Acoustic online monitoring device and monitoring method for laser lithotripsy

Abstract

The invention discloses an acoustic online monitoring device and method for laser lithotripsy, and the device comprises a laser device which is used for generating high-energy pulse laser; the laser controller is used for controlling parameters of the laser; the optical fiber controller is used for controlling the position adjustment of the laser output by the optical fiber when the laser does not hit the stone and the video signal shows that the stone exists; the monitor is used for displaying video signals in the laser lithotripsy process; and the sound wave signal processor is used for obtaining sound wave signals collected in the laser lithotripsy process and judging whether the laser hits the stone or not according to the sound wave signals. Real-time acoustic feedback is provided for the laser lithotripsy process, and the accuracy and safety of the laser lithotripsy operation are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser lithotripsy, and in particular relates to an acoustic online monitoring device and a monitoring method for laser lithotripsy. Background Art

[0002] Laser lithotripsy has become the mainstream lithotripsy technology in the treatment of urinary stones. In traditional laser lithotripsy, doctors mainly use video signals and clinical experience to evaluate laser energy transmission and stone fragmentation. However, the narrow space of the urinary system and the reduced visibility caused by stone powder can lead to inaccurate positioning of stones and prolonged surgery time. Therefore, a method that is not limited by space and visibility is urgently needed to monitor the laser lithotripsy process. Summary of the invention

[0003] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides an acoustic online monitoring device and a monitoring method for laser lithotripsy, which ensure the accuracy and safety of the laser lithotripsy by providing real-time acoustic feedback on the laser lithotripsy process.

[0004] According to one aspect of the invention specification, there is provided an acoustic online monitoring device for laser lithotripsy, comprising a laser for generating high-energy pulsed laser; a laser controller for controlling laser parameters; an optical fiber controller for controlling the position adjustment of the optical fiber output laser when the laser does not hit the stone but the video signal shows the presence of the stone; a monitor for displaying the video signal during the laser lithotripsy; and an acoustic wave signal processor for acquiring the acoustic wave signal collected during the laser lithotripsy process and determining whether the laser hits the stone based on the acoustic wave signal.

[0005] As a further technical solution, the monitor is connected to an image capturing device, and the image capturing device is located below the optical fiber.

[0006] As a further technical solution, the sound wave signal processor is connected to a sound collecting device, and the sound collecting device is located below the image capturing device.

[0007] As a further technical solution, the frequency range of the sound collection device is 1-10 MHz.

[0008] As a further technical solution, the laser is connected to an endoscope, and the fiber optic controller controls the optical fiber to pass through the endoscope and approach the stone.

[0009] As a further technical solution, the wavelength of the laser is a fiber laser of 1.94 μm, the pulse repetition frequency is 10-1000 Hz, the pulse energy is 0.05 J-5 J, and the average laser power is 5-50 W.

[0010] According to one aspect of the present invention, there is provided an acoustic online monitoring method for laser lithotripsy, comprising: Acquiring an acoustic wave signal within a preset time length before laser lithotripsy as a standard acoustic wave signal, and performing Fourier transform on the standard acoustic wave signal to obtain a standard acoustic wave frequency domain signal; Acquiring an online acoustic wave signal collected during the laser lithotripsy process, and performing Fourier transform on the online acoustic wave signal to obtain an online acoustic wave frequency domain signal; Calculate the Pearson correlation coefficient based on the standard sound wave frequency domain signal and the online sound wave frequency domain signal; When the Pearson correlation coefficient is greater than or equal to a preset value, it is determined that the laser hits the stone.

[0011] As a further technical solution, the method further includes: when the Pearson correlation coefficient is less than a preset value, determining that the laser has not hit the stone.

[0012] As a further technical solution, after determining that the laser has not hit the stone, it also includes: Acquire a monitored video signal, and determine whether a stone exists according to the video signal; When it is determined that stones are present, the position of the optical fiber is adjusted and laser lithotripsy is performed again.

