordinate system includes: Projecting the analysis model along the X-axis of the analysis coordinate system onto the Y-axis of the analysis coordinate system to obtain a model projection; Obtaining airway length and total length coordinate values; wherein the airway length is the actual length value of the user's airway, and the total length coordinate value is the coordinate value of the Y-axis coordinate farthest from the origin on the Y-axis projection of the analysis model; The value obtained by dividing the airway length by the total length coordinate value is confirmed as the distance value; The value obtained by multiplying the Y-axis coordinate value closest to the origin of the analysis coordinate system on the projection of the expansion area by the distance value is confirmed as the first expansion depth, the value obtained by multiplying the Y-axis coordinate value farthest from the origin of the analysis coordinate system on the expansion area by the distance value is confirmed as the second expansion depth, the numerical range from the first expansion depth to the second expansion depth is confirmed as the expansion position, and the value reflected by the first expansion depth and the value reflected by the second expansion depth are added and divided by 2 to obtain the value confirmed as the expansion depth; confirming the expansion area, the expansion position and the expansion depth as the expansion information; Analyze the projections of each of the avoidance areas respectively, and confirm the value obtained by multiplying the Y-axis coordinate value on the projection of the avoidance area that is closest to the origin of the analysis coordinate system by the distance value as the first avoidance depth, and multiplying the Y-axis coordinate value on the avoidance area that is farthest from the origin of the analysis coordinate system by the distance value as the second avoidance depth, confirm the numerical range from the first avoidance depth to the second avoidance depth as the avoidance position, and confirm the avoidance area and the avoidance position as the avoidance information; The expansion information and all of the avoidance information are confirmed as the airway analysis information.

5. The airway intubation system according to claim 4, characterized in that: The second analysis unit is also used for: The insertion depth is acquired in real time, and at least one avoidance image information is obtained based on the insertion depth and the avoidance information; wherein the insertion depth reflects the depth of the air guide device inserted into the user's airway, and the avoidance image information is image information acquired by the image acquisition device of the airway intubation device when the air guide device is located in the user's airway, each of the avoidance image information corresponds to each of the avoidance areas, and the avoidance image information includes at least one avoidance image, and the avoidance image is an image reflecting the inner wall of the user's airway in the avoidance area; When the insertion depth is equal to the expansion depth, expansion prompt information is generated; wherein the expansion prompt information is used to prompt the doctor to control the expansion device to expand the user's airway in the expansion area; When the airway intubation device extends to the position reflected by the end point, a fixed prompt message is generated; wherein the fixed prompt message is used to prompt the doctor to stop moving the air guide device and to control the fixing device to be fixed to the user's airway; The guidance information is obtained based on all of the avoidance image information and the avoidance information.

6. The airway intubation system according to claim 5, characterized in that: The obtaining at least one avoidance image information based on the insertion depth and the avoidance information comprises: When the insertion depth is equal to any one of the first avoidance depths, continuously sending a shooting instruction to the image acquisition device; wherein the shooting instruction is used to instruct the image acquisition device to shoot the avoidance image along a direction parallel to the length direction of the user's airway; When the insertion depth is equal to any one of the second avoidance depths, stopping sending a shooting instruction to the image acquisition device; When the image acquisition device switches from the start shooting state to the stop shooting state, the avoidance image captured during the shooting process is confirmed as the avoidance image information, and the avoidance image information is corresponded to the avoidance area corresponding to the avoidance position corresponding to the first avoidance depth and the second avoidance depth.

7. The airway intubation system according to claim 5, characterized in that: The obtaining the guidance information based on all the avoidance image information and the avoidance information includes: Based on all the avoidance image information, a plurality of avoidance surfaces respectively corresponding to the avoidance image information are obtained; wherein the avoidance surfaces reflect the areas that the air guide device needs to avoid; Obtaining an avoidance plan based on all of the avoidance surfaces; wherein the avoidance plan is used to prompt the doctor to control the gas guide device; The avoidance solution is confirmed as the guidance information.

8. The airway intubation system according to claim 7, characterized in that: The obtaining, based on all the avoidance image information, a plurality of avoidance surfaces respectively corresponding to each of the avoidance image information includes: Inputting the avoidance images in each of the avoidance image information into an image recognition model respectively to obtain a plurality of analysis images; wherein the analysis images include the avoidance images and the avoidance ranges reflecting the airway infection or bleeding of the user marked on the avoidance images; After stacking the analysis images in the same direction, the overlapping area formed by the avoidance ranges is confirmed as the avoidance surface.

9. The airway intubation system according to claim 7, characterized in that: The obtaining of the avoidance solution based on all the avoidance surfaces includes: marking the airbags on the air guide device that are close to the avoidance surface and located at the first avoidance depth and the second avoidance depth corresponding to the avoidance area corresponding to the avoidance surface as inflatable airbags; Marking the airbags on the air guide device that are away from the avoidance surface and located at the first avoidance depth and the second avoidance depth corresponding to the avoidance area corresponding to the avoidance surface as contracted airbags; The avoidance solution is obtained based on all the inflated airbags and all the deflated airbags.

10. The airway intubation system according to claim 9, characterized in that: The avoiding solution is obtained based on all the inflatable airbags and all the deflated airbags, including: Acquire a plurality of area distances corresponding to the avoidance areas respectively; wherein the area distance is the distance from the avoidance area to the end point; Confirm the processing order of the inflatable airbags and the deflated airbags according to the regional distances, confirm all the inflatable airbags and the deflated airbags corresponding to the avoidance area corresponding to the regional distance with the shortest distance as the first processing object, confirm all the inflatable airbags and the deflated airbags corresponding to the avoidance area corresponding to the regional distance with the second shortest distance among the regional distances as the second processing object, and so on, until all the avoidance areas are confirmed; The processing objects corresponding to all the avoidance areas sorted in processing order are confirmed as the avoidance solutions.

11. An airway intubation device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 2 is implemented.

Images