[0013] As a further technical solution, after determining that the laser has hit the stone, the following is also included: Adjust laser parameters according to real-time feedback video signals.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention utilizes the change of the acoustic wave signal during the laser lithotripsy process to determine whether the laser hits the stone, and combines the video monitoring signal for auxiliary judgment, so that the optical fiber position can be adjusted in time when the laser does not hit the stone, realizing the synergistic effect of acoustic wave signal collection and laser lithotripsy, and improving the lithotripsy efficiency.

[0015] 2. The acoustic wave signal acquisition and laser lithotripsy device of the present invention work in coordination, can eliminate background noise and signal interference, and have the characteristics of high sensitivity, rapid response, low cost and easy operation.

[0016] 3. In the laser lithotripsy process of the present invention, as the stones are broken layer by layer, the acoustic wave signals generated will change regularly. The use of acoustic wave signal analysis technology to monitor the crushing situation can reduce the risk of damage to surrounding tissues while ensuring that the stones are completely broken. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings used in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic structural diagram of an acoustic online monitoring device for laser lithotripsy provided in an embodiment of the present invention.

[0019] Figure 2 A schematic flow chart of an acoustic online monitoring method for laser lithotripsy provided in an embodiment of the present invention.

[0020] In the figure: 1. Laser; 2. Laser controller; 3. Fiber optic controller; 4. Monitor; 5. Acoustic signal processor; 6. Endoscope; 7. Fiber optic; 8. Camera; 9. Microphone. DETAILED DESCRIPTION

[0021] It should be noted that: During laser lithotripsy, a 1.94μm-2.1μm wavelength laser is transmitted to the treatment site through an optical fiber. When the laser propagates in water, the laser energy is rapidly absorbed by the water, causing local boiling, thereby forming laser-induced cavitation. The formation and collapse of cavitation will produce specific acoustic signals, which can reflect the distribution of laser energy and the dynamic changes of cavitation. At the same time, the vibration and fragment splashing generated when the laser hits the stone will also emit acoustic signals, which can be used to evaluate the effect of lithotripsy and the fragmentation of the stone. In addition, different types of stones and laser parameters will produce different acoustic characteristics. Therefore, the progress of laser lithotripsy can be effectively monitored by monitoring the acoustic signals in laser lithotripsy.

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, the technical features in the various embodiments or single embodiments provided by the present invention are arbitrarily combined with each other to form a new technical solution. This combination is not restricted by the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in this field to achieve. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that this combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0023] like Figure 1 As shown, an embodiment of the present invention provides an acoustic online monitoring device for laser lithotripsy, including a device body, wherein the device body includes: Laser 1, which generates high-energy pulsed laser for lithotripsy; Laser controller 2, which controls the output power, pulse energy, repetition frequency, pulse width and other parameters of the laser; A fiber optic controller 3, which controls the transmission path and positioning of the laser; Monitor 4, which displays the video signal of the laser lithotripsy operation process; The acoustic wave signal processor 5 stores and processes the acoustic wave signals collected by the microphone during the laser lithotripsy process.

[0024] Furthermore, the laser is connected to an endoscope 6, which is inserted into the treatment area in the patient's body during the operation; Furthermore, the optical fiber controller 3 is connected to the optical fiber 7, the optical fiber 7 passes through the endoscope and is located in the middle, and the end of the optical fiber 7 is close to the surface of the stone; Furthermore, the monitor 4 is connected to a camera 8, and the camera 8 is located below the optical fiber 7; Furthermore, the sound wave signal processor 5 is connected to a microphone 9 , and the microphone 9 is located below the camera 8 .

[0025] In one embodiment, the assembly connection of the acoustic online monitoring device is as follows: the laser 1 and the laser controller 2 are connected by a control line; the optical fiber 7 is connected to the optical fiber controller 3, the endoscope 6 is installed to the output end of the laser 1, and it is ensured that the optical fiber 7 passes through the center of the endoscope so that the end of the optical fiber can be close to the surface of the stone; the monitor 4 is connected to the camera 8, and it is ensured that the camera is located below the optical fiber so that the surgical area can be clearly observed; the acoustic wave signal processor 5 is connected to the microphone 9, and it is ensured that the microphone is located below the camera so that the acoustic wave signal generated by the laser lithotripsy can be accurately captured.

[0026] Setting parameters: laser wavelength is 1.94 μm, pulse repetition frequency is 10-1000 Hz, laser average power is 5-50 W, and microphone 9 frequency range is 1-10 MHz.

[0027] Receiving and analyzing signals: The microphone 9 is used to collect the acoustic wave signals generated by the laser lithotripsy and perform noise reduction. These acoustic wave signals are then analyzed by the acoustic wave signal processor 5 to assess whether the laser hits water or stones. Combining visual analysis and acoustic wave signal feature analysis, the system can determine whether the stones have been completely broken.

[0028] Specifically, the analysis process of the acoustic wave signal processor 5 includes: obtaining the online acoustic wave signal collected during the laser lithotripsy process, and performing Fourier transform on the online acoustic wave signal to obtain the online acoustic wave frequency domain signal; calculating the Pearson correlation coefficient based on the standard acoustic wave frequency domain signal and the online acoustic wave frequency domain signal; when the Pearson correlation coefficient is greater than or equal to a preset value, it is determined that the laser hits the stone.

[0029] Feedback adjustment: If the stone has been successfully broken, the operation is over; if not, the system will adjust the laser parameters and fiber position based on the feedback, and then repeat the above steps until the stone is completely broken.

[0030] Based on the same inventive concept as the above device embodiment, the embodiment of the present invention further provides an online monitoring method for the laser lithotripsy acoustic wave signal monitoring device, comprising the following steps: In the first step, the laser 1, the laser controller 2, the optical fiber controller 3, the monitor 4, and the acoustic signal processor 5 are installed and connected, and the endoscope 6 is inserted into the treatment site in the patient's body.

[0031] In the second step, the optical fiber 7 is passed through the endoscope 6 to be aligned with the stone surface.

[0032] In the third step, the parameters of the laser 1 are adjusted, including the pulse repetition frequency, pulse energy, and laser average power, and the laser is turned on for lithotripsy.

[0033] In the fourth step, the acoustic wave signal processor 5 is turned on, and the microphone 9 is used to collect the acoustic wave signal during the laser lithotripsy process, and the acoustic wave signal within 2 seconds before the laser lithotripsy is used as the standard acoustic wave. The collected acoustic wave signal is subjected to denoising, and then the acoustic wave spectrum feature analysis is performed by the acoustic wave signal processor to identify the frequency and amplitude. In this embodiment, the filtered acoustic wave time domain signal is subjected to a fast Fourier transform to obtain acoustic wave frequency domain signal data.

[0034] In the fifth step, the Pearson correlation coefficient between the standard sound wave data and the online measured sound wave data is calculated. α

[0035] Among them, data a i It is the standard sound wave frequency domain signal data when the laser hits the stone. b i It is the acoustic wave frequency domain signal data collected online during the laser lithotripsy process. A yes a i The average of all data, B yes b i The average of all data,n It is the dimension of the data. When the Pearson correlation coefficient is greater than or equal to 0.5, it is determined that the laser hits the stone, and the fiber position does not need to be adjusted, and the stone is crushed, and the second to fifth steps are repeated; when the Pearson correlation coefficient is less than 0.5, it is determined that the laser does not hit the stone.

[0036] In the sixth step, the camera 8 captures the image of the monitor 4 to perform a visual analysis of the surgical area to assist in determining the stone crushing situation. If the video shows that a stone exists, the optical fiber position is adjusted through the optical fiber controller 3, and then the second to sixth steps are repeated. If the video shows that there is no stone, the laser lithotripsy is terminated.

[0037] It should be noted that the process of visually analyzing the surgical area based on the captured images to determine whether stones exist can be achieved using existing visual recognition technology, which will not be elaborated in the present invention.

[0038] As a preferred embodiment, in the first step of the embodiment of the present invention, the wavelength of the laser 1 is a thulium-doped fiber laser of 1.94 μm, the pulse repetition frequency is 10-1000 Hz, the pulse energy is 0.05 J-5 J, and the average laser power is 5-50 W; As a preferred embodiment, in the fourth step described in the embodiment of the present invention, the frequency range of the microphone 9 is 1-10 MHz.

[0039] In summary, the device and method provided by the present invention can provide real-time acoustic feedback on the laser lithotripsy process, ensuring the accuracy and safety of the laser lithotripsy operation. Compared with traditional monitoring methods, the present invention adopts advanced acoustic signal processing technology, which can more effectively evaluate the lithotripsy process, improve lithotripsy efficiency and prevent potential tissue damage.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. An acoustic online monitoring device for laser lithotripsy, characterized in that: It includes a laser for generating high-energy pulsed laser; a laser controller for controlling laser parameters; an optical fiber controller for controlling the position adjustment of the optical fiber output laser when the laser does not hit the stone but the video signal shows the presence of the stone; a monitor for displaying the video signal during the laser lithotripsy; and an acoustic wave signal processor for acquiring the acoustic wave signal collected during the laser lithotripsy process and determining whether the laser hits the stone based on the acoustic wave signal.

2. The acoustic online monitoring device for laser lithotripsy according to claim 1, characterized in that: The monitor is connected to an image capturing device, and the image capturing device is located below the optical fiber.

3. The acoustic online monitoring device for laser lithotripsy according to claim 1, characterized in that: The sound wave signal processor is connected to a sound collecting device, and the sound collecting device is located below the image capturing device.

4. The acoustic online monitoring device for laser lithotripsy according to claim 3, characterized in that: The frequency range of the sound collection device is 1-10 MHz.

5. The acoustic online monitoring device for laser lithotripsy according to claim 1, characterized in that: The laser is connected to an endoscope, and the fiber optic controller controls the fiber optic cable to pass through the endoscope and approach the stone.

6. The acoustic online monitoring device for laser lithotripsy according to claim 1, characterized in that: The wavelength of the laser is a fiber laser of 1.94 μm, the pulse repetition frequency is 10-1000 Hz, the pulse energy is 0.05 J-5 J, and the average laser power is 5-50 W.

7. An acoustic online monitoring method for laser lithotripsy, characterized in that: include: Acquiring an acoustic wave signal within a preset time length before laser lithotripsy as a standard acoustic wave signal, and performing Fourier transform on the standard acoustic wave signal to obtain a standard acoustic wave frequency domain signal; Acquiring an online acoustic wave signal collected during the laser lithotripsy process, and performing Fourier transform on the online acoustic wave signal to obtain an online acoustic wave frequency domain signal; Calculate the Pearson correlation coefficient based on the standard sound wave frequency domain signal and the online sound wave frequency domain signal; When the Pearson correlation coefficient is greater than or equal to a preset value, it is determined that the laser hits the stone.

8. The acoustic online monitoring method for laser lithotripsy according to claim 7, characterized in that: The method further includes: when the Pearson correlation coefficient is less than a preset value, determining that the laser has not hit the stone.

9. The acoustic online monitoring method for laser lithotripsy according to claim 8, characterized in that: After it is determined that the laser has not hit the stone, it also includes: Acquire a monitored video signal, and determine whether a stone exists according to the video signal; When it is determined that stones are present, the position of the optical fiber is adjusted and laser lithotripsy is performed again.

10. The acoustic online monitoring method for laser lithotripsy according to claim 7, characterized in that: After it is determined that the laser has hit the stone, it also includes: Adjust laser parameters according to real-time feedback video signals.

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